JP5930354B2 - Foot mounting structure of joint motion assist device - Google Patents

Description

  The present invention relates to a foot mounting structure of a joint motion assist device, and more particularly to a foot mounting structure of an exoskeleton-type joint motion assist device that assists joint motion of a human body.

  Conventionally, various devices have been proposed for use in the care and nursing of care recipients and nurses. In these devices, the caregiver's exoskeleton-type muscle strength assistance for the caregiver to wake up, hold down, or move a caregiver, such as a bedridden elderly person whose physical freedom does not work There is a device (refer to Patent Document 1: hereinafter referred to as “conventional example”).

  In such an exoskeleton-type muscle force assisting device as in the conventional example, while assisting joint motions such as knee joints and hip joints, the weight load by wearing the device and the weight load by lifting the care recipient In order to alleviate this, the structure for mounting the foot of the human body is also an exoskeleton structure. The conventional foot mounting structure of the conventional technique is an exoskeleton-shaped lower leg mounting part (hereinafter referred to as “crus exoskeleton member”) that is disposed on the outer side and the inner side of the lower leg and is attached to the lower leg with a belt. And a sole member connected to the ankle side end of the crus exoskeleton member.

JP 2000-051289 A

  By the way, when a human body walks forward in a state of wearing athletic shoes, etc., one leg is put forward and landed, and only the toe portion of the other foot is placed on the floor surface or the ground (hereinafter, these are simply (Also referred to as “floor surface”) and kicking backward. Further, when the human body goes backwards in a state of wearing athletic shoes, etc., one leg is pulled out backward and landed from the toe portion, and the other leg is moved backward. Furthermore, when raising or lowering the care recipient from a bed, etc., take a low posture by bending the knee joint and dropping the waist, and for the foot, the bottom with the buttocks separated from the floor May be supine.

  However, in the above-described conventional foot mounting structure, the sole member is a single flat plate that fixes the entire sole. As a result, the wearer wearing the articulation assist device (hereinafter also simply referred to as “assist device”) of the prior art is in a state where only the toes are attached to the floor and the buttocks are separated from the floor during walking. (Hereinafter, also referred to as “an isolated land” state), and unnatural operation is forced. In addition, a wearer wearing the assist device cannot be in a “bottom-bend” posture when taking a low posture by bending the knee joint and dropping his / her waist, and is forced to have an unnatural posture. It will be. Therefore, when the wearer of the assist device wakes up the cared person and moves it or hangs it down, it may not be able to perform a smooth operation.

  In order to eliminate such a situation that it is not possible to enter a “cold ground” state during walking or a “cold ground” state of a bottom-bending posture, the foot mounting structure 900 shown in FIG. As described above, the sole member is a first sole member 910 for attaching the sole of the rear foot including the buttocks with a belt, and the second sole member 920 for attaching the sole of the forefoot including the toe to the belt. It can be considered to have a structure comprising Then, with a hinge (hinge) 930 as an axis (an axis parallel to the Y axis), a structure in which the second sole member 920 is attached to the first sole member 910 so as to be rotatable in the pitch direction is conceivable. .

  Here, the coordinate system (X, Y, Z) in FIG. 1A indicates that the front direction of the human body is + X in the upright posture when the foot mounting structure 900 is mounted on the left foot of the human body. This is a coordinate system in which the direction from the right side to the left side of the human body is the + Y direction and the vertically upward direction is the + Z direction (the same applies to FIGS. 2 to 7 described later). In the foot mounting structure 900 shown in FIG. 1 (A), it is possible to enter the “heel-off” state when the sole of the rear foot including the heel is mounted on the first sole member 910. (See FIG. 1B).

  However, in the foot mounting structure 900 shown in FIG. 1 (A), when the foot is in the “heel-off” state, as shown in FIG. 1 (B), the hinge 930 is used as an axis. The one sole member 910 only rotates with respect to the second sole member 920, and the second foot member 920 side end portion of the first sole member 910 and the second foot according to the rotation. The space | interval with the 1st sole member 910 side edge part of the bottom member 920 does not change. Therefore, in the foot mounting structure 900 shown in FIGS. 1 (A) and 1 (B), the foot does not support the movement of the sole when the foot is in the “heeling away” state. When the “heel-off” state is reached, the forefoot portion including the toe portion slides in the + X direction on the second sole member 920 (see FIG. 1B). As a result, even with the foot mounting structure 900 shown in FIGS. 1 (A) and 1 (B), it is impossible to follow the movement of the sole when it is in the “seated ground” state, and the wearer feels uncomfortable. It's hard to say that you can move smoothly and smoothly.

  For this reason, when wearing an exoskeleton-type joint motion assist device with a foot mounting structure, it takes a smooth `` seated ground '' state during walking and a low posture with the knee joint bent and the waist lowered. To achieve a smooth “bottom-bend” posture and reduce discomfort given to the wearer in the “cold-out” state during walking and “bottom-out” state of “bottom-bending” posture There is a demand for a technique that can be applied. Meeting this requirement is one of the problems to be solved by the present invention.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a foot mounting structure of an articulation assist device that can realize smooth and stable movement of the foot.

