JP7182418B2 - motion support device - Google Patents

Description

The present invention relates to an operation support device.

Conventionally, Patent Literature 1 discloses an assist suit that assists a worker in lifting a load by moving a load acting portion for supporting a load suspended by a wire upward by winding up the wire. It is

JP 2016-129916 A

However, in the motion assisting device that assists the motion of the wearer by winding up a string-like member such as a wire as disclosed in Patent Document 1, there is a problem that the wire is easily cut.

Accordingly, the present disclosure provides an operation support device that assists the movement of the wearer by winding up the string-like member, and is capable of suppressing the cutting of the string-like member.

A movement support device according to an aspect of the present invention is a movement support device that supports the movement of the wearer by generating tension in a string-like member, comprising: a body member attached to the body of the wearer; the string-like member; an action member to which one end portion of the string-like member is fixed; is slidably supported by a supporting member, and the other end portion of the string-like member is fixed, and the length of the string-like member from the supporting member to the acting member is adjusted by driving. An actuator and a flexible tubular member penetrated by the string-shaped member, one end of the tubular member is a fixed end fixed to the support member, and the other end of the tubular member is Free end.

ADVANTAGE OF THE INVENTION The action assistance apparatus of this invention can suppress cutting|disconnection of a string-shaped member in the action assistance apparatus which assists a motion of a wearer by winding up a string-shaped member.

FIG. 1 is a plan view of the movement support device according to the embodiment as viewed from the right side. FIG. 2 is a plan view of the movement support device according to the embodiment as seen from the rear side. FIG. 3 is an enlarged view of area A1 of the operation support device shown in FIG. FIG. 4 is an enlarged view of area A2 of the operation support device shown in FIG. FIG. 5A is an enlarged view of the tubular member viewed from above. FIG. 5B is an enlarged view of the tubular member viewed from the left. FIG. 6 is a diagram showing how the cartridge is removed. FIG. 7 is a diagram showing how the movement of the wearer wearing the movement support device is being supported.

(Knowledge on which the present invention is based)
The inventors of the present invention have found that the assist suits described in the "Background Art" section have the following problems.

In the motion assisting device that assists the movement of the wearer by winding up a string-like member such as a wire as disclosed in Patent Document 1, since the load acting portion is suspended by the string-like member, it has a high degree of freedom and is three-dimensional. can move in different directions. However, on the other hand, since the string-like member is bent at a portion that serves as a fulcrum for suspension, there is a problem that the bending radius of the bending is likely to be small and that it is easy to cut.

Also, it is conceivable to increase the bending radius of the wire by increasing the curvature radius of the pulley that supports the portion of the wire that is the fulcrum of suspension. The three-dimensional movable range becomes smaller. Moreover, since the size of the pulley is increased, the size of the assist suit is increased, and the weight is increased.

In addition, the wire must follow the movement of the load acting portion over a wide movable range from the portion that serves as the fulcrum for suspension to the load acting portion. Therefore, the portion of the wire that serves as a fulcrum for suspension is bent in various directions because it is pulled in various directions according to the movement of the load acting portion. Therefore, when the wire is pulled in various directions, a load is applied to the wire regardless of the size of the pulley, and the wire tends to be cut.

In order to solve such a problem, an action assisting device according to an aspect of the present disclosure is an action assisting device that assists the action of the wearer by generating tension in a string-shaped member. a body member attached to the body of the above, the string-like member, an action member to which a part on one end side of the string-like member is fixed, and a working member fixed to the body member, one end and the other end of the string-like member A supporting member that supports the portion between the string-like member in a slidable state, and a portion of the string-like member on the other end side are fixed and driven to move from the supporting member to the acting member. an actuator for adjusting the length of the string-like member; and a flexible tubular member penetrating the string-like member, one end of the tubular member being a fixed end fixed to the support member. and the other end of the tubular member is a free end.

Therefore, even if the string member is pulled in a predetermined direction, the tubular member bends and curves in a predetermined direction. Therefore, it is possible to prevent the cord-like member from bending at a sharp angle at the outlet of the support member, and to suppress the cord-like member from being cut.

Also, the body member may have a shoulder brace to be worn on the shoulder of the wearer, and the support member may be fixed on a portion of the shoulder brace on the shoulder of the wearer.

According to this, the string-like member is configured to extend from the supporting member fixed on the shoulder of the wearer to the working member. Therefore, it is possible to reduce the obstruction of the wearer's field of view by the cord-like member. In addition, it is possible to reduce the possibility that the string member 0 hits the wearer's face while the wearer is working.

