JP5867854B2 - Lumbar assist device - Google Patents

Lumbar assist device Download PDF

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Publication number
JP5867854B2
JP5867854B2 JP2011217548A JP2011217548A JP5867854B2 JP 5867854 B2 JP5867854 B2 JP 5867854B2 JP 2011217548 A JP2011217548 A JP 2011217548A JP 2011217548 A JP2011217548 A JP 2011217548A JP 5867854 B2 JP5867854 B2 JP 5867854B2
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right
actuator
user
back
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JP2013075078A (en
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小林 宏
宏 小林
寛征 小林
寛征 小林
佳欧 何
佳欧 何
佐藤 裕
佐藤  裕
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学校法人東京理科大学
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Description

  The present invention relates to a lower back assistance structure.

  Conventionally, an auxiliary device for assisting the forward bending operation of the upper body of the user is known. For example, Patent Document 1 discloses a waist mounting portion, a back mounting portion, a joint portion that connects the back mounting portion to the waist mounting portion so that the user can tilt forward, and a back mounting portion in an operating state. There has been disclosed a lumbar assist device that includes a first actuator that controls the user's forward tilt and maintains the user's forward bending posture and assists the user from rising forward.

  However, in the conventional lower back assistance device, the relationship between the state of the left and right lower limbs and the assistance is not considered in assisting the user's forward leaning posture.

JP 2009-011818 A

  The present invention has been made in consideration of the above facts, and an object of the present invention is to provide a lumbar assist device that appropriately assists the lumbar region in consideration of the relationship with the state of the left and right legs of the user.

The waist assist device according to claim 1 is mounted on the back of the user and is movable to follow the user leaning forward. The back support device is attached to the back mounting, and the trunk of the user. A front support portion that extends forward and supports the user's trunk front side; a right lower limb attachment portion that is attached to the user's right lower limb; and a left lower limb attachment portion that is attached to the left lower limb; It is arranged between the right lower limb wearing part and the back wearing part, and is connected to the right lower limb wearing part and the back wearing part and in front of the user between the back wearing part and the right lower limb wearing part. A right joint part having a variable right bend angle; and a left joint mounting part disposed between the left lower leg mounting part and the back mounting part and connected to the left lower leg mounting part and the back mounting part. Left joint with variable left bend angle in front of user between lower limb wearing part A right actuator that applies a right standing force in the direction of rising from the user's forward tilt between the back mounting portion and the right lower limb mounting portion; and left in the direction of rising from the user's forward tilt A left actuator that causes a standing force to act between the back mounting portion and the left lower limb mounting portion; a right angle detection portion that detects the right bending angle; a left angle detection portion that detects the left bending angle; The right standing force by the right actuator is controlled according to the right bending angle detected by the right angle detection unit, and the left actuator by the left actuator is controlled by the left bending angle detected by the left angle detection unit. a control unit for controlling the standing force, comprising: a breath detection sensor for detecting the intake and exhaust of the user, wherein the control unit exerts a large the right standing force as the right bending angle is small Controls the urchin the right actuator, to control the left actuator to exert a large the left standing force as the left bending angle is small, one of expiration of the intake and exhaust is detected by the breath detection sensor The right and left actuators are controlled so that the right standing force and the left standing force are applied, and the right standing force is detected when the exhalation detection sensor detects the other exhalation of inspiration and exhaust. And the right actuator and the left actuator are controlled so as to release the left standing force, and when the expiration detection sensor does not detect expiration, the right actuator and the left actuator are stopped. The left actuator is controlled .

  In the lower back assistance apparatus according to the first aspect, the back mounting portion is mounted on the back of the user, and can be moved following the user's forward tilt. Further, the front support part is attached to the back wearing part and extends to the front side of the user's trunk to support the front side of the user's trunk. In addition, a right lower limb mounting portion and a left lower limb mounting portion, which correspond to the left and right lower limbs of the user, are mounted on the right lower limb and the left lower limb, respectively. The right lower limb mounting portion and the back mounting portion are connected to each other via the right joint so that the right bending angle in front of the user between the back mounting portion and the right lower limb mounting portion is variable. The left lower limb mounting portion and the back mounting portion are connected to each other via the left joint so that the left bending angle in front of the user between the back mounting portion and the left lower limb mounting portion is variable.

  The right actuator applies a right standing force in the direction of rising from the user's forward tilt between the back mounting portion and the right lower limb mounting portion. The left actuator applies a left standing force in the direction of rising from the user's forward tilt between the back mounting portion and the left lower limb mounting portion. The right actuator and the left actuator are controlled by the control unit.

  The control unit controls the right standing force by the right actuator according to the right bending angle detected by the right angle detection unit, and controls the left standing force by the left actuator according to the left bending angle detected by the left angle detection unit To do.

  The inventor has found that the right standing force and the left standing force required by the user differ depending on the right bending angle and the left bending angle. As described above, by controlling the right standing force according to the right bending angle and controlling the left standing force according to the left bending angle, it is possible to assist the waist appropriately.

The lower back assisting device controls the right actuator so that the control unit causes the right standing force to increase as the right bending angle decreases, and increases the left standing force as the left bending angle decreases. The left actuator is controlled to act.

  As described above, the smaller the right bending angle and the smaller the left bending angle, the larger the standing force is applied, thereby smoothly assisting the user's standing operation.

