JP6352621B2 - Non-exoskeleton robotic wear - Google Patents

Description

  The present invention relates to a lightweight and flexible non-exoskeleton robotic wear that supports the weight of a robot using a human skeleton system.

  In recent years, various human wearable robots have been developed for the purpose of power assist, walking assistance and rehabilitation support for the elderly and disabled. In general, these robots form exoskeletons along the skeleton of the human body. A robot having such an exoskeleton link is proposed in Non-Patent Document 1. In this specification, it has a robot skeleton configured to support the human body from the outside using a rigid frame (exoskeleton link) having a link mechanism between each joint, and the movement of the robot skeleton is transmitted to the human body. By doing so, a human-mounted robot having a structure that assists human movement and muscle strength is defined as an “exoskeleton robot”.

  In addition, in a human-mounted robot, in order to be able to generate an appropriate assist force or the like following the movement of the human body joint, the muscle activity is evaluated using a myoelectric potential signal, and based on the evaluation. A control method for operating a robotic suit, a control method based on an EMG signal using a matrix that relates joint torque and muscle activity, and the like have been proposed. The inventors of the present invention have also proposed a control method in which synchronization is provided between a person and a robotic suit in Patent Document 1.

Yoshiyuki Sankai, “Human-contact robot suit“ HAL ”” The Japan Society of Mechanical Engineers No.09-17 Proceedings of 14th Symposium on Power and Energy Technology, (2009)

JP 2012-66375 A

  Here, the exoskeleton type robot has an advantage that the weight of the robot can be supported by the exoskeleton link and the wearer does not feel the weight. However, since an inter-joint link mechanism made of a rigid member is provided and the weight is large, it is not easy to attach and detach the human body. In addition, an adjustment mechanism for adjusting the length of the inter-joint link so as to suit each physique and body shape is necessary, and such an adjustment mechanism needs to be adjusted at the time of wearing. For this reason, it is difficult for the wearer to handle the robot alone, and since it takes time to attach and detach the robot, it cannot be handled like normal wear.

  An object of the present invention is to propose robotic wear that is light in weight, easy to wear, and does not require an adjustment mechanism in view of the problems of such an exoskeleton robot.

In order to solve the above problems, the present inventors have used a human skeleton system instead of the design philosophy of a conventional exoskeleton robot that uses an exoskeleton link to support the weight of the robot. Based on the idea of supporting the movement of the robot and supporting the weight of the robot, we realized lightweight and flexible robotic wear that does not require an inter-joint link mechanism consisting of a rigid frame. In the present specification, a human-mounted robot according to the present invention that does not require an inter-joint link mechanism composed of a rigid frame is referred to as “non-exoskeleton robotic wear”.

The non-exoskeleton robotic wear of the present invention is
Wear joints,
A first assist force transmission member and a second assist force transmission member attached to the wear joint portion in a state of being relatively rotatable around a joint axis centerline of the wear joint portion determined in advance;
A rotary actuator attached to the wear joint for rotating the first and second assist force transmission members;
The first assist so as to move in a predetermined bending / extending direction integrally with each of one first human body part and the other second human body part bending / extending about the human body joint part of the wearer An attachment member for attaching the force transmission member and the second assist force transmission member to the wearer;
Have
The first and second assist force transmitting members have rigidity capable of transmitting a predetermined assist force in the bending / extending direction to the first and second human body parts.

  The non-exoskeleton robotic wear of the present invention includes first and second assist force transmission members that are movable in a bending / extending direction integrally with one and the other human body parts extending from a human body joint. . The output of the rotary actuator is transmitted to the human skeleton side through the first and second assist force transmission members as an assist force that assists the movement of the human body joint. Using the human skeleton to assist the movement of human joints. It does not support the human body from the outside by using an inter-joint link mechanism including a rigid frame spanned between adjacent joints in the human body like an exoskeleton robot.

  Therefore, since the inter-joint link mechanism including the rigid frame is provided and the weight is large, the adverse effect of the exoskeleton type robot that it is not easy to attach to and remove from the human body can be solved. In addition, an adjustment mechanism for adjusting the length of the inter-joint link mechanism to suit individual physiques and body types is basically unnecessary, allowing wearers to handle wearing and removing of wear alone. Become. Furthermore, it is possible to easily attach and remove the wear as in normal wear in a short time.

  In the case of the non-exoskeleton robotic wear of the present invention, all of the robot weight must be held in the human skeleton system. However, unlike an exoskeleton-type robot, heavy parts and mechanisms such as an inter-joint link mechanism having a heavy rigid frame and its adjustment mechanism are unnecessary. Further, the first and second assist force transmitting members can be formed from a lightweight nonwoven fabric, a plastic material, or the like. Therefore, it is possible to reduce the overall weight of the non-exoskeleton type robotic wear and hold the entire weight in the human skeleton system.

  In addition, since the non-exoskeleton robotic wear of the present invention uses a human skeleton system, power assist such as lifting a heavy object close to 100 kg is impossible because it damages the human skeleton. However, it is a robot that is safe for humans, and it is linked to irregular movements such as assistance in rehabilitation, assistance for weak human functions in daily life, further reduction of the burden on caregivers and field workers, and assistance for physical strength in disaster relief. It can be applied to a wide range of fields that are required to be always mounted for the operation to be performed.

In the present invention, at least one of the first assist force transmission member and the second assist force transmission member includes a connection plate portion extending in a direction perpendicular to the joint axis center line from the wear joint portion, and the connection A plate portion extending in a direction orthogonal to the connecting plate portion from the tip portion of the plate portion is provided, and the plate portion has flexibility capable of bending into a shape along the body surface of the wearer. Yes. By providing such a plate portion, the assist force transmission member can be reliably fixed to the human body portion.

  Here, it is desirable that the attachment position of the plate portion can be changed with respect to the connecting plate portion so that the plate portion can be attached to a position that matches the body shape and physique of the wearer.

  In the present invention, as the mounting member, a first belt attached to the first assist force transmission member and a second belt attached to the second assist force transmission member can be used. The first belt is a belt that can be attached to the first human body part so as to surround the first human body part. The second belt is a belt that can be attached to the second human body part so as to surround the second human body part. If the lengths of the first and second belts are adjustable, the first and second assist force transmission members can be securely attached to wearers with different body shapes and physiques. It is also possible to form the first and second belts from a stretchable material such as a rubber band.

  In order to be able to fix the belt at a position that matches the body shape and physique of the wearer, it is desirable that the attachment position of the first belt can be changed with respect to the first assist force transmission member. Similarly, it is desirable that the mounting position of the second belt can be changed with respect to the second assist force transmission member.

  When used as lower limb wear, the non-exoskeleton robotic wear of the present invention includes at least one of left and right wear hip joints as the wear joint. In this case, the first assist force transmission member is a lumbar support plate disposed on the side of the waist of the wearer, and the lumbar support plate extends from the wear hip joint in a direction orthogonal to the joint axis center line. A connecting plate portion and a plate portion extending in a direction perpendicular to the connecting plate portion from the tip of the connecting plate portion are provided. The first belt is a waist belt that surrounds the pelvis portion of the wearer, and is attached to the plate portion of the waist support plate. Further, the second assist force transmission member is a thigh upper support plate disposed on an upper portion of a wearer's thigh side surface, and the thigh upper support plate extends from the wear hip joint portion to the thigh upper support plate. A connecting plate portion extending in a direction orthogonal to the joint axis center line, and a plate portion extending in a direction orthogonal to the connecting plate portion from the distal end portion of the connecting plate portion are provided. The second belt is an upper thigh belt that surrounds the upper portion of the thigh of the wearer, and is attached to the plate portion of the upper thigh support plate.

  Moreover, it is desirable that the attachment position of the waist support plate is changeable or adjustable with respect to the waist belt so that it can be adapted to the body shape / physique of the wearer.

  A waist belt provided with such a position adjusting mechanism includes an inner belt and an outer belt joined to each other by a hook-and-loop fastener, and the waist support plate is sandwiched between the inner belt and the outer belt. It is desirable to be fixed by a fastener. In this case, the waist support plate can change the attachment position with respect to the waist belt in an arbitrary direction.

  In addition, it is desirable that the upper position of the thigh upper belt, which is the second belt, can be changed in the mounting position with respect to the upper thigh support plate.

  Next, when the non-exoskeleton robotic wear of the present invention is used as lower limb wear, the wear joint portion may include at least one of left and right wear knee joint portions. In this case, it is conceivable that the wearer feels a heavy feeling due to the inertial force due to the weight of the rotary actuator or the like during operation. In particular, there may be a problem such that the rotation actuator (motor unit) of the knee joint part swings greatly during exercise such as walking.

  The inventors have confirmed that the main causes are that the mass of the rotary actuator is large and that the degree of fixation of the knee joint is poor. By connecting the hip joint and knee joint with an exoskeleton link consisting of a rigid frame, the above problem can be solved, but this gives the human freedom of movement that is the concept of the non-exoskeleton robotic wear of the present invention. It will be damaged.

  Such feeling of weight, mobility, etc. are to reduce the weight of the rotary actuator, to restrain the wear joint part to which the rotary actuator is attached from moving relative to the human body surface during operation, etc. It can be reduced or improved by countermeasures.

  In order to increase the degree of fixation of the knee joint, the present inventors extend the lower end of the lower leg upper support plate to a position closer to the ankle joint than the knee joint in the lower leg of the wearer, It was found that it is extremely effective to fix the lower end to the lower part of the lower leg with a belt. Further, in this case, the lower leg upper support plate is provided on the lower leg upper part so that the knee joint part is restrained from swinging and has a degree of freedom so that the user can sit with his legs crossed even when wearing the wear. It was confirmed that it is desirable that the belt and the lower leg lower belt are slidable in the direction along the lower leg.

  Under such knowledge, in the non-exoskeleton robotic wear of the present invention, when the wear joint portion includes at least one of left and right wear knee joint portions, the first assist force transmission member is A lower thigh support plate disposed in a lower portion of the thigh side surface, the lower thigh support plate extending from the wear knee joint in a direction perpendicular to the joint axis center line; And the board part extended in the direction orthogonal to the said connection board part from the front-end | tip part of the said connection board part is provided. The first belt is a lower thigh belt that surrounds the lower portion of the thigh, and is attached to the plate portion of the lower thigh support plate. On the other hand, the second assist force transmission member is a crus support plate disposed on the crus, and the lower end of the crus upper support plate is a knee joint in the crus of the wearer It extends to a position closer to the ankle than. The second belt includes a lower leg upper belt surrounding the upper part of the lower leg of the wearer and a lower leg belt surrounding the lower part of the lower leg.

  Further, the crus upper support plate is slidable in a direction along the crus with respect to the crus upper belt and the crus lower belt.

  Next, in the non-exoskeleton robotic wear of the present invention, it is desirable that the rotary actuator is attached in a detachable state to the wear joint portion. In this way, since the wearer can attach the rotary actuator to each wear joint after wearing, the wearer can be easily attached and detached. In addition, the rotary actuator can be attached only to the wear joint portion that requires assist.

