JP6860743B2 - Joint movement assist device - Google Patents

Description

The present invention relates to a joint movement assist device, and more particularly to a joint movement assist device that assists the joint movement of a predetermined object.

Conventionally, various devices used for rehabilitation have been proposed. Some of these devices, on behalf of physiotherapists and the like, assist in therapeutic gymnastics exercises to restore the patient's basic movement functions.

As one of the devices for assisting the movement of such a patient, when the finger is paralyzed and contracted due to a central nervous system disorder such as cerebral infarction, the expansion and contraction of the bellows is used to assist the joint movement of the finger. (See Patent Document 1: Hereinafter referred to as "conventional example"). As in the conventional example, the joint movement assist device using the bellows is lighter than the device using the actuator driven by the motor and the wire, and is therefore highly practical. Further, since the joint movement assist device using the bellows can be driven at a low pressure, a low vibration and low noise pump such as a diaphragm type pump or a vane type pump can be used. From this point as well, it can be said that the joint movement assist device using the stretchable bellows is highly practical.

In this conventional technique, a stretchable bellows is placed at the joint to be assisted. Then, the one-sided transmission member connected to the one-sided end of the bellows is attached to the one-sided connecting portion connected to the joint to be assisted. Further, the other-side transmission member connected to the other-side end of the bellows is attached to the other-side connection portion connected to the joint to be assisted. When air is forcibly discharged from the bellows under such a wearing state, the bellows contracts to assist the joint movement that changes from the joint flexion state to the joint extension state. Further, when air is forcibly supplied to the bellows, the bellows expands to assist the joint movement that changes from the joint extension state to the joint flexion state.

International Publication No. 2011/043095

In the above-described conventional technique, the force for assisting the joint movement generated by the bellows is directly transmitted only to the one-sided connection portion attached to the one-sided transmission member by the one-sided transmission member. Further, the force generated by the bellows is directly transmitted only to the other side connection portion mounted on the other side transmission member by the other side transmission member. With the configuration of such a conventional device, for example, when the knee joint or the ankle joint is exercised, a load may be applied to the knee or the ankle. Therefore, in the conventional technique, there is room for improvement in assisting joint movement.

Therefore, there is a demand for a technique capable of reducing the load applied to the joints and performing effective rehabilitation when performing joint exercises. Responding to such a request is one of the problems to be solved by the present invention.

The present invention has been made in view of the above circumstances, and provides a new joint movement assist device capable of appropriately assisting joint movement in a manner of reducing the load applied to the joint to be assisted. The purpose.

The present invention is an exoskeleton-type joint movement that is attached to a predetermined object having a skeletal structure and assists joint movement using a joint mechanism that connects one side portion and the other side portion of the predetermined object. An assist device, which is a force provided for a joint to assist the joint movement and assists the joint movement when arranged in a joint portion in a direction perpendicular to the rotation axis of the joint rotation movement. With a stretchable bellows to generate; an adjusting part for adjusting the working fluid pressure in the bellows; and a one-sided transmission member connected to one end of the bellows and attached to the one-sided portion; With the other side transmitting member connected to the other side end of the bellows and attached to the other side part; arranged on the side part of the one side part along the direction in which the one side part extends from the joint. And attached to the one-sided transmission member; the other-side portion is arranged on the side of the other-sided portion along the direction extending from the joint and attached to the other-side transmission member. With the other lateral skeleton member; the one end of the one lateral skeleton member on the joint side and the one end of the other lateral skeleton member on the joint side are rotated at positions corresponding to the joint. The one-sided transmission member transmits a force that assists the flexion-extension joint movement caused by the expansion and contraction of the bellows to the one-sided kyphosis member. The other-side transmission member is a joint movement assist device characterized in that a force for assisting flexion-extension joint movement due to expansion and contraction of the bellows is transmitted to the other-side ectoskeletal member.

In the joint movement assist device, when the device is attached to a predetermined object, one exoskeleton member is arranged on the side of the one side along the direction in which the one side extends, and the other side is outside. The skeletal member is arranged on the side portion of the other side portion along the direction in which the other side portion extends. Then, one end of the one-sided exoskeleton member on the joint side and one end of the other-side exoskeleton member on the joint side can rotate in the rotation direction of the joint at a position corresponding to the joint. , Are articulated by the articulation mechanism. When the bellows expands or contracts in such a state, the force generated by the bellows is transmitted to the one-side exoskeleton member by the one-side transmission member and to the other-side exoskeleton member by the other-side transmission member. The force generated by the bellows is transmitted to the articulating mechanism that connects one end of the one-sided exoskeleton member on the joint side and one end of the other-sided exoskeleton member on the joint side. The angle at which the member intersects the other exoskeleton member changes. As a result, the movement of the joint connecting the one-sided portion and the other-sided portion is assisted.

Therefore, according to the joint movement assist device of the present invention, the joint movement can be appropriately assisted in a manner of reducing the load applied to the joint to be assisted.

Here, the predetermined object may be a part of the human body or an object other than the human body having a skeletal structure.

If a lightweight soft resin bellows is used as a component, the weight of the joint exercise assist wearing can be reduced, and the physical burden on the person wearing the joint movement assist wearing can be reduced. ..

In the joint movement assist device of the present invention, the articulating mechanism is fixed to the one end portion of the one-sided exoskeleton member, and when the one-sided exoskeleton member is attached to the one-sided portion, the joint A one-sided gear member having teeth formed on its outer periphery along the direction of rotational movement; fixed to the one end of the other-side exoskeleton member, and the other-side exoskeleton member attached to the other-side portion. When the joint is engaged with the one-sided gear member, the tooth portion meshes with the other-side gear member formed on the outer peripheral portion along the rotational movement direction of the joint; the one-side gear member and the other side. It can be configured to include an arm member that secures meshing with the gear member; In this case, the rotational movement of the one-sided exoskeleton member and the other-sided exoskeleton member is, for example, the flexion of the knee joint, as compared with the rotational movement of the exoskeleton member when rotated about one axis. It is possible to approach the actual movements of the extension movement and the flexion and extension movement of the ankle joint. Therefore, more appropriate joint movement can be assisted.

Further, in the joint movement assist device of the present invention, the one-sided exoskeleton member is a one-sided medial exoskeleton member mounted inside the one-sided portion; and one-sided laterally mounted outside the one-sided portion. The other side exoskeleton member includes an exoskeleton member; the other side exoskeleton member is attached to the inside of the other side portion; and the other side outer exoskeleton member is attached to the outside of the other side portion. And; can be configured. In this case, the load applied to the joint to be assisted can be further reduced as compared with the case where the exoskeleton member is arranged on either the inside or the outside of the one-sided portion and the other-side portion. Therefore, the joint movement can be appropriately assisted in a manner that further reduces the load applied to the joint to be assisted.

In the joint movement assist device of the present invention, the bellows can be arranged on at least one of the flexion side and the extension side of the joint to assist the joint movement. In this case, it is possible to provide a joint movement assist device in which a bellows is arranged at a position desired by a person who wears the joint movement assist device.

Further, in the joint movement assist device of the present invention, the joint to assist the joint movement is an ankle joint, the one-sided kyphosis member is attached to the lower leg portion of the lower limb, and the other-side kyphosis member is The bellows, which are attached to the foot portion of the lower limb and placed on the ankle joint portion, can assist the flexion / extension movement of the ankle joint. In this case, effective rehabilitation can be performed on the movement of the ankle joint in a manner of reducing the load applied to the ankle joint.

Here, when the joint to be assisted is an ankle joint, a foot mounting portion including a sole member on which the sole of the foot is arranged is further provided, and the other exoskeleton member is the other. The other end of the lateral exoskeleton member opposite to the one end can be attached to the sole member. In this case, the foot attachment portion can be attached to the foot portion to assist the movement of the ankle joint. Then, when a configuration further including a foot mounting portion is adopted, the other end portion of the other side exoskeleton member is rotatably attached to the sole member in the rotation direction of the ankle joint. Can be. In this case, the range of motion of the ankle joint to be assisted can be expanded.

Further, when a configuration including a foot mounting portion is adopted, the central portion of the sole member can be formed to have a shape that rises higher than the peripheral portion of the sole member. In this case, the sole member can be a sole member that fits the shape of the sole having an arch. Therefore, it is possible to assist the joint movement in a state where the blood flow in the foot is promoted and the blood circulation in the foot is improved.

Further, when a configuration including a foot mounting portion is adopted, the foot mounting portion can be rotated around the direction in which the lower leg extends at a position corresponding to the center of the heel portion of the foot. It can be configured to further include a footrest member to which the above is attached. In this case, the abduction motion and the adduction motion of the foot can be performed by rotating the foot mounting portion with respect to the footrest member.

Here, in the case of adopting a configuration further including a footrest member, a configuration is further provided with a side arrangement bellows arranged on the toe side of at least one side of the foot portion, and the foot portion in the footrest member. A wall portion erected from the bottom of the footrest member is formed on the side of at least one side of the footrest member, and one end of the side-arranged bellows is connected to the wall portion of the footrest member. The other end of the side-arranged bellows is connected to the foot-mounted portion on the side facing the wall, and the extension and contraction of the side-arranged bellows assists the abduction and adduction movements of the ankle joint. Can be done. In this case, the working fluid pressure in the laterally arranged bellows can be adjusted to assist the abduction and adduction movements of the ankle joint.

Further, when the joint to be assisted is the ankle joint, the other side transmission member attached to the foot is the ankle side transmission member attached to the bellows that assists the flexion / extension movement of the ankle joint; A varus correction bellows having one end connected to the ankle-side transmission member; and a toe-side transmission member connected to the other end of the varus correction bellows; The other side outer skeleton member attached to the foot includes a foot inner outer skeleton member attached to the inside of the foot; and a foot outer outer skeleton member attached to the outside of the foot; The ankle-side transmission member is attached to the foot medial outer skeleton member, the toe-side transmission member is attached to the foot lateral outer skeleton member, and the foot medial outer skeleton member and the foot lateral outer skeleton. The member can be movably attached to the fixing member that fixes the foot, and the contraction of the varus correction bellows assists the varus foot to the correction position.

Here, when the foot is in the varus state, the distance between the ankle-side transmission member and the toe-side transmission member is wider than when the foot is in the normal state, and the foot is attached to the ankle-side transmission member. The medial foot outer skeleton member and the lateral foot outer skeleton member attached to the toe side transmission member are not parallel to each other. When the varus correction bellows contracts while the foot is in a varus state, the distance between the ankle-side transmission member and the toe-side transmission member is narrowed, and the foot medial exoskeleton member attached to the ankle-side transmission member. The foot medial outer skeleton member and the foot lateral lateral skeleton member move so as to be parallel to the foot lateral lateral skeleton member attached to the toe side transmission member. As a result, the varus foot can be corrected and the foot can be brought to a normal state.

In the joint movement assist device of the present invention, the joint to assist the joint movement can be a toe joint. In this case, effective rehabilitation can be performed on the movement of the knuckle joint in a manner of reducing the load applied to the knuckle joint.

Further, in the joint movement assist device of the present invention, the joint to assist the joint movement is a knee joint, the one-sided exoskeleton member is attached to the thigh, and the other-sided exoskeleton member is lower. It can be worn on the thigh. In this case, effective rehabilitation can be performed on the movement of the knee joint in a manner of reducing the load applied to the knee joint.

As described above, the joint movement assist device of the present invention has an effect that the joint movement can be appropriately assisted in a manner of reducing the load applied to the joint to be assisted.

It is an external view (the 1) of the joint movement assisting apparatus which concerns on 1st Embodiment of this invention. FIG. 2 is an external view (No. 2) of the joint movement assist device according to the first embodiment of the present invention. It is a figure for demonstrating the structure of the knee joint movement assist part in the apparatus of FIG. It is a figure for demonstrating the structure of the foot joint movement assist part in the apparatus of FIG. It is a figure for demonstrating the structure of the foot joint exercise assist part of FIG. It is a figure for demonstrating the structure of the foot attachment part of FIG. It is a figure for demonstrating the structure of the adjustment part of FIG. It is a figure (the 1) for demonstrating the example of the state of the joint movement assist device which concerns on 1st Embodiment. It is a figure (the 2) for demonstrating the example of the state of the joint movement assist device which concerns on 1st Embodiment. It is a figure (the 3) for demonstrating the example of the state of the joint movement assist device which concerns on 1st Embodiment.

