JP6379481B2 - Auxiliary tools - Google Patents

Description

  The present invention relates to an auxiliary tool attached to a human body.

For example, for the purpose of preventing back pain or alleviating back pain, auxiliary tools such as a corset attached to the waist of the wearer are known (for example, see Patent Document 1).
[Patent Document] Japanese Patent Application Laid-Open No. 2009-160027

  In such a corset, since the tightening force to the waist is adjusted by the user's force, it is necessary for the user to pull with a strong pulling force in order to obtain a strong tightening force, which is not convenient.

  As a first aspect of the present invention, there is provided an auxiliary tool for assisting a user's muscular strength in a predetermined part, a main body attached around the predetermined part, the main body being attached to the main body, and the main body being the user's An auxiliary tool is provided that includes an actuator that generates a tightening force to the part and a controller that adjusts the tightening force to the part in a state of being attached to the part.

  The above summary of the present invention does not enumerate all necessary features of the present invention. A sub-combination of these feature groups can also be an invention.

It is a front view of the corset with which the user was equipped. It is a rear view of the corset with which the user was equipped. It is an expanded view of a corset. It is a perspective view of a control part. It is a front view of a resin board. It is a top view of a resin plate. It is sectional drawing of the corset before clamping. It is sectional drawing of the corset after clamping. It is a functional block diagram of a corset. An example of the profile which showed the relationship between an applied voltage and the deformation amount of the actuator 260 is shown. An example of the profile which showed the relationship between an applied voltage and a clamping force is shown. It is the graph which showed the relationship between clamping force and time. It is an expanded view of another corset. It is an expanded view of another corset. It is the elements on larger scale of another corset. It is a front view of the other corset with which the user was mounted | worn. It is an expanded view of another corset.

  Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. In addition, not all the combinations of features described in the embodiments are essential for the solving means of the invention.

  FIG. 1 is a front view of a corset 200 that is an example of an auxiliary tool attached to a user 100. FIG. 2 is a view of the corset 200 attached to the user as seen from the back. 1 and 2, the corset 200 includes a corset main body 202, a suspended portion 230, an attitude sensor 240, and a load sensor 242.

  The hanging portion 230 has a front belt 232 and a rear belt 234. The front belt 232 and the rear belt 234 are joined to each other at the chest of the user 100. A pair of left and right front belts 232 and rear belts 234 are provided. The hanging part 230 is connected to the corset body 202 and suspends the corset body 202 from the shoulder of the user 100.

  The front belt 232 and the rear belt 234 are stretchable or non-stretchable belts, and are formed by weaving natural fibers or synthetic fibers. The front belt 232 and the rear belt 234 may be formed of a synthetic resin sheet or leather.

  The corset body 202 is wound around the waist of the user 100 and attached. The user 100 wears an outer garment 150 and a trouser 152 on the corset 200. Note that the waist is an example of a predetermined part of the user 100.

  The posture sensor 240 is attached to the back of the user 100 and detects the posture of the user 100. An example of the attitude sensor 240 is a triaxial acceleration sensor. The attitude sensor 240 detects the direction of the sensor with respect to the direction of gravity. Since the posture sensor 240 is attached to the back of the user 100, the posture of the user 100 is indirectly detected by detecting the orientation of the posture sensor 240 with respect to the direction of gravity. The posture sensor 240 is an example of a posture detection unit.

  The load sensor 242 is attached to the buttocks of the user 100 and detects a load applied to the buttocks. An example of the load sensor 242 is a strain gauge. The load sensor 242 detects whether the user 100 is in a seated state by detecting a load applied to the buttocks of the user 100.

  FIG. 3 is a development view of the corset 200. In FIG. 3, the top, bottom, left, and right indicated by arrows are the top, bottom, left, and right directions of the corset 200. A hook-and-loop fastener 295 is provided at the ends of the two front belts 232 of the hanging portion 230. A hook-and-loop fastener 296 is provided at the ends of the two rear belts 234. The hook-and-loop fastener 295 of the front belt 232 and the hook-and-loop fastener 296 of the corresponding rear belt 234 are joined together to form two sets of ring-shaped suspension parts 230.

  The corset main body 202 includes a fabric portion 204, an actuator attachment end portion 210, a joint end portion 212, a control portion 220, an actuator 260, and a resin plate 270. The fabric portion 204 has a strip shape with both ends narrowed. A hook-and-loop fastener 291 is sewn to the left end portion 206 of the fabric portion 204, and a hook-and-loop fastener 292 is sewn to the back side of the right end portion 208. The fabric part 204 may be made of a stretchable cloth, may include a non-stretchable cloth in part, or may be a non-stretchable cloth. The stretchable fabric and the non-stretchable fabric are composed of a fabric woven from natural fibers or synthetic fibers.

  A hook-and-loop fastener 293 and a slit 244 are provided between the center portion of the fabric portion 204 and the left end portion 206. The slit 244 is provided for inserting the resin plate 270 into the fabric portion 204. Accordingly, at least the central portion of the fabric portion 204 is formed by overlapping two or more fabrics.

  An actuator attachment end 210 having the same shape as the right end 208 of the fabric portion 204 is provided at the right end of the fabric portion 204, and an actuator 260 is attached to one end thereof. The actuator mounting end 210 is made of a non-stretchable cloth. In addition, the actuator attachment end part 210 may include a stretchable cloth in part, or may be entirely composed of a stretchable cloth. When the actuator attachment end 210 has elasticity, the actuator attachment end 210 is stretched and fastened with a hook-and-loop fastener, so that the actuator 260 is driven from that state, and the waist of the user 100 is effectively removed. Can be tightened.

  The circular joining end portion 212 is provided so as to be connected to the other end portion of the actuator 260. A hook-and-loop fastener 294 is provided on the back side of the joining end portion 212. The joining end portion 212 is made of a non-stretchable cloth.

  The actuator 260 has a belt shape, and both ends thereof are connected to the actuator attachment end portion 210 and the joint end portion 212 and attached to the corset main body 202. The actuator 260 is driven by the supply of electric power and includes a polymer material that expands and contracts when a voltage is applied. The actuator 260 contracts in the longitudinal direction when a voltage is applied. When the corset body 202 is wound around the user, the actuator 260 contracts, whereby the tightening force on the waist is increased. That is, in the present embodiment, the tightening force on the waist is stronger in the state where the voltage is applied than in the state where no voltage is applied to the actuator 260.

  An example of the polymer material is a crosslinked polyrotaxane. The actuator 260 is manufactured by winding a sheet member in which both surfaces of a planar polyrotaxane crosslinked body are sandwiched between stretchable electrodes. Here, the longitudinal direction of the actuator 260 is parallel to the axial direction of the wound sheet member. Since the actuator 260 has flexibility, it can be wound around the waist of the user 100 together with the corset body 202 without discomfort.

