JP6383107B2 - Articulation assist system - Google Patents

Description

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

  Conventionally, various devices used for rehabilitation have been proposed. Among these devices, there are devices that assist therapeutic gymnastics / exercise to restore the basic functions of the patient on behalf of a physical therapist or the like.

  One of the devices that assists the movement of the patient is to assist the joint movement of the finger using the expansion and contraction of the bellows when the finger is paralyzed due to a central nervous disorder such as cerebral infarction. (See Patent Document 1: hereinafter referred to as “Conventional Example 1”). As in Conventional Example 1, a joint motion assist device using a bellows is lighter than a device using a motor and an actuator driven by a wire, and thus has high practicality. Further, since the joint motion assist device using the bellows can be driven at a low pressure, a low vibration and low noise pump such as a diaphragm pump or a vane pump can be used. From these points, it can be said that the joint motion assist device using the extendable bellows is highly practical.

  In the technique of the conventional example 1, an expandable / contractible bellows is arranged at a joint to be assisted. And the one side transmission member connected to the one side edge part of the said bellows is mounted | worn with the one side site | part connected to the joint used as assistance object. Moreover, the other side transmission member connected to the other side edge part of the said bellows is mounted | worn with the other side site | part connected to the joint used as assistance object. When the air is forcibly discharged from the bellows under such a mounting state, the bellows contracts to assist the joint movement that changes from the joint bending state to the joint extension state. Further, when the air is forcibly supplied to the bellows, the bellows expands to assist the joint motion that changes from the joint extension state to the joint bending state.

  As one of the methods for operating the joint motion assist device, a master / slave system in which the joint motion assist device is a slave device and the master device remotely operates the slave device can be considered. When adopting such a master-slave system, a configuration is considered in which the master device is mounted on a healthy hand, and the movement of the finger of the hand with the master device is traced by the joint motion assist device that is the slave device. It is done.

  Here, various techniques have been proposed as techniques for the master apparatus to remotely operate the slave apparatus. One of the proposed technologies is not for assisting joint motion, but there is one in which an operator operates a master device and electronically controls the movement of a slave device (see Patent Document 2 below). Called Example 2). In the technique of Conventional Example 2, the master control unit uses the detection result sent from the detection unit for calculating the position / orientation of the master operation input device, so that the tip portion of the master operation input device operated by the operator is used. Calculate the position and orientation of. Then, the master control unit outputs the calculated position / posture of the tip portion of the master operation input device to the manipulator control unit as a command value for the position / posture of the tip portion of the slave manipulator.

  When the manipulator control unit receives the position / posture command value sent from the master control unit, the manipulator control unit drives each joint of the slave manipulator necessary to match the position / posture of the tip portion of the slave manipulator with the command value. Calculate the amount. Then, the manipulator control unit drives each joint of the slave manipulator according to the calculated drive amount.

  When the technology related to the electronic control of the master / slave method of the conventional example 2 is applied to the art of the joint motion assist device of the conventional example 1, as an example of the application, the movement of the finger of the hand portion on which the master device is mounted is detected. The structure provided with the detection part to perform can be employ | adopted. In such a configuration, when the finger on the master device side changes from the joint bending state to the joint extension state based on the detection result by the detection unit, the slave device side forcibly discharges air from the bellows. Perform electronic control. Further, in this configuration, when the finger on the master device side changes from the joint extension state to the joint bending state based on the detection result by the detection unit, the slave device side forcibly supplies air to the bellows. A configuration for performing electronic control is conceivable.

International Publication No. 2011/043095 JP 2012-110888 A

  In the technique of Conventional Example 2 described above, the electronic control device controls the movement of the slave device based on the detection result of the posture / position of the master device. As a result, when the technical idea of Conventional Example 2 is applied and the articulation assist device of Conventional Example 1 is operated as a slave device, the electronic control device is an essential component.

  Here, in the articulation assist system, when the articulation assist device is operated by electronic control, the manufacturing cost of the articulation assist system is generally higher than that of a configuration in which electronic control is not performed. It is easy to become. In addition, since the master device and the slave device in the joint motion assist system are attached to a human body or the like, it is necessary to perform cleaning, washing, and sterilization (sterilization) to improve sanitary properties. However, electronic components are generally vulnerable to water. As a result, in the joint motion assist system having electronic components, for example, maintenance may be time-consuming as compared with the case where the slave device is controlled by mechanical control. Further, in the joint motion assist system having electronic components, failure is likely to occur as compared with the case where the slave device is controlled by mechanical control.

  For this reason, there is a demand for a technique that can operate a joint motion assist device, which is a slave device, by a master / slave method without performing electronic control. Meeting this requirement is one of the problems to be solved by the present invention.

  The present invention has been made in view of the above circumstances, and provides a new joint motion assist system that can remotely operate a joint motion assist device and appropriately assist joint motion without performing electronic control. The purpose is to do.

The present invention is an articulation assist system for assisting articulation of a first object, a slave device attached to the first object; a master device; a pipe attached to the slave device and the master device And a supply / discharge device that is connected to the master device and forcibly supplies the working fluid and forcibly discharges the working fluid, and the slave device performs joint motion on the first object. Provided for each joint to be assisted, and includes a telescopic bellows that generates a force for assisting the joint movement when arranged at a joint portion perpendicular to the rotation axis of the joint movement. , the master device through the pipe, the supply of the working fluid into the bellows, and a fluid supply and discharge for switching the discharge of the working fluid from within said bellows Includes a changing apparatus, the fluid supply and discharge switching device has an operating portion of the reciprocatable rod relative to the body portion of the fluid supply and discharge switching device, the main body, cylinder and; of the cylinder cylinder A piston that reciprocates in the chamber; and a spool that has one end connected to the piston and in which an annular groove that reciprocates linearly with the piston is formed. A first supply port for taking in fluid; a first discharge port for discharging the working fluid to the supply / discharge device; and at least one first supply for supplying the working fluid into the bellows via the pipe. Two supply ports; and at least one second discharge port for discharging the working fluid from the inside of the bellows through the pipe; and Is connected to the other end of the cylinder, passes through one end of the cylinder, reciprocates linearly together with the piston and the spool, and according to the position of the annular groove of the spool corresponding to the movement of the operation unit. When the first supply port and the second supply port communicate with each other, the working fluid is supplied into the bellows, and the first discharge port and the second discharge port are There when communicating, the discharge of the working fluid from the bellows is performed, switching between the discharge of the working fluid from the supply and the inner bellows of said working fluid into said bellows is made, the The piston is partitioned by the piston and biased toward the other cylinder chamber side opposite to the one cylinder chamber to which the spool is connected, and the piston has a peripheral surface and an inner peripheral surface of the cylinder chamber. In between In the articulation assist system, a gap is formed, and the first discharge port communicates with both the one cylinder chamber and the other cylinder chamber .

In this joint motion assist system, the slave device is attached to the first object. When the slave device is attached to the first object, the bellows prepared for each joint that should assist the joint motion is a joint portion perpendicular to the rotational axis of the rotational motion of the corresponding joint. Placed in. The master device includes a fluid supply / discharge switching device having a main body portion and a rod-shaped operation portion that can reciprocate with respect to the main body portion.
When the operation unit is moved, the spool connected to the operation unit moves in the cylinder. When the first supply port and the second supply port formed in the cylinder communicate with each other according to the position of the annular groove of the spool in the cylinder, the working fluid taken in from the supply / discharge device is supplied to the first supply port. It is supplied into the bellows through the use port, the second supply port and the piping. Thus, when the working fluid is supplied into the bellows, the bellows expands. As a result, the bellows generates a force that assists joint movement due to the expansion stroke of the bellows.
Further, when the first discharge port and the second discharge port formed in the cylinder communicate with each other according to the position of the annular groove of the spool in the cylinder, the working fluid in the bellows is connected to the pipe and the second discharge port. It is discharged to the supply / discharge device through the port and the first discharge port. Thus, when the working fluid is discharged from the bellows, the bellows contracts. As a result, the bellows generates a force for assisting the joint movement by the contraction process of the bellows.
Thus , according to the movement of the operation unit, the master device switches between supply of the working fluid into the bellows of the slave device and discharge of the working fluid from the bellows of the slave device through the pipe. Do. As a result, the bellows generates a force for assisting the joint movement by the expansion stroke and the contraction stroke of the bellows. For this reason, the joint motion assist device, which is a slave device, can be remotely operated by a master / slave system that performs mechanical control for mechanically moving the operation unit.
Here, the main body employs a configuration in which the piston is urged toward the other cylinder chamber side opposite to the one cylinder chamber to which the spool is connected. By adopting such a configuration, when the operator is not operating the operation portion, the piston is biased toward the cylinder chamber on the side where the spool partitioned by the piston is not connected. In such a state, the length of the protruding portion including the operating portion that penetrates one end of the cylinder and protrudes from the cylinder is the shortest. In this way, the position of the operation portion when the length of the protruding portion is the shortest is set as the steady position of the operation portion.
When the operator of the master device performs an operation of pulling the operation portion at the normal position (lengthening the protruding portion), the rod-shaped spool connected to the operation portion moves inside the cylinder, and the spool inside the cylinder moves. The position of the annular groove changes. When the operator of the master device releases the operation unit from the state in which the operation unit is pulled (the projection portion is lengthened), the operation unit returns to the steady position where the length of the projection portion from the cylinder is the shortest. When the operating portion returns to the steady position, the rod-shaped spool connected to the operating portion moves inside the cylinder, and the position of the annular groove of the spool inside the cylinder changes. For this reason, the position of the annular groove of the spool in the cylinder can be changed by a simple operation of pulling the operating portion and releasing the pulled operating portion.
When the piston is urged toward the other cylinder chamber, a gap is formed between the circumferential surface of the piston and the inner circumferential surface of the cylinder chamber, and the first discharge port communicates with the cylinder chamber. . By adopting such a configuration, the working fluid pressure becomes equal in one cylinder chamber and the other cylinder chamber. Further, the working fluid in one cylinder chamber and the working fluid in the other cylinder chamber are discharged from the first discharge port.
Here, a spool is connected to one surface of the piston that partitions one cylinder chamber. On the other hand, the spool is not connected to the other surface of the piston that defines the other cylinder chamber. For this reason, the area of the other surface is larger than the area of the one surface. As a result, the piston moves toward the other end of the cylinder due to the difference in pressure receiving area between the one surface and the other surface of the piston. For this reason, a piston can be urged | biased to the other cylinder chamber side.