It is an external view of the joint movement assist device which concerns on 2nd Embodiment of this invention. It is a figure for demonstrating the structure of the foot attachment part of FIG. It is a figure for demonstrating the structure of the abduction / adduction assist part of FIG. It is a figure for demonstrating the abduction assist and the adduction assist of the foot part by the foot joint movement assist part which concerns on 2nd Embodiment.

It is an external view (the 1) of the foot joint movement assist part which concerns on 3rd Embodiment of this invention. It is external view (the 2) of the foot joint movement assist part which concerns on 3rd Embodiment of this invention. It is a figure for demonstrating the varus of the foot. It is a figure (the 1) for demonstrating the assist of the varus correction of the foot by the foot joint movement assist part which concerns on 3rd Embodiment. It is a figure (the 2) for demonstrating the assist of the varus correction of the foot by the foot joint movement assist part which concerns on 3rd Embodiment. It is a figure (the 3) for demonstrating the assist of the varus correction of the foot by the foot joint movement assist part which concerns on 3rd Embodiment.

It is a figure for demonstrating the modification of the joint movement assist device. It is a figure for demonstrating the example of the state of the joint movement assist device of FIG. It is a figure for demonstrating the deformation example of the foot joint exercise assist part. It is a figure for demonstrating the example of the state of the foot joint movement assist part of FIG. It is a figure for demonstrating the deformation example of the foot attachment part. It is a figure (the 1) for demonstrating the modification of the foot joint movement assist part which concerns on 3rd Embodiment. It is a figure (the 2) for demonstrating the modification of the foot joint movement assist part which concerns on 3rd Embodiment.

100A, 100B, 100D ... Joint movement assist device, 120A ... Knee joint movement assist part, 130A, 130B, 130E, 130F ... Foot joint movement assist part, 211 ₁ , 211 ₂ ... First exoskeleton member, 212 ₁ , 212 _2, 212F ₂ ... second outer frame member, 213 _1, 213 ₂ ... third outer frame member, 214 _1, 214 ₂ ... fourth outer frame member, 221 _1, 221 ₂ ... first connecting member (arm member), 222 ₁ , 222 ₂ ... 2nd joint member (arm member), 223 ₁ , 223 ₂ ... Shaft member, 231 ... 1st bellows, 232 ... 2nd bellows, 233 ... 3rd bellows, 241 ... 1st transmission member, 242 ... 2nd transmission member, 243 ... 3rd transmission member, 244 ... 4th transmission member, 245 ... 5th transmission member, 251,252,253 ... Piping, 261,262,263,264 ... Mounting member, 265 ... Finger Mounting member, 266 ... Mounting member, 270A, 270C ... Foot mounting part, 271A, 271B ... Sole member, 272 ... Ankle stop member, 273 ₁ , 273 ₂ ... Mounting member, 275 ₁ , 275 ₂ ... Bellows mounting member , 280A, 280B ... Adjustment unit, 281 ... Pressurized pump, 282 ... Decompression pump, 283 ... Electric-pneumatic control valve, 284 ... Control unit, 285, 286 ... Piping, 350 ... Abduction / adduction assist unit, 351 ... Footrest member, 355 ₁ , 355 ₂ ... Side arrangement bellows, 441 ... 1st transmission member, 442 ... 2nd transmission member, 443D, 443E ... 3rd transmission member, 444D, 444E ... 4th transmission member, 445 ... 5 Transmission member, 530C, 530D ... Foot joint movement assist part, 512 ₁ , 512 ₂ ... Second ectoskeletal member, 513 ₁ , 513 ₂ ... Third ectoskeletal member, 514 ₁ , 514 ₂ ... Fourth ectoskeletal member 522 _{1, O} , 522 _{1, I} , 522 _{2, O} , 522 _{2, I} ... 2nd articulated member, 523 ₁ , 523 ₂ ... Shaft member, 532 ... 2nd bellows, 533 ... 3rd bellows, 543 ... 3 transmission member 544 ... fourth transmission member, 545 ... fifth transmission member 562 _1, 562 ₂ ... second mounting member, 563 _1, 563 ₂ ... third mounting member, 564 ... fourth mounting member ( (Fixing member)) 565 ... 5th mounting member, 611 ... ankle side transmission member, 612 ... toe side transmission member, 613 ... varus correction bellows, 621 ₁ , 621 ₂ ... rod-shaped member insertion part, 644 ... sole Material, 645 ... 5th transmission member, FTL ... left lower limb, CH ... chair, CS ... stand

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the embodiment, a joint movement assist device attached to the left lower limb of the human body will be described as an example. Further, in the following description and drawings, the same or equivalent elements are designated by the same reference numerals, and duplicate description will be omitted.

[First Embodiment]
First, the first embodiment of the present invention will be described with reference to FIGS. 1 to 10.

<Structure>
1 and 2 show an external view of the joint movement assist device 100A according to the first embodiment. The coordinate systems (X, Y, Z) in FIGS. 1 and 2 are defined as shown in the figure. Here, FIG. 1 shows the joint movement assist device 100A attached to the left lower limb (FTL) of the human body in the −X direction side (outside on the left side of the left lower limb) with the human body sitting on the chair CH. It is an external view (YZ plan view) seen from. Further, FIG. 2 is an external view (YZ plan view) of the joint movement assist device 100A shown in FIG. 1 as viewed from the + X direction side (inside which is the right side of the left lower limb).

As comprehensively shown by FIGS. 1 and 2, the joint movement assist device 100A includes the first exoskeleton members 211 ₁ , 211 ₂ , the second exoskeleton members 212 ₁ , 212 ₂ , and the third exoskeleton member 213. _{It is provided with 1} , 213 ₂ and the fourth exoskeleton members 214 ₁ , 214 ₂ . Further, the joint movement assist device 100A includes first connecting members 221 ₁ , 2212 ₂ , second connecting members 222 ₁ , 222 ₂ , and shaft members 223 ₁ , 223 ₂ .

Further, the joint movement assist device 100A includes a first bellows 231 and a second bellows 232 and a third bellows 233. Further, the joint movement assist device 100A includes a first transmission member 241, a second transmission member 242, a third transmission member 243, a fourth transmission member 244, and a fifth transmission member 245. Further, the joint movement assist device 100A includes a foot mounting portion 270A and an adjusting portion 280A.

In the first embodiment, among the components of the joint movement assist device 100A described above, as shown in FIG. 3, the first exoskeleton members 211 ₁ , 211 ₂ and the second exoskeleton members 212 ₁ , 212 ₂ , The portion including the first connecting members 221 ₁ , 2212 ₂ , the first bellows 231 and the first transmission member 241 and the second transmission member 242 is referred to as a knee joint movement assist portion 120A. The knee joint movement assist unit 120A assists the joint movement performed by utilizing the mechanism of the knee joint of the “left leg of the human body” as a predetermined object.

Further, in the first embodiment, among the components of the joint movement assist device 100A described above, as shown in FIG. 4, the second exoskeleton members 212 ₁ , 212 ₂ and the third exoskeleton members 213 ₁ , 213 ₂ , 4th exoskeleton members 214 ₁ , 214 ₂ , 2nd articulated members 222 ₁ , 222 ₂ , shaft members 223 ₁ , 223 ₂ , 2nd bellows 232, 3rd bellows 233, 3rd transmission A portion including the member 243, the fourth transmission member 244, the fifth transmission member 245, and the foot mounting portion 270A is referred to as a foot joint movement assist portion 130A. Then, FIG. 5 shows a conceptual diagram when the portion of the square frame shown in FIG. 4 is viewed from the + Z direction side. In FIG. 5, the foot portion to which the foot joint movement assist portion 130A is attached is not shown. The ankle joint movement assisting unit 130A assists joint movements performed by utilizing the mechanism of the ankle joint (ankle joint) and the toe joint of the "left foot of the human body" as a predetermined object.

The first exoskeleton members 211 ₁ and 211 ₂ are, for example, steel members, and are fixed to the long plate-shaped exoskeleton member and one end of the long plate-shaped exoskeleton member in the longitudinal direction. It is composed of an exoskeleton gear. The first exoskeleton member 211 ₁ is arranged on the outside (−X direction side) of the left thigh along the direction extending from the hip joint to the knee joint. Further, the first exoskeleton member 211 ₂ is arranged inside the left thigh (+ X direction side) along the direction extending from the hip joint to the knee joint. Then, the first exoskeleton members 211 ₁ and 211 ₂ are attached to the first transmission member 241 via, for example, the attachment member 261 made of hard resin, and are attached to the left thigh together with the first transmission member 241. Will be done.

Here, when the joint to assist the joint movement is the knee joint, the left thigh corresponds to one side portion, and the first exoskeleton members 211 ₁ and 211 ₂ correspond to one side exoskeleton member. ing. The first exoskeleton member 211 ₁ corresponds to the one-side outer exoskeleton member, and the first exoskeleton member 211 ₂ corresponds to the one-side inner exoskeleton member.

The second exoskeleton members 212 ₁ and 212 ₂ are, for example, steel members, and are fixed to both the long plate-shaped exoskeleton member and the end portions of the long plate-shaped exoskeleton member in the longitudinal direction. It is composed of an exoskeleton gear. The second exoskeleton member 212 ₁ is arranged on the outside (-X direction side) of the left lower leg along the direction extending from the knee joint to the ankle joint. Further, the second exoskeleton member 212 ₂ is arranged inside the left lower leg (+ X direction side) along the direction extending from the knee joint to the ankle joint. Then, the second exoskeleton members 212 ₁ and 212 ₂ are attached to the second transmission member 242 via the attachment member 262 made of hard resin or the like, and are attached to the left lower leg together with the second transmission member 242. .. Further, the second exoskeleton members 212 ₁ and 212 ₂ are attached to the third transmission member 243 via an attachment member 263 made of hard resin or the like, and are attached to the left lower leg together with the third transmission member 243. ..

The external tooth gear at the end of the second exoskeleton member 212 _{1 on} the knee joint side meshes with the external tooth gear at the end on the knee joint side of the _{first exoskeleton member 211 1 at a position corresponding to the knee joint.} the mesh is secured by a first connecting member (arm member) 221 _1. Further, the external tooth gear at the end of the second exoskeleton member 212 _{2 on} the knee joint side meshes with the external tooth gear at the end of the first exoskeleton member 211 _{2 on} the knee joint side at a position corresponding to the knee joint. and, the mesh is secured by a first connecting member (arm member) 221 _2. Then, due to the engagement, the first exoskeleton members 211 ₁ , 211 ₂ and the second exoskeleton members 212 ₁ , 212 ₂ can rotate with each other in the rotation direction of the knee joint at positions corresponding to the knee joint. ing.

Here, the external gear of the end of the knee joint side of the second outer frame member 212 _1, the external gears and the first link member 221 _first end of the knee joint side of the first outer frame member 211 _1, the knee It corresponds to the articulation mechanism on the outside of the joint. Further, the external gear of the end of the knee joint side of the second outer frame member 212 _2, the external gears and the first link member 221 _{and second} end portion of the knee joint side of the first outer frame member 211 _2, the knee joint It corresponds to the articulation mechanism inside.

When the joint to assist the joint movement is the knee joint, the left lower leg corresponds to the other side portion, and the second exoskeleton members 212 ₁ and 212 ₂ correspond to the other side exoskeleton member. .. The second exoskeleton member 212 ₁ corresponds to the other side outer exoskeleton member, and the second exoskeleton member 212 ₂ corresponds to the other side inner exoskeleton member.

On the other hand, when the joint to assist the joint movement is the ankle joint, the left lower leg corresponds to one side portion, and the second exoskeleton members 212 ₁ and 212 ₂ correspond to the one side exoskeleton member. .. The second exoskeleton member 212 ₁ corresponds to the one-side outer exoskeleton member, and the second exoskeleton member 212 ₂ corresponds to the one-side inner exoskeleton member.

The third exoskeleton members 213 ₁ , 213 ₂ are, for example, steel members, and are fixed to a long plate-shaped exoskeleton member and one end in the longitudinal direction of the long plate-shaped exoskeleton member. It is composed of an exoskeleton gear. The third exoskeleton member 213 ₁ is arranged on the outside (−X direction side) of the left foot portion along the direction extending from the ankle joint to the toe joint. Further, the third exoskeleton member 213 ₂ is arranged on the medial side (+ X direction side) of the left foot portion along the direction extending from the ankle joint to the toe joint. Then, the third exoskeleton members 213 ₁ , 213 ₂ are attached to the fourth transmission member 244 via the attachment member 264 made of hard resin, and are attached to the left foot portion together with the fourth transmission member 244.

