JP5868011B2 - Walking exercise aid - Google Patents

Description

The present invention exerts on the user an assist force that assists in realizing the bending and stretching of the user's joint and a load (resisting force) for efficiently strengthening the muscular force necessary for the bending and stretching. The present invention relates to a walking exercise aid.

  Conventionally, in order to support the movement of a physically handicapped person who has lost muscular strength or an elderly person who has lost muscular strength, such as walking, a wearable movement assist as shown in Japanese Patent No. 4200202 (Patent Document 1) A device has been proposed.

  Incidentally, the wearable movement assist device described in Patent Document 1 is a so-called exoskeleton-type assist device in which a hard exoskeleton arm arranged on the side of the user's body is a motor at the joint. As a result, the arm, leg, etc. of the user wearing the exoskeleton arm can be operated together with the exoskeleton arm.

  However, in such an auxiliary device using a hard exoskeleton, the user's physique (the length of the thigh and lower leg, etc.) must be accurately measured, and the length of the exoskeleton arm must be adjusted precisely. If this adjustment is not appropriate, excessive force can be applied to each joint during exercise, which can be very dangerous. Moreover, the attaching / detaching operation of the exoskeleton-type assisting device is not easy for a user who needs assistance in operation, and requires considerable labor and time for attaching / detaching. Therefore, it has been difficult to wear and use it on a daily basis for the purpose of making the movement easier by making up for the decreased muscular strength. In addition, when using an auxiliary device having a large exoskeleton, it is almost impossible for the user to operate against the driving force of the exoskeleton with his or her own muscle strength, and walking for the purpose of efficiently increasing muscle strength The use of an auxiliary device for training or the like is not considered at all. Further, since it is necessary to measure surface myoelectric potential in order to control the operation of the auxiliary device, there is also a problem that the user needs to wear a large number of surface electrodes (usually 18 pieces).

  Note that Japanese Patent Application Laid-Open No. 2010-110464 (Patent Document 2) proposes a walking assistance device having a relatively simple and lightweight structure. Since a rigid exoskeleton (frame) extending along the side surface of the thigh is necessary, there have been cases where ease of mounting and weight reduction have not been sufficient.

Japanese Patent No. 4200202 JP 2010-110464 A

The present invention was made against the background of the circumstances described above, the problem to be solved, as well as user is lightweight with a simple structure is easily removable, the through aid operations effectively An object of the present invention is to provide a walking exercise assisting device having a novel structure that can be used for performing.

That is, according to the first aspect of the present invention, in the walking exercise assisting device, a pair of flexible auxiliary force transmission portions are provided only on the front surfaces of the left and right legs, and each auxiliary force transmission portion is provided. Is disposed across the hip joint, and with respect to both end portions of each auxiliary force transmission portion, a first mounting portion to be mounted on a site on the knee side that is one side of the user's hip joint; And a second mounting portion that is mounted on the waist side, which is the other side, and a portion where the first mounting portion is mounted by being wound around a leg portion below the knee joint. while it has, together with the tensile drive source exerting a force is provided between the mounting portion of the mounting portion and the second first through each該補help transfer portion, of the該補help transfer unit At least a part is elastically deformable in the direction of application of the tensile force by the drive source, The intermediate portion in the longitudinal direction located in front of the hip joint in the assisting force transmission portion is allowed to move forward from the hip joint by the action of the tensile force by the driving source, and the tensile force by the driving source causes the bending of the hip joint. A sensor that acts as an assisting force that reinforces the force necessary for the exercise and that detects the flexion and extension of the hip joint of the user is provided, and an electric motor serving as the drive source based on the detection result of the sensor is provided. The electric motor is controlled so that an assisting force is exerted on the flexion movement of the hip joint and the extension movement of the knee joint in the swing leg that is fed forward after kicking with the user's walking movement. While the motor is controlled, the electric motor is controlled so that the assist force is released with respect to the extension movement of the hip joint on the grounding leg that is sent backward after the grounding according to the walking motion of the user. There together with the control device is arranged to be controlled, the elasticity of the auxiliary force transmission direction of each該補help transfer unit is characterized in that there is a 0.3~0.5kgf / cm.

  According to the joint exercise assisting tool described in the first aspect as described above, the assisting force transmitting portion has flexibility and is allowed to be deformed, so that the joint exercise assisting tool having a hard exoskeleton is provided. In comparison, the user can easily attach and detach. Therefore, when the movement is difficult due to aging or a decrease in muscle strength due to injury or illness, the target movement can be performed using the force obtained from the joint exercise assisting device or obtained from the joint exercise assisting device. Efficiently increasing the muscular strength necessary for the intended operation using force as a load is realized by a simple attachment / detachment operation of the joint exercise assisting tool. As a result, locomotive syndrome (motor organ syndrome) caused by musculoskeletal disorders can prevent daily activities of the elderly, etc., and perform highly efficient muscle strengthening training in daily life. Thus, various illnesses and temporary muscular weakness due to resting bed can be quickly resolved.

  Furthermore, since the auxiliary force transmission unit is flexible, it is difficult to give the user a sense of being restrained, and the wearing feeling can be improved. Therefore, the physical and mental burden of the user due to the use of the joint exercise assisting tool is reduced, and the user can wear it continuously for a long time.

In addition, since at least a part of the auxiliary force transmitting portion can be elastically deformed in the direction in which the tensile force acts, the tensile force exerted by the driving source is assisted between the first mounting portion and the second mounting portion. Relieved by the elasticity of the force transmission part. Therefore, the auxiliary force can be buffered without applying an excessive load to the user's hip joint or the like.
In the walking exercise assisting device described in the first aspect of the present invention, the aspect in which the tensile force by the drive source acts as an assist force that reinforces the force necessary for the flexion movement of the hip joint is employed. Has been.
According to the first aspect, when the muscular force required for the flexion movement of the hip joint is reduced, the tensile force by the drive source is transmitted through the auxiliary force transmission band and acts as an assist force. The shortage of muscular strength is compensated, and the intended hip joint flexion and extension can be performed. According to this, for example, when exercise is difficult due to a decrease in muscular strength due to aging or the like, it is possible to assist the user's operation as necessary and maintain an easily exerciseable state. As a result, it is possible to prevent the activity from being restricted due to the decrease in muscular strength, and it is possible to prevent the symptom from deteriorating by preventing further decrease in muscular strength .

In the first walking movement aid as claimed in state like the present invention, the sensor for detecting the flexing of hip joint of a user is provided, controls the drive source based on the detection result of the sensor A mode in which a control device is provided is employed .

