JP6496124B2 - Walking support tool - Google Patents
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- JP6496124B2 JP6496124B2 JP2014226627A JP2014226627A JP6496124B2 JP 6496124 B2 JP6496124 B2 JP 6496124B2 JP 2014226627 A JP2014226627 A JP 2014226627A JP 2014226627 A JP2014226627 A JP 2014226627A JP 6496124 B2 JP6496124 B2 JP 6496124B2
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Description
本発明は歩行支援用具に関する。 The present invention relates to a walking support tool.
高齢者らの歩行を支援する様々な製品が開発されている。例えば、特許文献１〜３には、モータを用いた動力付きの歩行補助装置が提案されているが、モータを用いた歩行補助装置は、モータ音がする、充電が必要、高価格といった問題がある。また、特許文献４には、腰部と大腿部とを結ぶ弾力帯からなる歩行補助装置が提案されているが、腕ふり動作や上体の回旋動作を積極的に下肢に連動させた仕組みではない。 Various products have been developed to assist elderly people in walking. For example, Patent Documents 1 to 3 propose a powered walking assist device using a motor, but the walking assist device using a motor has problems such as a motor sound, charging, and high price. is there. Further, Patent Document 4 proposes a walking assist device composed of an elastic band connecting the waist and thighs, but with a mechanism in which arm swinging action and upper body turning action are actively linked to the lower limbs. Absent.
非特許文献１には、歩行時の股関節矢状面の関節モーメントと関節パワーが記載されている。歩行周期に対する関節モーメントを図１１、関節パワーを図１２に示す。関節モーメントとは筋力によって関節まわりに発生するモーメントのことであり、関節まわりに発生する力の大きさ及び方向を表している。また関節パワーとは関節モーメントによるエネルギー変化を表すものである。図１１、１２はいずれも伸展方向を正とする。例えば、関節モーメントの方向と関節の運動方向が一致している場合、関節モーメントは運動を加速させる、すなわち運動のエネルギーを発生する働きをするので関節パワーは正の値となる。一方、関節モーメントの方向と関節の運動方向が逆の場合、関節モーメントは関節の動きを減速させる、すなわち運動のエネルギーを吸収する働きをするので、関節パワーは負の値となる。歩行支援用具による歩行支援効果を高めるには、歩行支援用具によるモーメントとパワーを、歩行周期の関節モーメントと関節パワーに近づけると同時に、歩行支援用具によるモーメントとパワーの最大値をより大きくすることが重要である。 Non-Patent Document 1 describes the joint moment and the joint power of the sagittal hip joint during walking. FIG. 11 shows the joint moment with respect to the walking cycle, and FIG. 12 shows the joint power. The joint moment is a moment generated around the joint by muscle force, and represents the magnitude and direction of the force generated around the joint. The joint power represents the energy change due to the joint moment. 11 and 12, the extension direction is positive. For example, when the direction of the joint moment and the motion direction of the joint coincide, the joint moment serves to accelerate the motion, that is, to generate the energy of motion, so the joint power becomes a positive value. On the other hand, when the direction of the joint moment is opposite to the direction of motion of the joint, the joint moment serves to decelerate the motion of the joint, that is, to absorb the energy of motion, so the joint power becomes a negative value. In order to increase the walking support effect of the walking support tool, the moment and power of the walking support tool should be brought close to the joint moment and joint power of the walking cycle, and at the same time, the maximum value of the moment and power of the walking support tool should be increased. is important.
本発明は、駆動装置を用いずとも高い歩行支援効果を有する歩行支援用具を提供することを課題とする。 An object of the present invention is to provide a walking support tool having a high walking support effect without using a drive device.