  Another example of a polymeric material is a nonionic gel. In this case, the actuator 260 includes a pair of outer electrodes, a mesh-like mesh electrode disposed between the pair of outer electrodes, and a nonionic gel provided between the mesh electrode and each outer electrode. . An example of a nonionic gel is a gel of polyvinyl alcohol using dimethyl sulfoxide as a solvent. In this actuator 260, when a voltage higher than that of the outer electrode is applied to the mesh electrode, negative charges are injected from the outer electrode into the nonionic gel and are attracted to the mesh electrode. As a result, the distance between the pair of outer electrodes contracts. Conversely, when the application of voltage is stopped, the elastic state of the nonionic gel returns to the original state and expands. The amount of expansion and contraction can be increased by laminating a plurality of combinations of the outer electrode, mesh electrode, and nonionic gel.

  Another example of the polymer material is a polypyrrole film. The polypyrrole film immersed in the electrolytic solution expands or contracts when a voltage is applied. For example, when a positive voltage is applied, the polypyrrole film expands. When a negative voltage is applied, the polypyrrole film contracts. When the actuator 260 includes a polypyrrole film, an electrolytic solution is required, and thus the actuator 260 needs to be sealed.

  The resin plate 270 is built in the fabric portion 204 and is applied to the waist of the user 100 to support the waist of the user 100. The resin plate 270 is a resin plate member, and an example of the material is PP (polypropylene) or PE (polyethylene).

  FIG. 4 is a perspective view of the control unit 220. The control unit 220 includes a power switch 222, a start switch 224, a selection unit 226, a power supply unit 228, and a control code 252.

  The power switch 222 is provided on the outer peripheral surface of the control unit 220. An example of the power switch 222 is a seesaw type switch. With the power switch 222, the user 100 switches the main power supply of the corset 200 on and off. The power switch 222 is preferably provided at a position where it is not erroneously operated during the exercise of the user 100. For example, as shown in FIGS. 3 and 4, the power switch 222 is provided on the lower surface of the control unit 220.

  The start switch 224 is provided at the center on the right side of the upper surface of the control unit 220. An example of the activation switch 224 is a push button. Since the start switch 224 is provided so as to protrude from the upper surface of the control unit 220, the user 100 can operate the start switch 224 from above the clothes.

  The selection unit 226 has three buttons provided in the concave portion at the left end of the control unit 220. Since the selection unit 226 is provided in the concave portion of the control unit 220, the user 100 can prevent the selection unit 226 from being erroneously operated in an attempt to operate the activation switch 224. Note that the number of buttons of the selection unit 226 is not particularly limited, and more than three buttons may be provided if the space of the control unit 220 and the storage capacity of the control unit 220 allow. The three buttons included in the selection unit 226 are each set with a desired tightening force set in advance by the user 100, and the user 100 presses one of the three buttons in the selection unit 226 in advance. The desired tightening force can be selected from the three types of tightening force settings.

  In the example illustrated in FIG. 4, the selection unit 226 has an example having three buttons. However, the selection unit 226 may be a dial that the user 100 can pinch and rotate. Further, the selection unit 226 may be a slide that the user 100 can move by hand. When the selection unit 226 is a dial or a slide, the user 100 can set the desired tightening strength by operating the dial or the slide.

  The power supply unit 228 is provided in the control unit 220. The power supply unit 228 applies a voltage to the actuator 260 via the control code 252. The control code 252 electrically connects the power supply unit 228 and the actuator 260.

  FIG. 5 is a front view of the resin plate 270, and FIG. 6 is a top view of the resin plate 270. The resin plate 270 is a rectangular plate-like member having a thickness of 4 mm. On the side surface of the resin plate 270, protrusions 272 having a protrusion amount of 2 mm and recesses 274 having a recess amount of 2 mm are alternately provided. Since the resin plate 270 is inserted into the inner surface of the fabric portion 204, the convex portions 272 and the concave portions 274 provided on the resin plate 270 are transferred to the fabric portion 204 so that the fabric portion 204 approaches and moves toward the user 100. A plurality of irregularities are formed in the direction of separation. By forming a plurality of projections and depressions on the fabric portion 204 and releasing the tightening force of the corset 200 on the waist, it is possible to ventilate from the recess 274 and suppress the steaming of the contact portion of the corset 200.

  FIG. 7 is a cross-sectional view of the corset 200 before tightening. As shown in FIG. 3, the state where the surface fastener 291 and the surface fastener 292, and the surface fastener 293 and the surface fastener 294 are both separated is the initial state. The user 100 wraps the corset body 202 in the initial state around the waist and joins the hook-and-loop fastener 291 to the hook-and-loop fastener 292 as shown in FIG. Thereby, the corset 200 is mounted on the body of the user 100 without tightening the waist.

  Thereafter, the user 100 joins the hook-and-loop fastener 294 to the hook-and-loop fastener 293. Also in this case, the user 100 does not need to strongly attract and couple the hook-and-loop fastener 294 and the hook-and-loop fastener 293. Furthermore, the user 100 hangs the corset main body 202 from the shoulder portion of the user 100 by putting the left and right hanging portions 230 joining the rear belt 234 and the front belt 232 on the shoulder.

  FIG. 8 is a cross-sectional view of the corset 200 after tightening. In FIG. 8, the user 100 adjusts the tightening force on the waist using the actuator 260 in a state where the corset 200 is wound around the waist. The user 100 inputs a predetermined operation to the activation switch 224 to apply a voltage to the actuator 260. An example of the operation of the start switch 224 is to press three times with a force greater than a predetermined strength. The start switch 224 receives the input of the operation and causes the actuator 260 to apply a voltage. As described above, by registering an operation that cannot occur in a normal operation and not starting the actuator 260 without performing the operation, malfunction of the actuator 260 can be prevented. Another example of the operation of the start switch 224 may be an operation of pressing the start switch 224 a plurality of times, or an operation of long pressing the start switch.

  The controller 220 applies the voltage selected by the selector 226 to the actuator 260. When a voltage is applied to the actuator 260, the actuator 260 contracts in the direction of arrow A in FIG. When the actuator 260 provided on the outer side contracts in the direction of arrow A, the inner corset body 202 is deformed in the direction of arrow B to tighten the waist of the user 100. The overlapping portion of the actuator 260 and the corset body 202, which is at least a part of the winding direction of the corset 200, double-tightens the waist of the user 100 by the corset body 202 and the actuator 260.