According to the first aspect, since the auxiliary force is automatically controlled based on the detection result of the sensor, appropriate assistance can be obtained in a timely manner without requiring troublesome operations such as switch operation.

According to a second aspect of the present invention, in the walking exercise assisting device described in the first aspect, the sensor is configured to adjust the hip joint of the user based on a force exerted on the sensor as the user flexes and stretches the hip joint. It is possible to detect bending and stretching.

According to the second aspect, since the bending and stretching of the hip joint is detected based on the force exerted on the sensor, it is possible to detect with high accuracy and efficiently assist the user's operation. .

According to a third aspect of the present invention, in the walking exercise assisting device described in the second aspect, the sensor includes at least one of a capacitance type sensor and a resistance change type sensor. is there.

If a capacitive sensor is employed in the third aspect, the force exerted on the sensor can be detected with high accuracy, and the operation can be assisted appropriately. Furthermore, since the capacitance type sensor has a small decrease in detection accuracy even when force is repeatedly input and the reproducibility of detection results is good, durability can be improved. Furthermore, the capacitance type sensor has a small detection accuracy change range with respect to a temperature change, and the detection accuracy can be easily corrected by adjusting the initial value with respect to the temperature change. Even when it is large, stable detection is realized.

  On the other hand, if a resistance change type sensor is used, the resistance value changes sharply with respect to the force exerted on the sensor, so control with little time delay becomes possible, and operation assistance can be executed in a timely manner. it can. Furthermore, since the resistance change type sensor can detect a wide range from the case where the force acting on the sensor is small to the case where it is large, the detection result is effective for both cases where the bending of the joint is small and large. Can be obtained.

According to a fourth aspect of the present invention, in the walking exercise assisting device described in any one of the first to third aspects, the auxiliary force transmission portion is formed in a belt shape extending in the force transmission direction. .

According to the 4th aspect, the mass of an auxiliary force transmission part is made small by making an auxiliary force transmission part into strip | belt shape, and the weight reduction of a walking exercise assistance tool is achieved. As a result, improvement in ease of wearing and reduction in load due to wearing are realized, and a walking exercise aid that is easier to handle can be obtained.

  In addition, since the auxiliary force transmission portion is thin, bending in the thickness direction is easily allowed. Therefore, the auxiliary force transmission portion is deformed according to the surface shape of the user's body, thereby The feeling is reduced and the wearing feeling is improved. Furthermore, if the auxiliary force transmission part is thin, when the garment is worn after wearing the joint exercise assisting tool, the convex part of the clothes is hardly generated by the auxiliary force transmitting part, and the joint exercise assisting tool is prevented from being noticeable. It becomes easy to use regularly in daily life.

According to a fifth aspect of the present invention, in the walking exercise assisting device described in any one of the first to fourth aspects, the auxiliary force transmitting portion is integrally provided in a garment-shaped main body portion, The auxiliary force transmitting portion is disposed across the hip joint of the user by wearing the main body portion.

According to the fifth aspect, since the auxiliary force transmission part is provided integrally with the garment-shaped main body part, the attachment of the auxiliary force transmission part and the arrangement at the predetermined position are the same as the garment. Easy to complete by wearing. Therefore, it is easy to use even an elderly person or a disabled person whose muscle strength has decreased, and the tensile force from the driving source is appropriately transmitted to effectively obtain the desired operation assistance. it can.

According to a sixth aspect of the present invention, in the walking exercise assisting device described in any one of the first to fifth aspects, the elastically deformable portion of the auxiliary force transmitting portion is a tensile force generated by the driving source. The elasticity in the direction orthogonal to the elasticity in the direction of action is reduced.

According to the sixth aspect, in the length direction, which is the direction in which the tensile force acts, the tensile force from the drive source is sufficiently buffered and transmitted, so that the load on the user's hip joint and the like can be suppressed. . Further, in the width direction orthogonal to the direction in which the tensile force is applied, the deformation is suppressed, whereby selective transmission of force is realized, and stability of the shape and durability are improved.

According to a seventh aspect of the present invention, in the walking exercise assisting device described in any one of the first to sixth aspects, the first mounting portion is a leg portion below the knee joint of the user. And the second mounting portion is attached to the user's waist.

According to the seventh aspect, since the tensile force by the drive source acts as an assist force for reinforcing the muscle force required for bending the hip joint, the walking motion accompanied by the hip joint flexion / extension motion or the like is a walking motion. Assisted by assistive devices.

According to an eighth aspect of the present invention, in the walking exercise aid described in any one of the first to seventh aspects, the drive source is attached to the second mounting portion.

According to the eighth aspect, since the drive source is supported by the second mounting portion attached to the waist that is smaller than the thigh when the hip joint is bent and stretched, the drive source is stably supported, By disposing the drive source that tends to be relatively heavy on the waist where the movement is small, it is possible to prevent the inertial force or the like acting on the drive source from being a load on the leg of the user.

  In addition, the first mounting portion is attached to the thigh or knee joint, and the second mounting portion that supports the drive source is attached to the lumbar region. Both the first mounting portion and the second mounting portion are hip joints. It is arrange | positioned in the position near. Therefore, it is possible to shorten the length of the auxiliary force transmission portion disposed across the hip joint, and it is advantageous to reduce the weight and size of the joint exercise assisting device, and to facilitate the joint exercise assisting device. Can be wearable.

According to the present invention, by exerting a tensile force via the auxiliary force transmission portion between the first mounting portion and a second mounting portion disposed on the side of the one across the hip, hip to assist the bending songs, it is a TURMERIC complement the lack of muscle strength. Moreover, the assist force transmission portion is elastically deformable in the direction of action of the tensile force by the drive source, since the tensile by the drive source force is exerted on the user is buffered, excessive load on the hip is prevented This reduces the burden on the user. Furthermore, since the auxiliary force transmission part has flexibility, it can be easily attached and detached as necessary, and can be used for a long time with a good wearing feeling.

The front view which shows the joint exercise assistance tool as the 1st Embodiment of this invention. The rear view of the joint exercise assistance tool shown by FIG. The perspective view of the electrostatic capacitance type sensor which comprises the joint exercise assistance tool shown by FIG. The figure which shows the internal structure of a drive device in the rear view of the joint exercise assistance tool shown by FIG. The front view which shows the joint exercise assistance tool as the 2nd Embodiment of this invention. FIG. 6 is a rear view of the joint exercise assisting tool shown in FIG. 5. The front view which shows the joint exercise assistance tool as the 3rd Embodiment of this invention. The rear view of the joint exercise assistance tool shown by FIG. The front view which shows the joint exercise assistance tool as the 4th Embodiment of this invention. The front view which shows the joint exercise assistance tool as another one Embodiment of this invention. The rear view which shows the joint exercise assistance tool as another one Embodiment of this invention.