The external gear at the end of the third exoskeleton member 213 _{1 on} the ankle joint side meshes with the external gear at the end on the ankle joint side of _{the second exoskeleton member 212 1 at a position corresponding to the ankle joint.} The meshing is secured by the second articulated member 222 _1. Further, the external gear of the end of the ankle joint side of the third outer frame member 213 ₂ is at a position corresponding to the ankle joint, the external gear meshed with the end of the ankle joint side in the second outer frame member 212 ₂ However, the meshing is secured by _{the second articulating member 222 2.} Then, due to the engagement, the second exoskeleton members 212 ₁ , 212 ₂ and the third exoskeleton members 213 ₁ , 213 ₂ can rotate with each other in the rotation direction of the ankle joints at positions corresponding to the ankle joints. ing.

Here, the external tooth gear at the end of the third exoskeleton member 213 _{1 on} the ankle joint side, the external tooth gear at the end of the second exoskeleton member 212 _{1 on} the ankle joint side, and the second connecting member 222 ₁ are ankles. It corresponds to the articulation mechanism on the outside of the joint. Further, the external tooth gear at the end of the third exoskeleton member 213 _{2 on} the ankle joint side, the external tooth gear at the end of the second exoskeleton member 212 _{2 on} the ankle joint side, and the second connecting member 222 ₂ are ankle joints. It corresponds to the connection mechanism inside.

When the joint to assist the joint movement is the ankle joint, the left foot portion corresponds to the other side portion, and the third exoskeleton members 213 ₁ and 213 ₂ correspond to the other side exoskeleton member. The third exoskeleton member 213 ₁ corresponds to the other side outer exoskeleton member, and the third exoskeleton member 213 ₂ corresponds to the other side inner exoskeleton member.

On the other hand, when the joint to assist the joint movement is the toe joint, the heel side of the left foot corresponds to one side part, and the third exoskeleton members 213 ₁ and 213 ₂ correspond to one side exoskeleton member. ing. The third exoskeleton member 213 ₁ corresponds to the one-side outer exoskeleton member, and the third exoskeleton member 213 ₂ corresponds to the one-side inner exoskeleton member.

The fourth exoskeleton members 214 ₁ and 214 ₂ are, for example, steel members, and are long plate-shaped exoskeleton members. The fourth exoskeleton member 214 ₁ is arranged on the little finger side (−X direction side) of the left foot along the direction extending from the toe joint to the fingertip. Further, the fourth exoskeleton member 214 ₂ is arranged on the thumb side (+ X direction side) of the left foot portion along the direction extending from the toe joint to the fingertip. Then, the fourth exoskeleton members 214 ₁ and 214 ₂ are attached to the fifth transmission member 245 by being attached to the hard resin finger attachment member 265 attached to the five toes of the toes, and the toes of the left foot are attached. It is attached to.

The end of the fourth exoskeleton member 214 _{1 on} the knuckle joint side is at a position corresponding to the toe joint, and the end of the third exoskeleton member 213 _{1 on} the knuckle joint side is centered on the shaft member 223 _1. It is rotatably attached. Further, the end portion of the fourth exoskeleton member 214 _{2 on} the toe joint side is located at a position corresponding to the toe joint, _{and the shaft member 223 2} is attached to the end portion of _{the third exoskeleton member 213 2 on the toe joint side.} It is rotatably attached to the shaft.

Here, when the joint to assist the joint movement is the toe joint, the toe side of the left foot corresponds to the other side portion, and the fourth exoskeleton members 214 ₁ and 214 ₂ correspond to the other side exoskeleton member. It corresponds. The fourth exoskeleton member 214 ₁ corresponds to the other side outer exoskeleton member, and the fourth exoskeleton member 214 ₂ corresponds to the other side inner exoskeleton member.

The first bellows 231 is a stretchable resin member having annular grooves at equal intervals, and is arranged on the front side (extension side) of the knee along the circumference of the joint axis of the knee joint. One end of the first bellows 231 is connected to a connecting portion formed on the other end side of the first transmission member 241 and the other end of the first bellows 231 is of the second transmission member 242. It is connected to a connecting portion formed on one end side. Here, a flexible resin pipe 251 is attached to the first bellows 231, and the first bellows 231 communicates with the adjusting portion 280A via the pipe 251. Then, when the air pressure in the first bellows 231 changes, the first bellows 231 expands and contracts. As a result, the first bellows 231 generates a force that assists the joint movement of the knee joint.

The second bellows 232, like the first bellows 231, is a stretchable resin member having annular grooves at equal intervals, and is arranged on the instep side of the ankle along the joint axis of the ankle joint. Will be done. One end of the second bellows 232 is connected to a connecting portion formed on the other end side of the third transmission member 243, and the other end of the second bellows 232 is of the fourth transmission member 244. It is connected to a connecting portion formed on one end side. Here, a flexible resin pipe 252 is attached to the second bellows 232, and the second bellows 232 communicates with the adjusting portion 280A via the pipe 252. Then, when the air pressure in the second bellows 232 changes, the second bellows 232 expands and contracts. As a result, the second bellows 232 generates a force that assists the joint movement of the ankle joint.

The third bellows 233, like the first bellows 231 and the second bellows 232, is a stretchable resin member having annular grooves at equal intervals, along the circumference of the joint axis of the toe joint. It is placed on the dorsal side of the finger. One end of the third bellows 233 is connected to a connecting portion formed on the other end side of the fourth transmission member 244, and the other end of the third bellows 233 is of the fifth transmission member 245. It is connected to a connecting portion formed on one end side. Here, a flexible resin pipe 253 is attached to the third bellows 233, and the third bellows 233 communicates with the adjusting portion 280A via the pipe 253. Then, when the air pressure in the third bellows 233 changes, the third bellows 233 expands and contracts. As a result, the third bellows 233 generates a force that assists the joint movement of the knuckles of the five fingers.

The first transmission member 241 is, for example, a steel member and has a long plate portion. Then, the long plate portion is formed with a bent connection portion at the other end portion. Here, a hole through which the pipe 251 is passed is molded in the connection portion. A second transmission member 242 is connected to the other end of the long plate portion of the first transmission member 241 via a first bellows 231. The connection portion on the other end side of the first transmission member 241 is connected to the one side end portion of the first bellows 231. Long plate portion of the first transmission member 241, hard through a resin of the mounting member 261, attached to the first outer frame member 211 _1, 211 _2, together with the first outer frame member 211 _1, 211 _2, It is attached to the left thigh.

The second transmission member 242 is, for example, a steel member and has a long plate portion. A bent connection portion is formed at one end of the long plate portion. The first transmission member 241 is connected to one end of the long plate portion of the second transmission member 242 via the first bellows 231. The connection portion on one end side of the second transmission member 242 is connected to the other end portion of the first bellows 231. Long plate portion of the second transmission member 242, hard through a resin of the mounting member 262, attached to the second outer frame member 212 _1, 212 _{2, 1,} 212 with _two second outer frame member 212, It is attached to the left lower leg.

The third transmission member 243 is, for example, a steel member and has a long plate portion. Then, the long plate portion is formed with a bent connection portion at the other end portion. The fourth transmission member 244 is connected to the other end of the long plate portion of the third transmission member 243 via the second bellows 232. The connection portion on the other end side of the third transmission member 243 is connected to the one side end portion of the second bellows 232. Long plate portion of the third transmission member 243, hard through a resin of the mounting member 263, attached to the second outer frame member 212 _1, 212 _{2, 1,} 212 with _two second outer frame member 212, It is attached to the left lower leg.

The fourth transmission member 244 is, for example, a steel member and has a long plate portion. Bent connecting portions are formed at both ends of the long plate portion. Here, a hole through which the pipe 252 is passed is molded in the connecting portion formed on one end side of the fourth transmission member 244. A third transmission member 243 is connected to one end of the long plate portion of the fourth transmission member 244 via a second bellows 232. The connection portion on one end side of the fourth transmission member 244 is connected to the other end portion of the second bellows 232.

Further, a fifth transmission member 245 is connected to the other end of the long plate portion of the fourth transmission member 244 via a third bellows 233. The connection portion on the other end side of the fourth transmission member 244 is connected to the one side end portion of the third bellows 233. Long plate portion of the fourth transmission member 244 through the hard plastic of the mounting member 264, attached to the third outer frame member 213 _1, 213 _2, together with the third outer frame member 213 _1, 213 _2, It is attached to the left foot.

The fifth transmission member 245 is, for example, a steel member and has a long plate portion. A bent connection portion is formed at one end of the long plate portion. Here, a hole through which the pipe 253 is passed is molded in the connection portion. A fourth transmission member 244 is connected to one end of the long plate portion of the fifth transmission member 245 via a third bellows 233. The connection portion on one end side of the fifth transmission member 245 is connected to the other end portion of the third bellows 233. The long plate portion of the fifth transmission member 245 is attached to the fourth exoskeleton members 214 ₁ and 214 ₂ via a hard resin finger mounting member 265 to be mounted on the five fingers of the toes, and the foot of the left foot portion. It is attached to the finger.

<< Configuration of foot mounting part 270A >>
The configuration of the foot mounting portion 270A will be described. The foot mounting portion 270A includes a sole member 271A, a heel stopper member 272, and mounting members 273 ₁ , 273 ₂ as comprehensively shown by FIGS. 6A and 6B. Here, FIG. 6A is a view of the foot mounting portion 270A viewed from the −X direction side, and FIG. 5B is a view of the foot mounting portion 270A on the instep side (+ Z direction side) of the foot portion. It is a figure seen from.

The sole member 271A is, for example, a steel member, and is formed into a rectangular flat plate. The sole of the foot is arranged on the sole member 271A, and the mounting member 264,266 made of hard resin (see FIGS. 1, 2 and 4, not shown in FIGS. 6A and 6B). Therefore, the foot portion is attached.

The heel stopper member 272 is, for example, a steel member, and is fixed to the end portion of the sole member 271A on the −Y direction side. The heel stopper member 272 supports the heel portion of the foot portion arranged on the sole member 271A.

The mounting members 273 ₁ and 273 ₂ are, for example, steel members. The mounting member 273 ₁ is formed on the −X direction side at the end portion of the sole member 271A on the + Y direction side. Then, in the mounting member 273 ₁ , the end portion of the third exoskeleton member 213 _{1 on} the knuckle joint side and the end portion of the fourth exoskeleton member 214 _{1 on} the knuckle joint side are centered on the shaft member 223 _1. , Can be mounted rotatably. Further, the mounting member 273 ₂ is formed on the + X direction side at the end portion of the sole member 271A on the + Y direction side. Then, in the mounting member 273 ₂ , the end portion of the third exoskeleton member 213 _{2 on} the knuckle joint side and the end portion of the fourth exoskeleton member 214 _{2 on} the knuckle joint side are centered on the shaft member 223 _2. , Can be mounted rotatably.

<< Configuration of adjustment unit 280A >>
The configuration of the adjustment unit 280A will be described. The adjusting unit 280A communicates with the first bellows 231 of the knee joint movement assisting unit 120A via the pipe 251. Further, the adjusting unit 280A communicates with the second bellows 232 of the foot joint movement assisting unit 130A via the pipe 252. Further, the adjusting unit 280A communicates with the third bellows 233 of the foot joint movement assisting unit 130A via the pipe 253. In the following description, these bellows are collectively referred to as "bellows".

As shown in FIG. 7, the adjusting unit 280A having such a communication relationship includes a pressurizing pump 281, a depressurizing pump 282, an electric-pneumatic control valve 283, and a control unit 284. Further, the adjusting unit 280A includes pipes 285 and 286.

The pressurizing pump 281 is connected to one side of the pump-side connection port of the electric-pneumatic control valve 283 via a pipe 285. The pressurizing pump 281 is used to forcibly supply air to the bellows. The pressure reducing pump 282 is connected to the other side of the pump side connection port of the electric-pneumatic control valve 283 via a pipe 286. This decompression pump 282 is used when forcibly discharging air from the bellows.

The electric-pneumatic control valve 283 is configured to include a flow path switching valve and a pressure control valve (proportional solenoid valve). One of the inlet side of the flow path switching valve is connected to the pressurizing pump 281 and the other on the inlet side is connected to the depressurizing pump 282.

Then, the flow path switching valve communicates with the pipe 285 connected to the pressurizing pump 281 and the designated bellows when forcibly supplying air to the bellows under the control of the control unit 284. A flow path is formed by connecting the pipes. Further, the flow path switching valve communicates with the pipe 286 connected to the pressure reducing pump 282 and the designated bellows when the air is forcibly discharged from the bellows under the control of the control unit 284. A flow path is formed by connecting the pipes.

