JP6105091B2 - 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 inflated, and the movement of an elbow joint, a hip joint, a hip joint, and a knee joint is assisted.

JP 2000-051289 A

  In the conventional technology described above, one pneumatic actuator is mounted around the waist including the hip joint and hip joint. Then, exercise assistance of the hip joint and hip joint around the waist is performed by converting expansion of the bag body by supplying air to the one pneumatic actuator into joint extension force by a link mechanism.

  In such a conventional structure, the motion of the hip joint and the hip joint is assisted by one pneumatic actuator. For this reason, when maintaining the state in which the extension assist force of the hip joint is generated by the pneumatic actuator, the forward walking or the backward traveling performed by alternately moving the left and right feet is hindered, and the unnatural walking motion May be forced. Therefore, when the wearer of the joint motion assist device walks, there may be a case where a smooth operation cannot be performed without a sense of incongruity. In addition, since the structure of the conventional example employs the above-described link mechanism, the transmission efficiency of the force generated by the pneumatic actuator to the joint portion around the waist may be reduced. Furthermore, in the structure of the conventional example, since the above-described link mechanism protrudes greatly to the back, it is necessary to secure a work space behind.

  For this reason, when using an exoskeleton-type joint motion assist device, a smooth walking motion is realized, a feeling of strangeness given to the wearer of the device in the walking motion state is reduced, and a pneumatic actuator is generated. There is a demand for a technique that can efficiently transmit the force to the joint to be assisted. In addition, when using an exoskeleton-type joint motion assist device, there is a demand for a technique in which the waist mounting unit does not protrude greatly behind. 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 realizing smooth joint motion while appropriately assisting joint motion.

The present invention is attached to a predetermined object having a skeleton structure comprising a connecting portion connecting the first portion and the two second portions, connecting the said connection portion and said first portion of said predetermined target object Exoskeleton-type joint motion that assists joint motion using the mechanism of the joint that is connected and the mechanism of the two joints that connect each of the two second portions of the predetermined object to the connection portion a assist device, wherein the first portion along the direction extending from the connecting portion, wherein the first outer frame member is attached to the first site; the two single second portion of the second portion There along a direction extending from the connecting portion, one second outer frame member and which is mounted on the second portion of the one, the other second part of said two second portions extending from said connecting portion The other second attached to the other second portion along the direction Skeletal member and; first deflating member for generating a force for assisting the joint motion, and two second deflated member; together are fixedly connected to the first outer frame member, the first Rise A first connecting member connected to one end of the contracting member; and a second connecting member fixedly connected to the one second exoskeleton member and one second expanding member of the two second expanding / contracting members. One second connecting member connected to one end of the contracting member ; fixedly connected to the other second exoskeleton member and the other second of the two second expanding / contracting members Another second connecting member connected to one end of the two expansion / contraction members; disposed between the first connecting member and the one second connecting member and the other second connecting portion ; end of the connecting portion side of the first outer frame member, an end portion of the connecting portion side of the one of the second outer frame member and the front The end portion of the connecting portion side of the other of the second outer frame member, is attached to be rotatable in the rotation direction of motion of the joint, the other end portion of the first expansion and contraction member and the two second deflated An attachment member connected to the other side end of each member; and a connecting part of the predetermined object is a pelvic part of a human body, and the first exoskeleton member is mounted at a position corresponding to the lumbar vertebra, the one of the second outer frame member is attached to the thigh of the left, the other second outer frame member is attached to the thigh of the right, the first deflating member, the one of the second expansion and contraction The first exoskeleton member and the first second outer member rotatably attached to the attachment member by an expansion stroke or a contraction stroke of at least one expansion / contraction member of the member and the other second expansion / contraction member angle and the frame member intersecting and pivotally mounted to said mounting member At least one of the angles of the angle between the other second outer frame member and the first outer frame member there are intersecting changes, to assist the said articulation, it is articulated assist device according to claim.

In this joint motion assist device, when the device is mounted on a predetermined object, one end of the first expansion / contraction member is connected to the first connection member fixed to the first exoskeleton member, The other end portion of the one expansion / contraction member is connected to an attachment member attached to the first exoskeleton member so as to be rotatable in the rotational movement direction of the joint. Further, in this articulation assist device, one side end of the one second deflating member is connected to one of the second connecting member fixed to one of the second outer frame member, one second deflated The other end portion of the member is connected to an attachment member that is attached to one second exoskeleton member so as to be rotatable in the rotational movement direction of the joint. Further, in this joint motion assist device, one end portion of the other second expansion / contraction member is connected to the other second connection member fixed to the other second exoskeleton member, and the other second expansion / contraction member is connected. The other end of the member is connected to an attachment member that is attached to another second exoskeleton member so as to be rotatable in the direction of rotational movement of the joint.

And the 1st exoskeleton member rotates with respect to an attachment member by the expansion process or contraction process of the 1st expansion / contraction member. In addition, one second exoskeleton member rotates with respect to the attachment member by the expansion stroke or the contraction stroke of the one second expansion / contraction member. Furthermore, the other second exoskeleton member rotates with respect to the attachment member by the expansion stroke or the contraction stroke of the other second expansion / contraction member. As a result, first deflating member, with one of the expansion stroke or contraction stroke of the at least one expansion and contraction member of the second expansion and contraction member and the other second deflated member of the second expansion and contraction member, a predetermined object The angle at which the first exoskeleton member to which the first part is fixed and the second exoskeleton member to which the second part of the predetermined object is fixed changes, and the first part and the connection part are passively changed. joint connecting the door, the joint connects the connecting portion and one second portion, and the motion of the joint which connects the connecting portion and the other of the second portion is assisted.
Therefore, the movement of the joint connecting the pelvis and the lumbar vertebra, the movement of the joint connecting the pelvis and the left thigh, and the pelvis and the right thigh are connected. Joint movements can be assisted independently. Further, in this case, the structure can be made compact without the articulation assist device projecting greatly behind.

  Therefore, according to the joint motion assist device of the present invention, smooth joint motion can be realized while appropriately assisting the joint motion.

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

The articulation assist device of the present invention, the first connecting member while being disposed in the first outer frame member side, the one of the second connecting member is disposed on the second outer frame member side of the one, the The other second connecting member is disposed on the other second exoskeleton member side, and the other end portion of the first expansion / contraction member is on the joint extension side of the mounting member on the first exoskeleton member side. connected, the other end portion of the one of the second expansion and contraction member is connected to the extension-side of the joint in the second outer frame member side one of said mounting member, the other of said other second expansion and contraction member The side end can be connected to the joint extension side of the attachment member on the other second exoskeleton member side .

The first connecting member and two second connecting members, and, when the first deflated member and two second deflated member arranged as described above, the first deflating member and said two second Rise The joint can be changed from the bent state to the extended state by the contraction process of the contraction member. In this case, the joint can be brought into the extended state by contracting at least one of the first expansion / contraction member and the second expansion / contraction member. Further, when the this arrangement, the expansion stroke of said first deflating member and said two second expansion and contraction member, to flexion joints from extended state, can be so. In this case, the joint can be brought into a bent state by expanding at least one of the first expansion / contraction member and the second expansion / contraction member.

Further, in articulation assist device of the present invention further comprises an adjusting unit for adjusting the fluid pressure in said first deflating member and said two second deflating member, can be configured. In this case, the adjustment unit for adjusting the working fluid pressure of the first expansion member and two in the second expansion member, first deflating member and two second deflating member was adjusted by the adjustment section A force for assisting joint movement can be generated.