  In addition, the non-exoskeleton robotic wear of the present invention has a control unit that drives and controls the rotary actuator in accordance with the movement of the human body joint portion to relatively rotate the first and second assist force transmitting members. It is desirable that

On the other hand, the non-exoskeleton robotic wear of the present invention is
Elastic wear that comprises at least one part surrounding the human joint and is worn in close contact with the body surface;
A wear joint attached to a portion corresponding to the human joint in the stretchable wear,
A first assist force transmission member and a second assist force transmission member attached to the stretchable wear in a state of being relatively rotatable around the wear joint portion;
A rotary actuator that is attached to the wear joint part and relatively rotates the first and second assist force transmission members;
The first and second assist force transmission members have flexibility capable of bending into a shape along the wearer's body surface by the elastic force of the elastic wear, and the human body joint portion The first and second human body parts to be connected are provided with rigidity capable of transmitting a predetermined assist force in the bending / extending direction.

  The non-exoskeleton robotic wear of the present invention is made of a flexible material so as to be along the skin surface of the human body except for the wear joint portion and the rotary actuator. In the mounted state, the first and second assist force transmitting members for transmitting the rotation of the rotary actuator to the human body as an assist force are bent into a shape along the body surface of the human body due to the stretch force of the stretchable wear. It will be in close contact. When the rotary actuator is driven to rotate according to the movement of the human body joint part, the first and second assist force transmission members in close contact with the human body turn around the wear joint part. Since the first and second assist force transmission members have a predetermined rigidity, the first and second assist force transmission members transmit an assist force having a predetermined magnitude to the part of the human body that is in close contact with the first and second assist force transmission members. By adjusting parameters such as the capacity of the rotary actuator, the rigidity of the first and second assist force transmitting members, and the contact area between the first and second assist force transmitting members and the human body, the required assist force is applied to the human body. Can communicate.

  Here, in the case of non-exoskeleton type robotic wear, all of the robot weight must be held in the human skeleton system. However, unlike an exoskeleton-type robot, there is no need for heavy parts and mechanisms such as an inter-joint link mechanism having a heavy rigid frame (exoskeleton link) and its adjustment mechanism. The second assist force transmission member can be formed of a lightweight nonwoven fabric, a plastic material, or the like. Therefore, it is possible to reduce the overall weight of the non-exoskeleton type robotic wear and hold the entire weight in the human skeleton system.

  Further, in the case of non-exoskeleton robotic wear, it is considered that the wearer feels a feeling of weight due to the inertial force due to the weight of the rotary actuator or the like during operation. Such feeling of weight, mobility, etc. are to reduce the weight of the rotary actuator, to restrain the wear joint part to which the rotary actuator is attached from moving relative to the human body surface during operation, etc. It can be reduced or improved by countermeasures.

  Therefore, according to the present invention, unlike an exoskeleton-type robot in which a rigid exoskeleton link is mounted along the limbs of the human body, it is lightweight, has good wearability, and has a link between joints so as to match the physique and body shape An adjustment mechanism for adjusting the length or the like is unnecessary, and robotic wear that does not require adjustment of each part at the time of mounting can be obtained. In other words, according to the present invention, it is possible to realize robotic wear that can be easily worn with the same feeling as when wearing wear such as normal sportswear.

  In the present invention, the stretchable wear has a two-layer structure of a stretchable inner fabric and a stretchable outer fabric, and the first and second assist force transmission members are disposed between the inner fabric and the outer fabric. can do.

  In addition, an actuator mounting portion exposed on the surface of the stretchable wear can be provided in the wear joint portion, and the rotary actuator can be attached to the actuator mounting portion in a detachable state. In this way, it is possible to attach / detach / replace the rotary actuator with the wear. In addition, a rotary actuator can be selectively attached to a joint that requires assist force.

  When the non-exoskeleton robotic wear of the present invention is used as a wear for lower limbs, for example, the stretchable wear is a tight that includes a hip joint part and a left and right knee joint part of the human body, and the wear As the joint portion, a left wear hip joint portion, a right wear hip joint portion, a left wear knee joint portion, and a right wear knee joint portion can be arranged. In this case, the first assist force transmission member, the second assist force transmission member, and the rotary actuator may be disposed in each of the wear joint portions.

  In this case, the first assist force transmission member of the left wear hip joint portion and the first assist force transmission member of the right wear hip joint portion are waist support plates disposed on the left and right waist sides, respectively. The second assist force transmission member of the left wear hip joint part and the second assist force transmission member of the right wear hip joint part are respectively disposed on upper portions of the left and right thigh side surfaces. It is. The first assist force transmission member of the left wear knee joint portion and the first assist force transmission member of the right wear knee joint portion are respectively disposed at lower portions of the left and right thigh side portions. It is a support plate. Further, the second assist force transmitting member of the left wear knee joint and the second assist force transmitting member of the right wear knee joint are respectively disposed on the upper portions of the left and right crus side surfaces. It is a part upper support plate.

  Further, as the mounting member, a waist belt surrounding the pelvis part of the wearer, left and right thigh upper belts surrounding the upper parts of the left and right thighs, and left and right thighs surrounding the lower parts of the left and right thighs It is desirable to have a lower belt and left and right lower leg upper belts surrounding the upper left and right lower leg parts.

  A control unit for driving and controlling the rotary actuator according to the movement of the human body joint portion to relatively rotate the first assist force transmission member and the second assist force transmission member is attached to the stretchable wear. It is also possible to keep it.

It is the front view, left view, and back view which show the external appearance of the non-exoskeleton type robotic wear for the lower limbs which concerns on Embodiment 1 of this invention. FIG. 2 is a front view, a left side view, and a rear view showing an internal structure of the non-exoskeleton robotic wear of FIG. 1. It is explanatory drawing which shows the wear hip joint part and wear knee joint part of the robotic wear for a test used for evaluation of a feeling of weight. It is a graph which shows the acceleration measurement result at the time of walking of the roboticware for a test. It is a graph which shows the acceleration measurement result at the time of walking of the roboticware for a test. It is a graph which shows the acceleration measurement result at the time of walking of the roboticware for a test. It is a graph which shows the acceleration measurement result at the time of walking of the roboticware for a test. It is a graph which shows the acceleration measurement result at the time of walking of the roboticware for a test. It is a graph which shows the acceleration measurement result at the time of walking of the roboticware for a test. It is the front view and left view which show the state which worn the non-exoskeleton type robotic wear for the lower limbs which concerns on Embodiment 2 of this invention. It is the front view and left view which show the state which removed the rotation actuator from the non-exoskeleton type robotic wear of FIG. FIG. 11 is a front perspective view and a rear perspective view showing a lumbar unit of the non-exoskeleton robotic wear of FIG. 10. It is a disassembled perspective view which shows the left wear hip joint part. FIG. 11 is an outer perspective view and an inner perspective view showing one knee mounting unit in the non-exoskeleton robotic wear of FIG. 10. It is explanatory drawing which shows schematic structure of a rotation actuator. It is explanatory drawing which shows the comparison model used for verification of operation | movement freedom degree. It is a graph which shows the verification result of a motion freedom degree. It is explanatory drawing which shows an example of the experiment model used for the knee joint rocking | fluctuation evaluation experiment. It is explanatory drawing which shows another example of the experimental model used for the knee joint rocking | fluctuation evaluation experiment. It is explanatory drawing which shows the AFO model used for the knee joint rocking | fluctuation evaluation experiment. It is a graph which shows the result of a knee joint rocking | fluctuation evaluation experiment. It is explanatory drawing which shows the mounting position of a waist unit. It is component drawing which shows the example of the waist | hip | lumbar part unit provided with the adjustment mechanism. It is explanatory drawing which shows mounting | wearing operation of an inner belt. It is explanatory drawing which shows mounting operation of the left and right hip joint units. It is explanatory drawing which shows mounting | wearing operation of the thigh upper part belt of a hip joint unit. It is explanatory drawing which shows mounting | wearing operation of an outer belt. It is explanatory drawing which shows the state with which the waist | hip | lumbar part unit was mounted | worn. It is explanatory drawing which shows the non-exoskeleton type robotic wear for whole bodies to which this invention is applied.

  Embodiments of non-exoskeleton robotic wear to which the present invention is applied will be described below with reference to the drawings. The following embodiments relate to robotic wear for walking in which the present invention is applied to the lower limbs. However, the present invention is applied to the upper limbs and applied to the whole body (other embodiments described later, FIG. 29). For example). It can also be used as wear for assisting the movement of one or more joints of the human body for rehabilitation, for example, wear for assisting the shoulder joint and elbow joint of one arm It is.

[Embodiment 1]
FIG. 1 (a) shows an external appearance of a state in which a non-exoskeleton robotic wear for walking according to Embodiment 1 of the present invention (hereinafter sometimes simply referred to as “robotic wear”) is mounted. It is a front view, FIG.1 (b) is the left view, and FIG.1 (c) is the back view. 2A to 2C are a front view, a left side view, and a rear view showing the internal structure of the robotic wear.

  Referring to these drawings, the robotic wear 1 includes a tights 2 (elastic wear) made of an elastic material worn in close contact with the body surface of a wearer (human body) P. . The tights 2 have a two-layer structure of an inner fabric 3 (see FIG. 2) made of a stretchable material that directly touches the human body and an outer fabric 4 (see FIG. 1) made of a stretchable material that appears on the outside.

  In the tights 2, wear joint portions are attached to portions corresponding to the left and right joint portions of the lower limbs of the human body. In the illustrated example, a left wear hip joint portion 5, a right wear hip joint portion 6, a left wear knee joint portion 7 and a right wear knee joint portion 8 are provided as the wear joint portions. As can be seen from FIG. 2, a first assist force transmission member 11, a second assist force transmission member 12, and a rotary actuator 13 are attached to the left wear hip joint portion 5.

  The first and second assist force transmission members 11 and 12 are disposed between the inner fabric 3 and the outer fabric 4 and are fixed to these. In addition, these members 11 and 12 are attached to the left wear hip joint 5 so as to be relatively rotatable in the front-rear direction of the human body around the left wear hip joint 5. The rotational force of the rotary actuator 13 is transmitted from the left wear hip joint portion 5 to the first and second assist force transmission members 11 and 12, and is transmitted as an assist force to the left hip joint portion of the human body P through these.

The first and second assist force transmitting members 11 and 12 are made of, for example, a plastic material, and are provided with flexibility that can be bent into a shape along the body surface of the human body P by the stretching force of the tights 2. At the same time, as described above, there is also a rigidity capable of transmitting the rotational force of the rotary actuator 13 to the human body P as a predetermined assist force that assists the movement of the human body around the left hip joint portion of the human body P. For example, the first and second assist force transmission members 11 and 12 made of a thin plate member do not have rigidity capable of transmitting a predetermined assist force in a state of spreading in a flat plate shape. In a state where the cloth 4 is bent and curved into a shape along the body surface of the human body P, the cloth 4 exhibits rigidity capable of transmitting a predetermined assist force. Alternatively, the first and second assist force transmission members 11, 12 transmit a predetermined assist force together with the fabrics 3, 4 while being held from both sides by the inner fabric 3 and the outer fabric 4. It becomes a part with possible rigidity.

  In the same configuration, a first assist force transmission member 14, a second assist force transmission member 15, and a rotary actuator 16 are attached to the right wear hip joint portion 6. A first assist force transmission member 17, a second assist force transmission member 18, and a rotary actuator 19 are attached to the left wear knee joint portion 7. A first assist force transmission member 20, a second assist force transmission member 21, and a rotary actuator 22 are attached to the right wear knee joint 8.

  The configuration of each part will be described in more detail. First, each wear joint part 5-8 is the same structure, and is provided with the attachment flanges 5a-8a fixed to the tights 2. FIG. Each of the mounting flanges 5a to 8a is a disk-shaped part formed from a rigid material such as an aluminum alloy or a ceramic material. Each of the mounting flanges 5a to 8a includes actuator mounting portions 5b to 8b having a circular contour exposed on the surface of the tights 2, that is, the surface of the outer fabric 4. The actuator mounting portions 5b to 8b are mounted with rotary actuators 13, 16, 19, and 22 having a flat cylindrical outline in a detachable state.