For example, when forcibly supplying air to the first bellows 231, the flow path switching valve connects the pipe 285 and the pipe 251 to form a flow path. Further, when the air is forcibly discharged from the first bellows 231, the flow path switching valve connects the pipe 286 and the pipe 251 to form a flow path.

Further, when forcibly supplying air to the second bellows 232, the flow path switching valve connects the pipe 285 and the pipe 252 to form a flow path. Further, when the air is forcibly discharged from the second bellows 232, the flow path switching valve connects the pipe 286 and the pipe 252 to form a flow path. Further, when forcibly supplying air to the third bellows 233, the flow path switching valve connects the pipe 285 and the pipe 253 to form a flow path. Further, when the air is forcibly discharged from the third bellows 233, the flow path switching valve connects the pipe 286 and the pipe 253 to form a flow path.

Further, the pressure control valve controls the air pressure under the control of the control unit 284 to change the air pressure in the bellows.

The control unit 284 performs forced discharge of air from the bellows, switching of forced supply of air to the bellows, and control of the air pressure in the bellows. In the case of forcibly supplying air to the bellows during such control, the control unit 284 forms a flow path in which the electric-pneumatic control valve 283 connects the pressurizing pump 281 and the bellows that performs joint movement. Control to adjust the air pressure in the bellows. Further, when the air is forcibly discharged from the bellows, the control unit 284 forms a flow path in which the electric-pneumatic control valve 283 connects the pressure reducing pump 282 and the bellows that performs joint movement, and the inside of the bellows is formed. Control to adjust the air pressure.

Such control is performed based on biological information on brain waves and muscular strength based on experiments, simulations, experiences, and the like. Here, the biological information on the electroencephalogram and the muscle strength can be acquired by the detection unit (not shown) detecting the electroencephalogram, the electromyogram, the hardness of the muscle and the like.

<Operation>
Regarding the operation of the joint movement assist device 100A configured as described above, the joint movement assist operation using the mechanisms of the knee joint, the ankle joint, and the toe joint will be described.

Initially, in the joint movement assist device 100A, it is assumed that the air pressure in the first bellows 231 and the second bellows 232 and the third bellows 233 is not adjusted by the adjusting unit 280A. Then, it is assumed that the human body sits on the chair CH, the lower limbs are in the state shown in FIG. 8, and the feet are placed on the platform CS.

From the state shown in FIG. 8, when the adjusting unit 280A controls to forcibly discharge the air from the first bellows 231, the air pressure in the first bellows 231 drops. Then, when the air pressure in the first bellows 231 drops, the first bellows 231 contracts.

When the first bellows 231 contracts in this way, the first bellows 231 generates a force in the rotational direction that brings the knee joint into an extended state. Due to this force, the second transmission member 242 rotates with respect to the first transmission member 241 with the joint axis of the knee joint as the rotation axis.

Then, the rotational force is transmitted to the thigh to which the first transmission member 241 is attached and the first exoskeleton members 211 ₁ and 211 ₂ arranged on both sides of the thigh, and the second transmission member. It is transmitted to _{the second exoskeleton members 212 1} and 212 ₂ arranged on the lower leg portion to which the 242 is attached and both side portions of the lower leg portion. Here, the external tooth gear at the end of the second exoskeleton member 212 _{1 on} the knee joint side is at a position corresponding to the knee joint, and is different from the external tooth gear at the end of the first exoskeleton member 211 _{1 on} the knee joint side. meshes, the mesh is secured by the first connecting member 221 _1. Further, the external tooth gear at the end of the second exoskeleton member 212 _{2 on} the knee joint side meshes with the external tooth gear at the end of the first exoskeleton member 211 _{2 on} the knee joint side at a position corresponding to the knee joint. and, the mesh is secured by the first connecting member 221 _2.

Therefore, the second outer frame member 212 _1, by utilizing the articulation mechanism including a first link member 221 _1, rotated with respect to the first outer frame member 211 _1, the second outer frame member 212 _2, first by utilizing the articulation mechanism comprising a connecting member 221 ₂ rotates relative to the first outer frame member 211 _2. As a result, the lower leg rotates with respect to the thigh without imposing a burden on the knee joint, and the knee joint is in an extended state.

Further, when the adjusting unit 280A controls for forcibly discharging the air from the second bellows 232, the air pressure in the second bellows 232 drops and the second bellows 232 contracts. When the second bellows 232 contracts in this way, the second bellows 232 generates a force in the rotational direction that brings the ankle joint into an extended state. Due to this force, the fourth transmission member 244 rotates with respect to the third transmission member 243 with the joint axis of the ankle joint as the rotation axis.

Then, the rotational force is transmitted to the lower leg portion to which the third transmission member 243 is attached and the second exoskeleton members 212 ₁ and 212 ₂ arranged on both sides of the lower leg portion, and the fourth transmission member. It is transmitted to _{the third exoskeleton members 213 1} and 213 ₂ arranged on the foot on which the 244 is attached and on both sides of the foot. Here, the external tooth gear at the end of the third exoskeleton member 213 _{1 on} the ankle joint side is at a position corresponding to the ankle joint, and is different from the external tooth gear at the end of the second exoskeleton member 212 _{1 on} the ankle joint side. It meshes, and the meshing is secured by _{the second articulating member 222 1.} Further, the external gear of the end of the ankle joint side of the third outer frame member 213 ₂ is at a position corresponding to the ankle joint, the external gear meshed with the end of the ankle joint side in the second outer frame member 212 ₂ However, the meshing is secured by _{the second articulating member 222 2.}

Therefore, the third exoskeleton member 213 _{1 rotates with respect to the second exoskeleton member 212 1} by utilizing the connecting mechanism including the second connecting member 222 ₁ , and the third exoskeleton member 213 ₂ becomes the second. The articulated mechanism including the two articulated members 222 ₂ is used to rotate with respect to the second exoskeleton member 212 _2. As a result, the foot rotates with respect to the lower leg without imposing a burden on the ankle joint, and the ankle joint is in an extended (dorsiflexion) state.

Further, when the adjusting unit 280A controls for forcibly discharging the air from the third bellows 233, the air pressure in the third bellows 233 drops and the third bellows 233 contracts. When the third bellows 233 contracts in this way, the third bellows 233 generates a force in the rotational direction that brings the knuckle joint into an extended state. Due to this force, the fifth transmission member 245 rotates with respect to the fourth transmission member 244 with the joint axis of the knuckle joint as the rotation axis.

Then, the rotational force is transmitted to the foot on the heel side to which the fourth transmission member 244 is attached and the third exoskeleton members 213 ₁ , 213 ₂ arranged on both sides of the foot on the heel side. It is transmitted to the toes of the foot on which the fifth transmission member 245 is attached and the fourth exoskeleton members 214 ₁ and 214 ₂ arranged on both sides of the toes. Here, the end portion of the fourth exoskeleton member 214 _{1 on} the toe joint side is located at a position corresponding to the toe joint, and the end portion of the third exoskeleton member 213 _{1 on} the toe joint side is a shaft member 223 ₁ It is rotatably attached around the axis. Further, the end portion of the fourth exoskeleton member 214 _{2 on} the toe joint side is located at a position corresponding to the toe joint, _{and the shaft member 223 2} is attached to the end portion of _{the third exoskeleton member 213 2 on the toe joint side.} It is rotatably attached to the shaft.

Therefore, the fourth exoskeleton member 214 ₁ rotates with respect to the third exoskeleton member 213 ₁ with the shaft member 223 ₁ as the axis, and the fourth exoskeleton member 214 ₂ rotates with the shaft member 223 ₂ as the axis. Then, it rotates with respect to the third exoskeleton member 213 _2. As a result, the toes of the foot rotate with respect to the foot on the heel side without imposing a burden on the knuckle, and the toe joint is in an extended state.

FIG. 9 shows the state of the joint movement assist device 100A when the knee joint, the ankle joint, and the toe joint are in the extended state.

Further, when the adjusting unit 280A controls the forced supply of air to the first bellows 231 from the state shown in FIG. 9, the air pressure in the first bellows 231 rises. Then, when the air pressure in the first bellows 231 rises, the first bellows 231 expands.

When the first bellows 231 expands in this way, the first bellows 231 generates a force in the rotational direction that causes the knee joint to bend. Due to this force, the second transmission member 242 rotates with respect to the first transmission member 241 with the joint axis of the knee joint as the rotation axis.

Then, the rotational force is transmitted to the thigh to which the first transmission member 241 is attached and the first exoskeleton members 211 ₁ and 211 ₂ arranged on both sides of the thigh, and the second transmission member. It is transmitted to _{the second exoskeleton members 212 1} and 212 ₂ arranged on the lower leg portion to which the 242 is attached and both side portions of the lower leg portion. Here, as described above, the _{external tooth gear at the end of the second exoskeleton members 212 1} and 212 _{2 on} the knee joint side is outside the end of the first exoskeleton members 211 ₁ and 211 _{2 on} the knee joint side. It meshes with the tooth gear and the meshing is secured.

Therefore, the second outer frame member 212 _1, by utilizing the articulation mechanism including a first link member 221 _1, rotated with respect to the first outer frame member 211 _1, the second outer frame member 212 _2, first by utilizing the articulation mechanism comprising a connecting member 221 ₂ rotates relative to the first outer frame member 211 _2. As a result, the lower leg rotates with respect to the thigh without imposing a burden on the knee joint, and the knee joint is in a flexed state.

Further, when the adjusting unit 280A controls for forcibly supplying air to the second bellows 232, the air pressure in the second bellows 232 rises and the second bellows 232 expands. When the second bellows 232 expands in this way, the second bellows 232 generates a force in the rotational direction that causes the ankle joint to bend. Due to this force, the fourth transmission member 244 rotates with respect to the third transmission member 243 with the joint axis of the ankle joint as the rotation axis.

Then, the rotational force is transmitted to the lower leg portion to which the third transmission member 243 is attached and the second exoskeleton members 212 ₁ and 212 ₂ arranged on both sides of the lower leg portion, and the fourth transmission member. It is transmitted to _{the third exoskeleton members 213 1} and 213 ₂ arranged on the foot on which the 244 is attached and on both sides of the foot. Here, as described above, the _{external tooth gear at the end of the third exoskeleton members 213 1} and 213 _{2 on} the ankle joint side is outside the end of the second exoskeleton members 212 ₁ and 212 _{2 on} the ankle joint side. It meshes with the tooth gear and the meshing is secured.

Therefore, the third exoskeleton member 213 _{1 rotates with respect to the second exoskeleton member 212 1} by utilizing the connecting mechanism including the second connecting member 222 ₁ , and the third exoskeleton member 213 ₂ becomes the second. The articulated mechanism including the two articulated members 222 ₂ is used to rotate with respect to the second exoskeleton member 212 _2. As a result, the foot is rotated with respect to the lower leg without imposing a burden on the ankle joint, and the ankle joint is in a flexed (plantar flexion) state.

Further, when the adjusting unit 280A controls for forcibly supplying air to the third bellows 233, the air pressure in the third bellows 233 rises and the third bellows 233 expands. When the third bellows 233 expands in this way, the third bellows 233 generates a force in the rotational direction that causes the toe joint to bend. Due to this force, the fifth transmission member 245 rotates with respect to the fourth transmission member 244 with the joint axis of the knuckle joint as the rotation axis.

Then, the rotational force is transmitted to the foot on which the fourth transmission member 244 is attached and the third exoskeleton members 213 ₁ , 213 ₂ arranged on both sides of the foot, and the fifth transmission member 245 is transmitted. It is transmitted to the toes of the foot to be worn and the fourth exoskeleton members 214 ₁ and 214 _{2 arranged on both sides of the toes.} Here, as described above, the _{end portion of the fourth exoskeleton member 214 1} , 214 _{2 on} the toe joint side is attached to the end portion of the third exoskeleton member 213 ₁ , 213 _{2 on} the toe joint side. It is rotatably attached around 223 ₁ and 223 _2.

Therefore, the fourth exoskeleton member 214 ₁ rotates with respect to the third exoskeleton member 213 ₁ with the shaft member 223 ₁ as the axis, and the fourth exoskeleton member 214 ₂ rotates with the shaft member 223 ₂ as the axis. Then, it rotates with respect to the third exoskeleton member 213 _2. As a result, the toes of the foot rotate with respect to the foot on the heel side without imposing a burden on the toe joint, and the toe joint is in a flexed state.

FIG. 10 shows the state of the joint movement assist device 100A when the knee joint, the ankle joint, and the toe joint are in the flexed state.