  Therefore, according to the joint motion assist system of the present invention, the joint motion assist device, which is a slave device, can be remotely operated without performing electronic control, thereby appropriately assisting the joint motion.

  In addition, if a lightweight soft resin bellows is used as a component, the weight of the slave device can be reduced, reducing the physical burden on the person wearing the joint motion assist device, and performing joint motion. Can assist properly.

  In the articulation assist system of the present invention, the cylinder is formed with a relief valve communicating with the first supply port, and excess working fluid taken from the first supply port passes through the relief valve. Can be discharged to the outside. In this case, the working fluid pressure in the main body is properly maintained. For this reason, the force which assists joint motion can be generated efficiently.

  In the joint motion assist system of the present invention, the master device is attached to a second object having a structure that has any one of congruent symmetry, similarity symmetry, and left-right symmetry with the first object. You can do that. In this case, the movement of the second object equipped with the master device can be traced to the first object equipped with the slave device.

  In the joint motion assist system of the present invention, when the master device is attached to the second object, the first object includes at least one of fingers in one hand part of a human body, and the second object Can include at least one of the fingers in the other hand of the human body. In this case, only the finger of one hand part of the person wearing the joint motion assist device contracts and the finger of the other hand part does not contract. That is, the slave device is attached to the hand of the human body that should assist the joint movement. Then, the master device is attached to the hand portion on which the finger of the human body is not contracted. For this reason, the person who wears the joint motion assist device can assist the joint motion of the fingers without obtaining the support of the other person.

  In the joint motion assist system of the present invention, when the master device is mounted on the second object, the first object includes at least one of fingers in one hand part of the human body, and the second object The object may include at least one of fingers in a hand part of a human body different from the human body. In this case, the slave device is attached to the hand portion of the human body that should assist the joint motion, and the master device is attached to the hand portion of the human body that is different from the human body. For this reason, it is possible to assist the joint movement of the fingers with the support of others such as a physical therapist and family members.

  In the joint motion assist system of the present invention, when the master device is mounted on a hand, the master device further includes a flexible string-like member connected to an end of the operation unit, and the fluid supply / discharge The switching device is attached to the back of the hand, the end of the string-like member is attached to the fingertip of the finger, and the joint is extended when the finger joint on the master device side is bent. Compared with the state which is carrying out, the distance from the said main-body part of the said operation part which protrudes from the said main-body part can be made long. In this case, the distance from the main body portion of the operation portion that protrudes from the main body portion differs depending on whether the finger of the hand portion on which the master device is mounted is in a joint bending state or a joint extension state. .

  That is, the length of the protruding portion including the operation portion is increased by changing the finger of the hand portion on which the master device is mounted from the joint extended state to the joint bent state. As a result, the position of the annular groove of the spool in the cylinder changes, and the fluid supply / discharge switching device switches between supply of working fluid into the bellows and discharge of working fluid from the bellows. For this reason, the bellows can generate a force for assisting the joint movement of the finger equipped with the slave device from the joint extension state to the joint bending state.

  Moreover, the length of the protrusion part containing an operation part becomes short by changing the finger of the hand part which mounted | wore with the master apparatus from a joint bending state to a joint extension state. As a result, the position of the annular groove of the spool in the cylinder changes, and the fluid supply / discharge switching device switches between supply of working fluid into the bellows and discharge of working fluid from the bellows. For this reason, the bellows can generate a force for assisting the joint movement of the finger equipped with the slave device from the joint bending state to the joint extension state.

  As described above, according to the joint motion assist system of the present invention, the joint motion assist device, which is a slave device, can be remotely operated without electronic control, and the joint motion can be assisted appropriately. Play.

It is a figure for demonstrating the structure of the joint exercise assistance system which concerns on one Embodiment of this invention. FIG. 2 is an external view of the joint motion assist device of FIG. 1. It is a figure for demonstrating the structure of the thumb joint movement assistance part of FIG. It is a figure for demonstrating the structure of the finger joint exercise | movement assistance part for fingers of FIG. It is an external view of the master apparatus of FIG. It is a figure for demonstrating the structure of the separate master part of FIG. It is UV sectional drawing for demonstrating the structure of the fluid supply / discharge switching apparatus of FIG. It is UV sectional drawing for demonstrating the structure of the cylinder of FIG. It is a figure for demonstrating the structure of the piston of FIG. 7, a spool, and an operation part. It is a figure for demonstrating piping between the joint motion assistance apparatus of FIG. 1, and a master apparatus. It is a figure for demonstrating the structure of the supply / discharge device of FIG. It is FIG. (1) for demonstrating the example of the state of an individual master part. It is UV sectional drawing of the fluid supply / discharge switching apparatus in the state of FIG. It is a figure for demonstrating the state of a finger joint movement assistance part when an individual master part is in the state of FIG. It is FIG. (2) for demonstrating the example of the state of an individual master part. It is UV sectional drawing of the fluid supply / discharge switching apparatus in the state of FIG. It is a figure for demonstrating the state of a finger joint movement assistance part when an individual master part is in the state of FIG.

100 ... articulation assist system, 200 ... articulation assist device (slave device), 210 ... hand portion attachment portions, 230 ₁ ... thumb articulation assist unit (finger articulation assist unit), 230 _2, 230 _3, 230 ₄ , 230 ₅ ... finger joint motion assist unit, 321 _j (j = 1, ..., 5) ... transmission member, 322 _k (k = 2, ..., 5) ... transmission member, 323 _j , 324 _j (j = 1, ..., 5) ... transfer _{member, 331 k (k = 2,} ..., 5) ... _{pipe, 341 k (k = 2,} ..., 5) ... _{bellows, 342 j, 343 j (j} = 1, ..., 5) ... Bellows, 350 ₁ ... Thumb attachment part, 350 _k (k = 2, ..., 5) ... Finger attachment part, 500 ... Master device, 510 ... Hand part attachment part, 530 _j (j = 1, ..., 5) ... individual master unit, 531 _j ... fluid supply / discharge switching device, 532 _j ... string-like member, 611 _j ... cylinder, 612 _j ... piston, 613 _j ... spool, 800, 811 _j , 815 _j , 821 _j , 825 _j , 831 _j , 832 _j , 835 _j , 836 _j ... piping, 900 ... supply / discharge device, 911 ... pressure pump, 912 ... decompression pump, 921 ... pipe, AC ... operation unit, EV ... relief valve, the IH ... insertion hole, GR1, GR2 ... annular groove, SR ... cylinder chamber, ptfs _j ... first supply port , PTFE _j ... first discharge port, PTSS1 _j , PTSS2 _j ... second supply port, PTSE1 _j , PTSE2 _j ... second discharge port, PP, PPS _j , PPE _j ... piping, HB1, HB2 ... human body, HDR1 ... right hand (first object), HDR2 ... right hand (second object)

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. In the present embodiment, there is provided a joint motion assist system having a joint motion assist device worn on the right hand of a human body and a master device worn on the right hand of a human body different from the human body wearing the joint motion assist device. An example will be described. In the following description and drawings, the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.