  The first assist force transmission member 11 of the left wear hip joint portion 5 and the first assist force transmission member 14 of the right wear hip joint portion 6 have a bilaterally symmetric shape. As can be seen from FIG. The pelvis of the human body P is connected to each other by the belt portion 31 for use and the belt portion 32 for fixing the posterior pelvis. For example, a length adjustment buckle portion is attached to the anterior pelvic fixation belt portion 31 so that the length can be adjusted so that the pelvis (ASIS: anterior superior iliac spine) of the human body P can be securely tightened and fixed. Is desirable. The second assist force transmission member 12 of the left wear hip joint portion 5 and the second assist force transmission member 15 of the right wear hip joint portion 6 are also symmetrical. As can be seen from FIGS. 2 (b) and 2 (c), these members 12 and 15 extend downward along the side surfaces of the upper left and right thighs from the left and right hip joints 5 and 6, and bend rearward. The upper thigh support plate is arranged in an arc shape so as to surround the rear side of the upper thigh.

  The first assist force transmission member 17 of the left wear knee joint portion 7 and the first assist force transmission member 20 of the right wear knee joint portion 8 also have a symmetrical shape. As can be seen from FIGS. 2B and 2C, these members 17 and 20 extend upward from the left and right knee joint portions 7 and 8 along the side surfaces of the lower left and right thighs, and to the rear side. It is a lower thigh support plate that is bent and arranged in an arc shape so as to surround the rear side of the lower thigh. The second assist force transmission member 18 of the left wear knee joint portion 7 and the second assist force transmission member 21 of the right wear knee joint portion 8 also have a bilaterally symmetric shape, and these members 18, 21 are shown in FIG. As can be seen from b) and (c), it extends downward from the left and right knee joints 7 and 8 along the side of the upper part of the left and right crus, bends back and surrounds the posterior side of the upper part of the crus The lower leg upper support plate is arranged in a circular arc shape.

The first and second assist force transmission members 11, 12, 14, 15, 17, 18, 20, and 21 are not limited to the illustrated shapes. Of course, other shapes may be used as long as they can be arranged along the surface of the human body by the stretching force of the tights 2 and an assist force of a predetermined magnitude can be transmitted to the human body side. In addition, the shape and size may be different on the left and right, instead of the symmetrical shape.

  The rotary actuators 13, 16, 19, and 22 have the same shape and the same structure in the illustrated example. Each rotary actuator includes an electric motor and a speed reducer that decelerates the output rotation, and the joint shaft that defines the rotation center of each of the first and second assist force transmission members by the speed reduction output rotation from the speed reducer (Not shown) rotates. For example, the first assist force transmission member is fixed, fixed to the attachment flange of the wear joint, and the second assist force transmission member is rotationally driven about the joint axis. Various types of rotary actuators can be used. It is also possible for each rotary actuator to have a different output. In any case, it is desirable to share the mounting portion of each rotary actuator with respect to the mounting flange.

  Next, the robotic wear 1 of this example includes a control unit 9 that drives and controls the rotary actuators 13, 16, 19, and 22. As shown in FIGS. 1 and 2, the control unit 9 is attached to the posterior pelvic fixation belt portion 32. For example, the control unit 9 drives and controls each rotary actuator according to the movement of the joint part of the human body by the control method proposed in Non-Patent Document 1 and Patent Document 1 cited above. The assist force transmission member is relatively rotated. In the figure, the wiring between the control unit 9 and each rotary actuator is omitted. Needless to say, the control unit 9 may be configured separately from the robotic wear 1 so that each rotary actuator can be remotely operated by wire or wirelessly.

[Differences from exoskeleton robots]
The robotic wear 1 configured as described above has a difference (superiority) shown in Table 1 as compared with a general exoskeleton-type robot.

  Therefore, the present inventors mounted a prototype test robotic wear on a human body, and evaluated the feeling of weight, mobility, and wearability. Some of the experiments conducted for this purpose are described below.

[Weight feeling evaluation model]
FIG. 3 (a) is an explanatory view showing a wear hip joint part of a test robotic wear manufactured for the purpose of analysis for this evaluation, and FIG. 3 (b) is an explanatory view showing the wear knee joint part. is there. The test robotic wear 1A shown in the figure has a total of four joint axes at both hip joints and knee joints, but there is no rigid link between the joints corresponding to the exoskeleton because the human skeleton system is used. The weight is 150 g for the hip joint and 200 g for the knee joint (400 g for both legs). As for the fixing method to the human body, the wear hip joint portion 5A is a belt 41 to the pelvis (ASIS: anterior superior iliac spine) and the upper left and right thighs, and the wear knee joint portion 7A is a lower thigh portion and an upper crus portion. It is fixed with 44. The test weight 45 can be completely fixed with bolts 47 and 48 on the joint shafts 5c and 7c of the wear joint portions 5A and 7A, which are the same positions as the mounting positions of the rotary actuators.

[Subjective evaluation experiment]
(experimental method)
The weight 45 was fixed to the test robotic wear 1A attached to the human body, and daily activities such as walking, running, jumping, bending and stretching were performed, and the weight and structural problems at that time were confirmed. In order to clarify each evaluation, the wear hip joint 5A and the wear knee joint 7A were not worn simultaneously, but were worn separately, and the wear knee joint 7A was worn only on the left foot. The weight 45 used was a solid made of iron having a weight of 500 g and 1 kg.

(Experimental result)
In contrast to the hip joint where there was no significant change in weight when standing still and walking, the knee joint felt a great sense of weight during walking (especially heel-contacting to standing). Table 2 shows the subjective evaluation results regarding the feeling of weight.

[Acceleration experiment]
From the results of the subjective evaluation experiment, it was considered that the inertial force applied to the weight during exercise or walking is closely related to the weight feeling, and acceleration measurement was applied to the wear hip joint 5A and the wear knee joint 7A during walking.

(experimental method)
An acceleration sensor was fixed to the upper part of the weight fixing part of the test robotic wear 1A attached to the human body, and the acceleration during walking was measured. As in the subjective evaluation experiment, the wear hip joint 5A and the wear knee joint 7A were not worn simultaneously, but were worn separately, and the wear knee joint 7A was worn only on the left foot. Although the sensor attachment position of the wear hip joint 5A is only on the left side, the weight 45 is attached on both the left and right sides.

  As the acceleration sensor, a small wireless three-axis acceleration sensor “wireless EMG logger” (Osaka Electronics LP-MS1047F) having an outer dimension of 40 mm × 20 mm × 55 mm and a weight of 35 g (including battery weight) was used. Although the sampling frequency is fixed at 50 Hz, acceleration in the three directions of front and rear, left and right, and top and bottom can be measured with a detection range of ± 4 G, and wireless communication with a line-of-sight distance of about 50 m can be performed.

The walking condition was a natural walk of walking about 5 m in 10 steps, and two round trips were measured on the assumption that walking started from a non-measurement limb (right foot). As weight conditions, an iron solid having a weight of 500 g and 1 kg as in the subjective evaluation experiment was used. In the measurement of the wear hip joint 5A, the weights were attached to both the left and right sides. The obtained data was transmitted to a PC by a wireless data transceiver at the end of measurement and used for analysis.

(Experimental result)
The acceleration waveforms in the front / rear, left / right and up / down directions of the wear hip joint 5A and the wear knee joint 7A are shown in FIGS. The waveform shown here is data for 2.5 to 4.5 seconds (about 4 to 7 steps) in the first round trip. In these acceleration waveforms, the X series represents the up / down direction (upward is +), the Y series represents the front / rear direction (forward is +), and the Z series represents the left / right direction (left is +). Even when standing still, there is an output of about -1G indicating a gravitational component in the X direction.

  In any data, there is a characteristic that a pulse appears in the X-value waveform, which is considered to indicate a waveform at the time of ground contact. When attention is paid to the data of the knee joint, the Y value indicating the acceleration in the front-rear direction fluctuates greatly. This is presumed to be the manifestation of a large force required for walking when the knees swing out. The Z value representing the left and right direction also shows a characteristic vibration when the left foot touches down, but the knee does not swing significantly to the left or right during normal walking, which is due to the rocking caused by the stability of the knee joint. I guess it is the cause.

(Consideration of experimental results)
The acceleration of the wear knee joint portion 7A is larger than the acceleration generated in the wear hip joint portion 5A. It is assumed that the inertial force due to this acceleration appears as a difference in the feeling of gravity. Although it is necessary to examine the problem of joint fixation, we believe that it is possible to reduce the weight of the weight and reduce the inertial force so that the knee joint can have the same level of weight as the hip joint. It is done.

  The wearing experiment was performed at a so-called healthy person's walking speed. For the purpose of assisting walking and rehabilitation of elderly people and persons with disabilities, it is presumed that the walking speed of the wearer is slower than that of a healthy person, and the weight feeling due to inertial force is also reduced.

  As described above, the present invention has proposed a lightweight and flexible non-exoskeleton robotic wear using a human skeleton system. This wear does not have a rigid exoskeleton link, which is a feature of exoskeleton robots, and does not require a mechanism for adjusting the link between joints due to physical differences, making it lightweight and easy to wear on the human body. Yes.

  Since the structure uses a human skeleton system, a feeling of weight applied to the human body is an issue. A trial wear was conducted with the purpose of verifying the feeling of weight. As a result, it was found that, when the weight was applied to the worn robotic wear, the feeling of weight was hardly felt when stationary, whereas the feeling of weight was felt only at the knee joint part during walking, that is, when inertial force was applied. From these facts, it was found that the weight feeling of the robotic wear can be reduced by reducing the weight of the knee joint.

[Embodiment 2]
(overall structure)
FIG. 10 shows a schematic configuration of non-exoskeleton robotic wear (hereinafter also referred to as “robotic wear”) according to Embodiment 2 to which the present invention is applied, and (a) shows the robotic concerned. It is a front view which shows the state with which the wear was mounted | worn with the human body, (b) is the left view. FIGS. 11A and 11B are a front view and a left side view showing a state where a motor unit as a rotary actuator is removed from the robotic wear shown in FIG.

The robotic wear 100 according to the second embodiment is wear for lower limbs, and includes a lumbar unit (hip joint mounting unit) 110 and left and right knee units (knee joint mounting units) 130L and 130R. Since the knee units 130L and 130R have a bilaterally symmetric structure, they may be referred to as the knee unit 130 in the following description.

  The waist unit 110 and the knee unit 130 can be individually attached to the wearer P. Alternatively, the robotic wear 100 may be composed of these units 110 and 130 and tights 101 to which these units 110 and 130 are attached. After causing the wearer P to wear the tights 101, the units 110 and 130 are fixed to the wearer P from above the tights 101. The tights 101 can also be composed of an inner and an outer as in the case of the first embodiment.

  The waist unit 110 includes left and right hip joint units 111A and 121A, and the left and right knee unit 130L and 130R include left and right knee joint portions 131 and 141, respectively. The rotary actuators 117, 127, 137, and 147 are detachably attached to the respective portions. The wearer P attaches the rotary actuators 117, 127, 137, and 147 to the left and right hip joint units 111A and 121A and the left and right knee joint parts 131 and 141 after wearing the robotic wear 100 in the state shown in FIG. The state shown in FIG. 10 can be obtained. Further, the robotic wear 100 can be removed after each rotary actuator is removed. Therefore, the robotic wear 100 can be easily attached and detached. Further, it is convenient because a heavy rotary actuator can be attached only to a joint portion that needs assistance.