According to a second aspect of the present invention, there is provided a lower back assistance device that is attached to a user's back, is capable of following the user's forward tilt, is attached to the back attachment, and is attached to the user's trunk. A front support portion that extends forward and supports the user's trunk front side; a right lower limb attachment portion that is attached to the user's right lower limb; and a left lower limb attachment portion that is attached to the left lower limb; It is arranged between the right lower limb wearing part and the back wearing part, and is connected to the right lower limb wearing part and the back wearing part and in front of the user between the back wearing part and the right lower limb wearing part. A right joint part having a variable right bend angle; and a left joint mounting part disposed between the left lower leg mounting part and the back mounting part and connected to the left lower leg mounting part and the back mounting part. Left joint with variable left bend angle in front of user between lower limb wearing part A right actuator that applies a right standing force in the direction of rising from the user's forward tilt between the back mounting portion and the right lower limb mounting portion; and left in the direction of rising from the user's forward tilt A left actuator that causes a standing force to act between the back mounting portion and the left lower limb mounting portion; a right angle detection portion that detects the right bending angle; a left angle detection portion that detects the left bending angle; The right standing force by the right actuator is controlled according to the right bending angle detected by the right angle detection unit, and the left actuator by the left actuator is controlled by the left bending angle detected by the left angle detection unit. A control unit that controls the standing force, and when the proportional constant is A, the right bending angle is θR, and the left bending angle is θL, the right pressure PR for applying the right standing force is: P = A A / .theta.R, left pressure PL for applying said left standing force, so that PL = A / .theta.L, controlling the right actuator and the left actuator, and wherein.

As described above, by controlling the right and left standing forces according to the difference between the left and right bending angles, it is possible to appropriately assist the waist.

The lower back assistance apparatus according to claim 3 , wherein the control unit controls the right actuator so as to start operation when the right bending angle becomes smaller than a predetermined operation start right angle, The left actuator is controlled so that the operation is started when the left bending angle becomes smaller than a predetermined operation start left angle.

  In this way, the left and right actuators can be appropriately started by starting the operation of the left and right actuators when the operation start right angle and the operation start left angle corresponding to the left and right bending angles are smaller. .

An acceleration detection sensor is attached to the front support part of the lower back assistance apparatus according to claim 4, and the control part operates when an acceleration equal to or higher than a predetermined operation start acceleration is detected by the acceleration detection sensor. The right actuator and the left actuator are controlled to start the operation.

Thus, the left and right actuators can be appropriately started by starting the operation of the left and right actuators when the acceleration detected in accordance with the movement of the user is equal to or higher than the operation start acceleration.

According to a fifth aspect of the present invention, there is provided a lower back assisting device to which an exhalation detection sensor for detecting inhalation and exhaustion of a user is attached, and the control unit is configured to detect one of inhalation and inhalation by the exhalation detection sensor. The right and left actuators are controlled so that the right standing force and the left standing force are applied, and when the other expiration of inspiration and exhaust is detected by the expiration detection sensor, The right actuator and the left actuator are controlled so as to stop the operation of the right actuator and the left actuator when the right actuator and the left actuator are controlled so as to release the left standing force and the expiration detection sensor does not detect the expiration. To control.

In this way, the breath detection sensor can detect the intake and exhaust of the user, and the right actuator and the left actuator can be started by the intake and exhaust. In addition, the user's convenience can be enhanced by distinguishing between the action and release of the standing force of the right actuator and the left actuator for intake and exhaust, and stopping the operation when no expiration is detected.

  As described above, according to the lower back assistance apparatus of the present invention, it is possible to appropriately assist the lower back in consideration of the relationship with the state of the left and right legs of the user.

It is a perspective view which shows the lower back assistance apparatus which concerns on 1st Embodiment. It is a side view which shows the use condition of the waist assistance device which concerns on 1st Embodiment. It is explanatory drawing (A) (B) about the bending angle of the waist assistance apparatus which concerns on 1st Embodiment. (A), (B) is a figure which shows the outline of the actuator with which the lower back assistance apparatus which concerns on 1st Embodiment is provided. It is a block diagram of the control system of the lower back assistance apparatus which concerns on 1st Embodiment. It is a flowchart of the lower back assistance process (right actuator) according to the first embodiment. It is a flowchart of the pressure adjustment process (right actuator) which concerns on 1st Embodiment. It is a flowchart of the lower back assistance process (left actuator) according to the first embodiment. It is a flowchart of the pressure adjustment process (left actuator) which concerns on 1st Embodiment. It is a perspective view which shows the lower back assistance apparatus which concerns on 2nd Embodiment. It is a block diagram of the control system of the lower back assistance apparatus which concerns on 2nd Embodiment. It is a perspective view which shows the lower back assistance apparatus which concerns on 3rd Embodiment. It is a block diagram of the control system of the lower back assistance apparatus which concerns on 3rd Embodiment. It is a flowchart of the lower back assistance process which concerns on 3rd Embodiment. It is explanatory drawing of the 1st pattern of the lifting operation | movement of the load using the lower back assistance apparatus which concerns on this invention. It is explanatory drawing of the 2nd pattern of the lifting operation of the load using the lower back assistance apparatus which concerns on this invention. It is explanatory drawing of the 3rd pattern of the load lifting operation | movement using the waist | hip | lumbar part assistance apparatus which concerns on this invention. (A) is a graph which shows the decreasing rate of the muscular strength usage about a prior art example in the lifting operation | movement of the load in the 1st-3rd pattern using the lower back assistance apparatus based on this invention, (B) is an Example. It is a graph which shows the decreasing rate of the muscular strength usage about.

  [First embodiment]

  Next, a first embodiment of the present invention will be described in detail 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 vertical and horizontal directions are based on the direction when facing the front side.