[Constitution]
FIG. 1 shows a configuration of a joint motion assist system 100 according to an embodiment. As shown in FIG. 1, the joint motion assist system 100 includes a joint motion assist device 200, a master device 500, and a pipe 800. The joint motion assist system 100 includes a supply / discharge device 900 and a pipe PP. Here, the joint motion assist device 200 corresponds to a slave device.

<Configuration of Joint Movement Assist Device 200>
The configuration of the joint motion assist device 200 will be described.

FIG. 2 shows an external view of the joint motion assist device 200. FIG. 2 is an external view of the joint motion assist device 200 attached to the right hand HDR1 as the first object of the human body HB1 when viewed from the back of the hand (back of hand) when the finger joint is in the extended state. As shown in FIG. 2, the joint motion assist device 200 includes a hand mounting unit 210, a thumb joint motion assist unit 230 _1, and finger joint motion assist units 230 ₂ , 230 ₃ , 230 ₄ , and 230 ₅ . I have.

In the following description, the thumb joint motion assist unit 230 ₁ and the finger joint motion assist units 230 ₂ , 230 ₃ , 230 ₄ , and 230 ₅ are collectively referred to as “finger joint motion assist units 230 _j (j = 1, ..., 5) ". In the following description, when the finger joint motion assist units 230 ₂ , 230 ₃ , 230 ₄ , and 230 ₅ excluding the thumb joint motion assist unit 230 ₁ are collectively referred to as “finger joint motion assist units 230 _k ( k = 2,..., 5) ”.

<< Hand wearing part 210 >>
The hand mounting part 210 will be described. The hand mounting unit 210 is a cloth member, for example, and is mounted on the back and palm of the right hand HDR1. The hand portion mounting portion 210, one part of the thumb articulating assist unit 230 ₁ is attached.

In addition, one part of the finger joint motion assist units 230 ₂ , 230 ₃ , 230 ₄ , and 230 ₅ is attached to the hand mounting unit 210. When the hand mounting part 210 is attached to the hand part, the finger joint motion assisting part 230 _j (j = 1,..., 5) is arranged on the nail side of the back of the hand.

<< Configuration of thumb joint motion assist unit 230 ₁ >>
The construction of the thumb articulating assist unit 230 ₁ will be described.

Thumb articulating assist unit 230 _1, assists the articulation of the thumb. Thumb articulating assist unit 230 _1, a state where the hand unit mounting portion 210 is mounted in the hand unit, the thumb finger (end joint portions, Motobushi site) is attached to and on metacarpal site.

The thumb joint motion assisting portion 230 ₁ includes bellows 342 ₁ , 343 ₁ , transmission members 321 ₁ , 323 ₁ , 324 ₁ , as comprehensively shown in FIGS. 2 and 3A, 3B. It has. In addition, the thumb joint motion assisting unit 230 ₁ includes a thumb mounting unit 350 ₁ .

The coordinate system (X ₁ , Y ₁ , Z ₁ ) in FIGS. 3 (A) and 3 (B) is directed to the + Y ₁ direction from the flexion side to the extension side of each joint with the thumb extended. This is a coordinate system in which the direction is orthogonal to the + Z ₁ direction, the Y ₁ direction, and the Z ₁ direction, and the direction toward the little finger is the + X ₁ direction. Here, FIG. 3A is a view of the thumb joint motion assisting unit 230 ₁ attached to the thumb, as viewed from the + Z ₁ direction side. Further, FIG. 3 (B) is a diagram of the thumb articulation assist unit 230 _1, viewed from -X ₁ direction shown in Figure 3 (A).

Bellows 342 ₁ of the above is a member made of stretchable resin having regularly spaced annular grooves, along the circumference of the first joint of the joint axis of the thumb, direction substantially perpendicular to the joint axis Placed in. One side of the bellows 342 ₁ ( "-Y ₁ direction" in FIG. 3) ends, the other end of the transmission member 323 ₁ a connecting portion formed in ( "+ Y ₁ direction" in FIG. 3) While being connected, the other end portion of the bellows 342 ₁ is connected to a connection portion formed on one end portion side of the transmission member 321 ₁ . Thus arranged bellows 342 ₁ generates a force for assisting the articulation of the first articulation.

The bellows 343 ₁ , like the bellows 342 ₁ , is a stretchable resin member having annular grooves that are equally spaced, and extends around the joint axis of the second joint of the thumb. It arrange | positions with respect to the direction side substantially orthogonal to. One side end portion of the bellows 343 ₁ is connected to the connection portion formed on the end side of the transmission member 324 ₁ of the bellows 343 ₁ side, the other side end portion of the bellows 343 _1, the transmission member 323 ₁ It is connected to a connecting portion formed on one end side. The bellows 343 ₁ arranged in this way generates a force that assists the joint movement of the second joint.

Here, the bellows 342 _1, the flexible pipe 821 ₁ made of a resin having attached, the bellows 342 ₁ is communicated with the master device 500 via the pipe 821 _1. When the air pressure in the bellows 342 ₁ changes, the bellows 342 ₁ expands and contracts. As a result, the bellows 342 ₁ generates a force that assists the joint motion described above.

Furthermore, the bellows 343 _1, the flexible pipe 825 ₁ made of a resin having attached, the bellows 343 ₁ is communicated with the master device 500 via the pipe 825 _1. When the air pressure in the bellows 343 ₁ changes, the bellows 343 ₁ expands and contracts. As a result, the bellows 343 ₁ generates a force that assists the joint motion described above.

Transmission member 321 ₁ of the above is, for example, a steel member, and has a long plate portion. The long plate portion is formed with an annular connection portion that is substantially upright from one end portion and extends along the back of the hand. A transmission member 323 ₁ is connected to _one end of the long plate portion of the transmission member 321 ₁ via a bellows 342 ₁ . The connection of one end of the transmission member 321 ₁ is connected to the other end of the bellows 342 _1. Here, one end of the long plate portion of the transmission member 321 _1, in when articulation assist device 200 to the right is attached, by the joint axis of the first joint of the thumb to the rotation axis, round It is rotatably so adapted to be connected to the transmitting member 323 _1. The long plate portion of the transmission member 321 ₁ is attached to the terminal node portion of the thumb through the thumb mounting portion 350 ₁ .

Transmission member 323 ₁ of the above is, for example, a steel member, and has a long plate portion. The long plate portion is formed with an annular connection portion that is substantially upright from the end portion and extends along the back of the hand. A transmission member 324 ₁ is connected to _one end of the long plate portion of the transmission member 323 ₁ via a bellows 343 ₁ . And the connection part of one edge part of the transmission member 323 ₁ is connected to the other side edge part of the bellows 343 ₁ . Here, one end of the long plate portion of the transmission member 323 ₁ is in when the articulation assist device 200 is mounted on the right hand, and the articulation axis of the second joint of the thumb to the rotation axis, round It is rotatably so adapted to be connected to the transmitting member 324 _1.

In addition, a transmission member 321 ₁ is connected to the other end of the long plate portion of the transmission member 323 ₁ via a bellows 342 ₁ . The connection portion on the other end side of the transmission member 323 ₁ is connected to one end portion of the bellows 342 ₁ . The long plate portion of the transmission member 323 ₁ is attached to the proximal portion of the thumb through the thumb mounting portion 350 ₁ .

Transmission member 324 ₁ of the above is, for example, a steel member, and has a long plate portion. The long plate portion is formed with an annular connecting portion that is substantially upright from the other end and extends along the direction of the back of the hand. A transmission member 323 ₁ is connected to the other end of the long plate portion of the transmission member 324 ₁ via a bellows 343 ₁ . And the connection part of the other edge part of the transmission member 324 ₁ is connected to the one side edge part of the bellows 343 ₁ . The long plate portion of the transmission member 324 ₁ is mounted on the middle finger of the thumb through the thumb mounting portion 350 ₁ .

Thumb mounting portion 350 ₁ of the above, the thumb finger (end joint portions, Motobushi site) is attached to and on metacarpal site. Thumb mounting portion 350 ₁ is provided with a mounting member, a fingerstall, a band member.

The mounting member is, for example, an elastic long-shaped cloth member, and is disposed on the thumb of the thumb and on the dorsal side of the middle hand along the direction in which the thumb extends. Long plate portions of the transmission members 321 ₁ , 323 ₁ , 324 ₁ are fixed on the + Z ₁ direction side of the mounting member. Further, on the opposite side of the portion transmitting member 324 ₁ in the mounting member is fixed (-Z ₁ direction), and the hand attachment portion 210 is attached.

The finger sack is a member made of leather, for example, and is fixed to the fingertip side of the mounting member. The fingerstall is, when mounting the thumb articulation assist unit 230 ₁ to thumb, is fixed to the fingertip of the thumb. The above band member is, for example, a cloth member of the long form, fixing the elongated plate portion of the transmitted Motobushi site member 323 _1.

