JP6621189B1 - Walking assist device - Google Patents

Abstract

An object of the present invention is to suppress knee flexion when the knee is standing with the knee fully extended. A load support 2a for supporting a load, a thigh mounted on one leg of a user, one end of which is swingably connected to the load support 2a, and a thigh engaging portion 3a at the other end. A long thigh link 2b1, a long thigh link 2b2 one end of which is rotatably connected to the other end, and a low thigh link 2b2, one end of which is thigh engaging An engaging member 3b having a lower leg engaging portion 3b1 capable of engaging with 3a and a grounding sensor 3b3 for detecting grounding are provided. When the grounding sensor 3b3 detects grounding, the knee of the user is extended. In this case, the thigh engaging portion 3a and the lower leg engaging portion 3b1 engage to stop the relative rotation of the thigh link 2b1 and the lower leg link 2b2. If the user's knee is not extended, the thigh engaging portion 3a and the lower leg The joint 3b1 is prevented from engaging. [Selection diagram] Fig. 1

Description

  The present invention relates to a walking assist device.

  In recent years, various walking assist devices have been developed that are worn on the human body and reduce the load on the lower limbs. Among them, there is also a device that reduces the burden on the user's leg by braking the exercise of bending the knee according to the weight of the user by using the weight of the user itself without using a power device such as a motor. Has been developed. In addition, a walking device has been developed that makes the device itself resemble a bipedal walking of a person and uses the weight of the device to control the bending motion of the leg of the device. As such a technique, for example, Patent Document 1 is known.

Japanese Patent No. 6188253

  In normal walking on a flat ground, at the moment of transition from the swing phase to the stance phase, that is, at the moment of contact with the ground, the ground must be grounded with the knee fully extended, and all after the ground contact. The knee will not bend over time.

  Therefore, in a normal flat ground walking of a person, the load on the lower limb can be sufficiently reduced only by the function of supporting the weight while maintaining the knee fully extended during the stance period.

  In the device described in Patent Document 1, when the landing part of the lower leg part lands on the landing during walking in which the walking leg is moved by alternately moving the paired leg parts, the rotation restricting part buckles the knee joint part. To regulate. Thereby, when a user uses a walking machine, the buckling of the knee joint part carelessly is suppressed.

  However, when it is assumed that the technology related to the configuration of the rotation restricting portion of the knee part adopted by the walking machine of Patent Document 1 to prevent buckling of the walking machine is applied to a walking assist device of the type that is worn on the user's body Has the following problems.

  With respect to the invention of Patent Document 1, in claim 1 of the invention, a general description of the rotation restricting portion “the rotation restricting portion restricts the bending motion of the knee joint when the landing portion lands on the ground”. The function is described. Thereafter, the method of regulation is specifically described as follows: “When the landing portion has landed on the ground, the second engagement portion is moved from the retracted position to the engagement position, and the first engagement is performed. It is only described that the bending motion of the knee joint portion is restricted by engaging with the portion.

  Therefore, the invention of Patent Document 1 is not intended to provide a technique that realizes a function of restricting only a bending operation at a specific bending angle of a knee portion of a walker. In other words, it does not matter whether or not to restrict the bending motions other than a specific bending angle of the knee of the walker.

  For this reason, the technology relating to the configuration of the rotation restricting portion provided by the invention of Patent Document 1 is a walking assistance device (hereinafter referred to as “contrast walking assistance”) to which a load supporting tool such as the disclosed walking assistance device is provided. Considering the application to the "device"), the following problems arise.

  The contrasting walking assist device prevents bending of the user's knee only when the user's knee is fully extended, and prevents the user's knee from being bent when the user's knee is not fully extended. The configuration does not restrict sufficient bending. The reason will be described below.

  In the specification of Patent Document 1, a specific restriction mechanism of the rotation restricting portion 52 is described as follows. “For this reason, when the rod 52 is inserted into the constant diameter portion 56b, the rod 52 moves in a direction orthogonal to the rod 52. Is restricted ”(see paragraph [0029]), and when the rod 52 is not inserted into the constant diameter portion 56b, the rotation restricting portion 52 is the knee of the user wearing the comparison walking assist device. There is no specific explanation that can be used as a reference for whether or not to restrict the bending of the body.

  According to the drawings in the specification of Patent Document 1, when the knee of the user wearing the comparison walking assist device is bent and standing, it is interpreted that the rod 52 is not inserted into the constant diameter portion 56b. As a result, the tip of the rod 52 is supposed to collide with somewhere in the different diameter portion 56 a, so that the tip of the rod 52 receives a reaction force against the force that pushes up the rod 52.

  The force that pushes up the rod 52 is a floor reaction force due to a part of the user's body weight or the like applied to the load support portion of the comparison walking assistance device, and is not a load due to the weight of the member of the rod 52 itself. . Since the rod 52 is highly rigid (see paragraph [0029]), this reaction force is transmitted as it is to the rotating member 37 on the user's foot without being weakened.

  Therefore, if the rotating member 37 has high rigidity, either the collision portion of the different diameter portion 56a that collides with the rod 52, the tip portion of the rod 52, or the portion where the rotating member 37 is supported by the foot portion. There is a risk of deformation or breakage. If “the rotating member 37 is formed of an elastically deformable material” (see paragraph [0056]), that is, “the rotating member 37 itself constitutes a so-called leaf spring” (see paragraph [0056]). If so, there is a possibility that this situation can be avoided.

  However, if the leaf spring installation method as shown in the specification and drawings of Patent Document 1 is adopted in the walking aid device for comparison, there are two problems. One is that the bending of the user's knee is not sufficiently ensured, as is apparent from the drawing of Patent Document 1. This is also apparent from the description in the specification of Patent Document 1 that “the angle at which the thigh 21 and the crus 23 can rotate relative to each other is restricted to a certain angle” (see paragraph [0027]). is there.

  The other is that when the tip of the rod 52 collides with somewhere in the different-diameter portion 56a, the rod 52 is pushed back in response to the force pushing up the rod 52, and the leaf spring is also pushed back. Therefore, a distance for pushing back the leaf spring is set in advance.

  Then, in the stance period, the leaf spring and the floor surface are separated by the distance described above. That is, the collar part of the walking aid device for comparison is not in a preferable state as a walking aid device because it is placed in an unstable state on an elastic member called a leaf spring.

  Therefore, the method of using a leaf spring formed of an elastically deformable material is not an effective solution to the problem required for the comparison walking assist device. A possible countermeasure other than the leaf spring is to use the compression spring 54. However, the specification of Patent Document 1 does not describe anything about such usage of the compression spring 54. In the specification of Patent Document 1, the compression spring 54 has only the role of “moving the rotating member 37 from the second position to the first position” (see paragraphs [0054] and [0055]). Absent.

