JP6086603B2 - Joint motion assist device - Google Patents

Description

  The present invention relates to a joint motion assist device, and more particularly, to an exoskeleton joint motion assist device that assists joint motion of a predetermined object.

  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.

  As one of such muscular strength assisting devices, there is one that uses a bag body (hereinafter, the bag body is also referred to as “air bag”) that is inflated by the air supplied therein as an actuator (see Patent Document 1 below). , Called “conventional example”). Such a muscle force assisting device using an inflatable / shrinkable actuator such as an air bag is more practical than a device using a pneumatic cylinder type actuator or a Mackiben type pneumatic actuator, and thus has high practicality. In addition, since an extendable actuator such as an air bag can be driven at a low pressure, a low vibration and low noise pump such as a diaphragm pump or a vane pump can be used. From this point of view, it can be said that a muscle force assisting device using an inflatable / shrinkable actuator such as an air bag is highly practical.

  In this prior art technique, an actuator comprising two plate members that are pivotably connected to each other around one end portion, and a bag body that is disposed between the two plate members and expands by air supplied to the inside. A pneumatic actuator with overlapping elements is attached to a mounting portion that is mounted at a predetermined location on the human body. And the bag body in a pneumatic actuator is expanded, and the movement of an elbow joint, a waist joint, and a knee joint is assisted. Here, in the technology of the conventional example, the lumbar part mounting unit that assists the motion of the lumbar joint has a structure that largely protrudes from the buttocks in the back part when the lumbar joint is extended and bent.

JP 2000-051289 A

  By the way, when the caregiver wakes up or hangs up the caregiver from the bed or the like, the waist joint is bent, so a space for securing the posture where the waist joint is bent is required. Become.

  However, in the above-described conventional technique, the waist mounting unit largely protrudes from the buttocks at the back when the hip joint is bent. As a result, when waking up or hugging the care recipient, a larger space is required in the front-rear direction of the wearer of the waist mounting unit than when the waist mounting unit of the conventional example is not worn. . Therefore, in a general house where a work space for care is limited, it may be difficult to use the device when the caregiver is to be hung up or hung down.

  For this reason, when using an exoskeleton-type joint motion assist device using a pneumatic actuator that can be expanded and contracted, the waist mounting unit protrudes greatly from the buttocks when the hip joint is bent (bent). There is a demand for a technique that can prevent the above-described problem. 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 joint motion assist device capable of appropriately assisting joint motion while making the structure compact.

  The present invention is an exoskeleton-type joint motion that is attached to a predetermined object having a skeletal structure and assists the joint movement using a joint mechanism that connects one side portion and the other side portion of the predetermined object. A first exoskeleton member attached to the one side portion along a direction in which the one side portion extends from the joint; and an assist device, wherein the other side portion extends from the joint, A second exoskeleton member attached to the other side part; fixedly connected to the joint side end of the first exoskeleton member, and the first exoskeleton member attached to the one side part A first external gear member having a tooth portion formed on an outer peripheral portion along a rotational movement direction of the joint; and fixedly connected to the joint-side end portion of the second exoskeleton member. The second exoskeleton member is mounted on the other side portion. And a second external gear member formed on an outer peripheral portion along a rotational movement direction of the joint; and a second external gear member that engages with the first external gear member; An internal gear forming member in which a gear member is inscribed and an internal gear is formed in an inner periphery centering on a central axis of the first external gear member; and an axial position of the first external gear member A third external gear member centered on the shaft; a central axis is inserted into a shaft hole formed in the internal gear forming member with an axis parallel to the axis of the first external gear member as an axial direction; A fourth external gear member that meshes with the external gear member; an expansion / contraction member that generates a force for assisting the joint movement; and the internal tooth formation in proximity to the shaft hole formed in the internal tooth formation member A long first connecting member fixed to the member and connected to one end of the expansion / contraction member; and the fourth external tooth A long second connection member fixed to the member and connected to the other end of the expansion / contraction member, and the fourth external gear member, the first connection member, and the second connection. The connecting member is disposed on the extension side of the joint, and an angle at which the first connecting member and the second connecting member intersect with each other changes according to an expansion stroke or a contraction stroke of the expansion / contraction member. In the system in which the external gear member is relatively stationary, the fourth external gear member revolves around the third external gear member around the central axis of the third external gear member, A first exoskeleton member rotatingly connected to the first external gear member and a second exoskeleton fixedly connected to the second external gear member. The angle of intersection with the member changes to assist the movement of the joint. It is a dynamic assist device.

  In this joint motion assist device, when the device is mounted on a predetermined object, the central axis of the first external gear member fixedly connected to the first exoskeleton member, and the first external gear The central axis of the second external gear member fixedly connected to the second exoskeleton member meshing with the member is substantially parallel to the rotational axis of the rotational movement of the assist target joint. Then, when the intersecting angle of the first connecting member and the second connecting member changes due to the expansion stroke or contraction stroke of the expansion / contraction member, the second connection in the system in which the third external gear member is relatively stationary. The fourth external gear member fixed to the member for use revolves while rotating around the third external gear member.

  When the fourth external gear member revolves around the third external gear member in this way, the internal tooth forming member into which the shaft of the fourth external gear member is inserted is the center of the first external gear member. Rotate around an axis. When the internal tooth forming member rotates in this way, the second external gear member inscribed in mesh with the internal gear of the internal tooth forming member rotates in the same direction as the internal gear, and the second external gear member The first external gear member meshing with the second external gear member rotates in the direction opposite to the rotation of the second external gear member. As a result, the angle at which the first exoskeleton member to which the one side portion of the predetermined object is fixed and the second exoskeleton member to which the other side portion is fixed changes, and passively The movement of the joint connecting the other side part is assisted.

  Therefore, according to the joint motion assist device of the present invention, it is possible to make the structure compact and to appropriately assist the joint motion by controlling the expansion stroke and the contraction stroke of the expansion / contraction member.

  Here, the “predetermined object” may be a human body or an object other than a human body having a skeleton structure.

  In the joint motion assist device of the present invention, the second external gear member is viewed from the bending side of the joint when the angle at which the first connection member and the second connection member intersect is narrowed, The tooth portion of the first external gear member can be arranged on the moving direction side.