<< Configuration of Finger Joint Movement Assist Section 230 _k (k = 2, ..., 5) >>
The configuration of the finger joint motion assist unit 230 _k (k = 2,..., 5) will be described.

Finger articulation assist unit 230 _2, assists the articulation of the index finger. Moreover, finger articulation assist unit 230 _3, assists the middle of the articulation. Moreover, finger articulation assist unit 230 _4, assists the ring finger of the articulation. Moreover, finger articulation assist unit 230 _5, assists the articulation of the little finger. Each of the finger joint motion assisting units 230 _k (k = 2,..., 5) is in a state in which the hand mounting unit 210 is mounted on the hand, and the fingers (terminal segment, middle segment, (Node part) and the middle hand part.

FIG. 4 (A), (B), as a representative of the finger articulation assisting section 230 _k, and block diagram of a finger articulation assist unit 230 ₂ is shown. The coordinate system (X ₂ , Y ₂ , Z ₂ ) in FIGS. 4 (A) and 4 (B) is the direction from the flexion side to the extension side of each joint with the fingertip direction in the + Y ₂ direction with the index finger extending. Is a coordinate system in which the direction perpendicular to the + Z ₂ direction, the Y ₂ direction, and the Z ₂ direction and toward the little finger is the + X ₂ direction.

Here, FIG. 4 (A), the finger articulation assist unit 230 ₂ attached to the index finger, which is a diagram viewed from the + Z ₂ direction. Further, FIG. 4 (B), the finger articulation assist unit 230 ₂ shown in FIG. 4 (A), a diagram viewed from -X ₂ direction. In the present embodiment, the finger joint motion assist units 230 ₃ , 230 ₄ , and 230 ₅ are configured in the same manner as the finger joint motion assist unit 230 ₂ .

Each of the finger joint motion assisting units 230 _k (k = 2,..., 5) has bellows 341 _k , 342 _k , 343 _k as comprehensively shown in FIGS. 2 and 4A, 4B. And a pipe 331 _k and transmission members 321 _k , 322 _k , 323 _k , and 324 _k . In addition, each of the finger joint motion assisting units 230 _k includes a finger mounting unit 350 _k .

The bellows 341 _k is a stretchable resin member having annular grooves that are equally spaced, and is disposed on the side of the direction substantially perpendicular to the joint axis along the joint axis of the first joint. The One end of the bellows 341 _k (“−Y _k direction side” in FIG. 4) is connected to the connection portion formed on the other end side (“+ Y _k direction side” in FIG. 4) of the transmission member 322 _k . While being connected, the other end of the bellows 341 _k is connected to a connecting portion formed on one end of the transmission member 321 _k . The bellows 341 _k thus arranged generates a force that assists the joint movement of the first joint.

Similar to the bellows 341 _k , the bellows 342 _k is a stretchable resin member having annular grooves that are equally spaced, and is substantially the same as the joint axis along the joint axis of the second joint. It arrange | positions at the orthogonal | vertical direction side. One side end portion of the bellows 342 _k is connected to the connection portion formed on the other end side of the transmission member 323 _k, the other end of the bellows 342 _k, one end of the transmission member 322 _k It is connected to a connection part formed on the part side. The bellows 342 _k thus arranged generates a force that assists the joint movement of the second joint.

The bellows 343 _k is a stretchable resin member having annular grooves that are equally spaced in the same manner as the bellows 341 _k and 342 _k, and extends along the joint axis of the third joint. It arrange | positions with respect to the direction side substantially orthogonal to. One side end portion of the bellows 343 _k is connected to the connection portion formed on the end side of the bellows 343 _k side of the transmission member 324 _k, the other end of the bellows 343 _k is the transmission member 323 _k It is connected to a connecting portion formed on one end side. The bellows 343 _k thus arranged generates a force that assists the joint movement of the third joint.

Here, the internal space of the bellows 341 _{k and} the internal space of the bellows 342 _k communicate with each other via a flexible resin pipe 331 _k . Further, the bellows 342 _k, attached piping 821 _k made of resin having flexibility, the bellows 342 _k is communicated with the master device 500 through a pipe 821 _k. When the air pressure in the bellows 341 _k and 342 _k changes, the bellows 341 _k and 342 _k expand and contract. As a result, the bellows 341 _k and 342 _k generate a force for assisting the joint movement described above.

Further, the bellows 343 _k, attached piping 825 _k made of resin having flexibility, the bellows 343 _k communicates with the master device 500 through a pipe 825 _k. When the air pressure in the bellows 343 _k changes, the bellows 343 _k expands and contracts. As a result, the bellows 343 _k generates a force that assists the joint motion described above.

The transmission member 321 _k is, for example, a steel member and has a long plate portion. The long plate portion is formed with an annular connection portion that is substantially upright from one end portion and extends along the back of the hand. A transmission member 322 _k is connected to one end of the long plate portion of the transmission member 321 _k via a bellows 341 _k . The connection of one end side of the transmission member 321 _k is connected to the other end of the bellows 341 _k. Here, one end of the long plate portion of the transmission member 321 _k is rotatable with the joint axis of the first joint as the rotation axis when the joint motion assist device 200 is attached to the right hand. It is connected to the transmission member 322 _k . The long plate portion of the transmission member 321 _k is attached to the terminal portion of the finger via the finger attachment portion 350 _k .

The transmission member 322 _k is, for example, a steel member and has a long plate portion. The long plate portion is formed with an annular connection portion that is substantially upright from both ends and extends along the direction of the back of the hand. A transmission member 323 _k is connected to one end of the long plate portion of the transmission member 322 _k via a bellows 342 _k . The connecting portion on one end side of the transmission member 322 _k is connected to the other end portion of the bellows 342 _k . Here, one end of the long plate portion of the transmission member 322 _k is rotatable with the joint axis of the second joint as a rotation axis when the joint motion assist device 200 is attached to the right hand. It is connected to the transmission member 323 _k .

The transmission member 321 _k is connected to the other end of the long plate portion of the transmission member 322 _k via a bellows 341 _k . The connecting portion on the other end side of the transmission member 322 _k is connected to one end portion of the bellows 341 _k . The long plate portion of the transmission member 322 _k is attached to the middle joint portion of the finger via the finger attachment portion 350 _k .

The transmission member 323 _k is, for example, a steel member and has a long plate portion. The long plate portion is formed with an annular connection portion that is substantially upright from both ends and extends along the direction of the back of the hand. A transmission member 324 _k is connected to one end of the long plate portion of the transmission member 323 _k via a bellows 343 _k . The connecting portion on one end side of the transmission member 323 _k is connected to the other end portion of the bellows 343 _k . Here, one end portion of the long plate portion of the transmission member 323 _k is rotatable with the joint axis of the third joint as a rotation axis when the joint motion assist device 200 is mounted on the right hand. It is connected to the transmission member 324 _k .

Further, the transmission member 322 _k is connected to the other end of the long plate portion of the transmission member 323 _k via a bellows 342 _k . The connection portion on the other end side of the transmission member 323 _k is connected to one end portion of the bellows 342 _k . The long plate portion of the transmission member 323 _k is attached to the proximal joint portion of the finger via the finger attachment portion 350 _k .

The transmission member 324 _k is, for example, a steel member and has a long plate portion. The long plate portion is formed with an annular connecting portion that is substantially upright from the other end and extends along the direction of the back of the hand. A transmission member 323 _k is connected to the other end of the long plate portion of the transmission member 324 _k via a bellows 343 _k . The connecting portion of other end of the transmission member 324 _k is connected to one side end portion of the bellows 343 _k. The long plate portion of the transmission member 324 _k is mounted on the middle finger portion of the finger via the finger mounting portion 350 _k .

The above-described finger mounting portions 350 _k (k = 2,..., 5) are mounted on the fingers (end node portion, middle node portion, base node portion) and middle hand portion. Each of the finger mounting portions 350 _k (k = 2,..., 5) includes a mounting member, a finger sack, and two band members.

The mounting member is, for example, an elastic long-shaped cloth member, and is disposed on the fingers of the fingers and the dorsal side of the middle hand along the direction in which the fingers extend. The long plate portions of the transmission members 321 _k , 322 _k , 323 _k , and 324 _k are fixed on the + Z _k direction side of the mounting member. In addition, a hand mounting portion 210 is attached to the side opposite to the portion of the mounting member where the transmission member 324 _k is fixed (−Z _k direction side).

The finger sack is a member made of leather, for example, and is fixed to the fingertip side of the mounting member. The finger sack is fixed to the fingertip of the finger when the finger joint motion assist unit 230 _k is attached to the finger. The two band members are, for example, long cloth members. One band member fixes the middle joint portion and the long plate portion of the transmission member 322 _k , and the other band member fixes the base joint portion and the long plate portion of the transmission member 323 _k .

