JP7253761B2 - Active bodies and movement aids - Google Patents

Active bodies and movement aids Download PDF

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JP7253761B2
JP7253761B2 JP2017236083A JP2017236083A JP7253761B2 JP 7253761 B2 JP7253761 B2 JP 7253761B2 JP 2017236083 A JP2017236083 A JP 2017236083A JP 2017236083 A JP2017236083 A JP 2017236083A JP 7253761 B2 JP7253761 B2 JP 7253761B2
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artificial muscle
base material
thread
active body
threads
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佑記 舟洞
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Tokai National Higher Education and Research System NUC
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本開示は、能動体および動作補助装置に関する。 The present disclosure relates to active objects and motion assist devices.

介護の現場では、介護者が体幹を深く前屈した前傾姿勢を持続しながら、非介護者の移乗介助や体位変換などの介護動作が行うことが多く、腰痛を発症する等、介護者の負担が大きい。そのため、介護者の身体的な負担を減らすため、介護用の装置が知られている。介護用の装置としては、モータやゴム人工筋等のアクチュエータと外骨格とを備えるロボットスーツやアクチュエータを直接人体に取り付けた内骨格型のアシスト装置等が提案されている。また、介護者ではなく、身体が不自由な者自身の動作補助の目的にも、上記の装置が用いられることもある。 In the field of nursing care, caregivers often perform caregiving actions such as assisting non-caregivers in transferring and changing positions while maintaining a forward leaning posture with their trunks bent forward. burden is heavy. Therefore, care devices are known to reduce the physical burden on caregivers. As devices for nursing care, a robot suit including actuators such as motors and artificial rubber muscles and an exoskeleton, and an endoskeleton-type assist device in which the actuator is directly attached to the human body have been proposed. In addition, the above device is sometimes used for the purpose of assisting the movement of the physically handicapped person, not the caregiver.

人工筋を用いた補助装置の具体例として、例えば、マッキベン人工筋を用いる人工筋糸と、人工筋糸と共に織り上げられる織糸とを具備した能動織布が知られている（特許文献１参照）。特許文献１に記載されている能動織布は、マッキベン人工筋を織布と一緒に織り上げていることから、大きな発生力及び大きな収縮量が得られると共に、軽くしなやかであることが記載されている。 As a specific example of an assist device using an artificial muscle, for example, an active woven fabric comprising an artificial muscle thread using a McKibben artificial muscle and a weaving thread woven together with the artificial muscle thread is known (see Patent Document 1). . Since the active woven fabric described in Patent Document 1 is woven with the McKibben artificial muscle together with the woven fabric, it is described that a large generated force and a large amount of contraction can be obtained, and that it is light and flexible. .

特開２０１６－１５６１１６号公報JP 2016-156116 A

上記特許文献１に記載のマッキベン人工筋は、中空の筒状弾性体からなる弾性チューブと、糸状体を弾性チューブの外壁の上に移動自在に縒り合わせて袋編みしてなる編組チューブとから作製されている。そして、中空の筒状に形成される弾性体にコンプレッサから空気を導入すると、弾性管状体が径方向に誇張し、長さ方向には収縮して収縮力が発生する。つまり、マッキベン人工筋は、空気の導入により、長手方向の伸縮の制御をすることができる。 The McKibben artificial muscle described in Patent Document 1 is produced from an elastic tube made of a hollow cylindrical elastic body, and a braided tube made by movably twisting a filament on the outer wall of the elastic tube and performing tubular knitting. It is When air is introduced from the compressor into the hollow cylindrical elastic body, the elastic tubular body expands in the radial direction and shrinks in the length direction to generate contraction force. In other words, the McKibben artificial muscle can control its longitudinal expansion and contraction by introducing air.

上記のとおり、上記特許文献１に記載の能動織布は、マッキベン人工筋糸を織糸として用い、人工筋糸以外の織糸と共に、織り上げた織布である。したがって、特許文献１に記載のマッキベン人工筋糸を伸縮した場合、特許文献１の段落［００２６］に記載のとおり、能動織布は歪ながら収縮、または、直線的に収縮する。 As described above, the active woven fabric described in Patent Literature 1 is a woven fabric woven using McKibben artificial muscle threads as weaving threads together with weaving threads other than artificial muscle threads. Therefore, when the McKibben artificial muscle yarn described in Patent Document 1 is stretched, the active woven fabric contracts while being distorted or linearly contracts as described in paragraph [0026] of Patent Document 1.

また、特許文献１には、マッキベン人工筋を縦糸および横糸として織り上げた能動織布も記載されている。当該能動織布は、段落［００３１］に記載のとおり、縦方向および横方向に収縮することができる。 Patent Document 1 also describes an active woven fabric in which McKibben artificial muscles are woven as warp and weft. The active fabric can shrink in the warp and weft direction as described in paragraph [0031].

ところで、介護者または身体が不自由な者が能動織布を使用する場合、例えば、腰を曲げた状態で体を保持する等、能動織布を２次元のみではなく、３次元、つまり、立体的に形状を制御できることが望ましい。しかしながら、特許文献１に記載の能動織布は、歪ながら収縮、または、直線的に収縮することはできるものの、３次元形状の制御はできないという問題がある。 By the way, when a caregiver or a physically handicapped person uses the active fabric, for example, to hold the body in a bent state, the active fabric is not only two-dimensional, but also three-dimensional, that is, three-dimensional. It is desirable to be able to control the shape dynamically. However, the active woven fabric described in Patent Document 1 has a problem that it cannot control its three-dimensional shape, although it can shrink while being distorted or can shrink linearly.

本開示は、上記問題を解決するためになされたものであり、鋭意研究を行ったところ、（１）伸縮可能な人工筋糸と基材とを含み、（２）人工筋糸が伸縮した時に、人工筋糸と基材とが相対移動しないように保持する保持部を有し、（３）基材を、人工筋糸が非伸縮時には形状を維持し、人工筋糸が伸縮した時には形状が変形できる材料で形成することで、（４）３次元形状の制御ができる能動体を提供できること、を新たに見出した。 The present disclosure has been made in order to solve the above problems. (3) the base material maintains its shape when the artificial muscle thread is not stretched and retains its shape when the artificial muscle thread is stretched; It was newly found that (4) an active body whose three-dimensional shape can be controlled can be provided by forming it from a deformable material.

すなわち、本開示の目的は、３次元形状の制御ができる能動体、および、該能動体を用いた動作補助装置を提供することである。 That is, an object of the present disclosure is to provide an active body whose three-dimensional shape can be controlled, and a motion assistance device using the active body.

本開示は、以下に示す、能動体および動作補助装置に関する。 The present disclosure relates to active bodies and movement assisting devices described below.

（１）伸縮可能な人工筋糸を含む能動体であって、
前記能動体は、
基材と、
伸縮可能な人工筋糸と、
を含み、
前記能動体は、前記人工筋糸が伸縮した時に、前記人工筋糸と前記基材とが相対移動しないように保持する保持部を有し、
前記基材は、前記人工筋糸が非伸縮時には形状を維持し、前記人工筋糸が伸縮した時には形状が変形する、
能動体。
（２）前記人工筋糸が少なくとも２本以上含まれ、前記保持部が前記人工筋糸１本あたりに少なくとも１つ含まれる、
上記（１）に記載の能動体。
（３）前記保持部が、前記人工筋糸１本あたりに少なくとも２以上含まれる、
上記（２）に記載の能動体。
（４）前記人工筋糸が、同一方向に配置されている人工筋糸を少なくとも２本以上含む、
上記（１）～（３）の何れか一つに記載の能動体。
（５）前記人工筋糸が、異なる方向に配置されている人工筋糸を含む、
上記（１）～（４）の何れか一つに記載の能動体。
（６）前記人工筋糸が、前記基材の表面および裏面に形成されている、
上記（１）～（５）の何れか一つに記載の能動体。
（７）前記人工筋糸の少なくとも一部が、前記基材と交差するように形成されている、
上記（１）～（５）の何れか一つに記載の能動体。
（８）上記（１）～（７）の何れかに一つに記載の能動体が複数枚積層されている、
積層型の能動体。
（９）上記（１）～（７）の何れかに一つに記載の能動体が連結部を介して連結されている、
連結型の能動体。
（１０）上記（１）～（９）の何れか一つに記載の能動体を少なくとも含む、
動作補助装置。 (1) An active body comprising stretchable artificial muscle thread,
The active body is
a substrate;
a stretchable artificial muscle thread;
including
The active body has a holding portion that holds the artificial muscle thread and the base material so that they do not move relative to each other when the artificial muscle thread expands and contracts, and
The base material maintains its shape when the artificial muscle threads are not stretched, and deforms when the artificial muscle threads are stretched.
Active body.
(2) At least two of the artificial muscle threads are included, and at least one of the holding portions is included per one of the artificial muscle threads.
The active body according to (1) above.
(3) At least 2 or more of the holding portions are included per artificial muscle thread,
The active body according to (2) above.
(4) the artificial muscle thread includes at least two artificial muscle threads arranged in the same direction;
The active body according to any one of (1) to (3) above.
(5) the artificial muscle threads include artificial muscle threads arranged in different directions;
The active body according to any one of (1) to (4) above.
(6) the artificial fibers are formed on the front and back surfaces of the substrate;
The active body according to any one of (1) to (5) above.
(7) At least a portion of the artificial thread is formed to intersect with the base material,
The active body according to any one of (1) to (5) above.
(8) A plurality of active bodies according to any one of (1) to (7) above are laminated,
Laminated active body.
(9) The active body according to any one of (1) to (7) above is connected via a connecting portion,
Connected active body.
(10) At least including the active body according to any one of (1) to (9) above,
motion aids.