１．脚部と、該脚部と左右反対側の肩から上腕に亘る上体部のいずれかとを接続する紐状体を有する歩行支援用具。
２．前記紐状体として、人体の前面、または後面の同一面側を接続する伸縮性の紐状体を有することを特徴とする１．に記載の歩行支援用具。
３．前記紐状体として、人体の前面側と後面側とを接続する非伸縮性の紐状体を有することを特徴とする１．に記載の歩行支援用具。
４．前記紐状体として、人体の前面、または後面の同一面側を接続する伸縮性の紐状体と、人体の前面側と後面側とを接続する非伸縮性の紐状体とを有することを特徴とする１．に記載の歩行支援用具。
５．前記紐状体が、前記上体部の肩で接続されることを特徴とする１．〜４．のいずれかに記載の歩行支援用具。
６．前記紐状体が、前記上体部の上腕部で接続されることを特徴とする１．〜４．のいずれかに記載の歩行支援用具。
７．前記紐状体が、前記脚部の膝で接続されることを特徴とする１．〜６．のいずれかに記載の歩行支援用具。
８．前記脚部の接続箇所が、膝前面と膝後面の２箇所であることを特徴とする７．に記載の歩行支援用具。
1. A walking support tool having a leg portion and a string-like body that connects the leg portion and any of the upper body portion extending from the shoulder on the opposite side to the upper arm.
2. The string-like body has a stretchable string-like body that connects the front side of the human body or the same side of the rear side. The walking support tool described in 1.
3. The string-like body includes a non-stretchable string-like body that connects the front side and the rear side of the human body. The walking support tool described in 1.
4). As the string-like body, it has a stretchable string-like body that connects the front side of the human body or the same surface side of the rear side, and a non-stretchable string-like body that connects the front side and the rear side of the human body. Features 1 The walking support tool described in 1.
5. The string-like body is connected by a shoulder of the upper body part. ~ 4. The walking support tool according to any one of the above.
6). The string-like body is connected by an upper arm portion of the upper body portion. ~ 4. The walking support tool according to any one of the above.
7). The string-like body is connected by a knee of the leg portion. ~ 6. The walking support tool according to any one of the above.
8). 6. The connection part of the said leg part is two places, a knee front surface and a knee rear surface. The walking support tool described in 1.
本発明の歩行支援用具は、歩行周期の関節モーメントと関節パワーと類似したモーメントとパワーを発生させることができるため、歩行支援効果が高い。また、歩行動作は下肢のみならず、腕を含めた上体の動きも重要な役割を持っているが、本発明の歩行支援用具は、歩行時の上半身の動きにより下肢の屈伸運動を補助するものであるため、大きなモーメントとパワーを発生することができ、高い歩行支援効果を有する。さらに、モータ等の駆動装置を用いないため、軽量、低コストであり、安全性に優れている。モータ音がしないため、衣類等の下に装着すると外観からは歩行支援用具を装着していることが分からない。 Since the walking support tool of the present invention can generate a moment and power similar to the joint moment and joint power of the walking cycle, the walking support effect is high. In addition, not only the lower limbs, but also the movement of the upper body including the arms plays an important role in the walking motion, but the walking support tool of the present invention assists the flexion and extension of the lower limbs by the movement of the upper body during walking. Therefore, it can generate a large moment and power and has a high walking support effect. Furthermore, since a driving device such as a motor is not used, it is lightweight, low-cost, and excellent in safety. Since there is no motor sound, it cannot be seen from the appearance that a walking support tool is worn when worn under clothing.
本発明は、脚部と、該脚部と左右反対側の肩から上腕に亘る上体部のいずれかとを接続する紐状体を有する歩行支援用具に関する。紐状体は、脚部と、該脚部と左右反対側の上体部とを接続する。すなわち、右脚は左側の肩から上腕の亘る上体部のいずれかと接続され、左脚は右側の肩から上腕の亘る上体部のいずれかと接続される。
本発明の歩行支援用具は、上体部と脚部とを紐状体で接続するため、上体部の動きを紐状体を介して脚部に伝えることができる。すなわち、本発明の歩行支援用具は、歩行時の上体部の動きにより、膝の屈伸運動を補助するものである。
本発明の紐状体としては、伸縮性である紐状体、非伸縮性である紐状体、または両方を用いることができる。伸縮性である紐状体は、伸長した紐状体が収縮する際の収縮力により、膝の屈伸運動を補助する。非伸縮性である紐状体は、上体部の動きに引っ張られて生じる張力により膝の屈伸運動を補助する。
The present invention relates to a walking support tool having a leg portion and a string-like body that connects the leg portion and any of the upper body portion extending from the shoulder on the opposite side to the upper arm. The string-like body connects the leg part and the upper body part on the opposite side to the leg part. That is, the right leg is connected to one of the upper body parts extending from the left shoulder to the upper arm, and the left leg is connected to one of the upper body parts extending from the right shoulder to the upper arm.