In the joint motion assist device of the present invention , as one configuration, an end of the first exoskeleton member on the connection site side rotates in a rotation direction of the lumbosacral joint at a position corresponding to the lumbosacral joint. The end of the one second exoskeleton member on the connection site side is attached to the attachment member so as to be rotatable in the rotation direction of the left hip joint at a position corresponding to the left hip joint. And the connection portion side end of the other second exoskeleton member is attached to the attachment member so as to be rotatable in the rotation direction of the right hip joint at a position corresponding to the right hip joint. it can.

  In this case, the first exoskeleton member rotates in the rotational movement direction of the lumbosacral joint at a position corresponding to the lumbosacral joint with respect to the attachment member. Further, one second exoskeleton member rotates in the rotational movement direction of the left hip joint at a position corresponding to the left hip joint with respect to the attachment member. Furthermore, the other second exoskeleton member rotates in the rotational movement direction of the right hip joint at a position corresponding to the right hip joint with respect to the attachment member. Therefore, it is possible to assist smooth joint movement corresponding to the movement of the lumbosacral joint, and to perform smooth joint movement assistance corresponding to the movement of the left hip joint and the right hip joint.

  As another configuration for assisting joint movement of the lumbar vertebra with respect to the pelvis and joint movement of the left thigh and right thigh with respect to the pelvis, an end on the connection site side of the first exoskeleton member is provided. The part is attached to the attachment member so as to be rotatable in the rotation direction of the lumbosacral joint using the rotation axis of the lumbosacral joint as a rotation center axis while rotating around a position corresponding to the sacroiliac joint. The end of the one second exoskeleton member on the connection site side is attached to the attachment member so as to be rotatable in the rotation direction of the left hip joint at a position corresponding to the left hip joint, and the other second outer skeleton member The end of the skeleton member on the side of the connection site can be attached to the attachment member so as to be rotatable in the rotation direction of the right hip joint at a position corresponding to the right hip joint.

  In this case, the first exoskeleton member rotates around the position corresponding to the sacroiliac joint with respect to the attachment member, and the lumbosacral joint with the rotation axis of the lumbosacral joint as the rotation center axis. It rotates in the direction of rotation. Further, one second exoskeleton member rotates in the rotational movement direction of the left hip joint at a position corresponding to the left hip joint with respect to the attachment member. Furthermore, the other second exoskeleton member rotates in the rotational movement direction of the right hip joint at a position corresponding to the right hip joint with respect to the attachment member. Therefore, it is possible to assist smooth joint movement corresponding to the movement of the lumbosacral joint and sacroiliac joint, and to perform smooth joint movement assistance corresponding to the movement of the left hip joint and right hip joint. it can.

  Here, the end on the connection site side of the first exoskeleton member is rotated around the sacroiliac joint, and can be rotated around the lumbosacral joint in the rotation direction of the lumbosacral joint. In the case of adopting the mounting configuration, a tooth portion is formed along the rotational movement direction of the lumbosacral joint at a position corresponding to the lumbosacral joint at the end of the first exoskeleton member on the connection site side. A gear member is fixed, and a gear member meshing with a gear member fixed to the first exoskeleton member is fixed at a position corresponding to the sacroiliac joint in the mounting member, and the first exoskeleton member is Engagement between the gear member fixed to the first exoskeleton member and the gear member fixed to the attachment member can be ensured and attached to the attachment member.

  In this case, in the system in which the mounting member is relatively stationary, the gear member fixed to the first exoskeleton member is replaced with the gear member fixed to the mounting member by the expansion stroke or the contraction stroke of the first expansion / contraction member. Rotates while revolving around. As a result, the first exoskeleton member revolves around the central axis of the gear member fixed corresponding to the sacroiliac joint, and the central axis of the gear member fixed corresponding to the lumbosacral joint And rotate. For this reason, it is possible to achieve smooth joint motion assistance corresponding to the movement of the lumbosacral joint and sacroiliac joint with a simple configuration using a gear member.

Also, human lumbosacral joint, and, when assisting the movement of the left hip and right hip, the first deflating member is disposed in the extended side of the lumbosacral joint, the one second deflated member is disposed in the extended side of the left hip joint, the other second deflating member is disposed in the extended side of the right hip joint, it can be so. In this case, the first expansion / contraction member efficiently generates a force for assisting the motion of the lumbosacral joint. In addition, one second expansion / contraction member efficiently generates a force for assisting the motion of the left hip joint, and the other second expansion / contraction member efficiently generates a force for assisting the motion of the right hip joint. For this reason, joint motion can be assisted efficiently.

  In addition, when assisting the movement of the lumbosacral joint and the left and right hip joints, the mounting member includes a wearing member having a shape along the ridge line of the left and right iliac crests of the pelvic region, the sacrum, and the coccyx. The member can be fixed along the ridge line of the left and right iliac crests, the sacrum, and the tailbone to the posterior and left and right lateral surfaces of the pelvic region. In this case, the wearing member is securely fixed to the pelvic part along the ridge line of the left and right iliac crests, the sacrum, and the tailbone, so that the attachment member is reliably fixed to the pelvic part. As a result, even when the first expansion / contraction member and the two second expansion / contraction members expand or contract, the attachment member is securely fixed to the pelvis without wobbling.

  Thereby, the force generated by the first expansion / contraction member can be efficiently transmitted to the lumbosacral joint. Further, the force generated by one second expansion / contraction member can be efficiently transmitted to the left hip joint, and the force generated by another second expansion / contraction member can be efficiently transmitted to the right hip joint. For this reason, when the lumbosacral joint, the left hip joint, and the right hip joint are jointed independently, the first exoskeleton member and the two second exoskeleton members can perform a smooth joint motion and realize a stable joint motion. it can.

  As described above, according to the joint motion assist device of the present invention, there is an effect that smooth joint motion can be realized while assisting joint motion appropriately.

It is a figure for demonstrating the frame | skeleton structure around the waist | hip | lumbar part of a human body. 1 is an external view (left side view) of a joint motion assist device according to an embodiment of the present invention. FIG. 3 is an external view (front view) of the joint motion assist device of FIG. 2. FIG. 3 is an external view (back view) of the joint motion assist device of FIG. 2. It is a figure (a top view, a bottom view) for demonstrating the structure of the waist | lumbar exoskeleton member of FIG. It is a figure (plan view) for demonstrating the structure of the 2nd connection member of FIG. It is a figure (left side view, top view, bottom view) for demonstrating the structure of the attachment member of FIGS. It is a figure (a front view, a rear view) for demonstrating the structure of the wearing member of FIG.7 (B), (C). 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 motion assistance apparatus of FIG. 2 at the time of bellows expansion | swelling. It is a figure for demonstrating the modification (the 1) of a joint exercise assistance apparatus. It is a figure for demonstrating the state of the joint motion assistance apparatus of FIG. 11 at the time of bellows contraction. It is a figure for demonstrating the modification (the 2) of a joint exercise assistance apparatus.

100 and 100B, 100C ... articulation assist device, 110,110C ... lumbar Exoskeleton member (first outer frame _{member), 111 L, 111 R,} 111C L ... waist side mounting member, 112 ... back mounting member, 113 ... lumbar exoskeleton members, 118 and 119 ... belt member, 120 _L, 120 _R ... femoral outer frame member (a second outer frame member), 121 _L, 121 _R ... thigh outer exoskeleton member, 122 _L, 122 _R ... thigh inner exoskeleton part, 127 _L , 127 _R ... thigh holding member, 129 _L , 129 _R ... belt member, 131, 131B ... first connecting member, 141 _L , 141 _R , 141B _L , 141B _R ... the second connecting member, 150,150C ... mounting member, 151 _L, 151 _R ... waist side mounting member, 152 ... back mounting member, 153 ... fixing member, 160 ... wear member, 161 ... West vans Department, 162 ... rear cover portion, 163 ... front cover _{portion, AX1 L, AX1 R, AX2} L, AX2 R ... shaft member, 171 ... first bellows (first deflating member), 172 _L, 172 _R ... second bellows (second expansion and contraction member), 180 ... adjustment section, 181 ... pressure pump, 182 ... decompression pump, 183 ... electric - pneumatic control valve, 184 ... control unit, 185, 186 ... pipe, 191 and 192 _L, 192 _R ... pipe, 210 _L, 250 _L ... external gear (the gear member), CB _L ... connecting member

  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 the mechanisms of the human hip joint and the left and right hip joints as the 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.