本明細書で開示する能動体により、３次元形状の制御ができる。 The active bodies disclosed herein allow three-dimensional shape control.

図１Ａは第１の実施形態に係る能動体１ａの概略正面図、図１Ｂは第１の実施形態に係る能動体１ａの概略側面図、図１Ｃは第１の実施形態に係る能動体１ａを湾曲した状態を示す概略側面図である。1A is a schematic front view of the active body 1a according to the first embodiment, FIG. 1B is a schematic side view of the active body 1a according to the first embodiment, and FIG. 1C is the active body 1a according to the first embodiment. It is a schematic side view showing a curved state. 図２は、第１の実施形態に係る能動体１ａの基材２の他の実施形態を説明するための図である。FIG. 2 is a diagram for explaining another embodiment of the base material 2 of the active body 1a according to the first embodiment. 図３Ａ乃至図３Ｃは、第１の実施形態の変形例１の能動体１ａ’の概略正面図である。3A to 3C are schematic front views of an active body 1a' of Modification 1 of the first embodiment. 図４Ａ乃至図４Ｃは、第１の実施形態の変形例２の能動体１ａ’’の概略正面図である。4A to 4C are schematic front views of an active body 1a'' of Modification 2 of the first embodiment. 図５Ａは第２の実施形態に係る能動体１ｂの概略側面図、図５Ｂは第２の実施形態に係る能動体１ｂを湾曲した状態を示す概略側面図である。FIG. 5A is a schematic side view of an active body 1b according to the second embodiment, and FIG. 5B is a schematic side view showing a bent state of the active body 1b according to the second embodiment. 図６は、第３の実施形態に係る能動体１ｃの概略正面図である。FIG. 6 is a schematic front view of an active body 1c according to the third embodiment. 図７は、第３の実施形態の変形例１の能動体１ｃ’の概略正面図である。FIG. 7 is a schematic front view of an active body 1c' of Modification 1 of the third embodiment. 図８Ａ及び図８Ｂは、第４の実施形態に係る能動体１ｄの概略側面図である。8A and 8B are schematic side views of an active body 1d according to the fourth embodiment. 図９Ａ及び図９Ｂは、第４の実施形態の変形例１の能動体１ｄ’概略側面図である。9A and 9B are schematic side views of an active body 1d' of Modification 1 of the fourth embodiment. 図１０は、動作補助装置１０の実施形態の一例を示す概略図であるFIG. 10 is a schematic diagram showing an example of an embodiment of the movement assisting device 10. FIG. 図１１は図面代用写真で、実施例１で作製した能動体１の写真である。FIG. 11 is a photograph substituting for a drawing, which is a photograph of the active member 1 produced in Example 1. FIG. 図１２Ａ乃至図１２Ｄは図面代用写真で、実施例２で作製した動作補助装置１０を用いて能動体１を変形した際の写真である。12A to 12D are photographs substituted for drawings, which are photographs when the active body 1 is deformed using the movement assisting device 10 manufactured in Example 2. FIG.

以下、図面を参照しつつ、能動体１および動作補助装置１０の各実施形態について、詳しく説明する。なお、本明細書において、同種の機能を有する部材には、同一または類似の符号が付されている。そして、同一または類似の符号の付された部材について、繰り返しとなる説明が省略される場合がある。 Hereinafter, each embodiment of the active body 1 and the movement assisting device 10 will be described in detail with reference to the drawings. In this specification, members having the same type of function are given the same or similar reference numerals. Further, repetitive descriptions of members denoted by the same or similar reference numerals may be omitted.

（第１の実施形態）
図１Ａ乃至図１Ｃを参照して、第１の実施形態に係る能動体１ａについて説明する。図１Ａは第１の実施形態に係る能動体１ａの概略正面図、図１Ｂは第１の実施形態に係る能動体１ａの概略側面図、図１Ｃは第１の実施形態に係る能動体１ａを湾曲した状態を示す側面図である。 (First embodiment)
An active body 1a according to the first embodiment will be described with reference to FIGS. 1A to 1C. 1A is a schematic front view of the active body 1a according to the first embodiment, FIG. 1B is a schematic side view of the active body 1a according to the first embodiment, and FIG. 1C is the active body 1a according to the first embodiment. It is a side view showing a bent state.

能動体１ａは、基材２、伸縮可能な人工筋糸３、人工筋糸３が伸縮した時に人工筋糸３と基材２とが相対移動しないように保持する保持部４を少なくとも含む。保持部４では、基材２と人工筋糸３が相対移動しない。したがって、例えば、人工筋糸３が収縮すると、図１Ｂに示す保持部４間の距離Ｌ１は、図１ＣのＬ２に示すように短くなる。そのため、基材２が変形し、能動体１ａを３次元制御できる。なお、第１の実施形態に係る能動体１ａでは、人工筋糸３が収縮する場合の例を示しているが、人工筋糸３は伸長してもよい。 The active body 1a includes at least a base material 2, stretchable artificial muscle threads 3, and a holding portion 4 that holds the artificial muscle threads 3 and the base material 2 so that they do not move relative to each other when the artificial muscle threads 3 are stretched. In the holding portion 4, the base material 2 and the artificial muscle thread 3 do not move relative to each other. Therefore, for example, when the artificial muscle thread 3 contracts, the distance L1 between the holding portions 4 shown in FIG. 1B is shortened as shown by L2 in FIG. 1C. Therefore, the base material 2 is deformed and the active body 1a can be three-dimensionally controlled. In the active body 1a according to the first embodiment, an example in which the artificial muscle thread 3 contracts is shown, but the artificial muscle thread 3 may be stretched.

基材２は、人工筋糸３が非伸縮時には形状を維持、つまり、保持部４に力がかからない状態では形状を維持し、人工筋糸３が伸縮した時には形状が変化する材料で作製されていれば特に制限はない。基材２を構成する材料としては、布、ゴム、紙、プラスチック、木材、金属、等が挙げられる。基材２の形状は、外力がかかっていない状態で、平面状あるいは湾曲していてもよい。また、基材２は、前記材料を用いて単一の部材として構成されていてもよいし、基材２は複数のパーツに分割されていてもよい。複数のパーツに分割される場合は、各パーツをリンク機構等により接続することで基材２を構成すればよい。 The base material 2 is made of a material that maintains its shape when the artificial muscle thread 3 is not stretched, that is, maintains its shape when no force is applied to the holding part 4, and changes its shape when the artificial muscle thread 3 is stretched. There are no particular restrictions. Materials constituting the base material 2 include cloth, rubber, paper, plastic, wood, metal, and the like. The shape of the substrate 2 may be planar or curved in a state where no external force is applied. Moreover, the base material 2 may be configured as a single member using the above materials, or the base material 2 may be divided into a plurality of parts. When divided into a plurality of parts, the base material 2 may be configured by connecting each part with a link mechanism or the like.