  The present invention relates to a foot mounting structure of an exoskeleton-type joint motion assist device that is mounted on a foot of a human body and assists joint motion, and extends along the direction extending from the knee joint of the human body to the ankle joint. An outer exoskeleton member mounted on the outer side of the outer skeleton; an inner exoskeleton member mounted on the inner side of the lower leg along a direction extending from the knee joint to the ankle joint; A rear plantar member including a flat plate disposed on the ankle joint side of the inner exoskeleton member and mounted on a sole of a rear foot including the buttocks of the foot; and including a toe of the foot A flat frontal sole member to which the sole of the forefoot is mounted; and each of the outer side end and the inner side end of the rear side sole member, facing each other, toward the instep And is fixed to the rear sole member, and a shaft hole is formed in the instep side direction. Two first and second rear bearing members formed; in each of the outer side end and the inner side end of the front sole member, facing each other in a direction along the instep side Two first and second front bearing members extending and fixed to the front sole member and having shaft holes formed in the instep side; shaft holes of the first rear bearing member and the first A first shaft member inserted into the shaft hole of the front bearing member; a shaft hole of the second rear bearing member and a second shaft member inserted into the shaft hole of the second front bearing member; The front side sole member is attached to the rear side sole member by the first and second shaft members so as to be pivotable in the pitch direction, and is a flat plate of the front side sole member and the rear side sole member. Are parallel to each other, the front sole member side end of the rear sole member and the rear of the front sole member When the space between the foot member side end portion is narrowed and the angle at which the front foot member and the flat plate of the rear foot member intersect is widened, the front foot member side end portion of the rear foot member And the rear foot member side end of the front foot member is widened.

  In the foot attachment structure of the joint motion assist device, the sole of the rear foot including the buttocks is attached to the rear sole member, and the sole of the fore foot including the toe portion is attached to the front sole member. Is done. First and second rear bearing members extending in a direction along the instep side are fixed to each of the outer side end portion and the inner instep side end portion of the rear sole member. ing. Further, first and second front bearing members extending in the direction along the instep side are fixed to each of the outer side end portion and the inner instep side end portion of the front side sole member so as to face each other. ing. And the first shaft member inserted into the shaft hole of the first rear bearing member and the shaft hole of the first front bearing member, and the shaft hole of the second rear bearing member and the shaft hole of the second front bearing member By the inserted second shaft member, the front sole member is attached to the rear sole member so as to be rotatable in the pitch direction.

  When the foot part of the human body equipped with the joint motion assisting device having the foot part mounting structure is in a state of “seating ground”, the angle at which the front sole member and the flat plate of the rear sole member intersect with each other increases. Following the movement of the back, the distance between the front sole member side end of the rear sole member and the rear sole member side end of the front sole member increases. For this reason, when wearing the exoskeleton-type joint motion assist device having the foot mounting structure of the present invention, a smooth "seated ground" state during walking, and the knee joint is bent and the waist is lowered A smooth “bottom-bending” posture is achieved when the posture is taken, and it is given to the wearer in a “cold-seated” state when walking and a “bottom-fed” state of the “bottom-bending” posture. A sense of incongruity can be reduced.

  Therefore, according to the foot mounting structure of the joint motion assist device of the present invention, smooth and stable movement of the foot can be realized.

  In the foot mounting structure of the joint motion assist device of the present invention, the first and second rear bearing members are fixed to the front foot member side end of the rear foot member, and the first and first (2) The front bearing member may be fixed to the end portion on the rear sole member side of the front sole member. In this case, the first and second rear bearing members and the first and second front bearing members can be made compact.

  In the foot mounting structure of the joint motion assisting device of the present invention, the shaft hole of the first and second rear bearing members may be on the toe side from the front foot member side end of the rear foot member. The shaft hole of the first and second front bearing members is molded above the instep side on the rear sole member side of the front sole member. You can do that. In this case, the front sole member rotates in the pitch direction with respect to the rear sole member, with the upper side on the instep side on the rear sole member side of the front sole member as a rotation axis. Become. Therefore, when the foot part of the human body is attached to the foot part mounting structure of the present invention, the rotation axis position in the foot part and the front foot The rotational axis position of the rear sole member with respect to the bottom member can be substantially matched. As a result, it is possible to realize a smooth “distant ground” state.

  Further, in the foot mounting structure of the joint motion assist device of the present invention, the joint motion axis of the middle foot joint joint of the foot is on a substantially line segment connecting the first shaft member and the second shaft member. The foot may be mounted so as to be positioned. Here, the present inventor is that the rotation axis position of the foot when the foot is in the “heeling away” state during walking or the like substantially coincides with the joint motion axis of the metatarsal joint of the foot. It is obtained from the results of research.

  In this case, the rotational axis positions of the first and second shaft members and the rotational axis position of the foot when the foot is in the “seated ground” state during walking or the like are substantially matched. Can do. As a result, it is possible to realize a smoother “heel-off” state of the foot.

