JP6565736B2 - Operation assistance device - Google Patents

Description

  The present invention relates to a motion assist device.

  An operation assisting device that is attached to a part including a joint such as a user's leg or arm and assists the user's operation has been developed. Patent Document 1 describes an operation assisting device that includes a thigh link, a crus link, and a foot link that are attached to a user's leg, and assists the user's walking motion. In this motion assisting device, the thigh link and the crus link are rotatably connected by a thigh joint positioned coaxially with the user's thigh joint, and the crus link and the foot link are rotatably connected by an ankle joint.

JP 2012-095793 A

  In the motion assisting device described above, a joint restriction unit that restricts movement beyond the movable range of the user's joint is provided. However, the range of motion of joints such as ankles, thighs, and elbows varies from user to user. For this reason, it is desirable that the movable range of the joint can be finely adjusted by the joint restriction unit.

  The present invention has been made in view of such a background, and an object thereof is to provide an operation assisting device capable of finely adjusting a movable range of a joint.

  The present invention provides an operation assisting device that is attached to a portion including a user's joint and assists the operation of the joint, and includes a joint restriction unit that restricts a movable range of the joint, and the joint restriction unit includes a casing and the casing. And a fixed member receiving surface that comes into contact with a fixing member fixed to the casing. A plurality of first oscillating amount adjusting portions, each of which is formed in a spiral staircase shape about a rotating shaft and capable of changing the fixing member receiving surface by rotating around the rotating shaft; A protrusion receiving surface that is in contact with the protrusion is formed on the opposite side of the fixing member receiving surface in the axial direction, and is rotated around the rotation axis independently of the first swing amount adjusting unit. A second swing amount adjustment unit capable of changing the force receiving surface, and has a.

  According to the present invention, the movable range of the joint can be finely adjusted.

1 is a diagram illustrating a schematic configuration of an evaluation apparatus according to a first embodiment. It is a perspective view which shows schematic structure of a mechanical stopper. It is a front view which shows the schematic shape of a 1st rocking | fluctuation amount adjustment part. It is the arrow line view which looked at the 1st rocking | fluctuation amount adjustment part from the direction of arrow A of FIG. It is a front view which shows schematic shape of a 2nd rocking | fluctuation amount adjustment part. It is the arrow view seen from the arrow B of FIG. It is the arrow line view which looked at the receiving surface of the 2nd rocking | fluctuation amount adjustment part from the arrow C of FIG. It is a figure explaining the method in which the 1st rocking | fluctuation amount adjustment part and the 2nd rocking | fluctuation amount adjustment part adjust the limit rocking | fluctuation amount of a rocking | fluctuation part. It is a figure explaining the method in which the 1st rocking | fluctuation amount adjustment part and the 2nd rocking | fluctuation amount adjustment part adjust the limit rocking | fluctuation amount of a rocking | fluctuation part. It is a figure explaining the rocking | fluctuation amount adjustment unit concerning the modification 1. FIG. It is a figure explaining the rocking | fluctuation amount adjustment unit concerning the modification 1. FIG.

  Hereinafter, an embodiment which is an embodiment of the present invention will be described in detail with reference to the drawings. The motion assisting device according to the present invention is attached to a portion including a user's joint and assists the motion of the joint.

  FIG. 1 is a diagram showing a schematic configuration of a motion assisting device 4 according to the present embodiment. As shown in FIG. 1, the motion assisting device 4 is attached to a user's leg, and assists the walking motion by adjusting the motion of the leg. The motion assisting device 4 includes a controller 12, a foot frame 411, a crus frame 413 that is rotatably connected to the foot frame 411 via an ankle joint part 412, and a knee joint part 414 that rotates to the crus frame 413. The upper leg frame 415 is movably connected.

  The controller 12 incorporates a small computer and a battery, supplies power to each part of the motion assisting device 4 via the cable 16, and controls the operation of each part of the motion assisting device 4.

  The foot frame 411 is attached to the foot 21 of the user's leg 2 and includes a foot plate 92, shoes 94 and a pair of foot links 96. The foot plate 92 connects a pair of foot links 96. The shoe 94 has the same form as a general shoe, and is provided on the upper surface of the foot plate 92 (the surface facing the foot 21 of the user's leg 2). When the shoe 94 is attached to the foot 21 of the user's leg 2, the foot plate 92 is disposed below the foot 21 of the user's leg 2 (on the sole side). Further, the foot link 96 is disposed on the side of the foot 21 of the user's leg 2.