なお、基材２に関し、「保持部４に力がかからない状態では形状を維持し」とは、
（１）基材２を例えば単一の薄いプラスチック板等で作製することで、人工筋糸３の有無にかかわらず形状を維持すること、および、
（２）基材２を、例えば、布、または、金属等で作製した複数のパーツをリンク機構等により接続することで作製し、基材２単独では形状が変化するものの、保持部４を介して人工筋糸３と組み合すことで、人工筋糸３の支えにより形状を維持すること、
の何れも含まれる。 Regarding the base material 2, "maintaining the shape in a state where no force is applied to the holding part 4" means that
(1) The base material 2 is made of, for example, a single thin plastic plate to maintain its shape regardless of the presence or absence of the artificial fibers 3, and
(2) The base material 2 is made by connecting a plurality of parts made of cloth or metal with a link mechanism or the like. By combining with the artificial muscle thread 3, the shape is maintained by the support of the artificial muscle thread 3;
includes any of

また、基材２に関し、「人工筋糸が伸縮した時には形状が変形する」とは、文字どおり、人工筋糸が伸縮した時に基材２の形状が変形することを意味する。なお変形には、基材２の形が変わることに加え、基材２が伸長あるいは収縮することも含まれる。例えば、基材２を単一の部材で形成する場合、人工筋糸３の伸縮により保持部４に係る湾曲力と比較して、基材２の剛性を弱くすればよい。具体的には、使用する人工筋糸３が伸縮することで発生する湾曲力より、基材２の剛性が弱くなるように、基材２の材料や厚さを調整すればよい。或いは、基材２として、発生する湾曲力より強い剛性の材料を使う場合は、例えば図２に示すように、複数のパーツ２１をリンク機構等により接続し、発生する湾曲力により、リンク部分が回動するようにしてもよい。なお、複数のパーツ２１に分ける場合、基材２は図２に示すように隙間が空いた形状、例えば、格子状であってもよい。 Further, regarding the base material 2, "the shape is deformed when the artificial muscle thread is stretched" literally means that the shape of the base material 2 is deformed when the artificial muscle thread is stretched. In addition to the change in the shape of the base material 2 , the deformation includes the expansion or contraction of the base material 2 . For example, when the base material 2 is formed of a single member, the rigidity of the base material 2 may be made weaker than the bending force applied to the holding part 4 due to expansion and contraction of the artificial muscle threads 3 . Specifically, the material and thickness of the base material 2 may be adjusted so that the rigidity of the base material 2 becomes weaker than the bending force generated by the expansion and contraction of the artificial muscle threads 3 used. Alternatively, if a rigid material stronger than the bending force generated is used as the base material 2, for example, as shown in FIG. You may make it rotate. When divided into a plurality of parts 21, the base material 2 may have a shape with gaps as shown in FIG. 2, for example, a lattice shape.

人工筋糸３は、（１）非動作時の長さより収縮する、（２）非動作時の長さより伸長する、（３）非動作時の長さより収縮及び伸長する、の何れも用いることができる。（１）収縮する人工筋糸３としては、マッキベン人工筋糸、電圧をかけることで収縮するカーボンナノチューブ筋繊維等が挙げられる。（２）伸長する人工筋糸３としては、ゴムチューブを蛇腹状の繊維で覆い、空気をチューブに送ることでチューブの半径方向の膨張が抑制され軸方向のみに伸長する伸長型ゴム人工筋、等が挙げられる。また、（３）収縮及び伸長する人工筋糸３としては、誘電エラストマーを用いた人工筋糸、形状記憶合金（ＳＭＡ）及び形状記憶ポリマー（ＳＭＰ）等から作製され加熱により長手方向に沿って収縮または伸長する人工筋糸、等が挙げられる。なお、上記は単なる例示であって、勿論、その他の人工筋糸を用いてもよい。 The artificial muscle thread 3 can be used in any of the following ways: (1) it contracts beyond its non-moving length, (2) it stretches beyond its non-moving length, and (3) it contracts and stretches beyond its non-moving length. can. (1) Examples of the contracting artificial muscle thread 3 include McKibben artificial muscle thread, carbon nanotube muscle fiber that contracts when voltage is applied, and the like. (2) As the elongated artificial muscle thread 3, a rubber tube is covered with bellows-like fibers, and by sending air into the tube, expansion of the tube in the radial direction is suppressed, and the elongated artificial rubber thread extends only in the axial direction. etc. (3) The artificial muscle thread 3 that contracts and stretches is made of artificial muscle thread using a dielectric elastomer, shape memory alloy (SMA), shape memory polymer (SMP), or the like, and is contracted along the longitudinal direction by heating. Alternatively, an elongated artificial muscle thread, etc., may be used. It should be noted that the above is merely an example, and of course other artificial muscle threads may be used.

保持部４は、人工筋糸３が伸縮した時に、人工筋糸３と基材２とが相対移動しないように保持できる機構となっていれば特に制限はない。なお、本明細書において、「人工筋糸と基材とが相対移動しないように保持」とは、人工筋糸と基材とが全く移動できないように固定する機構、および、人工筋糸と基材とが所定の長さは相対移動するが所定の長さを超えた後は相対移動できなくなる機構等、最終的に人工筋糸と基材が相対移動できなくなる機構を意味する。例えば、基材２が針等で貫通が可能な材料で形成される場合は、人工筋糸３の保持部４を形成する箇所を、糸等を用いて基材２に縫い付けて固定すればよい。また、基材２が針等で貫通しない材料で形成されている場合は、接着剤等を用いて、直接または間接的に、人工筋糸３の保持部４を形成する箇所を基材２に接着・固定すればよい。或いは、又釘等を用いて、人工筋糸３の伸縮性能に影響がないように基材２に打ち込んで固定してもよい。つまり、図１に示す例では、糸、接着剤、又釘等で、基材２の一部と人工筋糸３の一部を固定することで、保持部４を形成する。また、図１に示す実施形態では、基材２の一部と人工筋糸３の一部を、糸、接着剤、又釘等で固定することに代え、ゴム等の伸長性のある部材を介して基材２の一部と人工筋糸３の一部を固定してもよい。その場合、ゴム等が伸長できる長さを超えた後は、人工筋糸３と基材２が相対移動できなくなる。図１に示す能動体１ａ、つまり、基材２に人工筋糸３を固定する例では、保持部４は、人工筋糸一本当たり２カ所以上設けることが好ましい。 The holding part 4 is not particularly limited as long as it has a mechanism capable of holding the artificial muscle thread 3 and the base material 2 so as not to move relative to each other when the artificial muscle thread 3 expands and contracts. In this specification, the term "holding the artificial muscle thread and the base material so as not to move relative to each other" means a mechanism for fixing the artificial muscle thread and the base material so that they cannot move at all, and a mechanism for fixing the artificial muscle thread and the base material. It means a mechanism such as a mechanism in which the material moves relative to the base material for a predetermined length, but after exceeding the predetermined length, the relative movement becomes impossible, and the like. For example, if the base material 2 is made of a material that can be penetrated by a needle or the like, the part where the holding part 4 of the artificial muscle thread 3 is formed can be sewn to the base material 2 using a thread or the like. good. If the base material 2 is made of a material that cannot be penetrated by a needle or the like, an adhesive or the like can be used to directly or indirectly attach the holding part 4 of the artificial muscle thread 3 to the base material 2 . Glue and fix. Alternatively, a nail or the like may be used to fix the artificial muscle thread 3 by driving it into the base material 2 so as not to affect the stretchability thereof. That is, in the example shown in FIG. 1, the holding portion 4 is formed by fixing a portion of the base material 2 and a portion of the artificial thread 3 with a string, an adhesive, a nail, or the like. In the embodiment shown in FIG. 1, instead of fixing a part of the base material 2 and a part of the artificial muscle threads 3 with threads, adhesives, nails, etc., elastic members such as rubber are used. A part of the base material 2 and a part of the artificial muscle thread 3 may be fixed through the intermediary. In that case, after the rubber or the like exceeds the stretchable length, the artificial muscle thread 3 and the substrate 2 cannot move relative to each other. In the example in which the artificial muscle thread 3 is fixed to the active body 1a shown in FIG. 1, that is, the base material 2, it is preferable to provide two or more holding portions 4 for each artificial muscle thread.