  As described above, when the second external gear member is arranged on the direction side where the meshing with the tooth portion of the first external gear member is started when viewed from the bending side of the joint, the first connection member The first exoskeleton member fixed to the first external gear member and the second exoskeleton fixed to the second external gear member when the intersecting angle between the first connecting member and the second connecting member becomes narrower The angle at which the member intersects is narrowed, and the joint is bent. Further, in this case, when the intersecting angle between the first connecting member and the second connecting member becomes wide, the first exoskeleton member fixed to the first external gear member and the second outer member The angle at which the second exoskeleton member fixed to the toothed gear member intersects becomes wider, and the joint is in an extended state. For this reason, since the expansion / contraction member contracts in the bent state of the joint, the structure in the bent state of the joint can be made compact.

  Here, due to the expansion stroke of the expansion / contraction member, an angle at which the first connection member and the second connection member intersect with each other about the fourth external gear member is increased, and the third external gear member In the system in which the tooth gear members are relatively stationary, the fourth external gear member is connected to the second external gear member around the third external gear member about the central axis of the third external gear member. When the member revolves away from the first connecting member, the internal gear rotates in the away direction, and meshes with the internal gear as the internal gear rotates in the away direction. The second external gear member rotates in the same direction as the rotation of the internal gear, and the first external gear member engaged with the second external gear member is in the direction opposite to the rotation of the internal gear. To rotate the first exoskeleton member and the second exoskeleton member Spread angle of difference is in the extended state the joint from the bent state can be so. In this case, the joint can be changed from the bent state to the extended state by expanding the expansion / contraction member sandwiched between the first connection member and the second connection member from the contracted state.

  Further, due to the contraction process of the expansion / contraction member, the angle at which the first connection member and the second connection member intersect with each other about the fourth external gear member becomes narrow, and the third external gear In the system in which the gear member is relatively stationary, the fourth external gear member is around the third gear member around the central axis of the third external gear member, and the second connecting member is the By revolving in the direction approaching the first connecting member, the internal gear rotates in the approaching direction, and the second gear meshes with the internal gear by the rotation of the internal gear in the approaching direction. The external gear member rotates in the same direction as the rotation of the internal gear, and the first external gear member engaged with the second external gear member rotates in the direction opposite to the rotation of the internal gear. The angle at which the first exoskeleton member and the second exoskeleton member intersect is Mari, to flexion of the joint from the extended state, can be so. In this case, the joint can be changed from the extended state to the bent state by contracting the expansion / contraction member sandwiched between the first connection member and the second connection member from the expanded state.

  In the joint motion assist device of the present invention, when the joint is in the extended state, the length direction of the second exoskeleton member and the length direction of the first connecting member are substantially parallel to each other. it can.

  In this case, when the joint is in the extended state, the angle at which the first connecting member and the second connecting member intersect with each other increases with the fourth external gear member approximately at the center (intersection). Since the length direction of the connecting member is substantially parallel to the length direction of the second exoskeleton member fixed to the other side portion, the structure of the joint motion assist device can be made compact when the joint is extended. Can do. In addition, when such a structure is employed, the structure of the joint motion assist device can be made compact when the joint is bent.

  In the joint motion assist device of the present invention, the diameter of the second external gear member may be the same as the diameter of the first external gear member. In this case, in the system in which the third external gear member is relatively stationary, the angle at which the first exoskeleton member changes when the angle of intersection between the first exoskeleton member and the second exoskeleton member changes. And the absolute value of the angle at which the second exoskeleton member changes are equal. Here, as described above, the structure in which the absolute value of the angle at which the first exoskeleton member changes and the absolute value of the angle at which the second exoskeleton member changes are equal to each other when the hip joint and knee joint of the human body are linked. It has been obtained from the results of the inventor's research that it is suitable for the movement of bending and stretching movements of two joints. For this reason, the motion of the hip joint of the human body can be assisted appropriately.

  In the joint motion assist device of the present invention, the fifth external gear member has the same diameter as the second external gear member, meshes with the first external gear member, and meshes internally with the internal gear. It can be set as the structure further provided. In this case, the force applied to the internal gears of the first external gear member, the second external gear member, and the internal field forming member can be dispersed to enhance the durability of the joint motion assist device. When the first external gear member, the second external gear member, and the fifth external gear member are arranged so that the centers thereof are linear, the center position of the internal gear is the center of the first external gear member. Can be placed in position.

  Further, in the joint motion assist device of the present invention, when it is configured to further include a fifth external gear member having the same diameter as the second external gear member, it has the same diameter as the second external gear member, A sixth external gear member and a seventh external gear member that mesh with the first external gear member and mesh with the internal gear may be further provided. In this case, the force applied to the internal gears of the first external gear member, the second external gear member, and the internal gear forming member can be further dispersed to further enhance the durability of the joint motion assist device. For example, when the centers of the first external gear member, the second external gear member, and the fifth external gear member are arranged on a straight line, the center position of the internal gear is the center of the first external gear member. Can be placed in position.

  The joint motion assist device of the present invention may further include an adjustment unit that adjusts the working fluid pressure in the expansion / contraction member. In this case, since the adjusting unit adjusts the working fluid pressure in the expansion / contraction member, the expansion / contraction member can generate a force that assists joint motion in at least one of bending and extension.

  In the joint motion assist device of the present invention, the joint of the predetermined object is a hip joint of a human body, the first exoskeleton member is attached to the thigh, and the second exoskeleton member is attached to the waist. Can be. In this case, it is possible to assist the exercise of the hip joint of the human body.

  As described above, according to the joint motion assist device of the present invention, the structure is compact and the joint motion can be appropriately assisted.