(Lumbar unit)
12A is a front perspective view of the waist unit 110, and FIG. 12B is a rear perspective view thereof. In these drawings, the rotary actuators 117 and 127 are removed. FIG. 13 is an exploded perspective view showing a portion of the hip unit 111 </ b> A on the left side of the waist unit 110. The waist unit 110 includes left and right hip joint units 111A and 121A, and a waist belt 115 to which these are detachably attached.

  Referring to FIG. 10, FIG. 12, and FIG. 13, the left and right hip joint units 111A and 121A of the lumbar unit 110 are disc-shaped left and right wear hip joint portions disposed outside the left and right hip joint portions of the lower limbs of the human body. 111 and 121 are provided. The left and right wear hip joint portions 111 and 121 have a symmetrical structure. As shown in FIG. 13, the left wear hip joint 111 includes a movable side disk 111 a formed with a central through hole located on the human body side, a disk-shaped spacer 111 b formed with a central through hole, and a fixed side disk. 111c. The movable-side disk 111a and the fixed-side disk 111c are stacked coaxially with the spacer 111b interposed therebetween, and can be relatively rotated around the joint axis center line 111d that is the center line thereof. The other right wear hip part 121 has the same structure, and includes a movable disk 121a, a spacer 121b, and a fixed disk 121c. The movable disk 121a and the fixed disk 121c rotate relative to each other about the joint axis center line 121d. Is possible.

The left and right wear hip joints 111 and 121 have left and right waist support plates 112 and 122 disposed on the left and right side surfaces of the human waist, and left and right side surfaces disposed on the left and right sides of the upper portion of the human thigh, respectively. Upper thigh support plates 113 and 123 are attached. The left and right waist support plates 112 and 122 are integrally formed with the fixed side disks 111c and 121c, and extend upward from the left and right wear hip joints 111 and 121. Lumbar support plates 112 and 122 include connecting plate portions 112a and 122a having a constant width extending in a direction orthogonal to the joint axis center lines 111d and 121d, and arc plate portions 112b and 122b attached to the distal ends of the connecting plate portions 112a and 122a. And. In the following description, these arc plate portions 112b and 122b are connected to the T-bar 112b,
Called 122b. The T bars 112b and 122b are concave on the human body side, and extend in a direction surrounding the waist that is orthogonal to the connecting plate portions 112a and 122a.

  The left and right thigh upper support plates 113 and 123 are integrally formed with the movable side disks 111a and 121a, and extend downward from the left and right wear hip joint portions 111 and 121. Upper thigh support plates 113 and 123, connecting plate portions 113a and 123a having a constant width extending in a direction orthogonal to the joint axis center lines 111d and 121d, and an arc plate portion 113b attached to the lower ends of the connecting plate portions 113a and 123a. , 123b. In the following description, these arc plate portions 113b and 123b are referred to as thigh cuffs 113b and 123b. The thigh cuffs 113b and 123b are concave on the human body side, and extend in a direction surrounding the upper thighs orthogonal to the connecting plate portions 113a and 123a.

  The waist support plates 112 and 113 of the left wear hip joint portion 111 are relatively rotatable in the front-rear direction of the human body around the joint axis center line 111d. Similarly, the support plates 122 and 123 of the right wear hip joint portion 121 are relatively rotatable in the front-rear direction of the human body around the joint axis center line 121d. That is, the support plates 112 and 113 rotate relative to the pelvis, which is the upper skeleton part of the left and right hip joints of the human body, in the direction in which the lower thigh skeleton part bends and extends back and forth around the hip joint. Similarly, the support plates 122 and 123 are also relatively rotatable.

  The T bars 112 b and 122 b of the upper left and right waist support plates 112 and 122 are fixed to the left and right side portions of the waist belt 115. The waist belt 115 can be attached to the human body waist so as to surround the human body waist. A buckle is attached to one end of the waist belt 115, and the other end is passed through the buckle and fixed to the middle part of the waist belt with a hook-and-loop fastener. is there. By fastening the waist belt 115, the left and right waist support plates 112, 122 are fixed in close contact with the left and right side surfaces of the human waist.

  Here, the attachment positions of the left and right waist support plates 112, 122 to the waist belt 115 of the T bars 112b, 122b can be adjusted (changed) in the vertical direction and the waist direction. In this example, as can be seen from FIG. 12 (a), a plurality of screw fixing holes are formed in the left and right side portions of the waist belt 115 in the vertical direction and the waist direction. The waist support plates 112 and 122 can be attached by screws.

  On the other hand, the lower left and right thigh upper support plates 113 and 123 can be fixed to upper portions of the left and right thighs of the wearer P by left and right thigh upper belts 116 and 126, respectively. The thigh cuffs 113b and 123b of the upper thigh support plates 113 and 123 are formed with slits for threading the belt, and the upper thigh belts 116 and 126 are passed through these slits.

  The upper thigh belts 116 and 126 include buckles and hook-and-loop fasteners, and can be worn on upper portions of the left and right thighs of the wearer P. When the upper thigh belts 116 and 126 are tightened, the left and right thigh upper support plates 113 and 123 are fixed to the upper portions of the left and right thighs. The left and right thigh cuffs 113b and 123b are positioned inside the upper thigh upper belts 116 and 126, and are brought into close contact with the surfaces of the left and right thighs by the belt tightening force.

As described above, when the waist belt 115 and the left and right thigh upper belts 116 and 126 are attached and tightened to the human waist and the upper left and right thighs, the left and right waist support plates 112 and 122 are connected to the left and right hip joints of the human body. The wearer P is worn with the upper pelvis so as to be movable in the front-rear direction. In addition, the left and right thigh upper support plates 113 and 123 are attached to the human body so as to be movable in the front-rear direction together with the lower thigh skeleton portions of the left and right hip joints of the human body. It should be noted that the attachment positions of the thigh cuffs 113b and 123b with respect to the connecting plate portions 113a and 123a can be attached so as to be adjustable in the vertical direction. If it does in this way, thigh upper belts 116 and 126 can be fastened to a part of suitable height in a wear wearer's P thigh upper part.

  Next, as shown in FIGS. 10 and 13, the rotation center line coincides with the joint axis center lines 111 d and 121 d on the outer end surfaces of the fixed side disks 111 c and 121 c of the left and right wear hip joint parts 111 and 121. The left and right rotary actuators 117 and 127 are attached. In this example, the rotary actuators 117 and 127 are attached to the left and right wear hip joint portions 111 and 121 in a detachable state. Each of the rotary actuators 117 and 127 has the same structure, and includes motors 117a and 127a and speed reducers 117b and 127b that are coaxially attached to the front surfaces of the motors 117a and 127a.

  When the rotary actuators 117 and 127 are rotated, the left and right waist support plates 112 and 122 and the left and right thigh upper support plates 113 and 123 are relatively back and forth around the joint axis center lines 111d and 121d by the rotational force. Turn to. The waist support plates 112 and 122 are fixed to the human waist by a waist belt 115, and the upper thigh support plates 113 and 123 are fixed to the upper part of the human thigh by upper thigh belts 116 and 126. Therefore, the assist force in the direction of bending and extending around the hip joint of the human body is transmitted to the human skeleton side through these support plates 112, 113, 122, and 123. These support plates 112, 113, 122, and 123 have a predetermined rigidity capable of transmitting a predetermined assist force from the rotary actuators 117 and 127 to the human body.

  Here, as shown in FIG. 13, the rotary actuator 117 has a pair of locking hooks 118 a attached to the outer peripheral surface portion of the part on the side of the attachment surface 117 c with respect to the wear hip joint 111. The pair of hooks 118a are located on both sides in the diametrical direction and are urged in a direction to close each other by a spring force. Hook engagement grooves 118b are formed on the outer peripheral surface of the fixed side disk 111c of the wear hip joint 111 on both sides in the diameter direction. In addition, positioning pin holes (not shown) are formed at predetermined angular intervals in the circumferential direction on the annular end surface of the fixed-side disk 111c, and pin holes are provided on the mounting surface 117c of the rotary actuator 117. A positioning pin (not shown) that can be plugged into is attached.

  The pair of hooks 118 a are opened, the positioning pin is positioned in the pin hole, and the attachment surface 117 c of the rotary actuator 117 is attached to the annular end surface of the fixed side disk 111 c of the wear hip joint 111. When the pair of hooks 118a are opened, the hooks 118a are closed by the spring force, and are engaged with the hook engaging grooves 118b. Therefore, the rotary actuator 117 can be fixed to the wear hip joint 111 by a simple operation. When removing the rotary actuator 117 from the wear hip joint 111, the pair of hooks 118a are opened against the spring force. As a result, the hook 118a is disengaged from the hook engaging groove 118b, so that the rotary actuator 117 can be easily removed. Similarly, the other rotary actuator 127 can be attached to and detached from the wear hip joint 121.

(Knee unit)
14A is an outer perspective view when the left knee unit 130L is viewed from the outside, and FIG. 14B is an inner perspective view when viewed from the inside. These drawings show a state in which the rotary actuator 137 is removed. Since the left and right knee units 130L and 130R have a bilaterally symmetric structure, the left knee unit 130L will be described below mainly with reference to FIGS.

The knee unit 130L includes a wear knee joint 131. The wear knee joint 131 includes a lower thigh support plate 132, a lower thigh support plate 133, a lower thigh lower belt 135, a lower thigh upper belt 136, a lower thigh lower belt 139, and a rotary actuator 137. .

  The wear knee joint portion 131 is configured in the same manner as the wear hip joint portion 111 shown in FIG. 13, and includes a movable-side disc 131 a in which a central through hole located on the human body side is formed, and a disc shape in which a central through hole is formed. And a stationary disk 131c stacked on the movable disk 131a with a spacer (not shown) interposed therebetween. The movable side disk 131a and the fixed side disk 131c are capable of relative rotation about the joint axis center line 131d, which is the center line thereof.

  A lower thigh support plate 132 is integrally formed with the fixed disk 131c of the wear knee joint 131. The lower thigh support plate 132 includes a connecting plate portion 132a extending upward perpendicular to the joint axis center line 131d, and an arc plate portion 132b attached to the upper end portion. The arc plate portion 132b is concave on the human body side and extends in a direction surrounding the lower portion of the thigh perpendicular to the connecting plate portion 132a.

  The lower thigh belt 135 is passed through a belt-passing slit formed in the connecting plate portion 132a. The lower thigh belt 135 includes a buckle and a hook-and-loop fastener, and the length can be adjusted. When the lower thigh belt 135 is attached to the lower part of the thigh of the wearer P, the lower thigh support plate 132 is fixed to the lower part of the human thigh and the arcuate plate part 132b is fixed to the human thigh. It is bent in a state along the surface of the part and is in close contact with the human thigh.

  In contrast, the crus support plate 133 is integrally formed with the movable side disk 131a and extends downward from the wear knee joint 131. The crus support plate 133 extends in a direction orthogonal to the joint axis center line 131d. The lower leg 133a has a lower end 133a whose length reaches a position closer to the ankle joint than the knee joint in the lower leg part of the wearer P, in this example, a position near the upper part of the ankle joint. It is.

  The crus support plate 133 can be fixed to the human crus by means of the crus upper belt 136 and the crus lower belt 139. These belts 136 and 139 are provided with a buckle and a hook-and-loop fastener, and the length can be adjusted.