  Embodiments of the present invention will be described below with reference to the drawings.

  1 and 2 show an articulation assisting tool 10 as a first embodiment of the present invention. The joint exercise assisting tool 10 assists the flexion and extension of the hip joint, and is one of the hip joints sandwiched between both ends of the assist force transmission bands 12 and 12 as a pair of left and right assist force transmitting portions extending across the hip joint. The first mounting portion 14 attached to the side and the second mounting portion 16 attached to the other side across the hip joint have a structure provided respectively. In FIG. 1 and FIG. 2, the joint exercise assisting tool 10 is illustrated in a worn state by the user, and the contour line of the user is indicated by a two-dot chain line. Further, in the following description, as a general rule, the front surface is the user's abdominal side surface (front surface), the rear surface is the user's back side surface (rear surface), and the vertical direction is the vertical vertical direction. Say the top and bottom inside. In the following description, “assist force” refers to an auxiliary force that acts in a direction that supplements the force required for the operation, and “resist force” resists the force required for the operation. Auxiliary force acting in the direction.

  More specifically, the auxiliary force transmission band 12 has a structure in which a first traction band 18 and a second traction band 20 each formed of a cloth are connected by a metal connecting bracket 22. The constituent parts of the traction band 18 and the second traction band 20 can be flexibly deformed.

  The first traction band 18 is formed of a thin strip-like cloth that gradually becomes narrower toward one end side (the upper side in FIG. 1). It is arrange | positioned so that the front surface of a thigh may be covered. The first traction band 18 can be elastically deformed in the length direction (vertical direction in FIG. 1), which is the direction in which a tensile force is applied by the electric motor 40 described later, and also in the width direction (in FIG. 1). In the left and right directions), the elasticity is reduced and deformation is limited, and the length and width directions have anisotropy in the amount of deformation with respect to the input. The first traction band 18 desirably has elasticity of 0.3 kgf / cm or more and 0.5 kgf / cm or less in the length direction.

  Further, a ring-shaped connecting bracket 22 is attached to the upper end of the first traction band 18, and the first traction band 18 is connected to the second traction band 20 via the connection bracket 22. The second traction band 20 has a belt shape having a substantially constant width dimension, and is formed of a fabric using fibers having low stretchability. The second traction band 20 is connected to the first traction band 18 with an intermediate portion inserted through the connection fitting 22, thereby forming the auxiliary force transmission band 12. Note that the second traction band 20 does not necessarily need to have reduced elasticity, and a second elastic band formed of elastic fibers or the like similar to the first traction band 18 may be employed.

  Further, a first mounting portion 14 is provided below the first traction band 18 of the auxiliary force transmission band 12. The first mounting portion 14 is a sports supporter used to protect the knee joint, and is formed of a stretchable cloth or the like, and is wound around the user's knee joint and mounted. The first mounting portion 14 is integrally formed with the first traction band 18, and the first traction band 18 extends upward from the front surface portion of the first mounting portion 14. In addition, the 1st mounting part 14 is provided with the partial through-hole 24, and it does not prevent bending and extension of a knee joint by positioning the through-hole 24 in a user's kneecap. .

  Further, both end portions of the second traction band 20 of the auxiliary force transmission band 12 are attached to the second mounting part 16. The second mounting portion 16 has a transmission band support belt 26 and a driving device support belt 28 that are respectively mounted on the waist, and one end of the second traction band 20 is attached to the transmission band support belt 26. And the other end is attached to the driving device support belt 28.

  The transmission belt support belt 26 is formed of a belt-like fabric with small stretchability, and is wrapped around the user's waist, and both ends are connected by hook-and-loop fasteners, snaps, hooks, etc. It is attached to. In addition, the transmission band support belt 26 is provided with a pair of guide fittings 30 and 30 having a ring shape, and is disposed on the left and right sides of the waist when the transmission band support belt 26 is attached to the waist. One end portion of the second traction band 20 is attached to the front surface portion of the transmission band support belt 26 by using means such as sewing, welding, snaps, hooks, and hook-and-loop fasteners.

  Further, a pair of capacitive sensors 32 as sensors are attached to the transmission band support belt 26. The capacitance type sensor 32 is a flexible capacitance change type sensor that is allowed to be elastically deformed as disclosed in, for example, Japanese Patent Application Laid-Open No. 2010-43880 and Japanese Patent Application Laid-Open No. 2009-20006. As shown in FIG. 3, a structure in which a pair of electrode films 36a and 36b formed of a conductive elastic material is provided on both surfaces of a dielectric layer 34 formed of a dielectric elastic material. Have. The capacitive sensor 32 is attached to the transmission band support belt 26 by fixing one electrode film 36 a to the inner surface of the back portion of the transmission band support belt 26.

  When the transmission band support belt 26 is attached, the capacitive sensor 32 is sandwiched between the flange and the transmission band support belt 26 with the other electrode film 36b superimposed on the user's buttocks. As a result, the capacitive sensor 32 detects a change in the working pressure due to the flexion and extension of the hip joint as a change in the capacitance accompanying the approach / separation of the pair of electrode films 36a and 36b, and the detection result will be described later. 38 to the control device 46. As shown by broken lines in FIG. 2, the left and right pairs of the capacitive sensors 32 are arranged, and one capacitive sensor 32 is superimposed on each of the left and right collars. In FIG. 3, the thickness dimension of the dielectric layer 34 and the pair of electrode films 36a and 36b is shown larger than the length dimension and the width dimension. 34 and the pair of electrode films 36a and 36b are both thin, and can be disposed without giving a sense of incongruity to the collar portion.

  On the other hand, as shown in FIG. 1 and FIG. 2, the drive device support belt 28 is formed of a belt-like fabric having a low stretchability, like the transmission belt support belt 26, and is wound around the waist of the user. Then, both ends are connected to the user's waist by connecting them with hook-and-loop fasteners, snaps, hooks, and the like. Further, the drive device support belt 28 has a large area with the back surface portion extending below the front surface portion, and the drive device 38 is fixed to the back surface portion.

  As shown in FIG. 4, the driving device 38 includes an electric motor 40 as a driving source, a rotating shaft 42 that is rotationally driven by the electric motor 40, and a power supply device such as a battery that supplies electric power to the electric motor 40. 44 and a control device 46 that controls the electric motor 40 based on the detection result of the capacitive sensor 32.