  1 and 2 show a waist assist device 10 according to the first embodiment. FIG. 1 shows the lumbar assist device 10 in a non-wearing state, and FIG. 2 shows the lumbar assist device 10 in a state worn by the user. As shown in these drawings, the lumbar auxiliary device 10 includes a back frame 14 as a back mounting portion, a waist frame portion 12, a front support portion 22, a right joint portion 16R, a left joint portion 16L, and a right lower limb mounting portion. A right thigh plate 18, a right lower limb frame 20, a left thigh plate 19 as a left lower limb mounting portion, and a left lower limb frame 21 are provided. The right joint portion 16R includes an upper right joint portion 16RU, a lower right joint portion 16RD, and a lower right side portion 15. The left joint portion 16L includes an upper left joint portion 16LU, a lower left joint portion 16LD, and a lower left side portion 17. Yes.

  The back frame 14 includes a pair of left and right side frames 14A, a center frame 14B, and a mounting plate 14C.

  The pair of side frames 14 </ b> A has a long cylindrical shape and has a bent portion 14 </ b> E that is bent toward the front side of the user at one end portion on the lower side of the user. A pulley portion 44 is provided outside the bent portion 14E. The left and right bent parts 14E are connected to a lower right side part 15 and a lower left side part 17 described later via an upper right joint part 16RU and an upper left joint part 17LU, respectively. The other end portions on the upper side of the users of the two side frames 14A are connected to each other, and are configured in a substantially triangular shape with the pair of side frames 14A as a whole with the upper side at the top. The center frame 14B is an intermediate part of the side frame 14A and connects the two side frames 14A to each other. A right actuator 40 is provided inside the side frame 14A arranged on the right side of the user, and a left actuator 42 is provided inside the side frame 14A arranged on the left side of the user. A wire 43 extends from the lower end of each of the right actuator 40 and the left actuator 42 and is wound around the pulley portion 44. Further, a tube TU for sending compressed air is connected to each of the right actuator 40 and the left actuator 42 via a right pressure adjustment valve 46 and a left pressure adjustment valve 48 (see FIG. 5). The other end of the tube TU is connected to the compressed air supply unit 70. Each of the right actuator 40 and the left actuator 42 is provided with a pressure sensor (right pressure sensor 56, left pressure sensor 58) capable of detecting the pressure in the inner tube IC (see FIG. 5).

  The mounting plate 14C has a plate shape bent so as to have an L-shaped cross section. The mounting plate 14C is attached so that one side surface of the L shape covers the upper ends of the two side frames 14A and the other side surface of the L shape is disposed on the front side of the two side frames 14A. ing. A support rod 14D is attached to the other side surface of the L-shape of the attachment plate 14C. The support rod 14D is arranged in the vertical direction, and a rotating portion 22C of the front support portion 22 described later is connected to the lower end. The upper end side of the support bar 14D is attached to the attachment plate 14C. The support bar 14D is slidable in the vertical direction with respect to the mounting plate 14C to change the mounting position, and the lower end position can be adjusted in the vertical direction.

  The front support 22 has a movable plate 22A and a shoulder belt 22B. The movable plate 22A has a plate shape and is arranged so that the plate surface is substantially parallel to the other side surface of the mounting plate 14C. A rotating portion 22C is provided on the mounting plate 14C side of the movable plate 22A. The rotating part 22C is connected to the lower end of the support bar 14D, and is rotatable about the connecting part with the support bar 14D. Thereby, the movable plate 22A and the mounting plate 14C (back frame 14) can be rotated relative to each other while facing each other.

  A pair of left and right shoulder belts 22B are provided, each having one end attached to the upper end of the movable plate 22A and the other end attached to the lower end of the movable plate 22A. The pair of left and right shoulder belts 22B are connected by a belt 22BA at the center so that the shoulder belt 22B is in close contact with the upper body of the user.

  The waist frame portion 12 is disposed substantially in parallel with the center frame portion 14B so as to cross the pair of left and right lower side portions 15 and the lower left side portion 17. A waist plate 12 </ b> A is attached to the center of the waist frame portion 12.

  The right lower limb frame 20 and the left lower limb frame 21 are formed of rigid members that are not bent even by relative rotation with the back frame 14. The right lower limb frame 20 has an upper end connected to the lower right side portion 15 via the lower right joint portion 16RD and a lower end connected to the right thigh plate 18. The right thigh plate 18 has a curved shape that covers the front of the user's lower limb. The right thigh plate 18 is disposed in front of the user's lower limb. The left lower limb frame 21 has an upper end connected to the lower right side portion 15 via the lower left joint portion 16LD and a lower end connected to the left thigh plate 19. The left thigh plate 19 has a curved shape covering the front of the user's lower limb. The left thigh plate 19 is disposed in front of the user's lower limb.

  A rotating portion 23 is formed below the right lower joint portion 16RD of the right lower limb frame 20 and below the left lower joint portion 16LD of the left lower limb frame 21. The rotation unit 23 has a rotation axis 23R in the front-rear direction of the user, and the right lower limb frame 20 and the left lower limb frame 21 are rotatable around the rotation axis 23R. Further, a rotating portion 25 is formed in the middle portion of the right lower limb frame 20 and the middle portion of the left lower limb frame 21. The rotation unit 25 has a rotation shaft 25R in the front-rear direction of the user, and the right lower limb frame 20 and the left lower limb frame 21 are rotatable around the rotation shaft 25R.

  Next, the right joint part 16R and the left joint part 16L will be described. A lower right side portion 15 is disposed between the back frame 14 and the right lower limb frame 20, and a lower left side portion 17 is disposed between the back frame 14 and the left lower limb frame 21. The upper end of the lower right side portion 15 is connected to the back frame 14 via the upper right joint portion 16RU, and the lower end of the lower right side portion 15 is connected to the right lower limb frame 20 via the lower right joint portion 16RD. The upper end of the lower left side portion 17 is connected to the back frame 14 via the upper left joint portion 16LU, and the lower end of the lower left side portion 17 is connected to the left lower limb frame 21 via the lower left joint portion 16LD.