1 is an external view (XZ plan view) of a joint motion assist device according to an embodiment of the present invention. It is a perspective view for demonstrating the structure of the waist | hip | lumbar part mounting | wearing unit of FIG. It is a top view for demonstrating the structure of the waist | hip | lumbar part mounting | wearing unit of FIG. 1 (YZ top view). It is a disassembled perspective view for demonstrating the structure of the waist | hip | lumbar part mounting | wearing unit of FIG. It is a figure for demonstrating the structure of the individual waist mounting unit of FIG. 2, FIG. It is a perspective view for demonstrating the structure of the individual waist mounting unit of FIG. 2, FIG. It is a figure for demonstrating the structure of the adjustment part of FIG. It is a figure for demonstrating the state of the joint movement assistance apparatus of FIG. 1 at the time of expansion | swelling and contraction of a bellows. It is a figure for demonstrating the state of the separate waist | hip | lumbar part mounting | wearing unit of FIG. 5 at the time of expansion | swelling and contraction of a bellows. It is a figure for demonstrating the modification of an individual waist mounting unit.

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. In the present embodiment, a joint motion assist device that assists joint motion performed using a mechanism of a hip joint of a human body as a predetermined object 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.

  Here, the joint motion assist device of the present invention is mounted on the left side and the right side of the human body, and the joint motion assist device mounted on the left side of the human body will be described as an example. The joint motion assist device mounted on the right side of the human body is configured in the same manner as the joint motion assist device mounted on the left side of the human body.

[Constitution]
FIG. 1 is an external view of a joint motion assist device 100 according to an embodiment. FIG. 1 is an external view (XZ plan view) of an articulation assist device 100 mounted on a lumbar part and a left thigh of a human body as viewed from the left side of the human body when the lumbar joint is in an extended state.

  Here, the coordinate system (X, Y, Z) in FIG. 1 indicates that the front direction of the human body is + X direction and the direction from the right side to the left side of the human body is + Y when the joint motion assist device 100 is attached to the human body. This is a coordinate system in which the direction, the vertical upward direction is the + Z direction. For this reason, in the coordinate system (X, Y, Z), the Y axis direction and the rotation axis direction of the rotation motion of the hip joint are substantially parallel.

  As shown in FIG. 1, the joint motion assist device 100 includes a waist mounting unit 110, an adjustment unit 180, and a pipe 190. In addition, in FIG. 1, the adjustment part 180 and the piping 190 are not an external appearance, but the relationship with the waist | hip | lumbar part mounting | wearing unit 110 is shown notionally. In the present embodiment, the joint motion assist device 100 is attached to the left thigh and waist by the belt member 511 and the belt member 512.

<Configuration of waist mounting unit 110>
The configuration of the waist mounting unit 110 will be described. As generally shown in FIGS. 1 to 4, the waist mounting unit 110 includes individual waist mounting units 120 ₁ and 120 ₂ , shaft members AX 1, AX 2, and AXA and a bellows 130 (see FIG. 2). To (not shown in FIG. 4).

Here, FIG. 2 is a perspective view of the waist mounting unit 110 excluding the bellows 130 as viewed in the coordinate system shown in FIG. FIG. 3 is a plan view of the waist mounting unit 110 excluding the bellows 130 as viewed from the −X direction side. Further, FIG. 4 shows an exploded view when the waist mounting unit 110 excluding the bellows 130 is separated into the individual waist mounting unit 120 ₁ and the individual waist mounting unit 120 ₂ , and the shaft member AX1, the shaft member AX2, and the shaft member AXA. It is a perspective view.

In this embodiment, the waist mounting unit 110, excluding the bellows 130, as shown in FIGS. 2 to 4, from the viewpoint of ensuring the strength of the lumbar mounting unit, individual lumbar mounting unit 120 ₁ of the + Y direction side of the member It is fixed (the later femoral exoskeleton member waist exoskeleton member), and an individual lumbar mounting unit 120 _{and second} -Y direction side of the member (described later femoral exoskeleton member waist exoskeleton member). Then, the shaft hole which is formed in the individual lumbar mounting unit 120 ₁ and the separate waist attachment unit 120 _2, and inserting the shaft member AX1, AX2, AXA, lumbar mounting unit 110 excluding the bellows 130 is formed.

<< Configuration of Individual Lumbar Mounting Units 120 ₁ and 120 ₂ >>
Next, the configuration of the individual lumbar mounting unit 120 ₁ of the above. The individual waist mounting unit 120 ₁ includes a thigh exoskeleton member 211 as a first exoskeleton member, and a first external gear member 212 as comprehensively shown in FIGS. 5, 6A, and 6B. And a waist exoskeleton member 221 as a second exoskeleton member, and a second external gear member 222. Further, the individual waist mounting unit 120 ₁ includes a reinforcing external gear member 231 as a fifth external gear member, an internal tooth forming member 241, and a third external gear member 243. The individual waist mounting unit 120 ₁ further includes a first connecting member 251, a second connecting member 252, and a fourth external gear member 254.

Here, FIG. 5 is a plan view of the individual waist mounting unit 120 ₁ in a state where the shaft members AX1, AX2, and AXA are inserted, as viewed from the + Y direction side. Also, FIG. 6 (A) is an individual lumbar mounting unit 120 _1, a perspective view in the coordinate system shown in FIG. 6 (A), FIG. 6 (B) the individual lumbar mounting unit 120 _1, It is the perspective view seen with the coordinate system shown in FIG.6 (B). Incidentally, FIG. 6 (A), the in (B), for the shaft hole shaft member AX1, AX2, AXA is inserted in the individual lumbar mounting unit 120 _1, as shown subjected parentheses to the sign of the corresponding shaft member I have to.

  The thigh exoskeleton member 211 is, for example, a long steel member. The thigh exoskeleton member 211 is disposed on the left side (+ Y direction side) of the left thigh along the direction in which the left thigh extends from the hip joint, and is attached to the metal belt member 511 (see FIG. 1). And fixed to the left thigh.

  The first external gear member 212 is a columnar steel member having the shaft member AX1 as a central axis and into which the shaft member AX1 is inserted. The first external gear member 212 is fixedly connected to the waist joint side end of the thigh exoskeleton member 211. Further, a tooth portion having a tooth line parallel to the axis is formed on the outer peripheral portion of the first external gear member 212. Here, the axial direction of the shaft member AX1 is parallel to the Y-axis direction which is substantially parallel to the rotational axis of the rotational motion of the hip joint.

  In the present embodiment, the first external gear member 212 is connected so as to protrude toward the −Y direction side from the waist joint side end of the femoral exoskeleton member 211 (see FIG. 6A). .

