JP5957786B2 - 手袋型パワーアシスト装置 - Google Patents
手袋型パワーアシスト装置 Download PDFInfo
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- JP5957786B2 JP5957786B2 JP2013504671A JP2013504671A JP5957786B2 JP 5957786 B2 JP5957786 B2 JP 5957786B2 JP 2013504671 A JP2013504671 A JP 2013504671A JP 2013504671 A JP2013504671 A JP 2013504671A JP 5957786 B2 JP5957786 B2 JP 5957786B2
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
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- A61F5/0104—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation
- A61F5/0118—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation for the arms, hands or fingers
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- A—HUMAN NECESSITIES
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- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or fingers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
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- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F2005/0132—Additional features of the articulation
- A61F2005/0155—Additional features of the articulation with actuating means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
- F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
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- Physical Education & Sports Medicine (AREA)
- Engineering & Computer Science (AREA)
- Biophysics (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Nursing (AREA)
- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Description
特許文献1には、前記アクチュエータの流体受容部をアクチュエータの長手方向に沿って延在させ、アクチュエータ内部の一側面の長手方向に沿った伸長を拘束する拘束手段を設けることについても記載されている。
本実施態様の手袋型パワーアシスト装置は、図1に示すように、手袋10と、伸縮チューブ20と、流体供給手段(図示省略)とを備えている。手袋10は、手指を挿入するための指挿入部11を備えている。伸縮チューブ20は、図4に示すように、手袋10における指挿入部11の背側(甲側)に沿って固定されている。流体供給手段から伸縮チューブ20へ流体が供給されて、伸縮チューブ20の内部圧力が高まると、伸縮チューブ20は、図6に示すように真っ直ぐな状態から図8に示すように湾曲した状態へと変化するようになっている。本実施態様の手袋型パワーアシスト装置は、伸縮チューブ20のこの動作特性を利用して、図4と図5に示すように、指挿入部11に挿入された手指の屈曲動作を支援するものとなっている。伸縮チューブ20の具体的な構造については後述する。
本実施他用の手袋型パワーアシスト装置において、伸縮チューブ20は、図6に示すように、内部に流体が供給されて内部圧力が高まると膨張しようとするチューブ本体20aと、チューブ本体20aに流体を導入するための流体導入管20bとで構成されている。チューブ本体20aは、図7に示すように、内側チューブ20a1と、内側チューブ20a1の外側を被覆する外側チューブ20a2,20a3とで構成されている。
流体供給手段は、伸縮チューブ20に流体を供給する。流体供給手段は、コンプレッサーやモーターなどを使用するものであってもよいが、本実施態様の手袋型パワーアシスト装置において、流体供給手段は、伸縮チューブ20に供給する流体を充填したボンベと、該ボンベの開閉を行う開閉弁と、該開閉弁の開閉を制御するための弁制御手段と、開閉弁及び弁制御手段に電力を供給するための形態型電源(バッテリーや電池など)とで構成している。これにより、流体供給手段を小型化して携帯に適したものとすることができる。また、流体供給手段を振動や騒音の少ないものとすることが可能になる。さらに、流体供給手段の消費電力を抑えることもできる。
本実施態様の手袋型パワーアシスト装置において、手袋10は、図1に示すように、その指挿入部11が、着用者の親指を挿入するための親指挿入部11aと、着用者の人差指を挿入するための人差指挿入部11bと、着用者の中指、薬指及び小指を共に挿入するための三指共通挿入部11cとで構成されている。このため、手袋型パワーアシスト装置は、操作性と装着性を兼ね備えたものとなっている。また、手袋型パワーアシスト装置の構造を簡素化してコストを削減することも可能となっている。例えば、5本の指挿入部11を独立して設けると、上記の伸縮チューブ20も5本必要となるところ、上述したような三指共通挿入部11cを設けると、上記の伸縮チューブ20は最低3本とすることもできる。本実施態様の手袋型パワーアシスト装置においては、親指挿入部11aには1本の親指支援用伸縮チューブ21を、人差指挿入部11bには1本の人差指支援用伸縮チューブ22を、三指共通挿入部11cには2本の三指支援用伸縮チューブ23a,23bをそれぞれ設けており、伸縮チューブ20の本数は合計4本となっている。
本発明の手袋型パワーアシスト装置の用途は、特に限定されない。スプーンを持つ、コップを持つ、鉛筆を持つなど、日常生活における各種動作の際の握力支援のほか、手先の不自由な人のリハビリテーションや、手先に動きを覚えさせるためのトレーニングや、拘縮予防のストレッチなどにも使用することができる。また、筋力トレーニングに用いられる手袋型の負荷付与装置としても用いることができる。さらに、バーチャルリアリティの体現に用いられる手袋型の体感装置などとしても用いることができる。本発明の手袋型パワーアシスト装置は、着用者の手指の関節に無理な負荷を掛けることなく、着用者の手指の動作をスムーズに支援することができることに加え、小型化も容易で携帯にも適しているため、上記のような幅広い用途に用いることができる。
11 指挿入部
11a 親指挿入部
11b 人差指挿入部
11c 三指共通挿入部
12 閉塞手段
13 伸縮性基材
14 滑り止めシート
15 非伸長性線材
16 空白部
20 伸縮チューブ
20a チューブ本体
20a1 内側チューブ
20a2 伸縮部(外側チューブ)
20a3 非伸縮部(外側チューブ)
20b 流体導入管
21 親指支援用伸縮チューブ