  Moreover, in the foot | leg part mounting structure of the joint exercise assistance apparatus of this invention, it can be set as the structure further equipped with the heel stop member fixed to the said rear side sole member and hold | maintaining the heel part of the said foot part. And when adopting such a configuration, a line connecting the joint motion axis of the metatarsal joint of the foot and the joint motion axis of the foot metatarsal joint as seen from the axial direction of the first and second shaft members A line passing through a predetermined position on the minute and substantially parallel to the articulation axis of the metatarsal joint and the articulation axis of the tarsal metatarsal joint connects the first axis member and the second axis member. The foot portion can be attached so as to substantially coincide with a connecting line. Here, according to the knowledge obtained from the results of the study by the present inventor, when the heel part of the foot is fixed with the heel stop member, the foot part is in a “heel-off” state during walking or the like. The rotation axis of the foot part of the foot passes through a predetermined position on a line segment that connects the joint motion axis of the metatarsal joint of the foot part and the joint motion axis of the tarsal metatarsal joint (Lisfranc joint), and It is substantially parallel to the joint movement axis of the phalanx joint and the joint movement axis of the tarsal metatarsal joint.

  In this case, when the heel part of the foot part is held by the heel stop member, the rotation part of the first and second shaft members and when the foot part is in the “heel-off” state during walking, etc. It is possible to make the rotational axis position of the foot part substantially coincide. As a result, when the heel portion of the foot portion is held by the heel stopper member, a smoother “heel-off” state of the foot portion can be realized.

  In the foot mounting structure of the joint motion assist device of the present invention, the outer exoskeleton member is a first outer exoskeleton member corresponding to the lower leg of the human body; and a position where one end corresponds to the ankle joint of the human body. And a second outer exoskeleton member connected to the first outer exoskeleton member so as to be rotatable in the rotation direction of the ankle joint, and having the other end connected to the rear sole member; It can be set as the structure provided with. The inner exoskeleton member includes a first inner exoskeleton member corresponding to the lower leg of the human body; and a position of one end corresponding to the ankle joint. A second inner exoskeleton member that is pivotally connected in the pivoting direction and whose other end is connected to the rear sole member.

  In this case, it is possible to realize a smooth movement corresponding to the movement of the ankle joint (tail joint: a joint unit connecting the foot bone and the lower leg bone) of the human body.

  As described above, according to the foot mounting structure of the joint motion assist device of the present invention, there is an effect that a smooth and stable movement of the foot can be realized.

It is a figure which shows the leg | foot mounting structure of the conventional joint exercise assistance apparatus. 1 is an external view (XZ plan view) of a foot mounting structure of a joint motion assist device according to an embodiment of the present invention. FIG. 3 is an external view (YZ plan view) of the foot mounting structure of FIG. 2. It is a figure for demonstrating the structure of the foot | leg part mounting part of FIG.2 and FIG.3. FIG. 5 is a separation view for explaining the configuration of the sole mounting portion of FIG. 4. It is a figure for demonstrating the state of the foot | leg part mounting structure at the time of a basic state and a heel-off state. It is a figure for demonstrating the position of the 1st and 2nd shaft member in a modification.

DESCRIPTION OF SYMBOLS 100 ... Foot mounting structure of an articulation assist apparatus, 111 ... 1st outer exoskeleton member, 112 ... 2nd outer exoskeleton member, 116 ... 1st inner exoskeleton member, 117 ... 2nd inner exoskeleton member, 120 ... Foot mounting part, 130 ... rear foot mounting part, 131 ... rear flat plate member (part of rear foot member), 132 ₁ ... first connecting member (part of rear foot member), 132 ₂ ... second connection member (a part of the rear sole member), 134 ₁ ... first rear bearing member, 134 ₂ ... second rear bearing member, 139 ... tacking member, 140 ... front foot part Mounting portion, 141... Flat plate member (front side sole member), 144 ₁ ... First front bearing member, 144 ₂ ... Second front bearing member, HB ₁ , HB ₂ , HF ₁ , HF ₂ . 1st shaft member, AX2 ... 2nd shaft member, 161, 162, 166, 167 ... articulating member, 211, 21 , 213, 214 ... belt member, 311 ... outer thigh exoskeleton member, 316 ... inner thigh exoskeleton member, 321, 322, 326, 327 ... connecting member, 900 ... foot mounting structure, 910 ... first plantar member, 920 ... second sole member, 930 ... hinge (hinge)

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. In the present embodiment, the foot mounting structure of the joint motion assist device mounted on the left foot of the human body will be described as an example. In the following description and drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.

[Constitution]
2 and 3 are external views of a foot mounting structure 100 (hereinafter also simply referred to as “foot mounting structure 100”) of the joint motion assist device according to the embodiment. Here, FIG. 2 shows the foot mounting structure 100 mounted on the left foot of the human body in the + Y direction when the entire sole is landed on the horizontal plane (hereinafter, this state is also referred to as “basic state”). It is the external view (XZ plane view) seen from the side (outer side). FIG. 3 is an external view (YZ plan view) of the foot mounting structure 100 mounted on the left foot of the human body as viewed from the −X direction side (heel side) in the basic state.