  The lumbar exoskeleton member 221 is, for example, a long steel member. The lumbar exoskeleton member 221 is disposed on the left side (+ Y direction side) of the waist along the direction in which the waist extends from the hip joint to the back, and is attached to a metal belt member 512 (see FIG. 1). Fixed to the left side of the waist.

  The second external gear member 222 is a columnar steel member having the shaft member AX2 as a central axis and into which the shaft member AX2 is inserted. The second external gear member 222 is fixedly connected to the waist joint side end of the lumbar exoskeleton member 221. The outer peripheral portion of the second outer gear member 222 is formed with tooth portions whose tooth lines are parallel to the shaft, and the tooth portions mesh with the tooth portions of the first external gear member 212 and form internal teeth. The teeth of the member 241 are in mesh with the teeth. Here, in this embodiment, the axial direction of the shaft member AX2 is parallel to the axial direction of the shaft member AX1. The diameter of the second external gear member 222 is the same as the diameter of the first external gear member 212.

  In the present embodiment, the second external gear member 222 is connected so as to protrude toward the −Y direction side from the waist joint side end portion of the lumbar exoskeleton member 221 (see FIG. 6A). .

  The reinforcing external gear member 231 is a columnar steel member having a shaft member AXB parallel to the Y-axis direction as a central axis. The outer peripheral gear member 231 has a tooth portion whose teeth are parallel to the shaft. The tooth portion meshes with the tooth portion of the first external gear member 212, and the inner teeth. The teeth of the forming member 241 are in mesh with the teeth.

  Here, the diameter of the reinforcing external gear member 231 is the same as the diameter of the second external gear member 222. Further, the reinforcing external gear member 231 is in the cylinder of the internal tooth forming member 241, and the center of the reinforcing external gear member 231 is the center of the first external gear member 212 and the second external gear member 222. It is arranged so as to be on a line passing through the center of.

  In the present embodiment, the internal tooth forming member 241 is a cylindrical steel member, and a tooth portion (internal gear) is formed on the inner peripheral portion. The second external gear member 222, the first external gear member 212, and the reinforcing external gear member 231 are located in the center of each gear member in the cylinder of the internal gear forming member 241 on which the internal gear is formed. Is arranged so that the line passing through the Z-axis direction is substantially parallel to the Z-axis direction, and the internal gear formed on the inner peripheral portion includes a tooth portion of the second external gear member 222 and a reinforcing external gear member 231. The teeth are inscribed. For this reason, the internal tooth forming member 241 is configured such that the center of the cylinder of the internal tooth forming member 241 coincides with the center of the first external gear member 212.

  A shaft hole into which the shaft member AXA parallel to the Y axis is inserted is molded on the −X direction side of the internal tooth forming member 241 (the joint extension side: see FIGS. 1 and 5).

  The third external gear member 243 is a disk-shaped steel member, and is arranged so that the center of the disk coincides with the center of the first external gear member 212. Further, a tooth portion having a tooth line parallel to the Y axis is formed on the circumferential portion of the third external gear member 243. Further, in the third external gear member 243, three shaft holes into which the shaft members AX1, AX2, and AXB are inserted are formed in a straight line parallel to the Y axis.

  In the present embodiment, the third external gear member 243 is disposed on the −Y direction side of the internal tooth forming member 241 (see FIG. 6B). In addition, the diameter of the third external gear member 243 is larger than the diameter of the cylinder of the internal tooth forming member 241.

  The first connecting member 251 is, for example, a long steel member. The end portion of the first connecting member 251 is fixed to the internal tooth forming member 241 in the vicinity of the shaft hole into which the shaft member AXA molded into the internal tooth forming member 241 is inserted. Then, one end of the bellows 130 is connected to the first connecting member 251 (see FIG. 1). Here, the first connecting member 251 is arranged so that the length direction of the first connecting member 251 is substantially parallel to the length direction of the lumbar exoskeleton member 221 when the lumbar joint is extended. It is fixed to the tooth forming member 241 (see FIG. 5).

  The second connecting member 252 is, for example, a long steel member. The end of the second connecting member 252 is fixed to the fourth external gear member 254. The other end of the bellows 130 is connected to the second connecting member 252 (see FIG. 1).

  The fourth external gear member 254 is a columnar steel member having the shaft member AXA as a central axis. The fourth external gear member 254 is fixed to the end of the second connection member 252. The outer peripheral portion of the fourth external gear member 254 is formed with a tooth portion whose tooth line is parallel to the axis, and the tooth portion meshes with the tooth portion of the third external gear member 243. Yes.

It has been described the configuration of the individual lumbar mounting unit 120 _1. In the present embodiment, the first external gear member 212, the second external gear member 222, the reinforcing external gear member 231, the third external gear member 243, the fourth external gear member 254, and the internal teeth The meshing lengths of the internal gears of the forming member 241 are the same.

The individual waist mounting unit 120 ₂ is configured to be plane symmetric with respect to the individual waist mounting unit 120 _{1 with} respect to the XZ plane (see FIGS. 2 to 4).

Next, the bellows 130 will be described. As shown in FIG. 1, the bellows 130 is an expandable / contractable resin member having annular grooves that are equally spaced, and is disposed on the extension side (−X direction side) of the hip joint. One end of the bellows 130 is connected to the first connecting member 251 of the individual waist mounting unit 120 ₁ and the individual waist mounting unit 120 ₂ , and the other end of the bellows 130 is connected to the individual waist mounting unit 120 _1. and it is connected to the second connecting member 252 of the individual lumbar mounting unit 120 _2.

  When the air pressure in the bellows 130 changes through the flexible resin pipe 190 that communicates between the bellows 130 and the adjusting portion 180, the bellows 130 expands and contracts. As a result, the bellows 130 generates a force that assists the joint motion of the hip joint.

<Configuration of Adjustment Unit 180>
Next, the configuration of the adjustment unit 180 will be described. The adjustment unit 180 communicates with the bellows 130 of the waist mounting unit 110 via the pipe 190. Then, the adjustment unit 180 forcibly discharges air from the bellows 130 and forcibly supplies air to the bellows 130 via the pipe 190 to adjust the air pressure in the bellows 130.