[Skeleton structure]
Prior to the description of the joint motion assist device according to the present embodiment, the skeleton structure around the waist of the human body will be described.

  As shown in FIG. 1, the skeleton near the lumbar part of the human body has a “sacrum” connected to the “lumbar vertebrae” and a “coccyx” connected to the sacrum, thereby forming the lower part of the spine. Then, the sacrum is connected to a pair of left and right “hyperbones” by left and right “sacral joints”. This hipbone is a bone in which the “iliac bone”, “sciatic bone”, and “pubic bone” are fused. The left hipbone is connected to the left hipbone through the left hip joint, and the right hipbone is connected to the right femur through the right hip joint.

  Here, the lumbar spine and the sacrum are connected by a “lumbosacral joint”. A “pelvis” is formed from the left and right hipbones, sacrum, and tailbone.

  Note that the term “lumbar joint” is sometimes used as a term synonymous with “sacroiliac joint” and “lumbosacral joint”.

[Constitution]
2 to 4 are external views of the joint motion assist device 100 according to the embodiment. The coordinate system (X, Y, Z) in FIGS. 2 to 4 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 rotational axis direction of the rotational motion before and after the hip joint are substantially parallel, and the Y-axis direction and the left and right hip joints The rotational axis direction of the forward and backward rotational movement is substantially parallel.

  Here, FIG. 2 is a left side view of the joint exercise assisting device 100 mounted on the lumbar part and the left and right thighs of the human body as viewed from the left side of the human body when the lumbar joint and the left and right hip joints are in the extended state. (XZ plan view). FIG. 3 is a front view (YZ plan view) of the joint motion assist device 100 viewed from the front of the human body. FIG. 4 is a rear view (YZ plan view) of the joint motion assist device 100 viewed from the back of the human body.

2 to 4, the joint motion assist device 100 includes a lumbar exoskeleton member 110 as a first exoskeleton member, belt members 118 and 119, and one of the second exoskeleton members. Thigh exoskeleton member 120 _L , thigh exoskeleton member 120 _R as another second exoskeleton member, thigh holding members 127 _L , 127 _R , belt members 129 _L , 129 _R. Further, the joint motion assisting apparatus 100 includes a first connecting member 131, two second connecting members 141 _L and 141 _R , an attachment member 150, shaft members AX1 _L and AX1 _R , and shaft members AX2 _L and AX2 _R. And.

Further, the joint motion assisting apparatus 100 includes a first bellows 171 as a first expansion / contraction member and two second bellows 172 _L and 172 _R as second expansion / contraction members. In addition, the joint motion assist device 100 includes an adjustment unit 180, a pipe 191 and pipes 192 _L and 192 _R (in FIG. 2 to FIG. 4, the pipe 192 _R is not shown).

In FIG. 2, the adjustment unit 180 and the pipes 191 and 192 _L are not external but conceptually show the relationship with the joint motion assist device 100. Further, in articulation assist apparatus shown in Figure 3 and 4, it is not shown in the adjustment section 180 and tubing 191 and 192 _L.

<Configuration of Lumbar Exoskeleton Member 110>
The configuration of the lumbar exoskeleton member 110 will be described. The lumbar exoskeleton member 110 is attached to the lumbar region and the back region. As shown in FIGS. 2 to 4 and FIGS. 5 (A) and 5 (B), the lumbar exoskeleton member 110 includes lumbar side surface mounting members 111 _L and 111 _R , a back mounting member 112, And a lumbar exoskeleton member 113. The lumbar exoskeleton member 110 is formed by integrating the lumbar side surface mounting members 111 _L and 111 _R , the back mounting member 112, and the lumbar exoskeleton member 113.

  Here, FIG. 5A is a plan view of the lumbar exoskeleton member 110 viewed from the + Z direction side. FIG. 5B is a bottom view of the lumbar exoskeleton member 110 viewed from the −Z direction side. In addition, a two-dot chain line shown in the figure indicates components other than the lumbar exoskeleton member 110.

The waist side surface mounting members 111 _L and 111 _R are, for example, steel plate-like members, and are formed into an L shape in the XZ plan view (see FIG. 2 for the waist side surface mounting member 111 _L) . ). The waist side surface mounting member 111 _L is disposed on the left side of the waist so that the normal direction of the plate surface is parallel to the Y axis. The waist side surface mounting member 111 _R has a shape symmetrical to the waist side surface mounting member 111 _L, and is disposed on the right side of the waist so that the normal direction of the plate surface is parallel to the Y axis. The waist side surface mounting member 111 _L and the waist side surface mounting member 111 _R are mounted on the human body by, for example, a cloth belt member 118 covering the abdomen.

The -Z direction side end portion of the waist side mounting member 111 _L, the axis hole for inserting the shaft member AX1 _L to the axis parallel to the Y axis and the axial direction are molded. Further, in the -Z direction side end portion of the waist side mounting member 111 _R, the axis hole for inserting the shaft member AX1 _R to the axis parallel to the Y axis and the axial direction are molded. Here, the shaft holes of the lumbar side surface mounting member 111 _L and the lumbar side surface mounting member 111 _R are formed at positions corresponding to the lumbosacral joint when the joint motion assist device 100 is mounted on the human body. Yes.

The back mounting member 112 is, for example, a steel member and is connected to the rectangular body part and the rectangular body part from the + Y direction side end part and the −Y direction side end part of the rectangular body part. And two plate-like extensions extending in the + X direction (see FIGS. 5A and 5B). The waist side surface mounting member 111 _L is fixedly connected to the extension portion extending from the + Y direction side end portion of the rectangular body portion, and the waist portion side surface is connected to the extension portion extending from the −Y direction side end portion of the rectangular body portion. The mounting member 111 _R is fixedly connected.

  The lumbar exoskeleton member 113 is, for example, a steel member and is formed in a rod shape. The lumbar exoskeleton member 113 has a −Z direction side end fixedly connected to the rectangular body of the back mounting member 112, and a position corresponding to the lumbar vertebra along the direction in which the lumbar extends from the lumbar joint to the back. Is arranged. The lumbar exoskeleton member 113 is attached to the human body by, for example, a cloth belt member 119 that covers the chest.

<Configuration of thigh exoskeleton members 120 _L and 120 _R >
Next, the configuration of the thigh exoskeleton members 120 _L and 120 _R will be described.

<< Configuration of Thigh Exoskeleton Member 120 _L >>
Femoral outer frame member 120 _L is mounted on the left thigh. The thigh exoskeleton member 120 _L includes a thigh outer exoskeleton member 121 _L and a thigh inner exoskeleton as comprehensively shown in FIGS. 2 to 4 (particularly, see FIGS. 3 and 4). and a member 122 _L.

The thigh outer exoskeleton member 121 _L and the thigh inner exoskeleton member 122 _L are, for example, steel members and are formed into a long plate shape. The thigh outer exoskeleton member 121 _L is disposed outside the left thigh along the direction in which the left thigh extends from the hip joint. Further, inner thigh exoskeleton member 122 _L along the direction of the left thigh extending from the hip joint, is disposed inside of the left thigh. The thigh outer exoskeleton member 121 _L and the thigh inner exoskeleton member 122 _L are attached to the left thigh by a metal belt member 129 _L. In the present embodiment, a metal thigh holding member 127 _L that holds the thigh of the left thigh from the back side is attached to the belt member 129 _L (see FIG. 4).