  The foot mounting structure 100 includes a long plate-shaped outer thigh exoskeleton member 311 mounted on the outer side of the thigh of the human body, and an end mounted on the inner side of the thigh. The plate-shaped inner femoral exoskeleton member 316 is connected to the end of the knee joint side.

  2 and 3, the foot mounting structure 100 includes a first outer exoskeleton member 111, a second outer exoskeleton member 112, a first inner exoskeleton member 116, and a second inner exoskeleton member. A skeleton member 117. The foot mounting structure 100 includes a foot mounting portion 120.

  The first outer exoskeleton member 111 is, for example, a steel member, and is fixedly connected to both the long plate-like exoskeleton member and the longitudinal ends of the long plate-like exoskeleton member. It is comprised from an external gear. The first outer exoskeleton member 111 is disposed on the outer side (+ Y direction side) of the left lower leg part along the direction in which the left lower leg part extends from the knee joint to the ankle joint (so-called ankle joint or hip joint).

  The external gear at the knee joint side end of the first outer exoskeleton member 111 meshes with the external gear at the knee joint side end of the outer thigh exoskeleton member 311 at a position corresponding to the knee joint, Engagement is ensured by the two connecting members 321 and 322. The first outer exoskeleton member 111 and the outer thigh exoskeleton member 311 are rotatable in the rotation direction of the knee joint at a position corresponding to the knee joint.

  The second outer exoskeleton member 112 is, for example, a steel member, and is a long plate-like plate-like exoskeleton member and an outer portion fixedly connected to one end of the plate-like exoskeleton member. It consists of a toothed gear. Then, the external gear at one end of the second outer exoskeleton member 112 meshes with the external gear at the end of the first outer exoskeleton member 111 on the ankle joint side at a position corresponding to the ankle joint, The meshing is secured by the two connecting members 161 and 162 so as to be able to turn in the turning direction of the ankle joint. The other end of the second outer exoskeleton member 112 is fixedly connected to the foot mounting portion 120.

  The first inner exoskeleton member 116 is, for example, a steel member, and, like the first outer exoskeleton member 111 described above, a long plate-like exoskeleton member and a longitudinal length of the long plate-like exoskeleton member. And an external gear fixedly connected to both ends of the direction. The first inner exoskeleton member 116 is disposed on the inner side (−Y direction side) of the left lower leg along the direction in which the left lower leg extends from the knee joint to the ankle joint.

  The external gear at the end on the knee joint side in the first inner exoskeleton member 116 meshes with the external gear at the end on the knee joint side in the inner femoral exoskeleton member 316 at a position corresponding to the knee joint, The meshing is ensured by the two connecting members 326 and 327 so that the joint can rotate in the rotational direction of the joint. The first inner exoskeleton member 116 and the inner thigh exoskeleton member 316 are rotatable in the rotation direction of the knee joint at a position corresponding to the knee joint.

  The second inner exoskeleton member 117 is, for example, a steel member, and similarly to the second outer exoskeleton member 112 described above, a long plate-like plate-like exoskeleton member and the plate-like exoskeleton member. And an external gear fixedly connected to one end of the. Then, the external gear at one end of the second inner exoskeleton member 117 meshes with the external gear at the end of the first inner exoskeleton member 116 on the ankle joint side at a position corresponding to the ankle joint, The meshing is ensured by the two connecting members 166 and 167 so as to be able to turn in the turning direction of the ankle joint. The other end of the second inner exoskeleton member 117 is fixedly connected to the foot mounting portion 120.

  In the present embodiment, the first outer exoskeleton member 111 disposed on the outer side of the crus and the first inner exoskeleton member 116 disposed on the inner side of the crus are separated by the belt members 211 and 212 made of cloth. It is attached to the part.

<Configuration of foot mounting portion 120>
Next, the configuration of the above-mentioned foot mounting part 120 will be described. As shown in FIGS. 2 and 3 and FIGS. 4 (A) and 4 (B) and FIGS. 5 (A) and 5 (B), the foot mounting portion 120 includes the first shaft member AX1, A biaxial member AX2, a rear foot mounting portion 130, and a front foot mounting portion 140 are provided.

  Here, FIG. 4A is a view of the foot mounting portion 120 viewed from the + Y direction side, and FIG. 4B is a view of the foot mounting portion 120 viewed from the + Z direction side. 5A and 5B are diagrams in which the foot mounting portion 120 is separated into a rear foot mounting portion 130 and a front foot mounting portion 140. FIG. Here, FIG. 5A is a view of the separated rear foot mounting portion 130 and front foot mounting portion 140 as viewed from the + Y direction side. FIG. 5B is a view of the separated rear foot mounting portion 130 and front foot mounting portion 140 as viewed from the + Z direction side. The rear foot mounting portion 130 and the front foot mounting portion 140 are attached by the first shaft member AX1 and the second shaft member AX2 (see FIGS. 4A and 4B).