  As shown in FIG. 7, the adjustment unit 180 having such a function includes a pressurization pump 181, a decompression pump 182, an electro-pneumatic control valve 183, a control unit 184, and pipes 185 and 186. .

  The pressurizing pump 181 is connected to one of the pump side connection ports of the electro-pneumatic control valve 183 via the pipe 185. The pressurizing pump 181 is used when forcibly supplying air to the bellows 130. The decompression pump 182 is connected to the other of the pump side connection ports of the electro-pneumatic control valve 183 via a pipe 186. The decompression pump 182 is used when forcibly discharging the air from the bellows 130.

  The electro-pneumatic control valve 183 includes a flow path switching valve and a pressure control valve (proportional solenoid valve). One side of the inlet side of the flow path switching valve is connected to the pressurizing pump 181, and the other side of the inlet side is connected to the pressure reducing pump 182.

  The flow path switching valve communicates with the pipe 185 connected to the pressure pump 181 and the bellows 130 when forcibly supplying air to the bellows 130 under the control of the control unit 184. A pipe 190 is connected to form a flow path. Further, the flow path switching valve communicates with the bellows 130 and the pipe 186 connected to the pressure reducing pump 182 when forcibly discharging the air from the bellows 130 under the control of the control unit 184. A pipe 190 is connected to form a flow path. Further, the pressure control valve changes the air pressure in the bellows 130 by controlling the air pressure under the control of the control unit 184.

  The control unit 184 performs forced discharge of air from the bellows 130, switching of forced supply of air to the bellows 130, and control of air pressure in the bellows 130. In this control, the control unit 184 controls the electro-pneumatic control valve 183 so as to form a flow path connecting the pressurizing pump 181 and the bellows 130 when forcibly supplying air to the bellows 130. Control. In addition, when the air from the bellows 130 is forcibly discharged, the control unit 184 controls the electro-pneumatic control valve 183 so as to form a flow path connecting the decompression pump 182 and the bellows 130.

  Such control is performed on the basis of biological information relating to muscle strength that drives a joint in consideration of experiments, simulations, experiences, and the like. Here, the biological information related to the muscle force for driving the joint can be obtained by a detection unit (not shown) detecting an electromyogram, muscle hardness, and the like.

  As described above, the joint motion assist device 100 mounted on the left hip and the left thigh of the human body has been described. However, the joint motion assist device mounted on the right hip and the right thigh of the human body can also be applied to the human body. It is configured in the same manner as the joint motion assist device mounted on the left side.

[Operation]
The operation of the joint motion assist device 100 configured as described above, that is, the joint motion assist operation using the hip joint mechanism will be described.

  In the joint motion assist device 100, initially, the air pressure in the bellows 130 is not adjusted by the adjusting unit 180, and the internal pressure of the bellows 130 is atmospheric pressure. In addition, at the beginning, as shown in FIGS. 1 and 8A, the hip joint is assumed to be in the extended state. The line direction passing through the center of the second external gear member 222, the center of the first external gear member 212, and the center of the reinforcing external gear member 231 is substantially parallel to the Z-axis direction. And Here, in the joint motion assist device 100 shown in FIGS. 8A and 8B, the adjustment unit 180 and the pipe 190 are not shown.

Further, in FIG. 9 (A), corresponds to the articulation assist device 100 "hip joint when extended state" have been shown separately lumbar mounting unit 120 ₁ in FIG. 8 (A). Hereinafter, mainly focusing on the movements of the elements constituting the individual lumbar mounting unit 120 _1, illustrating the assist operation of the hip joint.

<Assist motion from the stretched state of the hip joint to the bent state>
The assisting operation of the joint movement performs control for forcibly discharging the air from the bellows 130 when the waist joint is changed from the extended state to the bent state. When the adjustment unit 180 forcibly discharges air from the bellows 130, the air pressure in the bellows 130 decreases. Thus, when the air pressure in the bellows 130 decreases, the bellows 130 contracts.

In contraction stroke the bellows 130 contracts, the state of the articulation assist device 100 when the bellows 130 is contracted is shown in FIG. 8 (B), the state of individual lumbar mounting unit 120 ₁ is shown in FIG. 9 (B) ing. Due to the contraction process of the bellows 130 that transitions from the state of FIG. 9A to the state of FIG. 9B, the other end portion of the bellows 130 is connected with the fourth external gear member 254 substantially at the center (intersection) The intersecting angle between the second connecting member 252 and the first connecting member 251 to which one end of the bellows 130 is connected is narrowed. As the intersecting angle becomes narrower, the meshing position of the fourth external gear member 254 with the third external gear member 243 changes, and the third external gear member 243 is relatively stationary. , The fourth external gear member 254 rotates counterclockwise (hereinafter also simply referred to as “counterclockwise”) in the XZ plan view with the −Y direction as the line-of-sight direction, and the third external gear member 243. The third external gear member 243 is revolved counterclockwise around the central axis (shaft member AX1) of the second external gear.

  When the fourth external gear member 254 rotates and revolves counterclockwise in this way, the internal tooth forming member 241 in which the shaft member AXA of the fourth external gear member 254 is inserted is counterclockwise about the shaft member AX1. Rotate to. When the internal gear forming member 241 rotates counterclockwise in this way, the second external gear member 222 meshing with the internal gear of the internal gear forming member 241 has the same direction as the rotation of the internal gear. The first external gear member 212 meshing with the second external gear member 222 is rotated in the clockwise direction that is opposite to the rotation of the internal gear.

  When the second external gear member 222 rotates counterclockwise, the waist exoskeleton member 221 fixedly connected to the second external gear member 222 rotates counterclockwise. When the first external gear member 212 rotates clockwise, the thigh exoskeleton member 211 fixedly connected to the first external gear member 212 rotates clockwise. As a result, the angle at which the lumbar exoskeleton member 221 fixed to the left side of the waist and the thigh exoskeleton member 211 fixed to the left thigh narrows, and the waist joint changes from the extended state to the bent state ( (See FIG. 8B).