<Configuration of Master Device 500>
The configuration of the master device 500 will be described.

FIG. 5 shows an external view of the master device 500. FIG. 5 is an external view of the master device 500 mounted on the right hand HDR2 as the second object of the human body HB2 different from the human body HB1 when viewed from the back of the hand when the finger joint is in the extended state. In the present embodiment, the right hand HDR2 is assumed to have congruent symmetry with the right hand HDR1. As shown in FIG. 5, the master device 500 includes a hand mounting unit 510 and individual master units 530 _j (j = 1,..., 5).

<< Hand wearing part 510 >>
The hand mounting part 510 will be described. The hand mounting unit 510 is a cloth member, for example, and is mounted on the back and palm of the right hand HDR2. An individual master unit 530 _j (j = 1,..., 5) is attached to the hand mounting unit 510. In a state where the hand portion mounting portion 510 is attached to the hand portion, the individual master portion 530 _j (j = 1,..., 5) is arranged on the back side of the hand.

<< Configuration of Individual Master Unit 530 _j (j = 1,..., 5) >>
The configuration of the individual master unit 530 _j (j = 1,..., 5) will be described.

The individual master unit 530 ₁ is mounted on the thumb and middle hand part of the thumb and controls the finger joint motion assisting unit 230 ₁ that assists the joint motion of the thumb of the right hand HDR1 of the human body HB1. The individual master unit 530 ₂ controls the finger joint motion assisting unit 230 ₂ that is mounted on the finger of the index finger and the middle hand part and assists the joint motion of the index finger of the right hand HDR1 of the human body HB1. The individual master unit 530 ₃ is mounted on the finger of the middle finger and the middle hand part, and controls the finger joint motion assist unit 230 ₃ that assists the joint motion of the middle finger of the right hand HDR1 of the human body HB1.

The individual master unit 530 ₄ controls the finger joint motion assisting unit 230 ₄ that is mounted on the ring finger and the middle hand part and assists the joint motion of the ring finger of the right hand HDR1 of the human body HB1. The individual master unit 530 ₅ is mounted on the finger of the little finger and the middle hand part, and controls the finger joint motion assisting unit 230 ₅ that assists the joint motion of the little finger of the right hand HDR1 of the human body HB1.

FIG. 6 (A), the the (B), as a representative of the individual master unit 530 _j, there is shown a block diagram of an individual master unit 530 _2. The coordinate system (U ₂ , V ₂ , W ₂ ) in FIGS. 6A and 6B is the direction from the flexion side to the extension side of each joint with the fingertip direction in the + V ₂ direction with the index finger extending. Is a coordinate system in which the direction perpendicular to the + W ₂ direction, the V ₂ direction, and the W ₂ direction and toward the little finger is the + U ₂ direction.

Here, FIG. 6A is a diagram of the individual master unit 530 ₂ attached to the index finger as viewed from the + W ₂ direction side. FIG. 6B is a diagram of the individual master unit 530 ₂ shown in FIG. 6A viewed from the −U ₂ direction side. In the present embodiment, the individual master units 530 ₁ , 530 ₃ , 530 ₄ , and 530 ₅ are configured in the same manner as the individual master unit 530 ₂ .

Each of the individual master units 530 _j (j = 1,..., 5) has a fluid supply / discharge switching device 531 having an operation unit AC, as comprehensively shown in FIGS. 5 and 6A, 6B. _j and a string-like member 532 _j are provided.

(String member 532 _j (j = 1,..., 5))
The string-like member 532 _j (j = 1,..., 5) will be described. The string-like member 532 _j is a non-stretchable member having flexibility. One end of the string-like member 532 _j is connected to the end of the operation unit AC of the fluid supply / discharge switching device 531 _j . Further, the other end of the string-like member 532 _j is attached to a finger sack, and the finger sack is fixed to the fingertip of the finger, so that it is attached to the fingertip. The length of the string-like member 532 _j will be described later.

(Configuration of fluid supply / discharge switching device 531 _j (j = 1,..., 5))
The configuration of the fluid supply / discharge switching device 531 _j (j = 1,..., 5) will be described.

Each of the fluid supply / discharge switching devices 531 _j (j = 1,..., 5) includes a cylinder 611 _j , a piston 612 _j , as shown in FIGS. It has. Each of the fluid supply / discharge switching devices 531 _j includes a spool 613 _j and an operation unit AC. Here, FIG. 7 shows a UV cross-sectional view of the fluid supply / discharge switching device 531 _{j in} the state shown in FIGS. 6 (A) and 6 (B). In the present embodiment, the cylinder 611 _j , the piston 612 _j and the spool 613 _j correspond to the main body.

The cylinder 611 _j is, for example, a cylindrical member. Both ends of the cylinder 611 _{j in} the central axis direction are closed, and the operation unit AC penetrates one end on the + V direction side. Further, a cylinder chamber SR is formed on the −V direction side inside the cylinder 611 _j as shown in FIG. 8. Then, in the portion on the + V direction side where the cylinder chamber SR inside the cylinder 611 _j is not formed (hereinafter also referred to as “cylinder chamber non-formed portion”), the insertion hole IH into which the spool 613 _j and the operation portion AC are inserted. Is formed.

Here, FIG. 8 is a UV sectional view of the cylinder 611 _j when the spool 613 _j , the operation unit AC, and the piston 612 _j are removed from the fluid supply / discharge switching device 531 _j . The end of the cylinder 611 _{j on} the −V direction side is a lid that can be attached to and detached from a portion other than the lid of the cylinder 611 _j . When the spool 613 _j , the operating portion AC, and the piston 612 _j are fitted into the cylinder 611 _j , the lid portion is removed and the spool 613 _j , the operating portion AC and the piston 612 _j are inserted, and then The lid portion is attached to a portion other than the lid portion of the cylinder 611 _j .

Further, a first supply port PTFS _j for taking in air from the supply / exhaust device 900 is formed in the cylinder chamber non-formation portion of the cylinder 611 _j . Here, the first supply port PTFS _j is connected to the pipe PPS _j . In the present embodiment, the first supply port PTFS _j branches off inside the cylinder 611 _j . When the position in the longitudinal direction V of the cylinder 611 _j is defined as shown in FIG. 7, the first supply port PTFS _j communicates with the insertion hole IH described above at the positions S1 and S2. Further, the first supply port PTFS _j communicates with a relief valve EV formed in the cylinder 611 _j . Excess air supplied from the first supply port PTFS _j is discharged to the outside of the fluid supply / discharge switching device 531 _j through the relief valve EV.

In addition, a first discharge port PTFE _j that discharges air to the supply / discharge device 900 is formed in a portion where the cylinder chamber 611 _j is not formed. Here, the first discharge port PTFE _j is connected to the pipe PPE _j . In the present embodiment, the first discharge port PTFE _j is branched inside the cylinder 611 _j . The first discharge port PTFE _j communicates with the insertion hole IH described above at the positions E1 and E2. Further, the first discharge port PTFE _j communicates with the cylinder chamber SR.

Further, a second supply port PTSS1 _j for supplying air into the bellows 343 _j is formed in the cylinder chamber non-formation portion of the cylinder 611 _j . The second supply port PTSS1 _j is connected to the pipe 835 _j . In the present embodiment, the second supply port PTSS1 _j communicates with the insertion hole IH described above at the position S1.

Further, a second supply port PTSS2 _j for supplying air into the bellows 342 _j is formed in the cylinder chamber non-formation portion of the cylinder 611 _j . The second supply port PTSS2 _j is connected to the pipe 831 _j . In the present embodiment, the second supply port PTSS2 _j communicates with the insertion hole IH described above at the position S2.

Further, a second discharge port PTSE1 _j that discharges air from the bellows 343 _j is formed in the cylinder chamber non-formation portion of the cylinder 611 _j . The second discharge port PTSE1 _j is connected to the pipe 836 _j . In the present embodiment, the second discharge port PTSE1 _j communicates with the insertion hole IH described above at the position E1.

Further, a second discharge port PTSE2 _j that discharges air from the inside of the bellows 342 _j is formed in the cylinder chamber non-formation portion of the cylinder 611 _j . The second discharge port PTSE2 _j is connected to the pipe 832 _j . In the present embodiment, the second discharge port PTSE2 _j communicates with the insertion hole IH described above at the position E2.

The piston 612 _j is a cylindrical member, for example, and the outer diameter of the piston 612 _j is slightly smaller than the diameter of the cylinder chamber SR. Thus, in this embodiment, a gap is formed between the peripheral surface of the piston 612 _j and the inner peripheral surface of the cylinder chamber SR. The piston 612 _j is fitted in the cylinder 611 _j so that reciprocation in the V direction is possible inside the cylinder chamber SR.

In the present embodiment, as described above, the outer diameter of the piston 612 _j is slightly smaller than the diameter of the cylinder chamber SR. As a result, the first discharge port PTFE _j communicates with both cylinder chambers partitioned by the piston 612 _j .