The first shaft member AX1 is a steel columnar member, for example. The first shaft member AX1 is inserted into a shaft hole HB ₁ formed in a first rear bearing member 134 ₁ described later and a shaft hole HF ₁ formed in the first front bearing member 144 ₁ .

The second shaft member AX2 is a columnar member made of steel, for example. The second shaft member AX2 is axial hole HB ₂ is formed on the second rear bearing member 134 ₂ which will be described later, and are inserted into the shaft hole HF _2, which is molded _into the second front bearing member 144.

  The second shaft member AX2 is arranged on the extension line in the axial direction of the first shaft member AX1 described above. In the present embodiment, when viewed from the axial direction (Y-axis direction) of the first and second shaft members AX1 and AX2, the joint motion axis of the metatarsal joint of the foot and the joint motion axis of the foot metatarsal joint The first axis member AX1 and the second axis member pass through a predetermined position on the line segment that connects the two and the lines of the joint movement of the metatarsal joint and the joint movement axis of the tarsal metatarsal joint are substantially parallel to each other. It substantially coincides with a line connecting AX2 (see axis AXA in FIG. 7 described later).

<< Configuration of Rear Foot Mounting Unit 130 >>
Next, the configuration of the rear foot mounting part 130 will be described. The rear foot mounting portion 130 is mounted with a rear foot that is hung from the buttocks to the arch (see FIG. 2).

As comprehensively shown in FIGS. 5 (A) and 5 (B), the rear foot mounting portion 130 includes a rear plate member 131 as a part of the rear foot member, and a rear foot member. A first connecting member 132 ₁ as a part and a second connecting member 132 ₂ as a part of the rear sole member are provided. Further, the rear leg portion attachment portions 130 ₁ and the first rear-side bearing member 134, a second rear-side bearing member 134 _2, and a heel stop member 139.

  The rear flat plate member 131 is, for example, a steel member. In the present embodiment, the rear flat plate member 131 is formed into a rectangular flat plate obtained by rounding two corners on the −X direction side in the XY plan view. The rear flat plate member 131 is provided with a sole of the rear foot including the buttocks in the foot, and is made of a cloth belt member 213 (see FIG. 2, not shown in FIGS. 5A and 5B). Thus, the rear foot portion is attached.

The first connecting member 132 ₁ is, for example, a steel member and has a rectangular shape in the XZ plan view. The first connecting member 132 ₁ is substantially in the center of the rear outer lateral side of the flat plate member 131 (+ Y direction side) end portion is attached with screws or the like (not shown). Then, in the + Z direction side end portion of the first connecting member 132 _1, the other end of the second outer exoskeleton member 112 is fixedly connected.

The second connecting member 132 ₂ is, for example, a steel member, and has a rectangular shape in the XZ plan view, like the first connecting member 132 ₁ described above. The second connecting member 132 ₂ is not shown so as to face the above-described first connecting member 132 _{1 in} the approximate center of the inner side (−Y direction side) end of the rear flat plate member 131. It can be attached with screws. Then, in the + Z direction side end portion of the second connecting member 132 ₂ and the other end of the second inner outer frame member 117 is fixedly connected.

The first rear bearing member 134 ₁ is, for example, a steel member, and has a rectangular shape with the longitudinal direction as the X direction in the XZ plan view. In this embodiment, the end on the + X direction side Is formed in a semicircular shape. The first rear-side bearing member 134 _1, the rear outer lateral side of the flat plate member 131 (+ Y direction side) end the front foot portion attachment portions 140 side of the (+ X direction side), short direction instep side ( It is fixed with screws (not shown) so as to extend along the + Z direction side). Then, the first rear-side bearing member 134 _1, a shaft hole HB ₁ to insert the first shaft member AX1 is molded. Here, when the first rear bearing member 134 ₁ is attached to the rear flat plate member 131, the shaft hole HB ₁ protrudes in the + X direction from the + X direction side end portion of the rear flat plate member 131. In the position above the + Z direction side (in the present embodiment, the center of the semicircle described above) is formed.

The second rear bearing member 134 ₂ above, for example, a steel member, similarly to the first rear-side bearing member 134 ₁ described above, is the longitudinal direction in the XZ plane view a rectangular shape with the X direction And the end on the + X direction side is formed in a semicircular shape. The second rear-side bearing member 134 _2, the rear medial side of the flat plate member 131 in the (-Y direction side) front foot mounting portion 140 side of the end portion (+ X direction side), short direction instep-side so as to extend along the (+ Z direction side), so as to face the ₁ first rear-side bearing member 134 as described above, is fixed by screws or the like (not shown). Then, the second rear-side bearing member 134 _2, a shaft hole HB ₂ for inserting the second shaft member AX2 is formed processed. Here, the shaft hole HB _2, when after the second-side bearing member 134 ₂ is attached to the rear side flat plate member 131, a shaft hole HB ₁ which is molded into the first rear-side bearing member 134 ₁ described above To be opposed, the rear flat plate member 131 is molded on the upper side in the + Z direction (in the present embodiment, the center of the semicircle described above) at the position protruding from the + X direction side end portion in the + X direction. It has become.