  The upper right joint portion 16RU has the lower end of one back frame 14 and the upper end portion of the lower right side portion 15 connected coaxially by a horizontal axis SU, and the one back frame 14 and the lower right side portion 15 are Relative rotation is possible around the axis SU. The upper left joint portion 16LU has the lower end of the other back frame 14 and the upper end portion of the lower left side portion 17 connected coaxially with the aforementioned horizontal axis SU, and the other back frame 14 and lower left side portion 17 are Relative rotation is possible around the axis SU.

  The lower right joint portion 16RD is supported by the plate 26 fixed to the lower end portion of the lower right side portion 15, a rotary shaft 28 erected outward from the plate 26 in the shoulder width direction, and the rotary shaft 28 so as to be rotatable. A disk-shaped rotating body 24. Further, the lower left joint portion 16LD is supported on the plate 36 fixed to the lower end portion of the lower left side portion 17, the rotary shaft 38 standing outward from the plate 36 in the shoulder width direction, and the rotary shaft 38 so as to be rotatable. A disk-shaped rotating body 34. The lower right joint portion 16RD and the lower left joint portion 16LD have a bilaterally symmetric configuration and have a common axis SD.

  The plates 26 and 36 are positioned on the side waist of the user, and the rotary shafts 28 and 38 extend outward in the shoulder width direction from the side waist of the user. A circular hole (not shown) in which the rotary shafts 28 and 38 are relatively rotatably fitted is formed in the shaft centers of the rotary bodies 24 and 34, and a wire 43 is wound around the peripheral surfaces of the rotary bodies 24 and 34. Grooves 24A and 34A are formed. In addition, it is not essential that the rotators 24 and 34 have a disk shape, and may have a semi-disk shape or an elliptical disk shape.

  One end of the right lower limb frame 20 is fixed to the rotating body 24, and the right lower limb frame 20 is rotatable together with the rotating body 24. Since the right thigh plate 18 is applied in front of the user's right lower limb, the position of the right lower limb frame 20 is restricted to a position along the user's lower limb. Accordingly, the one back frame 14 and the right lower limb frame 20 rotate relative to each other with the lower right joint part 16RD, the lower right side part 15 and the upper right joint part 16RU interposed therebetween.

  One end of the left lower limb frame 21 is fixed to the rotating body 34, and the left lower limb frame 21 is rotatable together with the rotating body 34. Since the left thigh plate 19 is placed in front of the user's left lower limb, the position of the left lower limb frame 21 is restricted to a position along the user's lower limb. Therefore, the other back frame 14 and the left lower limb frame 21 are relatively rotated with the lower left joint portion 16LD, the lower left side portion 17 and the upper left joint portion 16LU interposed therebetween.

  An upper right angle sensor 52U, a lower right angle sensor 52D, an upper left angle sensor 54U, and a lower left angle sensor 54D are disposed in the upper right joint 16RU, the lower right joint 16RD, the upper left joint 16LU, and the lower left joint 16LD, respectively. The upper right angle sensor 52U detects an angle θ1 on the front side of the user between the one back frame 14 and the lower right side portion 15. The lower right angle sensor 52 </ b> D detects an angle θ <b> 2 on the user front side between the lower right side portion 15 and the right lower limb frame 20. The upper left angle sensor 54U detects an angle θ3 on the front side of the user between the other back frame 14 and the lower left side portion 17. The lower left angle sensor 54D detects an angle θ4 on the front side of the user between the lower left side portion 17 and the left lower limb frame 21 (see FIGS. 3A and 3B).

  The right actuator 40 and the left actuator 42 respectively housed in the pair of back frames 14 are pneumatic actuators (fluid pressure actuators, so-called McKibben artificial muscles) AC. As shown in FIGS. 4A and 4B, 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. 4B, 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. When air is exhausted from this state, the force F in the shortening direction is released, and the length is extended while the diameter is reduced.

  A right pressure adjustment valve 46 and a left pressure adjustment valve 48 are attached to the right actuator 40 and the left actuator 42, respectively. The right pressure adjustment valve 46 and the left pressure adjustment valve 48 have an air supply valve and an exhaust valve, respectively. Air is supplied to the inner tube IC by opening the air supply valve, and supply of air to the inner tube IC is stopped by closing the air supply valve. Further, air is discharged from the inner tube IC by opening the exhaust valve, and air discharge from the inner tube IC is stopped by closing the exhaust valve.

  Next, the operation of the lower back assistance apparatus 10 of the present embodiment will be described.

  The waist assisting device 10 generates a force F in the shortening direction by shortening the lengths of the right actuator 40 and the left actuator 42. The force F causes a rotational force in the Y direction to act on the right lower limb frame 20 and the left lower limb frame 21 via the wire 43. This rotational force is transmitted to the user via the right thigh plate 18 and the left thigh plate 19, and appears as rotation of the back frame 14 in the X direction. Since the force in the rising rotation direction X acts on the upper body of the user leaning forward via the shoulder belt 22B, the user can assist the operation of raising the upper body. Furthermore, by making the force in the rising rotation direction X greater than the tilting force toward the front of the user, the back frame 14 can be rotated in the rising direction X and the upper body of the user can be raised.

  Next, a control system for the right actuator 40 and the left actuator 42 will be described. FIG. 5 shows a block diagram of a control system that controls the right actuator 40 and the left actuator 42. The control unit 50 is a part that controls the operations of the right actuator 40 and the left actuator 42, and includes a CPU, a ROM, a RAM, and the like (not shown).