（第１の実施形態の変形例１）
図３Ａ乃至図３Ｃに示す第１の実施形態の変形例１の能動体１ａ’の保持部４は、人工筋糸３が所定の長さ伸縮した後に、基材２と人工筋糸３が相対移動しないように保持される他の例を示している。例えば、図３Ａは、人工筋糸３が所定の長さ収縮した後に相対移動しない例を示している。図３Ａに示す例では、先ず、細長状の布を格子状に織り込むことで基材２を形成する。次に、人工筋糸３を基材２の格子の間に織り込むように配置する。そして、人工筋糸３にはフック３１が形成されている。したがって、後述する動作補助装置のコンプレッサ等の駆動部Ｐを用いて人工筋糸３を矢印の方向に収縮すると、人工筋糸３が所定距離収縮した後に、フック３１が格子状の基材２に係止し、その後は人工筋糸３１と基材２は相対移動しなくなる。したがって、図３Ａに記載の例では、基材２の一部とフック３１で保持部４を形成する。なお、図３Ａに示す実施形態では、フック３１は人工筋糸３の少なくとも二か所に形成されていればよい。なお、図３Ｂに示すように、人工筋糸３を駆動部Ｐと接続する際に、接続部材Ｑを用いて接続する場合がある。図３Ｂに示す実施形態の場合、人工筋糸３を収縮すると、フック３１と接続部材Ｑの間の長さが短くなる。そして、人工筋糸３が所定の長さ収縮すると基材２の端部が接続部材Ｑに当接し、更に人工筋糸３を収縮することで、基材２を湾曲することができる。したがって、図３Ｂに示す実施形態の場合、能動体１ａ’に形成される保持部４は、1本の人工筋糸３に一つであってもよい。図３Ｃは、第１の実施形態の変形例１において、人工筋糸３が伸長する実施形態を示している。図３Ｃに示す例では、人工筋糸３を伸長した時に、フック３１が基材２に係止するように配置すればよい。 (Modification 1 of the first embodiment)
The holding portion 4 of the active body 1a' of Modification 1 of the first embodiment shown in FIGS. Another example is shown that is held from moving. For example, FIG. 3A shows an example in which the artificial muscle threads 3 do not move relative to each other after being contracted by a predetermined length. In the example shown in FIG. 3A, first, the substrate 2 is formed by weaving strips of cloth in a grid pattern. Next, the artificial thread 3 is arranged so as to be woven between the grids of the base material 2 . A hook 31 is formed on the artificial muscle thread 3 . Therefore, when the artificial muscle thread 3 is contracted in the direction of the arrow using the driving part P such as the compressor of the movement assisting device to be described later, the hook 31 is attached to the grid-shaped base material 2 after the artificial muscle thread 3 is contracted for a predetermined distance. After locking, the artificial muscle thread 31 and the base material 2 do not move relative to each other. Therefore, in the example shown in FIG. 3A, part of the base material 2 and the hooks 31 form the holding part 4 . In addition, in the embodiment shown in FIG. 3A, the hooks 31 need only be formed in at least two places on the artificial muscle thread 3 . Incidentally, as shown in FIG. 3B, when connecting the artificial muscle thread 3 to the driving part P, the connecting member Q may be used for connection. In the case of the embodiment shown in FIG. 3B, contracting the artificial muscle thread 3 shortens the length between the hook 31 and the connecting member Q. In the embodiment shown in FIG. Then, when the artificial muscle threads 3 contract to a predetermined length, the ends of the base material 2 come into contact with the connection members Q, and the artificial muscle threads 3 are further contracted, so that the base material 2 can be curved. Therefore, in the case of the embodiment shown in FIG. 3B, one artificial muscle thread 3 may have only one holding portion 4 formed on the active body 1a′. FIG. 3C shows an embodiment in which the artificial muscle threads 3 are elongated in the first modification of the first embodiment. In the example shown in FIG. 3C, the hooks 31 may be arranged so as to engage with the base material 2 when the artificial muscle thread 3 is stretched.

（第１の実施形態の変形例２）
図４は、第１の実施形態の変形例２の能動体１ａ’’の保持部４を説明するための図である。図４Ａに示す例では、図３Ａ乃至図３Ｃと同様に基材２を格子状に形成し、人工筋糸３の一端を基材２に固定することで保持部４を形成する。そして、人工筋糸３を基材２と交差するように配置し、人工筋糸３の他端を基材２の保持部４とは反対側まで延伸している。そして、例えば、人工筋糸３としてマッキベン型を採用する場合は、人工筋糸３の他端を駆動部Ｐに接続する。その際、図３Ｂと同様に接続部材Ｑを介して接続する場合がある。そして、駆動部Ｐから人工筋糸３に空気を送り込むことで、人工筋糸３は収縮するが、人工筋糸３は格子状の基材２にガイドされる。そして、人工筋糸３が収縮すると、基材２の一端には保持部４が形成されているので、基材２の保持部４の反対側が接続部材Ｑに当接し、更に人工筋糸３を収縮することで、基材２が湾曲する。そのため、能動体１ａ’’に形成する保持部４は、人工筋糸３の一か所（望ましくは端部）に形成するのみで、基材２を湾曲できる。したがって、図４Ａに記載の例では、能動体１ａ’’に設ける保持部４は、人工筋糸１本あたり少なくとも一か所あればよい。なお、能動体１ａ’’の湾曲制御をより迅速に実施する場合には、駆動部Ｐ側の人工筋糸３と基材２にも保持部４ａを設けてもよい。 (Modification 2 of the first embodiment)
FIG. 4 is a diagram for explaining the holding portion 4 of the active body 1a'' of Modification 2 of the first embodiment. In the example shown in FIG. 4A, the holding portion 4 is formed by forming the base material 2 in a grid pattern and fixing one end of the artificial thread 3 to the base material 2 in the same manner as in FIGS. 3A to 3C. The artificial muscle thread 3 is arranged so as to cross the base material 2 , and the other end of the artificial muscle thread 3 is extended to the opposite side of the base material 2 to the holding part 4 . Then, for example, when a McKibben type artificial muscle thread 3 is adopted, the other end of the artificial muscle thread 3 is connected to the driving portion P. At that time, they may be connected via a connection member Q as in FIG. 3B. By feeding air from the driving portion P to the artificial muscle thread 3, the artificial muscle thread 3 is contracted, but the artificial muscle thread 3 is guided by the grid-shaped base material 2. - 特許庁When the artificial muscle thread 3 contracts, since the holding portion 4 is formed at one end of the base material 2 , the opposite side of the base material 2 to the holding portion 4 abuts the connecting member Q, and further the artificial muscle thread 3 is contracted. The contraction causes the base material 2 to curve. Therefore, the holding portion 4 formed in the active member 1a'' can bend the base material 2 only by forming it at one place (preferably, at an end portion) of the artificial muscle thread 3. As shown in FIG. Therefore, in the example shown in FIG. 4A, at least one holding portion 4 should be provided on the active body 1a'' for each artificial muscle thread. In addition, in order to perform the bending control of the active body 1a'' more quickly, the holding portion 4a may also be provided on the artificial muscle thread 3 and the base material 2 on the driving portion P side.

図４Ｂに示す例では、図４Ａと同様に基材２を格子状に形成し、人工筋糸３の一端を基材２に固定することで保持部４を形成する。そして、人工筋糸３を基材２と交差するように配置し、基材２の保持部４とは反対側の辺で人工筋糸３を折り返し、人工筋糸３の他端を駆動部Ｐに接続する。そして、駆動部Ｐで人工筋糸３に空気を送り込むことで、人工筋糸３は図４Ｂの点線の矢印に示す方向に収縮するが、所定量収縮した後は、人工筋糸３の折返し部分が基材２に当接し、基材２は湾曲する。したがって、図４Ｂに記載の例でも、能動体１ａ’’に設ける保持部４は、人工筋糸１本あたり少なくとも一か所あればよい。また、図４Ｂに示す実施形態では、人工筋糸３の折り返しは一か所であるが、複数回人工筋糸３を折り返してもよい。図４Ａに示す人工筋糸３が一本の実施形態でも、能動体１ａ’’の３次元制御をすることは可能であるが、複数回人工筋糸３を折り返すことで、折り返し回数に伴って、変形量と変形に伴って発生する力が異なる。なお、図４Ｂに示す実施形態においても、必要に応じて、接続部材Ｑを介して人工筋糸３と駆動部Ｐを接続してもよいし、人工筋糸３の駆動部Ｐ側にも保持部４ａを設けてもよい。 In the example shown in FIG. 4B, the holding portion 4 is formed by forming the base material 2 in a grid pattern and fixing one end of the artificial thread 3 to the base material 2 in the same manner as in FIG. 4A. Then, the artificial muscle thread 3 is arranged so as to intersect with the base material 2, the artificial muscle thread 3 is folded back at the side of the base material 2 opposite to the holding part 4, and the other end of the artificial muscle thread 3 is connected to the driving part P. connect to. Then, by feeding air into the artificial muscle thread 3 by the drive unit P, the artificial muscle thread 3 contracts in the direction indicated by the dotted arrow in FIG. 4B. contacts the base material 2 and the base material 2 bends. Therefore, in the example shown in FIG. 4B as well, it is sufficient that at least one holding portion 4 is provided on the active body 1a'' for each artificial muscle thread. In addition, in the embodiment shown in FIG. 4B, the artificial muscle thread 3 is folded back at one point, but the artificial muscle thread 3 may be folded back multiple times. Although it is possible to perform three-dimensional control of the active body 1a'' even in the embodiment shown in FIG. 4A, in which only one artificial muscle thread 3 is provided, by folding the artificial muscle thread 3 a plurality of times, the , the amount of deformation and the force generated along with the deformation are different. Also in the embodiment shown in FIG. 4B, if necessary, the artificial muscle thread 3 and the driving part P may be connected via the connecting member Q, and the artificial muscle thread 3 may also be held on the driving part P side. A portion 4a may be provided.