  The barb member 139 is, for example, a steel member and is fixed to the end portion on the −X direction side of the rear flat plate member 131. The barb member 139 supports the barb portion of the rear foot disposed on the rear flat plate member 131.

<< Configuration of Front Foot Mounting Unit 140 >>
Next, the configuration of the front foot mounting part 140 will be described. The front foot portion mounting portion 140 is mounted with a front foot portion from the arch portion to the toe portion (see FIG. 2).

Front foot mounting portion 140, FIG. 5 (A), the as overall indicated by (B), the front flat plate member 141 as a front sole member, ₁ and the first front bearing member 144, a second front Bearing member 144 ₂ .

  The front flat plate member 141 is, for example, a steel member. In the present embodiment, the front flat plate member 141 is formed into a rectangular flat plate obtained by rounding two corners on the + X direction side in the XY plan view. On the front flat plate member 141, the soles of the front feet including the toes in the feet are arranged, and a cloth belt member 214 (see FIG. 2, not shown in FIGS. 5A and 5B), The forefoot part is worn.

First front bearing member 144 ₁ of the above is, for example, a steel member, which is a longitudinal direction in the XZ plane view a rectangular shape with the X direction. The first front bearing member 144 ₁ has an outer lateral side of the front flat plate member 141 (+ Y direction side) to the side leg portion attachment portions 130 side after the end (-X direction side), short direction instep side ( It is fixed with screws (not shown) so as to extend along the + Z direction side). Then, the first front bearing member 144 _1, a shaft hole HF ₁ to insert the first shaft member AX1 is molded. Here, when the first front bearing member 144 ₁ is attached to the front flat plate member 141, the shaft hole HF ₁ is formed above the + Z direction side on the −X direction side of the front flat plate member 141. It has become.

The second front bearing member 144 ₂ is, for example, a steel member, and has a flat plate shape with the longitudinal direction as the X direction in the XZ plan view, similar to the first front bearing member 144 ₁ described above. . The second front bearing member 144 _2, the medial side (-Y direction side) side leg portion attachment portions 130 side after the end (-X direction side) of the front flat plate member 141, the short-side direction instep-side so as to extend along the (+ Z direction side), so as to face the ₁ first front bearing member 144 as described above, is fixed by screws or the like (not shown). Then, the ₂ second front bearing member 144, a shaft hole HF ₂ for inserting the second shaft member AX2 is formed processed. Here, the shaft hole HF ₂ faces the shaft hole HF ₁ formed in the first front bearing member 144 ₁ described above when the second front bearing member 144 ₂ is attached to the front flat plate member 141. The front flat plate member 141 is formed above the + Z direction side on the −X direction side.

In the present embodiment, the first front bearing member 144 ₁ a distance LF between the second front bearing member 144 _2, the first rear-side bearing member 134 ₁ and the second rear-side bearing member 134 ₂ The end portion on the + X direction side of the first and second rear bearing members 134 ₁ , 134 ₂ formed in a semicircular shape is longer than the distance LB between the front plate of the front foot mounting portion 140 It comes in contact with the member 141. Then, the rear foot mounting portion 130 rotates counterclockwise in the XZ plan view from the state shown in FIG. 4 with the first and second shaft members AX1 and AX2 as the rotation axes, with the −Y direction as the line-of-sight direction. Even in the case of rotation, the end portions on the + X direction side of the semicircular first and second rear bearing members 134 ₁ and 134 ₂ are always in contact with the front flat plate member 141 of the front foot mounting portion 140. Yes.

  For this reason, the foot mounting structure 100 of the present embodiment, when the foot is in the “seated ground” state, a part of the weight of the joint motion assist device and a part of the weight of the cared person. In addition, it is structured such that it escapes to the floor surface via the front foot mounting part 140 and reduces the burden on the waist, knees, etc. of the wearer of the joint motion assist device.

  The foot mounting structure 100 that is mounted on the left foot of the human body has been described above, but the foot mounting structure that is mounted on the right foot of the human body is configured similarly to the foot mounting structure that is mounted on the left foot. Has been.

[Operation]
The operation of the foot mounting structure 100 of the joint motion assist device configured as described above will be described.

Note that the foot mounting structure 100 is mounted on a foot of a human body and is initially in a basic state as shown in FIG. 6 (A). Further, in the basic state, the interval between the + X direction side end portion of the rear flat plate member 131 and the −X direction side end portion of the front flat plate member 141 (hereinafter, also simply referred to as “interval”) is shown in FIG. ), The distance D _S is obtained.

  From this basic state, by taking the posture of walking movement or bottom bending position, when it is in the “seating ground” state, as shown in FIG. 6B, the first shaft member AX1 and the second shaft member AX2 are moved. As a rotation axis, the rear flat plate member 131 in the rear foot mounting portion 130 rotates counterclockwise (hereinafter also simply referred to as “counterclockwise”) in the XZ plan view with the −Y direction as the line-of-sight direction. To do.