  The electric motor 40 is a general electric motor, and generates a rotational driving force of the drive shaft 48 by energization from the power supply device 44. Further, the rotational driving force exerted on the drive shaft 48 of the electric motor 40 is transmitted to the rotary shaft 42 via a reduction gear train (not shown). The rotating shaft 42 is a circular shaft-like member supported so as to be allowed to rotate in the circumferential direction, and the other end of the second traction band 20 is fixed to the outer peripheral surface thereof. As a result, the other end of the second traction band 20 is attached to the drive device support belt 28 via the drive device 38, and thus the auxiliary force transmission band 12 is disposed across the hip joint. .

  The rotating shaft 42 is rotated in one circumferential direction by the driving force exerted from the driving shaft 48 of the electric motor 40, whereby the second traction band 20 of the auxiliary force transmission band 12 is wound around the rotating shaft 42. . Thereby, the driving force by the electric motor 40 is transmitted in the length direction of the auxiliary force transmission band 12 (length direction of the first traction band 18 and the second traction band 20), and the first mounting portion 14 and A tensile force is exerted between the second mounting portions 16. As is clear from the above, the auxiliary force transmission band 12 extends in the transmission direction of the driving force of the electric motor 40. On the other hand, when the rotating shaft 42 is rotated in the other circumferential direction by the electric motor 40, the winding of the auxiliary force transmission band 12 by the rotating shaft 42 is released, and the first mounting portion 14 and the second mounting portion 16 The tensile force is released between.

  Further, the control of the electric motor 40 is executed by the control device 46 by the control device 46 controlling the presence / absence of energization from the power supply device 44 to the electric motor 40 and the energization direction (the rotation direction of the drive shaft 48). Yes. The control device 46 includes a CPU, a RAM, a ROM, etc., and detects the hip joint detected by detecting the flexion and extension movements of the hip joint of the user based on the detection result (output signal) of the capacitive sensor 32. The energization to the electric motor 40 is controlled according to the movement of the motor. Thus, the tensile force exerted between the first mounting portion 14 and the second mounting portion 16 based on the driving force of the electric motor 40 is adjusted by the control device 46. In the present embodiment, the control device 46 specifies the stage of walking motion (for example, the stage of bending the hip joint and carrying the hind legs forward, the stage of extending the hip joint and kicking the ground with the front legs, etc.) The energization to the electric motor 40 is controlled according to the identified stage of the walking motion.

  If the joint movement assisting device 10 having such a structure is worn, when the hip joint is bent, an auxiliary force (assist force) is applied so as to reinforce the force necessary for the flexion movement of the hip joint. The movement with bending and stretching is assisted. That is, when the control device 46 specifies that the user is going to bend the hip joint based on the detection result of the capacitive sensor 32, the power supply device 44 energizes the electric motor 40 to rotate the rotating shaft 42 in the circumferential direction. Rotate to one side. As a result, the second traction band 20 is wound around the rotary shaft 42 and the substantial length of the second traction band 20 is shortened, so that the second traction band 20 is extrapolated to an intermediate portion of the second traction band 20. The connected fitting 22 is pulled toward the second mounting portion 16 side (upper side) and displaced. Then, a tensile force is exerted on the first mounting portion 14 through the first traction band 18 attached to the connecting fitting 22, and the first mounting portion 14 mounted on the knee joint is mounted on the waist. Is pulled toward the mounting portion 16 side. As a result, the assist force acts so as to attract the knee joint to the waist side against gravity, and the flexion movement of the hip joint is assisted. Note that if the control device 46 adjusts the amount of rotation of the rotating shaft 42 (the energization time to the electric motor 40) based on the detection value of the capacitive sensor 32, it is excessive for the operation that the user intends to perform. Assist power without shortage is provided.

  On the other hand, when the control device 46 specifies that the user intends to extend the hip joint based on the detection result of the capacitive sensor 32, the power supply device 44 energizes the electric motor 40 to rotate the rotating shaft 42. Rotate in the other direction. As a result, the winding of the second traction band 20 by the rotating shaft 42 is released, and the substantial length of the second traction band 20 becomes longer. The inserted coupling fitting 22 is displaced in a direction (lower side) away from the second mounting portion 16 due to its own weight or the like. Then, the tensile force exerted on the first mounting portion 14 through the first traction band 18 attached to the connection fitting 22 is released, and the first mounting portion 14 is moved to the second position based on the action of gravity or the like. Separated from the mounting portion 16. As a result, the extension movement of the hip joint is prevented from being hindered by the joint exercise assisting tool 10.

  As described above, if the joint exercise assisting tool 10 is worn, a part of the force required when the hip joint is bent is compensated by the generated force of the electric motor 40. For example, the hip joint is bent during walking. When the rear leg is moved forward, the intended movement can be performed with a small muscular strength. Therefore, if the joint exercise assisting tool 10 is used, even if the user does not have sufficient muscular strength to perform the operation due to aging or injury, the intended operation can be performed smoothly, and the user can It is possible to prevent the activity of the person from being restricted.

  In addition, the first traction band 18 of the auxiliary force transmission band 12 provided on the path for transmitting the generated driving force of the electric motor 40 to the user's leg as an assisting force can be elastically deformed in the force transmission direction. Has been. Thereby, the generated driving force of the electric motor 40 is relaxed by the elastic deformation of the first traction band 18 and then exerted on the leg of the user. Therefore, as compared with the case where the generated driving force of the electric motor 40 is directly transmitted, it is possible to reduce the load on the user's joints and the like, thereby preventing problems such as muscle damage. In particular, in the present embodiment, the assist force exerted on the user's leg is a relatively small force of about 2 kgf to 5 kgf, and is not forcibly operated, but is insufficient for the muscular power necessary for the operation. Therefore, the necessary assistance can be performed without imposing a burden on the user's body.

  Moreover, in the present embodiment, the elasticity of the first traction band 18 in the force transmission direction is set between 0.3 kgf / cm and 0.5 kgf / cm. As a result, the generated driving force of the electric motor 40 is sufficiently buffered, and it is possible to avoid an excessive load from acting on the user's leg, and an effective assist that can sufficiently realize the user's operation. Force can be transmitted to the user's leg to effectively assist the movement.

  Further, the first traction band 18 is limited in deformation in a direction substantially orthogonal to the force transmission direction, and the first traction band 18 is integrally formed with the first traction band 18 in the circumferential direction. Expansion and contraction (expansion deformation or contraction deformation) is suppressed, and the stability of the shape is enhanced. Thereby, at the time of the effect | action of the tensile force by the electric motor 40, the 1st mounting part 14 is hold | maintained, without removing from a knee joint, and assist force is effectively transmitted with respect to a leg part.