  Here, when the hip joint is changed from the extended state to the bent state, the first connecting member 251 connected to the internal tooth forming member 241 and the second connecting member connected to the fourth external gear member 254 are used. Both members 252 rotate counterclockwise (see FIGS. 9A and 9B). When the connection member rotates, the diameter of the fourth external gear member 254 is shorter than the diameter of the internal tooth forming member 241. It is larger than the amount of movement. As a result, when the hip joint changes from the extended state to the bent state, the bellows 130 sandwiched between the first connecting member 251 and the second connecting member 252 also follows the bent waist and rotates counterclockwise. However, it contracts (see FIGS. 8A and 8B).

  Even when the hip joint is bent, the line direction passing through the center of the second external gear member 222, the center of the first external gear member 212, and the center of the reinforcing external gear member 231 is Z It is almost parallel to the axial direction. The absolute value of the angle formed by the length direction of the thigh exoskeleton member 211 and the X-axis direction and the absolute value of the angle formed by the length direction of the lumbar exoskeleton member 221 and the X-axis direction are substantially equal. (See FIGS. 8B and 9B).

<Assist motion from the bent state of the hip joint to the extended state>
When the hip joint is in the bent state (see FIGS. 8B and 9B), the adjustment unit 180 forces the bellows 130 to force air when the hip joint is changed from the bent state to the extended state. Control to perform the general supply. When the adjustment unit 180 forcibly supplies air to the bellows 130, the air pressure in the bellows 130 increases. Thus, when the air pressure in the bellows 130 increases, the bellows 130 expands.

In the expansion stroke in which bellows 130 is expanded, the state of the articulation assist device 100 when the bellows 130 is inflated is shown in FIG. 8 (A), the state of individual lumbar mounting unit 120 ₁ is shown in FIG. 9 (A) ing. By the expansion stroke of the bellows 130 that transitions from the state of FIG. 9B to the state of FIG. 9A, the other end portion of the bellows 130 is connected with the fourth external gear member 254 substantially at the center (intersection). The intersecting angle between the second connecting member 252 and the first connecting member 251 to which the one end portion of the bellows 130 is connected widens. As the intersecting angle becomes wider, the meshing position of the fourth external gear member 254 with the third external gear member 243 changes, and the third external gear member 243 is relatively stationary. 4, while the fourth external gear member 254 rotates clockwise in the XZ plan view with the −Y direction as the line-of-sight direction (hereinafter also simply referred to as “clockwise”), the center of the third external gear member 243 The third external gear member 243 is revolved clockwise around the shaft (shaft member AX1).

  When the fourth external gear member 254 rotates and revolves clockwise in this manner, the internal tooth forming member 241 in which the shaft member AXA of the fourth external gear member 254 is inserted rotates clockwise about the shaft member AX1. To do. When the internal tooth forming member 241 rotates in the clockwise direction in this way, the second external gear member 222 meshing with the internal gear of the internal tooth forming member 241 is rotated in the same direction as the rotation of the internal gear. The first external gear member 212 that rotates clockwise and meshes with the second external gear member 222 rotates counterclockwise, which is the opposite direction to the rotation of the internal gear.

  When the second external gear member 222 rotates clockwise, the waist exoskeleton member 221 fixedly connected to the second external gear member 222 rotates clockwise. When the first external gear member 212 rotates counterclockwise, the thigh exoskeleton member 211 fixedly connected to the first external gear member 212 rotates counterclockwise. As a result, the angle at which the lumbar exoskeleton member 221 fixed to the left side of the waist and the thigh exoskeleton member 211 fixed to the left thigh expands, and the waist joint changes from the bent state to the extended state ( (See FIG. 8A).

  As described above, in the present embodiment, the bellows 130 contracts when the adjustment unit 180 forcibly discharges air from the bellows 130. When the angle of the intersection of the second connecting member 252 and the first connecting member 251 narrows due to the contraction of the bellows 130 and the position of the fourth external gear member 254 is substantially the intersection, the third external gear member In the system in which 243 is relatively stationary, the fourth external gear member 254 rotates around the third external gear member 243 around the central axis of the third external gear member 243 while rotating counterclockwise. Revolves counterclockwise.

  Thus, when the fourth external gear member 254 revolves counterclockwise, the internal tooth forming member 241 in which the shaft member AXA of the fourth external gear member 254 is inserted also rotates counterclockwise. When the internal gear forming member 241 rotates counterclockwise, the second external gear member 222 meshing with the internal gear of the internal gear forming member 241 rotates counterclockwise, and the second external gear. The first external gear member 212 meshing with the member 222 rotates clockwise.

  When the second external gear member 222 rotates counterclockwise, the waist exoskeleton member 221 fixedly connected to the second external gear member 222 rotates counterclockwise. When the first external gear member 212 rotates clockwise, the thigh exoskeleton member 211 fixedly connected to the first external gear member 212 rotates clockwise. As a result, the angle at which the lumbar exoskeleton member 221 fixed to the left side of the waist and the thigh exoskeleton member 211 fixed to the left thigh narrows, and the hip joint changes from the extended state to the bent state.

  For this reason, the exercise | movement which transfers the waist joint from the extension state to a bending state can be assisted by controlling the contraction process which contracts the bellows 130 which is an expansion / contraction member.

  Here, when the hip joint is changed from the extended state to the bent state, the first connecting member 251 connected to the internal tooth forming member 241 and the second connecting member connected to the fourth external gear member 254 are used. Both members 252 rotate counterclockwise. As a result, when the hip joint changes from the extended state to the bent state, the bellows 130 sandwiched between the first connecting member 251 and the second connecting member 252 also follows the bent waist and rotates counterclockwise. While shrinking.

  For this reason, at the time of the bending posture of the hip joint, the waist mounting unit can be prevented from protruding greatly from the buttocks.

  Further, when the adjustment unit 180 forcibly supplies air to the bellows 130, the bellows 130 expands. When the angle of the intersection of the second connecting member 252 and the first connecting member 251 increases with the expansion of the bellows 130, with the position of the fourth external gear member 254 as a substantially intersection, the third external gear member In the system in which 243 is relatively stationary, the fourth external gear member 254 rotates around the third external gear member 243 around the central axis of the third external gear member 243 while rotating clockwise. , Revolve clockwise.