When the rear flat plate member 131 rotates counterclockwise with the first and second shaft members AX1, AX2 as the rotation axes, the angle at which the rear flat plate member 131 and the front flat plate member 141 intersect with each other increases. The distance between the + X direction side end portion of the rear flat plate member 131 and the −X direction side end portion of the front flat plate member 141 is the distance D _T following the movement in which the soles extend when the state becomes the “off-land” state. spread.

Further, when moving from the “distant ground” state shown in FIG. 6 (B) to the basic state shown in FIG. 6 (A), the first shaft member AX1 and the second shaft member AX2 are used as rotation axes, and the rear side The flat plate member 131 rotates clockwise (hereinafter also simply referred to as “clockwise”) in the XZ plan view with the −Y direction as the line-of-sight direction. Thus, when the rear flat plate member 131 is rotated clockwise about the first and second shaft members AX1 and AX2, the rear flat plate member 131 and the front flat plate member 141 become parallel, and the soles are Following the shrinking movement, the interval narrows to the distance D _S.

  As described above, in the present embodiment, the rear foot part that is applied from the buttocks to the arch part is attached to the rear foot part attaching part 130, and the fore foot part that is applied from the arch part to the toe part is the front foot part attaching part 140. Installed. The rear foot mounting portion 130 and the front foot mounting portion 140 are substantially coincident with the pivot axis position of the foot when the foot is in the “seated ground” state during walking or in the position of bottom bending. It is attached rotatably.

  When moving from the posture with the soles on the horizontal floor surface to the “seated ground” state by taking the posture of walking motion or bottom bending, the first and second shaft members AX1, AX2 are pivoted. As the rear flat plate member 131 in the rear foot mounting portion 130 rotates and corresponds to the movement in which the soles extend when it is in the “heel-off” state, the rear foot mounting portion 130 and the front foot The space | interval with the part mounting part 140 spreads. Further, when moving from the “seated ground” state to the posture in which the entire sole is attached to the horizontal floor surface, the rear flat plate member 131 rotates with the first and second shaft members AX1 and AX2 as the rotation shafts. Accordingly, the distance between the rear foot mounting portion 130 and the front foot mounting portion 140 is reduced in response to the movement of the sole shrinking.

  Therefore, according to the present embodiment, smooth and stable movement of the foot can be realized when the joint motion assist device is mounted.

[Modification of Embodiment]
The present invention is not limited to the above-described embodiment, and various modifications are possible.

  For example, in the above-described embodiment, the tack-fastening member is fixed to the rear flat plate member of the rear foot mounting portion, but the toe portion of the front foot portion is further fixed to the front flat plate member of the front foot mounting portion. It is good also as a structure which fixes the toe stop member which supports the. In this case, that is, when the foot mounting structure has a structure including a heel stop member and a toe stop member, the middle foot heel of the foot is placed on a line segment connecting the first shaft member and the second shaft member. Rear foot mounting portion 130 and front foot mounting portion in which shaft holes for inserting the first and second shaft members are formed so that the joint motion axis of the joint joint is positioned (see axis AXB in FIG. 7). It may be set to 140.

  Even when such a structure is adopted, it is possible to realize a smoother “heel-off” state of the foot.

  Further, in the above-described embodiment, the tacking member is fixed to the rear flat plate member of the rear foot mounting part. However, the tacking member is not fixed to the rear flat plate member and is described above. It is good also as a structure which does not fix a toe stop member to the front side flat member of a front side leg mounting part. In this case, that is, when the foot mounting structure is a structure that does not include the heel stopper member and the toe stopper member, the middle foot of the foot is placed on the line segment connecting the first shaft member and the second shaft member. Rear foot mounting portion 130 and front foot mounting in which a shaft hole for inserting the first and second shaft members is formed so that the joint motion axis of the phalanx joint is located (see axis AXB in FIG. 7). What is necessary is just to make it the part 140. FIG.

  Even when such a structure is adopted, it is possible to realize a smoother “heel-off” state of the foot.

  In the above embodiment, the + X direction side ends of the first and second rear bearing members have a semicircular shape, but only the −Z direction side of the + X direction side end is a quarter circle. It is good also as a shape and it is good also as another shape about the + Z direction side of the said + X direction side edge part.

  In the above embodiment, the first and second front bearing members have a rectangular shape whose longitudinal direction is the X direction, but the -X direction side of the first and second front bearing members is a semicircular shape. You may make it shape | mold.

  In the above embodiment, the ankle joint side end of the first outer exoskeleton member is an external gear, and the ankle side end of the second outer exoskeleton member is an external gear. These members are connected so as to be rotatable in the rotation direction of the ankle joint at a position corresponding to the ankle joint. In the above embodiment, the ankle joint side end of the first inner exoskeleton member is an external gear, and the ankle side end of the second inner exoskeleton member is an external gear. These members are connected so as to be rotatable in the rotation direction of the ankle joint at a position corresponding to the ankle joint. On the other hand, the first outer exoskeleton member and the second outer exoskeleton member are integrated into a member, and the first inner exoskeleton member and the second inner exoskeleton member are integrated into a member. It may be.