  The lower leg frame 413 is attached to the lower leg 23 of the leg 2 of the user. The upper thigh frame 415 is attached to the upper thigh 25 of the leg 2 of the user. The lower leg frame 413 and the upper leg frame 415 are respectively provided with pads 416 for relaxing contact with the lower leg part 23 and the upper leg part 25 of the user.

  A motor unit 43 is provided at the knee joint 414. The motor unit 43 is a specific example of the driving unit, and includes, for example, a motor, a speed reduction mechanism, a sensor, and the like. The motor unit 43 rotates the knee joint part 414 to rotate the lower leg frame 413 relative to the upper leg frame 415.

  The ankle joint 412 does not include an actuator, and the foot frame 411 passively swings according to the swing of the foot 21 of the user's leg 2. The ankle joint part 412 is provided with a mechanical stopper 50 as a joint restriction part for restricting the movable range of the joint.

  FIG. 2 is a perspective view showing a schematic configuration of the mechanical stopper 50. As shown in FIG. 2, the mechanical stopper 50 includes a first swing amount adjusting unit 61, a second swing amount adjusting unit 62, a third swing amount adjusting unit 51 as a swing amount adjusting unit, a swing unit 53, and a casing 54. And comprising. The first swing amount adjustment unit 61 is attached to the casing 54 so as to be rotatable about the rotation shaft 52a. The second swing amount adjusting unit 62 is attached to the casing 54 so as to be rotatable about the rotation shaft 52a. The third swing amount adjustment unit 51 is attached to the casing 54 so as to be rotatable about the rotation shaft 51a.

  FIG. 3 is a front view showing a schematic shape of the third swing amount adjusting unit 51. FIG. 4 is an arrow view of the third swing amount adjusting unit 51 viewed from the direction of arrow A in FIG. As shown in FIGS. 3 and 4, the third swing amount adjusting portion 51 has a plurality of receiving surfaces 51b formed in a spiral step shape with the rotation shaft 51a as the center. In the example shown in FIGS. 3 and 4, the third swing amount adjustment unit 51 has six stages of receiving surfaces 51 b.

  FIG. 5 is a front view showing a schematic shape of the swing amount adjustment unit 52. FIG. 6 is an arrow view seen from the arrow B in FIG. FIG. 7 is a view seen from an arrow C in FIG. As shown in FIG. 5, the swing amount adjustment unit 52 includes a first swing amount adjustment unit 61 and a second swing amount adjustment unit 62. The first swing amount adjusting unit 61 and the second swing amount adjusting unit 62 are arranged such that the fixing member receiving surface 61b and the protrusion receiving surface 62b are opposite to each other in the axial direction. The first swing amount adjustment unit 61 and the second swing amount adjustment unit 62 can rotate independently of each other about the rotation shaft 52a.

  As shown in FIGS. 5 and 6, the first swing amount adjusting unit 61 is formed with a plurality of fixing member receiving surfaces 61 b in a spiral step shape with the rotation shaft 52 a as the center. In the example shown in FIGS. 5 and 6, the first swing amount adjusting unit 61 has ten fixing member receiving surfaces 61 b. Further, as shown in FIGS. 5 and 7, the second swing amount adjusting portion 62 is formed with a plurality of protrusion receiving surfaces 62b in a spiral step shape with the rotation shaft 62a as the center. In the example shown in FIGS. 5 and 7, the second swing amount adjusting unit 62 has ten stages of protrusion receiving surfaces 62 b.

  In the example shown in FIGS. 5, 6, and 7, the fixing member receiving surface 61 b formed on the first swing amount adjusting unit 61 and the protrusion receiving surface 62 b formed on the second swing amount adjusting unit 62 are made the same shape. ing. The fixing member receiving surface 61b formed on the first swing amount adjusting unit 61 and the projection receiving surface 62b formed on the second swing amount adjusting unit 62 may have different shapes (those having different numbers of steps).