図４Ｃに示す例では、人工筋糸３の両端を駆動部Ｐに接続する以外は、図４Ｂと同様である。図４Ｃに示す実施形態では、人工筋糸３の両端から空気を送り込むことで、人工筋糸３は図４Ｃの点線の矢印に示す方向に収縮する。そして、人工筋糸３が所定量収縮した後は、人工筋糸３の折返し部分が基材２に当接し、人工筋糸３と基材２は相対移動できなくなり、基材２は湾曲する。したがって、図４Ｃに記載の例では、人工筋糸３の折り返し点と基材２とで保持部４を形成することから、能動体１ａに設ける保持部４は、人工筋糸１本あたり少なくとも一か所あればよい。なお、図４Ｃに示す実施形態においても、人工筋糸３を複数回折り返してもよい。また、必要に応じて、接続部材Ｑを介して人工筋糸３と駆動部Ｐを接続してもよいし、人工筋糸３の駆動部側の２カ所に、保持部４ａを設けてもよい。 The example shown in FIG. 4C is the same as FIG. 4B except that both ends of the artificial muscle thread 3 are connected to the driving portion P. In the embodiment shown in FIG. 4C, by blowing air from both ends of the artificial muscle thread 3, the artificial muscle thread 3 contracts in the direction indicated by the dotted arrow in FIG. 4C. After the artificial muscle thread 3 shrinks by a predetermined amount, the folded portion of the artificial muscle thread 3 abuts against the substrate 2, and the artificial muscle thread 3 and the substrate 2 cannot move relative to each other, and the substrate 2 bends. Therefore, in the example shown in FIG. 4C, since the holding portion 4 is formed by the turn-back point of the artificial muscle thread 3 and the base material 2, at least one holding portion 4 is provided for each artificial muscle thread. It is enough if there is one. Also in the embodiment shown in FIG. 4C, the artificial muscle thread 3 may be folded back multiple times. In addition, if necessary, the artificial muscle thread 3 and the driving part P may be connected via the connecting member Q, or the holding parts 4a may be provided at two locations on the driving part side of the artificial muscle thread 3. .

第１の実施形態および変形例に係る能動体１ａ～１ａ’’は、基材２と人工筋糸３が共働して能動体１ａ～１ａ’’を３次元に制御が可能である。そのため、能動体１ａ～１ａ’’を人体等の動作補助装置に用いる場合、例えば、肘や腰等の湾曲した部分（以下、「被動作補助部分」と記載することがある。）を、能動体１ａ～１ａ’’により面として支えることが可能となる。したがって、従来の２次元で伸縮する能動織布と異なり、肘や腰等の被動作補助部分の補助効率を向上できる。 In the active bodies 1a to 1a'' according to the first embodiment and the modification, the base material 2 and the artificial thread 3 cooperate to control the active bodies 1a to 1a'' three-dimensionally. Therefore, when the active bodies 1a to 1a'' are used in a motion assisting device for a human body, for example, curved portions such as elbows and waist (hereinafter sometimes referred to as "assisted motion assisting portions") are used as active bodies. It becomes possible to support as a surface by the bodies 1a to 1a''. Therefore, unlike conventional active woven fabrics that expand and contract two-dimensionally, it is possible to improve the efficiency of assisting motion assisting portions such as elbows and hips.

また、第１の実施形態に係る能動体１ａ～１ａ’’で被動作補助部分を補助する際に、能動体１ａ～１ａ’’の特定の箇所に予期し得ぬ外力が付加しても、当該外力は人工筋糸３と基材２の接触点（保持部４、人工筋糸３と格子状の基材２の交差点等）を介して基材２に分散できる。したがって、各々の人工筋糸が収縮するだけの従来の能動織布と異なり、肘や腰等の被動作補助部分の補助効率を向上できる。 Further, when the active bodies 1a to 1a'' according to the first embodiment assist the motion assisted portion, even if an unexpected external force is applied to a specific portion of the active bodies 1a to 1a'', The external force can be distributed to the base material 2 via contact points (holding portions 4, intersections of the artificial rebar threads 3 and the grid-like base material 2, etc.) between the artificial ream threads 3 and the base material 2. FIG. Therefore, unlike the conventional active woven fabric in which each artificial muscle thread only contracts, the efficiency of assisting motion assisting parts such as elbows and hips can be improved.

また、第１の実施形態に係る能動体１ａ～１ａ’’は、人工筋糸１本あたり、少なくとも保持部を一か所設けていることから、人工筋糸３を複数本設ける場合は、人工筋糸３毎に伸縮度合を制御できる。したがって、能動体１ａ～１ａ’’の３次元形状の制御がより容易になる。 In addition, since the active bodies 1a to 1a'' according to the first embodiment are provided with at least one holding portion for each artificial muscle thread, when a plurality of artificial muscle threads 3 are provided, the artificial The degree of expansion and contraction of each filament 3 can be controlled. Therefore, it becomes easier to control the three-dimensional shape of the active bodies 1a to 1a''.

（第２の実施形態）
図５Ａおよび図５Ｂは、第２の実施形態に係る能動体１ｂの概略側面図である。第１の実施形態の能動体１ａでは、基材２の一方の面に人工筋糸３が形成されていたが、第２の実施形態の能動体１ｂは、基材２の表面および裏面に人工筋糸３が形成されている点で、第１の実施形態の能動体１ａと異なる。第２の実施形態の能動体１ｂでは、基材２の一方の面に収縮する人工筋糸３ａを形成し、他方の面に伸長する人工筋糸３ｂを形成することができる。能動体１ｂを湾曲させる際に、人工筋糸３ａを収縮させ、人工筋糸３ｂを伸長することで、第２の実施形態に係る能動体１ｂは、第１の実施形態に係る能動体１ａの効果に加え、３次元形状をより強固に保持できるという効果を奏する。なお、図５Ｂに示す例では、人工筋糸３ａが収縮する、人工筋糸３ｂが伸長する例を示しているが、人工筋糸３ａが伸長し、人工筋糸３ｂが収縮するようにしてもよい。つまり、図５Ｂとは反対方向に湾曲するようにしてもよい。 (Second embodiment)
5A and 5B are schematic side views of an active body 1b according to the second embodiment. In the active body 1a of the first embodiment, the artificial filaments 3 are formed on one surface of the substrate 2, but in the active body 1b of the second embodiment, artificial fibers are formed on the front and back surfaces of the substrate 2. It differs from the active body 1a of the first embodiment in that filaments 3 are formed. In the active member 1b of the second embodiment, the contracting artificial thread 3a can be formed on one surface of the substrate 2, and the elongated artificial thread 3b can be formed on the other surface. When the active body 1b is bent, the artificial muscle thread 3a is contracted and the artificial muscle thread 3b is elongated, so that the active body 1b according to the second embodiment becomes the active body 1a according to the first embodiment. In addition to the effect, there is an effect that the three-dimensional shape can be held more firmly. The example shown in FIG. 5B shows an example in which the artificial muscle thread 3a contracts and the artificial muscle thread 3b elongates. good. That is, it may be curved in the direction opposite to that in FIG. 5B.