Here, on one surface of the + V side of the piston 612 _j partitioning the cylinder chamber, but the spool 613 _j is connected to the other surface of the -V direction of the piston 612 _j, the spool 613 _j Are not connected. For this reason, the area of the other surface is larger than the area of the one surface. As a result, due to the difference in pressure receiving area between the one surface of the piston 612 _j and the other surface, the piston 612 _j is in the cylinder chamber SR as shown in FIG. It is biased toward the −V direction.

As shown in FIGS. 7 and 9, the spool 613 _j is a rod-shaped member, for example, a columnar member extending in the V direction, and is integrally formed with the operation unit AC. Here, FIG. 9 is a view showing the spool 613 _j , the operation portion AC, and the piston 612 _j removed from the inside of the cylinder 611 _j . In the present embodiment, a portion of the length “VS” protruding from the cylinder 611 _{j in the} state shown in FIG. 7 (hereinafter also referred to as “projecting portion”) will be referred to as an operation portion AC.

One end of the spool 613 _{j on} the −V direction side is connected to one surface of the piston 612 _j . In addition, two annular grooves GR1 and GR2 are formed in the spool 613 _j at substantially the center of the rod. Here, the outer diameter of the spool 613 _j other than the annular grooves GR1 and GR2 and the outer diameter of the operation portion AC are substantially equal to the diameter of the insertion hole IH formed in the cylinder 611 _j . The spool 613 _j and the operation part AC are inserted into an insertion hole IH formed in the cylinder 611 _j .

The operation unit AC is integrally formed with the spool 613 _j as described above. The end of the operation unit AC is connected to one end of the string-like member 532 _j .

<Piping 800>
The configuration of the pipe 800 will be described.

The pipe 800 is attached to the joint motion assist device 200 and the master device 500. As shown in FIG. 10, the pipe 800 includes pipes 811 _j (j = 1,..., 5) and pipes 815 _j (j = 1,..., 5). The pipe 811 _j and the pipe 815 _j are connected to the finger joint motion assist unit 230 _j and the individual master unit 530 _j .

The pipe 811 _j (j = 1,..., 5) has a pipe 821 _j to which one end is attached to the bellows 342 _j and one end to the second supply port PTSS2 _j of the individual master unit 530 _j . The pipe 831 _j to be attached and the pipe 832 _j to which one end is attached to the second discharge port PTSE2 _j of the individual master part 530 _j . The other end of the pipe 821 _{j is connected to} the other end of the pipe 831 _{j and} the other end of the pipe 832 _j .

The pipe 815 _j (j = 1,..., 5) has a pipe 825 _j to which one end is attached to the bellows 343 _j, and one end to the second supply port PTSS1 _j of the individual master unit 530 _j . A pipe 835 _{j to} be attached and a pipe 836 _j to which one end is attached to the second discharge port PTSE1 _j of the individual master part 530 _j . The other end of the pipe 825 _{j is connected to} the other end of the pipe 835 _{j and} the other end of the pipe 836 _j .

<Configuration of supply / discharge device 900>
The configuration of the above-described supply / discharge device 900 will be described.

The supply / discharge device 900 communicates with the master device 500 via a pipe PP having a pipe PPS _j (j = 1,..., 5) and a pipe PPE _j . As shown in FIG. 11, the supply / discharge device 900 includes a pressurizing pump 911 and a decompression pump 912. The supply / discharge device 900 includes pipes 921 and 922.

The pressurizing pump 911 is connected via a pipe 921 to a pipe PPS _j that is attached to the first supply port PTFS _j of the fluid supply / discharge switching device 531 _j (j = 1,..., 5). The pressurizing pump 911 is used when forcibly supplying air to the master device 500.

The decompression pump 912 is connected to a pipe PPE _j attached to the first discharge port PTFE _j of the fluid supply / discharge switching device 531 _j (j = 1,..., 5) via the pipe 922. The decompression pump 912 is used when the air from the master device 500 is forcibly discharged.

[Operation]
Regarding the operation of the joint motion assist system 100 configured as described above, the assist operation of the finger joint motion by the master / slave method will be described.

In the following description of the operation, in describing the state of the master device 500, the individual master unit _{530 j (j = 1, ...} , 5) as a representative of, sometimes referring to the state diagram of an individual master unit 530 ₂ . In the following description, when describing the condition of the articulation assist device 200, finger articulation assisting section _{230 j (j = 1, ...} , 5) as a representative of the state diagram of finger articulation assist unit 230 ₂ May be referred to.

  In addition, as a premise, it is assumed that the supply / discharge device 900 supplies air to the master device 500 and discharges air from the master device 500.

<Assisting movement of joint motion assist device 200 to the joint flexion state>
First, it is assumed that the wearer of the master device 500 makes all the joints of the fingers wearing the master device 500 bent as shown in FIG. In such a bent state, the distance from the attachment position of the fluid supply / discharge switching device 531 _j to the fingertip along the dorsal side from the joint structure of the finger is the longest and is connected to one end of the string-like member 532 _j. The operating unit AC is pulled toward the + V direction. Here, FIG. 13 shows a UV sectional view of the fluid supply / discharge switching device 531 _j shown in FIG.

When such a state, the position of the annular groove GR1, GR2 spool 613 _j becomes the respective V = S1, S2. At this time, the first supply port PTFS _j and the second supply ports PTSS1 _j and PTSS2 _j communicate with each other.

In such a communication state, the air taken in from the supply / discharge device 900 is supplied into the bellows 343 _j via the first supply port PTFS _j , the second supply port PTSS1 _j and the pipes 835 _j and 825 _j. . Thus the supply of air to the bellows 343 within _j is performed, finger articulation assisting section _{230 j (j = 1, ...} , 5) bellows 343 _j expands the.

In such a communication state, the air sent from the supply / discharge device 900 is supplied into the bellows 342 _j through the first supply port PTFS _j , the second supply port PTSS2 _j and the pipes 831 _j and 821 _j. Is done. When air is supplied into the bellows 342 _j in this way, the bellows 342 ₁ expands in the finger joint motion assisting portion 230 ₁ attached to the thumb. In addition, in the finger joint motion assisting portions 230 _k (k = 2,..., 5) attached to the index finger, the middle finger, the ring finger, and the little finger (hereinafter also referred to as “four fingers”), the bellows 342 _k and 341 _k expand. .

As a result, the finger joint to which the finger joint motion assist unit 230 _j (j = 1,..., 5) is attached is in a bent state as shown in FIG.

<Assist operation to intermediate state>
Thereafter, it is assumed that the wearer of the master device 500 maintains the first joint of the thumb in a bent state and the second joint of the thumb in the extended state with respect to the thumb. Further, it is assumed that the wearer of the master device 500 maintains the first and second joints of the four fingers in the bent state and sets the third joint of the four fingers in the extended state (hereinafter, this state is referred to as “intermediate state”). "). FIG. 15 shows a state in which the finger of the hand portion on which the master device 500 is mounted is in an intermediate state.

When the joint of the finger is changed from the bent state to the intermediate state in this way, the fluid supply / discharge switching device 531 _j along the back of the hand from the joint structure is extended by the amount corresponding to the extension of the third joint (the second joint for the thumb). The distance from the mounting position to the fingertip is shorter than in the bent state. As a result, as shown in FIG. 15, the operating portion AC connected to one end of the string-like member 532 _j moves to the −V direction side, and the length of the protruding portion from the cylinder 611 _j is shortened. . Here, FIG. 16 shows a UV sectional view of the fluid supply / discharge switching device 531 _j shown in FIG.

When such a state, the position of the annular groove GR1, GR2 spool 613 _j becomes the respective V = S2, E1. At this time, the first supply port PTFS _j and the second supply port PTSS2 _j communicate with each other, and the first discharge port PTFE _j and the second discharge port PTSE1 _j communicate with each other.

In such a communication state, the air sent from the supply / discharge device 900 is continuously supplied into the bellows 342 _j through the first supply port PTFS _j , the second supply port PTSS2 _j and the pipes 831 _j and 821 _j. The As a result, the bellows 342 ₁ expands in the finger joint movement assist unit 230 ₁ attached to the thumb. Further, in the finger joint motion assisting unit 230 _k (k = 2,..., 5) attached to the four fingers, the bellows 342 _k and 341 _k are expanded.

In this communication state, the air in the bellows 343 _j is discharged by the supply / discharge device 900 through the pipes 825 _j and 836 _j , the second discharge port PTSE1 _j and the first discharge port PTFE _j . When air is discharged from the bellows 343 _j in this way, the bellows 343 _j contracts.