  As shown in FIG. 2, in the casing 54, it arrange | positions so that it can rock | fluctuate with the operation | movement of a user's joint centering on the rocking | fluctuation shaft 53a. The swinging portion 53 is provided with two protrusions 53b that protrude in the radial direction on the outer periphery. One of the two protrusions 53b comes into contact with a plurality of protrusion receiving surfaces 62b (see FIGS. 5 and 7) in the second swing amount adjusting unit 62. Further, the other of the two protrusions 53b comes into contact with a plurality of receiving surfaces 51b (see FIGS. 3 and 4) in the third swing amount adjusting unit 51. Further, the fixing member 64 comes into contact with a plurality of fixing member receiving surfaces 61b (see FIGS. 5 and 6) in the first swing amount adjusting unit 61. Thereby, the swinging motion of the swinging portion 53 is limited. This restriction can prevent the motion assisting device 4 from operating beyond the movable range of the user's joint. The limit swing amount that is the maximum amount that the swing portion 53 can swing is adjusted by the first swing amount adjusting portion 61, the second swing amount adjusting portion 62, and the third swing amount adjusting portion 51.

Next, a method for adjusting the limit swing amount in the swing unit 53 will be described.
FIGS. 8 and 9 are diagrams for explaining a method in which the first swing amount adjusting unit 61 and the second swing amount adjusting unit 62 adjust the limit swing amount of the swing portion 53. FIG. 8 shows a case where the limit swing amount of the swing portion 53 is relatively large. As shown in FIG. 8, the limit swing amount of the swinging portion 53 is θ1. By rotating the second swing amount adjusting unit 62 around the rotation shaft 52a, the height of the step of the projection receiving surface 62b that contacts the one projection 53b of the swing portion 53 can be changed. Further, the height of the step of the fixing member receiving surface 61b to be brought into contact with the fixing member 64 can be changed by rotating the first swing amount adjusting unit 61 around the rotation shaft 52a. By doing so, the swing amount of the swinging portion 53 can be adjusted.

  FIG. 9 shows a case where the limit swing amount of the swing portion 53 is relatively small. The state shown in FIG. 9 can be changed to the state shown in FIG. 9 by half-rotating the first swing amount adjusting unit 61 and the second swing amount adjusting unit 62 from the state shown in FIG. In the state shown in FIG. 9, the height of the protrusion receiving surface 62 b that is in contact with the protrusion 53 b of the swinging portion 53 is higher than that in the state shown in FIG. 8. Further, in the state shown in FIG. 9, the height of the fixing member receiving surface 61b to be brought into contact with the fixing member 64 is higher than that in the state shown in FIG. Therefore, the limit swing amount of the swing portion 53 can be set to θ2 smaller than θ1 (see FIG. 7).

  In the embodiment according to the present invention, two swing amount adjusting portions are arranged so that the respective receiving surfaces are opposite to each other in the axial direction with the same rotation axis as the center. The movable range of the joint can be finely adjusted as compared with the case of arranging the parts. That is, in the example shown in the present embodiment, the 10-stage first rocking amount adjusting unit 61 and the 10-stage second rocking amount adjusting unit 62 are respectively fixed to the fixing member receiving surfaces 61b around the same rotation shaft 52a. By arranging 62b to be opposite to each other in the axial direction, it is possible to adjust the number of stages up to 55 (when only the second swing amount adjustment unit 62 is arranged, the number of stages is adjusted only 10).

  As described above, the first swing amount adjusting unit 61 and the second swing amount adjusting unit 62 are rotated about the rotation shaft 52a, thereby making the limit swing amount of the swing unit 53 multi-stage (limit swing amount: 0 degree, 5 degrees, 10 degrees, 15 degrees, etc.). Thereby, the movable range of the joint can be finely adjusted.

  From the state shown in FIG. 7, in addition to rotating the first swing amount adjusting unit 61 and the second swing amount adjusting unit 62 around the rotating shaft 52a, the third swing amount around the rotating shaft 51a. The adjustment portion 51 may also be rotated to change the step height of the receiving surface 51b that is brought into contact with the other protrusion 53b of the swinging portion 53. By doing in this way, the swing amount of the swing part 53 can be adjusted more finely.

Modification 1
The swing amount adjustment unit 52 described with reference to FIG. 5 may have an intermediate adjustment portion between the first swing amount adjustment portion 61 and the second swing amount adjustment portion 62.
10 and 11 are diagrams for explaining the swing amount adjusting unit 152 according to the first modification. As shown in FIGS. 10 and 11, the swing amount adjustment unit 152 includes a first swing amount adjustment unit 161, a second swing amount adjustment unit 162, and an intermediate adjustment unit 163.