  On the contrary, it is described that “the compression spring 54 may be omitted” (see paragraph [0056]). In the case where the compression spring 54 is omitted, no measures for replacing the compression spring 54 are described.

From the above considerations, the technology related to the configuration of the rotation restricting portion of the walking machine according to the invention of Patent Document 1 is “suppressing the flexion of the user's knee only when standing while the user's knee is fully extended, It is not an effective solution for the point that “the knee flexion of the user is not restricted when standing when the knee is not fully extended”.
In one aspect, the present invention is directed to suppressing knee flexion when the knee is standing with the knee fully extended.

  In order to achieve the above object, the disclosed first walking assistance device and second walking assistance device are provided. The first walking assistance device is a walking assistance device that reduces the load on the user's leg, and is attached to a load support device that supports the load and the thigh of one of the user's legs, and one end is a load support device. A long thigh link that is swingably connected to the device and has a first engaging portion at the other end, and a long thigh link that has one end rotatably connected to the other end And an engagement member having a second engagement portion, one end of which is engageable with the first engagement portion, and a grounding sensor for detecting grounding, wherein the grounding sensor is grounded. When the user's knee is extended when detected, the first engagement portion and the second engagement portion are engaged to stop the relative rotation of the thigh link and the lower leg link, and the user's knee is extended. If not, the first engagement portion and the second engagement portion are not engaged.

The second walking assistance device is a walking assistance device that reduces the load on the user's leg, and is mounted on the load support device that supports the load and the thigh of one leg of the user, and the upper end is the load support device. A long thigh link that is pivotably coupled to the lower end of the thigh link, a long leg link that is pivotably coupled to the lower end of the thigh link, and one end that rocks near the center of the thigh link. A first engagement portion that is movably connected and the other end portion is slidably connected to the crus link; and a first engagement portion that is disposed on the crus link and has one end portion when the user's knee is fully extended. An engagement member having a second engagement portion engageable with the other end portion of the joint portion, and a grounding sensor that detects grounding, and when the grounding sensor detects grounding, the user's knee extends. When the first engaging portion and the second engaging portion are engaged, the relative rotation of the thigh link and the crus link Stop, if the user's knee is not extended, the second engagement portion and the first engaging portion is not engaged.
Terms and expressions of the disclosed first walking assistance device and second walking assistance device will be described.

  The disclosed first walking assistance device and second walking assistance device describe a case where the device is attached to one leg of a user. Accordingly, the terms user's leg, thigh, lower leg, knee, and sole are all descriptions of one leg of the user, not the thigh, lower leg, knee, and sole of the other leg. Similarly, the terms thigh link, crus link, thigh engagement unit, crus engagement unit, ground sensor, first engagement unit, and second engagement unit that represent each component of the disclosed walking assist device. Is described for the case where it is attached to one leg of the user, and not for the case where it is attached to the other leg of the user.

Moreover, a load support tool is an instrument which supports the load by the weight of a user's body weight, or the weight of the person or the thing which a user bears, for example. Specifically, the load support tool is a load support tool that supports the weight of the user including the weight of the person or object that the user carries (hereinafter, this is referred to as a first load support tool), and a load support section. A load support device (second) that is separated into a portion that mainly supports only the weight of the user (referred to as a weight support portion) and a portion that supports only the load due to the weight of the person or object carried by the user (referred to as a load support portion). Load support device), and a load support device (referred to as a third load support device) that supports only the weight of the person or object that the user bears without supporting the user's weight. It expresses that it is a walking assistance device that can be prepared.
<Thigh engaging part, lower leg engaging part and engaging member of first walking assist device>

  The thigh engaging portion of the first walking assist device is, for example, any one of a depression, a hole, or a protrusion provided at the lower end of the thigh link. The crus engaging part is a bar-like member that is arranged on the crus link, for example, with a top end that can be engaged with the thigh engaging part, and a position that can be engaged with the thigh engaging part at the upper end of the crus link. is there.

The engaging member of the first walking assistance device has an upper end that is a crus engaging part, a lower end that is a ground sensor, and a push spring between the lower end of the crus engaging part and the upper end of the ground sensor. It is preferable that the elastic member is incorporated.
<First engaging portion, second engaging portion and engaging member of second walking assist device>

  The first engaging portion of the second walking assist device is a rod-like member whose upper end is connected to a position near the center of the thigh link and whose lower end is slidably connected to the lower leg link, for example. The vicinity of the center of the thigh link means, for example, the vicinity of the center of the thigh link in the major axis direction. The reason why the vicinity of the center is described is that, in the second walking assistance device, the position of the upper end of the first engagement portion can be selected and set from a considerably wide range.

  The second engaging portion of the second walking assist device is disposed, for example, on the lower leg link, and the front end has a shape engageable with the lower end of the first engaging portion, and is engaged with the lower end of the first engaging portion. It is a protrusion-like member that can move between the mating position and the position waiting without engaging the lower end of the first engaging portion.

The engaging member of the second walking assistance device is formed by incorporating an elastic member such as a leaf spring between the rear end of the protruding member of the second engaging portion and the upper end of the ground sensor. preferable.
<Configuration of first walking assist device>

  First, the configuration of the first walking assist device will be described. The first walking assist device includes, for example, a load support portion for supporting a load due to the weight of the user and a rotation restriction portion for restricting the bending of the user's knee. The load support unit includes, for example, a load support device that supports a load based on the weight of the user or the weight of a person or an object that the user bears, and a leg portion that supports the load support device. Further, the leg is attached to one of the user's thighs, the upper end is swingably connected to the load support, and the upper end is swingably connected to the lower end of the thigh link. It can have a leg link that leads to the sole of the leg.

  On the other hand, the rotation restricting portion includes a thigh engaging portion provided at a lower end of the thigh link and below the rotation shaft of the relative rotation of the thigh link and the crus link (directly below the rotation shaft or before or after the rotation shaft) The upper end is the second engaging portion, the lower end is the ground sensor, and an elastic member such as a push spring is incorporated between the lower end of the second engaging portion and the upper end of the ground sensor. Engaging members.

Further, when the user's leg is in the stance phase and the user's knee is fully extended, the rotation restricting portion engages the thigh engaging portion and the crus engaging portion so that the thigh link and the crus link When the relative rotation is stopped and the user's leg is in the stance phase and the user's knee is not fully extended, the thigh engagement part and the crus engagement part are not engaged, and the While the rotation is permitted, when the user's leg is in the swing leg period, the relative rotation of the thigh link and the crus link can be permitted without engaging the thigh engagement part and the crus engagement part.
<Operation of the first walking assist device>

  When the first walking assist device detects that the ground sensor detects ground contact and the user's knee is fully extended, the thigh engaging portion and the crus engaging portion are engaged only when the user is standing. The function of restricting the bending of the user's knee when standing is limited to a minimum.