  On the other hand, when releasing the tightening force on the waist, the user 100 inputs a predetermined operation to the activation switch 224 to stop the application of the voltage to the actuator 260. An example of the operation of the start switch 224 is to press twice with a force greater than a predetermined strength. The start switch 224 receives the input of the operation and stops the application of voltage to the actuator 260. By stopping the voltage application to the actuator 260, the tightening force on the waist is released.

  Depending on the type of actuator 260, the tightening force on the waist may not be released. Therefore, the control unit 220 may change the control method for releasing the tightening force on the waist. When a polypyrrole film is used as the actuator 260, the controller 220 may apply a reverse voltage for the purpose of eliminating the swollen state of the polypyrrole film. In addition, even when a nonionic gel is used as the actuator 260, the control unit 220 can quickly extend the actuator 260 by applying a reverse voltage, and can deform the dimensions before applying the voltage.

  FIG. 9 is a functional block diagram of the corset 200. As shown in FIG. 9, the corset 200 includes a tightening force detector 250 in addition to the actuator 260 and the like. The control unit 220 includes a storage unit 246 and a voltage adjustment unit 248 in addition to the power switch 222 and the like.

  In the storage unit 246, applied voltage values corresponding to the tightening forces set in advance on the three buttons provided in the selection unit 226 are recorded. The applied voltage value to the storage unit 246 may be determined by the user 100 himself / herself while adjusting the applied voltage. Refer to the applied voltage value correspondence table corresponding to the waist size described in the manual or the like. Then, the user 100 may register the applied voltage value. For example, an adjustment mode in which the applied voltage increases corresponding to the length of pressing of the start switch 224 is prepared in advance, and the user 100 himself adjusts the optimum tightening force while applying the applied voltage value corresponding to each button. Set.

  Similarly, when the selection unit 226 is a dial, an applied voltage value corresponding to the dial rotation amount is recorded in the storage unit 246. Further, when the selection unit 226 is a slide, an applied voltage value corresponding to the slide amount of the slide is recorded in the storage unit 246.

  The power switch 222 receives an operation from the user 100 and switches the main power supply of the power supply unit 228 from OFF to ON. The selection unit 226 accepts the selection of the user 100, reads an applied voltage value corresponding to the selected button from the storage unit 246, and outputs it to the voltage adjustment unit 248. Note that when the main power supply of the power supply unit 228 is switched from OFF to ON, the tightening force when the power supply unit 228 was ON immediately before may be restored. The power supply unit 228 may include a rechargeable battery. In this case, you may have a detection part which detects the charge amount of a rechargeable battery, and a warning part which issues a warning when a detection part detects that the charge amount became less than a predetermined threshold value. Thereby, for example, the user 100 wearing the corset 200 can be prevented from suddenly releasing the assistance during the work due to running out of the battery.

  The start switch 224 outputs a start signal for applying a voltage to the actuator 260 to the voltage adjustment unit 248 when the predetermined operation is received from the user 100. Furthermore, the start switch 224 outputs a stop signal for stopping the voltage application to the actuator 260 to the voltage adjustment unit 248 when the other operation predetermined from the user 100 is received.

  When the voltage adjustment unit 248 acquires the activation signal from the activation switch 224, the voltage adjustment unit 248 refers to the storage unit 246 and applies the applied voltage corresponding to the selection unit 226 selected by the user 100 to the power supply unit. The voltage is applied to the actuator 260 from 228 and the state is maintained. When a voltage is applied to the actuator 260, the actuator 260 contracts and the tightening force on the waist is increased. The tightening force on the waist is adjusted to a tightening force corresponding to the applied voltage value stored in the storage unit 246.

  When the voltage adjustment unit 248 acquires the stop signal from the start switch 224, the voltage adjustment unit 248 stops the application of the voltage from the power supply unit 228 to the actuator 260 and maintains the state. The voltage adjustment unit 248 releases the tightening force on the waist by stopping the application of the voltage to the actuator 260. As described above, the voltage adjustment unit 248 may cause the power supply unit 228 to apply a reverse voltage to the actuator 260 for the purpose of causing the corset 200 to release the tightening force.

  The tightening force detection unit 250 includes a deformation amount detection unit 254, a calculation unit 257, a reading unit 255, and a voltage detection unit 256. The deformation amount detection unit 254 is a sensor that detects the deformation amount of the actuator 260, and an example of the deformation amount detection unit 254 is a potentiometer or a capacitance sensor. When the actuator 260 is a dielectric elastomer using a polyrotaxane crosslinked body or the like, the deformation amount detection unit 254 measures the amount of deformation of the dielectric elastomer by measuring the capacitance between the electrodes of the dielectric elastomer. To do.

  The calculation unit 257 obtains the deformation amount of the actuator 260 and the voltage value applied to the actuator 260 and calculates the waist tightening force by the corset 200. The actuator 260 changes by a certain amount with respect to a certain applied voltage. However, after the slack of the corset 200 is eliminated, the actuator 260 does not deform with respect to the applied voltage, and the tightening force to the waist is increased accordingly. Therefore, the calculation unit 257 first detects that the corset 200 is no longer loose.

  The reading unit 255 reads from the storage unit 246 the relationship between the deformation amount with respect to the applied voltage of the actuator 260 and the tightening force applied to the waist with respect to the applied voltage when the deformation amount of the actuator 260 is forcibly set to zero. The deformation amount detection unit 254 outputs the detected deformation amount of the actuator 260 to the calculation unit. The voltage detection unit 256 outputs the detected applied voltage value applied to the actuator 260 to the calculation unit. The calculation unit 257 increases the voltage applied to the actuator 260 to the voltage adjustment unit 248 while monitoring the deformation amount of the actuator 260. When the corset 200 is slack, the deformation amount with respect to the applied voltage of the actuator 260 becomes substantially the same as the deformation amount with respect to the read applied voltage. On the other hand, when the slack of corset 200 disappears, the deformation amount with respect to the applied voltage of actuator 260 becomes smaller than the deformation amount with respect to the read applied voltage. The calculation unit 257 detects a point where the deformation amount is small, determines that the slack of the corset 200 has disappeared due to the contraction of the actuator 260, and outputs a signal indicating that to the voltage detection unit 256.

  The voltage detection unit 256 stores the applied voltage value when the corset 200 is no longer loose. The calculation unit 257 uses the voltage value as a reference voltage value, and calculates the tightening force to the waist of the corset 200 based on the voltage amount applied in addition to the reference voltage value and the relationship read from the storage unit 246. calculate.

  Even after the loosening of the corset 200 is eliminated, the actuator 260 is slightly deformed. The calculating unit 257 may correct the calculated value of the tightening force by removing the tightening force corresponding to the deformation amount of the actuator 260 from the calculated tightening force.