  The control unit 50 includes a left pressure sensor 58, a right pressure sensor 56, a left pressure adjustment valve 48, a right pressure adjustment valve 46, an upper left angle sensor 54U, a lower left angle sensor 54D, an upper right angle sensor 52U, a lower right angle sensor 52D, and The memory 60 is connected.

  The left pressure sensor 58 detects the pressure in the inner tube IC of the left actuator 41 and outputs a left pressure data signal PLD for the pressure to the control unit 50. The right pressure sensor 56 detects the pressure in the inner tube IC of the right actuator 40 and outputs a right pressure data signal PRD for the pressure to the control unit 50.

  The upper right angle sensor 52 </ b> U detects the angle θ <b> 1 on the front side of the user between the one back frame 14 and the lower right side portion 15 and outputs an angle θ <b> 1 signal to the control unit 50. The lower right angle sensor 52D detects the front angle θ2 between the lower right side portion 15 and the right lower limb frame 20, and outputs an angle θ2 signal to the control unit 50. The sum of the angle θ1 and the angle θ2 is the right bending angle θR on the user's front side between the right lower limb frame 20 and one back frame 14. The upper left angle sensor 54 </ b> U detects the angle θ <b> 3 on the front side of the user between the other back frame 14 and the lower left side portion 17, and outputs an angle θ <b> 3 signal to the control unit 50. The lower left angle sensor 54 </ b> D detects the angle θ <b> 4 on the front side of the user between the lower left side portion 17 and the left lower limb frame 21, and outputs an angle θ <b> 4 signal to the control unit 50. The sum of the angle θ3 and the angle θ4 becomes the left bending angle θL on the user front side between the left lower limb frame 21 and the other back frame 14.

  The memory 60 stores an operation start angle θS for the right bending angle θR and the left bending angle θL. The operation start angle θS starts supplying air to the right actuator 40 and the left actuator 41 when the right bending angle θR and the left bending angle θL are equal to or larger than the operation starting angle θS, and the right bending angle θR and the left bending angle are set. This is an angle for starting exhaust from the right actuator 40 and the left actuator 41 when the angle θL becomes smaller than the operation start angle θS, and is set in advance according to the use of the user. In the present embodiment, the angle at which the user is determined to be standing can be set to 160 to 175 degrees, for example, slightly smaller than 180 degrees.

  The memory 60 stores the right pressure PR supplied to the inner tube IC of the right actuator 40 corresponding to the right bending angle θR, and supplies the right pressure PR to the inner tube IC of the left actuator 41 corresponding to the left bending angle θL. The left pressure PL is stored. The relationship between the right bending angle θR and the right pressure PR, and the relationship between the left bending angle θL and the left pressure PL are the following inversely proportional relationships. That is, the smaller the right bending angle θR and the left bending angle θL (the deeper the user's bending angle), the larger the pressure of the right actuator 40 and the left actuator 41, that is, the aforementioned force F, The right standing force acting between the right lower limb frame 20 is increased, and the left standing force acting between the back frame 14 and the left lower limb frame 21 is increased. A is a proportionality constant.

(Equation 1)
PR = A / θR, PL = A / θL

Each of the right pressure adjustment valve 46 and the left pressure adjustment valve 48 has an air supply valve and an exhaust valve, and the air supply valve and the exhaust valve are opened and closed based on an open / close signal from the control unit 50. . When a standing force is applied to the user, the air supply valve is opened and the exhaust valve is closed. When releasing the user from the standing force, the air supply valve is closed and the exhaust valve is opened and closed. The control unit 50 outputs an air supply valve opening signal KO when opening the air supply valve, and outputs an air supply valve closing signal KC when closing the air supply valve to open the exhaust valve. In this case, the exhaust valve opening signal HO is output, and when the exhaust valve is closed, the exhaust valve closing signal HC is output. Before starting the operation, each air supply valve is closed and the exhaust valve is opened.

  As shown in FIGS. 1 and 2, a wire 43 is attached to the lower ends of the right actuator 40 and the left actuator 41. One end of the wire 43 exits from the lower ends of the right actuator 40 and the left actuator 41, is wound around the pulley portion 44, changes its direction, and is fixed to the groove 24A of the rotating body 24 and the groove 34A of the rotating body 34. .

  Next, the operation in this embodiment will be described.

  When the user wears the lumbar assist device 10 and performs a forward bending action, the angle between the back frame 14 and the right lower limb frame 20 and the left lower limb frame 21 increases, and the right bending angle that is the sum of the angles θ1 and θ2 When θR is less than or equal to the operation start angle θS, the waist assist process shown in FIGS. 6 and 8 is executed when the sum of the angles θ3 and θ4 and the left bending angle θL is less than or equal to the operation start angle θS. The Note that the data regarding the right actuator 40 and the data regarding the left actuator 41 are separately processed in parallel.

  For the right actuator 40, as shown in FIG. 6, first, the right bending angle θR is acquired in step SA10, and the right pressure PR corresponding to the right bending angle θR is calculated and set in step SA12. In step SA14, pressure adjustment processing is performed.

  In the pressure adjustment process, as shown in FIG. 7, first, in step SA14-1, the exhaust valve is closed. In step SA14-2, the right pressure data PRD is acquired. In step SA14-3, it is determined whether the right pressure data PRD is smaller than the set right pressure PR. If the right pressure data PRD is smaller than the right pressure PR, in step SA14-4, an air supply valve release signal KO for opening the air supply valve is output to the right pressure adjustment valve 46, and the process returns to step SA14-2. Repeat the above process. Thus, air is supplied to the inner tube IC until the set right pressure PR is reached. If it is determined in step SA14-3 that the right pressure data PRD is not smaller than the set right pressure PR, that is, it is determined to be equal to or higher than the right pressure PR, in step SA14-5, the supply valve for closing the air supply valve is closed. The air valve closing signal KC is output to the right pressure adjusting valve 46, the pressure adjusting process is terminated, and the process proceeds to Step SA16 in FIG.