Further, a shaft hole into which the shaft member AX2 _L having an axis parallel to the Y axis as an axial direction is formed at the end of the thigh outer exoskeleton member 121 _{L on} the + Z direction side. Here, the shaft hole of the outer thigh outer exoskeleton member 121 _L is formed at a position corresponding to the left hip joint when the joint motion assisting device 100 is attached to a human body.

"Configuration of the femoral part outer frame member 120 _R"
Femoral outer frame member 120 _R is mounted on the right thigh. The thigh exoskeleton member 120 _R includes the thigh outer exoskeleton member 121 _R and the thigh inner exoskeleton, as comprehensively shown in FIGS. 2 to 4 (particularly, see FIGS. 3 and 4). and a member 122 _R.

The thigh outer exoskeleton member 121 _R and the thigh inner exoskeleton member 122 _R are, for example, steel members and are formed into a long plate shape. The thigh outer exoskeleton member 121 _R is disposed outside the right thigh along the direction in which the right thigh extends from the hip joint. Further, inner thigh exoskeleton member 122 _R along the direction of the right thigh extending from the hip joint, is disposed inside of the right thigh. The thigh outer exoskeleton member 121 _R and the thigh inner exoskeleton member 122 _R are attached to the right thigh by a metal belt member 129 _R. In the present embodiment, a metal thigh support member 127 _R that holds the thigh of the right thigh from the back side is attached to the belt member 129 _R (see FIG. 4).

Further, in the + Z direction side end portion of the thigh outer exoskeleton member 121 _R, the axis hole for inserting the shaft member AX2 _R to the axis parallel to the Y axis and the axial direction are molded. Here, the shaft hole of the thigh outer exoskeleton member 121 _R is formed at a position corresponding to the right hip joint when the joint motion assist device 100 is attached to a human body.

<Configuration of the first connecting member 131>
The first connecting member 131 is a steel member, for example, and is formed in a rectangular shape (see FIGS. 2 and 4). The + Z direction side end surface of the first connecting member 131 is fixedly connected to the back mounting member 112 of the lumbar exoskeleton member 110. Further, the end surface on the −Z direction side of the first connection member 131 is connected to one end portion of the first bellows 171.

<Configuration of the second connecting members 141 _L and 141 _R >
The second connecting member 141 _L of the above is, for example, a steel member, as comprehensively shown by FIG. 2, 4, 6, and rectangular body, is connected to the rectangular body, the length And a long plate-like extension portion extending in the + X direction from the + Y direction side end portion of the rectangular parallelepiped portion. Then, + X direction side end portion of the extension portion of the second connecting member 141 _L is fixedly connected to the thigh outer exoskeleton member 121 _L. Moreover, the + Z direction side end surface of the rectangular parallelepiped portion of the second connection member 141 _L is connected to one end portion of the second bellows 172 _L. Here, FIG. 6 is a plan view of the second connecting members 141 _L and 141 _R as viewed from the + Z direction side. In addition, a two-dot chain line shown in the figure indicates components other than the second connecting members 141 _L and 141 _R.

The second connecting member 141 _R described above, for example, a steel member, as comprehensively shown by FIG. 2, 4, 6, and rectangular body, is connected to the rectangular body, the length And a long plate-like extension portion extending in the + X direction from the −Y direction side end portion of the rectangular parallelepiped portion. Then, + X direction side end portion of the extension portion of the second connecting member 141 _R is fixedly connected to the thigh outer exoskeleton member 121 _R. Moreover, the + Z direction side end surface of the rectangular parallelepiped portion of the second connection member 141 _R is connected to one end portion of the second bellows 172 _R.

<Configuration of Mounting Member 150>
Next, the configuration of the mounting member 150 will be described. The attachment member 150 is attached to the periphery of the waist along the pelvic shape, and is securely fixed to the pelvic region without wobbling. Further, the attachment member 150 attaches the lumbar exoskeleton member 110 and the thigh exoskeleton members 120 _L and 120 _R. As shown in FIGS. 2 to 4 and FIGS. 7 (A) to 7 (C), the attachment member 150 includes waist side attachment members 151 _L and 151 _R , a back attachment member 152, and a fixing member. A member 153 and a wearing member 160 are provided. The waist side surface mounting members 151 _L and 151 _R , the back mounting member 152, the fixing member 153, and the wearing member 160 are integrated to form the mounting member 150.

  Here, FIG. 7A is a left side view of the mounting member 150 viewed from the + Y direction side. FIG. 7B is a plan view of the attachment member 150 viewed from the + Z direction side. FIG. 7C is a bottom view of the attachment member 150 as viewed from the −Z direction side. In addition, a two-dot chain line shown in the figure indicates components other than the attachment member 150. 7B and 7C, the part that is invisible by the human body wearing the joint motion assisting device 100 is also shown by a solid line, and the part that is invisible by the member itself is shown by a dotted line. Is shown.

The waist side surface mounting members 151 _L and 151 _R are, for example, steel members, and are molded into a substantially flat plate shape having a protruding portion on the −Z direction side in the XZ plan view (waist side surface mounting). For the member 151 _L , refer to FIG. This waist side surface mounting member 151 _L is arranged on the left side of the waist so that the normal direction of the flat plate surface is parallel to the Y axis, and the waist side surface mounting member 151 _R has the normal direction of the flat plate surface parallel to the Y axis. It is arranged on the right side of the waist. Then, in the -X direction side end portion of the waist side attachment member 151 _L and lumbar side mounting member 151 _R, back mounting member 152 is fixedly connected.

The waist side attachment member 151 _L, with the shaft hole for inserting the shaft member AX1 _L is formed into a substantially central portion, the shaft hole for inserting the shaft member AX2 _L in the protruding portion is molded. Here, the substantially central shaft hole is formed at a position corresponding to the lumbosacral joint when the joint motion assist device 100 is attached to a human body. Further, the shaft hole of the projecting portion is formed at a position corresponding to the left hip joint.

The waist side surface mounting member 151 _L is arranged on the −Y direction side of the waist side surface mounting member 111 _L , and the shaft side member AX1 _L rotates the waist side surface mounting member 111 _L in the rotational movement direction before and after the waist joint. It is mounted so that it can move. Further, the waist side attachment member 151 _L is placed on the -Y direction side of the thigh outer exoskeleton member 121 _L, by the shaft member AX2 _L, before and after the thigh outer exoskeleton member 121 _L of the left hip joint It is attached so that it can be rotated in the direction of rotational movement.

A shaft hole for inserting the shaft member AX1 _R is formed in the substantially central portion of the waist side surface mounting member 151 _R , and a shaft hole for inserting the shaft member AX2 _R is formed in the protruding portion. Here, the substantially central shaft hole is formed at a position corresponding to the lumbosacral joint when the joint motion assist device 100 is attached to a human body. Further, the shaft hole of the protruding portion is formed at a position corresponding to the right hip joint.

The waist side surface mounting member 151 _R is disposed on the + Y direction side of the waist side surface mounting member 111 _R , and the shaft side member AX1 _R rotates the waist side surface mounting member 111 _R in the rotational motion direction before and after the waist joint. Installed as possible. Further, the waist side attachment member 151 _R is arranged in the + Y direction side of the thigh outer exoskeleton member 121 _R, the shaft member AX2 _R, before and after the round of the right hip joint the thigh outer exoskeleton member 121 _R It is attached so that it can rotate in the direction of dynamic motion.