  As described above, the tightening force detection unit 250 can detect the tightening force of the corset 200, and thus the tightening force applied to the waist of the actuator 260 may be adjusted based on the tightening force calculated by the calculation unit 257. In this case, the storage unit 246 stores tightening forces corresponding to the three buttons of the selection unit 226 instead of the applied voltage value. Similarly, when the selection unit 226 is a dial, a tightening force corresponding to the rotation amount of the dial is recorded in the storage unit 246 instead of the applied voltage value. When the selection unit 226 is a slide, a tightening force corresponding to the slide amount of the slide is recorded in the storage unit 246 instead of the applied voltage.

  Next, adjustment of the tightening force on the waist of the actuator 260 by the tightening force detector 250 will be described. First, the selection unit 226 reads the tightening force corresponding to the button, dial, or slide setting selected by the user 100 from the storage unit 246 and outputs it to the voltage adjustment unit 248 and the calculation unit 257. The voltage adjustment unit 248 increases the voltage applied to the power supply unit 228. The calculation unit 257 calculates the tightening force by the method described above. When the calculation unit 257 determines that the tightening force of the user 100 has reached the tightening force acquired from the selection unit 226, the calculation unit 257 outputs the fact to the voltage adjustment unit 248 based on the input from the calculation unit 257. The adjustment unit 248 stops the increase in the applied voltage of the power supply unit 228. Then, the voltage adjustment unit 248 subsequently applies the voltage at the time of stop to the actuator 260. In this way, the tightening force detection unit 250 can maintain the tightening force at a predetermined value.

  When the selection unit 226 is a dial or a slide, it is automatically adjusted until the tightening force set for the dial or the slide is reached. The user 100 can finely adjust the tightening force by operating the dial or the slide. In this case, the selection unit 226 reads the tightening force corresponding to the dial rotation amount after change or the slide amount after change from the storage unit 246 and outputs it to the voltage adjustment unit 248 and the calculation unit 257. Then, as described above, the tightening force is finely adjusted by the voltage adjustment unit 248 and the tightening force detection unit 250.

  As an example of detecting the tightening force of the corset 200, the tightening force detection unit 250 detects that the corset 200 has been loosened, and determines the tightening force based on the relationship between the applied voltage of the actuator 260 and the tightening force. An example of detection is shown. However, the tightening force detection unit 250 may detect the tightening force of the corset 200 based on a profile indicating a relationship between a plurality of applied voltages and the tightening force. In this case, the storage unit 246 records a profile indicating the relationship between the plurality of applied voltages and the deformation amount of the actuator 260 and a profile indicating the relationship between the plurality of applied voltages and the tightening force.

  FIG. 10 shows an example of a profile showing the relationship between the applied voltage and the deformation amount of the actuator 260. FIG. 11 shows an example of a profile showing the relationship between the applied voltage and the clamping force. Profile A, profile B, profile C, profile D and profile E in FIG. 10 respectively correspond to profile A, profile B, profile C, profile D and profile E in FIG. .

  First, the reading unit 255 reads all profiles shown in FIG. 10 from the storage unit 246 and outputs them to the calculation unit 257. The deformation amount detection unit 254 detects the deformation amount of the actuator 260 and outputs it to the calculation unit 257. The voltage detection unit 256 detects the voltage applied to the actuator 260 and outputs it to the calculation unit 257. The calculation unit 257 specifies the profile of the applied voltage and the deformation amount corresponding to the user 100 from the acquired applied voltage value and the deformation amount. In the example illustrated in FIG. 10, for example, if the deformation amount profile of the actuator 260 corresponding to the user 100 is the profile A, the calculation unit 257 corresponds to the profile A in FIG. 11 corresponding to the profile A in FIG. 10. Is specified as a profile indicating the tightening force corresponding to the user 100. The reading unit 255 reads the profile A illustrated in FIG. 11 from the storage unit 246 and outputs the profile A to the calculation unit 257. From the applied voltage value output by the voltage detection unit 256, the calculation unit 257 refers to the profile A and calculates a tightening force corresponding to the applied voltage value. As described above, the tightening force detection unit 250 may detect the tightening force of the corset 200 based on the profile A illustrated in FIG. When the tightening force is specified by the user 100 through the selection unit 226, the voltage adjustment unit 248 is configured such that the calculation unit 257 of the tightening force detection unit 250 among the plurality of profiles indicating the relationship between the tightening force and the power. With reference to the specified profile, an applied voltage corresponding to the tightening force designated by the user 100 may be applied to the actuator.

  As another example of the tightening force detector 250, the tightening force detector 250 may have a load sensor on the user 100 side of the corset body 202. In this case, the tightening force detector 250 may directly detect the tightening force of the corset 200 based on the output value of the load sensor.

  FIG. 12 is a graph showing the relationship between the tightening force and time. In FIG. 12, the vertical axis indicates the strength of the tightening force, and the horizontal axis indicates time.

  As the actuator 260 contracts, the tightening force on the waist increases. When the tightening force on the waist increases, the tightening force of the user 100 also increases. On the other hand, the waist size of the user 100 periodically changes with time due to the user's 100 breathing. Therefore, when the actuator 260 starts to contract, the profile of the tightening force with respect to time shows a tendency to increase while drawing the unevenness of the periodic tightening force as shown in FIG.

  The clamping force detection unit 250 outputs a stop signal to the voltage adjustment unit 248 when detecting a clamping force exceeding a preset upper limit value K for a predetermined time. When the voltage adjusting unit 248 obtains the stop signal from the tightening force detecting unit 250, the voltage adjusting unit 248 stops the application of the voltage to the actuator 260 and releases the tightening force to the waist of the corset 200. By providing the tightening force detection unit 250 in this manner, the corset 200 can prevent the user 100 from being given an excessive tightening force.

  Further, the tightening force detector 250 may change the length of time during which the tightening force is detected based on the detected strength of the tightening force. That is, the fastening time may be changed according to the magnitude of the fastening force. Specifically, when the tightening force is weak, the tightening time may be lengthened, and when the tightening force is strong, the tightening time may be shortened. Further, when determining whether or not to output a stop signal based on the length of the tightening time, a warning may be issued to the user 100 before reaching the time for outputting the stop signal. Thereby, the corset 200 can prevent the user 100 from being given an excessive tightening force, and the user 100 can know in advance that the tightening force by the corset 200 is released by the limiter. It can be provided for a situation where the force is released.