或いは、人工筋糸３ａ及び３ｂを収縮可能な人工筋糸の組み合わせ、または、伸長可能な人工筋糸の組み合わせで形成し、収縮力または伸長力を変えることで変形方向の制御をしてもよい。より具体的には、収縮の組み合わせの場合、人工筋糸３ａ、３ｂの一方のみを収縮することで基材２を湾曲する、或いは、人工筋糸３ａ及び３ｂの両方を収縮するが、収縮力を変えることで、基材２の湾曲する方向を制御してもよい。更に、基材２として布等の柔軟な材料を用いた場合、人工筋糸３ａ及び３ｂの両方を収縮することで、基材２を歪ながら収縮、または、直線的に収縮することもできる。人工筋糸３ａ及び３ｂが伸長の組み合わせの場合、人工筋糸３ａ、３ｂの一方のみを伸長することで基材２を湾曲する、或いは、人工筋糸３ａ及び３ｂの両方を伸長するが、伸長力を変えることで、基材２の湾曲する方向を制御してもよい。更に、基材２としてゴム等の伸長可能な材料を用いた場合、人工筋糸３ａ及び３ｂの両方を伸長することで、基材２を歪ながら伸長、または、直線的に伸長することもできる。 Alternatively, the artificial muscle threads 3a and 3b may be formed of a combination of contractile artificial muscle threads or a combination of extensible artificial muscle threads, and the deformation direction may be controlled by changing the contractile force or the elongation force. . More specifically, in the case of a combination of contractions, only one of the artificial muscle threads 3a, 3b is contracted to bend the substrate 2, or both the artificial muscle threads 3a and 3b are contracted, but the contraction force is By changing , the bending direction of the substrate 2 may be controlled. Furthermore, when a flexible material such as cloth is used as the base material 2, the base material 2 can be contracted while being distorted or linearly contracted by contracting both the artificial muscle threads 3a and 3b. When the artificial muscle threads 3a and 3b are a combination of stretches, stretching only one of the artificial muscle threads 3a, 3b causes the substrate 2 to bend, or both the artificial muscle threads 3a and 3b are stretched, but not stretched. By varying the force, the bending direction of the substrate 2 may be controlled. Furthermore, when a stretchable material such as rubber is used as the substrate 2, by stretching both the artificial muscle threads 3a and 3b, the substrate 2 can be stretched while being distorted or stretched linearly. .

（第３の実施形態）
図６は、第３の実施形態に係る能動体１ｃの概略正面図である。第１の実施形態の能動体１ａ～１ａ’’では、基材２に配置される人工筋糸３は同一方向であるが、能動体１ｃは、異なる方向に配置した人工筋糸３を含む点で、第１の実施形態の能動体１ａ～１ａ’’と異なる。第３の実施形態の能動体１ｃでは、人工筋糸３の方向が異なることから、能動体１ｃを湾曲させる際に、２方向から能動体１ｃを湾曲できる。なお、図６に示す実施形態では、人工筋糸３を基材２の同じ面に形成したが、基材２の表面には同じ方向を向く人工筋糸３を配置し、基材２の裏面に表面とは異なる方向の人工筋糸３を配置してもよい。勿論、基材２の表面と裏面の夫々の面に、異なる方向の人口筋糸３を配置してもよい。また、図６に示す異なる方向の人工筋糸３が形成する角度は略９０度であるが、異なる方向の人工筋糸３が形成する角度は略９０度に限定されず、その他の角度であってもよい。第３の実施形態に係る能動体１ｃは、第１の実施形態に係る能動体１ａ～１ａ’’の効果に加え、より複雑な３次元形状の制御ができるという効果を奏する。 (Third Embodiment)
FIG. 6 is a schematic front view of an active body 1c according to the third embodiment. In the active bodies 1a to 1a'' of the first embodiment, the artificial muscle threads 3 arranged on the base material 2 are arranged in the same direction, but the active body 1c includes the artificial muscle threads 3 arranged in different directions. , different from the active members 1a to 1a'' of the first embodiment. In the active body 1c of the third embodiment, since the directions of the artificial muscle threads 3 are different, the active body 1c can be curved from two directions when the active body 1c is curved. In the embodiment shown in FIG. 6, the artificial muscle threads 3 are formed on the same surface of the base material 2, but the artificial muscle threads 3 facing the same direction are arranged on the surface of the base material 2, and the back surface of the base material 2 is formed. The artificial muscle thread 3 may be arranged in a direction different from the surface. Of course, the artificial threads 3 may be arranged in different directions on the front surface and the back surface of the base material 2, respectively. Also, although the angle formed by the artificial rebar threads 3 in different directions shown in FIG. may In addition to the effects of the active bodies 1a to 1a'' according to the first embodiment, the active body 1c according to the third embodiment has the effect of being able to control a more complicated three-dimensional shape.

（第３の実施形態の変形性１）
図７は、第３の実施形態の変形例１の能動体１ｃ’の概略正面図である。図７に示す能動体１ｃ’は、人工筋糸３を異なる方向に交差するように配置した点以外は、図４に示す第１の実施形態の変形例２の能動体１ａ’’と同様である。図示は省略するが、図４Ｂおよび図４Ｃに示す能動体１ａ’’にも、異なる方向の人工筋糸３を交差するように配置してもよい。また、図３に示す能動体１ａ’にも、異なる方向の人工筋糸３を交差するように配置してもよい。第３の実施形態の変形例１の能動体１ｃ’も、第３の実施形態に係る能動体１ｃと同様の効果を奏する。 (Modification 1 of the third embodiment)
FIG. 7 is a schematic front view of an active body 1c' of Modification 1 of the third embodiment. The active body 1c' shown in FIG. 7 is the same as the active body 1a'' of Modification 2 of the first embodiment shown in FIG. be. Although not shown, the active body 1a'' shown in FIGS. 4B and 4C may also be arranged so as to intersect the artificial muscle threads 3 in different directions. Also, in the active body 1a' shown in FIG. 3, the artificial muscle threads 3 in different directions may be arranged so as to cross each other. The active body 1c' of Modification 1 of the third embodiment also has the same effect as the active body 1c according to the third embodiment.

（第４の実施形態）
図８Ａ及び図８Ｂは、第４の実施形態に係る能動体１ｄの概略側面図である。第４の実施形態の能動体１ｄは、能動体１ａが積層されている点で、第１乃至第３の実施形態およびその変形例と異なり、その他の点では同じである。図８Ａは、第４の実施形態に係る能動体１ｄの一例で、保持部４が、２つの異なる能動体１ａの基材２の両方に共有して用いられ例を示している。図８Ａに示す実施形態では、例えば、上側の能動体１ａの人工筋糸３ａを収縮する人工筋糸で作製し、下側の能動体１ａの人工筋糸３ｂを伸長する人工筋糸で作製している。そして、下側の能動体１ａの基材２を、ゴム等の伸長できる材料で作製している。したがって、人工筋糸３ａを収縮し、人工筋糸３ｂを伸長することで、積層した能動体１ａは、図８Ｂに示すように湾曲することができる。なお、図８Ａ及び図８Ｂに示す実施形態は、図１に示す第１の実施形態の能動体１ａの人工筋糸３の向きが同じ方向となるように積層した例を示しているが、異なる向きに積層してもよい。その場合、より複雑な３次元制御が可能となる。また、図８Ａ及び図８Ｂは、第１の実施形態の能動体１ａを用いた例を示しているが、その他の実施形態の能動体１ａ’、１ａ’’、１ｂ、１ｃ、１ｃ’等を用いることもできる。第４の実施形態に係る能動体は、複数の能動体を積層していることから、積層型の能動体１ｄということができる。 (Fourth embodiment)
8A and 8B are schematic side views of an active body 1d according to the fourth embodiment. The active body 1d of the fourth embodiment is different from the first to third embodiments and their modifications in that the active bodies 1a are laminated, and is otherwise the same. FIG. 8A shows an example of an active body 1d according to the fourth embodiment, in which the holding portion 4 is shared by both bases 2 of two different active bodies 1a. In the embodiment shown in FIG. 8A, for example, the artificial muscle thread 3a of the upper active body 1a is made of contracting artificial muscle thread, and the artificial muscle thread 3b of the lower active body 1a is made of stretching artificial muscle thread. ing. The base material 2 of the lower active member 1a is made of a stretchable material such as rubber. Therefore, by contracting the artificial muscle thread 3a and extending the artificial muscle thread 3b, the layered active body 1a can be curved as shown in FIG. 8B. The embodiment shown in FIGS. 8A and 8B shows an example in which the artificial muscle threads 3 of the active body 1a of the first embodiment shown in FIG. 1 are laminated in the same direction. Orientation may be laminated. In that case, more complicated three-dimensional control becomes possible. 8A and 8B show an example using the active body 1a of the first embodiment, but active bodies 1a', 1a'', 1b, 1c, 1c', etc. of other embodiments are used. can also be used. Since the active body according to the fourth embodiment is formed by laminating a plurality of active bodies, it can be said that the active body 1d is a laminated active body.