  The main point of the technology enabling the function of the first walking assist device is that the thigh engaging portion and the crus engaging portion do not engage except when the user's knee is fully extended when the user's leg is standing. Further, at this time, even if a situation occurs in which the tip portions of the thigh engaging portion and the crus engaging portion collide, the length of the engaging portion is shortened by elastic deformation of an elastic member such as a push spring, so that That is, the possibility of deformation and breakage can be avoided.

In addition, the first walking assist device does not have a function of braking a motion in which the user's knee bends while standing, except when the user's knee is fully extended. In this way, a thin and lightweight walking assist device can be realized by omitting an extra structure as much as it does not have an extra function.
<Configuration of second walking assist device>

  The second walking assist device includes, for example, a load support portion for supporting a load due to the weight of the user and a rotation restricting portion for restricting the bending of the user's knee. The load support unit includes a load support device that supports a load based on the weight of the user or the weight of a person or an object that the user bears, and a leg portion that supports the load support device. Further, the leg is attached to one of the user's thighs, the upper end is swingably connected to the load support, and the upper end is swingably connected to the lower end of the thigh link. It can have a leg link that leads to the sole of the leg.

  On the other hand, the rotation restricting portion is arranged at the lower leg link with a first engaging portion whose upper end is slidably connected to the vicinity of the center of the thigh link and whose lower end is slidably connected to the lower leg link. An engagement portion that is a second engagement portion, the lower end is a grounding sensor, and is formed by incorporating an elastic member such as a leaf spring between the rear end of the second engagement portion and the upper end of the grounding sensor. Can have.

Further, when the user's leg is in the stance phase and the user's knee is fully extended, the rotation restricting portion is engaged with the first engagement portion and the second engagement portion to When the relative rotation of the lower leg link is stopped and the user's leg is in the stance phase and the user's knee is not fully extended, the first engagement portion and the second engagement portion are not engaged and the thigh is not engaged. While the relative rotation of the link and the crus link is permitted, when the user's leg is in the swing phase, the first and second engagement parts are not engaged, and the thigh link and the crus link are relative to each other. Rotation can be allowed.
<Operation of the second walking assist device>

When the second walking assist device engages the first engagement portion and the second engagement portion only when standing while the ground contact sensor detects the ground contact and the user's knee is fully extended. The function of restricting the bending of the user's knee when standing is limited to a minimum, such as stopping the bending of the user's knee. The main point of the technology that makes it possible to realize this function, which is characteristic of the second walking assist device, is that when the user's knee bends when the user's leg is standing, the first engagement is increased as the bending angle increases. The first protrusion is configured so that the mutual engagement of the two can be avoided by moving the part away from the second engaging part, and further, at this time, the bending of the user's knee causes the tip of the third protrusion to Even if a situation occurs that collides with the side surface of the protrusion, the third protrusion returns to its original position due to elastic deformation of an elastic member such as a leaf spring, thereby avoiding deformation or breakage of the member. It is. In addition, the second walking assist device does not have a function of braking a motion in which the user's knee bends while standing, except when the user's knee is fully extended. In this way, a thin and lightweight walking assist device can be realized by omitting an extra structure as much as it does not have an extra function.
<First application example>

Of course, it is possible to change the first walking assistance device to a walking assistance device having a function of braking most of the movement in which the knee bends while standing. However, even if such a walking assist device adopts a method that uses only the weight of the user without using a power device such as a motor, a rapid increase in rotational force (moment) accompanying an increase in the degree of flexion of the knee. Therefore, a considerable size and strength are required for the members of the thigh link and crus link connecting portion and the rotation restricting portion, and the apparatus becomes large, heavy, and expensive. However, if the cost increases or the size of the device does not matter so much, the walking assist device of the type that brakes the movement of the knee gradually bending over most of the stance phase is the first. It is possible to apply the structure of one walking assist device.
<Second application example>

  It is possible to easily change the second walking assistance device to a walking assistance device that also has a function of braking most of the movement in which the knee bends while standing. Unlike the rotation restricting portion of the first walking assist device, the rotation restricting portion of the second walking assist device has a structure that can withstand a considerably large rotational force (moment). When using the second walking assist device, particularly as a load carrying device, the structure of the second walking assist device has the function of braking most of the movement in which the knee bends while standing. It is useful to apply to a device.

  In one aspect, it is possible to suppress knee flexion when the knee is standing with the knee fully extended.

It is a figure which shows the walking assistance apparatus of 1st Embodiment. It is a figure explaining the modification of a load support tool. It is a figure explaining the case where a user's leg is extending in the free leg period. It is a figure explaining the case where a user's leg is bent in the free leg period. It is a figure explaining the case where a user's leg is extending in the stance phase. It is a figure explaining the case where a user's leg is bent in the stance phase. It is a figure explaining the outline | summary of the left side surface at the time of a user wearing the walking assistance apparatus of 1st Embodiment. It is a figure explaining the outline | summary of the left side surface at the time of a user mounting | wearing the walking assistance apparatus of 2nd Embodiment. It is a figure explaining the rotation control part of 2nd Embodiment. It is a figure explaining the walk auxiliary device of a 3rd embodiment.

  Hereinafter, a walking assistance device according to an embodiment will be described in detail with reference to the drawings.

The position, size, shape, range, and the like of each component shown in the following drawings and the like may not represent the actual position, size, shape, range, or the like in order to facilitate understanding of the invention. For this reason, the present invention is not necessarily limited to the position, size, shape, range, and the like disclosed in the drawings and the like.
In the embodiment, an element expressed as a singular includes the plural unless specifically stated otherwise in text.
<First Embodiment>
FIG. 1 is a diagram illustrating a walking assist device according to a first embodiment.
In FIG. 1, the upper direction on the paper is called “up” and the lower direction on the paper is called “lower”.

The walking assist device 1 according to the first embodiment has no serious deterioration in the function of the lower limbs, for example, a person who does not have a severe deterioration in the lower limbs but feels somewhat difficult to walk due to injury or aging. It is a device that reduces the load on the legs when a person who wants to reduce the burden on the legs as much as possible, while walking and when maintaining a standing posture.
FIG. 1 shows a state in which the user wears the walking assistance device 1. The illustration of the user is omitted and only the left side of the device is schematically shown.
The left leg is in the swing phase and the right leg is in the stance phase.
Since the walking assistance device 1 is made symmetrically, only the left side of the walking assistance device will be described below based on FIG.
The walking assist device 1 includes a load support portion 2 and a rotation restricting portion 3.