As described above, in the first embodiment, when the first bellows 231 contracts when assisting the extension movement of the knee joint, the second transmission member 242 uses the joint axis of the knee joint as the rotation axis for the first transmission. It rotates with respect to the member 241. Then, the rotational force is transmitted to the thigh to which the first transmission member 241 is attached and the first exoskeleton members 211 ₁ and 211 ₂ arranged on both sides of the thigh, and the second transmission member. It is transmitted to _{the second exoskeleton members 212 1} and 212 ₂ arranged on the lower leg portion to which the 242 is attached and both side portions of the lower leg portion. Thus when the rotational force to the knee joint in the extended state to the first outer frame member 211 _first and second outer frame member 212 ₁ is transmitted, the second outer frame member 212 _1, the first link member 221 ₁ Using the including articulated mechanism, it rotates with respect to _{the first exoskeleton member 211 1.} Further, when the rotational force for extending the knee joint is transmitted to the first exoskeleton member 211 ₂ and the second exoskeleton member 212 _{2 , the second exoskeleton member 212 2} is connected to the first connecting member 221. _{Using the articulated mechanism including 2} , it rotates with respect to the first exoskeleton member 211 2.

When the first bellows 231 expands when assisting the flexion movement of the knee joint, the second transmission member 242 rotates with respect to the first transmission member 241 with the joint axis of the knee joint as the rotation axis. Then, the rotational force is transmitted to the thigh to which the first transmission member 241 is attached and the first exoskeleton members 211 ₁ and 211 ₂ arranged on both sides of the thigh, and the second transmission member. It is transmitted to _{the second exoskeleton members 212 1} and 212 ₂ arranged on the lower leg portion to which the 242 is attached and both side portions of the lower leg portion. Thus when the rotational force to the knee joint in flexion in the first outer frame member 211 _first and second outer frame member 212 ₁ is transmitted, the second outer frame member 212 _1, the first link member 221 ₁ Using the including articulated mechanism, it rotates with respect to _{the first exoskeleton member 211 1.} Further, when the rotational force for bending the knee joint is transmitted to the first exoskeleton member 211 ₂ and the second exoskeleton member 212 _{2 , the second exoskeleton member 212 2} is connected to the first connecting member 221. _{Using the articulated mechanism including 2} , it rotates with respect to the first exoskeleton member 211 2.

Therefore, when assisting the flexion / extension movement of the knee joint, the joint movement can be appropriately assisted in a manner of reducing the load applied to the knee joint.

Further, in the first embodiment, when the second bellows 232 contracts when assisting the extension movement of the ankle joint, the fourth transmission member 244 sets the joint axis of the ankle joint as a rotation axis with respect to the third transmission member 243. And rotate. Then, the rotational force is transmitted to the lower leg portion to which the third transmission member 243 is attached and the second exoskeleton members 212 ₁ and 212 ₂ arranged on both sides of the lower leg portion, and the fourth transmission member. It is transmitted to _{the third exoskeleton members 213 1} and 213 ₂ arranged on the foot on which the 244 is attached and on both sides of the foot. When the rotational force for extending the ankle joint is transmitted to the second exoskeleton member 212 ₁ and the third exoskeleton member 213 _{1 , the third exoskeleton member 213 1} connects the second connecting member 222 ₁ to the second exoskeleton member 222 1. It rotates with respect to the second exoskeleton member 212 _{1 using the including articulation mechanism.} Further, when the rotational force for extending the ankle joint is transmitted to the second exoskeleton member 212 ₂ and the third exoskeleton member 213 _{2 , the third exoskeleton member 213 2} is connected to the second connecting member 222. _{Using the articulated mechanism including 2} , it rotates with respect to the second exoskeleton member 212 2.

When the second bellows 232 expands when assisting the flexion movement of the ankle joint, the fourth transmission member 244 rotates with respect to the third transmission member 243 with the joint axis of the ankle joint as the rotation axis. Then, the rotational force is transmitted to the lower leg portion to which the third transmission member 243 is attached and the second exoskeleton members 212 ₁ and 212 ₂ arranged on both sides of the lower leg portion, and the fourth transmission member. It is transmitted to _{the third exoskeleton members 213 1} and 213 ₂ arranged on the foot on which the 244 is attached and on both sides of the foot. When the rotational force for bending the ankle joint is transmitted to the second exoskeleton member 212 ₁ and the third exoskeleton member 213 _{1 , the third exoskeleton member 213 1} connects the second connecting member 222 ₁ to the second exoskeleton member 222 1. It rotates with respect to the second exoskeleton member 212 _{1 using the including articulation mechanism.} Further, when the rotational force for bending the ankle joint is transmitted to the second exoskeleton member 212 ₂ and the third exoskeleton member 213 _{2 , the third exoskeleton member 213 2} is connected to the second connecting member 222. _{Using the articulated mechanism including 2} , it rotates with respect to the second exoskeleton member 212 2.

Therefore, when assisting the flexion / extension movement of the ankle joint, the joint movement can be appropriately assisted in a manner of reducing the load applied to the ankle joint.

Further, in the first embodiment, when the third bellows 233 contracts when assisting the extension movement of the knuckle joint, the fifth transmission member 245 uses the joint axis of the knuckle joint as the rotation axis and the fourth transmission member 244. Rotate against. Then, the rotational force is transmitted to the foot on the heel side to which the fourth transmission member 244 is attached and the third exoskeleton members 213 ₁ , 213 ₂ arranged on both sides of the foot on the heel side. It is transmitted to the toes of the foot on which the fifth transmission member 245 is attached and the fourth exoskeleton members 214 ₁ and 214 ₂ arranged on both sides of the toes. When the rotational force for extending the knuckle joint is transmitted to the third exoskeleton member 213 ₁ and the fourth exoskeleton member 214 _{1 , the fourth exoskeleton member 214 1} axes the shaft member 223 ₁ . Then, it rotates with respect to the third exoskeleton member 213 _1. Further, when the rotational force for extending the knuckle joint is transmitted to the third exoskeleton member 213 ₂ and the fourth exoskeleton member 214 _{2 , the fourth exoskeleton member 214 2} becomes the shaft member 223 ₂ Rotates with respect to the third exoskeleton member 213 _{2 about the axis.}

When the third bellows 233 expands when assisting the flexion movement of the knuckle joint, the fifth transmission member 245 rotates with respect to the fourth transmission member 244 with the joint axis of the knuckle joint as the rotation axis. Then, the rotational force is transmitted to the foot on the heel side to which the fourth transmission member 244 is attached and the third exoskeleton members 213 ₁ , 213 ₂ arranged on both sides of the foot on the heel side. It is transmitted to the toes of the foot on which the fifth transmission member 245 is attached and the fourth exoskeleton members 214 ₁ and 214 ₂ arranged on both sides of the toes. When the rotational force for bending the toe joint is transmitted to the third exoskeleton member 213 ₁ and the fourth exoskeleton member 214 _{1 , the fourth exoskeleton member 214 1} axes the shaft member 223 ₁ . Then, it rotates with respect to the third exoskeleton member 213 _1. Moreover, in this way the rotational force to the toe joint flexion is transmitted to the third outer frame member 213 ₂ and the fourth outer frame member 214 _2, fourth outer frame member 214 _2, the shaft member 223 ₂ Rotates with respect to the third exoskeleton member 213 _{2 about the axis.}

Therefore, when assisting the flexion / extension movement of the toe joint, the joint movement can be appropriately assisted in a manner of reducing the load applied to the toe joint.

Therefore, according to the first embodiment, the joint movement can be appropriately assisted in a manner of reducing the load applied to the joint to be assisted.

[Second Embodiment]
Next, the second embodiment of the present invention will be described mainly with reference to FIGS. 11 to 14.

<Structure>
FIG. 11 shows an external view of the joint movement assist device 100B according to the second embodiment. Here, FIG. 11 shows the joint movement assist device 100B attached to the left lower limb (FTL) of the human body in the −X direction side (outside on the left side of the left lower limb) with the human body sitting on the chair CH. It is an external view (YZ plan view) seen from.

As shown in FIG. 11, the joint movement assist device 100B includes a foot joint movement assist unit 130B instead of the foot joint movement assist unit 130A, as compared with the joint movement assist device 100A of the first embodiment described above. The difference is that the adjustment unit 280B is provided instead of the adjustment unit 280A. Hereinafter, these differences will be mainly focused on.

<< Configuration of foot joint exercise assist unit 130B >>
The configuration of the foot joint movement assist portion 130B described above will be described. As shown in FIG. 11, the foot joint exercise assist portion 130B includes a foot attachment portion 270B instead of the foot attachment portion 270A as compared with the foot joint exercise assist portion 130A of the first embodiment described above. The difference is that the abduction / adduction assist unit 350 is further provided.

(Structure of foot mounting part 270B)
The configuration of the foot mounting portion 270B described above will be described. FIG. 12 (A) shows a view of the foot mounting portion 270B viewed from the −X direction side, and FIG. 12 (B) shows the foot mounting portion 270B viewed from the instep side (+ Z direction side) of the foot. The figure seen is shown. As comprehensively shown by FIGS. 19A and 19B, the foot mounting portion 270B has a sole portion instead of the sole member 271A as compared with the foot mounting portion 270A of the first embodiment described above. The difference is that the material 271B is provided and the bellows mounting members 275 ₁ and 275 ₂ are further provided.

The sole member 271B is different from the sole member 271A of the first embodiment in that the shaft hole HL is molded on the −Y direction side of the sole member 271B. The shaft hole HL is molded at a position corresponding to the center of the heel of the foot when the sole of the foot is arranged on the sole member 271B.

The bellows mounting members 275 ₁ , 275 ₂ are, for example, resin members. The bellows mounting member 275 ₁ is fixed to the end portion of the sole member 271B on the + Y direction side and the −X direction side. Then, a side-arranged bellows 355 _{1, which} will be described later, is attached to the bellows attachment member 275 _1. Further, the bellows mounting member 275 ₂ is fixed to the end portion of the sole member 271B on the + Y direction side and the + X direction side. Then, a side-arranged bellows side-arranged bellows 355 _{2, which} will be described later, is attached to the bellows attachment member 275 _2.

(Structure of abduction / adduction assist unit 350)
The configuration of the abduction / adduction assist unit 350 will be described. As shown in FIG. 13, the abduction / adduction assist portion 350 includes a footrest member 351 and side-arranged bellows 355 ₁ , 355 ₂ .

The footrest member 351 is, for example, a member made of resin and includes a rectangular flat plate portion parallel to the XY plane. _{A wall portion 352 1} is formed at the end portion of the flat plate portion on the + Y direction side on the −X direction side _{, and a wall portion 352 2} is formed at the end portion of the flat plate portion on the + Y direction side on the + X direction side. ing.

The side-arranged bellows 355 ₁ , 355 ₂ are stretchable resin members having annular grooves at equal intervals. One side end of the side-arranged bellows 355 _{1 is connected to the wall portion 352 1} of the footrest member 351 and the other end of the side-arranged bellows 355 _{1 is the bellows mounting member 275 1} of the foot mounting portion 270B. Connected to. Further, one side end of the side-arranged bellows 355 _{2 is connected to the wall portion 352 2} of the footrest member 351 and the other end of the side-arranged bellows 355 ₂ is a bellows mounting member of the foot mounting portion 270B. Connected to 275 _2.

The foot mounting portion 270B is rotatably attached to the abduction / adduction assisting portion 350 configured in this way with the shaft member AX extending along the normal direction of the flat plate portion of the footrest member 351 as the central axis. Be done.

<< Adjustment unit 280B >>
Returning to FIG. 11, the above adjustment unit 280B will be described. The adjusting unit 280B corresponds to the foot joint movement assisting unit 130B of the second embodiment further _{including the side-arranged bellows 355 1} , 355 _{2 as compared with the adjusting unit 280A of the first embodiment described above.} forced supply of air to the laterally displaced bellows 355 _1, 355 _2, and, further that performs a different forced discharge of air from the side arranged bellows 355 _1, 355 _2.

<Operation>
The operation of the joint movement assist device 100B configured as described above will be described mainly focusing on the assist movements of the abduction movement and the adduction movement of the foot by the foot joint movement assist unit 130A.

Initially, in the joint movement assist device 100B, the air pressure in the first bellows 231 and the second bellows 232, the third bellows 233, and the side-arranged bellows 355 ₁ , 355 _{2 is not adjusted by the adjusting unit 280B.} It shall be.