Since the walking support tool of the present invention connects the upper body part and the leg part with a string-like body, the movement of the upper body part can be transmitted to the leg part via the string-like body. That is, the walking support tool of the present invention assists the knee bending and stretching movements by the movement of the upper body during walking.
As the string-like body of the present invention, a stretchable string-like body, a non-stretchable string-like body, or both can be used. The stretchable string-like body assists the knee bending and stretching movement by the contraction force when the stretched string-like body contracts. The non-stretchable string-like body assists the knee bending and stretching movement by the tension generated by the pulling of the upper body part.
上体部に、サポーター、ベスト、アンダーシャツ等からなる装着具を装着し、この装着具と紐状体とを接続することで歩行支援用具を装着することができる。歩行支援用具の装着が容易となるため、装着具と紐状体とは、バックル、ナスカン、ループ、ファスナー、面ファスナー、ボタン等の取付構造により接続自在とすることが好ましい。ただし、本発明の歩行支援用具において、紐状体は接続自在であることに限定されず、紐状体の一端または両端が、装着具と縫製等で一体化されていてもよい。また、使用者の体格に応じて長さが調整できる様に、紐状体、装着具のいずれか、または両方に、コキ、アジャスター等を設けることが好ましい。 A walking support tool can be mounted by mounting a wearing tool such as a supporter, a vest, an undershirt, etc. on the upper body, and connecting the wearing tool and the string-like body. Since it is easy to mount the walking support tool, it is preferable that the mounting tool and the string-like body can be connected to each other by a mounting structure such as a buckle, an eggplant, a loop, a fastener, a hook-and-loop fastener, or a button. However, in the walking support tool of the present invention, the string-like body is not limited to being connectable, and one end or both ends of the string-like body may be integrated with the wearing tool by sewing or the like. Moreover, it is preferable to provide footjobs, adjusters, etc. on either or both of the string-like body and the wearing tool so that the length can be adjusted according to the physique of the user.
装着具には、紐状体を通すための挿通部を設けることができる。挿通部に紐状体を通すことで、紐状体が体表面に沿って配置されるため、歩行支援用具の上から衣類を着ると、歩行支援用具を装着していることが外観から分かりにくい。 The wearing tool can be provided with an insertion portion for allowing the string-like body to pass therethrough. Since the string-like body is arranged along the body surface by passing the string-like body through the insertion part, it is difficult to see from the appearance that the walking assistance tool is worn when clothing is worn over the walking assistance tool. .
［第一の実施態様］
本発明の歩行支援用具の第一の実施態様は、膝部と該膝部と左右反対側の肩から上腕に亘る上体部のいずれかを接続する伸縮性の紐状体を有し、該伸縮性の紐状体は人体の前面、または後面の同一面側を接続するものである。
伸縮性の紐状体としては伸縮性を有するものであれば特に制限することなく使用することができ、例えば、ゴム、ゴム紐、伸縮性編物等が挙げられる。また、その形状も特に制限されないが、帯状であることが装着時に目立ちにくいため好ましい。
[First embodiment]
The first embodiment of the walking support tool of the present invention has a stretchable string-like body that connects the knee part and any one of the upper body part extending from the shoulder opposite to the knee part to the upper arm, The stretchable string-like body connects the front side of the human body or the same side of the rear side.