  The load support unit 2 includes a load support 2a having a weight support 2a1 that supports the weight of the user mainly in the sciatic region, and a leg 2b that supports a load applied to the load support 2a. ing. The drooping portion 2a2 of the load support 2a and the upper end of the leg portion 2b are connected by a connecting member 4.

The connecting member 4 allows the leg 2b to swing in the forward bending direction of the user's waist with respect to the hanging part 2a2. Further, the leg portion 2b cannot swing in the backward bending direction of the user's waist with respect to the hanging portion 2a2.
The leg 2b has a thigh link 2b1 disposed on the user's thigh and a crus link 2b2 disposed on the user's lower leg.

The thigh link 2b1 and the crus link 2b2 are coupled so as to be able to swing in synchronization with the flexion and extension of the user's knee by a rotation shaft inserted through a communication hole formed at the lower end of the thigh link 2b1 and the upper end of the crus link 2b2. ing.
On the other hand, the rotation restricting portion 3 has a thigh engaging portion 3a at the lower end of the thigh link 2b1 and an engaging member 3b disposed on the crus link 2b2.

In the engaging member 3b, a crus engaging portion 3b1, a push spring 3b2, and a ground contact sensor 3b3 are formed in a straight line in this order in the longitudinal direction of the crus link 2b2. The lower leg engaging portion 3b1, the pressing spring 3b2, and the ground contact sensor 3b3 are slidably held by the support portions 5a, 5b, and 5c, respectively. Accordingly, when the upper end of the engaging member 3b, that is, the upper end of the lower leg engaging part 3b1 moves downward due to a reaction force from the lower end of the thigh engaging part 3a due to a collision with the lower end of the thigh engaging part 3a, Although the length of the spring 3b2 is shortened, the entire engaging member 3b is formed so as to function as a single rod-shaped member. The rotation restricting portion 3 restricts the relative rotational movement of the thigh link 2b1 and the crus link 2b2 in accordance with the movement of the engaging member 3b in the vertical direction.
<Load support device>

The load support tool 2a supports a load applied to the user's sciatica. As long as the load support 2a has a function and a structure capable of transmitting this load from the user's belt portion 2a3 to the hanging portion 2a2, its shape and constituent members may be arbitrarily determined.
FIG. 2 is a diagram illustrating a modification of the load support.
The load support tool 2a shown in FIG. 2A includes a load placement portion 2a4 that can place a load in addition to a portion that supports the weight of the user.
As for the load support tool 2a shown in FIG.2 (b), the weight support part 2a1 is abbreviate | omitted.
Returning again to FIG.
<Thigh engaging part 3a and crus engaging part 3b1>

The thigh engagement portion 3a has any one of a depression, a hole, or a protrusion formed at the lower end of the thigh link 2b1. In FIG. 1, the thigh engaging portion 3a is a depression. The crus engaging part 3b1 has a recess, a hole, or a protrusion formed in the upper end of the crus link 2b2 in a shape that can be engaged with the thigh engaging part 3a. In FIG. 1, the lower leg engaging portion 3b1 is a protrusion. The depression of the thigh engagement portion 3a has a side surface that is parallel to the major axis direction of the thigh link 2b1 and that is perpendicular to the rotation surface of the relative rotation of the thigh link 2b1 and the crus link 2b2. Similarly, the protrusion of the lower leg engaging portion 3b1 has a side surface that is parallel to the major axis direction of the lower leg link 2b2 and that is perpendicular to the rotation surface of the relative rotation of the upper leg link 2b1 and the lower leg link 2b2. The side surface of the thigh engaging portion 3a is disposed so as to be located behind the knee from the side surface of the crus engaging portion 3b1. The state where the thigh engaging portion 3a and the crus engaging portion 3b1 are engaged is in contact with the side surface of the crus engaging portion 3b1 approaching the side surface of the thigh engaging portion 3a while sliding from below. State.
<Pressing spring 3b2>

The urging force of the push spring 3b2 is sufficiently strong so that the spring contraction due to its own weight of the crus engaging part 3b1 becomes zero, strong enough to quickly push back the crus engaging part 3b1, and further supports the load. The force is set to be sufficiently weaker than the force expected to be applied to the portion 2.
<Engagement member 3b>

The lower end of the engaging member 3b, that is, the lower end of the grounding sensor 3b3 is set in advance so as to stop downward by a certain distance from the lower end of the lower leg link 2b2 during the free leg period of the user's leg. Let this constant distance be h (see FIG. 3). At this time, the position of the upper end of the engaging member 3b, that is, the upper end of the lower leg engaging portion 3b1, can be arbitrarily determined within a certain range. In the following description, it is assumed that the lower end of the thigh engaging part 3a and the upper end of the crus engaging part 3b1 are set at positions just before the contact during the free leg period of the user's leg.
<Components>

The belt portion 2a3, the hanging portion 2a2, the weight support portion 2a1, the thigh link 2b1, the crus link 2b2, the thigh engagement portion 3a, the crus engagement portion 3b1, and the ground contact sensor 3b3 of the load support device 2a can withstand the weight of the user. It is formed of a member having only sufficient strength, such as metal or hard plastic.
<Specific mechanism>
Hereinafter, the mechanism of the walking assistance device 1 of the embodiment will be described in the following three cases.
3 and 4 are diagrams illustrating a case where the user's leg is in the swing leg period.
FIG. 3 is a diagram illustrating a case where the user's leg is extended during the swing leg period.

When the user's leg is in the swing phase and the knee is fully extended, the lower end of the engaging member 3b, that is, the lower end of the ground sensor 3b3 is from the lower end of the lower leg link 2b2 (the position of the user's sole). , It stops downward by a certain distance h. When the knee is fully extended, the upper end of the engaging member 3b, that is, the upper end of the crus engaging part 3b1 is at a position just before the lower end of the thigh engaging part 3a.
FIG. 4 is a diagram illustrating a case where the user's leg is bent during the swing leg period.

  When the user's leg is in the swing phase and the user's knee is bent, the lower end of the thigh link 2b1 rotates clockwise around the rotation axis of the relative rotation of the thigh link 2b1 and the lower thigh link 2b2 (downward in FIG. 4). The upper end of the engaging portion, that is, the upper end of the crus engaging portion 3b1 is kept in contact with the lower end of the thigh link 2b1, and the relative rotation of the thigh link 2b1 and the crus link 2b2 is rotated. The shaft rotates counterclockwise (upward arrow in FIG. 4).