As a result, finger articulation assist unit 230 ₁ of the thumb wearing the joint, the first joint maintains a bent state, the intermediate state in which the second joint is extended. In addition, as shown in FIG. 17, the four-fingered joint equipped with the finger joint movement assist unit 230 _k (k = 2,..., 5) maintains the bent state in the first joint and the second joint. The intermediate state is extended with the three joints extended.

<Assist motion to joint extension state of joint motion assist device 200>
Subsequently, it is assumed that the wearer of the master device 500 changes all the joints of the fingers from the intermediate state to the extended state. FIGS. 6A and 6B described above show a state in which the finger of the hand portion to which the master device 500 is attached is in the joint extension state.

When the joint of the finger is changed from the intermediate state to the extended state in this way, the fluid supply / drain switching is performed along the back of the hand from the joint structure by the amount corresponding to the extension of the first joint and the second joint (the first joint for the thumb). The distance from the mounting position of the device 531 _j to the fingertip is further shortened. As a result, as shown in FIGS. 6A and 6B described above, the operation portion AC connected to one end of the string-like member 532 _j further moves to the −V direction side, and the cylinder 611 _j The length of the projecting part from is further shortened. Here, in FIG. 7 described above, a UV sectional view of the fluid supply / discharge switching device 531 _j shown in FIGS. 6 (A) and 6 (B) is shown.

When such a state, the position of the annular groove GR1, GR2 spool 613 _j becomes the respective V = E1, E2. At this time, the first discharge port PTFE _j and the second discharge ports PTSE1 _j and PTSE2 _j communicate with each other.

In such a communication state, the air in the bellows 343 _j is discharged by the supply / discharge device 900 through the pipes 825 _j and 836 _j , the second discharge port PTSE1 _j and the first discharge port PTFE _j . When air is discharged from the bellows 343 _j in this way, the bellows 343 _j contracts.

In this communication state, the air in the bellows 342 _j is discharged by the supply / discharge device 900 via the pipes 821 _j and 832 _j , the second discharge port PTSE2 _j and the first discharge port PTFE _j . When air is discharged from the bellows 342 _j in this way, the bellows 342 ₁ contracts in the finger joint motion assisting portion 230 ₁ attached to the thumb. Further, in the finger joint motion assist unit 230 _k (k = 2,..., 5) attached to the four fingers, the bellows 342 _k and 341 _k contract.

As a result, the finger joint equipped with the finger joint motion assist unit 230 _j (j = 1,..., 5) is shown in FIGS. 3 (A) and 3 (B) and FIGS. 4 (A) and 4 (B). As shown, it will be in an extended state.

In the present embodiment, in the joint extended state, the length of the protruding portion from the cylinder 611 _j is “VS” (see FIG. 7), and in the intermediate state, the length of the protruding portion from the cylinder 611 _j is “VM”. (see FIG. 16), and, at the articulation state, the length of the projecting portion of the cylinder 611 _j becomes "VL" (VS <VM <VL) (see FIG. 13) described above, the string member 532 _j The length is designed.

Thereafter, when the wearer of the master device 500 sequentially changes the joint of the finger to the intermediate state, the bent state, the intermediate state, and the extended state, as described above, the operation unit AC of the fluid supply / discharge switching device 531 _j is moved to the cylinder. Move to 611 _j . Then, in accordance with the movement of the operation unit AC, the finger joints to which the joint motion assist device 200 is attached are also sequentially assisted to the intermediate state, the bent state, the intermediate state, and the extended state.

As described above, in the present embodiment, the finger joint motion assist unit 230 _j (j = 1,..., 5) of the joint motion assist device 200 is attached to the finger of the right hand HDR1 of the human body HB1. Further, the individual master unit 530 _j (j = 1,..., 5) of the master device 500 is worn on the finger of the right hand HDR2 of the human body HB2. When the wearer of the master device 500 puts all the joints of the fingers wearing the master device 500 in a bent state, the fluid supply / discharge switching device 531 _j is mounted from the joint position of the fingers along the dorsal side. The distance to the fingertip is the longest. When the distance becomes the longest in this way, the operation unit AC connected to one end of the string-like member 532 _j is pulled in the + V direction side.

At this time, the first supply port PTFS _j of the master device 500 and the second supply ports PTSS1 _j and PTSS2 _j communicate with each other. In such a communication state, the air taken in from the supply / discharge device 900 is supplied into the bellows 343 _j via the first supply port PTFS _j , the second supply port PTSS1 _j and the pipes 835 _j and 825 _j. . Thus the supply of air to the bellows 343 within _j is performed, finger articulation assisting section _{230 j (j = 1, ...} , 5) bellows 343 _j expands the. In such a communication state, the air sent from the supply / discharge device 900 is supplied into the bellows 342 _j through the first supply port PTFS _j , the second supply port PTSS2 _j and the pipes 831 _j and 821 _j. Is done. When air is supplied into the bellows 342 _j in this way, the bellows 342 ₁ expands in the finger joint motion assisting portion 230 ₁ attached to the thumb. Further, in the finger joint motion assisting unit 230 _k (k = 2,..., 5) attached to the four fingers, the bellows 342 _k and 341 _k are expanded. As a result, the finger joint to which the finger joint motion assist unit 230 _j (j = 1,..., 5) is attached is in a bent state.

  For this reason, the fingers wearing the joint motion assisting device 200 can be brought into a joint bending state by the master / slave method without performing electronic control.

Thereafter, it is assumed that the wearer of the master device 500 maintains the first joint in the bent state and the second joint in the extended state for the thumb. Further, it is assumed that the wearer of the master device 500 maintains the first joint and the second joint in the bent state and the third joint in the extended state for the four fingers. In such a joint state, the distance from the mounting position of the fluid supply / discharge switching device 531 _j to the fingertip along the back of the hand from the joint structure of the fingers is shorter than that in the joint bending state. When the distance becomes shorter in this way, the operation unit AC connected to one end of the string-like member 532 _j moves to the −V direction side.

Then, at this time, through the first communicating supply port ptfs _j and the second supply port PTSS2 _j is a master device 500, a first discharge port PTFE _j and the second discharge port PTSE1 _j communicates. In such a communication state, the air sent from the supply / discharge device 900 continues to be supplied into the bellows 342 _j via the first supply port PTFS _j , the second supply port PTSS2 _j and the pipes 831 _j and 821 _j. Is done. As a result, the bellows 342 ₁ expands in the finger joint movement assist unit 230 ₁ attached to the thumb. Further, in the finger joint motion assisting unit 230 _k (k = 2,..., 5) attached to the four fingers, the bellows 342 _k and 341 _k are expanded.

In this communication state, the air in the bellows 343 _j is discharged by the supply / discharge device 900 through the pipes 825 _j and 836 _j , the second discharge port PTSE1 _j and the first discharge port PTFE _j . When air is discharged from the bellows 343 _j in this way, the bellows 343 _j contracts. As a result, finger articulation assist unit 230 ₁ of the thumb wearing the joint, the first joint maintains a bent state, the intermediate state in which the second joint is extended. In addition, the four-fingered joint equipped with the finger joint motion assist unit 230 _k (k = 2,..., 5) is in an intermediate state in which the first joint and the second joint maintain the bent state and the third joint extends. Become.

  For this reason, the fingers equipped with the joint motion assist device 200 can be brought into an intermediate state between the joint extension state and the joint bending state by the master / slave method without performing electronic control.

Subsequently, when the wearer of the master device 500 puts all the joints of the fingers in the extended state, the distance from the attachment position of the fluid supply / discharge switching device 531 _j to the fingertip along the back of the hand from the joint structure of the fingers is It becomes even shorter. When the distance is further reduced in this way, the operation unit AC connected to one end of the string-like member 532 _j further moves in the −V direction side.

At this time, the first discharge port PTFE _j and the second discharge ports PTSE1 _j and PTSE2 _j communicate with each other. In such a communication state, the air in the bellows 343 _j is discharged by the supply / discharge device 900 through the pipes 825 _j and 836 _j , the second discharge port PTSE1 _j and the first discharge port PTFE _j . When air is discharged from the bellows 343 _j in this way, the bellows 343 _j contracts. In this communication state, the air in the bellows 342 _j is discharged by the supply / discharge device 900 via the pipes 821 _j and 832 _j , the second discharge port PTSE2 _j and the first discharge port PTFE _j . When air is discharged from the bellows 342 _j in this way, the bellows 342 ₁ contracts in the finger joint motion assisting portion 230 ₁ attached to the thumb. Further, in the finger joint motion assist unit 230 _k (k = 2,..., 5) attached to the four fingers, the bellows 342 _k and 341 _k contract. As a result, the finger joint on which the finger joint motion assist unit 230 _j (j = 1,..., 5) is mounted is in the extended state.

  For this reason, it is possible to put the finger wearing the joint motion assist device 200 into the joint extension state by the master / slave method without performing electronic control.