Further, the tubular member may be fixed to the support member in such a direction that the other end is positioned closer to the front of the wearer than the one end.

Therefore, the string-like member can be easily arranged on the front side of the wearer, and can effectively assist the wearer's movement of lifting the load.

Further, the tubular member may be less flexible than the cord-shaped member.

Therefore, since the tubular member gently curves in the direction in which it is pulled by the string-like member, it is possible to reduce the bending of the string-like member at an abrupt angle at the outlet of the support member. Therefore, it is possible to suppress the string member from being cut.

Further, the tubular member may be a member that bends in all directions intersecting with the direction in which the tubular member extends.

Therefore, even if the string-like member is pulled in various directions following the movement of the action member in the movable range, the tubular member can be bent and curved in various directions. Therefore, it is possible to prevent the cord-like member from bending at a sharp angle at the outlet of the support member, and to suppress the cord-like member from being cut.

Further, a winding shaft for winding the string-like member by being rotated by receiving power from the drive portion of the actuator, a part of the string-like member and the winding shaft are accommodated, and the body member is provided with a winding shaft. and a housing that is detachable from the body member, and the winding shaft is capable of receiving power from the driving portion in a state where the housing is fixed to the body member. It may be connected to the site.

According to this, since the cartridge is detachable from the body member, it is possible to easily replace the cartridge with a new one when the string-like member needs to be replaced.

Hereinafter, an operation support device according to one aspect of the present invention will be specifically described with reference to the drawings.

It should be noted that each of the embodiments described below is a specific example of the present invention. Numerical values, shapes, materials, constituent elements, arrangement positions of constituent elements, connection forms, and the like shown in the following embodiments are examples, and are not intended to limit the present invention. In addition, among the constituent elements in the following embodiments, constituent elements that are not described in independent claims representing the highest concept will be described as arbitrary constituent elements.

(Embodiment)
An operation support device according to an embodiment will be described with reference to FIGS. 1 to 7. FIG.

[1-1. Constitution]
In the present embodiment, when the wearer wears the movement support device, the left-right direction of the wearer's body is defined as the X-axis direction, the front-rear direction of the wearer's body is defined as the Y-axis direction, and the wearer's body direction is defined as the Y-axis direction. Let the vertical direction be the Z-axis direction. The right side of the wearer's body is the positive side in the X-axis direction, and the left side of the wearer's body is the negative side in the X-axis direction. In addition, the front side of the wearer's body is the positive side in the Y-axis direction, and the rear side of the wearer's body is the negative side in the Y-axis direction. Also. The upper side of the wearer's body is the positive side in the Z-axis direction, and the lower side of the wearer's body is the negative side in the Z-axis direction. In each figure, the directions indicated by the arrows indicating the X-axis direction, the Y-axis direction, and the Z-axis direction are the positive sides of the respective directions, and the directions opposite to the arrows are the negative sides of the respective directions. and Note that the above also applies to the following embodiments.

FIG. 1 is a plan view of the movement support device according to the embodiment as viewed from the right side. FIG. 2 is a plan view of the movement support device according to the embodiment as seen from the rear side.

As shown in FIGS. 1 and 2 , the movement support device 100 includes a body member 110 , a support member 130 , a tubular member 134 , a string member 140 , an action member 150 and an actuator 160 .

The body member 110 is a member that is arranged on the side of the wearer's body and worn on the body. Specifically, the body member 110 has a back portion 111 that is attached to the back of the wearer's torso, that is, the back of the wearer, and a waist portion 112 that is attached to the waist of the wearer. The back portion 111 is a member that is long in the Z-axis direction and is arranged along the spine of the wearer. The waist portion 112 is long in the X-axis direction and has a curved shape that covers the sides and rear of the waist of the wearer, that is, the left side, the right side, and the rear side of the wearer. The waist part 112 is connected to the lower end of the back part 111 and is integral with the back part 111 . That is, the back portion 111 and the waist portion 112 have an inverted T shape when viewed from the rear. The body member 110 is a member having rigidity, and is made of, for example, a lightweight metal such as aluminum, a cured resin, or a synthetic material such as carbon fiber. A cushioning material such as a cushion may be arranged on the surface of the body member 110 facing the wearer.