That is, in this case, since the side surface of the protrusion of the lower leg engaging portion 3b1 does not abut (engage) the side surface of the depression at the lower end of the thigh link 2b1, the movement of the relative rotation of the thigh link 2b1 and the lower leg link 2b2 is stopped. No force to generate.
Therefore, in this case, the rotation restricting unit 3 does not restrict (stop) the relative rotational motion of the thigh link 2b1 and the crus link 2b2.
5 and 6 are diagrams illustrating a case where the user's leg is in the stance phase.
FIG. 5 is a diagram for explaining a case where the user stands on the knee fully extended.

In this case, first, the lower end of the ground contact sensor 3b3 moves upward from the position set in advance as the position of the swing leg period and becomes the same position as the lower end of the crus link 2b2. At this time, since the urging force of the push spring 3b2 is sufficiently strong so that the compression of the push spring due to its own weight of the crus engaging portion 3b1 becomes zero, the engagement member 3b does not change (shorten) the length, and the distance It will move up by h. Then, the upper end of the lower leg engaging portion 3b1, that is, the side surface of the upper end of the protrusion also moves upward by a distance h while sliding along the side surface of the depression of the thigh engaging portion 3a. That is, the side surface of the depression of the thigh engaging portion 3a and the side surface of the protrusion of the crus engaging portion 3b1 are in contact with each other by the distance h.

  Therefore, when the user is standing with the knee fully extended, even if the knee is bent while standing, the force (moment) that the side surface of the dimple of the thigh engaging portion 3a rotates clockwise is: The side surface of the protrusion of the lower leg engaging portion 3b1 receives a reaction due to a force (moment) that rotates counterclockwise. For this reason, the movement of the relative rotation of the thigh link 2b1 and the crus link 2b2 stops.

In this case, the depth of the depression of the thigh engaging portion 3a, that is, the length of the side surface of the thigh engaging portion 3a in the vertical direction is long even if it is slightly shorter than the moving distance h of the engaging member 3b. However, it does not matter if they are the same. If the depth of the dent of the thigh engaging portion 3a is slightly shorter than the distance h, the upper end of the projection of the crus engaging portion 3b1 collides with the bottom surface of the dent of the thigh engaging portion 3a to engage the thigh It receives a reaction force from the bottom surface of the recess of the portion 3a. However, since this reaction force is converted into a force that shortens the push spring 3b2 of the engaging member 3b, the members are not deformed or damaged. In addition, when the depth of the depression of the thigh engagement portion 3a is longer than or equal to the distance h, the upper end of the protrusion of the lower leg engagement portion 3b1 does not collide with the bottom surface of the depression of the thigh engagement portion 3a. Again, deformation and breakage of the members do not occur.
FIG. 6 is a diagram illustrating a case where the user's leg is bent in the stance phase (when the user is standing in a state where the knee is not fully extended).

  Since this is also the stance phase, first, the lower end of the ground sensor 3b3 moves upward by a distance h from the position previously set as the position of the swing phase, and becomes the same position as the lower end of the crus link 2b2. However, the upper end of the projection of the lower leg engaging portion 3b1 collides with a portion other than the lower portion of the lower end of the thigh link 2b1, and the side surface of the lower portion of the thigh engaging portion 3a and the side surface of the lower leg engaging portion 3b1 Will not abut.

  Accordingly, the force (moment) that the side surface of the depression of the thigh engaging portion 3a rotates clockwise is not affected by the force (moment) that the side surface of the protrusion of the lower leg engaging portion 3b1 rotates counterclockwise. The relative rotational movement of the link 2b1 and the lower leg link 2b2 is not restricted (cannot be stopped). That is, the movement of the user's knee flexion and extension is not hindered. In addition, the reaction force from the lower end of the thigh link 2b1 due to the collision between the upper end of the protrusion of the lower leg engaging portion 3b1 and the lower end of the lower end of the thigh link 2b1 is converted into a force that shortens the push spring. Even in this case, the members are not deformed or damaged.

As described above, according to the walking assist device 1 of the embodiment, the load support device 2a for supporting the load and the thigh of one leg of the user are mounted, and one end portion thereof can swing to the load support device 2a. A long thigh link 2b1 having a thigh engaging portion 3a at the other end, and a long crus link 2b2 having one end rotatably connected to the other end described above, An engaging member 3b having a crus engaging part 3b1 that is disposed on the crus link 2b2 and has one end engageable with the thigh engaging part 3a, and a grounding sensor 3b3 that detects grounding, and the grounding sensor 3b3 is grounded. When the user's knee is extended when the thigh is detected, the thigh engaging portion 3a and the lower thigh engaging portion 3b1 are engaged to stop the relative rotation of the thigh link 2b1 and the lower thigh link 2b2. When not extended, the thigh engaging part 3a and the crus engaging part 3 1 was prevented from being engaged.
Thereby, the load supporter 2a which can support a part of body weight like a cane can be actively utilized, and the load burden to a leg can be reduced.

Specifically, in order to make the walking assist device 1 as simple as possible, thin, and lightweight, the user's knee is fully extended when the user's walking and standing posture is maintained. By supporting the weight only when you are doing it, you can reduce the load on the lower limbs.
Thereby, it implement | achieves in the form which does not prevent the bending | flexion and extension operation | movement of a knee in a user's walk and operation | movement of daily life.

  As mentioned above, in the walking assistance device that is worn on the human body and reduces the load on the lower limbs, the stance leg must be fully extended to maintain the knee fully extended during the stance period. It is important to establish a technique that suppresses only knee flexion during the exercise. If this problem is solved, most of the reduction of the load on the lower limbs has been solved, at least on flat ground walking. In addition, pursuing a technique that also regulates knee flexion when the stance is standing while the knee is not fully extended increases the complexity, size, weight, and cost of the device.

Therefore, at least on flat ground walking, it prevents only the knee from bending when it is standing with the knee fully extended, and the knee when it is standing with the knee not fully extended. If technology that does not restrict the bending of the arm is realized, most of the problem of reducing the load on the lower limbs has been solved. This seems to be particularly considered in the development of a walking assist device intended for use by people who do not have special functional impairments in their legs.
<Modification 1 by changing structure>

The thigh link 2b1 and the crus link 2b2 are configured to branch to the inner side and the outer side of the user's knee, and in accordance with this configuration, the rotation restriction unit 3 is installed on the inner side and the outer side of the user's knee. good.
<Modification 2 by changing structure>
Although not shown, the hanging portion of the load support tool 2a may be eliminated, and the portion corresponding to the sciatic bone of the load support tool 2a may be directly connected to the upper end of the thigh link 2b1.
<Modification 3 by adding components>

When the knee is bent while carrying a heavy object, the engagement state of the thigh engaging portion 3a and the crus engaging portion 3b1 is manually set so that the knee can be bent without raising the sole of the user. An engagement release device for releasing may be provided in the user's waist or the like.
<Modification 4 by adding components>

  When the user's knee is fully extended, the thigh link 2b1 and the lower leg link 2b2 are usually aligned. However, for some reason, the user's knee may extend only in a slightly bent state. is assumed.