  Here, the lower leg upper belt 136 and the lower leg lower belt 139 are attached to the lower leg support plate 133 so as to be slidable in the direction along the human lower leg. In this example, the crus support plate 133 is formed with a pair of belt-passing slits 133b extending in the length direction. The lower leg upper belt 136 and the lower leg lower belt 139 are passed through the slits 133b. The crus support plate 133 can be securely fixed to the crus of the wearer P by the two belts 136 and 139.

  Next, a rotation actuator 137 is attached to the outer end surface of the fixed disk 131c of the wear knee joint 131 so that the rotation center line coincides with the joint axis center line 131d. In this example, the rotary actuator 137 is attached to the wear knee joint 131 in a detachable state. The attachment / detachment mechanism has the same structure as that of the rotary actuator 117 of the wear hip joint 111 (see FIG. 13).

  The other right knee unit 130 </ b> R is similarly provided with a wear hip joint 141. The wear hip joint 141 includes a lower thigh support plate 142, a lower crus support plate 143, a lower thigh belt 145, an upper crus belt 146, a lower crus belt 149, and a rotary actuator 147. Since the right knee unit 130R has a symmetrical structure with the left knee unit 130L, detailed description thereof is omitted.

  When the rotary actuators 137 and 147 rotate in a state where the wearer P wears the left and right knee unit 130, the lower thigh support plate 132 is centered on the joint axis center lines 131d and 141d by the rotational force. 142 and the lower leg support plates 133 and 143 turn relatively in the front-rear direction. The lower thigh support plates 132 and 142 are fixed to the lower part of the human thigh by the lower thigh belts 135 and 145, and the lower thigh support plates 133 and 143 are the upper crus belts 136 and 146, and the lower The lower thigh belts 139 and 149 are fixed to the lower leg of the human body. Therefore, the assist force in the direction of bending / extending back and forth around the human knee joint is transmitted to the human skeleton side through these support plates 132, 133, 142, and 143. These support plates 132, 133, 142, and 143 have predetermined rigidity capable of transmitting a predetermined assist force from the rotary actuators 137 and 147 to the human body.

  Note that the rotary actuators 117, 127, 137, and 147 of the wear joint portions 111, 121, 131, and 141 are electrically connected to a control unit (not shown). The control unit drives and controls the corresponding rotary actuator according to the movement of each joint of the human body, and performs a control operation for transmitting a predetermined assist force to each joint. The control unit may be configured separately from the robotic wear 100, or may be attached to a constituent member of the robotic wear 100. For example, as shown in FIG. 12B, an attachment portion 115a such as a hook-and-loop fastener is provided on the back surface portion of the waist belt 115, and the control unit can be attached in a detachable state. It is also possible to give each rotary actuator a control function.

(Rotary actuator)
FIG. 15 is an explanatory diagram showing an example of a rotary actuator that can be used as the rotary actuators 117, 127, 137, and 147. The rotary actuator 150 includes a motor 151 and a wave gear reducer 152 that is coaxially fixed to the front end.

  The wave gear reducer 152 includes a resin-made cylindrical housing 153. An annular rigid internal gear 154 is disposed inside the cylindrical housing 153, and a top hat-shaped flexible external gear 155 is coaxially disposed inside thereof. A wave generator 156 having an elliptical contour is attached to the inside of the flexible external gear 155. A flexible external gear 155 is fixed to the cylindrical housing 153, and an end surface of the cylindrical housing 153 serves as a mounting surface for each wear joint 111 (121, 131, 141).

  An output disk 157 is coaxially fixed to the rigid internal gear 154. A cylindrical boss 157 a protrudes from the center of the end face of the output disk 157. Further, power transmission pins 158 are attached to the outer peripheral portion of the end face at predetermined angular intervals in the circumferential direction. On the other hand, pin holes (not shown) are formed at predetermined angular intervals in the circumferential direction in the movable side disk 111a and the spacer 111b of the wear hip joint 111. When the rotary actuator 117 is attached to the wear hip joint 111, the rigid internal gear 154 is connected to the movable disk 111 a via the power transmission pin 158, and the flexible external gear 155 is fixed via the cylindrical housing 153. It is connected to the side disk 111c.

  When the motor 151 is rotated, the wave generator 156 is rotated. The flexible external gear 155 bent elliptically by the wave generator 156 meshes with the rigid internal gear 154 at both ends in the major axis direction of the elliptical shape. When the wave generator 156 rotates, the meshing position of both gears moves in the circumferential direction, and relative rotation corresponding to the difference in the number of teeth of both gears is generated between the two gears. This rotation is transmitted to the wear hip joint 111 side.

  A rotary actuator having a structure different from that described above can be used. For example, it is possible to employ another reduction mechanism instead of the wave gear reducer.

  As described above, the robotic wear 100 according to the second embodiment has independent rotary actuators (motor units) at a total of four locations, that is, the left and right wear hip joint portions 111 and 121 and the wear knee joint portions 131 and 141. It has a structure having 117, 127, 137, and 147, and can assist exercise of flexion and extension of the human hip joint and human knee joint. The weight of the rotary actuator (motor unit) is held at the waist at the wear hip joints 111 and 121 and at the lower leg at the wear knee joints 131 and 141.

  Further, a waist belt 115 (see FIG. 12) having a belt structure used for a mountaineering zack or the like is employed at the waist corresponding to the upper hip joint of the human body, and the pelvis is held obliquely from above. As a result, the lowering of the waist unit 110 can be prevented.

  The waist belt 115 can be easily detached by a front buckle. The difference in the hip joint and pelvic position due to the wearer's body type and physique can be dealt with by providing an adjustment mechanism (see FIG. 12).

  The lower part of the hip joint and the upper part of the knee joint, that is, the upper thigh support plate and the lower thigh support plate increase the contact area and, for example, by using a lightweight foamed vinyl chloride material, It can be comfortably fitted to the human body. These support plates can be easily fixed to the thigh by tightening the belt, and can be easily removed by loosening.

  In addition, as a countermeasure against swinging of the wear knee joint parts 131 and 141 during walking, a structure is adopted in which the lower leg support plates 133 and 143 are extended to the upper part of the human ankle joint to hold the entire human lower leg part. Yes. Accordingly, the arc plate portion for holding the lower leg as in the first embodiment has been eliminated. As a result, the feeling of pressure at the time of flexion of the human knee joint disappeared, and the fixation of the wear knee joint portions 131 and 141 to the human body was dramatically improved. Each support plate 132, 133, 142, 143 is made of, for example, a lightweight and tough nylon composite material (ASPEX-PA), and the arcuate plate portion 132b of the lower thigh support plate 132 is made of, for example, foam. A vinyl chloride board can be used.

  Furthermore, each wear joint has a structure in which a rotary actuator (motor unit) can be easily attached and detached (see FIG. 13). No special tools are required for attachment / detachment. With this mechanism, it can be expected that the rotary actuator is removed except when necessary to reduce the weight on the human body.

(Verification of motion freedom)
Movements such as pelvic tilt and rotation are considered important for human walking. The non-exoskeleton robotic wear 100 according to the present embodiment is mainly intended to assist the operation of the hip and knee joints, and cannot actively assist such movement. A major feature of the non-exoskeleton robotic wear 100 is that it does not have an inter-joint link, and its purpose is not to inhibit such an important movement, that is, to reduce a sense of restraint.

  Therefore, as shown in FIG. 16, for the purpose of comparative verification, a comparative model 160 in which a hip joint and a knee joint of a human body are coupled with a rib (Limb) 161 that is a rigid link is prepared. Except for the rib 161, the robotic wear 100 according to the embodiment has the same structure. FIG. 17A and FIG. 17B show the results of a comparative experiment in which the degrees of freedom of movement of the joints are summarized using the comparative model 160 and the robotic wear 100. In the table of FIG. 17, RW is the robotic wear 100 according to the present embodiment, and LM is the comparative model shown in FIG.

(Knee joint swing evaluation experiment)
An experiment was conducted for the purpose of quantitatively evaluating whether or not the swing generated in the wear knee joint portions 131 and 141 is improved in the knee joint mounting unit 130 of the robotic wear 100. As a robotic wear according to the second embodiment of the experiment, as shown in FIG. 18, the lower leg support plate 133 (143) attached to the human lower leg is intended to alleviate the difference in wearability depending on the body shape. A type provided with a provided low-rigidity portion a curved in a circular arc shape (Non-Libb Normal) and a type with increased rigidity with a 3 mm-thick aluminum plate b shown in FIG. 19 (Non-Limb Rigid) Was prepared as an experimental model. Further, for comparison and verification, a model (Limb Model) having a rigid rib 161 that is an inter-joint link shown in FIG. 16 and an ankle foot orthosis (AFO: Ankle-Foot) shown in FIG.
A model (Non-Limb AFO) equipped with Orthosis) was also used.

  The experimental method is as follows. A motion sensor was fixed on the upper wear knee joint of the robotic wear worn on the human body. Walking started from standing still, and the angular velocity was measured when walking on a treadmill for about 30 seconds, which reached a steady walking speed of 4 km / h after about 5 seconds. As the treadmill, LS8.0T manufactured by HORIZON capable of speed adjustment every 0.1 km / h was used, and the floor inclination angle was set to 0 °. As the motion sensor, a wireless 9-axis wireless motion sensor “ZMP IMU-Z 2” having an outer dimension of 36 mm × 52 mm × 11 mm and a weight of 44.8 g (including battery weight) was used, and the sampling frequency was set to 100 Hz. A rotary actuator (motor unit) was also attached to the wear knee joint, but the power transmission pin was removed so that the driving force of the motor and resistance from the speed reducer were not applied.

  FIG. 21 shows the angular velocity analysis result at the wear knee joint. These are RMS values for data from 10 seconds to 20 seconds after the start of walking. The Vx series represents the angular velocity component around the front and rear horizontal axes, the Vy series around the vertical axis, and the Vz series around the left and right horizontal axes.

(Consideration of experimental results)
Since the experimental model no longer feels misaligned even after being worn for several hours, it seems that the stability and fit of the waist are improved. With regard to the degree of freedom of movement, it can be seen from the experimental results that the experimental model having no inter-joint link has less sense of restraint. It is presumed that the cause of restraint when the inter-joint link is attached is that the length is constant. Even if a variable length mechanism is provided on the link, the effect can be expected to be limited to the flexion and extension of the hip and knee joints which are variable directions.

  With regard to the motion sensor test, it can be seen from the results of the experiment that the swing of the knee joint is suppressed by increasing the rigidity of the lower leg support plate. Further, in the AFO model, the swing can be suppressed more than the exoskeleton type (model with ribs) even if there is no inter-joint rib, but a sense of restraint appears because the degree of freedom of the ankle joint is low. It is presumed that the reason why the AFO model has a favorable swing suppression result is that the holding force of the lower leg is increased. Therefore, there is a possibility that the swinging of the wear knee joint part of the robotic wear of the present invention can be further suppressed by improving the method of holding the lower leg part.

[Modification of waist unit]
In the robotic wear 100 having the above-described configuration, it is desirable that the position of each part can be easily adjusted so that the waist unit 110 can be mounted at an appropriate position in accordance with the wearer's P body shape and physique. That is, as shown in FIG. 22A, the distance A between the greater trochanter (hip joint) and the iliac crest (pelvis) in the lumbar skeleton varies depending on the wearer P. As shown in FIG. 22 (b), the robotic wear 100 has the upper hindgut from the upper anterior iliac spine (ASIS) at the iliac crest (pelvis) of the wearer P by the waist belt 115 of the waist unit 110. It is necessary to wear so that the state where the site leading to osteophyte (PSIS) is fixed is formed. Thereby, the assist force by the robotic wear 100 can be efficiently transmitted to the left and right hip joints of the wearer P.