《Assisting motion of abduction and adduction of the foot》
When the foot is abducted, the adjusting unit 280B _{controls to forcibly discharge the air from the side-arranged bellows 355 1} , and forcibly forces the air to the side-arranged bellows 355 ₂ . Control to supply the target. The control for the laterally displaced bellows 355 _1, the air pressure in the laterally displaced bellows 355 ₁ is lowered, the side arranged bellows 355 ₁ contracts. Further, the control for laterally displaced bellows 355 _2, and increases the air pressure side arrangement bellows 355 in _2, laterally displaced bellows 355 ₂ is expanded.

When the side-arranged bellows 355 ₁ contracts and the side-arranged bellows 355 ₂ expands in this way, as shown in FIG. 14 (A), the foot mounting portion 270B uses the shaft member AX as a rotation axis and legs. It rotates with respect to the abduction / adduction assisting portion 350 so that the portion is in the abduction state. In FIG. 14A, the foot portion mounted on the foot portion mounting portion 270B is not shown.

When the foot is in the adduction state, the adjusting unit 280B controls to forcibly supply air to the _{side-arranged bellows 355 1} , and forcibly supplies air from the _{side-arranged bellows 355 2.} Control to perform targeted discharge. The control for the laterally displaced bellows 355 _1, and increases air pressure in laterally displaced bellows 355 _1, laterally displaced bellows 355 ₁ is expanded. Further, the control for laterally displaced bellows 355 _2, air pressure sides arranged bellows 355 in ₂ descends, the side arranged bellows 355 ₂ contracts.

When the side-arranged bellows 355 ₁ expands and the side-arranged bellows 355 ₂ contracts in this way, as shown in FIG. 14 (B), the foot mounting portion 270B uses the shaft member AX as a rotation axis to rotate the foot. It rotates with respect to the abduction / adduction assisting portion 350 so that the portion is in the adduction state. In FIG. 14B, the foot portion mounted on the foot portion mounting portion 270B is not shown.

《Assistance for flexion and extension of the ankle joint》
The assist of the flexion / extension movement of the ankle joint is performed in the same manner as the assist movement of the joint movement assist device 100A in the first embodiment described above.

<< Assisting motion of flexion and extension of the toe joint >>
The assisting of the flexion / extension movement of the toe joint is performed in the same manner as the assisting movement of the joint movement assist device 100A in the first embodiment described above.

《Assistance for flexion and extension of the knee joint》
The assist of the flexion / extension movement of the knee joint is performed in the same manner as the assist movement of the joint movement assist device 100A in the first embodiment described above.

As described above, in the second embodiment, when assisting the abduction movement of the foot, the side-arranged bellows 355 ₁ provided in the abduction / adduction assisting portion 350 is contracted and the side-arranged bellows are contracted. Inflate 355 ₂ . When the side-arranged bellows 355 ₁ contracts and the side-arranged bellows 355 ₂ expands in this way, the foot-mounted portion 270B is outward so that the foot is in an abduction state with the shaft member AX as the rotation axis. It rotates with respect to the roll / adduction assist unit 350.

Further, when assisting the adduction movement of the foot, the side-arranged bellows 355 ₁ provided in the abduction / adduction assisting portion 350 is expanded and the side-arranged bellows 355 ₂ is contracted. When the side-arranged bellows 355 ₁ expands and the side-arranged bellows 355 ₂ contracts in this way, the foot-mounted portion 270B is outward so that the foot is in the adduction state with the shaft member AX as the rotation axis. It rotates with respect to the roll / adduction assist unit 350.

Therefore, it is possible to assist the adduction movement and the abduction movement of the foot. Further, similarly to the first embodiment described above, the flexion / extension movement of the ankle joint and the toe joint can be appropriately assisted in a manner of reducing the load applied to the joint.

Further, in the second embodiment, similarly to the first embodiment described above, the flexion / extension movement of the knee joint can be appropriately assisted in a manner of reducing the load applied to the joint.

Therefore, according to the second embodiment, the joint movement can be appropriately assisted in a manner of reducing the load applied to the joint to be assisted, as in the first embodiment described above.

[Third Embodiment]
Next, the third embodiment of the present invention will be described mainly with reference to FIGS. 15 to 20.

<Structure>
15 (A) and 15 (B) and 16 (A) and 16 (B) show external views of the foot joint movement assisting unit 530C according to the third embodiment. The foot joint movement assist portion 530C shown in each of FIGS. 15 (A) and 15 (B) and 16 (A) and 16 (B) is attached to the left lower limb of the human body. Note that in FIGS. 15 (A) and 15 (B) and 16 (A) and 16 (B), the left lower limb of the human body is not shown.

Here, FIG. 15 (A) is a perspective view showing the foot joint movement assist portion 530C in the coordinate system shown in FIG. 15 (A). Further, FIG. 15B is an external view (XZ plan view) of the foot joint movement assist portion 530C as viewed from the + Y direction side (the fingertip side of the left foot). Further, FIG. 16A is an external view (YZ plan view) of the foot joint movement assist portion 530C as viewed from the −X direction side (outside on the left side of the left foot). Further, FIG. 16B is an external view (YZ plan view) of the foot joint movement assist portion 530C as viewed from the + X direction side (inside, which is the right side of the left foot).

Figure 15 (A), (B) and FIG. 16 (A), the as comprehensively shown, foot articulation assist unit 530C includes a second outer frame member 512 _1, 512 ₂ by (B), the The three exoskeleton members 513 ₁ , 513 ₂ and the fourth exoskeleton members 514 ₁ , 514 ₂ are provided. Further, the foot joint movement assist portion 530C includes second connecting members 522 _{1, O} , 522 _{1, I} , 522 _{2, O} , 522 _{2, I} and shaft members 523 ₁ , 523 ₂ .

Further, the foot joint movement assist unit 530C includes a second bellows 532 and a third bellows 533. Further, the foot joint movement assist portion 530C includes a third transmission member 543, a fourth transmission member 544, and a fifth transmission member 545. Further, the foot joint movement assist portion 530C includes a second mounting member 562 ₁ , 562 ₂ , a third mounting member 563 ₁ , 563 ₂ , a fourth mounting member 564, and a fifth mounting member 565. It has. Further, the foot joint movement assist unit 530C includes an adjustment unit (not shown).

Here, the third exoskeleton member 513 ₁ corresponds to the foot outer exoskeleton member, and the third exoskeleton member 513 ₂ corresponds to the foot medial exoskeleton member. Further, the fourth mounting member 564 corresponds to the fixing member.

The second exoskeleton members 512 ₁ , 512 ₂ are, for example, members made of hard resin, and are fixed to the long plate-shaped exoskeleton member and the other end portion in the longitudinal direction of the long plate-shaped exoskeleton member. It is composed of an exoskeleton gear. The second exoskeleton member 512 ₁ is arranged on the outside (-X direction side) of the left lower leg along the direction extending from the knee joint to the ankle joint. Further, the second exoskeleton member 512 ₂ is arranged inside the left lower leg (+ X direction side) along the direction extending from the knee joint to the ankle joint. Then, the second outer one end of the frame member 512 ₁ is attached a second mounting member 562 ₁ of hard plastic or the like, the second outer frame member 512 _1, through the second mounting member 562 ₂ Is attached to the third transmission member 543. Further, the one end portion of the second outer frame member 512 ₂ is attached the second mounting member 562 _{and second} hard resin or the like, ₂ second outer frame member 512, through the second mounting member 562 ₂ Is attached to the third transmission member 543.

The third exoskeleton member 513 ₁ , 513 ₂ is, for example, a flexible hard resin member, and is a stretched member and external teeth fixed to one end of the stretched member in the longitudinal direction. It consists of gears. Here, the substantially central portion of the extension member has a rod shape, and a plate-shaped portion is formed in a portion other than the rod shape.

The third exoskeleton member 513 ₁ is arranged on the outside of the left foot (-X direction side) along the direction extending from the ankle joint to the toe joint. Further, the third exoskeleton member 513 ₂ is arranged on the medial side (+ X direction side) of the left foot portion along the direction extending from the ankle joint to the toe joint. The third outer frame member 513 ₁ is attached to the third mounting member 563 ₁ of hard plastic or the like, through the third mounting member 563 ₁ is attached to the fourth transmission member 544. The third outer frame member 513 ₂ is attached to the third attachment member 563 _{and second} hard resin or the like, through the third mounting member 563 ₂ is attached to the fourth transmission member 544.

Further, the rod-shaped portion of the third exoskeleton member 513 ₁ is inserted into the rod-shaped member insertion portion 621 ₁ molded into the fourth mounting member 564, and is movably and rotatably attached to the fourth mounting member 564. There is. Here, the inner diameter of the rod-shaped member insertion portion 621 ₁ is larger than the diameter of the rod-shaped portion of the third exoskeleton member 513 _1. Therefore, the third exoskeleton member 513 ₁ is movable in the Y-axis direction with respect to the fourth mounting member 564. Further, the rod-shaped portion of the third exoskeleton member 513 ₁ can move in the gap between the rod-shaped member insertion portion 621 ₁ and the inner wall of the insertion hole in the Z-axis direction, the X-axis direction, and the axial direction extending along an arbitrary direction. In addition, the rod-shaped member insertion portion 621 ₁ can be used as a fulcrum to rotate around an axis parallel to the X-axis, an axis parallel to the Z-axis, and an axis extending along an arbitrary direction.

Further, the rod-shaped portion of the third outer frame member 513 ₂ is inserted into the rod-like member insertion portion 621 _2, which is molded into the fourth mounting member 564, movable and rotatably attached to the fourth mounting member 564 There is. Here, the inner diameter of the rod-shaped member insertion portion 621 ₂ is larger than the diameter of the rod-shaped portion of the third exoskeleton member 513 _2. Therefore, the third exoskeleton member 513 ₂ is movable in the Y-axis direction with respect to the fourth mounting member 564. Further, the rod-shaped portion of the third exoskeleton member 513 ₂ can move the gap between the rod-shaped member insertion portion 621 ₂ and the inner wall of the insertion hole in the Z-axis direction, the X-axis direction, and the axial direction extending along an arbitrary direction. In addition, the rod-shaped member insertion portion 621 ₂ can be used as a fulcrum to rotate around an axis parallel to the X-axis, an axis parallel to the Z-axis, and an axis extending along an arbitrary direction.

The external gear at the end of the third exoskeleton member 513 _{1 on} the ankle joint side meshes with the external gear at the end on the ankle joint side of _{the second exoskeleton member 512 1 at a position corresponding to the ankle joint.} The meshing is secured by the second connecting members 522 _{1, O} and 522 _{1, I.} Further, the external gear of the end of the ankle joint side of the third outer frame member 513 ₂ is at a position corresponding to the ankle joint, the external gear meshed with the end of the ankle joint side in the second outer frame member 512 ₂ However, the meshing is secured by _{the second connecting members 522 2, O} , 522 _{2, I.} Then, due to the engagement, the second exoskeleton members 512 ₁ , 512 ₂ and the third exoskeleton members 513 ₁ , 513 ₂ can rotate with each other in the rotation direction of the ankle joints at positions corresponding to the ankle joints. ing.

The fourth exoskeleton members 514 ₁ , 514 ₂ are, for example, members made of hard resin, and are long plate-shaped exoskeleton members. The fourth exoskeleton member 514 ₁ is arranged on the little finger side (−X direction side) of the left foot along the direction extending from the toe joint to the fingertip. Further, the fourth exoskeleton member 514 ₂ is arranged on the thumb side (+ X direction side) of the left foot portion along the direction extending from the toe joint to the fingertip. Then, the portion of the fourth exoskeleton member 514 _{1 on} the fingertip side is attached to the portion of the fifth attachment member 565 on the −X direction side, and is attached to the fifth transmission member 545 via the fifth attachment member 565. Be done. Further, the portion of the fourth exoskeleton member 514 _{2 on} the fingertip side is attached to the portion of the fifth attachment member 565 on the + X direction side, and is attached to the fifth transmission member 545 via the fifth attachment member 565. ..

The end of the fourth exoskeleton member 514 _{1 on} the knuckle joint side is at a position corresponding to the toe joint, and the end of the third exoskeleton member 513 _{1 on} the knuckle joint side is centered on the shaft member 523 _1. It is rotatably attached. Further, the end of the fourth exoskeleton member 514 _{2 on} the knuckle joint side is at a position corresponding to the knuckle joint, and the shaft member 523 ₂ is _{attached to the end of the third exoskeleton member 513 2 on the knuckle joint side.} It is rotatably attached to the shaft.