  In step SA16, the right bending angle θR is acquired again, and in step SA18, it is determined whether the right bending angle θR is larger than the operation start angle θS. If the determination is negative, the process returns to step SA12 and the above processing is repeated. By repeating this, when the right bending angle θR is equal to or smaller than the operation start angle θS, the right standing force corresponding to the right bending angle θR is applied to the user.

  If the right bending angle θR is larger than the operation start angle θS, it is determined that the user is standing, and an exhaust valve release signal HO for releasing the exhaust valve is output to the right pressure adjustment valve 46 in step SA20. The process is terminated. Thereby, air is discharged | emitted from the right actuator 40 and the right standing force which the lower back assistance apparatus 10 was acting on a user is cancelled | released.

  For the left actuator 42 as well, as shown in FIG. 8, first, the left bending angle θL is acquired in step SB10, and the left pressure PL corresponding to the left bending angle θL is calculated and set in step SB12. In step SB14, pressure adjustment processing is performed.

  As shown in FIG. 9, in the pressure adjustment process, first, in step SB14-1, the exhaust valve is closed. In step SB14-2, the left pressure data PLD is acquired. In step SB14-3, it is determined whether the left pressure data PLD is smaller than the set left pressure PL. If the left pressure data PLD is smaller than the left pressure PL, in step SB14-4, the supply valve opening signal KO for opening the supply valve is output to the left pressure adjustment valve 48, and the process returns to step SB14-2. Repeat the above process. Thereby, air is supplied to the inner tube IC until the set left pressure PL is reached. If it is determined in step SB14-3 that the left pressure data PLD is not smaller than the set left pressure PL, that is, it is greater than or equal to the left pressure PL, in step SB14-5, the supply valve for closing the air supply valve is closed. The air valve closing signal KC is output to the left pressure adjusting valve 48, the pressure adjusting process is terminated, and the process proceeds to Step SB16 in FIG.

  In step SB16, the left bending angle θL is acquired again, and in step SB18, it is determined whether the left bending angle θL is larger than the operation start angle θS. When determination is denied, it returns to step SB12 and repeats said process. By repeating this, when the left bending angle θL is equal to or smaller than the operation start angle θS, the left standing force corresponding to the left bending angle θL is applied to the user.

  If the left bending angle θL is larger than the operation start angle θS, it is determined that the user is standing, and an exhaust valve release signal HO for releasing the exhaust valve is output to the left pressure adjustment valve 48 in step SB20. The process is terminated. Thereby, air is discharged | emitted from the left actuator 42 and the left standing force which the lower back assistance apparatus 10 acted on the user is cancelled | released.

  According to the present embodiment, as described above, the right bending angle θR that is the angle between the back frame 14 and the right lower limb frame 20 and the left bending angle θL that is the angle between the back frame 14 and the left lower limb frame 21 are set. Accordingly, since the force F is applied separately to the left and right, the user's standing operation can be assisted smoothly.

  [Second Embodiment]

  Next, a second embodiment of the present invention will be described. In the present embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  In the second embodiment, the waist assist device 10 includes an acceleration sensor 62. About another structure, it is the same as that of 1st Embodiment.

As shown in FIG. 10, the acceleration sensor 62 is attached in front of the shoulder belt 22 </ b> B and can detect acceleration due to movement of the attached portion. As shown in FIG. 11, the acceleration sensor 62 is connected to the control unit 50, and outputs the detected acceleration to the control unit 50.

  The memory 60 also stores the operation start acceleration AS. The operation start acceleration AS is set in order for the control unit 50 to start the lower back assistance process. When the acceleration detected by the acceleration sensor 62 is equal to or higher than the operation start acceleration AS, FIGS. The indicated lower back assistance process is executed.

  As described above, the acceleration sensor 62 can be used to start the assisting operation of the lower back in accordance with the movement of the user.

[Third embodiment]

  Next, a third embodiment of the present invention will be described. Also in this embodiment, the same parts as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  As shown in FIG. 12, in the third embodiment, the lower back assistance apparatus 10 includes an expiration sensor 64. About another structure, it is the same as that of 1st Embodiment.

The exhalation sensor 64 is a sensor that can detect inhalation and exhaustion performed by the user on the exhalation sensor 64, and is connected to the control unit 50 as shown in FIG. The expiration sensor 64 outputs the detected expiration to the control unit 50 by distinguishing between intake and exhaust.

  Next, the operation in this embodiment will be described.

In the present embodiment, when the user inhales or exhausts air from the exhalation sensor 64, the inhalation or exhaust air is detected by the exhalation sensor, and an exhalation detection signal BS is sent to the control unit 50. When the breath detection signal BS is input to the control unit 50, the waist assist process shown in FIG. 14 is executed. Again, the control of the right actuator 40 and the left actuator 42 are separately processed in parallel.

  As shown in FIG. 14, first, in step SC10, it is determined whether or not the expiration detection signal BS is inspiration. In the case of intake, the control of the right actuator 40 acquires the right bending angle θR in step SC12, and calculates and sets the right pressure PR corresponding to the right bending angle θR in step SC14. In step SC16, pressure adjustment processing is performed. The pressure adjustment process is the same as that shown in FIG.

When the pressure adjustment process is completed, the process proceeds to step SC18, and it is determined whether or not there is an input of the inhalation exhalation detection signal BS at the present time. If the determination is affirmative, the process returns to step SC12 and the above processing is repeated. Thereby, when the inhalation by the user is continued, the right standing force corresponding to the right bending angle θR is continuously applied.