（第４の実施形態の変形例１）
図９Ａ及び図９Ｂは、第４の実施形態の変形例１の概略側面図である。図９Ａ及び図９Ｂに示す実施形態では、能動体１ａを連結部５で連結している点で、図８Ａ及び図８Ｂに示す実施形態と異なる。連結部５は、能動体１ａと能動体１ａを連結すればよく、糸等が挙げられる。連結箇所に特に制限はないが、例えば、図９Ａに示すように基材２の端部を連結し、各々の能動体１ａを制御することで、図９Ｂに示すように、２つの能動体１ａが共同して、筒状の立体形状を作製することができる。勿論、第４の実施形態の変形例１では、その他の実施形態の能動体１ａ’、１ａ’’、１ｂ、１ｃ、１ｃ’等を用いることもできる。したがって、第４の実施形態の変形例１では、複数個の能動体１が連結部５を介して連結されているので、連結型の能動体１ｄ’ということができる。 (Modification 1 of the fourth embodiment)
9A and 9B are schematic side views of Modification 1 of the fourth embodiment. The embodiment shown in FIGS. 9A and 9B is different from the embodiment shown in FIGS. 8A and 8B in that the active bodies 1a are connected by connecting portions 5. In the embodiment shown in FIGS. The connecting portion 5 may be a string or the like, which may be used to connect the active bodies 1a to each other. Although there is no particular limitation on the connection point, for example, by connecting the ends of the base material 2 as shown in FIG. can jointly produce a cylindrical three-dimensional shape. Of course, in Modification 1 of the fourth embodiment, active members 1a', 1a'', 1b, 1c, 1c', etc. of other embodiments can also be used. Therefore, in Modification 1 of the fourth embodiment, since a plurality of active bodies 1 are connected via connecting portions 5, it can be said that the active bodies 1d' are of a connected type.

上記第１乃至第４の実施形態および変形例に示す能動体１は、３次元形状の制御ができることから、動作補助装置に好適に用いることができる。図１０は、動作補助装置１０の実施形態の一例を示す概略図である。動作補助装置１０は、能動体１、能動体１の人工筋糸３を駆動する駆動部１１、駆動部１１を制御する制御部１２を少なくとも含んでいる。 Since the active bodies 1 shown in the first to fourth embodiments and modifications can control the three-dimensional shape, they can be suitably used for movement assisting devices. FIG. 10 is a schematic diagram showing an example of an embodiment of the movement assisting device 10. As shown in FIG. The movement assisting device 10 includes at least an active body 1 , a drive section 11 that drives the artificial muscle threads 3 of the active body 1 , and a control section 12 that controls the drive section 11 .

駆動部１１は、人工筋糸３の種類に応じて適宜選択すればよい。例えば、マッキベン人工筋糸を用いる場合は、空気を導入するコンプレッサ、導入する空気の圧力を調整する電空レギュレータ等が挙げられる。また、形状記憶合金（ＳＭＡ）及び形状記憶ポリマー（ＳＭＰ）等から作製された人工筋糸を用いる場合は、加熱装置が挙げられる。誘電エラストマーを用いた人工筋糸を用いる場合は、駆動電場を印加する電源装置が挙げられる。制御部１２は、駆動部１１の駆動部の制御ができれば特に制限はなく、汎用計算機等が挙げられる。 The drive unit 11 may be appropriately selected according to the type of artificial muscle thread 3 . For example, when McKibben artificial muscle thread is used, a compressor for introducing air, an electropneumatic regulator for adjusting the pressure of the air to be introduced, and the like can be used. In addition, when using an artificial thread made of a shape memory alloy (SMA), a shape memory polymer (SMP), or the like, a heating device may be used. When using an artificial muscle thread using a dielectric elastomer, a power supply device for applying a driving electric field may be used. The control unit 12 is not particularly limited as long as it can control the driving unit of the driving unit 11, and a general-purpose computer or the like can be used.

動作補助装置１０の具体的な用途としては、典型的には、肘、膝、足首等のサポーター、リハビリ用機器、衣服等が挙げられるが、動作の補助ができるものであれば特に制限はない。 Specific uses of the movement assisting device 10 typically include supporters for elbows, knees, ankles, and the like, rehabilitation equipment, clothing, and the like, but there are no particular limitations as long as they can assist movement. .

以下に実施例を掲げ、実施形態を具体的に説明するが、この実施例は単にその具体的な態様の参考のために提供されているものである。これらの例示は、発明の範囲を限定したり、あるいは制限するものではない。 Examples are given below to illustrate the embodiments, but the examples are provided merely for reference of specific aspects thereof. These exemplifications are not intended to limit or restrict the scope of the invention.

＜実施例１＞
［能動体１の作製］
基材２の材料には株式会社大創産業社製ソフトゴムテープ（１２コール）のゴムひもを用い、格子状に織り込むことで略平面状の基材２を作製した。人工筋糸３には株式会社ｓ－ｍｕｓｃｌｅ社製細径人工筋ＳＭＭ１３を用い、作製した基材２の格子の間に織り込むように配置した。なお、人工筋糸３は、図４Ｃに示すように途中で折り返すように配置し、異なる方向に複数本の人工筋糸３を配置した。なお、人工筋糸３は、基材２の両面に配置した。図１１は、実施例１で作製した能動体１の写真である。 <Example 1>
[Preparation of active body 1]
As the material of the base material 2, a rubber string of a soft rubber tape (12 cords) manufactured by Daiso Sangyo Co., Ltd. was used, and the substantially flat base material 2 was produced by weaving it in a grid pattern. For the artificial muscle thread 3, a thin artificial muscle SMM13 manufactured by s-muscle Co., Ltd. was used, and arranged so as to be woven between the grids of the base material 2 produced. As shown in FIG. 4C, the artificial muscle thread 3 was arranged so as to be folded halfway, and a plurality of artificial muscle threads 3 were arranged in different directions. The artificial fibers 3 were arranged on both sides of the substrate 2 . 11 is a photograph of the active body 1 produced in Example 1. FIG.

＜実施例２＞
［動作補助装置の作製］
実施例１で作製した能動体１に、人工筋糸３の駆動部１１（株式会社コガネイ社製電空レギュレータＣＲＣＢ－０１３０Ｗ、株式会社東芝製コンプレッサＳＬＰ７Ｄ－４Ｓ４）を接続し、駆動部１１の制御部１２にはデル株式会社製計算機Ｐｒｅｃｉｓｉｏｎ Ｔ７９１０を用いることで、動作補助装置１０を作製した。次に、制御部１２により個々の人工筋糸３を収縮制御することで、能動体１を変形させた。図１２Ａ乃至Ｄは、能動体１を湾曲させた例を示しており、図１２Ａは写真の基材表面側縦方向の人工筋糸３を収縮制御することで、能動体１を紙面側に屈曲した例を示している。なお、図中の矢印は、矢印方向に時間が進むことを示している。図１２Ｂは写真の基材両面左側の縦方向の人工筋糸３を収縮制御することで、能動体１を左側に側屈した例を示している。図１２Ｃは写真の基材両面の縦方向および横方向の人工筋糸３を収縮制御することで、能動体１を左回旋した例を示している。図１２Ｄは写真の基材裏面側横方向の人工筋糸３を収縮制御することで、能動体１を垂直軸周り奥手方向に湾曲した例を示している。図１２Ａ乃至Ｄに示すように、本実施形態に示す能動体１を用いることで、能動体１を３次元制御できることを確認した。 <Example 2>
[Production of movement assist device]
The driving unit 11 (electropneumatic regulator CRCB-0130W manufactured by Koganei Co., Ltd., compressor SLP7D-4S4 manufactured by Toshiba Corporation) was connected to the active body 1 prepared in Example 1, and the driving unit 11 was controlled. The movement assisting device 10 was produced by using a computer Precision T7910 manufactured by Dell Corporation for the part 12 . Next, the active body 1 was deformed by contraction control of the individual artificial muscle threads 3 by the control unit 12 . 12A to 12D show an example in which the active body 1 is bent. FIG. 12A shows bending of the active body 1 toward the paper surface side by controlling contraction of the artificial muscle thread 3 in the vertical direction on the substrate surface side of the photograph. example. Note that the arrows in the figure indicate that time advances in the direction of the arrow. FIG. 12B shows an example in which the active body 1 is laterally bent to the left by contraction control of the vertical artificial muscle thread 3 on the left side of both sides of the substrate in the photograph. FIG. 12C shows an example in which the active body 1 is rotated counterclockwise by contraction control of the vertical and horizontal artificial muscle threads 3 on both sides of the substrate in the photograph. FIG. 12D shows an example in which the active body 1 is curved in the depth direction around the vertical axis by controlling the shrinkage of the artificial muscle thread 3 in the lateral direction on the back side of the substrate in the photograph. As shown in FIGS. 12A to 12D, it was confirmed that the active body 1 can be three-dimensionally controlled by using the active body 1 shown in this embodiment.