A harness 120 is connected to the body member 110 for placing the body member 110 on the wearer's back. The harness 120 is a member for maintaining a state in which the wearer carries the body member 110 on the back (a state in which the body member 110 is arranged on the wearer's back) by being hung on the shoulders of the wearer. That is, the harness 120 is an example of a shoulder brace worn on the shoulders of the wearer P1. The harness 120 is a pair of members provided at positions corresponding to both shoulders of the wearer. The harness 120 is made of, for example, resin such as nylon or silicone, metal, leather (including artificial leather), or the like. In addition, the shoulder brace is not limited to the harness, and may be any member as long as it is arranged on the shoulder of the wearer P1.

The support member 130 is fixed to the body member 110 and supports a portion between one end and the other end of the string member 140 in a state where the string member 140 is slidable above the shoulder of the wearer P1. be. The support member 130 is fixed to a portion of the harness 120 above the shoulder of the wearer P1. The support member 130 supports the string member 140 so as to be slidable in the extending direction. The support members 130 are a pair of members respectively provided on the pair of harnesses 120 of the body member 110 . A specific configuration of the support member 130 will be described later with reference to FIGS. 3 and 4. FIG.

The string members 140 are provided corresponding to both hands of the wearer P1, and are, for example, two members. The cord-like member 140 may be laterally covered with protective members from the working member 150 to the tubular member 134 . The protective member expands and contracts in the direction in which the cord-like member 140 extends. The string-like member 140 is, for example, a wire made of resin. The string member 140 may be a metal wire.

The action member 150 is fixed at one end side of the string member 140 . The acting members 150 are two members worn on both hands of the wearer P1. That is, the two action members 150 are fixed to the one end side portions of the two string-like members 140, respectively.

Acting member 150 is, for example, a glove. Also, the action member 150 is not limited to gloves, and may be a belt-like member wrapped around the hand, wrist, forearm, or the like of the wearer P1. The acting member 150 is made of, for example, resin such as nylon or silicone, metal, leather (including artificial leather), or the like.

Note that the action member 150 is not limited to a member worn by the wearer P1, and may be a member that supports an object by engaging with the object. In other words, the acting member 150 can be of any configuration as long as it acts via the hand of the wearer P1 or directly acts on the object in order to assist the wearer P1 in lifting the object. may be

The actuator 160 is fixed at the other end of the string member 140 and is driven to adjust the length of the string member 140 from the support member 130 to the action member 150 . Actuators 160 are provided corresponding to the two string-like members 140 . The actuator 160 is arranged, for example, on the rear side of the body member 110 , for example, on the upper portion of the back portion 111 . A specific configuration of actuator 160 will be described later with reference to FIGS. 3 and 4. FIG.

The tubular member 134 is penetrated by the string member 140 and has flexibility. The tubular member 134 is a hollow pipe (tube). One end of the tubular member 134 is a fixed end fixed to the support member 130, and the other end is a free end. The tubular members 134 are two members provided corresponding to the pair of support members, respectively. The tubular member 134 is made of, for example, an olefin-based material, soft vinyl chloride, or silicone rubber. A specific configuration of tubular member 134 will be described later with reference to FIGS. 5A and 5B.

Next, specific configurations of support member 130 and tubular member 134 will be described with reference to FIGS. 3 to 5B.

FIG. 3 is an enlarged view of area A1 of the operation support device shown in FIG. FIG. 4 is an enlarged view of area A2 of the operation support device shown in FIG. FIG. 5A is an enlarged view of the tubular member viewed from above. FIG. 5B is an enlarged view of the tubular member viewed from the left.

The support member 130 has a first support portion 131 , a second support portion 132 and a tubular portion 133 . The first support portion 131 and the second support portion 132 are arranged side by side in the front-rear direction on the portion of the harness 120 above the shoulder of the wearer P1. The first support portion 131 and the second support portion 132 support the tubular portion 133 . The first support portion 131 supports the tubular member 134 together with the tubular portion 133 . In addition, in the present embodiment, the tubular portion 133 and the tubular member 134 are configured by an integral continuous tubular member. The tubular portion 133 and the tubular member 134 extend in the front-rear direction and are penetrated by the string member 140 . Therefore, the string-like member 140 can slide in the direction passing through the tubular portion 133 and the tubular member 134 , that is, in the extending direction of the string-like member 140 .