  However, the following simple method can be used with almost no change in the configuration of the apparatus. First, a plurality of thin (for example, about 0.6 mm) metal plates having the same shape as the side surface of the depression of the thigh engaging portion 3a are prepared. In the walking assist device 1, the side surface of the depression of the thigh engagement portion 3 a is disposed at a position in contact with the side surface of the tip of the protrusion of the second engagement portion. In this modification, the thigh engagement portion 3 a The side surface of the depression is slightly shifted to the rear of the user's knee from this position. Thus, an appropriate number of the plurality of metal plates described above is fitted into the space obtained by slightly shifting the user's knee to the back so as to fill the space. Since the side surface of the hollow of the thigh engaging portion 3a formed in this way is also disposed at a position in contact with the side surface of the tip of the protrusion of the crus engaging portion 3b1, the knee is fully extended. When a possible user uses this device, it functions in the same manner as the device before the change.

On the other hand, when a user who cannot fully extend the knee uses this device, it is removed by removing an appropriate number of the plurality of metal plates fitted in the side surface of the recess of the thigh engaging portion 3a. A gap is formed between the side surface of the protrusion of the thigh engaging portion 3a and the side surface of the protrusion of the crus engaging portion 3b1 by the thickness of the metal plate. In this case, both sides contact, i.e., engage only when the user's knee is not fully extended but somewhat bent. In this way, there is an advantage that it is not necessary to previously form a large number of side surfaces of the thigh engaging portion 3a according to the degree of knee extension of many users.
<Modification 5>
Drawing 7 is a figure explaining the wearing form of the walk auxiliary device of an embodiment.
As shown to Fig.7 (a), you may mount | wear so that most of the walk assistance apparatus 1 may be seen from the clothes which wore.
As shown in FIG.7 (b), after wearing the load support tool 2a, you may wear slacks and you may mount | wear so that a part of leg part 2b may be visible to the exterior of clothing.
As shown in FIG.7 (c), you may wear | wear with slacks after wearing the load support tool 2a, and you may mount | wear so that almost all of the walk assistance apparatus 1 may be arrange | positioned inside clothing.
<Second Embodiment>
Next, the walking assistance device of 2nd Embodiment is demonstrated.
Hereinafter, the walking assistance device of the second embodiment will be described with a focus on differences from the first embodiment described above, and description of similar matters will be omitted.
FIG. 8 is a diagram illustrating an outline of the left side surface when the user wears the walking assistance device of the second embodiment.

The walking assist device 1a of the second embodiment is made symmetrically. Below, based on FIG. 8 and FIG. 9, only the left side of the walking assistance apparatus 1a is demonstrated. The right side has the same configuration.
In FIG. 8, the left leg is in the swing phase state, and the right leg is in the stance phase.

  The walking assist device 1 a includes a load support portion 6 and a rotation restriction portion 7. The load support 6 includes a load support 6a having a weight support that mainly supports the user's weight at the sciatic part, and a leg 6b that supports a load applied to the load support. The hanging part 6a1 and the upper end of the leg part 6b of the load support 6a are connected so as to be swingable in the forward bending direction of the user's waist. Further, the upper ends of the hanging part 6a1 and the leg part 6b are connected so as not to be swingable in the backward bending direction of the user's waist.

The leg 6b has a thigh link 6b1 disposed on the user's thigh and a crus link 6b2 disposed on the user's lower leg. The thigh link 6b1 and the crus link 6b2 are connected so as to be able to swing in synchronization with the flexion and extension of the user's knee by a rotation shaft 6b3 inserted through a communication hole formed at the lower end of the thigh link 6b1 and the upper end of the crus link 6b2. Has been.
FIG. 9 is a diagram illustrating a rotation restricting unit according to the second embodiment.

  The rotation restricting portion 7 is disposed at the lower leg link 6b2 and the engaging member 7a whose upper end is slidably connected to a position near the center of the thigh link 6b1 and whose lower end is slidably connected to the lower leg link 6b2. And an engaging portion 7b.

The engaging member 7a has a rod-like member 7a1 having a strength sufficient to support a part of the user's weight and the like. The lower end of the engaging member 7a has a first protrusion 7a2 formed so as to protrude toward the rear of the user's knee, and a rotating shaft of the thigh link 6b1 and the crus link 6b2 that protrudes on both sides of the rod-shaped member 7a1. The second protrusion 7a3 is formed so as to be parallel to the axial direction.
A gap formed by the first protrusion 7a2 and the second protrusion 7a3 forms an engaging portion 7a4.

  The width of the rod-shaped member 7a1 is substantially equal to the width of the groove 6b7 formed by the two rod-shaped members 6b5 and 6b6 formed in the crus link 6b2 in parallel with the longitudinal direction of the crus link 6b2.

Further, both end portions of the second protrusion 7a3 are fitted in recesses provided in the rod-like members 6b5 and 6b6 (only the recess 6b61 is indicated by a lead line in FIG. 9). Therefore, the second projection 7a3 can slide in the up-down direction in FIG. 9 in the recess 6b61.
As a result, the rod-like member 7a1 can slide in the vertical direction in FIG. 9 along the crus link 6b2 along the groove 6b7.
The engaging portion 7a4 is disposed at a position that is the same height as the lower end of the engaging portion 7b when the user's knee is fully extended.

The engaging part 7b has a shape that can be engaged with the lower end of the engaging part 7a4, and moves between a position that engages with the engaging part 7a4 and a position that does not engage with the engaging part 7a and is on standby. It has a possible third protrusion 7b1.
The third protrusion 7b1 is disposed so as to be movable in the left-right direction in FIG. 9 by being inserted through the opening of the fixing portion 6b8 fixed to the crus link 6b2.
<Leaf spring 8>

  The upper end of the leaf spring 8 is disposed so as to contact the left end of the third protrusion 7b1. The lower end of the leaf spring 8 is disposed in contact with the upper end of the ground sensor 6b4. The leaf spring 8 is rotated by a rotating shaft 8a having a rotation point at a suitable point below the leaf spring 8 so that the leaf spring 8 can be slightly rotated on a surface orthogonal to the rotational surface of the relative rotation of the thigh link 6b1 and the lower leg link 6b2. It is connected to the link 6b2.