  For this purpose, as shown in FIG. 22C, the left and right hip joint units 111A and 121A, the waist belt 115, and the thigh cuffs (arc plate portions) 113b and 123b (thigh upper belt 116). , 126) are preferably capable of adjusting their positions so that they can be worn at positions that match the physique of the wearer P. Specifically, it is desirable that the waist belt 115 is attached to the left and right hip joint units 111A and 121A via an adjustment mechanism B capable of adjusting the position vertically and horizontally, and the thigh cuffs 113b and 123b ( The upper thigh belts 116 and 126) are preferably attached via an adjustment mechanism C that can be adjusted in the vertical direction.

(Configuration of waist unit with adjusting mechanism)
FIG. 23 (a) is a component diagram when the components of the waist unit having such an adjustment mechanism are viewed from one side, and FIG. 23 (b) is a diagram when each component is viewed from different directions. FIG. 23 (c) is a partial perspective view showing a part of the hip unit of the waist unit. The waist unit 210 shown in these drawings can be used instead of the waist unit 110 in the second embodiment.

  The waist unit 210 includes left and right hip joint units 211A and 221A having the same configuration, and a waist belt 215 to which these are detachably attached. As with the second embodiment, rotary actuators 117 and 127 (see FIGS. 10 and 13) are detachably attached to the left and right hip joint units 211A and 221A, respectively.

  The left and right hip joint units 211A and 221A are provided with disc-shaped left and right wear hip joint portions 211 and 221 disposed outside the left and right hip joint portions of the lower limbs of the human body. The left and right wear hip joint portions 211 and 221 have a symmetrical structure. The left wear hip joint portion 211 includes a movable disk 211a having a central through hole located on the human body side, a disk-shaped spacer 211b having a central through hole, and a fixed disk 211c. The movable-side disk 211a and the fixed-side disk 211c are stacked coaxially with the spacer 211b interposed therebetween, and can be rotated relative to each other about the centerline of the joint axis. The other right wear hip joint 221 has a similar structure, and includes a movable side disk 221a, a spacer 221b, and a fixed side disk 221c. The movable side disk 221a and the fixed side disk 221c are relatively rotatable around the joint axis center line. It is.

  The left and right wear hip joints 211 and 221 have left and right waist support plates 212 and 222 disposed on the left and right side surfaces of the human waist, and left and right side surfaces disposed on the left and right side surfaces of the upper part of the human thigh, respectively. Upper thigh support plates 213 and 223 are attached. The left and right waist support plates 212 and 222 are integrally formed with the fixed side disks 211c and 221c, and extend upward from the left and right wear hip joint portions 211 and 221. Lumbar support plates 212 and 222 include connecting plate portions 212a and 222a having a predetermined width extending in a direction orthogonal to the joint axis center line, and T-bars (arc plate portions) 212b attached to the tip portions of the connecting plate portions 212a and 222a, 222b. The T bars 212b and 222b are concave on the human body side, and extend in a direction surrounding the waist part orthogonal to the connecting plate portions 212a and 222a.

The left and right thigh upper support plates 213 and 223 are integrally formed with the movable side disks 211a and 221a, and extend downward from the left and right wear hip joint portions 211 and 221. Upper thigh support plates 213 and 223, connecting plate portions 213a and 223a having a constant width extending in a direction orthogonal to the joint axis center line, and thigh cuffs (arc plates) attached to the lower ends of the connecting plate portions 213a and 223a Part) 213b and 223b. The thigh cuffs 213b and 223b are concave on the human body side and extend in a direction surrounding the upper thigh upper part perpendicular to the connecting plate portions 213a and 223a.

  The waist support plates 212 and 213 of the left wear hip joint portion 211 are relatively rotatable in the front-rear direction of the human body around the joint axis center line. Similarly, the support plates 222 and 223 of the right wear hip joint portion 221 can be relatively rotated in the front-rear direction of the human body around the joint axis center line. That is, the support plates 212 and 213 rotate relative to the pelvis, which is the upper skeleton portion of the left and right hip joints of the human body, in the direction in which the lower thigh skeleton portion bends and extends back and forth around the hip joint. Similarly, the support plates 222 and 223 are also relatively rotatable.

  T-bars 212b and 222b of the upper left and right waist support plates 212 and 222 have hook-and-loop fasteners 301 attached to portions on both sides of the connecting plate portions 212a and 222a on the concave surface (the surface on the human body side). ing. For example, the hook-and-loop fastener 301 is attached so that the hook surface is exposed. A hook-and-loop fastener 302 is also affixed to the surface of the convex side opposite to the T bars 212b and 222b. For example, the loop surface of the hook-and-loop fastener 302 is exposed. In the drawing, for easy understanding, the hook surface of the hook-and-loop fastener is indicated by a triangular mark, and the loop surface is indicated by a circular mark.

  On the other hand, the lower left and right thigh upper support plates 213 and 223 can be fixed to upper portions of the left and right thighs of the wearer P by left and right thigh upper belts 216 and 226, respectively. The thigh cuffs 213b and 223b of the upper thigh support plates 213 and 223 are formed with slits for passing the belt, and the upper thigh belts 216 and 226 are passed through these slits.

  The upper thigh belts 216 and 226 are provided with hook-and-loop fasteners, and can be attached to upper portions of the left and right thighs of the wearer P. When the upper thigh belts 216 and 226 are tightened, the left and right thigh upper support plates 213 and 223 are fixed to the upper portions of the left and right thighs. The left and right thigh cuffs 213b and 223b made of foamed vinyl chloride plates are located inside the upper thigh belts 216 and 226, and are in close contact with the surfaces of the left and right thighs by the belt tightening force. It becomes a state.

  Here, the left and right thigh cuffs 213b and 223b are attached to the lower ends of the connecting plate portions 213a and 223a in a state where the attachment position can be adjusted in the vertical direction. In this example, a plurality of bolt holes are formed in both members at regular intervals in the vertical direction. Position the thigh cuffs 213b and 223b with respect to the connecting plate portions 213a and 223a so that the appropriate mounting position is in the vertical direction, align both bolt holes, and fasten and fix the bolt holes through the bolts in this state. Is possible.

On the other hand, the waist belt 215 includes two belts, an inner belt 315 disposed on the human body side and an outer belt 316 disposed on the outer side. A hook-and-loop fastener 317 is attached to the inner surface of one end of the inner belt 315, for example, with the hook surface exposed. A hook-and-loop fastener 318 is attached to the outer side surface of the inner belt 315 at both end portions and the center portion in the length direction so that the loop surface is exposed. On the other hand, a hook-and-loop fastener 319 is attached to the inner side surface of the outer belt 316 at both end portions and the center portion in the length direction with the hook surfaces exposed. These surface fasteners 319 are disposed in a region corresponding to the surface fastener 318 disposed on the outer surface of the inner belt 315. Further, a fixing buckle 321 and a buckle receiver 322 are attached to both ends of the outer belt 316 in the length direction. Note that a hook-and-loop fastener 323 is also disposed at a central portion in the length direction on the outer surface of the outer belt 316, and a control unit (see FIGS. 1 and 2) can be attached thereto.

(Procedure for attaching the waist unit)
24-28 is explanatory drawing which shows the mounting | wearing procedure of the waist unit 210. FIG. First, as shown in FIGS. 24 (a) and 24 (b), the inner belt 315 of the waist belt 215 is wrapped around the waist portion (iliac crest) of the wearer P, and the hook-and-loop fastener 317 on the back surface of one end thereof is attached. The inner belt 315 is temporarily fixed by fixing to the surface fastener 318 on the surface of the other end.

  Next, as shown in FIGS. 25A and 25B, the left and right hip joint units 211A and 221A are positioned so that their joint axis centers D are directly above the hip joint (great trochanter) of the wearer P. Position to do. In this state, the T bars 212b and 222b of the hip joint units 211A and 221A are temporarily fixed to both sides of the inner belt 315. As shown in FIGS. 25 (c) and 25 (d), the hip joint units 211 </ b> A and 221 </ b> A need to be arranged so as to match the side surface of the trunk of the wearer P. The hook surfaces of the hook-and-loop fastener 301 are exposed on the back surfaces of the T bars 212b and 222b, and the loop surface of the hook-and-loop fastener 318 is exposed on the surface of the inner belt 315. The units 211A and 221A can be temporarily fixed to the inner belt 315 at appropriate positions in the vertical and horizontal directions. Thus, the waist unit 210 of this example is provided with a hook-and-loop type position adjustment mechanism that can adjust the position of the left and right hip joint units 211A and 221A in the vertical and horizontal directions according to the physique of the wearer P. .

  Next, as shown in FIG. 26, the upper thigh upper belts 216 and 226 attached to the lower ends of the left and right hip joint units 211A and 221A are wrapped around the left and right thighs of the wearer P. Cuffs 213b and 223b are fixed to the thigh. The upper thigh belts 216 and 226 can be fastened and fixed to the thighs by hook-and-loop fasteners (not shown) attached thereto.

  After the temporary attachment of the left and right hip joint units 211A and 221A is completed, the wearer P bends the thigh and checks the operating state. If an appropriate operating state cannot be obtained, the hip joint units 211A and 221A are repositioned and attached. Further, the thigh cuffs 213b and 223b are attached to the connecting plate portions 213a and 223a via a bolt / nut type vertical position adjustment mechanism C. Therefore, the vertical positions of the thigh cuffs 213b and 223b and the upper thigh upper belts 216 and 226 attached thereto can be adjusted to the most suitable position for the wearer P.

  After the hip joint units 211A and 221A are temporarily attached, the outer belt 316 is wound around the inner belt 315 so as to cover it as shown in FIG. The outer belt 316 can be attached to an appropriate position with respect to the inner belt 315 by the engagement of both the hook-and-loop fasteners 318 and 319. Further, the T bars 212b and 222b at the upper ends of the left and right hip joint units 211A and 221A temporarily fixed to both sides of the inner belt 315 are sandwiched between the inner belt 315 and the outer belt 316. Further, the left and right hip joint units 211A and 221A are securely fixed between the inner belt 315 and the outer belt 316 by the engagement of the surface fastener 302 on the front surface of the T bars 212b and 222b and the surface fastener 319 on the back surface of the outer belt 316. The

  Thereafter, as shown in FIG. 28, the buckles 321 and 322 of the outer belt 316 are firmly tightened. Here, it is important that the waist belt 215 including the inner belt 315 and the outer belt 316 is securely fixed to the pelvis of the wearer P. The waist unit 210 is attached to the wearer P by the above procedure.

[Other embodiments]
FIG. 29 is an explanatory diagram showing an example of whole body robotic wear to which the present invention is applied. The robotic wear 170 includes an upper limb mounting unit 180 and a lower limb mounting unit 190. The upper limb wearing unit 180 includes wear shoulder joint portions 181 and 182 for assisting in the front-rear direction and wear shoulder joint portions 183 and 184 for assisting in the left-right direction at the left and right shoulder joints. Further, left and right wear elbow joint portions 185 and 186 are provided. The lower limb mounting unit 190 has the same configuration as the robotic wear 100 of the second embodiment.