  Similar to the first swing amount adjusting unit 61 described with reference to FIGS. 5 and 6, the first swing amount adjusting unit 161 has a plurality of fixing member receiving surfaces 61b formed in a spiral staircase shape around the rotation shaft 52a. ing. Further, the second swing amount adjusting portion 162 is formed with a fitting surface 161c on the opposite side of the axial direction of the fixing member receiving surface 61b of the first swing amount adjusting portion 161. Similar to the second swing amount adjusting portion 62 described with reference to FIGS. 5 and 7, the second swing amount adjusting portion 162 has a plurality of protrusion receiving surfaces 62b formed in a spiral step shape around the rotation shaft 62a. Yes. Further, the second swing amount adjusting portion 162 is formed with a fitting surface 162c on the opposite side of the projection receiving surface 62b in the axial direction.

  In the intermediate adjustment portion 163, a fitting surface 163 a that fits with the fitting surface 161 c of the first swing amount adjustment portion 161 is formed on a surface facing the first swing amount adjustment portion 161. In addition, a fitting surface 163 b that fits with the fitting surface 162 c of the second swing amount adjusting unit 162 is formed on the surface facing the second swing amount adjusting unit 162. Note that the height in the axial direction of the intermediate adjustment unit 163 may be appropriately adjusted according to the user.

A method in which the first swing amount adjusting unit 61 and the second swing amount adjusting unit 62 adjust the limit swing amount of the swing unit 53 will be described.
FIG. 10 shows a case where the limit swing amount of the swing portion 53 is relatively large. The limit swing amount of the swing portion 53 is θ3. By rotating the second swing amount adjustment unit 162 around the rotation shaft 52a, the height of the step of the projection receiving surface 62b that contacts the one projection 53b of the swing unit 53 can be changed. Further, the height of the step of the fixing member receiving surface 61b to be brought into contact with the fixing member 64 can be changed by rotating the first swing amount adjusting unit 161 about the rotation shaft 52a. By doing so, the swing amount of the swinging portion 53 can be adjusted.

  FIG. 11 shows a case where the limit swing amount of the swing portion 53 is relatively small. The first swing amount adjusting unit 161 and the second swing amount adjusting unit 162 can be rotated halfway from the state shown in FIG. 10 to the state shown in FIG. In the state shown in FIG. 11, the height of the projection receiving surface 62 b that comes into contact with the projection 53 b of the swinging portion 53 is higher than the state shown in FIG. 10. Further, in the state shown in FIG. 11, the height of the fixing member receiving surface 61b to be brought into contact with the fixing member 64 is higher than that in the state shown in FIG. Therefore, the limit swing amount of the swing portion 53 can be set to θ4 smaller than θ3 (see FIG. 10).

  As described above, the limit swing amount of the swing portion 53 can be adjusted in multiple stages by rotating the first swing amount adjusting portion 161 or the second swing amount adjusting portion 162. Thereby, the movable range of the joint can be finely adjusted.

  Note that the present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

4 Operation Auxiliary Device 50 Mechanical Stopper 51 Third Oscillation Amount Adjusting Unit 51a Rotating Shaft 51b Receiving Surface 52 Oscillating Amount Adjusting Unit 52a Rotating Shaft 53 Oscillating Unit 53a Oscillating Shaft 53b Projection 54 Casing 61 First Oscillating Amount Adjusting Unit 61b Fixing Member Receiver Surface 62 Second swing amount adjusting portion 62b Projection receiving surface 64 Fixing member

Claims (1)

In an operation assisting device that is attached to a part including a user's joint and assists the operation of the joint,
A joint restricting portion for restricting a movable range of the joint;
The joint restriction unit is
A casing,
An oscillating portion attached to the casing so as to be oscillatable about an oscillating shaft, and provided with a protrusion that oscillates along with the movement of the joint and protrudes radially on the outer periphery;
A first swing amount adjusting unit including a plurality of first horizontal planes formed in a spiral staircase shape around the rotation shaft, the first swing amount adjusting unit being capable of rotating around a rotation shaft at a position of twist with the swing shaft ;
A fixing member that has a second horizontal plane, and is fixed to the casing such that the second horizontal plane contacts any one of the plurality of first horizontal planes;
The first swing amount adjusting unit is located on the opposite side of the first horizontal plane and can be rotated around the rotation axis independently of the first swing amount adjusting unit. A second swing amount adjustment comprising a plurality of third horizontal planes formed in a spiral staircase shape around the rotation axis on the opposite side, and any one of the plurality of third horizontal planes abuts against a tip portion of the projection. A motion assisting device.

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