The stretchable string-like body can be used without particular limitation as long as it has stretchability, and examples thereof include rubber, rubber string, and stretchable knitted fabric. Further, the shape is not particularly limited, but a belt shape is preferable because it is less noticeable at the time of wearing.
図１に、右膝前部と左肩前部とを伸縮性の紐状体で接続する歩行支援用具を装着して歩行する様を示す。
図１（ａ）に示すように、左膝が前方に踏み出された状態では、体幹は右肩が前方、左肩が後方となっている。この時、右膝と左肩とはともに人体の後方に位置し、右膝前部と左肩前部とを接続する伸縮性の紐状体は伸長している。図１（ｂ）に示すように、後方に引かれた右脚が前方へ振り出されると、体幹は右肩が後方、左肩が前方となるように回旋する。この時、右膝と左肩がともに人体の前方に移行し、伸長していた伸縮性の紐状体の収縮力により、右膝の前方への移行が補助される。すなわち、歩行時の体幹の回旋運動が肢に伝えられることにより、膝の屈伸運動が補助される。図１（ｃ）に示すように、右膝が前方に踏み出された状態では、左肩は人体の前方に位置し、伸縮性の紐状体は最も短くなる。その後、左膝を前方に踏み出す過程において、右膝と左肩とが人体の後方に移行して伸縮性の紐状体は伸長される。
FIG. 1 shows a state of walking with a walking support tool connecting the front part of the right knee and the front part of the left shoulder with a stretchable string-like body.
As shown in FIG. 1A, in the state where the left knee is stepped forward, the trunk has the right shoulder forward and the left shoulder backward. At this time, both the right knee and the left shoulder are located behind the human body, and the stretchable string-like body connecting the front part of the right knee and the front part of the left shoulder is extended. As shown in FIG. 1B, when the right leg pulled backward is swung forward, the trunk rotates so that the right shoulder is the rear and the left shoulder is the front. At this time, both the right knee and the left shoulder move forward of the human body, and the forward movement of the right knee is assisted by the contraction force of the stretchable string-like body that has been stretched. That is, the rotation motion of the trunk during walking is transmitted to the limbs, so that the knee bending and stretching motion is assisted. As shown in FIG. 1C, when the right knee is stepped forward, the left shoulder is positioned in front of the human body, and the stretchable string-like body is the shortest. Thereafter, in the process of stepping the left knee forward, the right knee and left shoulder move to the rear of the human body, and the stretchable string-like body is extended.
図１では、伸縮性の紐状体は人体の前面を接続したが、人体の後部を接続することもできる。例えば、右膝後部と左肩後部とを接続すると、歩行時の体幹の回旋に伴う左肩の動きにより、右膝の人体後方への移行を補助することができる。また、伸縮性の紐状体を肩部ではなく、上腕部に接続すると、歩行時の腕の振りにより脚部の移行を補助することができる。歩行時の腕の振りは、歩行時の人体の回旋よりも動きが大きいため、上腕部に歩行支援用具を接続すると、肩部に接続したときと比較して、発生するモーメントとパワーの最大値を大きくすることができる。 In FIG. 1, the stretchable string-like body connects the front of the human body, but the rear part of the human body can also be connected. For example, when the rear part of the right knee is connected to the rear part of the left shoulder, the movement of the right knee to the rear of the human body can be assisted by the movement of the left shoulder accompanying the rotation of the trunk during walking. Further, when the stretchable string-like body is connected to the upper arm portion instead of the shoulder portion, the movement of the leg portion can be assisted by swinging the arm during walking. Since the swing of the arm during walking is greater than the rotation of the human body during walking, the maximum moment and power generated when a walking support tool is connected to the upper arm compared to when connected to the shoulder Can be increased.