  Although an example in which the tightening force detection unit 250 outputs a stop signal to the voltage adjustment unit 248 when a tightening force exceeding the upper limit K is detected for a predetermined period of time is shown, instead of this, the power supply unit 228 is shown. A circuit that limits the maximum value of the applied voltage may be provided in the power supply circuit of the power supply unit 228 so that a voltage higher than a predetermined voltage is not applied to the actuator. Thereby, the corset 200 can prevent giving the user 100 an excessive tightening force.

  Furthermore, instead of providing a circuit for limiting the maximum value of the applied voltage in the power supply circuit, the deformation amount of the actuator 260 may be used as a limiter for the tightening force. The actuator 260 is selected so that the tightening force generated when the actuator 260 is most deformed becomes the upper limit value. Thereby, for example, even if a large applied voltage is applied, the actuator 260 cannot be deformed beyond the upper limit value of the tightening force, so that the corset 200 can prevent the user 100 from being given an excessive tightening force.

  When the tightening force detection unit 250 includes a load sensor, an upper limit value may be provided for the tightening force detected by the load sensor instead of providing a circuit for limiting the maximum value of the applied voltage in the power supply circuit. When the value detected by the load sensor reaches a predetermined upper limit value of the tightening force, the tightening force detection unit 250 outputs a stop signal to the voltage adjustment unit 248 to stop the voltage application. Thereby, the corset 200 can prevent giving the user 100 an excessive tightening force.

  Further, as shown in FIG. 12, the tightening force of the corset 200 periodically changes with time due to the breathing of the user 100. Utilizing this, when the tightening force detection unit 250 includes a load sensor, the tightening force detection unit 250 may detect the number of breaths of the user 100 by the load sensor. As shown in FIG. 12, the tightening force detector 250 detects periodic unevenness when the tightening force is measured using a load sensor. When this periodic unevenness is detected once, it is determined that the user 100 has breathed once, and the cumulative number of breaths in a predetermined time is calculated. In the present embodiment, an example of the predetermined time is 6 seconds.

  The tightening force detection unit 250 calculates the cumulative number of breaths of the user 100 for 6 seconds and outputs the calculated number of breaths to the voltage adjustment unit 248. In the storage unit 246, the state of the body associated with the number of breaths in a predetermined time is recorded. The voltage adjustment unit 248 reads out the physical state of the user 100 corresponding to the acquired cumulative number of breaths from the storage unit 246. The voltage adjustment unit 248 may adjust the applied voltage applied to the actuator 260 according to the body condition of the read user 100. Thereby, the tightening force of the corset that matches the body condition of the user 100 can be given to the user 100.

  The tightening force detection unit 250 may increase the voltage to the actuator 260 during the time from when the tightening force starts to decrease until it begins to increase, and may be a constant value during other times. Thereby, since the corset 200 can be fastened when the length of the waist around the user 100 is short, it is possible to efficiently increase the tightening force to the waist while suppressing a sense of discomfort to the user 100.

  The voltage adjustment unit 248 may automatically control the tightening force on the waist based on the detection values of the posture sensor 240 and the load sensor 242. In this case, the posture sensor 240 and the load sensor 242 detect a state in which a burden is applied to the waist of the user 100, the tightening force is increased in the state, and the tightening force is released in the other state. To do. Instead of this, or in addition to this, the posture sensor 240 and the load sensor 242 detect a state in which the user's 100 waist is not burdened, and release the tightening force in this state, so that other states The tightening force may be increased at the time.

  The posture sensor 240 detects a predetermined posture as a state in which a burden is placed on the waist of the user 100. An example of the posture is a forward leaning posture of the upper body. The posture sensor 240 outputs an activation signal to the voltage adjustment unit 248 when detecting the forward leaning posture of the upper body. On the other hand, the posture sensor 240 may detect another predetermined posture as a state in which the user's 100 waist is not burdened. An example of the posture is an upright posture. The posture sensor 240 outputs a stop signal to the voltage adjustment unit 248 when detecting the upright posture.

  As described above, the tightening force of the corset 200 on the waist can be automatically adjusted according to the burden on the waist. In addition, when the automatic control of the actuator 260 by the attitude sensor 240 and the manual control by the operation of the start switch 224 of the user 100 conflict, the manual operation has priority.

  In the present embodiment, a triaxial acceleration sensor is used as the posture sensor 240, but a gyro sensor may be used instead of the triaxial acceleration sensor. An angular velocity may be detected using a gyro sensor, and a posture that places a burden on the waist of the user 100 may be detected from the changing speed of the posture of the user 100.

  The load sensor 242 may detect the seating state as a state in which the user's 100 waist is not burdened. Since the load sensor 242 is provided on the buttocks of the user 100, it detects that it is in a seated state when a load greater than a predetermined threshold is applied. When the load sensor 242 detects that the user 100 is in the seated state, the load sensor 242 outputs a stop signal to the voltage adjustment unit 248. The load sensor 242 is an example of a seating detection unit.

  The load sensor 242 may detect a rising state from the sitting state as a state in which the user's 100 waist is burdened. The load sensor 242 detects a rising state when the load is equal to or lower than the threshold value from the state where a load equal to or higher than the threshold value is applied. The load sensor 242 outputs an activation signal to the voltage adjustment unit 248 when the user 100 detects a rising state.

  When the start signal and stop signal of the posture sensor 240 compete with the start signal and stop signal of the load sensor 242, it may be set whether to give priority to the signal from one of the sensors, or prioritize the stop signal. May be.

  The fact that the corset 200 is always tightened gives excessive pressure to the user 100, and stuffiness occurs in the corset 200, making the user 100 uncomfortable. Moreover, if the corset 200 is always tightened, the muscle strength of the user's 100 waist may be weakened. Therefore, it is preferable for the user 100 to release the tightening force on the waist, except when the user 100 wants to support the waist.

  Therefore, the corset 200 of this embodiment provides this when the waist support is desired by adjusting the tightening force to the waist by the expansion and contraction of the actuator 260 based on the operation of the user 100, and when it is not desired. Can not provide. In particular, the activation switch 224 that adjusts the expansion and contraction of the actuator 260 is largely provided in the center of the upper surface of the control unit 220. Therefore, even when the user 100 wears the corset 200 under clothes. The activation switch 224 can be operated from above the clothes. Therefore, the user 100 can easily adjust the tightening force on the waist of the corset 200 without raising the clothes. When the posture sensor 240 and the load sensor 242 are used, the tightening force on the waist of the corset 200 can be automatically adjusted without bothering the user 100.

  In the above-described embodiment, an example in which the actuator 260 that contracts when a voltage is applied is used as the actuator 260 that is used in the corset 200. However, an actuator 260 that expands when a voltage is applied may be used. When an actuator that expands when a voltage is applied is used, the user 100 wears the corset 200 in a state where a voltage is applied to the actuator. And the user 100 stops the voltage application to an actuator, and strengthens the clamping force to the waist | hip | lumbar part of the corset 200. FIG. By using an actuator that contracts when voltage application is stopped, the waist can be tightened for a long time while saving power.