  Further, the assist force by the joint exercise assisting tool 10 is exhibited during the hip joint bending exercise, while being released during the hip joint extension exercise. Accordingly, if the joint motion assisting tool 10 is worn, the hip joint bending motion that requires a motion against gravity in the standing state is assisted, while the hip joint extending motion assisted in the standing state by the action of gravity. Then, the assist force does not act as a drag force, and a smooth operation is realized. Therefore, even in a walking operation in which the flexion and extension of the hip joint are repeated, the necessary assist force can be provided in a timely manner and the operation can be appropriately assisted without hindering the operation.

  In the joint exercise assisting tool 10 according to the present embodiment, the control device 46 automatically performs such auxiliary switching according to the user's operation state based on the detection result of the capacitive sensor 32. It has become. Therefore, the user does not need to manually control the timing for applying the assist force, the magnitude of the assist force to be applied, and the like, and can obtain appropriate assistance in a timely manner.

  In addition, since the capacitive sensor 32 is used as the sensor, a highly accurate detection result can be obtained. Therefore, for example, if the magnitude of the assist force is adjusted based on the detection result, more appropriate assistance is possible. Further, the capacitance type sensor 32 has a small decrease in detection accuracy with respect to a temperature change and is easy to correct for the temperature change. Therefore, a correct detection result can be stably obtained even when the temperature change is large. . In addition, since the capacitance type sensor 32 has a small decrease in detection accuracy with respect to repeated input, sufficient durability can be ensured, and regular use in daily life can be realized.

  In addition, since the auxiliary force transmission portion in the present embodiment is the auxiliary force transmission band 12 formed of a thin cloth having a belt shape, sufficient flexibility is given, and a hard exoskeleton is formed. Compared to the joint exercise assisting tool, it can be easily attached and detached. That is, when a hard exoskeleton is attached to the user, the user needs to adjust the bending angle of the joint according to the shape of the exoskeleton, and it is often difficult to sit and wear. However, in the joint exercise assisting tool 10 of the present embodiment, the auxiliary force transmission band 12 that connects the first mounting portion 14 and the second mounting portion 16 is flexible and bends as necessary. If the length 12 is sufficiently long, the first mounting portion 14 and the second mounting portion 16 can be mounted at appropriate positions regardless of the bending angle of the user's joint. is there. In addition, since the auxiliary force transmission band 12 is flexible, for example, the first mounting portion 14 and the second mounting portion 16 can be mounted in a sitting posture with a hip joint bent. The attachment / detachment work can be performed in the posture.

  Furthermore, by employing the auxiliary force transmission band 12 formed of a thin strip-shaped cloth, the joint exercise assisting tool 10 is light in weight and can be easily handled even by an elderly person who has weak muscle strength. In addition, in the present embodiment, since the first mounting portion 14 and the second mounting portion 16 are also made of cloth, the entire joint exercise assisting tool 10 is further reduced in weight, and includes an attaching / detaching operation and the like. Further improvement of handling is achieved.

  Furthermore, since the auxiliary force transmission band 12 is made of a thin cloth, the auxiliary force transmission band 12 is easily curved in the thickness direction along the shape of the body surface of the user in the wearing state. Therefore, according to the joint exercise assisting device 10, a good wearing feeling is realized, and when the clothes are worn on the joint exercise assisting device 10, the assisting force transmission band 12 becomes uneven and stands out. Can be used easily in daily life. In the present embodiment, the first mounting portion 14 and the second mounting portion 16 are also thin, and a visual discomfort occurs when clothes are worn over the joint exercise assisting tool 10. It is easier to use in everyday life.

  In addition, the first mounting portion 14 is attached to the knee joint, and the second mounting portion 16 is attached to the waist, thereby preventing the auxiliary force transmission band 12 from becoming unnecessarily long. The assist force is efficiently exerted on the legs while reducing the size of the assisting tool 10. When the distance between the hip joint serving as a fulcrum and the first mounting portion 14 serving as the action point is increased when the thigh is swung, the tensile force efficiently acts on the first mounting portion 14. Because. In addition, since the drive device 38 is provided on the waist where the amount of exercise is small during walking, the drive device 38 can be prevented from interfering with the walking motion.

  5 and 6 show an articulation assisting tool 50 as a second embodiment of the present invention. The joint exercise assisting tool 50 includes an auxiliary force transmission band 12 and an auxiliary force transmission band 52 as auxiliary force transmission parts, and a first mounting part 14 and a second mounting part 16 provided at both ends thereof. ing. In the following description, members and parts that are substantially the same as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

  More specifically, the auxiliary force transmission band 52 includes a third traction band 54 and a fourth traction band 56, and is disposed across the hip joint on the back side of the user. The mounting part 14 and the second mounting part 16 are connected.

  The third traction band 54 extends upward from the upper end on the back side of the first mounting portion 14, the lower end is fixed to the first mounting portion 14, and the upper end is connected to the connection fitting 22. It is fixed. Note that the third traction band 54 is formed separately from the first mounting portion 14 and connected by means such as stitching, and the required performance of the third traction band 54 and the first mounting portion 14. These required performances are highly realized. The third traction band 54 is gradually narrowed upward, and has a shape that allows deformation of the thigh muscles and the like when the hip joint is bent and stretched.

  In addition, a fourth traction band 56 is inserted into the coupling fitting 22 attached to the third traction band 54. Similar to the second traction band 20, the fourth traction band 56 is formed into a thin band shape having a substantially constant width dimension, and is formed of fibers that are difficult to expand and contract to restrict elastic deformation. The middle part of the fourth traction band 56 is inserted into the connecting bracket 22, while one end is fixed to the transmission band support belt 26 by means such as stitching and the other end. The part is fixed to the rotating shaft 42 of the driving device 38. As a result, the third traction band 54 is connected to an intermediate portion of the fourth traction band 56, and the first mounting portion 14 and the second mounting portion 16 are connected to the third and fourth traction bands 54, 56 are connected to each other.