The second bellows 532 is a stretchable resin member having annular grooves at equal intervals, and is arranged on the instep side of the ankle along the circumference of the joint axis of the ankle joint. One side end of the second bellows 532 is connected to the third transmission member 543, and the other end of the second bellows 532 is connected to one side surface of the fourth transmission member 544. Here, a flexible resin-made pipe (not shown) is attached to the second bellows 532, and the second bellows 532 communicates with the adjusting portion via the pipe. Then, when the air pressure in the second bellows 532 changes, the second bellows 532 expands and contracts. As a result, the second bellows 532 generates a force that assists the joint movement of the ankle joint.

Like the second bellows 532, the third bellows 533 is a stretchable resin member having annular grooves at equal intervals, and is arranged on the dorsal side of the finger along the circumference of the joint axis of the toe joint. Will be done. One side end of the third bellows 533 is connected to the other side surface of the fourth transmission member 544, and the other end of the third bellows 533 is connected to the fifth transmission member 545. Here, a flexible resin-made pipe (not shown) is attached to the third bellows 533, and the third bellows 533 communicates with the adjusting portion via the pipe. Then, when the air pressure in the third bellows 533 changes, the third bellows 533 expands and contracts. As a result, the third bellows 533 generates a force that assists the joint movement of the knuckles of the five fingers.

The third transmission member 543 is, for example, a steel member and has a plate-shaped surface portion. The third transmission member 543 is connected to the fourth transmission member 544 via the second bellows 532. The surface portion of the third transmission member 543 is connected to one end of the second bellows 532. The third transmission member 543 is attached to the second mounting member 562 ₁ of hard plastic or the like, via the second mounting member 562 ₁ is attached to the second outer frame member 512 _1. Also, the third transmission member 543, hard mounted to the second mounting member 562 ₂ made of resin or the like, via the second mounting member 562 ₂ is attached to the ₂ second outer frame member 512.

As shown in FIG. 17 (A), the fourth transmission member 544 has a varus in which the back of the foot faces inward and only the little finger side touches the ground, as shown in FIG. 17 (B). , Correct the entire sole of the foot to the ground (hereinafter, also referred to as "varus correction state" or "normal state").

The fourth transmission member 544 having such a function includes the ankle side transmission member 611 and the varus correction as comprehensively shown by FIGS. 15 (A) and 15 (B) and FIGS. 16 (A) and 16 (B). It includes a bellows 613 and a toe-side transmission member 612.

The ankle-side transmission member 611 is, for example, a steel member and has a plate-shaped surface portion. One side surface of the ankle-side transmission member 611 is connected to the other end of the second bellows 532. Further, the other side surface portion of the ankle side transmission member 611 is connected to one side end portion of the varus correction bellows 613. Further, the ankle-side transmission member 611 is _{attached to a third attachment member 563 2} made of hard resin or the like, and is attached to the third exoskeleton member 513 ₂ via the third attachment member 563 ₂ .

The varus correction bellows 613 is a stretchable resin member having annular grooves at equal intervals. One side end of the varus correction bellows 613 is connected to the other side surface of the ankle side transmission member 611. Further, the other end portion of the varus correction bellows 613 is connected to the one side surface portion of the toe side transmission member 612.

Here, a flexible resin-made pipe (not shown) is attached to the varus straightening bellows 613, and the varus straightening bellows 613 communicates with an adjustment portion (not shown) via the pipe. There is. Then, when the air pressure in the varus correction bellows 613 changes, the varus correction bellows 613 expands and contracts. As a result, the varus correction bellows 613 generates a force to correct the varus state of the foot.

The toe-side transmission member 612 is, for example, a steel member and has a plate-shaped surface portion. One surface of the toe-side transmission member 612 is connected to the other end of the varus correction bellows 613. Further, the other side surface portion of the toe side transmission member 612 is connected to one side end portion of the third bellows 533. Further, the toe side transmission member 612 is _{attached to a third attachment member 563 1} made of hard resin or the like, and is attached to the third exoskeleton member 513 ₁ via the third attachment member 563 ₁ . ..

The fifth transmission member 545 is, for example, a steel member and has a plate-shaped surface portion. The fifth transmission member 545 is connected to the fourth transmission member 544 via the third bellows 533. The surface portion of the fifth transmission member 545 is connected to the other end portion of the third bellows 533. Further, the fifth transmission member 545 is attached to the fifth attachment member 565 formed in a U shape, and is attached to the fourth exoskeleton members 514 ₁ , 514 _{2 via the fifth attachment member 565.} There is.

The second mounting members 562 ₁ and 562 ₂ are, for example, flat resin flat plate members. The second attachment member 562 ₁ is attached to the third transmission member 543 and is attached to the second exoskeleton member 512 ₁ . As a result, the second exoskeleton member 512 ₁ is attached to the third transmission member 543 via the second attachment member 562 _1. Further, the second attachment member 562 ₂ is attached to the third transmission member 543 and is attached to the second exoskeleton member 512 ₂ . As a result, the second exoskeleton member 512 ₂ is attached to the third transmission member 543 via the second attachment member 562 _2.

The above-mentioned third mounting members 563 ₁ and 563 ₂ are, for example, hard resin flat plate members. The third attachment member 563 ₁ is attached to the toe side transmission member 612 and is attached to the third exoskeleton member 513 ₁ . As a result, the third exoskeleton member 513 ₁ is attached to the toe side transmission member 612 via the third attachment member 563 _1. Further, the third attachment member 563 ₂ is attached to the ankle side transmission member 611 and is attached to the third exoskeleton member 513 ₂ . As a result, the third exoskeleton member 513 ₂ is attached to the ankle-side transmission member 611 via the third attachment member 563 _2.

The fourth mounting member 564 is, for example, a frame-shaped member into which a foot made of hard resin is inserted. _{A rod-shaped member insertion portion 621 1} is molded on the surface of the frame-shaped member on the −X direction side, and a rod-shaped portion of the third exoskeleton member 513 ₁ is inserted into the rod-shaped member insertion portion 621 _{1. Further, a rod-shaped member insertion portion 621 2} is molded on the surface of the frame-shaped member on the + X direction side, and the rod-shaped portion of the third exoskeleton member 513 ₂ is inserted into the rod-shaped member insertion portion 621 _2.

The fifth mounting member 565 is, for example, a member made of a hard resin and is formed in a U shape. The fifth attachment member 565 is attached to the fifth transmission member 545 and is attached to the toes of the left foot. An annular member made of soft resin that expands by injecting air may be attached to the inside of the frame formed by the fifth attachment member 565 and the fifth transmission member 545. In such a case, the toes of the left foot are inserted into the ring of the annular member to inflate the annular member, so that the toes of the left foot are kept in a stable state, and the fifth mounting member 565 and It can be attached to the fifth transmission member 545.

<Operation>
The operation of the foot joint movement assist unit 530C configured as described above will be described mainly focusing on the assist operation for varus correction of the foot.

Initially, it is assumed that the foot joint movement assist unit 530C does not adjust the air pressure in the second bellows 532, the third bellows 533, and the varus correction bellows 613 by the adjusting unit.

Further, when the varus correction assist is not performed, the foot portion to which the foot joint movement assist portion 530C is attached is inside as shown in FIGS. 18 (A), 19 (A) and 20 (A). It is assumed that it is in the opposite state. Here, FIG. 18 (A) is a view of the foot joint movement assist portion 530C attached to the foot in the varus state as viewed from the + Y direction side (the fingertip side of the left foot), and FIG. 19 (A) is a view. It is a figure which looked at the foot joint movement assist part 530C attached to the foot part in the varus state from the side in the −X direction (the outside which is the left side of the left foot). Further, FIG. 20A is a view of the foot joint movement assist portion 530C attached to the foot in the varus state as viewed from the + X direction side (inside, which is the right side of the left foot). Also in FIGS. 18 to 20, the illustration of the left lower limb of the human body is omitted.

Here, when the foot is in the varus state, it is arranged on the outside (−X direction side) of the foot as shown in FIGS. 18 (A), 19 (A), and 20 (A). 3 The exoskeleton member 513 _{1 is not parallel to the third exoskeleton member 513 2} arranged inside the foot (+ X direction side), and the ankle joint to the toe joint of the third exoskeleton member 513 ₁ The direction extending to is tilted downward.

《Assisting motion for varus correction of the foot》
First, the assist operation for correcting the varus of the foot will be described. From the states shown in FIGS. 18 (A), 19 (A) and 20 (A), when the adjusting unit controls to forcibly discharge the air from the varus correction bellows 613, the inside is inside. The air pressure in the anti-correction bellows 613 drops. Then, when the air pressure in the varus correction bellows 613 decreases, the varus correction bellows 613 contracts.

When the varus correction bellows 613 contracts in this way, the ankle-side transmission member 612 connected to the other end of the varus correction bellows 613 and the toes connected to one end of the varus correction bellows 613. The distance from the side transmission member 611 is narrowed. Thus, when the distance is narrowed, the third through the mounting member 563 _1, third and outer frame members 513 ₁ that is attached to the toe-side transmission member 612, through the third mounting member 563 _2, ankle _{The third exoskeleton member 513 1} and the third exoskeleton member 513 ₂ move so as to be parallel to _{the third exoskeleton member 513 2} attached to the side transmission member 611. As a result, the varus foot is corrected and the foot is in a normal state as shown in FIGS. 18 (B), 19 (B) and 20 (B).

Here, the rod-shaped portion of the third exoskeleton member 513 _{1 is inserted into the rod-shaped member insertion portion 621 1} having an inner diameter larger than the diameter of the rod-shaped portion. As a result, the _{rod-shaped portion of the third exoskeleton member 513 1} is movable in the Y-axis direction, and _{the gap between the rod-shaped member insertion portion 621 1} and the inner wall of the insertion hole is formed in the Z-axis direction and the X-axis direction. , It is attached to the fourth attachment member 564 so as to be movable in the axial direction extending along an arbitrary direction. Further, as a result, the _{rod-shaped portion of the third exoskeleton member 513 1} is about the axis parallel to the X-axis and parallel to the Z-axis with respect to the fourth mounting member 564 with the rod-shaped member insertion portion 621 _{1 as a fulcrum.} It is possible to rotate around a flexible axis and around an axis that extends along an arbitrary direction.

Further, the rod-shaped portion of the third outer frame member 513 ₂ is inserted into the rod-like member insertion portion 621 ₂ of the inner diameter larger than the diameter of the rod-like portion. As a result, the _{rod-shaped portion of the third exoskeleton member 513 2} is movable in the Y-axis direction, and _{the gap between the rod-shaped member insertion portion 621 2} and the inner wall of the insertion hole is formed in the Z-axis direction and the X-axis direction. , It is attached to the fourth attachment member 564 so as to be movable in the axial direction extending along an arbitrary direction. Further, as a result, the _{rod-shaped portion of the third exoskeleton member 513 2} is parallel to the X-axis and parallel to the Z-axis with respect to the fourth mounting member 564 with the rod-shaped member insertion portion 621 _{2 as a fulcrum.} It is possible to rotate around a flexible axis and around an axis that extends along an arbitrary direction. Therefore, when assisting the varus correction of the foot, the smooth movement of the foot can be ensured. Further, the third exoskeleton members 513 ₁ and 513 ₂ are, for example, flexible hard resin members. Therefore, even if the distance between _{the third exoskeleton members 513 1} and 513 ₂ changes due to the movement of the foot when assisting the varus correction of the foot, the third _{exoskeleton member 513 1} , Since _{the deflection of 513 2} is allowed, it is possible to appropriately assist the varus correction of the foot.

《Assistance for flexion and extension of the ankle joint》
The flexion / extension movement of the ankle joint is assisted after the varus state of the foot is corrected. The assist of the flexion / extension movement of the ankle joint is performed in the same manner as the assist movement of the joint movement assist device 100A in the first embodiment described above.

<< Assisting motion of flexion and extension of the toe joint >>
Assistance for flexion and extension of the toe joint is performed after correction of the varus state of the foot. The assist of the flexion / extension movement of the toe joint is performed in the same manner as the assist movement of the joint movement assist device 100A in the first embodiment described above.

In the flexion / extension movement of the toe joint in the foot joint movement assist unit 530C, if the third bellows 533 is linearly expanded and contracted, the flexion / extension movement of the toe joint can be assisted more effectively. it can. In this case, the plate-shaped fifth transmission member 545 to which the other end of the third bellows 533 is attached is rotatably formed in a U shape about an axis parallel to the X axis. 5 The mounting member 565 may be mounted on the surface on the + Z direction side and the surface on the + X direction side.