The back mounting member 152 is a steel member, for example, and is formed in a rectangular shape (see FIG. 7A). The + Z direction side end surface of the back mounting member 152 is connected to the other side end of the first bellows 171. In addition, the + Y direction side of the −Z direction side end surface of the back mounting member 152 is connected to the other side end portion of the second bellows 172 _L , and the −Y direction side of the −Z direction side end surface of the back mounting member 152 is 2 is connected to the other end of the bellows 172 _R.

The fixing member 153 fixes the wearing member 160 to the waist side surface mounting members 151 _L and 151 _R and the back mounting member 152. In the present embodiment, the fixing member 153 includes, on the + Z direction side, a flat metal member that fixes the waist side surface mounting members 151 _L and 151 _R and the back mounting member 152 and a waistband portion 161 described later, and an elastic member. The elastic member is a bag body into which air can be injected. Then, by injecting air into the bag body, the fixing member 153 securely fixes the wearing member 160 without wobbling the waist side surface mounting members 151 _L and 151 _R and the back surface mounting member 152. ing.

<< Configuration of Wearing Member 160 >>
Next, the configuration of the wearing member 160 will be described. The wearing member 160 is fixed to the waist side surface mounting members 151 _L and 151 _R and the back mounting member 152 by the fixing member 153, and is directly attached to the human body to form the pelvis ridge lines on the left and right iliac ridges, Along the sacrum and coccyx, it is securely fixed to the left and right lateral surfaces of the pelvic region and the back of the pelvic region.

  The wearing member 160 includes a waistband portion 161, a rear surface covering portion 162, a front surface covering portion 163, as comprehensively shown in FIGS. 7B and 7C and FIGS. 8A and 8B. It has. Here, FIG. 8A is a front view of the wearing member 160 viewed from the + X direction side, and FIG. 8B is a rear view of the wearing member 160 viewed from the −X direction side. In addition, a two-dot chain line shown in the figure indicates components other than the wearing member 160.

  Said waistband part 161 is a metal member which has the predetermined | prescribed thickness shape | molded in the shape along the ridgeline of the left and right iliac ridges (refer FIG. 1) which forms a pelvis site | part, for example. The waistband portion 161 is connected to the rear surface covering portion 162 on the rear surface and also connected to the front surface covering portion 163. The waistband 161 is fixed to the left and right outer surfaces of the pelvic region so as to cover the waist from the back of the human body along the ridge lines of the left and right iliac crests.

  The rear surface covering portion 162 is formed, for example, by forming a frame portion in which a linear metal member is substantially T-shaped and covering the inside of the frame portion with a cloth (see FIG. 8B). . The rear surface covering portion 162 is molded into a shape along the shape of the sacrum and coccyx (see FIG. 1) forming the pelvic region. And the back surface covering part 162 is fixed to the back of the pelvic region so as to cover the back of the waist corresponding to the sacrum and coccyx.

  The front covering portion 163 is made of, for example, cloth, covers the lower abdomen, and is fixed to the left and right front outer sides of the pelvic region. The front surface covering portion 163 is connected to the waistband portion 161 near the umbilicus portion, and is connected to the rear surface covering portion 162 at the crotch portion.

  As a result, the attachment member 150 is securely fixed to the pelvis.

<First bellows 171, the second bellows 172 _L, 172 _R>
Next, the first bellows 171 and the second bellows 172 _L and 172 _R will be described.

  The first bellows 171 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 lumbosacral joint (see FIGS. 2 and 4). One end of the first bellows 171 is connected to the first connecting member 131, and the other end of the first bellows 171 is connected to the + Z direction side end surface of the back mounting member 152 of the mounting member 150. . When the air pressure in the first bellows 171 changes through the flexible resin pipe 191 communicating between the first bellows 171 and the adjusting portion 180, the first bellows 171 expands and contracts. As a result, the first bellows 171 generates a force that assists the joint motion of the hip joint.

The second bellows 172 _L is an expandable / contractable resin member having annular grooves with equal intervals, and is disposed on the extension side (−X direction side) of the left hip joint (see FIGS. 2 and 4). One end of the second bellows 172 _L is connected to the second connecting member 141 _L, and the other end of the second bellows 172 _L is the end surface on the −Z direction side of the back mounting member 152 of the mounting member 150. Are connected to the + Y direction side. When the air pressure in the second bellows 172 _L changes through the flexible resin pipe 192 _L communicating between the second bellows 172 _L and the adjustment unit 180, the second bellows 172 _L It expands and contracts. As a result, the second bellows 172 _L generates a force that assists the joint movement of the left hip joint.

The second bellows 172 _R, similarly to the second bellows 172 _L, a member made of expanded and contracted freely resin having an equally spaced annular grooves. The second bellows 172 _R is disposed on the extension side (−X direction side) of the right hip joint (see FIG. 4). One end of the second bellows 172 _R is connected to the second connecting member 141 _R, and the other end of the second bellows 172 _R is the end surface on the −Z direction side of the back mounting member 152 of the mounting member 150. -Y direction side. When the air pressure in the second bellows 172 _R changes through the flexible resin pipe 192 _R communicating between the second bellows 172 _R and the adjusting portion 180, the second bellows 172 _R It expands and contracts. As a result, the second bellows 172 _R generates a force that assists the right hip joint.

As described above, in the present embodiment, the first connection member 131 is disposed on the lumbar exoskeleton member 110 side, and the second connection members 141 _L and 141 _R are disposed on the thigh exoskeleton members 120 _L and 120 _R side. Has been. In the present embodiment, the other end of the first bellows 171 is connected on the stretched side of the waist joint on the + Z direction side of the back mounting member 152 constituting the mounting member 150. In the present embodiment, the other end portions of the second bellows 172 _L and 172 _R are connected on the stretched side of the hip joint on the −Z direction side of the back mounting member 152 constituting the mounting member 150.

<Configuration of Adjustment Unit 180>
Next, the configuration of the adjustment unit 180 will be described. The adjustment unit 180 communicates with the first bellows 171 through the pipe 191. The adjustment unit 180, along with communicates with the second bellows 172 _L through the pipe 192 _L, and communicates with the second bellows 172 _R via the pipe 192 _R. The adjusting unit 180 is connected to the first bellows 171 and the second bellows 172 _L and 172 _R (hereinafter, all bellows are simply referred to as “bellows”) through the pipes 191, 192 _L and 192 _R. ) Forcibly exhausts air and forcibly supplies air to the bellows to adjust the air pressure in the bellows.

  As shown in FIG. 9, 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 side of the pump side connection port of the electro-pneumatic control valve 183 through the pipe 185. The pressurizing pump 181 is used when forcibly supplying air to the bellows. The decompression pump 182 is connected to the other side of the pump side connection port of the electro-pneumatic control valve 183 via a pipe 186. The decompression pump 182 is used when forcibly discharging air from the bellows.

  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 designated bellows with the pipe 185 connected to the pressurizing pump 181 when the air is forcibly supplied to the bellows under the control of the control unit 184. A flow path is formed by connecting the pipes. Further, the flow path switching valve communicates with the designated bellows with the pipe 186 connected to the pressure reducing pump 182 when forcibly discharging the air from the bellows under the control of the control unit 184. The pipe is connected to form a flow path.

  For example, when the forced supply to the first bellows 171 is performed, the flow path switching valve connects the pipe 185 and the pipe 191 to form a flow path. Further, when forcibly discharging the air from the first bellows 171, the flow path switching valve connects the pipe 186 and the pipe 191 to form a flow path.