1 Robotic Wear 1A Testing Robotic Wear 2 Tights (Elastic Wear)
3 Inner fabric 4 Outer fabric 5 Left wear hip joint portion 5A Wear hip joint portion 6 Right wear hip joint portion 7 Left wear knee joint portion 7A Wear knee joint portion 8 Right wear knee joint portion 9 Control units 5a to 8a Mounting flanges 5b to 8b Actuator mounting Portions 11, 14, 17, 20 First assist force transmission members 12, 15, 18, 21 Second assist force transmission members 13, 16, 19, 22 Rotary actuator 31 Front pelvis fixation belt portion 32 Rear pelvic fixation belt Portions 41 to 44 Belt 45 Weight 47, 48 Bolt P Wear wearer (human body)
100 robotic wear 101 tights 110 hip joint mounting units 111, 121 wear hip joints 111a, 121a movable side disks 111b, 121b spacers 111c, 121c fixed side disks 111d, 121d joint axis centerlines 112, 122 waist support plates 112a, 122a connection Plate portions 112b, 122b Arc plate portions 113, 123 Upper thigh support plates 113a, 123a Connection plate portions 113b, 123b Arc plate portions 115 Lumbar belts 116, 126 Upper thigh belts 117, 127 Rotary actuators 117a, 127a Motor 117b 127b Speed reducer 118a Locking hook 118b Hook engagement groove 130, 130L, 130R Knee joint mounting unit 131, 141 Wear knee joint 131a Movable disk 131c Fixed disk 1 31d Joint axis center lines 132, 142 Lower thigh support plates 133, 143 Lower limb support plates 135, 145 Lower thigh belts 136, 146 Lower crus upper belts 137, 147 Rotary actuators 139, 149 Lower crus lower belts 150 Rotary Actuator 151 Motor 152 Wave Gear Reducer 153 Cylindrical Housing 154 Rigid Internal Gear 155 Flexible External Gear 156 Wave Generator 157 Output Disk 157a Boss 158 Power Transmission Pin 210 Lumbar Units 211A, 211B Hip Units 211, 221 Wear hips 211a, 221a Movable side disks 211b, 221b Spacers 211c, 221c Fixed side disks 212, 222 Lumbar support plates 213, 223 Thigh upper support plates 212a, 222a Connection plate portions 212b, 222b Arc plate portions (T-bars) )
213a, 223a Connecting plate part (thigh cuff)
213b, 223b Arc plate portions 301, 302 Surface fasteners 216, 226 Thigh upper belt 215 Lumbar belt 315 Inner belt 316 Outer belts 317, 318, 319 Surface fasteners 321, 322 Buckle A Distance B Adjustment mechanism C Adjustment mechanism D Joint shaft center

Claims (32)