  Then, the rotary shaft 42 is rotated to one side in the circumferential direction by the driving force of the electric motor 40, and the fourth traction band 56 is wound around the rotary shaft 42, whereby the third and fourth traction bands 54. , 56, a tensile force is exerted between the first mounting portion 14 and the second mounting portion 16. On the other hand, the rotating shaft 42 is rotated to the other side in the circumferential direction and the winding of the fourth traction band 56 by the rotating shaft 42 is released, so that the tensile force is released. The electric motor 40 for applying a tensile force to the fourth traction band 56 may be provided separately from the electric motor 40 for applying a tensile force to the second traction band 20, or a common electric motor. The tensile force by the motor 40 may be selectively exerted on one of the second traction band 20 and the fourth traction band 56.

  Then, when the user bends the hip joint, a tensile force in a direction of pulling the first mounting portion 14 toward the second mounting portion 16 is exerted through the third and fourth traction bands 54 and 56, whereby the hip joint An assisting force (resisting force) acting in a direction against the force required for the bending motion of the leg is exerted on the leg. Thereby, since the driving force of the electric motor 40 acts as a load (resistance) with respect to the exercise | movement which bends a hip joint, the muscular strength required for operation | movement accompanying the exercise | movement of a hip joint, such as a walk operation | movement, is efficiently strengthened. Further, when the hip joint is extended, the tensile force exerted between the first mounting portion 14 and the second mounting portion 16 through the third and fourth traction bands 54 and 56 is released, and the tensile force is increased. It is prevented from acting as an assist force. Thereby, the reinforcement | strengthening of muscular strength, such as a hip joint circumference muscle, is implement | achieved efficiently. If the tensile force exerted on the first mounting portion 14 through the first and second traction bands 18, 20 is controlled to be released when the hip joint is bent, and controlled to extend when the hip joint is extended. Further, a load can be applied to the exercise of extending the hip joint, and the enhancement of the muscular strength can be realized more effectively.

  On the other hand, if the control of the action and release of the tensile force is reversed, it is possible to effectively obtain an assisting force (assist force) for assisting the operation. That is, in addition to the application of the assist force by the first and second traction bands 18 and 20 shown in the first embodiment, the first mounting portion 14 is provided through the third and fourth traction bands 54 and 56. The tensile force exerted is released during the flexion movement of the hip joint and is applied during the extension movement of the hip joint, thereby assisting the exercise of bending the hip joint through the first and second traction bands 18 and 20. In addition, an assist force is exerted through the third and fourth traction bands 54 and 56 for the exercise of extending the hip joint.

  In short, according to the joint exercise assisting device 50 of the present embodiment, according to the user's request, the function as an assisting device for assisting the operation such as walking and the enhancement of the muscle strength of the hip peripheral muscles in rehabilitation and the like are efficient. Any one of the functions as an auxiliary tool can be selected and used. Moreover, in the joint exercise assisting device 50, the assisting force is exerted not only on the exercise of bending the hip joint but also on the exercise of stretching, so that the user's operation is more effectively assisted.

  Further, in the joint exercise assisting device 50, the third and fourth traction bands 54 and 56 are provided, and an assisting force is also exerted for the hip joint extension motion. It is also possible to start the operation assistance by the joint motion assisting tool 50 while keeping the sitting posture after wearing, and to assist the standing up movement.

  7 and 8 show an articulation assisting tool 60 as a third embodiment of the present invention. The joint exercise assisting device 60 has a main body portion 62 that has a pants (legging) shape that covers the waist and below the knee and adheres closely to the body surface. The main body 62 is formed of a fabric having excellent stretchability that is allowed to be elastically deformed according to the user's body shape, and deforms according to the body shape of the user.

  In addition, the main body 62 is provided with an auxiliary force transmission unit 64. The auxiliary force transmission unit 64 is a thin strip-like fabric, and branches from the upper end of the first traction unit 66 to the left and right at a predetermined angle from the upper end of the first traction unit 66 so as to cover the front surface of the thigh. And a second pulling portion 68 extending obliquely upward. In addition, the auxiliary force transmission unit 64 is allowed to be elastically deformed in the length direction and restricted from elastic deformation in the width direction in both the first traction unit 66 and the second traction unit 68. The auxiliary force transmission portion 64 is formed integrally with the main body portion 62 and is provided integrally when weaving.

  Further, a first mounting portion 70 is provided below the first pulling portion 66 of the auxiliary force transmission portion 64. The 1st mounting part 70 is made into the substantially cyclic | annular form, and is mounted | worn so that a knee joint may be covered over the perimeter. The first mounting portion 70 is provided integrally with the main body portion 62 and the first traction portion 66 using the same fabric as the first traction portion 66, and is limited in elastic deformation in the circumferential direction. The deviation from the knee joint has been suppressed. In addition, the first mounting portion 70 has a portion covering the front surface of the knee joint integrated with the main body portion 62, and a portion covering the rear surface from the side surface of the knee joint is the main body portion 62 in the left and right side portions. They are separated from each other and extend in a band shape. The pair of left and right belt-like portions of the first mounting portion 70 separated from the main body portion 62 are provided with surface fasteners (not shown), and the knee joints are tightened by pulling the belt-like portions in the circumferential direction as necessary. After that, the first mounting portion 70 is positioned with respect to the knee joint by being connected to each other with a hook-and-loop fastener. In addition, the front center part of the 1st mounting part 70 is provided with the part formed with the material excellent in the elasticity similar to the main-body part 62, and the part should be arrange | positioned so that the kneecap may be covered. Therefore, restraint of the knee joint is prevented.

  In addition, the second pulling portion 68 of the auxiliary force transmitting portion 64 has an end portion that branches to the left and right and extends inward, and is clamped and held by the drive device support belt 28, while branching to the left and right to the outside. The extending side is separated from the main body 62 on the side of the waist, and the end has a band shape, and is fixed to the rotating shaft 42 of the driving device 38. Although not shown in the drawing, the drive device 38 of the present embodiment includes one electric motor 40 in which the rotation direction of the drive shaft 48 is controlled by the control device 46, and transmits left and right auxiliary force transmission. The rotating shafts 42 and 42 connected to one of the parts 64 and 64 are rotated by one electric motor 40. In the present embodiment, the left auxiliary force transmitting portion 64 is inserted into the driving device 38 from the back side and fixed to the rotating shaft 42, and the right auxiliary force transmitting portion 64 is fixed to the driving device 38. Then, it is inserted between the drive device support belt 28 and fixed to the rotary shaft 42. As described above, the auxiliary force transmission portion 64 has a lower end portion attached to the first attachment portion 14 and an upper end portion attached to the driving device support belt 28 as the second attachment portion, and is arranged across the hip joint. It is installed.

  According to the joint exercise assisting device 60 having such a structure, the first mounting portion 70 and the second attachment portion 60 are connected through the auxiliary force transmitting portion 64 in the same manner as the joint exercise assisting device 10 shown in the first embodiment. A tensile force can be exerted between the mounting portions 16 to assist the hip joint movement including the walking motion.