Further, when the forced supply to the second bellows 172 _L is performed, the flow path switching valve connects the pipe 185 and the pipe 192 _L to form a flow path. Further, when forcibly discharging air from the second bellows 172 _L , the flow path switching valve connects the pipe 186 and the pipe 192 _L to form a flow path. Furthermore, when forcibly supplying the second bellows 172 _R , the flow path switching valve connects the pipe 185 and the pipe 192 _R to form a flow path. Further, when forcibly discharging air from the second bellows 172 _R , the flow path switching valve connects the pipe 186 and the pipe 192 _R to form a flow path.

  Further, the pressure control valve controls the air pressure under the control of the control unit 184 to change the air pressure in the bellows.

  The control unit 184 performs forced discharge of air from the bellows, switching of forced supply of air to the bellows, and control of air pressure in the bellows. When forcibly supplying air to the bellows during such control, the control unit 184 forms a flow path in which the electro-pneumatic control valve 183 connects the pressurizing pump 181 and the bellows that assists joint motion. Control to adjust the air pressure in the bellows. When the air is forcibly discharged from the bellows, the control unit 184 forms a flow path in which the electro-pneumatic control valve 183 connects the decompression pump 182 and the bellows assisting the joint motion, Control to adjust the air pressure.

  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.

[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 and the left and right hip joint mechanisms will be described.

  In the joint motion assist device 100, initially, the adjustment of the air pressure in the bellows by the adjusting unit 180 is not performed, and the internal pressure of the bellows is assumed to be atmospheric pressure. In addition, initially, as shown in FIG. 2, it is assumed that the hip joint and the left and right hip joints are in an extended state.

<Assist motion from joint extension to flexion>
In this joint motion assist operation, when the waist joint and the left and right hip joints are changed from the extended state to the bent state, the adjustment unit 180 forces air to the first bellows 171 and the second bellows 172 _L and 172 _R. Control to supply. When the adjustment unit 180 forcibly supplies air to the first bellows 171 and the second bellows 172 _L and 172 _R , the air pressure in each bellows increases. Thus, when the air pressure in the bellows rises, the bellows expands.

FIG. 10 shows the state of the joint assist device 100 when each bellows expands during the expansion stroke in which the first bellows 171 and the second bellows 172 _L and 172 _R expand. Due to the expansion stroke of the first bellows 171 that transitions from the state shown in FIG. 2 to the state shown in FIG. 10, the first connecting member 131 connected to one end of the first bellows 171 becomes the other end of the first bellows 171. With respect to the attachment member 150 connected to the portion, the shaft members AX1 _L and AX1 _R are rotated in the + X direction side with the central axis as the central axis. As a result, the angle of the front side of the human body formed by the lumbar exoskeleton member 110 and the attachment member 150 when the assist device is attached is narrowed, and the hip joint is changed from the extended state to the bent state.

Further, the expansion stroke of the second bellows 172 _L, the second connecting member 141 _L, which is connected to one side end of the second bellows 172 _L is connected to the other end of the second bellows 172 _L The mounting member 150 rotates in the + X direction side with the shaft member AX2 _L as the central axis. As a result, the angle of the front side of the human body formed by the thigh exoskeleton member 120 _L and the attachment member 150 when the assist device is attached is narrowed, and the left hip joint is changed from the extended state to the bent state.

Further, the expansion stroke of the second bellows 172 _R, the second connecting member 141 _R which is connected to one side end of the second bellows 172 _R is connected to the other end of the second bellows 172 _R the mounting member 150 rotates around axis a shaft member AX2 _R + X direction side. As a result, the front angle of the human body formed by the thigh exoskeleton member 120 _R and the attachment member 150 when the assist device is attached is narrowed, and the right hip joint is changed from the extended state to the bent state.

<Assist motion from joint flexion to extension>
When the hip joint and the left and right hip joints are in the bent state (see FIG. 10), when the joints are changed from the bent state to the extended state, the adjusting unit 180 includes the first bellows 171 and the second bellows 172 _L and 172. Control to forcibly discharge air from _R. When the adjustment unit 180 forcibly discharges air from the first bellows 171 and the second bellows 172 _L and 172 _R , the air pressure in each bellows decreases. Thus, when the air pressure in the bellows falls, the bellows contracts.

FIG. 2 shows the state of the joint motion assisting device 100 when each bellows contracts during the contraction process in which the first bellows 171 and the second bellows 172 _L and 172 _R contract. The first connection member 131 connected to one end of the first bellows 171 is moved to the other end of the first bellows 171 by the contraction process of the first bellows 171 that transitions from the state of FIG. 10 to the state of FIG. The shaft member AX1 _L and AX1 _R are rotated in the −X direction side with respect to the attachment member 150 connected to the central portion. As a result, the angle of the front side of the human body formed by the lumbar exoskeleton member 110 and the attachment member 150 when the assist device is attached is widened, and the hip joint is changed from the bent state to the extended state.

Furthermore, the contraction stroke of the second bellows 172 _L, the second connecting member 141 _L, which is connected to one side end of the second bellows 172 _L is connected to the other end of the second bellows 172 _L the mounting member 150, rotates in the -X direction in the central axis the shaft member AX2 _L. As a result, the front angle of the human body formed by the thigh exoskeleton member 120 _L and the attachment member 150 when the assist device is mounted is widened, and the left hip joint is changed from the bent state to the extended state.

Furthermore, the contraction stroke of the second bellows 172 _R, the second connecting member 141 _R which is connected to one side end of the second bellows 172 _R is connected to the other end of the second bellows 172 _R the mounting member 150, rotates in the -X direction in the central axis the shaft member AX2 _R. As a result, the front angle of the human body formed by the thigh exoskeleton member 120 _R and the attachment member 150 when the assist device is mounted is widened, and the right hip joint is changed from the bent state to the extended state.

<Assist action during walking>
In the assist operation during walking, first, the adjustment unit 180 performs control for forcibly discharging air from the first bellows 171 in order to place the hip joint in the extended state. And when moving a left foot part ahead, the adjustment part 180 performs control for making a left foot part a bending state and making a right foot part an extension state. That is, the adjustment unit 180 performs control for forcibly supplying air to the second bellows 172 _L and forcibly discharging air from the second bellows 172 _R.

Further, when the right foot is moved forward, the adjustment unit 180 performs control for making the right foot bent and for extending the left foot. That is, the adjustment unit 180 performs a forced supply of air to the second bellows 172 _R, performs control for performing the forced discharge of air from the second bellows 172 _L. As a result, a smooth walking motion can be realized.

As described above, in the present embodiment, when the air is forcibly supplied to the first bellows 171 and the second bellows 172 _L and 172 _R by the adjusting unit 180, each bellows expands. Then, due to the expansion of the first bellows 171, the first connection member 131 connected to one end of the first bellows 171 is connected to the attachment member 150 connected to the other end of the first bellows 171. Thus, the shaft members AX1 _L and AX1 _R are rotated about the central axis. As a result, the hip joint changes from the extended state to the bent state.

Further, the expansion stroke of the second bellows 172 _L, the second connecting member 141 _L, which is connected to one side end of the second bellows 172 _L is connected to the other end of the second bellows 172 _L The shaft member AX2 _L is rotated with respect to the attachment member 150 as a central axis. As a result, the left hip joint changes from the extended state to the bent state. Further, the expansion stroke of the second bellows 172 _R, the second connecting member 141 _R which is connected to one side end of the second bellows 172 _R is connected to the other end of the second bellows 172 _R The shaft member AX2 _R is rotated with respect to the attachment member 150 as a central axis. As a result, the right hip joint changes from the extended state to the bent state.

Thus, the first bellows 171 is expanded and contracted member, by controlling the expansion stroke for expanding the second bellows 172 _L, 172 _R, to assist the movement to shift to flexion hip joints and the left and right hip joints from extended state be able to.