  When the fourth external gear member 254 rotates and revolves clockwise in this manner, the internal tooth forming member 241 in which the shaft member AXA of the fourth external gear member 254 is inserted also rotates clockwise. When the internal tooth forming member 241 rotates clockwise, the second external gear member 222 meshing with the internal gear of the internal tooth forming member 241 rotates clockwise, and the second external gear member 222 is rotated. The first external gear member 212 meshing with is rotated counterclockwise.

  When the second external gear member 222 rotates clockwise, the waist exoskeleton member 221 fixedly connected to the second external gear member 222 rotates clockwise. When the first external gear member 212 rotates counterclockwise, the thigh exoskeleton member 211 fixedly connected to the first external gear member 212 rotates counterclockwise. As a result, the angle at which the lumbar exoskeleton member 221 fixed to the left side of the waist and the thigh exoskeleton member 211 fixed to the left thigh expands, and the waist joint changes from the bent state to the extended state.

  For this reason, the exercise | movement which transfers the waist joint from the extension state to a bending state can be assisted by controlling the contraction process which contracts the bellows 130 which is an expansion / contraction member.

  In the present embodiment, the diameter of the second external gear member 222 is the same as the diameter of the first external gear member 212. As a result, when the hip joint and knee joint are bent, the absolute value of the angle between the length direction of the femoral exoskeleton member 211 and the X axis direction, and the length direction of the lumbar exoskeleton member 221 and the X axis The absolute value of the angle with the direction is almost equal. For this reason, smooth movement of the hip joint and knee joint suitable for the movement of the bending and stretching movements of the two joints interlocking with the hip joint and knee joint of the human body can be realized.

  Therefore, according to the present embodiment, it is possible to make the structure compact during the hip joint bending posture and to appropriately assist the joint motion of the human hip joint.

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

For example, in the above embodiment, the waist mounting unit includes the individual waist mounting unit 120 ₁ and the individual waist mounting unit 120 ₂ configured to be plane-symmetric. Only the waist mounting unit 120 ₁ or the individual waist mounting unit 120 ₂ may be used.

  Moreover, in said embodiment, the separate waist | hip | lumbar part mounting | wearing unit was equipped with the one external gear member 231 for reinforcement as an external gear member for reinforcement. On the other hand, as shown in FIG. 10, the individual waist portion mounting unit includes a reinforcing external gear member 232 as a sixth external gear member and a reinforcing external gear member as a seventh external gear member. 233 may be provided. When such a configuration is adopted, the force applied to the tooth portions of the first external gear member, the second external gear member, and the internal tooth forming member is further dispersed to further improve the durability of the joint motion assist device. Can do.

  Moreover, in said embodiment, although the diameter of the 2nd external gear member was made the same as the diameter of the 1st external gear member, you may make it differ from the diameter of a 1st external gear member. In addition, when it is set as the structure further equipped with the gear member which employ | adopts such a structure and functions as a 6th external gear member and a 7th external gear member, the said 6th external gear member and a 7th external gear The diameter of the gear member that functions as a member is the same as the diameter of the second external gear member.

  In the above embodiment, the first external gear member is connected to the hip joint side end of the femoral exoskeleton member, and the second external gear member is connected to the lumbar joint side end of the waist exoskeleton member. It was to so. On the other hand, the first external gear member is connected to the hip joint side end portion of the hip exoskeleton member, and the second external gear member is connected to the hip joint side end portion of the femoral exoskeleton member. May be.

  In the above-described embodiment, the thigh exoskeleton member is fixedly connected to the teeth of the first external gear member, and the waist exoskeleton member is fixedly connected to the teeth of the second external gear member. It was made to be. On the other hand, the thigh exoskeleton member may be fixed to the shaft portion when the shaft portion is formed at the cylindrical bottom surface of the first external gear member or the center of the first external gear member. Good. In addition, the waist exoskeleton member may be fixed to the shaft portion when the shaft portion is formed at the cylindrical bottom surface of the second external gear member or the center of the second external gear member.

  In the above embodiment, the shape of the inner tooth forming member is a cylindrical shape. However, if the tooth portion is formed on the inner peripheral portion, the shape of the inner peripheral portion may be another shape. Further, the shape of the internal tooth forming member itself may be a shape other than the cylindrical shape.

  In addition, the shape of the internal tooth forming member may be a bottomed cylindrical shape in which the shaft member is fixed at the center. In this case, the axial direction of the shaft member may coincide with the axial direction of the shaft member AX1. By adopting such a structure, the reinforcing external gear member for making the cylindrical center of the internal gear forming member coincide with the center of the first external gear member can be omitted.

  In the above embodiment, the bellows is employed as the expansion / contraction member. However, an airbag or the like that is inflated by forced air supply may be employed as the expansion / contraction member. In this case, the joint motion is assisted during the airbag expansion stroke.

  In the above embodiment, when the angle at which the first connecting member and the second connecting member intersect with each other is reduced, the second external gear member connected to the exoskeleton member is bent on the hip joint. From the viewpoint, the teeth of the first external gear member are arranged on the moving direction side (see FIG. 5 and the like). On the other hand, you may make it connect the exoskeleton member connected to a 2nd external gear member to the external gear member 231 for reinforcement in embodiment.

  In the above embodiment, the biological information related to the muscle that drives the joint is a biological signal such as an electromyogram or muscle hardness. However, the user's brain wave may be used as the biological information. .

  Further, in the embodiment, the resin bellows is adopted, but other materials can be used as long as they are stretchable and do not place a burden such as the weight of a device attached to a human body. Good.

  In the joint motion assist device of the present invention, the working fluid is air, but it may be liquid such as water or oil.

  In the above embodiment, the material of the belt member for mounting the joint motion assisting device on the human body is made of metal, but the material of the belt member may be other material such as cloth.

  When used in the field of care and welfare, the joint motion assist device of the present invention is not only worn by a caregiver as a power assist device, but is also used by a care recipient who is weak in power assist or rehabilitation. It can also be used as a device for use. Further, 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 care and welfare.

  In the above-described embodiment, the present invention is applied to the joint motion assist device that assists the joint motion of the human body. However, a predetermined target such as an exoskeleton mammal other than the human body having a joint mechanism, an exoskeleton robot, or the like. The present invention can also be applied to an article joint motion assist device.