  In addition, the joint exercise assisting device 60 can be easily attached and detached by the same simple operation as the pants because the auxiliary force transmitting portion 64 is woven into and integrated with the pant-shaped main body portion 62. . Furthermore, the auxiliary force transmission part 64 can be arranged at an accurate position only by correctly wearing the main body 62, and the auxiliary force can be obtained efficiently. In addition, even when worn under clothes, it is difficult to cause irregularities such as unevenness and bulkiness, it is difficult to give others a visual discomfort, the user's movement is restricted, and the freedom of choice of clothes is increased. The problem of becoming smaller can be avoided.

  In addition, when using the joint exercise assistance tool of this invention in order to assist the operation | movement of an upper body joint, what is necessary is just to provide an auxiliary force transmission part integrally in a shirt-like main-body part like this embodiment. In short, a clothing-like main body that is worn so as to cover the joint may be prepared in accordance with the joint to be assisted.

  FIG. 9 shows an articulation assisting tool 80 as a fourth embodiment of the present invention. The joint exercise assisting device 80 has a structure in which the first mounting portion 14 and the second mounting portion 16 are connected by an auxiliary force transmission band 82 as an auxiliary force transmission portion.

  The auxiliary force transmission band 82 includes a first traction band 84, a second traction band 86, and a third traction band 88. The first to third traction bands 84, 86, 88 are each formed of a thin strip-like cloth extending with a substantially constant width dimension, and the first and second traction bands 84, 86 are elastic in the length direction. While being deformable, the third traction band 88 is restricted from elastic deformation in the length direction. In addition, a foot 90 is provided on the second traction band 86, and the length of the second traction band 86 can be easily adjusted according to the physique.

  And the upper end of the 1st traction belt | band | zone 84 and the lower end of the 2nd traction belt | band | zone 86 are each attached to the cyclic | annular 1st connection metal fitting 92, These 1st traction belt | band | zone 84 and the 2nd traction belt | band | zone 86 are attached. The first connection fitting 92 is connected. Further, the upper end of the second traction band 86 is attached to the annular second connection fitting 94, and the third traction band 88 is inserted through the second connection fitting 94. The upper end of 86 and the middle part of the third traction band 88 are connected via a second connecting fitting 94. The first and second traction bands 84 and 86 may be fixed to the first and second connecting fittings 92 and 94 so as not to be removed, but using hooks, snaps, hook-and-loop fasteners, or the like. It is desirable that it be removably attached. In this embodiment, it is attached using a snap 96 in a removable manner.

  Further, the lower end of the first traction band 84 is attached to the upper end of the front portion of the first mounting portion 14. Note that the first traction band 18 may be attached to the first mounting portion 14 by sewing or adhesion, but is preferably detachably attached by hooks, snaps, hook-and-loop fasteners, or the like. .

  Further, the third traction band 88 has one end portion extending from the side of the waist to the rear and is fixed to the rotating shaft 42 of the drive device 38, and the other end is secured to the waist. It is attached to the driving device support belt 28 of the second mounting portion 16 in front of the head. More specifically, a hook fitting 98 is attached to the other end of the third traction band 88, and an annular or semi-annular attachment fitting 100 provided on the front surface portion of the drive device support belt 28 is attached. It is attached in a detachable state. The drive device support belt 28 is provided with a plurality of mounting brackets 100 arranged side by side in the circumferential direction. By appropriately selecting the mounting bracket 100 to which the hook bracket 98 is attached from among the plurality of mounting brackets 100, the third mounting bracket 100 is provided. The length of the traction band 88 can be adjusted.

  As described above, in the joint exercise assisting device 80, the first mounting portion 14 and the second mounting portion 16 are connected by the auxiliary force transmission band 82 including the first to third traction bands 84, 86, 88. In addition, a tensile force is exerted between the first mounting portion 14 and the second mounting portion 16 through the auxiliary force transmission band 82. In the same manner as in the first embodiment, an assist force using a tensile force is exerted when the hip joint bends and stretches to assist the walking motion.

  In the present embodiment, the auxiliary force transmission band 82 includes first to third traction bands 84, 86, and 88, which are connected by connecting fittings 92 and 94, respectively. Therefore, when any one of the first to third traction bands 84, 86, 88 is damaged, it is possible to remove and replace only the damaged portion from the connection fittings 92, 94, and to perform maintenance. Excellent in properties.

  Further, if the first to third traction bands 84, 86, and 88 are replaced with different lengths according to the user's physique (thigh length, etc.), users with a wide physique can be used. For this reason, for example, it is possible to deal with a case where an unspecified number of users are used in a rehabilitation center of a hospital or the like. Furthermore, since the plurality of mounting brackets 100 are provided side by side, the length of the auxiliary force transmission band 82 in the vertical direction can be changed by changing the mounting position of the hook bracket 98. The adjustment according to the physique difference can be easily performed. In addition, since the foot 90 is provided in the second traction band 86, the length of the auxiliary force transmission band 82 can be easily adjusted by adjusting the length of the second traction band 86. .

  As mentioned above, although embodiment of this invention was explained in full detail, this invention is not limited by the specific description. For example, in the above-described embodiment, the first attachment portion is attached to the knee joint in order to use the joint exercise assisting tool for hip joint exercise assistance. However, the first attachment portion is the second attachment across the hip joint. It is only necessary to be provided on the side opposite to the portion, and when the second attachment portion is attached to the waist, substantially the same effect can be obtained even if the first attachment portion is attached to the thigh. However, if the mounting position of the first mounting portion is too close to the hip joint, it is difficult for the auxiliary force to act effectively. Therefore, when the first mounting portion is mounted on the thigh, the first mounting portion must be mounted near the knee joint. desirable.

  In addition, the position of the drive device is not limited to the lower back. For example, when assisting the flexion and extension movement of the shoulder joint, the drive device is provided on the back of the user to obstruct the user's movement. Without this, it is possible to reduce the size of the joint exercise assisting device by shortening the transmission path of the assisting force.

  In addition, the sensor that detects the user's movement is not limited to the capacitance type sensor. For example, the resistance change type that detects the movement of the user based on a change in the resistance value due to the action of force. It is also possible to employ the sensor. If such a resistance change type sensor is employed, measurement using a DC voltage is possible. Therefore, the measurement circuit can be easily simplified, and downsizing and cost reduction can be easily realized. In addition, since the resistance value changes sharply even with the action of a small force, it is possible to detect a wide range from a slight motion to a large motion of the joint. As the resistance change type sensor, for example, a flexible sensor as disclosed in JP 2008-69313 A is suitably employed. Also, a plurality of types of sensors having different structures and detection methods may be used in combination, such as a combination of a capacitance type sensor and a resistance change type sensor.