In the present embodiment, when the air is forcibly discharged from the first bellows 171 and the second bellows 172 _L and 172 _R by the adjusting unit 180, each bellows contracts. Then, due to the contraction of the first bellows 171, the first connection member 131 rotates with respect to the mounting member 150 about the shaft members AX1 _L and AX1 _R as the central axes. As a result, the hip joint changes from the bent state to the extended state.

Further, due to the contraction stroke of the second bellows 172 _L , the second connecting member 141 _L rotates with respect to the mounting member 150 about the shaft member AX2 _L as the central axis. As a result, the left hip joint changes from the bent state to the extended state. Further, due to the contraction stroke of the second bellows 172 _R , the second connecting member 141 _R rotates with respect to the mounting member 150 about the shaft member AX2 _R as the central axis. As a result, the right hip joint changes from the bent state to the extended state.

Therefore, the contraction process for contracting the first bellows 171 and the second bellows 172 _L and 172 _R, which are expansion / contraction members, is controlled to assist the movement of the waist joint and the left and right hip joints from the bent state to the extended state. be able to.

  Further, in the present embodiment, when the left foot part is moved forward, the adjustment unit 180 controls the hip joint to be in the extended state, the left foot part to be bent, and the right foot part to be extended. Do. In addition, when the right foot is moved forward, the adjustment unit 180 controls the hip joint to be in the extended state, the right foot to be bent, and the left foot to be extended. For this reason, a smooth walking motion can be realized while maintaining the state in which the extension assist force of the hip joint is generated.

In this embodiment, the lumbar exoskeleton member 110 is attached to the attachment member 150 so as to be rotatable in the rotation direction of the lumbar joint at a position corresponding to the lumbar joint. The thigh exoskeleton member 120 _L is attached to the attachment member 150 so as to be rotatable in the rotation direction of the left hip joint at a position corresponding to the left hip joint, and the thigh exoskeleton member 120 _R is attached to the right hip joint. It is attached to the attachment member 150 so as to be rotatable in the rotation direction of the right hip joint at the corresponding position. Therefore, it is possible to assist smooth joint motion corresponding to the motion of the hip joint, and to assist smooth joint motion corresponding to the motion of the left hip joint and the right hip joint.

In the present embodiment, the first bellows 171 is disposed on the stretch side of the hip joint, the second bellows 172 _L is disposed on the stretch side of the left hip joint, and the second bellows 172 _R is disposed on the stretch side of the right hip joint. ing. Therefore, it is possible to efficiently generate the force for assisting the motion of the hip joint, the force for assisting the motion of the left hip joint, and the force of assisting the motion of the right hip joint.

Further, in this embodiment, the wearing member 160 is fitted and securely fixed to the pelvic part along the ridge lines of the left and right iliac crests forming the pelvic part, the sacrum, and the coccyx. Is securely fixed to the pelvic region. As a result, even when the first bellows 171 and the second bellows 172 _L and 172 _R expand or contract, the mounting member 150 is securely fixed to the pelvic region without wobbling. Thereby, the force generated by the first bellows 171 can be efficiently transmitted to the lumbosacral joint. Further, the force generated by the second bellows 172 _L can be efficiently transmitted to the left hip joint, and the force generated by the second bellows 172 _R can be efficiently transmitted to the right hip joint. For this reason, when the hip joint, the left hip joint, and the right hip joint are independently jointed, a smooth joint movement can be performed to realize a stable joint movement.

  Therefore, according to this embodiment, smooth joint motion can be realized while appropriately assisting joint motion.

[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 first connection member 131 is disposed on the lumbar exoskeleton member 110 side, and the second connection members 141 _L and 141 _R are disposed on the thigh exoskeleton member 121 _L and 121 _R side. I did it. In the present embodiment, the other side end of the first bellows 171 is connected to the + Z direction side of the back mounting member constituting the mounting member 150 and the other side end of the second bellows 172 _L and 172 _R. Is to be connected on the −Z direction side of the back mounting member constituting the mounting member 150.

In contrast, as in the joint motion assisting device 100B shown in FIGS. 11 and 12, the first connecting member 131B is disposed on the thigh exoskeleton members 121 _L and 121 _R side, and the second connecting member 141B _L. the 141B _R may be arranged in the waist exoskeleton member 110 side. Then, in the case of employing such a configuration, the other end of the first bellows 171 is connected in the -Z direction side of the back mounting member constituting the mounting member 150, the second bellows 172 _L, 172 _R The other side end portion is connected on the + Z direction side of the back portion mounting member constituting the mounting member 150. In the joint motion assist device 100B shown in FIG. 12, the adjustment unit 180 and the pipes 191, 192 _L and 192 _R are not shown.

  Here, FIG. 11 shows a state of the joint motion assist device 100B when each bellows expands, and FIG. 12 shows a state of the joint motion assist device 100B when each bellows contracts. As described above, in the joint motion assist device 100B, the first bellows and the two second bellows are expanded from the bent state and the first bellows and the two second bellows by expanding the first bellows and the two second bellows. By contracting, the hip joint and the hip joint can be changed from the extended state to the bent state.

In the above embodiment, the lumbar exoskeleton member 110 is attached to the attachment member 150 by the shaft members AX1 _L and AX1 _R at a position corresponding to the lumbosacral joint. On the other hand, for example, the joint motion assist device 100C having the configuration shown in FIG. 13 may be used. Compared to the joint motion assist device 100 of the above-described embodiment, the joint motion assist device 100C includes a lumbar exoskeleton member 110C instead of the lumbar exoskeleton member 110, and includes a mounting member 150C instead of the mounting member 150. and, connecting member CB _L instead of the shaft member _{AX1 L, AX1 R, CB R} ( connecting member CB _R is not shown) are different in that it comprises a.

Lumbar exoskeleton member 110C is different from the waist outer frame member 110 of the above-described embodiment, the waist side mounting member 111 _L, 111 lumbar instead of _R side mounting member 111C _L, 111C _R (hip side mounting member 111C _R is that it includes a not shown), and, the waist side mounting member 111C _L, 111C external gear (gear member fixed to _R) 210 _L, 210 _R (external gear 210 _R is the point that further comprises a not shown) Is different.

External gear 210 _L is a -Z direction side end portion of the waist side mounting member 111C _L, it is fixed at a position corresponding to the lumbosacral joint. The external gear 210 _L is formed with a tooth portion along the rotational movement direction of the lumbosacral joint. Further, the external gear 210 _R is a -Z direction side end portion of the waist side mounting member 111C _R, it is fixed at a position corresponding to the lumbosacral joint. The external gear 210 _R is formed with a tooth portion along the rotational movement direction of the lumbosacral joint.

As compared with the mounting member 150 of the above-described embodiment, the mounting member 150C has external gears (gear members) 250 _L and 250 _R (the external gear 250 _R is not fixed) fixed to the waist side surface mounting members 151 _L and 151 _R. It is different in that it further comprises (shown).

External gear 250 _L is fixed at a position corresponding to the sacroiliac joint in the waist side attaching member 151 _L. The external gear 250 _L is formed with a tooth portion that meshes with the external gear 210 _L. Then, the external gear 250 _L is to the external gear 210 _L engaged, the engagement is ensured by connecting member CB _L. Further, the external gear 250 _R is fixed at a position corresponding to the sacroiliac joint in the waist side attaching member 151 _R. This is an external gear 250 _R, teeth meshing with the external gear 210 _R is formed. Then, the external gear 250 _R is to the external gear 210 _R engaged, the engagement is ensured by connecting member CB _R. Thus, the articulation assist device 100C, lumbar exoskeleton member 110C is connecting member CB _L, it is adapted to be mounted to the mounting member 150C by CB _R.