  The foot mounting structure of the joint motion assist device of the present invention is not only worn by a caregiver as a power assist device when used in the field of care and welfare, but also by a cared person with weak power. It can also be used as a device for power assist or rehabilitation. Further, the foot mounting structure of the joint motion assist device of the present invention can also be used as a power assist device for lifting heavy objects outside the fields of nursing care and welfare.

  Further, in the above embodiment, the present invention is applied to the foot mounting structure of the joint motion assist device that assists the joint motion of the human body, but the exoskeleton-type mammal other than the human body having the joint mechanism, the exoskeleton-type The present invention can also be applied to a foot mounting structure of a joint motion assist device such as a robot.

  As described above, the foot mounting structure of the joint motion assist device of the present invention can be applied to the foot mounting structure of an exoskeleton-type joint motion assist device that assists joint motion.

Claims (7)

A foot mounting structure of an exoskeleton-type joint motion assist device that is mounted on the foot of a human body and assists joint motion,
An outer exoskeleton member mounted on the outer side of the lower leg along a direction extending from the knee joint to the ankle joint of the human body;
A medial exoskeleton member mounted on the inside of the lower leg along a direction extending from the knee joint to the ankle joint;
A rear sole member including a flat plate disposed on the ankle joint side of the outer exoskeleton member and the ankle joint side of the inner exoskeleton member and to which the soles of the rear feet including the buttocks of the foot are attached. When;
A flat front-side sole member to which the sole of the forefoot including the toe of the foot is attached;
In each of the outer side end and the inner side end in the rear side sole member, facing each other, extending in the direction along the instep side and being fixed to the rear side sole member, Two first and second rear bearing members having shaft holes formed in the instep direction;
In each of the outer side edge part and the inner side side edge part of the front side sole member, they are opposed to each other, extend in a direction along the instep side, and are fixed to the front side sole member. Two first and second front bearing members having shaft holes formed in the lateral direction;
A first shaft member inserted into the shaft hole of the first rear bearing member and the shaft hole of the first front bearing member;
A shaft hole of the second rear bearing member and a second shaft member inserted into the shaft hole of the second front bearing member;
The front sole member is attached to the rear sole member so as to be rotatable in the pitch direction by the first and second shaft members,
When the front sole member and the flat plate of the rear sole member are parallel, the front sole member side end of the rear sole member and the rear sole member side of the front sole member The distance from the end is narrowed,
When the angle at which the front sole member and the flat plate of the rear sole member intersect increases, the front sole member side end of the rear sole member and the rear sole portion of the front sole member The space between the material side ends widens,
A foot mounting structure for an articulation assist device. The first and second rear bearing members are fixed to the front sole member side end of the rear sole member,
The first and second front bearing members are fixed to the rear sole member side end of the front sole member;
The foot mounting structure of the joint motion assist device according to claim 1. The shaft holes of the first and second rear bearing members are molded above the instep side at a position protruding from the front sole member side end of the rear sole member toward the toe side,
The shaft holes of the first and second front bearing members are formed on the instep side above the rear sole member side of the front sole member,
The foot mounting structure of the joint motion assist device according to claim 1 or 2. The second shaft member is disposed on an extension line in the axial direction of the first shaft member,
The foot portion is mounted such that the articulation axis of the middle foot phalanx joint of the foot portion is positioned on a substantially line segment connecting the first shaft member and the second shaft member;
The foot mounting structure of the joint motion assisting device according to any one of claims 1 to 3.   The foot of the articulation assist device according to any one of claims 1 to 3, further comprising a heel stopper member fixed to the rear side sole member and holding a heel portion of the foot portion. Part mounting structure. The second shaft member is disposed on an extension line in the axial direction of the first shaft member,
Seen from the axial direction of the first and second shaft members,
It passes through a predetermined position on a line segment that connects the joint motion axis of the metatarsophalangeal joint of the foot and the joint motion axis of the tarsal metatarsal joint, and in the joint motion axis of the metatarsal joint and the root The foot portion is mounted such that a line substantially parallel to the joint motion axis of the ankle joint substantially coincides with a line connecting the first shaft member and the second shaft member;
The foot mounting structure of the joint motion assist device according to claim 5. The outer exoskeleton member is
A first outer exoskeleton member corresponding to the lower leg of the human body;
One end is connected to the first outer exoskeleton member at a position corresponding to the ankle joint of the human body so as to be rotatable in the rotation direction of the ankle joint, and the other end is connected to the rear foot. A second outer exoskeleton member connected to the bottom member;
The inner exoskeleton member is
A first inner exoskeleton member corresponding to the lower leg of the human body;
One end is connected to the first inner exoskeleton member at a position corresponding to the ankle joint so as to be rotatable in the rotation direction of the ankle joint, and the other end is the rear sole member. A second inner exoskeleton member connected to
The foot mounting structure of the joint motion assisting device according to any one of claims 1 to 6.

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