本発明の歩行支援用具は、必要に応じて、１〜４本の伸縮性の紐状体を用いることができる。例えば、事故や脳出血等により左脚の運動に障害を有する使用者であれば、左膝前部と右側の上体部、左膝後部と右側の上体部とを接続する２本の伸縮性の紐状体からなる歩行支援用具を用いることにより、左脚の運動を効果的に補助することができる。また、階段等を登るのが難しい使用者であれば、膝を上げる動作を補助するために、右膝前部と左側の上体部とを接続する伸縮性の紐状体と、左膝前部と右側の上体部とを接続する伸縮性の紐状体の、計２本の伸縮性の紐状体を有する歩行支援用具を用いればよい。 The walking support tool of the present invention can use 1 to 4 stretchable cords as necessary. For example, if the user has a disability in the left leg movement due to an accident or cerebral hemorrhage, etc., two stretchables that connect the front part of the left knee and the upper body part on the right side, and the rear part of the left knee and the upper part of the right side By using a walking support tool made of a string-like body, the left leg movement can be effectively assisted. For users who have difficulty climbing stairs, etc., in order to assist the movement of raising the knee, an elastic string that connects the front part of the right knee and the upper body part of the left side, and the front part of the left knee What is necessary is just to use the walking assistance tool which has a total of two elastic string-like bodies of the elastic string-like body which connects a body part and a right upper body part.
膝の前面と後面とに１本ずつ計２本の伸縮性の紐状体を接続した時に股関節に発生するモーメント、股関節矢状面の関節角速度、図１１に記載の関節モーメントの歩行周期に対するグラフを図２、伸縮性の紐状体によるパワーと、図１２に記載の関節パワーの歩行周期に対するグラフを図３に示す。図２、３において、横軸は歩行周期であり、踵の接地（０％）からつま先が離地（６０％）して再び踵が接地（１００％）するまでを表している。縦軸は、正が伸展方向、負が屈曲方向である。 11 is a graph of the moment generated at the hip joint when two stretchable cords are connected to the front and rear surfaces of the knee, the joint angular velocity of the hip sagittal plane, and the walking cycle of the joint moment shown in FIG. FIG. 2 shows a graph of the power of the stretchable string-like body and the joint power shown in FIG. 12 with respect to the walking cycle. 2 and 3, the horizontal axis represents the walking cycle, and represents from the ground contact of the heel (0%) to the time when the toe leaves (60%) and the heel contacts the ground again (100%). In the vertical axis, positive is the extension direction and negative is the bending direction.
図２の関節角速度と伸縮性の紐状体によるモーメントのグラフを比べると、歩行周期のおよそ２５％〜５０％と、７５％〜８５％の部分において、一方が正、他方が負となっており位相が異なる。ここで、伸縮性の紐状体により生じるパワーは関節角速度とモーメントの積で与えられるため、図３に示すように、位相が異なる歩行周期ではパワーは負の値となる。
歩行時の股関節矢状面の関節パワーは、関節角速度と関節モーメントの積で表され、そのグラフは図１２に示すとおりである。図１２において、Ｈ１−Ｓ点とＨ３−Ｓ点では大きな正の値であり、それぞれ体を前へ推進するパワーと脚を前に振り出すパワーを生成していることを示す。また、Ｈ２−Ｓ点では大きな負の値をとっているが，これは後方に移動している脚を止めるようにパワーを吸収していることを示す。すなわち、歩行時の関節パワーは生成と吸収の２つの過程が存在している。
図３に示すように、伸縮性の紐状体によるパワーと、歩行時の関節パワーとは、その位相が歩行周期の大半で一致している。すなわち、伸縮性の紐状体は、歩行時の関節パワーと類似の挙動を示しており、パワー生成のみならず、パワー吸収時にも歩行を補助することができるため、高い歩行支援効果を有する。
Comparing the graph of the joint angular velocity and the elastic string-like moment in FIG. 2, one is positive and the other is negative in approximately 25% to 50% and 75% to 85% of the walking cycle. The cage phase is different. Here, since the power generated by the stretchable string-like body is given by the product of the joint angular velocity and the moment, as shown in FIG.