If the determination is negative, in step SC20, an air supply valve closing signal KC is output and the air supply valve is closed. By this closing, the force F at the right actuator 40 is maintained.

The control of the left actuator 42 is performed in the same manner as the right actuator 40. That is, in the case of intake, the left bending angle θL is acquired in step SD12, and the left pressure PL corresponding to the left bending angle θL is calculated and set in step SD14. In step SD16, pressure adjustment processing is performed. The pressure adjustment process is the same as that shown in FIG.

When the pressure adjustment process is completed, the process proceeds to step SD18, and it is determined whether or not the breath detection signal KS is currently input. If the determination is affirmative, the process returns to step SD12 and the above processing is repeated. Thereby, when the inhalation by the user is continued, the left standing force corresponding to the left bending angle θL is continuously applied.

If the determination is negative, in step SD20, an air supply valve closing signal KC is output to close the air supply valve. By this closing, the force F at the left actuator 42 is maintained.

If it is determined in step SC10 that the exhalation detection signal BS is not inhalation, that is, if the exhalation detection signal BS is exhaust, the exhaust valve opening signal HO is sent to the right actuator 40 and the left actuator 42 in step SC22. To release the right and left standing forces.

  According to the present embodiment, using the expiration sensor 64, the user can operate the right actuator 40 and the left actuator 42 according to inspiration and exhaust.

  In order to confirm the effect of the present invention, the inventors have examined how much the amount of muscle strength used is reduced by the lumbar assist device for each posture of the user wearing the lumbar assist device for lifting the underlying load. Was measured. The measurement was performed at the four positions of the spine upright muscle, upper right RU, lower right RL, upper left LU, and lower left LL. The posture of the user was tested in three patterns of the first pattern to the third pattern.

  In the first pattern, as shown in FIG. 15, a load 66 is placed in front of the user, both feet are opened in parallel along the load 66, and hands are placed on both sides of the load 66 and lifted. As the lifting operation proceeds, the right bending angle θR and the left bending angle θL of the user gradually increase, but there is almost no difference between the left and right angles, and the lifting operation is completed.

  In the second pattern, as shown in FIG. 16, the luggage 66 is placed on the right side of the user, both legs are opened parallel to the luggage 66 at an angle of 45 degrees, and hands are placed on both sides of the luggage 66 and lifted. It was. In the lifting operation, the user's right bending angle θR was smaller than the left bending angle θL, and both angles gradually increased, and the lifting operation was completed.

  In the third pattern, as shown in FIG. 17, the luggage 66 is placed in front of the user, both legs are opened back and forth so that the right leg is in front, and hands are placed on both sides of the luggage 66 and lifted. In the lifting operation, the user's right bending angle θR was smaller than the left bending angle θL, and both angles gradually increased, and the lifting operation was completed.

  In the test, when the right actuator 40 and the left actuator 42 are operated at a constant pressure (0.5 MP) (conventional example), the right actuator 40 and the left actuator 42 are set according to the right bending angle θR and the left bending angle θL. In the case of changing the pressure of (Example). FIG. 18A shows the results of the conventional example with respect to the rate of decrease in the amount of muscle strength used at the four locations of the upper right RU, the lower right RL, the upper left LU, and the lower left LL in each of the first pattern to the third pattern. FIG. 18B shows the results of the examples.

  From the graphs of FIGS. 18A and 18B, if the posture is the first pattern, the rate of decrease in the amount of strength used is not significantly different between the conventional example and the example, but the system is the second pattern, the third pattern In this case, in the conventional example, the rate of decrease in the amount of muscle strength used was a value lower than 20%, but in the example, it was about 40%, indicating that the assist effect was high.

10 Waist assist device 12 Waist frame portion 14 Back frame (back wearing portion)
16R right joint part 16L left joint part 18 right thigh plate (lower right mounting part)
19 Left thigh plate (lower left mounting part)
20 Right lower limb frame (lower right wearing part)
21 Left lower limb frame (lower left wearing part)
22 Front support section 40 Right actuator 42 Left actuator 46 Right pressure adjustment valve 48 Left pressure adjustment valve 50 Control section 52D Lower right angle sensor (right angle detection section)
52U Upper right angle sensor (Right angle detector)
54D Lower left angle sensor (Left angle detector)
54U Upper left angle sensor (Left angle detector)
56 right pressure sensor 58 left pressure sensor 62 acceleration sensor 64 breath sensor (breath detection sensor)
θL Left bending angle θR Right bending angle θS Operation start angle

Claims (5)