  In the above embodiment, the start switch 224 is provided in the corset 200 and an instruction to adjust the tightening force is input by the operation of the user 100. However, instead of the start switch 224, a sound collecting microphone may be provided. The user 100 may be able to adjust the tightening force on the waist of the corset 200 by inputting a predetermined phrase at a volume higher than a certain volume toward the sound collection microphone.

  Furthermore, when a sound collecting microphone is provided, a directional microphone may be provided so that sound other than that of the user 100 is not acquired. Thereby, it is possible to prevent malfunctions caused by sounds other than the user 100. In addition, when a sound collecting microphone is provided, the sound collecting microphone may be provided in a place close to the face of the user 100. This makes it easier to acquire the voice of the user 100 and makes it difficult to acquire voices other than the user 100, thereby preventing malfunctions caused by voices other than the user 100. Further, when the sound collecting microphone is provided, the voiceprint of the user 100 is recorded in the storage unit 246, and when the voiceprint voice that matches the recorded voiceprint is acquired, the corset 200 is tightened to the waist. The force may be adjusted. Thereby, it is possible to prevent malfunctions caused by sounds other than the user 100. Furthermore, the sound collection microphone and the activation switch 224 may be used in combination.

  Furthermore, the fastening force to the waist of the corset 200 may be adjusted wirelessly using a mobile terminal or a smartphone. In this case, the tightening force may be adjusted by a vertical flick operation or swipe operation of the touch panel.

  Furthermore, in the said embodiment, although the clamping force detection part 250 showed the example which detects the clamping force of the corset 200, the deformation amount detection part 254 which the clamping force detection part 250 has, the reading part 255, the voltage detection part 256, calculation The voltage adjustment unit 248 may have the function of the unit 257. For example, the deformation amount detection unit 254 detects the deformation amount of the actuator 260 and outputs a signal indicating the deformation amount to the voltage adjustment unit 248, and the voltage adjustment unit 248 acquires the actuator 260 acquired from the tightening force detection unit 250. The tightening force of the corset 200 may be detected based on the amount of deformation.

  FIG. 13 is a development view of another corset 300. In FIG. 13, the same reference numerals are assigned to sheets common to the other drawings, and the description is omitted. Since the suspended portion 230, the posture sensor 240, and the load sensor 242 are the same as those in FIG. 3, the description thereof is omitted in FIG.

  The corset main body 302 includes a fabric portion 304, two actuator attachment end portions 214 and 215, two joint end portions 217, a control portion 220, two actuators 262, and a resin plate 270. An actuator attachment end 214 is provided on the right side of the fabric portion 304, and an actuator attachment end 215 is also provided on the left side. An actuator 262 is attached to one end of each of the actuator attachment end portions 214 and 215. The actuator attachment end portions 214 and 215 may be made of a non-stretchable cloth like the actuator attachment end portion 210, may include a stretchable cloth in part, or all may be a stretchable cloth. May be configured.

  The circular joint end 217 is provided to be connected to the other end of the actuator 262. A hook-and-loop fastener 298 is provided on the back side of the joining end portion 217. The joining end portion 217 is made of a non-stretchable cloth.

  Rectangular hook-and-loop fasteners 296 are provided at both ends of the fabric portion 304, and the user 100 joins the hook-and-loop fasteners 298 at the joint end portions 217 provided on both sides to the hook-and-loop fasteners 296 on the same side. To do. Thereafter, the user 100 can adjust the tightening force of the corset 300 using the actuator 262. Thus, by providing the actuators 262 at both ends of the corset 300, the corset 300 can tighten the waist of the user 100 from both sides with a good balance.

  FIG. 14 is a development view of another corset 310. In FIG. 14, elements that are the same as those in the other drawings are given the same reference numerals, and redundant description is omitted. Moreover, since the hanging part 230, the attitude | position sensor 240, and the load sensor 242 are the same as that of the structure of FIG. 3, description to a figure is abbreviate | omitted. The corset 310 has three actuators 280 juxtaposed in a direction parallel to the winding direction on the fabric portion 314 of the corset main body 312 and two actuators 282 juxtaposed in a direction orthogonal to the winding direction. In the example shown in FIG. 14, the actuator 280 is an actuator that contracts when a voltage is applied, and the actuator 282 is an actuator that expands when a voltage is applied.

  Three resin plates 284 corresponding to the actuator 280 are provided corresponding to the actuator 280. In addition, three slits 288 for inserting the resin plate 284 into the fabric portion 204 are provided on the left side of the actuator 280, and two slits 290 penetrating the fabric portion 204 are provided between the three actuators 280. It has been. The control cord 252 electrically connects the power supply unit 228 and the three actuators 280 individually. The control code 252 electrically connects the power supply unit 228 and the actuator 282. Thereby, the three actuators 280 can be individually controlled, and the actuator 280 and the actuator 282 can be individually controlled.

  FIG. 15 is a partially enlarged view in which the central portion of the corset 310 of FIG. 14 is enlarged. The actuator 282 extends in a direction orthogonal to the winding direction when a voltage is applied from the power supply unit 228. The fabric portion 204 is stretched in a direction perpendicular to the winding direction by the stretching of the actuator 282. As the fabric portion 204 is stretched, the slits 290 are widened in the stretching direction, and the distance between the actuators 280 is widened.

  By extending the fabric portion 204, the width in the direction perpendicular to the winding direction of the corset 310 is increased. By increasing the width of the corset 310, the interval between the three resin plates 284 is increased in the width direction. By expanding the interval between the resin plates 284, the corset 310 can support a wide area of the waist of the user 100. Therefore, by widening the interval between the resin plates 284, the ability to support the waist of the corset 310 can be enhanced more than before it is widened.

  The user 100 can enhance the ability to support the waist of the corset 310 by applying a voltage to the actuator 282 in a posture and state where the load on the waist is heavy. On the other hand, the user 100 can return the ability to support the waist of the corset 310 by stopping the application of voltage to the actuator 282 when the posture returns to a state where the load on the waist is small and the state returns. .

  In the example illustrated in FIG. 14, the actuator 282 has been described using an actuator that expands when a voltage is applied. However, an actuator that contracts when a voltage is applied may be used. When an actuator that contracts by applying a voltage is used, the user 100 reduces the width of the corset 310 by applying a voltage to the actuator when the posture and state of the load on the lower back are small. it can.