As described above, in the third embodiment, when assisting the varus correction of the foot, the varus correction bellows 613 is contracted and the foot connected to the other end of the varus correction bellows 613. The distance between the finger-side transmission member 612 and the toe-side transmission member 611 connected to one end of the varus correction bellows 613 is reduced. Thus, when the distance is narrowed, the third through the mounting member 563 _1, third and outer frame members 513 ₁ that is attached to the toe-side transmission member 612, through the third mounting member 563 _2, ankle _{The third exoskeleton member 513 1} and the third exoskeleton member 513 ₂ move so as to be parallel to _{the third exoskeleton member 513 2} attached to the side transmission member 611. As a result, the varus foot is corrected.

Therefore, when the foot portion to which the foot joint movement assist portion 530C is attached is in the varus state, the varused foot portion can be corrected and the foot portion can be returned to the normal state. Further, after correcting the varus state of the foot, the flexion / extension movement of the ankle joint and the toe joint is appropriately assisted in a manner of reducing the load applied to the joint, as in the first embodiment described above. Can be done.

Therefore, according to the third embodiment, the joint movement can be appropriately assisted in a manner of reducing the load applied to the joint to be assisted, as in the first embodiment described above.

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

For example, in the first to third embodiments described above, the flexion and extension movements of the ankle joint and the toe joint are performed. Further, in the first and second embodiments, in addition to the ankle joint and the toe joint, the knee joint is flexed and extended. On the other hand, the flexion / extension movement of any one of the knee joint, the ankle joint, and the toe joint may be performed. Further, any two joints of the knee joint, the ankle joint, and the toe joint may be selected, and the flexion / extension movement of the two selected joints may be performed.

Further, in the first and second embodiments described above, as shown in FIGS. 1 and 11, the first bellows that generates a force that assists the joint movement of the knee joint and the force that assists the joint movement of the ankle joint are generated. A second bellows to be generated and a third bellows to generate a force for assisting the joint movement of the ankle joint were arranged on the extension side of the joint.

On the other hand, as in the joint movement assist device 100D shown in FIG. 21, each of the first bellows 231 and the second bellows 232 and the third bellows 233 may be arranged on the flexion side of the joint corresponding to the assist. Good. As shown in FIG. 21, in the joint movement assist device 100D, the first transmission member 441 is arranged on the rear side (-Y direction side) of the left thigh, and the second transmission member 442 is on the rear side of the left lower leg. It is arranged on the (-Y direction side). Further, in the joint movement assist device 100D, the third transmission member 443D is arranged on the rear side (-Y direction side) of the left lower leg, and the fourth transmission member 444D is arranged from the sole of the left foot to the heel. The transmission member 445 is arranged on the ventral side of the toes.

By inflating the first bellows 231 and the second bellows 232 and the third bellows 233 thus arranged, the joint movement assist device 100D displays the knee joint, the ankle joint and the toe joint as shown in FIG. It can assist the extended state. Further, by contracting the first bellows 231 and the second bellows 232 and the third bellows 233 thus arranged, the joint movement assist device 100D assists the knee joint, the ankle joint and the toe joint to the flexed state. Can be done.

Further, the foot joint movement assist portion 130E shown in FIG. 23 may be adopted for assisting the flexion / extension movement of the ankle joint and the toe joint. As shown in FIG. 23, in the foot joint movement assist portion 130E, the fourth transmission member 444E is arranged from the sole of the left foot to the heel, and the fifth transmission member 445 is arranged on the ventral side of the toes. It has become. Further, the third transmission member 443E is arranged on the −Z direction side of the fourth transmission member 444E so that the third transmission member 443E can rotate in the rotation direction of the ankle joint with respect to the fourth transmission member 444E behind the heel portion. 4 It is attached to the transmission member 444E. Then, the second bellows 232 is attached between the third transmission member 443E and the fourth transmission member 444E, and the third bellows 233 is attached between the fourth transmission member 444E and the fifth transmission member 445.

By inflating the second bellows 232 of the foot joint movement assist portion 130E having the structure in this way, the ankle joint can be assisted to the flexed state as shown in FIG. 24. Further, by inflating the third bellows 233, the knuckle joint can be assisted to the extended state.

Further, as for assisting the flexion / extension movement of the ankle joint, the joint movement assist portion 130F shown in FIG. 25 may be adopted. The joint movement assist unit 130F assists the flexion / extension movement of the ankle joint. As shown in FIG. 25, in the foot joint movement assist portion 130F, the central portion of the sole member of the foot mounting portion 270F has a shape that rises higher than the peripheral portion of the sole member. Then, at the position where the end on the ankle joint side of the second exoskeleton members 212F ₁ and 212F ₂ (not shown in FIG. 25) corresponds to the tarsal metatarsal joint, the ankle joint rotates on the sole member. It is attached so that it can rotate in the direction. By adopting such a configuration, it is possible to attach the foot portion having the arch to the sole member and assist the smooth flexion / extension movement of the ankle joint. The shape of the sole member is not limited to the shape shown in FIG. 25, but may be, for example, a hemispherical shape.

Further, as a modification of the foot joint movement assist portion according to the third embodiment, the third bellows 533 is used for flexion of the toe joint as shown in the foot joint movement assist portion 530D shown in FIGS. 26 and 27. It may be arranged on the side. In this case, the fifth transmission member 645 may be arranged on the ventral side of the foot, and the other end of the third bellows 533 may be attached to the sole member 644.

Further, in the first to third embodiments described above, the exoskeleton members are arranged both on the outside and inside of the portion to which the exoskeleton member is attached (see FIGS. On the other hand, the exoskeleton member may be arranged on either the outside or the inside of the portion where the exoskeleton member is attached.

_{Further, in the second embodiment described above, a side-arranged bellows 355 1} is arranged on the little finger side of the foot as a configuration of the abduction / adduction assisting portion 350 that assists the abduction movement and the adduction movement of the foot. At the same time, a side-arranged bellows 355 ₂ was arranged on the thumb side of the foot (see FIG. 13). On the other hand, the side-arranged bellows may be arranged on either the little finger side or the thumb side of the foot.

Further, in the first to third embodiments described above, the joint movement assist device that assists the movement of the joint in the left lower limb of the human body has been described, but the joint movement assist device that assists the movement of the joint in the right lower limb of the human body. Of course, it may be.

Further, in the first to third embodiments described above, a joint movement assist device that assists the joint movement of the ankle joint and the toe joint of the human body will be described, and in the first and second embodiments, the ankle joint and the foot of the human body will be described. In addition to the finger joints, the joint movement assist device that assists the joint movement of the knee joint has been described, but it goes without saying that the joint movement assist device that assists the joint movement of other joints such as the elbow joint of the human body may be used. Is.

Further, in the first to third embodiments, a resin bellows is used, but other materials are available as long as they are stretchable and do not impose a burden on the weight of the device attached to the human body. It may be a material.

Further, the configuration of the adjusting unit may be a manual pump capable of discharging air and sucking air.

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

The joint movement assist device of the present invention can assist the movement of the knee joint, the ankle joint and the toe joint in the lower limbs, and can be used for eliminating the economy syndrome and the swelling of the lower limbs. Further, when the joint exercise assist device of the present invention is used in the fields of long-term care and welfare, it can be used not only for rehabilitation but also as a device for power assist by a person with weak power. it can. Further, the joint movement assist device of the present invention can also be used as a power assist device for lifting an object, etc., in addition to the fields of nursing care and welfare.

Further, in the above-mentioned first to third embodiments, the present invention is applied to a joint movement assist device that assists joint movement of the human body, but an endoskeleton type mammal, an exoskeleton type, or a non-human body having a joint mechanism. The present invention can also be applied to a joint movement assist device for a predetermined object such as an endoskeleton type robot.

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

Claims (9)

An exoskeleton-type joint movement assist device that is attached to a predetermined object having a skeletal structure and assists joint movement using the mechanism of a joint that connects one side portion and the other side portion of the predetermined object. hand,
It is prepared in the joint to assist the joint movement, and when it is arranged in the joint portion in the direction perpendicular to the rotation axis of the rotational movement of the joint, it is elastic and expandable to generate a force to assist the joint movement. With bellows;
With an adjusting unit that adjusts the working fluid pressure in the bellows;
With a one-sided transmission member connected to one-sided end of the bellows and attached to the one-sided portion;
With the other side transmission member connected to the other side end of the bellows and attached to the other side portion;
With a one-sided exoskeleton member arranged on the side of the one-sided portion along the direction extending from the joint and attached to the one-sided transmission member;
With the other exoskeleton member arranged on the side of the other side portion along the direction extending from the joint and attached to the other side transmission member;
One end of the one-sided exoskeleton member on the joint side and one end of the other-side exoskeleton member on the joint side can be rotated in the rotation direction of the joint at a position corresponding to the joint. With an articulation mechanism that articulates;
The one-sided transmission member transmits a force for assisting the flexion-extension joint movement caused by the expansion and contraction of the bellows to the one-sided exoskeleton member.
The other-side transmission member transmits a force that assists the flexion-extension joint movement caused by the expansion and contraction of the bellows to the other-side exoskeleton member.
The joint that should assist the joint movement is the ankle joint.
The one-sided exoskeleton member is attached to the lower leg of the lower limb and is attached to the lower leg.
The other exoskeleton member is attached to the foot of the lower limb and is attached to the foot.
The bellows are placed on the ankle joint portion to assist the flexion / extension movement of the ankle joint.
The other side transmission member attached to the foot is
With the ankle-side transmission member attached to the bellows;
With a bellows for varus correction, one end of which is connected to the ankle-side transmission member;
With a toe-side transmission member connected to the other end of the varus-correcting bellows;
The other exoskeleton member attached to the foot of the lower limb is
With the medial exoskeleton member of the foot that is attached to the medial side of the foot;
With a foot lateral exoskeleton member mounted on the lateral side of the foot;
The ankle-side transmission member is attached to the medial exoskeleton member of the foot.
The toe-side transmission member is attached to the foot lateral exoskeleton member, and is attached to the foot lateral exoskeleton member.
The foot medial exoskeleton member and the foot lateral exoskeleton member are movably attached to a fixing member for fixing the foot.
The contraction of the varus correction bellows assists the varus foot to the correction position.
A joint movement assist device characterized by this. The connecting mechanism is
When the one-sided exoskeleton member is fixed to the one end portion and the one-sided exoskeleton member is attached to the one-sided portion, a tooth portion is provided on the outer peripheral portion along the rotational movement direction of the joint. With the formed one-sided gear member;
When the other side exoskeleton member is fixed to the one end portion and the other side exoskeleton member is attached to the other side portion, the tooth portion that meshes with the one side gear member rotates the joint. With the other side gear member formed on the outer circumference along the direction of motion;
An arm member for ensuring meshing between the one-side gear member and the other-side gear member;
The joint movement assist device according to claim 1. The one-sided exoskeleton member
With the one-sided medial exoskeleton member mounted inside the one-sided site;
The one one side and the outer exoskeleton member is mounted on the outside of the side portion; comprises,
The joint movement assist device according to claim 1 or 2. The joint movement assist device according to any one of claims 1 to 3, wherein the bellows is arranged on at least one of a flexion side and an extension side of the joint to assist the joint movement. A foot mounting portion including a sole member on which the sole of the foot is arranged is further provided.
In the other exoskeleton member, the other end of the other exoskeleton member on the opposite side to the one end is attached to the sole member.
The joint movement assist device according to any one of claims 1 to 4, wherein the joint movement assist device is characterized. The joint movement assist device according to claim 5, wherein the other end of the other exoskeleton member is rotatably attached to the sole member in the rotation direction of the ankle joint. The joint movement assist device according to claim 5 or 6, wherein the central portion of the sole member has a shape that rises higher than the peripheral portion of the sole member. The claim is characterized in that a footrest member for attaching the foot mounting portion is further provided at a position corresponding to the center of the heel portion of the foot portion so as to be rotatable about a direction in which the lower leg portion extends. The joint movement assist device according to any one of 5 to 7. Further provided with a side-arranged bellows disposed on the toe side of at least one side of the foot.
A wall portion erected from the bottom of the footrest member is formed on the side of at least one side of the foot portion of the footrest member.
One end of the side-arranged bellows is connected to the wall of the footrest member, and the other end of the side-arranged bellows is connected to the foot-mounted portion on the side facing the wall.
The extension and contraction of the laterally arranged bellows assists the abduction and adduction movements of the ankle joint.
The joint movement assist device according to claim 8.

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