In the joint motion assist device 100C configured as described above, in the system in which the mounting member 150C is relatively stationary, each of the external gears 210 _L and 210 _R fixed to the lumbar exoskeleton member 110C is the first bellows. Revolving around the external gears 250 _L and 250 _R fixed to the mounting member 150C while rotating in the expansion stroke or contraction stroke 171. As a result, the lumbar exoskeleton member 110C revolves around the central axis of the external gears 250 _L and 250 _R fixed corresponding to the sacroiliac joint, and the outer exoskeleton member fixed corresponding to the lumbosacral joint. It rotates around the central axis of the tooth gears 210 _L and 210 _R. In articulation assist device 100C, connecting member CB _L, CB _R is adapted to perform the functions corresponding to the sacrum (see FIG. 1) that exists between the lumbosacral joint and sacroiliac joints.

  Therefore, the joint motion assist device 100C can assist in smooth joint motion corresponding to the movements of the lumbosacral joint and sacroiliac joint, and can perform smooth joint motion corresponding to the movements of the left hip joint and the right hip joint. Assist can be performed.

  In the joint motion assist device 100C, the external gear is fixed to the lumbar exoskeleton member 110C and the attachment member 150C, but instead of the external gear, a rubber member capable of transmitting a rotational force is adopted. You may make it do.

  In the above embodiment, the lumbar exoskeleton member is attached to the attachment member at a position corresponding to the lumbosacral joint, but is rotated in the rotation direction of the sacroiliac joint at a position corresponding to the sacroiliac joint. You may make it attach to an attachment member as possible. Further, the lumbar exoskeleton member may be attached to the attachment member in the vicinity of the position corresponding to the lumbosacral joint, in the vicinity of the position corresponding to the sacroiliac joint, or in the vicinity of the lumbosacral joint and sacroiliac joint. Of course it is good.

  In the above embodiment, the thigh holding member that holds the thigh from the back side is provided. However, the thigh holding member may be omitted.

  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 other gases or liquids such as water and oil may be used.

  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.

Claims (10)

It was attached to a predetermined object having a skeleton structure comprising a connecting portion which connects the first portion and two second portions, and connecting the connecting portion and the first portion of the predetermined object joints And an exoskeleton-type joint motion assist device that assists joint motion using two joint mechanisms that connect each of the two second parts of the predetermined object and the connection part. And
A first exoskeleton member attached to the first part along a direction in which the first part extends from the connection part;
Along a direction in which the two single second portion of the second portion extending from said connecting portion, and one second outer frame member which is attached to the second portion of the one;
Another second exoskeleton member mounted on the other second part along a direction in which the other second part of the two second parts extends from the connection part;
A first expansion / contraction member that generates a force for assisting the joint movement, and two second expansion / contraction members;
A first connection member fixedly connected to the first exoskeleton member and connected to one end of the first expansion / contraction member;
While it is fixedly connected to the second outer frame member of the one, one one second connecting member while being connected to the side end portion of the second expansion and contraction member of said two second deflated member When;
Another second connection member fixedly connected to the other second exoskeleton member and connected to one end of the other second expansion / contraction member of the two second expansion / contraction members When;
The first connection member, the one second connection member, and the other second connection site , the end of the first exoskeleton member on the connection site side , the one second exoskeleton An end portion on the connection site side of the member and an end portion on the connection site side of the other second exoskeleton member are attached so as to be rotatable in a rotational movement direction of a joint, and the other of the first expansion / contraction members A side end and an attachment member connected to the other side end of each of the two second expansion / contraction members;
The connection part of the predetermined object is a pelvic part of a human body,
The first exoskeleton member is mounted at a position corresponding to the lumbar spine;
The one of the second outer frame member is attached to the thigh of the left, the other second outer frame member is attached to the thigh of the right,
The first deflating member, the expansion stroke or contraction stroke of the at least one expansion and contraction member of the one second deflated member and the other second deflated member, pivotally attached to said mounting member The angle at which the first exoskeleton member and the one second exoskeleton member intersect with each other , and the first exoskeleton member and the other second exoskeleton that are rotatably attached to the attachment member At least one of the angles at which the member intersects changes to assist the articulation,
An articulation assist device characterized by the above. The first connection member is disposed on the first exoskeleton member side, the one second connection member is disposed on the one second exoskeleton member side, and the other second connection member is the other Is disposed on the second exoskeleton member side,
The other end portion of the first expansion / contraction member is connected to the joint extension side of the attachment member on the first exoskeleton member side,
The other side end portion of the one of the second expansion and contraction member is connected to the extension-side of the joint in the second outer frame member side one of said mounting member,
The other end of the other second expansion / contraction member is connected to the joint extension side of the attachment member on the other second exoskeleton member side,
The joint motion assist device according to claim 1. Wherein the contraction stroke of the first expansion and contraction member and the two second expansion and contraction member, which in the extended state joint from the bent state, the articulation assist device according to claim 2, characterized in that. Wherein the expansion stroke of the first expansion and contraction member and the two second expansion and contraction member, to flexion joints from extended state, the articulation assist device according to claim 2 or 3, characterized in that. The joint motion according to any one of claims 1 to 4, further comprising an adjustment unit that adjusts a working fluid pressure in the first expansion / contraction member and in the two second expansion / contraction members. Assist device. The end on the connection site side of the first exoskeleton member is attached to the attachment member so as to be rotatable in a rotation direction of the lumbosacral joint at a position corresponding to the lumbosacral joint,
The end of the one second exoskeleton member on the connection site side is attached to the attachment member so as to be rotatable in the rotation direction of the left hip joint at a position corresponding to the left hip joint.
An end on the connection site side in the other second exoskeleton member is attached to the attachment member so as to be rotatable in a rotation direction of the right hip joint at a position corresponding to the right hip joint.
The joint motion assist device according to any one of claims 1 to 5, wherein: The end of the first exoskeleton member on the connection site side rotates around a position corresponding to the sacroiliac joint, and the lumbosacral joint rotates around the rotation axis of the lumbosacral joint. It is attached to the attachment member so as to be rotatable in the direction,
The end of the one second exoskeleton member on the connection site side is attached to the attachment member so as to be rotatable in the rotation direction of the left hip joint at a position corresponding to the left hip joint.
An end on the connection site side in the other second exoskeleton member is attached to the attachment member so as to be rotatable in a rotation direction of the right hip joint at a position corresponding to the right hip joint.
The joint motion assist device according to any one of claims 1 to 5, wherein: A gear member in which teeth are formed along the rotational movement direction of the lumbosacral joint at a position corresponding to the lumbosacral joint is fixed to the end of the first exoskeleton member on the connection site side,
A gear member that meshes with a gear member fixed to the first exoskeleton member is fixed at a position corresponding to the sacroiliac joint in the attachment member,
The first exoskeleton member is secured to the gear member fixed to the first exoskeleton member and the gear member fixed to the attachment member, and is attached to the attachment member.
The joint motion assist device according to claim 7. The first expansion / contraction member is disposed on the extension side of the lumbosacral joint,
The one of the second expansion and contraction member is disposed on the extension side of the left hip joint, the other second deflating member is disposed in the extended side of the right hip joint,
The joint motion assist device according to any one of claims 6 to 8, wherein The attachment member includes a ridge line of the left and right iliac crests of the pelvic region, a sacrum, and a wear member having a shape along the tailbone
The wearing member is fixed to the posterior and left and right outer surfaces of the pelvic region along the ridge lines of the left and right iliac crests, the sacrum, and the tailbone.
The joint motion assist device according to any one of claims 1 to 9, wherein

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