  In the example illustrated in FIG. 14, by using the actuator 282 that expands and contracts in a direction orthogonal to the winding direction in the corset 310, the user 100 can support the waist of the corset 310 according to the posture and state of the user 100. Can be adjusted. Further, the user 100 can increase the tightening force of the actuator 280 in order from the lower side. By tightening the tightening force of the actuator 280 from below, the waist of the user 100 can be tightened from below and the waist of the user 100 can be supported.

  FIG. 16 is a front view of the corset 320 attached to the user 100. In FIG. 16, a corset 200 includes a corset body 322, a suspended portion 330, a posture sensor 240, and a load sensor 242. The posture sensor 240 and the load sensor 242 are shown in FIG. 1 and FIG. The description is omitted because it is the same as.

  The hanging part 330 has a front belt 332 and a rear belt 334. The front belt 332 and the rear belt 334 are joined to each other at the chest of the user 100. A pair of left and right front belts 332 and rear belts 334 are provided. The hanging part 230 is connected to the corset body 302 and suspends the corset body 302 from the shoulder of the user 100. The front belt 332 and the rear belt 334 are stretchable or non-stretchable belts, and are formed by weaving natural fibers or synthetic fibers.

  The corset body 322 is attached and attached to the waist of the user 100. The user 100 wears the underwear 155, attaches the corset 320 onto the underwear 155, and puts the outerwear 154 and the trousers 156 thereon. The undergarment 155 tightly contacts the upper body of the user 100 with a certain binding force. A hook-and-loop fastener 158 is provided at positions corresponding to both sides of the waist of the user 100 in the underwear 155, and the corset body 322 is attached to the back of the waist of the user 100 by the hook-and-loop fastener 158.

  FIG. 17 is a development view of another corset 320. In FIG. 17, elements that are the same as those in the other drawings are given the same reference numerals, and redundant description is omitted. Moreover, since the hanging part 330, the attitude | position sensor 240, and the load sensor 242 are the same as that of the structure of FIG. 3, description to FIG. 17 is abbreviate | omitted. The fabric portion 324 of the corset body 322 has a strip shape with both ends narrowed. A hook-and-loop fastener 299 is stitched to the back side of the left end 328 and the back side of the right end 326 of the fabric part 324, respectively.

  The user 100 attaches the corset 320 to the waist of the user 100 by joining the surface fastener 299 to the surface fastener 158 provided on the underwear 155. Since the hook-and-loop fastener 158 is larger than the hook-and-loop fastener 299, changing the mounting position of the hook-and-loop fastener 158 removes the slack of the fabric portion 324 when the corset 320 is attached, and the corset 320 is placed on the waist of the user 100. Can be attached. The user 100 can tighten the waist of the user 100 together with the underwear 155 by applying a voltage to the actuators 280 and 282. In addition, although the example which provided the hook_and_loop | surface fastener 299 in the both ends of the corset 320 was shown, it replaces with this and you may provide the adhesion part affixed on the background of the user 100 in the both ends of the corset 320.

  In the example illustrated in FIG. 17, since the corset 320 is not provided on the abdomen of the user 100, the user 100 can easily take a forward bending posture. Further, in the corsets 310 and 320, the user 100 can individually control the actuators 280. Therefore, the user 100 can switch the tightening region of the corsets 310 and 320 by switching the actuator used for tightening. . The user 100 can ventilate from the untightened region by automatically or manually switching between the tightened region and the non-tightened region, and can suppress the steaming of the contact portions of the corsets 310 and 320.

  The surrounding fabric portion 324 provided with at least the actuator 280 such as the corset 310 shown in FIGS. 14 to 17 has a double mesh structure, and the actuator 280 and the resin plate 284 are arranged between the meshes. Also good. By adopting a double mesh structure, it is possible to vent air from the portion tightened by the actuator 280, and to suppress the steaming in the contact portion such as the corset 310.

  In the above embodiment, an example in which the present invention is applied to a corset that assists the lumbar region as an example of an assisting device has been described. Instead, the present invention is applied to an assisting device that assists joints other than the lumbar region such as knees and elbows. The invention can be applied. As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. In addition, it will be apparent to those skilled in the art that various modifications or improvements can be added to the above embodiment. Furthermore, it is apparent from the description of the scope of claims that the embodiments added with changes or improvements can be included in the technical scope of the present invention.

  The order of execution of each process such as operations, procedures, steps, and stages in the apparatus, system, program, and method shown in the claims, the description, and the drawings is particularly “before” or “prior to”. It should be noted that the output can be realized in any order unless the output of the previous process is used in the subsequent process. Regarding the operation flow in the claims, the description, and the drawings, even if it is described using “first”, “next”, etc. for convenience, it means that it is essential to carry out in this order. It is not a thing.

100 users, 150, 154 outerwear, 152, 156 pants, 155 underwear, 200, 300, 310, 320 corset, 202, 302, 312, 322 corset body, 204, 304, 314, 324 fabric portion, 206, 328 Left end, 208, 326 Right end, 210, 214, 215 Actuator mounting end, 212, 217 Joint end, 220 Control unit, 222 Power switch, 224 Start switch, 226 Selection unit, 228 Power supply unit, 230, 330 Hanging Lower part, 232, 332 Front belt, 234, 334 Rear belt, 240 Attitude sensor, 242 Load sensor, 244, 288, 290 Slit, 246 Storage part, 248 Voltage adjustment part, 250 Tightening force detection part, 252 Control code, 254 Deformation Quantity detection unit, 255 Extruding section, 256 Voltage detecting section, 257 calculating section, 260, 262, 280, 282 Actuator, 270, 284 Resin plate, 272 Convex section, 274 Concavity, 158, 291, 292, 293, 294, 295, 296, 298 299 hook and loop fastener

Claims (33)