  Therefore, according to the present embodiment, it is possible to remotely assist the joint motion assist device and appropriately assist the joint motion without performing electronic control.

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

  For example, in the above-described embodiment, the finger joint motion assist unit is attached to each of the thumb, index finger, middle finger, ring finger, and pinky finger to assist the joint motion of the thumb, index finger, middle finger, ring finger, and pinky finger. On the other hand, a joint motion assist unit may be attached to an arbitrary finger to assist the joint motion of the arbitrary finger. In this case, the same number of individual master units as the number of arbitrary fingers may be prepared.

Further, in the above embodiment, the bellows 342 _j communicates with the second supply port PTSS2 _j and the second discharge port PTSE2 _j of the individual master unit, the bellows 343 _j the second supply port of the individual master unit The PTSS1 _j and the second discharge port PTSE1 _j were communicated with each other. In contrast, the bellows 342 _j, in communication with the second supply port PTSS1 _j and the second discharge port PTSE1 _j of the individual master unit, the bellows 343 _j, the second supply port PTSS2 _j and the individual master unit The second discharge port PTSE2 _j may be communicated with.

In this case, as an intermediate state between the joint flexion and joint extended state, for thumb wearing the finger articulation assist unit 230 _1, the first joint is extended, assist an intermediate state in which the second joint is bent can do. Further, for the four fingers equipped with the finger joint motion assisting unit 230 _k (k = 2,..., 5), the intermediate state in which the first joint and the second joint are extended and the third joint is bent may be assisted. it can.

  In the above-described embodiment, both the cylinder chambers partitioned by the piston and the first discharge port connected to the pressure reducing pump of the supply / exhaust device are communicated to each other, and one surface of the piston (the surface on the + V direction side) ) And the other surface (the surface on the −V direction side), and the piston is connected to the −V direction side in the cylinder chamber as shown in FIG. To be energized. On the other hand, when a configuration is adopted in which the cylinder chamber and the first discharge port connected to the pressure reducing pump are not communicated, an elastic member such as a push spring is prepared, and one end of the elastic member is connected to the piston. The other end of the elastic member is connected to the + V direction side surface of the cylinder chamber, and the piston is biased to the −V direction side in the cylinder chamber by elastic force. May be.

  In addition, while adopting a configuration in which both the cylinder chambers partitioned by the piston and the first discharge port connected to the pressure reducing pump are employed, an elastic member such as an extrusion spring is prepared, and one end of the elastic member is provided. The portion may be connected to the surface on the + V direction side of the piston, and the other end of the elastic member may be connected to the surface on the + V direction side of the cylinder chamber. In this case, the piston can be urged toward the −V side of the cylinder chamber by both the above-described difference in pressure receiving area and the elastic force of the elastic member such as the push spring.

  When the piston is biased toward the -V direction of the cylinder chamber, a tension spring is prepared, one end of the tension spring is connected to the surface of the piston on the -V direction side, and the other end of the tension spring is connected. May be connected to the surface of the cylinder chamber on the −V direction side.

  In the above embodiment, the first discharge port formed in the cylinder and the cylinder chamber are communicated with each other. In contrast, the first supply port formed in the cylinder and the cylinder chamber may be communicated with each other. At this time, due to the difference in pressure receiving area on one surface (+ V direction side surface) and the other surface (−V direction side surface) of the piston, at normal times when the operation unit is not operated, It is biased toward the + V direction. As a result, when the length of the protruding portion including the operating portion protruding from the cylinder becomes the maximum, the steady position of the operating portion is obtained.

  In the above embodiment, the string-like member is a non-stretchable member. In contrast, in the joint extended state, the length of the protruding portion from the cylinder is “VS” (see FIG. 7), and in the intermediate state, the length of the protruding portion from the cylinder is “VM” (see FIG. 16). If the length of the protruding portion from the cylinder is “VL” (VS <VM <VL) (see FIG. 13) in the joint bending state, the string-like member is limited to a non-stretchable member. do not have to.

  In the above embodiment, the joint motion assist system having the joint motion assist device that assists the motion of the right hand finger of the human body has been described. Of course, it may be a system.

  In the above embodiment, when the joint motion assist device is mounted on the right hand, the master device is mounted on the right hand of a human body different from the human body on which the joint motion assist device is mounted. On the other hand, the master device may be attached to the left hand (lateral symmetry) of the different human body.

  In the above embodiment, the hand part to which the master device is attached has joint symmetry with the hand part to which the joint motion assist device is attached, but the hand part to which the master device is attached is the joint motion assist device. It may be a case having at least one of similarity symmetry and left-right symmetry with the hand portion to which the wearer is attached.

  When one hand part of the human body contracts and the other hand part is healthy, the joint motion assist device is attached to the contracted hand part of the human body, and the master device is attached to the healthy part of the human body. You may make it mount | wear to a simple hand part (left-right symmetry).

  In the above embodiment, the master device is mounted on the hand. On the other hand, you may make it pull an operation part with a fingertip, for example, without attaching a master apparatus to a hand part.

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

  Further, the configuration of the supply / discharge device may be a manual pump capable of discharging air and sucking air.

  In the joint motion assist device of the present invention, the working fluid is air, but other gases or liquids such as water and oil may be used.

  When used in the field of care or welfare, the joint motion assist device of the present invention can be used not only for rehabilitation but also for a person with weak power as a power assist device. The joint motion assist device of the present invention can also be used as a power assist device for grasping an object outside the fields of care and welfare.

  In the above embodiment, the present invention is applied to a joint motion assist system for assisting joint motion of a human body, but a predetermined target such as an endoskeletal mammal other than a human body having an articulation mechanism, an endoskeletal robot, or the like. The present invention can also be applied to an object joint motion assist system.

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

Claims (6)

A joint motion assist system for assisting joint motion of a first object,
A slave device attached to the first object;
With a master device;
Piping attached to the slave device and the master device;
A supply / discharge device connected to the master device for forcibly supplying the working fluid and forcibly discharging the working fluid;
The slave device is prepared for each joint that should assist the joint motion in the first object, and when the slave device is arranged at a joint portion perpendicular to the rotation axis of the rotation motion of the joint, Equipped with a telescopic bellows that generates force to assist exercise,
The master device, via the pipe, the supply of the working fluid into said bellows, and, with a fluid supply and discharge switching device for switching the discharge of the working fluid from within said bellows,
The fluid supply / discharge switching device has a rod-shaped operation unit capable of reciprocating with respect to the main body of the fluid supply / discharge switching device,
The body part is
With a cylinder;
A piston that reciprocates in a cylinder chamber of the cylinder;
A spool having one end connected to the piston and formed with an annular groove that reciprocates linearly with the piston;
In the cylinder,
A first supply port for taking in the working fluid from the supply / discharge device;
A first discharge port for discharging the working fluid to the supply / discharge device;
At least one second supply port for supplying the working fluid into the bellows via the pipe;
And at least one second discharge port for discharging the working fluid from the bellows through the pipe,
The operation unit is connected to the other end of the spool, passes through one end of the cylinder, and reciprocates linearly with the piston and the spool.
According to the position of the annular groove of the spool corresponding to the movement of the operation unit,
When the first supply port and the second supply port communicate with each other, the working fluid is supplied into the bellows,
When the first discharge port and the second discharge port communicate with each other, the working fluid is discharged from the bellows,
Switching between the discharge of the working fluid from the supply and the inner bellows of said working fluid into said bellows is made,
The piston is partitioned by the piston and is urged toward the other cylinder chamber side opposite to the one cylinder chamber to which the spool is connected,
A gap is formed between the peripheral surface of the piston and the inner peripheral surface of the cylinder chamber,
The first discharge port communicates with both the one cylinder chamber and the other cylinder chamber;
A joint motion assist system characterized by this. A relief valve communicating with the first supply port is formed in the cylinder, and excess working fluid taken from the first supply port is discharged to the outside through the relief valve. The joint motion assist system according to claim 1 , wherein: The master device, the first object congruent symmetry, is attached to the second object of the structure having any of symmetry of similarity symmetry and symmetry, claim 1 or, characterized in that 2. The joint motion assist system according to 2. The first object includes at least one of fingers in one hand part of a human body,
The joint motion assist system according to claim 3 , wherein the second object includes at least one of fingers in the other hand of the human body. The first object includes at least one of fingers in one hand part of a human body,
The joint motion assist system according to claim 3 , wherein the second object includes at least one of fingers in a hand part of a human body different from the human body. The master device further includes a flexible string member connected to an end of the operation unit,
The fluid supply / discharge switching device is attached to the back of the hand part,
The end of the string-like member is attached to the fingertip of the finger,
In the state where the joint of the finger on the master device side is bent, the distance from the main body portion of the operation portion protruding from the main body portion is longer than in the state where the joint is extended,
The joint motion assist system according to claim 4 or 5 , wherein

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