  During the stance phase of the user's leg, the ground sensor 6b4 moves upward, so that the tip of the leaf spring 8 disposed at the left end of the third protrusion 7b1 presses the third protrusion 7b1 to the right. Thereby, the 3rd protrusion 7b1 approachs, engaging with the engaging part 7a4. Thereby, the engaging part 7b engages with the engaging part 7a4.

  The third protrusion 7b1 is connected to the ground sensor 6b4 through the leaf spring 8. For this reason, even if the third protrusion 7b1 collides with the engaging portion 7a4, the reaction force received from the side surface of the first protrusion 7a2 elastically deforms the leaf spring 8, so that the third protrusion 7b1 is pushed back to the original position. Will be.

In the present embodiment, the rod-like member 7a1 is sandwiched between the groove portions 6b7. However, the present invention is not limited to this. For example, instead of the rod-like members 6b5 and 6b6, one rail-like member is disposed, and the second protrusion 7a3 at the lower end of the engaging portion 7a4 is sandwiched between the rail-like members from both sides. It may be changed to a key-shaped member.
<Components>

The belt part of the load support 6a, the hanging part 6a1, the weight support part 6, the thigh link 6b1, the crus link 6b2, the engaging part 7a4, the first protrusion 7a2, the second protrusion 7a3, the engaging part 7b of the engaging member 7a, The third protrusion 7b1 and the ground sensor 6b4 are formed of a member having a strength sufficient to withstand a load due to the weight of the user, such as a metal or a hard plastic.
The specific mechanism of the walking assistance device 1a of the second embodiment will be described in the following three cases.
(1) When the user's leg is in the swing phase (see FIG. 9)
FIG. 9 shows the state of the rotation restricting unit 7 when the user's leg is in the swing phase and the user's knee is fully extended.

First, the height of the lower surface of the first protrusion 7a2 and the upper surface of the third protrusion 7b1 when the user's knee is fully extended is set to be the same, and the first protrusion 7a2 and the third protrusion 7a The protrusion 7b1 is disposed at a position just before the contact. During the swing period of the user's leg, the ground sensor 6b4 does not push up the leaf spring 8 regardless of whether the user's knee is extended or bent, so that the tip of the leaf spring 8 faces the third protrusion 7b1. Therefore, the third protrusion 7b1 does not start moving. For this reason, when a user's leg is in a free leg period, the engaging part 7a4 and the engaging part 7b do not engage. For this reason, the rod-like member 7a1 of the engaging member 7a can move both upward and downward. That is, when the user's leg is in the free leg period, the rotation restricting unit 7 does not restrict (stop) the relative rotational movement of the thigh link 6b1 and the crus link 6b2.
(2) When the user stands with the knees fully extended

First, in a state where the user has fully extended the knee, the position (height) of the second protrusion 7b1 does not change regardless of whether the user's leg is in the stance phase or the swing phase. Therefore, a description will be given with reference to FIG. When the user stands with his knees fully extended, the ground sensor 6b4 is pushed upward to push up the lower end of the leaf spring 8. As a result, the tip of the leaf spring 8 rotates slightly clockwise on the paper surface with the rotation axis of the leaf spring 8 as the center of rotation. Thereby, the 3rd protrusion 7b1 moves toward the engaging part 7a4, As a result, the 3rd protrusion 7b1 and the engaging part 7a4 engage. Therefore, the downward movement of the rod-shaped member 7a1 is restricted. That is, when the user stands with the knee fully extended, the rotation restricting unit 7 restricts (stops) the relative rotational motion of the thigh link 6b1 and the crus link 6b2.
(3) When the user stands on the knee not fully extended

First, when the user has not fully extended the knee, the position (height) of the lower end of the engaging portion 7a4 is lower than the position (height) of the engaging portion 7b (that is configured in advance). ing). Therefore, naturally, the engaging portion 7a4 and the third protrusion 7b1 are not engaged. However, when the bending angle of the user's knee is small, the third protrusion 7b1 may collide with the side surface of the first protrusion 7a2. However, in this case, the reaction force that the third protrusion 7b1 receives from the side surface of the first protrusion 7a2 is converted into a force that elastically deforms the leaf spring 8, so that the members are not deformed or damaged. Further, the rod-shaped member 7a1 can move both upward and downward. That is, when the user stands with the knee not fully extended, the rotation restricting unit 7 does not restrict (stop) the relative rotational motion of the thigh link 6b1 and the crus link 6b2.
According to the walking assist device 1a of the second embodiment, the same effect as the walking assist device 1 of the first embodiment can be obtained.
<Third Embodiment>
Next, a walking assistance device according to a third embodiment will be described.

Hereinafter, the walking assistance device of the third embodiment will be described focusing on the differences from the first embodiment and the second embodiment described above, and description of similar matters will be omitted. .
The walking assist device 1b according to the third embodiment is different from the first and second embodiments in the shapes of the thigh engaging portion and the crus engaging portion and the structure of the engaging portion.
FIG. 10 is a diagram for explaining the walking assistance device according to the third embodiment.

In the walking assistance device 1a of the second embodiment, the third protrusion 7b1 linearly enters and engages with the engaging portion 7a4, but the walking assistance device 1b of the third embodiment. Are engaged by fitting the convex part into the concave part.
The thigh link 9 of the third embodiment includes an engaging portion 9a having a concave depression.
The thigh link 9 and the crus link 10 are rotatably connected by a rotation shaft 9b.

A leaf spring 11 is attached to the crus link 10. The leaf spring 11 is supported by the rotating shaft 10a. A part of the rotating shaft 10a is inserted into the fixing member 10b of the crus link 10. The leaf spring 11 can be rotated clockwise and counterclockwise about the rotation shaft 10a.
The leaf spring 11 includes an engaging portion 11a having a convex protrusion that can be engaged with the engaging portion 9a.
The leaf spring 11 is urged counterclockwise by a tension spring 12 attached to the fixing member 10b.
A ground sensor 6 b 4 is disposed at the lower end of the leaf spring 11. As the ground sensor 6b4 rises, the leaf spring 11 rotates clockwise about the rotation shaft 10a.
Further, the crus link 10 is provided with a protrusion presser 10c for pressing the protrusion of the engaging portion 11a.

  When the thigh link 9 is about to rotate clockwise by bending the knee in a state where the engaging portion 9a and the engaging portion 11a are engaged, the protrusion holding portion 10c is rotated counterclockwise. Will rotate. Therefore, in order to suppress knee flexion, it is only necessary to suppress the engagement portion 11a from rotating counterclockwise. The protrusion presser 10c has a function of suppressing the counterclockwise rotation of the engaging portion 11a.