  As described above, the joint motion assist device of the present invention can be applied to a joint motion assist device that assists the joint motion of a predetermined object.

100 ... articulation assist device, 110 ... lumbar mounting unit, 120 _1, 120 ₂ ... individual waist attachment unit, 130 ... bellows 180 ... adjustment section, 181 ... pressure pump, 182 ... decompression pump, 183 ... electric - pneumatic control Valve, 184 ... Control unit, 185, 186 ... Piping, 190 ... Piping, 211 ... Femoral exoskeleton member (first exoskeleton member), 212 ... First external gear member, 221 ... Lumbar exoskeleton member (second outer) Skeleton member), 222 ... second external gear member, 231 ... external gear member for reinforcement (fifth external gear member), 232 ... external gear member for reinforcement (sixth external gear member), 233 ... reinforcement External gear member (seventh external gear member), 241 ... internal tooth forming member, 243 ... third external gear member, 251 ... first connecting member, 252 ... second connecting member, 254 ... fourth External gear member, shaft member ... AX1 AX2, AXA, AXB, belt member ... 511, 512

Claims (10)

An exoskeleton-type joint motion assist device that assists joint motion using a joint mechanism that is attached to a predetermined object having a skeletal structure and connects one side portion and the other side portion of the predetermined object. And
A first exoskeleton member attached to the one side portion along a direction in which the one side portion extends from the joint;
A second exoskeleton member attached to the other side portion along a direction in which the other side portion extends from the joint;
When the first exoskeleton member is fixedly connected to the joint-side end of the first exoskeleton member and the first exoskeleton member is attached to the one side portion, along the rotational movement direction of the joint, A first external gear member having teeth on the outer periphery;
Teeth that are fixedly connected to the joint side end of the second exoskeleton member and mesh with the first external gear member when the second exoskeleton member is attached to the other side portion. A second external gear member formed on the outer peripheral portion along the rotational movement direction of the joint;
An internal gear forming member in which the second external gear member meshes internally and an internal gear is formed on an inner peripheral portion around the central axis of the first external gear member;
A third external gear member centered on the axial position of the first external gear member;
A fourth external gear having a central axis inserted into a shaft hole formed in the internal gear forming member with an axis parallel to the axis of the first external gear member as an axial direction and meshing with the third external gear member With members;
An expansion / contraction member for generating a force for assisting the joint movement;
A long first connecting member fixed to the inner tooth forming member in the vicinity of the shaft hole formed in the inner tooth forming member and connected to one end of the expansion / contraction member;
A long second connection member fixed to the fourth external gear member and connected to the other end of the expansion / contraction member;
The fourth external gear member, the first connection member, and the second connection member are disposed on the extension side of the joint,
By the expansion stroke or the contraction stroke of the expansion / contraction member, the angle at which the first connection member and the second connection member intersect with each other changes,
In the system in which the third external gear member is relatively stationary, the fourth external gear member revolves around the third external gear member around the central axis of the third external gear member. Thus, the internal gear rotates, and the first exoskeleton member fixedly connected to the first external gear member and the second external gear member fixedly connected to the second external gear member. 2 The angle at which the exoskeleton member intersects changes, assisting the movement of the joint,
An articulation assist device characterized by the above.   The second external gear member has teeth of the first external gear member as viewed from the bending side of the joint when the intersecting angle between the first connection member and the second connection member becomes narrow. The joint motion assisting device according to claim 1, wherein the joint motion assisting device is disposed on a direction side in which the portion moves. Due to the expansion stroke of the expansion / contraction member, the angle at which the first connection member and the second connection member intersect with each other, with the fourth external gear member approximately as the center,
In the system in which the third external gear member is relatively stationary, the fourth external gear member is arranged around the third external gear member around the central axis of the third external gear member. When the second connecting member revolves in a direction away from the first connecting member, the internal gear rotates in the away direction,
Due to the rotation of the internal gear in the direction away from the second gear, the second external gear member engaged with the internal gear rotates in the same direction as the rotation of the internal gear, and the second external gear member When the meshing first external gear member rotates in a direction opposite to the rotation of the internal gear,
The angle at which the first exoskeleton member and the second exoskeleton member intersect is widened, and the joint is changed from a bent state to an extended state.
The joint motion assisting device according to claim 2. Due to the contraction stroke of the expansion / contraction member, the angle at which the first connection member and the second connection member intersect with each other with the fourth external gear member approximately as a center is narrowed,
In the system in which the third external gear member is relatively stationary, the fourth external gear member is arranged around the third gear member about the central axis of the third external gear member. When the connecting member revolves in the direction approaching the first connecting member, the internal gear rotates in the approaching direction,
Due to the rotation of the internal gear in the approaching direction, the second external gear member meshed with the internal gear rotates in the same direction as the rotation of the internal gear, and the second external gear member When the meshing first external gear member rotates in a direction opposite to the rotation of the internal gear,
The angle at which the first exoskeleton member and the second exoskeleton member intersect is narrowed, and the joint is changed from an extended state to a bent state.
The joint motion assisting device according to claim 2 or 3,   The length direction of the second exoskeleton member and the length direction of the first connecting member are substantially parallel to each other when the joint is in an extended state. The joint motion assist device according to Item.   6. The joint motion assisting device according to claim 1, wherein a diameter of the second external gear member is the same as a diameter of the first external gear member.   A fifth external gear member having the same diameter as the second external gear member and meshing with the first external gear member and inscribed meshing with the internal gear is further provided. The joint motion assist device according to any one of claims 1 to 6.   A sixth external gear member and a seventh external gear member that have the same diameter as the second external gear member, mesh with the first external gear member, and mesh with the internal gear internally. The joint motion assist device according to claim 7, further comprising:   The joint motion assist device according to claim 1, further comprising an adjustment unit that adjusts a working fluid pressure in the expansion / contraction member. The joint of the predetermined object is a hip joint of a human body,
The first exoskeleton member is attached to the thigh, and the second exoskeleton member is attached to the waist.
The joint motion assist device according to any one of claims 1 to 9, wherein

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