Wear joints,
A first assist force transmission member and a second assist force transmission member attached to the wear joint portion in a state in which the wear joint portion is relatively rotatable about a joint axis center line;
A rotary actuator attached to the wear joint for rotating the first and second assist force transmission members;
The first assist so as to move in a predetermined bending / extending direction integrally with each of one first human body part and the other second human body part bending / extending about the human body joint part of the wearer An attachment member for attaching the force transmission member and the second assist force transmission member to the wearer;
Have
The first and second assist force transmitting members have rigidity capable of transmitting an assist force in the bending / extending direction to the first and second human body parts,
Each of the first assist force transmitting member and the second assist force transmitting member includes a connecting plate portion extending from the wear joint portion in a direction orthogonal to the joint axis center line, and a tip portion of the connecting plate portion. A plate portion extending in a direction perpendicular to the connecting plate portion,
The mounting member includes a first belt attached to the plate portion of the first assist force transmitting member, and a second belt attached to the plate portion of the second assist force transmitting member,
The first belt bends the plate portion of the first assist force transmission member in a state along the body surface of the first human body portion so as to be in close contact with the first human body portion and surrounds the first human body portion. Can be attached to the part,
The second belt is configured such that the plate portion of the second assist force transmission member is bent and brought into close contact with the body surface of the second human body portion and surrounds the second human body portion. Can be attached to the part,
As the wear joint part, at least one of the left and right wear hip joint parts is provided,
The first assist force transmission member is a waist support plate disposed on the waist side of the wearer,
The first belt is a waist belt that surrounds the pelvis portion of the wearer;
The second assist force transmission member is a thigh upper support plate disposed on the upper part of the thigh side of the wearer,
The second belt is a thigh upper belt surrounding an upper portion of a wearer's thigh, and is attached to the plate portion of the upper thigh support plate,
The waist belt includes an inner belt and an outer belt joined to each other by a hook-and-loop fastener,
The waist support plate is sandwiched between the inner belt and the outer belt, and is fixed to these by a hook-and-loop fastener,
The lumbar support plate is a non-exoskeleton robotic wear in which an attachment position with respect to the lumbar belt can be changed. Wear joints,
A first assist force transmission member and a second assist force transmission member attached to the wear joint portion in a state in which the wear joint portion is relatively rotatable about a joint axis center line;
A rotary actuator attached to the wear joint for rotating the first and second assist force transmission members;
The first assist so as to move in a predetermined bending / extending direction integrally with each of one first human body part and the other second human body part bending / extending about the human body joint part of the wearer An attachment member for attaching the force transmission member and the second assist force transmission member to the wearer;
Have
The first and second assist force transmitting members have rigidity capable of transmitting an assist force in the bending / extending direction to the first and second human body parts,
Each of the first assist force transmitting member and the second assist force transmitting member includes a connecting plate portion extending from the wear joint portion in a direction orthogonal to the joint axis center line, and a tip portion of the connecting plate portion. A plate portion extending in a direction perpendicular to the connecting plate portion,
The mounting member includes a first belt attached to the plate portion of the first assist force transmitting member, and a second belt attached to the plate portion of the second assist force transmitting member,
The first belt bends the plate portion of the first assist force transmission member in a state along the body surface of the first human body portion so as to be in close contact with the first human body portion and surrounds the first human body portion. Can be attached to the part,
The second belt is configured such that the plate portion of the second assist force transmission member is bent and brought into close contact with the body surface of the second human body portion and surrounds the second human body portion. Can be attached to the part,
The rotary actuator is non-exoskeleton robotic wear that is attached to the wear joint in a detachable state.   The non-exoskeleton robotic wear according to claim 1 or 2, wherein the plate portion can be attached to the connecting plate portion at an attachment position.   The attachment position of at least one of the first belt and the second belt can be changed with respect to the first assist force transmission member or the second assist force transmission member to which the belt is attached. The non-exoskeleton robotic wear according to claim 2.   3. The non-exoskeleton robot according to claim 1, wherein each of the first belt and the second belt is at least one of a belt whose length can be adjusted and a belt made of a stretchable material. Tick wear. As the wear joint part, at least one of the left and right wear hip joint parts is provided,
The first assist force transmission member is a waist support plate disposed on the waist side of the wearer,
The first belt is a waist belt that surrounds the pelvis portion of the wearer;
The second assist force transmission member is a thigh upper support plate disposed on the upper part of the thigh side of the wearer,
The non-outside according to claim 2, wherein the second belt is a thigh upper belt surrounding an upper portion of a thigh of a wearer, and is attached to the plate portion of the upper thigh support plate. Skeletal robotic wear.   The non-exoskeleton robotic wear according to claim 6, wherein the attachment position of the waist support plate to the waist belt as the first belt can be changed.   7. The non-exoskeleton robotic wear according to claim 1, wherein an attachment position of the upper thigh belt as the second belt with respect to the upper thigh support plate can be changed. In addition to the wear hip joint, the wear joint includes at least one of left and right wear knee joints,
The first assist force transmission member of the wear knee joint is a lower thigh support plate disposed in a lower portion of the side of the thigh,
The first belt of the wear knee joint is a lower thigh belt that surrounds the lower part of the thigh, and is attached to the plate part of the lower thigh support plate,
The second assist force transmission member of the wear knee joint is a crus support plate disposed on the crus,
The lower end of the lower leg support plate extends to a position closer to the ankle joint than the knee joint in the lower leg part of the wearer,
The crus upper belt surrounding the upper part of the lower leg of the wearer and the lower lower belt surrounding the lower part of the lower leg as the second belt of the wear knee joint. 2. The non-exoskeleton robotic wear according to 1.   The non-exoskeleton robotic wear according to claim 9, wherein the lower leg upper belt and the lower leg lower belt are attached in a slidable state with respect to the lower leg support plate.   The non-exoskeleton robotic wear according to claim 1, wherein the rotary actuator is attached to the wear joint in a detachable state.   3. The non-exoskeleton type according to claim 1, further comprising a control unit that drives and controls the rotary actuator in accordance with the movement of the human body joint to relatively rotate the first and second assist force transmission members. Robotic wear. Wear joints,
A first assist force transmission member and a second assist force transmission member attached to the wear joint portion in a state in which the wear joint portion is relatively rotatable about a joint axis center line;
A rotary actuator attached to the wear joint for rotating the first and second assist force transmission members;
The first assist so as to move in a predetermined bending / extending direction integrally with each of one first human body part and the other second human body part bending / extending about the human body joint part of the wearer An attachment member for attaching the force transmission member and the second assist force transmission member to the wearer;
Have
As the mounting member, while surrounding the human body portion of the wearer where the human body joint portion is located, the wearable member is provided with stretchable wear worn in close contact with the body surface of the human body portion,
The wear joint portion, the first and second assist force transmission members are attached to the stretchable wear,
The first and second assist force transmission members are arranged along the stretchable wear,
The first and second assist force transmission members have flexibility capable of bending into a shape along the body surface of the wearer by the stretching force of the stretchable wear,
The first and second assist force transmitting members made of a plate-like member do not have rigidity capable of transmitting the assist force in a state of spreading in a flat plate shape, but are shaped along the human body surface by the stretchable wear Non-exoskeleton robotic wear that becomes a portion exhibiting rigidity capable of transmitting the assist force when bent and bent. The stretchable wear has a two-layer structure of a stretchable inner fabric and a stretchable outer fabric,
The non-exoskeleton robotic wear according to claim 13, wherein the first and second assist force transmission members are disposed between the inner fabric and the outer fabric. The wear joint part includes an actuator mounting part exposed on the surface of the stretchable wear,
The non-exoskeleton robotic wear according to claim 13 or 14, wherein the rotary actuator is attached to the actuator attachment portion in a detachable state. The stretchable wear is a tights having a portion surrounding a hip joint portion and left and right knee joint portions of a human body,
As the wear joint, the left wear hip joint, the right wear hip joint, the left wear knee joint and the right wear knee joint,
The non-outside according to any one of claims 13 to 15, wherein the first assist force transmission member, the second assist force transmission member, and the rotary actuator are arranged in each of the wear joint portions. Skeletal robotic wear. The first assist force transmission member of the left wear hip joint part and the first assist force transmission member of the right wear hip joint part are waist support plates disposed on the left and right waist sides, respectively.
The second assist force transmission member of the left wear hip joint part and the second assist force transmission member of the right wear hip joint part are respectively disposed on upper portions of the left and right thigh side surfaces. And
The first assist force transmission member of the left wear knee joint portion and the first assist force transmission member of the right wear knee joint portion are respectively disposed at lower portions of the left and right thigh side portions. A support plate,
The second assist force transmission member of the left wear knee joint part and the second assist force transmission member of the right wear knee joint part are respectively arranged on the upper parts of the left and right crus side upper parts. The non-exoskeleton robotic wear according to claim 16, which is a support plate.   As the mounting member, a waist belt surrounding the wearer's pelvis part, left and right thigh upper belts surrounding the upper part of the left and right thighs, and left and right thigh lower belts surrounding the lower parts of the left and right thighs The non-exoskeleton robotic wear according to claim 17, further comprising left and right upper leg upper belts surrounding upper parts of the left and right lower leg parts. A control unit for driving and controlling the rotary actuator according to the movement of the human body joint part to relatively rotate the first and second assist force transmission members;
The non-exoskeleton robotic wear according to any one of claims 13 to 18, wherein the control unit is attached to the stretchable wear. A pair of joint mounting units mounted on each of the adjacent human joints in the wearer, and a control unit that drives and controls each of the joint mounting units;
Between the joint mounting units, an inter-joint link mechanism composed of a rigid frame is not bridged,
Each of the joint mounting units is
Wear joints,
A first assist force transmission member and a second assist force transmission member attached to the wear joint portion in a state in which the wear joint portion is relatively rotatable about a joint axis center line;
A rotary actuator attached to the wear joint for rotating the first and second assist force transmission members;
The wearer wears the first body part bent and extended around the human body joint part and the other second human body part integrally with each other so as to move in a predetermined bending and extension direction. A mounting member for mounting the first assist force transmitting member and the second assist force transmitting member on the wearer;
Have
The first and second assist force transmitting members have rigidity capable of transmitting an assist force in the bending / extending direction to the first and second human body parts,
The control unit drives and controls the rotary actuator in each of the joint mounting units according to the movement of the human body joint portion in each of the joint mounting units, thereby controlling the first and second assist force transmitting members. It is designed to rotate relative
Each of the first assist force transmitting member and the second assist force transmitting member includes a connecting plate portion extending from the wear joint portion in a direction orthogonal to the joint axis center line, and a tip portion of the connecting plate portion. A plate portion extending in a direction perpendicular to the connecting plate portion,
The plate portion is provided with flexibility capable of bending into a shape along the body surface of the wearer,
The mounting member includes a first belt attached to the first assist force transmission member and a second belt attached to the second assist force transmission member,
The first belt can be attached to the first human body part in a state of surrounding the first human body part,
The second belt can be attached to the second human body part in a state of surrounding the second human body part,
In the joint mounting unit,
An attachment unit for the left hip joint to be attached to the left human hip joint;
An attachment unit for the right hip joint to be attached to the right human hip joint,
With
In each of the left hip joint mounting unit and the right hip joint mounting unit,
The first assist force transmission member is a waist support plate disposed on the waist side of the wearer,
The second assist force transmission member is a thigh upper support plate disposed on the upper part of the thigh side of the wearer,
The second belt is a thigh upper belt surrounding an upper portion of a wearer's thigh, and is attached to the plate portion of the upper thigh support plate,
The first belt in each of the left hip joint mounting unit and the right hip joint mounting unit is a common waist belt surrounding the wearer's pelvis part,
The waist belt includes an inner belt and an outer belt joined to each other by a hook-and-loop fastener,
The waist support plate is sandwiched between the inner belt and the outer belt, and is fixed to these by a hook-and-loop fastener,
The lumbar support plate is a non-exoskeleton robotic wear in which an attachment position with respect to the lumbar belt can be changed. A pair of joint mounting units mounted on each of the adjacent human joints in the wearer, and a control unit that drives and controls each of the joint mounting units;
Between the joint mounting units, an inter-joint link mechanism composed of a rigid frame is not bridged,
Each of the joint mounting units is
Wear joints,
A first assist force transmission member and a second assist force transmission member attached to the wear joint portion in a state in which the wear joint portion is relatively rotatable about a joint axis center line;
A rotary actuator attached to the wear joint for rotating the first and second assist force transmission members;
The wearer wears the first body part bent and extended around the human body joint part and the other second human body part integrally with each other so as to move in a predetermined bending and extension direction. A mounting member for mounting the first assist force transmitting member and the second assist force transmitting member on the wearer;
Have
The first and second assist force transmitting members have rigidity capable of transmitting an assist force in the bending / extending direction to the first and second human body parts,
The control unit drives and controls the rotary actuator in each of the joint mounting units according to the movement of the human body joint portion in each of the joint mounting units, thereby controlling the first and second assist force transmitting members. It is designed to rotate relative
Each of the first assist force transmitting member and the second assist force transmitting member includes a connecting plate portion extending from the wear joint portion in a direction orthogonal to the joint axis center line, and a tip portion of the connecting plate portion. A plate portion extending in a direction perpendicular to the connecting plate portion,
The plate portion is provided with flexibility capable of bending into a shape along the body surface of the wearer,
The mounting member includes a first belt attached to the first assist force transmission member and a second belt attached to the second assist force transmission member,
The first belt can be attached to the first human body part in a state of surrounding the first human body part,
The second belt can be attached to the second human body part in a state of surrounding the second human body part,
In the joint mounting unit,
A hip joint mounting unit mounted on one of the left and right human hip joints;
A knee joint mounting unit to be mounted on the same human knee joint as the side on which the hip joint mounting unit is mounted;
With
In the hip joint mounting unit,
The first assist force transmission member is a waist support plate disposed on the waist side of the wearer,
The first belt is a waist belt that surrounds the pelvis portion of the wearer;
The second assist force transmission member is a thigh upper support plate disposed on the upper part of the thigh side of the wearer,
The second belt is a thigh upper belt surrounding an upper portion of a wearer's thigh, and is attached to the plate portion of the upper thigh support plate,
In the knee joint mounting unit,
The first assist force transmission member is a lower thigh support plate disposed in a lower portion of the thigh side surface,
The first belt is a lower thigh belt surrounding the lower part of the thigh, and is attached to the plate part of the lower thigh support plate,
The second assist force transmission member is a crus support plate disposed on the crus,
The lower end of the lower leg support plate extends to a position closer to the ankle joint than the knee joint in the lower leg part of the wearer,
As the second belt, it comprises a lower leg upper belt surrounding the upper part of the lower leg of the wearer, and a lower leg lower belt surrounding the lower part of the lower leg,
The waist belt includes an inner belt and an outer belt joined to each other by a hook-and-loop fastener,
The waist support plate is sandwiched between the inner belt and the outer belt, and is fixed to these by a hook-and-loop fastener,
The lumbar support plate is a non-exoskeleton robotic wear in which an attachment position with respect to the lumbar belt can be changed. A pair of joint mounting units mounted on each of the adjacent human joints in the wearer, and a control unit that drives and controls each of the joint mounting units;
Between the joint mounting units, an inter-joint link mechanism composed of a rigid frame is not bridged,
Each of the joint mounting units is
Wear joints,
A first assist force transmission member and a second assist force transmission member attached to the wear joint portion in a state in which the wear joint portion is relatively rotatable about a joint axis center line;
A rotary actuator attached to the wear joint for rotating the first and second assist force transmission members;
The wearer wears the first body part bent and extended around the human body joint part and the other second human body part integrally with each other so as to move in a predetermined bending and extension direction. A mounting member for mounting the first assist force transmitting member and the second assist force transmitting member on the wearer;
Have
The first and second assist force transmitting members have rigidity capable of transmitting an assist force in the bending / extending direction to the first and second human body parts,
The control unit drives and controls the rotary actuator in each of the joint mounting units according to the movement of the human body joint portion in each of the joint mounting units, thereby controlling the first and second assist force transmitting members. It is designed to rotate relative
The rotary actuator is non-exoskeleton robotic wear that is attached to the wear joint in a detachable state. At least one of the first assist force transmitting member and the second assist force transmitting member includes a connecting plate portion extending in a direction orthogonal to the joint axis center line from the wear joint portion, and a tip of the connecting plate portion A plate portion extending in a direction perpendicular to the connecting plate portion from the portion,
23. The non-exoskeleton robotic wear according to claim 22, wherein the plate portion has flexibility capable of bending into a shape along a body surface of a wearer.   24. The non-exoskeleton robotic wear according to claim 23, wherein the plate portion can be attached to the connecting plate portion at a position that can be changed. The mounting member includes a first belt attached to the first assist force transmission member and a second belt attached to the second assist force transmission member,
The first belt can be attached to the first human body part in a state of surrounding the first human body part,
The non-exoskeleton robotic wear according to claim 23, wherein the second belt can be attached to the second human body part in a state of surrounding the second human body part.   The attachment position of at least one of the first belt and the second belt can be changed with respect to the first assist force transmission member or the second assist force transmission member to which the belt is attached. The non-exoskeleton robotic wear according to claim 20, 21 or 25.   26. The non-exoskeleton according to claim 20, 21 or 25, wherein each of the first belt and the second belt is at least one of a belt whose length can be adjusted and a belt made of a stretchable material. Type robotic wear. In the joint mounting unit,
An attachment unit for the left hip joint to be attached to the left human hip joint;
An attachment unit for the right hip joint to be attached to the right human hip joint,
With
In each of the left hip joint mounting unit and the right hip joint mounting unit,
The first assist force transmission member is a waist support plate disposed on the waist side of the wearer,
The second assist force transmitting member is a thigh upper support plate disposed on an upper portion of a wearer's thigh side surface, and is an upper connecting plate portion that is the connecting plate portion and an upper portion that is the plate portion. It has a plate part,
The second belt is a thigh upper belt surrounding an upper portion of a wearer's thigh, and is attached to the upper plate portion of the upper thigh support plate,
26. The non-exoskeleton robotic wear according to claim 25, wherein the first belt in each of the left hip joint mounting unit and the right hip joint mounting unit is a common waist belt surrounding a pelvis portion of a wearer. In the joint mounting unit,
A hip joint mounting unit mounted on one of the left and right human hip joints;
A knee joint mounting unit to be mounted on the same human knee joint as the side on which the hip joint mounting unit is mounted;
With
In the hip joint mounting unit,
The first assist force transmission member is a waist support plate disposed on the waist side of the wearer,
The first belt is a waist belt that surrounds the pelvis portion of the wearer;
The second assist force transmitting member is a thigh upper support plate disposed on an upper portion of a wearer's thigh side surface, and is an upper connecting plate portion that is the connecting plate portion and an upper portion that is the plate portion. It has a plate part,
The second belt is a thigh upper belt surrounding an upper portion of a wearer's thigh, and is attached to the upper plate portion of the upper thigh support plate,
In the knee joint mounting unit,
The first assist force transmission member is a lower thigh support plate disposed in a lower portion of the thigh side surface, and includes a lower connecting plate portion that is the connecting plate portion and a lower plate portion that is the plate portion. And
The first belt is a lower thigh belt that surrounds the lower portion of the thigh, and is attached to the lower plate portion of the lower thigh support plate,
The second assist force transmission member is a crus support plate disposed on the crus,
The lower end of the lower leg support plate extends to a position closer to the ankle joint than the knee joint in the lower leg part of the wearer,
26. The non-outside according to claim 25, wherein the second belt includes a crus upper belt surrounding the upper part of the lower leg of the wearer and a lower crus belt surrounding the lower part of the lower leg. Skeletal robotic wear. The waist support plate is capable of changing the mounting position with respect to the waist belt as the first belt,
30. The non-exoskeleton robotic wear according to claim 28 or 29, wherein an attachment position of the upper thigh belt as the second belt with respect to the upper thigh support plate can be changed.   30. The non-exoskeleton robotic wear according to claim 29, wherein the crus upper belt and the crus lower belt are attached in a slidable state with respect to the crus support plate.   The non-exoskeleton robotic wear according to claim 20 or 21, wherein the rotary actuator is attached to the wear joint portion in a detachable state.