  In addition, although not shown in figure, the uneven | corrugated combination may be reversed. That is, the engaging part 9a may have a convex protrusion, and the engaging part 11a may have a concave part that can be engaged with the protrusion of the engaging part 9a.

  Both the engaging portion 9a and the engaging portion 11a may be convex projections. In this case, it arrange | positions so that the processus | protrusion of the engaging part 9a may be located in the back of a user's knee rather than the processus | protrusion of the engaging part 11a.

  Below, as shown in FIG. 10, the case where the engaging part 9a is formed in a concave hollow and the engaging part 11a is formed in a convex protrusion is demonstrated. The side surface of the concave recess is not rounded but is perpendicular to the bottom surface. The shape of the bottom surface may be any shape other than a circle, and may be a complicated shape. The shape of the engaging portion 11a is basically the same as the shape of the engaging portion 9a. Even if it is slightly different, it is sufficient that the projection of the engaging portion 11a can be fitted into the concave depression of the engaging portion 9a so that both can be engaged. The front part of the convex protrusion of the engaging part 11a is arranged to be at a slightly higher position away from the surface of the crus link 10 than the rear part. That is, the tip portion of the protrusion is slightly rotatable on a surface perpendicular to the rotational surface of the relative rotation of the thigh link 9 and the crus link 10 with the fixed portions on both side surfaces of the protrusion as the rotation axis. Certain portions on both side surfaces of the projection of the joint portion 11a are rotatably connected to the crus link 10.

  Further, the tip of the protrusion of the engaging portion 11a is arranged so as to be slightly above the upper surface of the concave recess of the engaging portion 9a during the swinging leg, and when the grounding sensor 6b4 detects grounding, Instead of moving in a moving manner, it is slightly rotated on a surface perpendicular to the rotational surface of the relative rotation of the thigh link 9 and the lower leg link 10 so as to approach and enter the concave recess of the engaging portion 9a. ing.

As a result, when the user's leg is in the stance phase and the knee is bent, the engagement portion is not round unless the shape of the bottom surface of the recess of the engagement portion 9a is circular, even if the knee has a slight or large bending angle. The tip of the protrusion of the engaging portion 11a will not fit into the recess 9a, that is, it will not fit. In addition, in that case, the protrusion of the engaging portion 11a can be pushed back by elastic deformation of the leaf spring.
The same effect as the walking assist device 1a can be obtained by the walking assist device 1b.

As mentioned above, although the walking assistance apparatus of this invention was demonstrated based on embodiment of illustration, this invention is not limited to this, The structure of each part is set to the thing of the arbitrary structures which have the same function. Can be replaced. Moreover, other arbitrary structures and processes may be added to the present invention.
Further, the present invention may be a combination of any two or more configurations (features) of the above-described embodiments.

DESCRIPTION OF SYMBOLS 1 Walking assistance apparatus 2 Load support part 2a Load support 2a1 Weight support part 2a2 Hanging part 2a3 Belt part 2a4 Load arrangement part 2b Leg part 2b1 Thigh link 2b2 Lower leg link 3 Rotation restriction part 3a Thigh engagement part 3b Engagement member 3b1 Lower leg Engagement part 3b2 Push spring 3b3 Ground sensor 4 Connecting member 5a, 5b, 5c Support part --- Second embodiment ---
DESCRIPTION OF SYMBOLS 1a Walking assistance apparatus 6 Load support part 6a Load support tool 6b Leg part 6b1 Thigh link 6b2 Lower leg link 6b3 Rotating shaft 6b4 Ground sensor 6b5, 6b6 Rod-shaped member 6b61 Recessed part 6b7 Groove part 6b8 Fixing part 7a Engagement part 7b Engagement part 7b Part 7a1 Rod-like member 7a2 First protrusion 7a3 Second protrusion 7a4 Engaging part 7b1 Third protrusion 8 Leaf spring 8a Rotating shaft --- Third embodiment--
DESCRIPTION OF SYMBOLS 1b Walking assistance apparatus 9 Thigh link 9a Engagement part 9b Rotating shaft 10 Lower leg link 10a Rotating shaft 10b Fixing member 10c Protrusion presser 11 Leaf spring 11a Engaging part 12 Pull spring

Claims (6)

A walking assistance device that reduces the load on the user's leg when used for walking on flat ground ,
A load support for supporting the load;
An elongate thigh link that is attached to the thigh of one leg of the user, has one end portion swingably connected to the load support, and has a first engagement portion at the other end portion;
An elongate crus link, one end of which is rotatably connected to the other end;
An engagement member disposed on the lower leg link and having a second engagement portion whose one end is engageable with the first engagement portion;
A ground sensor for detecting ground; and
With
When the ground sensor detects ground during stance when the knee of the user has fully extended, the first engagement portion and the second engagement portion is engaged with the femoral link and stop relative rotation of said shank link, when the grounding sensor detects ground during stance when the knee of the user is not fully extended is, the said first engagement portion A walking assist device, wherein the second engaging portion is not engaged.   The walking assistance device according to claim 1, wherein the first engagement portion and the second engagement portion do not engage when the ground contact sensor does not detect ground contact.   The walking assistance device according to claim 1, wherein the engagement member includes an elastic member that brings the second engagement portion close to the first engagement portion when the ground contact of the ground sensor is detected. A walking assistance device that reduces the load on the user's leg when used for walking on flat ground ,
A load support for supporting the load;
A long thigh link that is mounted on the thigh of one leg of the user and whose upper end is swingably coupled to the load support;
An elongate lower leg link that is pivotably connected to the lower end of the thigh link;
A first engagement portion having one end portion slidably connected to the vicinity of the center of the thigh link and the other end portion slidably connected to the crus link;
An engagement member disposed on the lower leg link and having a second engagement portion engageable with the other end portion of the first engagement portion when one end of the user's knee is fully extended;
A ground sensor for detecting ground; and
With
When the ground sensor detects ground during stance when the knee of the user has fully extended, the first engagement portion and the second engagement portion is engaged with the femoral link and stop relative rotation of said shank link, during stance when the knee of the user is not extended to the full is that the second engagement portion and the first engaging portion does not engage A walking assistance device characterized by.   The walking assistance device according to claim 4, wherein the first engagement portion and the second engagement portion do not engage when the ground contact sensor does not detect ground contact.   The walking assist device according to claim 4, wherein the engagement member includes an elastic member that brings the second engagement portion into proximity with the first engagement portion when the ground contact of the ground sensor is detected.

Images