本明細書で開示する各種実施形態の能動体を用いることで、動作補助装置を作製することができる。したがって、介護産業にとって有用である。 A movement assisting device can be produced by using the active bodies of various embodiments disclosed in this specification. Therefore, it is useful for the care industry.

１、１ａ、１ａ’、１ａ’’、１ｂ、１ｃ、１ｃ’、１ｄ…能動体、２…基材、３、３ａ、３ｂ…人工筋糸、４、４ａ…保持部、５…連結部、１０…動作補助装置、１１…駆動部、１２…制御部、２１…パーツ、３１…フック、Ｐ…駆動部、Ｑ…接続部材
DESCRIPTION OF SYMBOLS 1, 1a, 1a', 1a'', 1b, 1c, 1c', 1d... active body, 2... base material, 3, 3a, 3b... artificial muscle thread, 4, 4a... holding part, 5... connecting part, DESCRIPTION OF SYMBOLS 10... Movement assistance device, 11... Drive part, 12... Control part, 21... Parts, 31... Hook, P... Drive part, Q... Connection member

Claims (9)

伸縮可能な人工筋糸を含む能動体であって、
前記能動体は、
基材と、
伸縮可能な人工筋糸と、
を含み、
前記人工筋糸は、前記基材自体とは別の部材であり、
前記能動体は、
前記人工筋糸が伸縮した時に、前記人工筋糸と前記基材とが相対移動しないように保持する保持部を有し、
前記保持部は、前記基材の一部と前記人工筋糸の一部を固定したもの、または、前記基材の一部と前記人工筋糸の一部が係止する機構を含み、
前記人工筋糸が伸縮した時に、前記保持部以外の前記人工筋糸と前記基材とは相対移動可能であり、
前記基材は、前記人工筋糸が非伸縮時には形状を維持し、前記人工筋糸が伸縮した時には形状が変形し、
前記人工筋糸の少なくとも１本が、前記基材の表面と裏面とを交互に交差するように形成されている、
能動体。 An active body comprising a stretchable artificial muscle thread,
The active body is
a substrate;
a stretchable artificial muscle thread;
including
The artificial muscle thread is a member separate from the base material itself,
The active body is
a holding portion that holds the artificial muscle thread and the base material so that they do not move relative to each other when the artificial muscle thread expands and contracts;
The holding part includes a mechanism that fixes a part of the base material and a part of the artificial muscle thread, or a mechanism that locks a part of the base material and a part of the artificial muscle thread,
When the artificial muscle thread expands and contracts, the artificial muscle thread other than the holding portion and the base material can move relative to each other,
the base material maintains its shape when the artificial muscle threads are non-stretchable, and deforms when the artificial muscle threads are stretched;
At least one of the artificial fibers is formed so as to alternately cross the front surface and the back surface of the base material.
Active body. 前記人工筋糸が少なくとも２本以上含まれ、前記保持部が前記人工筋糸１本あたりに少なくとも１つ含まれる、
請求項１に記載の能動体。 At least two or more of the artificial muscle threads are included, and at least one of the holding portions is included per one of the artificial muscle threads.
The active body of Claim 1. 前記保持部が、前記人工筋糸１本あたりに少なくとも２以上含まれる、
請求項２に記載の能動体。 At least two or more of the holding portions are included per one artificial muscle thread,
3. Active body according to claim 2. 前記人工筋糸が、同一方向に配置されている人工筋糸を少なくとも２本以上含む、
請求項１～３の何れか一項に記載の能動体。 The artificial muscle thread includes at least two artificial muscle threads arranged in the same direction,
The active body according to any one of claims 1-3. 前記人工筋糸が、異なる方向に配置されている人工筋糸を含む、
請求項１～４の何れか一項に記載の能動体。 wherein the artificial muscle threads comprise artificial muscle threads arranged in different directions;
The active body according to any one of claims 1-4. 前記人工筋糸が、前記基材の表面および裏面に形成されている、
請求項１～５の何れか一項に記載の能動体。 The artificial fibers are formed on the front surface and the back surface of the base material,
The active body according to any one of claims 1-5. 伸縮可能な人工筋糸を含む能動体が複数枚積層されている積層型の能動体であって、
積層される各々の能動体は、
基材と、
伸縮可能な人工筋糸と、
を含み、
前記人工筋糸は、前記基材自体とは別の部材であり、
前記積層される各々の能動体は、
前記人工筋糸が伸縮した時に、前記人工筋糸と前記基材とが相対移動しないように保持する保持部を有し、
前記保持部は、前記基材の一部と前記人工筋糸の一部を固定したもの、または、前記基材の一部と前記人工筋糸の一部が係止する機構を含み、
前記人工筋糸が伸縮した時に、前記保持部以外の前記人工筋糸と前記基材とは相対移動可能であり、
前記基材は、前記人工筋糸が非伸縮時には形状を維持し、前記人工筋糸が伸縮した時には形状が変形する、
積層型の能動体。 A layered active body in which a plurality of active bodies containing stretchable artificial muscle threads are stacked,
Each active to be stacked is
a substrate;
a stretchable artificial muscle thread;
including
The artificial muscle thread is a member separate from the base material itself,
Each of the stacked active bodies includes:
a holding portion that holds the artificial muscle thread and the base material so that they do not move relative to each other when the artificial muscle thread expands and contracts;
The holding part includes a mechanism that fixes a part of the base material and a part of the artificial muscle thread, or a mechanism that locks a part of the base material and a part of the artificial muscle thread,
When the artificial muscle thread expands and contracts, the artificial muscle thread other than the holding portion and the base material can move relative to each other,
The base material maintains its shape when the artificial muscle threads are not stretched, and deforms when the artificial muscle threads are stretched.
Laminated active body. 伸縮可能な人工筋糸を含む能動体が連結部を介して連結されている連結型の能動体であって、
連結部を介して連結される各々の能動体は、
基材と、
伸縮可能な人工筋糸と、
を含み、
前記人工筋糸は、前記基材自体とは別の部材であり、
前記連結部を介して連結される各々の能動体は、
前記人工筋糸が伸縮した時に、前記人工筋糸と前記基材とが相対移動しないように保持する保持部を有し、
前記保持部は、前記基材の一部と前記人工筋糸の一部を固定したもの、または、前記基材の一部と前記人工筋糸の一部が係止する機構を含み、
前記人工筋糸が伸縮した時に、前記保持部以外の前記人工筋糸と前記基材とは相対移動可能であり、
前記基材は、前記人工筋糸が非伸縮時には形状を維持し、前記人工筋糸が伸縮した時には形状が変形する、
連結型の能動体。 A connected active body in which an active body including stretchable artificial muscle thread is connected via a connecting portion,
Each active body that is connected via the connecting part is
a substrate;
a stretchable artificial muscle thread;
including
The artificial muscle thread is a member separate from the base material itself,
Each active body connected via the connecting part,
a holding portion that holds the artificial muscle thread and the base material so that they do not move relative to each other when the artificial muscle thread expands and contracts;
The holding part includes a mechanism that fixes a part of the base material and a part of the artificial muscle thread, or a mechanism that locks a part of the base material and a part of the artificial muscle thread,
When the artificial muscle thread expands and contracts, the artificial muscle thread other than the holding portion and the base material can move relative to each other,
The base material maintains its shape when the artificial muscle threads are not stretched, and deforms when the artificial muscle threads are stretched.
Connected active body. 請求項１～８の何れか一項に記載の能動体を少なくとも含む、
動作補助装置。
At least comprising the active body according to any one of claims 1 to 8,
motion aids.
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WO2007058327A1 (en) 2005-11-18 2007-05-24 National University Corporation Okayama University Fluid actuator, and startup-operation assistance device and operation assistance device that have the fluid actuator
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