The joint power of the hip sagittal plane during walking is represented by the product of the joint angular velocity and the joint moment, and the graph is as shown in FIG. In FIG. 12, the points H1-S and H3-S are large positive values, indicating that the power for propelling the body forward and the power for swinging the leg forward are generated. In addition, a large negative value is taken at the point H2-S, which indicates that power is absorbed so as to stop the leg moving backward. That is, there are two processes of generation and absorption of joint power during walking.
As shown in FIG. 3, the phase of the power of the stretchable string-like body and the joint power at the time of walking coincide with most of the walking cycle. In other words, the stretchable string-like body exhibits a behavior similar to the joint power during walking, and has a high walking support effect because it can assist walking not only during power generation but also during power absorption.
［第二の実施態様］
本発明の歩行支援用具の第二の実施態様は、膝部と該膝部と反対側の肩から上腕に亘る上体部のいずれかを接続する非伸縮性の紐状体を有し、該非伸縮性の紐状体は人体の前面と後面とを接続するものである。
非伸縮性の紐状体としては、伸縮性を有さないものであれば特に制限することなく使用することができ、例えば、ワイヤー、ロープ、編物等が挙げられる。また、その形状も特に制限されないが、帯状であることが装着時に目立ちにくいため好ましい。
[Second Embodiment]
A second embodiment of the walking support tool of the present invention has a non-stretchable string-like body that connects a knee part and any one of the upper body part extending from the shoulder opposite to the knee part to the upper arm. The stretchable string-like body connects the front surface and the rear surface of the human body.
The non-stretchable string-like body can be used without particular limitation as long as it does not have stretchability, and examples thereof include a wire, a rope, and a knitted fabric. Further, the shape is not particularly limited, but a belt shape is preferable because it is less noticeable at the time of wearing.
左膝前部と右肩後部とを左脇腹を通る非伸縮性の紐状体で接続した歩行支援用具を装着して歩行する様を上から見た平面図、側面図を、それぞれ図４、５に、右膝前部と左上腕後部とを右肩上を通る非伸縮性の紐状体で接続した歩行支援用具を歩行する様を上から見た平面図、側面図を、それぞれ図６、７に示す。
非伸縮性の紐状体は、人体の前面と後面とを接続するが、図４、５に示すように、非伸縮性の紐状体を接続した膝部と同じ側の太腿から脇腹にかけての人体側面を通って接続してもよく、図６、７に示すように、非伸縮性の紐状体を接続した膝部と同じ側の肩上を通って接続してもよい。腕を前後に振っても非伸縮性の紐状体が身体に沿ったままであるため、上腕部と接続するときには膝部と同じ側の肩上を通るように接続することが好ましい。
A plan view and a side view as seen from above of walking with a walking support device in which the front part of the left knee and the rear part of the right shoulder are connected by a non-stretchable string-like body passing through the left flank are shown in FIG. FIG. 5 is a plan view and a side view, respectively, seen from above of walking a walking support tool in which the front part of the right knee and the rear part of the left upper arm are connected by a non-stretchable string that passes over the right shoulder. 7.
The non-stretchable string-like body connects the front and rear surfaces of the human body, as shown in FIGS. 4 and 5, from the thigh on the same side as the knee to which the non-stretchable string-like body is connected, to the flank. May be connected through the side of the human body, or may be connected through the shoulder on the same side as the knee to which the non-stretchable string-like body is connected, as shown in FIGS. Even if the arm is swung back and forth, the non-stretchable string-like body remains along the body. Therefore, when connecting to the upper arm, it is preferable to connect the upper arm so as to pass over the shoulder on the same side.