22 人差指支援用伸縮チューブ
23a 三指支援用伸縮チューブ
23b 三指支援用伸縮チューブ
L1 脇線
Claims (6)
- (a)手指を挿入するための指挿入部を備えた手袋と、
(b)手袋における指挿入部の背側に沿って固定され、指挿入部に対して固定された側における長手方向に沿った伸長が制限された伸縮チューブと、
(c)伸縮チューブに気体又は液体を供給して伸縮チューブの内部圧力を高めるための流体供給手段と、
を備え、
伸縮チューブに気体又は液体を供給して伸縮チューブの腹側よりも背側を伸長させることで、伸縮チューブを腹側に湾曲させ、指挿入部に挿入された手指の屈曲動作を支援する手袋型パワーアシスト装置であって、
手袋の実質的に全体が、伸縮性を有する伸縮性基材で形成される一方、
手袋の指挿入部の背側と腹側の境界で当該指挿入部の長手方向に直線状に延びる脇線に沿って非伸長性線材が直線状に固定されて、指挿入部における当該脇線に沿った箇所が、指挿入部の長手方向への伸長が拘束された構造とされたことにより、
伸縮チューブの内部圧力を高めた際に、着用者の手指の関節(手指が人差指、中指、薬指又は小指である場合には、遠位指節間関節、近位指節間関節又は中手指節間関節、手指が親指である場合には、指節間関節又は中手指節間関節)部分の屈曲中心に対する屈曲点を中心として伸縮チューブを湾曲させることができるようにしたことを特徴とする手袋型パワーアシスト装置。 - 非伸長性線材が、指挿入部を側方から見た際に、着用者の同一手指の関節部分の隣接する屈曲点同士を結ぶ仮想線(手指が人差指、中指、薬指又は小指である場合には、それぞれの手指における遠位指節間関節の屈曲点と近位指節間関節の屈曲点と中手指節間関節の屈曲点とを結ぶ仮想線、手指が親指である場合には、親指における指節間関節の屈曲点と中手指節間関節の屈曲点とを結ぶ仮想線)に重なる位置に設けられた請求項1記載の手袋型パワーアシスト装置。
- 指挿入部における手指の関節に重ならない非屈曲部であって前記脇線よりも腹側の部分を滑り止めシートで覆われた滑り止め部とする一方、指挿入部における手指の関節に重なる屈曲部であって前記脇線よりも腹側の部分を滑り止めシートで覆われずに前記伸縮性基材が指挿入部の外面に現れた部分である空白部とした請求項1又は2記載の手袋型パワーアシスト装置。
- 手袋の甲側における人差指の付根の親指側を覆う部分から手袋の装着口にかけて、手袋の内部に手を挿入しやすくするための切れ目を設け、該切れ目を閉塞するための閉塞手段を設けた請求項1〜3いずれか記載の手袋型パワーアシスト装置。
- 手袋の指挿入部が、着用者の親指を挿入するための親指挿入部と、着用者の人差指を挿入するための人差指挿入部と、着用者の中指、薬指及び小指を共に挿入するための三指共通挿入部とで構成された請求項1〜4いずれか記載の手袋型パワーアシスト装置。
- 流体供給手段が、容量が500ml以下とされてその内部に液化炭酸ガスが充填されたボンベと、該ボンベの開閉を行う開閉弁と、該開閉弁の開閉を制御するための弁制御手段とで構成された請求項1〜5いずれか記載の手袋型パワーアシスト装置。
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EP3058237B1 (en) * | 2013-10-18 | 2020-12-02 | President and Fellows of Harvard College | Mechanically programmed soft actuators with conforming sleeves |
US10184500B2 (en) * | 2013-10-29 | 2019-01-22 | President And Fellows Of Harvard College | Multi-segment reinforced actuators and applications |
GB2541623A (en) * | 2014-06-12 | 2017-02-22 | Nat Univ Singapore | Actuator device, method and system for limb rehabilitation |
WO2016029143A1 (en) * | 2014-08-22 | 2016-02-25 | President And Fellows Of Harvard College | Sensors for soft robots and soft actuators |
WO2016029130A1 (en) | 2014-08-22 | 2016-02-25 | President And Fellows Of Harvard College | Flexible and stretchable electronic strain-limited layer for soft actuators |
CN105161028A (zh) * | 2015-09-25 | 2015-12-16 | 陈玉堂 | 一种便携式打车识别装置 |
CN105212374A (zh) * | 2015-11-04 | 2016-01-06 | 杨丽珍 | 带有口袋的分体式防晒手套 |
KR101814676B1 (ko) * | 2016-07-25 | 2018-01-04 | 이동찬 | 소프트 외골격 근력 보조 장치 |
US11129766B2 (en) * | 2017-04-14 | 2021-09-28 | The Chinese University Of Hong Kong | Flexibly driven robotic hands |
WO2019203732A1 (en) * | 2018-04-20 | 2019-10-24 | Roceso Technologies Private Limited | Wearable hand assistive device and system |
WO2019223568A1 (en) * | 2018-05-23 | 2019-11-28 | The University Of Hong Kong | Soft robotic glove for rehabilitation |
CN109953871B (zh) * | 2019-04-11 | 2021-05-11 | 无锡市第九人民医院 | 一种利用气压分布状态进行训练的手指复健用指套 |
CN111228748B (zh) * | 2020-01-13 | 2020-12-01 | 吉林大学 | 一种icu重症医疗用手部束缚组件 |
CN111789745B (zh) * | 2020-08-25 | 2022-11-15 | 河南科技大学 | 一种气动康复手套 |
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JP2001276101A (ja) * | 2000-03-29 | 2001-10-09 | Seiko Epson Corp | 身体装着型筋力補助装置 |
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US6168634B1 (en) * | 1999-03-25 | 2001-01-02 | Geoffrey W. Schmitz | Hydraulically energized magnetorheological replicant muscle tissue and a system and a method for using and controlling same |
JP2001276101A (ja) * | 2000-03-29 | 2001-10-09 | Seiko Epson Corp | 身体装着型筋力補助装置 |
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