The tubular member 134 is fixed to the support member 130 in such a direction that the free end, which is the other end 134b, is located on the front side of the wearer P1 with respect to the fixed end, which is the one end 134a. The tubular member 134 is a member that bends in all directions intersecting the direction in which the tubular member 134 extends. That is, the tubular member 134 is configured such that when the free end of the tubular member 134 is viewed from the front-rear direction, it can be freely bent to be positioned in any direction of 360° with respect to the fixed end. For example, as shown in FIG. 5A, when the string-like member 140 swings in the X-axis direction plus or minus side, the tubular member 134 freely bends and bends in the direction corresponding to the swing of the string-like member 140 . At this time, the other end 134b of the tubular member 134 is curved so as to be positioned on the X-axis direction plus side or minus side with respect to the one end 134a. Further, for example, as shown in FIG. 5B , when the string-like member 140 swings in the Z-axis direction plus or minus side, the tubular member 134 freely bends and curves in the direction corresponding to the swing of the string-like member 140 . do. At this time, the other end 134b of the tubular member 134 is curved so as to be positioned on the Z-axis direction plus side or minus side with respect to the one end 134a.

Also, the tubular member 134 is less flexible than the string member 140 . That is, the amount of deflection when the tubular member is bent by a predetermined bending moment is smaller than the amount of deflection when the string-like member is bent by a predetermined bending moment. Therefore, the bending radius when the tubular member is bent by a predetermined bending moment is larger than the bending radius when the string member is bent by a predetermined bending moment.

Next, a specific configuration of actuator 160 will be described with reference to FIGS. 3 and 4. FIG.

The actuator 160 has two cartridges 161 and a body portion 164 . The two cartridges 161 are provided corresponding to the two string members 140, respectively. Each of the two cartridges 161 has a winding shaft 162 and a housing 163 . The winding shaft 162 winds up the cord-like member 140 by receiving power from a motor 165 as a driving portion of the actuator 160 and rotating. The housing 163 accommodates a portion of the string-like member 140 wound around the winding shaft 162 and the winding shaft 162 . The housing 163 is detachable from the body member 110 (main body portion 164 in the present embodiment). The winding shaft 162 is connected to the motor 165 so as to be able to receive power from the motor 165 when the housing 163 is fixed to the main body 164 . The winding shaft 162 is connected to, for example, a shaft 166 of a motor 165 and rotates on a rotating shaft coaxial with the shaft 166 . In addition, the winding shaft 162 does not have to be directly connected to the shaft 166 of the motor 165, but is connected to another shaft that rotates when the shaft 166 rotates, and rotates on a rotating shaft coaxial with the other shaft. good too.

The housing 163 of the cartridge 161 is fixed to the main body 164 by fastening members such as bolts and nuts, for example. The nut may be an insert nut that is secured to body portion 164 . In other words, the housing 163 can be removed from the body portion 164 by unfastening the bolts and nuts. With the cartridge 161 removed, the winding shaft 162 , the housing 163 and the string member 140 are removed from the operation support device 100 .

For example, as shown in FIG. 6, cartridge 161 can be removed from body portion 164 . At this time, the winding shaft 162 inside the cartridge 161 is removed from the shaft 166 of the motor 165 . FIG. 6 is a diagram showing how the cartridge is removed.

The body portion 164 has two motors 165 that are driving portions of the actuator 160 . The body portion 164 may also house a battery that supplies power to the two motors 165 .

The actuator 160 can wind up and let out the string-shaped member 140 . For example, when a switch (not shown) is turned on, the actuator 160 is driven in a rotational direction in which the length from the tubular member 134 of the string-like member 140 to the acting member 150 is shortened. As a result, the actuator 160 applies tension to the string member 140 to assist the wearer P1 in lifting the load. Also, the actuator 160 may not be driven when the switch is turned off. The actuator 160 may operate according to the detected value of the sensor without being limited to the operation by turning on and off the switch. For example, when it is detected by the pressure sensor provided in the action member 150 of the wearer P1 that the wearer P1 is gripping the load, the actuator 160 may be operated in the direction in which the string member 140 is wound up. good.

Although the actuator 160 is driven by the motor 165, it is not limited to the motor, and may be an artificial muscle, a hydraulic actuator, a gas actuator, or the like.

A tubular member 141 is provided between the support member 130 and the cartridge 161 . The tubular member 141 is a hollow pipe (tube) similar to the tubular member 134 and is passed through the string-shaped member 140 . The string-like member 140 is also slidable inside the tubular member 141 in the direction in which the string-like member 140 extends. Even if the string-like member 140 is wound up by the actuator 160 , the string-like member 141 is slidable. length can be fixed. Therefore, when the actuator 160 winds up or unwinds the string-like member 140, the length of the string-like member 140 from the tubular member 134 to the action member 150 can be easily shortened or lengthened. can do.