図４、５に示すように、歩行時に左脚が後方から前方に踏み出されると、右肩が前方、左肩が後方となるように体幹が回旋する。左膝と右肩がともに人体の前方に移行すると、その直線距離は短くなるが、左膝前部から、左脇腹と背中とを介して右肩後部を結ぶ線は長くなる。そして、この線が長くなると、左膝前部と右肩後部とを接続する非伸縮性の紐状体には張力が働く。そして、この張力により左膝の前方への移行が補助される。 As shown in FIGS. 4 and 5, when the left leg is stepped forward from the rear during walking, the trunk rotates so that the right shoulder is forward and the left shoulder is backward. When both the left knee and the right shoulder move to the front of the human body, the straight distance is shortened, but the line connecting the left knee front part from the left knee front part through the left flank and the back part becomes long. And when this line becomes long, tension | tensile_strength acts on the non-stretchable string-like body which connects a left knee front part and a right shoulder rear part. This tension assists the forward transition of the left knee.
図６、７に示すように、右膝前部と左上腕の後部とを右肩上を通る非伸縮性の紐状体により接続すると、歩行時の腕振り運動により非伸縮性の紐状体に張力が生じ、この張力により右膝の前方への移行を補助することができる。
上記第一の実施態様と同様に、歩行時の腕の振りは、歩行時の人体の回旋よりも動きが大きいため、上腕部に接続する歩行支援用具は、肩部に接続する歩行支援用具と比較して、発生するモーメントとパワーの最大値が大きい。
As shown in FIGS. 6 and 7, when the front part of the right knee and the rear part of the left upper arm are connected by a non-stretchable string that passes over the right shoulder, the non-stretchable string is generated by the arm swinging motion during walking. A tension is generated in the right knee, and this tension can assist the forward transition of the right knee.
As in the first embodiment, since the swing of the arm during walking has a larger movement than the rotation of the human body during walking, the walking support tool connected to the upper arm part is a walking support tool connected to the shoulder part. In comparison, the maximum values of the moment and power generated are large.
また、上記第一の実施態様と同様に、膝の後部に非伸縮性の紐状体を接続すると、膝の後方への移行を補助することができる。
さらに、第二の実施態様の歩行支援用具も、上記第一の実施態様と同様に、必要に応じて、１〜４本の非伸縮性の紐状体を用いることができる。
Similarly to the first embodiment, when a non-stretchable string-like body is connected to the rear part of the knee, the transition to the rear of the knee can be assisted.
Further, the walking support tool of the second embodiment can also use 1 to 4 non-stretchable string-like bodies as necessary, as in the first embodiment.
膝の前部と後部とに１本ずつ計２本の非伸縮性の紐状体を接続した時に股関節に発生するモーメント、股関節矢状面の関節角速度、図１１に記載の関節モーメントの歩行周期に対するグラフを図８に示す。非伸縮性の紐状体によるパワーと、図１２に記載の関節パワーの歩行周期に対するグラフを図９に示す。図８、９において、横軸は歩行周期であり、踵の接地（０％）からつま先が離地（６０％）して再び踵が接地（１００％）するまでを表している。縦軸は、正が伸展方向、負が屈曲方向である。
図８に記載の関節角速度と非伸縮性の紐状体によるモーメントのグラフを比べると、大半の歩行周期において同位相である。そのため、図９に示すように関節角速度とモーメントの積で与えられる非伸縮性の紐状体により生じるパワーは、歩行周期のほとんどで正の値となり、パワー生成に特化した歩行支援効果を得ることができる。また、伸縮性の紐状体と比較して、より大きなパワーを生成することができる。
The moment generated at the hip joint when two non-stretchable string-like bodies are connected to the front and the rear of the knee, the joint angular velocity of the sagittal plane of the hip, and the walking cycle of the joint moment shown in FIG. A graph for is shown in FIG. FIG. 9 shows a graph of the power due to the non-stretchable string and the walking cycle of the joint power shown in FIG. 8 and 9, the horizontal axis represents the walking cycle, and represents from the ground contact of the heel (0%) to the time when the toe leaves (60%) and the heel contacts the ground again (100%). In the vertical axis, positive is the extension direction and negative is the bending direction.