  Further, the arrangement positions of the sensors shown in the embodiment are merely examples, and the arrangement mode is not particularly limited as long as the user's operation can be detected. Specifically, for example, as in the joint exercise assisting tool 110 shown in FIG. 10, the capacitive sensor 112 is disposed on the back surface (the overlapping surface on the thigh) of the first traction band 18. Thus, the pinching force between the first traction band 18 and the thigh accompanying the deformation of the thigh muscle when the hip joint is bent can also be detected as a change in capacitance. Furthermore, if a capacitive sensor 122 that spreads from the user's buttocks to the thigh, such as the joint exercise assisting tool 120 shown in FIG. 11, is employed, the hip joint flexion and extension can be detected more directly. Can do. In this case, the joint motion assisting tool 120 includes a pants (legging) -like sensor holding suit 124 provided with a capacitive sensor 122 in addition to the assisting force transmission band 12 and the first and second mounting portions 14 and 16. After the sensor holding suit 124 is mounted, the auxiliary force transmission band 12 and the first and second mounting portions 14 and 16 are mounted. The capacitive sensors 112 and 122 shown in FIGS. 10 and 11 have the same basic structure as that of the capacitive sensor 32 shown in the embodiment, and thus the description thereof is omitted here. To do. Furthermore, the capacitance type sensor 112 and the capacitance type sensor 122 may be employed in combination, and the operation can be detected with higher accuracy.

  Further, in the above-described embodiment, in order to effectively assist the flexion and extension of the hip joint, the auxiliary force transmission unit is provided at least on the front surface side. In some cases, only an auxiliary force transmission unit is provided. In short, the auxiliary force transmission unit may be appropriately arranged in consideration of the mobility of the joint and the like.

  In addition, the auxiliary force transmission portion is not necessarily limited to a portion having flexibility (flexibility) as a whole, and may be a hard portion formed of metal, plastic, or the like as long as it is partial. Further, the entire auxiliary force transmission unit may be elastically deformable in the force transmission direction, or the auxiliary force transmission unit may be partially allowed to elastically deform in the force transmission direction.

  Further, the transmission band support belt 26 and the drive device support belt 28 are not necessarily provided independently. For example, the end of the auxiliary force transmission band 12 is fixed to the front portion of the drive device support belt 28 and driven. In some cases, the device support belt 28 simultaneously functions as a transmission band support belt. Further, the auxiliary force transmission band 12 does not need to be formed separately from the transmission band support belt 26, and the second of the auxiliary force transmission band 12 extends from the front portion of the transmission band support belt 26. The traction band 20 may be provided integrally. As is clear from the above, when the driving device support belt 28 functions as a transmission band support belt, the auxiliary force transmission band 12 can be integrally formed with the driving device support belt 28.

  In the above-described embodiment, the joint exercise assisting tool for assisting the flexion and extension of the hip joint has been shown. However, the joint exercise assisting tool according to the present invention can be used for joints other than the hip joint, such as a knee joint, a shoulder joint, and an elbow joint. It can also be used to assist bending and stretching movements.

10, 50, 60, 80, 110, 120: Articulation assisting tool, 12, 52, 82: Auxiliary force transmission band (auxiliary force transmission unit), 14, 70: First mounting unit, 16: Second mounting Part, 32, 112, 122: capacitance type sensor, 40: drive source, 46: control device, 62: main body part, 64: auxiliary force transmission part

Claims (8)

A pair of flexible auxiliary force transmission portions are provided only on the front surfaces of the left and right legs, and each auxiliary force transmission portion is arranged across the hip joint.
With respect to both end portions of each auxiliary force transmitting portion, a first mounting portion to be mounted on a knee side portion on one side of the user's hip joint and a waist side portion on the other side A second mounting portion to be mounted, and the first mounting portion has a portion to be mounted by being wound around a leg portion below the knee joint ,
A drive source that exerts a tensile force between the first mounting portion and the second mounting portion through each auxiliary force transmission portion is provided, and at least a part of each auxiliary force transmission portion is driven It can be elastically deformed in the direction of the tensile force applied by the source,
The intermediate portion in the longitudinal direction located in front of the hip joint in each auxiliary force transmission unit is allowed to move forward from the hip joint by the action of the tensile force by the driving source, and the tensile force by the driving source is It acts as an assisting force that reinforces the force required for hip flexion ,
A sensor for detecting the flexion and extension of the hip joint of the user is provided, and an electric motor as the drive source is controlled based on the detection result of the sensor, so that the user kicks out in accordance with the walking motion of the user. The electric motor is controlled so that an assisting force is exerted to the flexion movement of the hip joint and the extension movement of the knee joint in the swing leg that is sent forward later, while the grounding is performed in accordance with the walking movement of the user A control device is provided for controlling the electric motor so that the assist force is released with respect to the extension movement of the hip joint in the grounding leg to be sent backward later,
A walking exercise assisting device characterized in that the elasticity of each auxiliary force transmitting portion in the auxiliary force transmitting direction is 0.3 to 0.5 kgf / cm . The walking exercise assisting device according to claim 1 , wherein the sensor is capable of detecting the bending and stretching of the user's hip joint based on the force exerted on the sensor in accordance with the bending and stretching of the user's hip joint. The walking exercise assisting device according to claim 2 , wherein the sensor includes at least one of a capacitance type sensor and a resistance change type sensor. The walking exercise assisting device according to any one of claims 1 to 3 , wherein the auxiliary force transmitting portion has a belt shape extending in a force transmitting direction. The assist force transmitting portion is provided integrally with the body portion shape of the garment, any claim 1-4 which該補assisted transfer portion by wearing of the main body portion is disposed across the hip joints of a user The walking exercise assisting device according to claim 1. Elastically deformable portion in the auxiliary force transmission portion, to any one of claim 1 to 5, the direction of elastic perpendicular to it than the elasticity of the acting direction of the tensile force by the drive source is small The walking exercise aid described. Together with the first mounting part is mounted wound around the legs below the knee joint of a user, wherein the second mounting portion claims attached to the waist of the user 1-6 The walking exercise assisting device according to any one of the above. The walking exercise assisting device according to any one of claims 1 to 7 , wherein the driving source is attached to the second mounting portion.

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