Auxiliary device for assisting the muscle strength of a predetermined part of the user,
A body attached around the predetermined site;
An actuator that is attached to the main body and generates a tightening force to the part in a state where the main body is attached to the part of the user;
A control unit for adjusting the tightening force to the part ;
A tightening force detector for detecting the tightening force to the part, and
The actuator is an auxiliary tool that generates a tightening force based on a detection result by the tightening force detection unit . A posture detecting unit for detecting the posture of the user;
The auxiliary tool according to claim 1, wherein the control unit adjusts the tightening force based on a posture detected by the posture detection unit.   The auxiliary tool according to claim 2, wherein the control unit is tightened when the posture detection unit detects at least a forward tilt posture. A seating detection unit for detecting the seating of the user;
The said control part is an auxiliary tool as described in any one of Claim 1 to 3 which reduces the said clamping force, when the said seating detection part detects the said user's seating. The tightening force detection unit includes a voltage detection unit that detects a voltage value applied to the actuator, and a calculation unit that calculates the tightening force based on a relationship between the voltage value and the tightening force. The auxiliary tool according to any one of claims 1 to 4, which is driven based on the tightening force calculated by the calculation unit. The tightening force detection unit includes a deformation amount detection unit that detects a deformation amount of the actuator,
The calculation unit is based on the voltage value detected by the voltage detection unit when the deformation amount is smaller than a predetermined value by the deformation amount detection unit. The auxiliary tool according to claim 5 , wherein the tightening force is calculated based on a relationship between the value and the tightening force. The clamping force detection unit includes a voltage detection unit that detects a voltage value applied to the actuator, a deformation amount detection unit that detects a deformation amount of the actuator, and the voltage value, the deformation amount, and the tightening force. The auxiliary tool according to any one of claims 1 to 4, further comprising a calculation unit that calculates the tightening force based on a relationship. The auxiliary tool according to any one of claims 1 to 7, wherein the tightening force detection unit includes a load sensor that detects the tightening force of the actuator. The auxiliary tool according to any one of claims 1 to 8, wherein the tightening force detection unit detects the tightening force based on a profile indicating a relationship between the tightening force and electric power of the actuator. The actuator is driven by power supply,
The control unit includes a storage unit that records a profile indicating a relationship between the tightening force and electric power of the actuator, and when the tightening force is designated by the user, the control unit refers to the profile, and The auxiliary tool according to any one of claims 1 to 9, wherein electric power corresponding to a tightening force designated by a user is supplied to the actuator. The tightening force detection unit includes a sensor that detects a deformation amount of the actuator,
The storage unit records a plurality of profiles indicating the relationship between the tightening force and power, and a plurality of profiles indicating the relationship between the deformation amount of the actuator and power corresponding to each of the plurality of profiles. And
The control unit specifies any one of the plurality of profiles indicating the relationship between the deformation amount and the power by acquiring the relationship between the power supplied to the actuator and the deformation amount based on the detection of the sensor. ,
When the tightening force is specified by the user, the control unit refers to the profile corresponding to the specified profile among the plurality of profiles indicating the relationship between the tightening force and the power. The auxiliary tool according to claim 10 , wherein electric power corresponding to a tightening force designated by a person is supplied to the actuator. When the output from the tightening force detection unit indicates a decrease in the tightening force, the control unit further increases the tightening force of the actuator, and the output from the tightening force detection unit reduces the decrease in the tightening force. The auxiliary tool according to any one of claims 1 to 11 , which maintains a tightening force of the actuator when not shown. The assist according to any one of claims 1 to 12 , wherein the control unit releases the tightening force of the actuator when an output from the tightening force detection unit exceeds a predetermined value relative to the tightening force. Tools. The auxiliary tool according to any one of claims 1 to 13, wherein the control unit performs control to increase the tightening force of the actuator and control to release the tightening force. The actuator is driven by power supply,
The auxiliary tool according to any one of claims 1 to 14 , wherein the tightening force of the actuator is stronger in a state where power is not supplied to the actuator than in a state where power is supplied to the actuator. . The actuator is driven by power supply,
The auxiliary tool according to any one of claims 1 to 14 , wherein the tightening force of the actuator is stronger in a state where electric power is supplied to the actuator than in a state where electric power is not supplied to the actuator. . The auxiliary tool according to any one of claims 1 to 16 , wherein a plurality of the actuators are juxtaposed in a direction orthogonal to a winding direction in which the main body is wound around the user . The auxiliary according to any one of claims 1 to 17 , further comprising another actuator attached to the main body and extending and contracting the main body in a direction orthogonal to a winding direction in which the main body is wound around the user. Tools. The control unit further includes a storage unit that stores a tightening force of the actuator,
The auxiliary tool according to any one of claims 1 to 18 , wherein the control unit adjusts a tightening force of the actuator with reference to the tightening force stored in the storage unit. The auxiliary tool according to any one of claims 1 to 19 , wherein the control unit adjusts a tightening force of the actuator when an input of a predetermined operation is received from the user. The auxiliary device according to any one of claims 1 to 20, wherein the control unit includes a selection unit configured to set the tightening force when operated by the user. The auxiliary tool according to claim 21, wherein the control unit further includes a storage unit that stores an applied voltage value corresponding to the tightening force set by the selection unit. The control unit includes a power supply unit that applies a voltage to the actuator,
The auxiliary tool according to any one of claims 1 to 22, wherein the power supply unit includes a rechargeable battery. The auxiliary tool according to any one of claims 1 to 23 , wherein at least a part of the winding direction in which the main body is wound around the user is double-tightened by the main body and the actuator. The auxiliary tool according to any one of claims 1 to 24 , wherein at least an inner surface of the main body has a plurality of projections and depressions in a direction toward and away from the user's body. The auxiliary tool according to any one of claims 1 to 25 , further comprising a suspended portion coupled to the main body and suspended from a shoulder portion of the user. The assisting device according to any one of claims 1 to 26 , wherein the part is a lumbar region of the user. A body attached around the user's waist,
An actuator that is attached to the main body, and generates a tightening force to the waist, with the body attached to the waist;
A control unit for adjusting the tightening force to the waist,
An acceleration sensor for detecting the posture of the user,
The said control part is an auxiliary tool which adjusts the clamping force to the said waist | hip | lumbar part based on the said attitude | position detected by the said acceleration sensor. A tightening force detector for detecting the tightening force to the waist is provided,
The auxiliary device according to claim 28, wherein the actuator generates a tightening force based on a detection result by the tightening force detection unit. The tightening force detection unit includes a voltage detection unit that detects a voltage value applied to the actuator, and a calculation unit that calculates the tightening force based on a relationship between the voltage value and the tightening force. The auxiliary tool according to claim 29, which is driven based on the tightening force calculated by the calculation unit. The tightening force detection unit includes a deformation amount detection unit that detects a deformation amount of the actuator,
The calculation unit is based on the voltage value detected by the voltage detection unit when the deformation amount is smaller than a predetermined value by the deformation amount detection unit. The auxiliary tool according to claim 30, wherein the tightening force is calculated based on a relationship between the value and the tightening force. The actuator is driven by power supply,
The control unit includes a storage unit that records a profile indicating a relationship between the tightening force and electric power of the actuator, and when the tightening force is designated by the user, the control unit refers to the profile, and The auxiliary tool according to any one of claims 29 to 31, wherein electric power corresponding to a tightening force designated by a user is supplied to the actuator. The auxiliary tool according to any one of claims 29 to 32, wherein the tightening force detection unit includes a load sensor that detects the tightening force of the actuator.

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