Comparing the joint angular velocity shown in FIG. 8 with the moment graph of the non-stretchable string-like body, it is in phase in most walking cycles. Therefore, as shown in FIG. 9, the power generated by the non-stretchable string-like body given by the product of the joint angular velocity and moment becomes a positive value in most walking cycles, and a walking support effect specialized in power generation is obtained. be able to. In addition, greater power can be generated as compared to a stretchable string.
［第３の実施態様］
本発明の歩行支援用具の第三の実施態様は、紐状体として伸縮性の紐状体と非伸縮性の紐状体とを併用したものである。必要に応じて、１〜４本の伸縮性の紐状体と１〜４本の非伸縮性の紐状体を用いることができる。
[Third Embodiment]
In a third embodiment of the walking support tool of the present invention, a stretchable string and a non-stretchable string are used in combination as a string. If necessary, 1 to 4 stretchable string-like bodies and 1 to 4 non-stretchable string-like bodies can be used.
図１０に、膝の前部と後部とにそれぞれ１本ずつ伸縮性の紐状体と、非伸縮性の紐状体とを接続した時の歩行支援用具による用具パワーと、図１２に記載の関節パワーの歩行周期に対するグラフを示す。図１０において、横軸は歩行周期であり、踵の接地（０％）からつま先が離地（６０％）して再び踵が接地（１００％）するまでを表している。縦軸は、正がパワーの生成、負がパワーの吸収を意味する。
パワー吸収の効果のある伸縮性の紐状体による支援と、大きなパワー生成の効果のある非伸縮性の紐状体による支援を組み合わせることにより、歩行時の関節パワーに類似し、かつパワーの最大値が大きい支援効果を得ることができる。すなわち、伸縮性の紐状体と非伸縮性の紐状体とを組み合わせることにより、伸縮性の紐状体のみの支援よりも大きい力による支援効果、かつ、非伸縮性の紐状体のみの支援よりも通常の歩行動作に適応した自然な支援効果を得ることができる。
FIG. 10 shows the tool power of the walking support tool when one stretchable string and one non-stretchable string are connected to the front and rear of the knee, respectively. The graph with respect to the walk cycle of joint power is shown. In FIG. 10, the horizontal axis represents the walking cycle, and represents the period from the ground contact of the heel (0%) to the ground separation (60%) and the heel grounding again (100%). On the vertical axis, positive means power generation and negative means power absorption.
Similar to joint power during walking and maximum power by combining support by elastic string with power absorption effect and support by non-stretch string with large power generation effect Support effect with a large value can be obtained. That is, by combining a stretchable string-like body and a non-stretchable string-like body, the support effect by a force larger than the support of only the stretchable string-like body, and only the non-stretchable string-like body A natural support effect adapted to a normal walking motion can be obtained rather than support.
Claims (7)
前記脚部の接続箇所が、膝前面または膝後面であることを特徴とする歩行支援用具。 And the leg portion, the string-like body that connect and either of the upper body portion over the upper arm from the left and right opposite side of the shoulder and leg portions possess,
The walking support tool, wherein the connecting portion of the leg is the front or back of the knee .
前記脚部の接続箇所が、膝前面と膝後面の２箇所であることを特徴とする請求項１〜６のいずれかに記載の歩行支援用具。 Having a plurality of the string-like bodies,
The walking support tool according to any one of claims 1 to 6, wherein the connecting portions of the leg portions are two locations of the front surface of the knee and the rear surface of the knee.
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| JP3505143B2 (en) * | 2000-12-15 | 2004-03-08 | 武 鹿野谷 | Walking aid |
| JP2011019737A (en) * | 2009-07-16 | 2011-02-03 | Shinichiro Yoshino | Pull-up type self-walking device |
| JP2012148045A (en) * | 2011-01-20 | 2012-08-09 | Yoshinosuke Asakura | Leg-raising walking aid |
| JP4981188B1 (en) * | 2011-11-10 | 2012-07-18 | 勝美 森平 | Leg assist device |
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