  1. A back-mounted part that is mounted on the user's back and can move following the user's forward tilt;
    A front support part that is attached to the back mounting part and extends to the front side of the user's trunk and supports the front side of the user's trunk;
    A right leg mounting part to be worn on the user's right leg and a left leg wearing part to be worn on the left leg;
    It is arranged between the right lower limb wearing part and the back wearing part, and is connected to the right lower limb wearing part and the back wearing part and in front of the user between the back wearing part and the right lower limb wearing part. A right joint with a variable right bend angle;
    It is arranged between the left lower limb wearing part and the back wearing part, and is connected to the left lower limb wearing part and the back wearing part, in front of the user between the back wearing part and the left lower limb wearing part. A left joint with a variable left bend angle;
    A right actuator that causes a right standing force in a direction to rise from a forward tilt of the user to act between the back mounting portion and the right lower limb mounting portion;
    A left actuator that causes a left standing force in a direction to rise from a forward tilt of the user to act between the back mounting portion and the left lower limb mounting portion;
    A right angle detector for detecting the right bending angle;
    A left angle detection unit for detecting the left bending angle;
    The right standing force by the right actuator is controlled according to the right bending angle detected by the right angle detection unit, and the left actuator by the left actuator according to the left bending angle detected by the left angle detection unit. A control unit for controlling the left standing force;
    An exhalation detection sensor for detecting the intake and exhaust of the user;
    With
    The control unit controls the right actuator so that the right standing force is increased as the right bending angle is decreased, and the left actuator is configured to apply the left standing force as the left bending angle is decreased. And controlling the right actuator and the left actuator so that the right standing force and the left standing force are applied when one of the inhalation and the exhalation is detected by the exhalation detection sensor, and the exhalation When the other expiration of inspiration and exhaust is detected by the detection sensor, the right actuator and the left actuator are controlled so as to release the right standing force and the left standing force, and no expiration is detected by the expiration detection sensor. The right actuator and the left actuator to stop the operation of the right actuator and the left actuator. Controlling the over-data or the left actuator, lumbar assist device according to claim.
  2. A back-mounted part that is mounted on the user's back and can move following the user's forward tilt;
    A front support part that is attached to the back mounting part and extends to the front side of the user's trunk and supports the front side of the user's trunk;
    A right leg mounting part to be worn on the user's right leg and a left leg wearing part to be worn on the left leg;
    It is arranged between the right lower limb wearing part and the back wearing part, and is connected to the right lower limb wearing part and the back wearing part and in front of the user between the back wearing part and the right lower limb wearing part. A right joint with a variable right bend angle;
    It is arranged between the left lower limb wearing part and the back wearing part, and is connected to the left lower limb wearing part and the back wearing part, in front of the user between the back wearing part and the left lower limb wearing part. A left joint with a variable left bend angle;
    A right actuator that causes a right standing force in a direction to rise from a forward tilt of the user to act between the back mounting portion and the right lower limb mounting portion;
    A left actuator that causes a left standing force in a direction to rise from a forward tilt of the user to act between the back mounting portion and the left lower limb mounting portion;
    A right angle detector for detecting the right bending angle;
    A left angle detection unit for detecting the left bending angle;
    The right standing force by the right actuator is controlled according to the right bending angle detected by the right angle detection unit, and the left actuator by the left actuator according to the left bending angle detected by the left angle detection unit. A control unit for controlling the left standing force;
    With
    When the proportional constant is A, the right bending angle is θR, and the left bending angle is θL, the right pressure PR for applying the right standing force is PR = A / θR, and the left standing force The waist assist device is characterized in that the right actuator and the left actuator are controlled so that a left pressure PL for causing the pressure to act is PL = A / θL .
  3. The control unit controls the right actuator to start the operation when the right bending angle is smaller than a predetermined operation start right angle, and the left operation angle is a predetermined left operation start angle. The lower back assistance apparatus according to claim 2 , wherein the left actuator is controlled so as to start operation when it becomes smaller.
  4. An acceleration detection sensor is attached to the front support portion,
    The lower back assistance device according to claim 2 , wherein the control unit controls the right actuator and the left actuator so as to start operation when an acceleration equal to or higher than a predetermined operation start acceleration is detected by the acceleration detection sensor. .
  5. An exhalation detection sensor that detects the intake and exhaust of the user is attached,
    The control unit controls the right actuator and the left actuator so that the right standing force and the left standing force are applied when one of inspiration and exhaust is detected by the exhalation detection sensor, and the exhalation When the other expiration of inspiration and exhaust is detected by the detection sensor, the right actuator and the left actuator are controlled so as to release the right standing force and the left standing force, and no expiration is detected by the expiration detection sensor. 3. The lower back assistance apparatus according to claim 2 , wherein the right actuator and the left actuator are controlled so as to stop the operations of the right actuator and the left actuator.
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JP6407539B2 (en) * 2014-03-13 2018-10-17 株式会社東芝 Knee joint motion support device
JP6153881B2 (en) * 2014-03-20 2017-06-28 株式会社クボタ Assist suit
JP5878660B1 (en) * 2014-09-29 2016-03-08 Cyberdyne株式会社 Wearable motion assist device
JP6547285B2 (en) * 2014-12-09 2019-07-24 大日本印刷株式会社 Bending movement assisting device, bending movement assisting method and program for bending movement assistance
JP6382730B2 (en) * 2015-01-14 2018-08-29 株式会社クボタ Assist suit
JP6569848B2 (en) * 2015-02-18 2019-09-04 国立大学法人 和歌山大学 Power assist robot
JP6490455B2 (en) * 2015-03-05 2019-03-27 ナブテスコ株式会社 Strength assist device
JP6548917B2 (en) * 2015-03-05 2019-07-24 ナブテスコ株式会社 Strength support device
EP3395512A1 (en) * 2015-12-22 2018-10-31 Cyberdyne Inc. Wearable motion assisting device performance evaluation device and performance evaluation method
JP6283799B1 (en) * 2016-09-21 2018-02-28 佐藤 裕 Lumbar assist device
JP2019155506A (en) * 2018-03-09 2019-09-19 パナソニック株式会社 Operation support device

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JP4178185B2 (en) * 2004-02-17 2008-11-12 国立大学法人 筑波大学 Wearable motion assist device, drive source control method and program in wearable motion assist device
JP4407632B2 (en) * 2005-12-26 2010-02-03 パナソニック株式会社 Strength assist device
JP5152852B2 (en) * 2007-06-07 2013-02-27 学校法人東京理科大学 Lumbar assist device
JP5107206B2 (en) * 2008-11-05 2012-12-26 本田技研工業株式会社 Workload leveling method and workload leveling support device
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