[1-2. Example of use]
When worn by the wearer P1, the motion support device 100 reduces the burden on the wearer's arm by supporting the motion of lifting a load as an object with the arm of the wearer P1. Next, the operation of the movement support device 100 when the wearer lifts the load will be described with reference to FIG. 7 .

FIG. 7 is a diagram showing how the movement of the wearer wearing the movement support device is being supported. Specifically, FIG. 7 is a diagram showing a state in which the wearer is lifting a load placed on the ground.

As shown in FIG. 7, the wearer P1 applies tension to the string-like member 140 to the actuator 160 by pressing a switch (not shown) attached to the finger of the wearer P1 while holding the package 200, for example. can be made Therefore, the movement support device 100 can assist the wearer P1 with lifting both hands.

[1-3. effect]
Operation support device 100 according to the present embodiment includes body member 110 , string-like member 140 , action member 150 , support member 130 , actuator 160 and tubular member 134 . The body member 110 is a member worn on the body of the wearer P1. The acting member 150 is a member to which one end portion of the string member 140 is fixed. The support member 130 is fixed to the body member 110, and supports a portion between one end and the other end of the string-like member 140 above the shoulder of the wearer P1 so that the string-like member 140 is slidable. is. The actuator 160 is fixed at the other end of the string member 140 and is driven to adjust the length of the string member 140 from the support member 130 to the action member 150 . The tubular member 134 is penetrated by the string member 140 and has flexibility. One end 134a of tubular member 134 is a fixed end fixed to support member 130, and the other end 134b of tubular member 134 is a free end.

Therefore, even if the string member 140 is pulled in a predetermined direction, the tubular member 134 bends and curves in a predetermined direction. Therefore, it is possible to prevent the cord-like member 140 from being bent at an abrupt angle at the outlet of the support member 130, and it is possible to suppress the cord-like member 140 from being cut.

In addition, in the movement support device 100 according to the present embodiment, the body member 110 has a harness 120 as a shoulder brace worn on the shoulder of the wearer P1. The support member 130 is fixed to a portion of the harness 120 above the shoulder of the wearer P1.

According to this, the string-like member 140 is configured to extend from the support member 130 fixed on the shoulder of the wearer P1 to the action members 150 on both hands of the wearer P1. Therefore, it is possible to reduce the obstruction of the field of view of the wearer P1 by the string-shaped member 140 . In addition, it is possible to reduce the possibility that the string member 140 hits the face of the wearer P1 while the wearer P1 is working.

Further, in the movement support device 100 according to the present embodiment, the tubular member 134 is fixed to the supporting member in such a direction that the other end 134b is located on the front side of the wearer P1 relative to the one end 134a. Therefore, the string member 140 can be easily arranged on the front side of the wearer P1, and the movement of the wearer P1 to lift the luggage can be effectively assisted.

Further, in the movement support device 100 according to the present embodiment, the tubular member 134 is less flexible than the string member 140 . That is, the bending radius when the tubular member 134 is bent by a predetermined bending moment is larger than the bending radius when the string member 140 is bent by a predetermined bending moment. Therefore, since the tubular member 134 gently curves in the direction of being pulled by the string member 140 , it is possible to reduce the sudden bending of the string member 140 at the outlet of the support member 130 . Therefore, it is possible to prevent the string member 140 from being cut.

Further, in the operation support device 100 according to the present embodiment, the tubular member 134 is a member that bends in all directions intersecting with the direction in which the tubular member 134 extends. Therefore, even if the string-like member 140 is pulled in various directions following the movement of the action member 150 in the movable range, the tubular member 134 can bend in various directions. Therefore, it is possible to prevent the cord-like member 140 from being bent at an abrupt angle at the outlet of the support member 130, and it is possible to suppress the cord-like member 140 from being cut.

Moreover, the operation support device 100 according to the present embodiment may further include a cartridge 161 . The cartridge 161 has a winding shaft 162 and a housing 163 . The winding shaft 162 winds up the string-like member 140 by receiving power from a motor 165 that is a driving part of the actuator 160 and rotating. The housing 163 accommodates a portion of the string member 140 and the winding shaft 162 and is detachable from the body member 110 . The winding shaft 162 is connected to the motor 165 so as to be able to receive power from the motor 165 when the housing 163 is fixed to the body member 110 .

Since the cartridge 161 is detachable from the body member 110, the cartridge 161 can be easily replaced with a new cartridge 161 when the string member 140 needs to be replaced.

[1-4. Modification]
According to the above embodiment, the movement support device 100 includes the support member 130, the tubular member 134, the string member 140, the action member 150, and the motor 165 of the actuator 160, corresponding to both hands of the wearer P1. and are a pair of structures, the structure is not limited to this, and may be a structure of only one of them. Even if only one of them is configured, it is possible to assist the movement of lifting a load with one hand.

According to the above-described embodiment, the movement support device 100 has the support member 130 fixed on the portion of the harness 120 as a shoulder brace on the shoulder of the wearer, and the action member 150 is placed on both hands of the wearer P1. Although the string member 140, which is a member to be worn, is pulled up by the actuator 160 to assist the wearer P1 in lifting an object, the present invention is not limited to this.

For example, the movement support device has a support member fixed to the body member 110, an action member fixed to the wearer's knee, and a string-like member pulled up by an actuator to support the wearer's walking. good too. In the movement support device in this case, one end of the string member is fixed to the waist of the wearer, and the other end is fixed to the knee of the wearer. Actuators are arranged on the body member or on the knee working member so as to be able to generate tension in the cord member. The string and actuator set may be positioned on the front of the leg, on the rear of the leg, or on both the front and back of the leg. As a result, the actuator generates tension in the string-like member, so that the movement assisting device can assist the wearer's movement of bending or extending the thigh. can. In such a movement support device, since the flexible tubular member that is penetrated by the string-like member is fixed to the supporting member, the same effect as that of the movement support device 100 of the above-described embodiment can be obtained. played.

Although the operation support device according to one or more aspects of the present invention has been described above based on the embodiments, the present invention is not limited to these embodiments. As long as it does not depart from the gist of the present invention, one or more modifications of the present embodiment that can be considered by those skilled in the art, or a form constructed by combining the components of different embodiments may be included within the scope of the embodiments.

INDUSTRIAL APPLICABILITY The present invention is useful as an action assisting device that assists the movement of a wearer by winding up a string-like member, and can prevent the string-like member from being cut.

100 Operation support device 110 Body member 111 Back portion 112 Waist portion 120 Harness 130 Support member 131 First support portion 132 Second support portion 133 Tubular portion 134 Tubular member 134a One end 134b The other end 140 String member 141 Tubular member 150 Action member 160 Actuator 161 Cartridge 162 Winding shaft 163 Housing 164 Main body 165 Motor 166 Shaft 200 Baggage P1 Wearer

Claims (6)

A movement support device that supports the movement of a wearer by generating tension in a string-like member,
a body member attached to the body of the wearer;
the string-like member;
an action member to which a part on one end side of the string-like member is fixed;
a support member that is fixed to the body member and supports a portion between one end and the other end of the string-like member so that the string-like member is slidable;
an actuator to which a part of the string-like member on the other end side is fixed and which is driven to adjust the length of the string-like member from the supporting member to the acting member;
a flexible tubular member that is penetrated by the string-like member;
one end of the tubular member is a fixed end fixed to the support member;
The other end of the tubular member is a free end,
The body member has a shoulder brace that is worn on the wearer's shoulder,
The support member is fixed to a portion of the shoulder brace on the shoulder of the wearer.
Operation support device. The working member is worn on a portion of the wearer's hand, wrist and forearm.
The operation support device according to claim 1. The movement support device according to claim 1 or 2, wherein the tubular member is fixed to the support member such that the other end of the tubular member is positioned closer to the front of the wearer than the one end of the tubular member. The movement support device according to any one of Claims 1 to 3, wherein the tubular member has less flexibility than the cord-shaped member. The movement support device according to any one of claims 1 to 4, wherein the tubular member is a member that bends in all directions intersecting with the direction in which the tubular member extends. moreover,
A winding shaft for winding the string-like member by being rotated by receiving power from the drive portion of the actuator, a part of the string-like member and the winding shaft, and detachable from the body member. comprising a cartridge having a housing and
6. Any one of claims 1 to 5, wherein the winding shaft is connected to the drive part in a state in which the housing is fixed to the body member and can receive power from the drive part. The operation support device according to the item.

Images