JP7344915B2 - walking aid device - Google Patents

Description

TECHNICAL FIELD The technology disclosed in this specification relates to a walking assist device for assisting a user's foot movements when walking.

Patent Document 1 discloses a walking assist device that assists the swinging motion of the knee by pulling the leg with a flexible contraction actuator.

Patent No. 5986445

The contraction force of the contraction actuator acts not only in the forward direction of the knee, but also on the upper side with respect to the forward direction of the knee. This force of pulling up the knee may make the user feel uncomfortable.

The walking assist device disclosed in this specification includes a first mounting part that is mounted on the waist side of a user. The walking assist device includes a second mounting section that is mounted on the user's knee side. The walking assist device connects the first mounting part and the second mounting part, and includes an extendable actuator configured to be extendable and contractible. The walking aid device includes a connecting part that connects the first wearing part and the second wearing part. The rigidity of the connecting portion against the compressive force in the axial direction is higher when the telescopic actuator is contracted than when the telescopic actuator is extended.

When the telescopic actuator contracts, the user's forward force and upward force are applied to the second mounting portion. This upward force is applied to the connecting portion as an axial compressive force. When the telescopic actuator is contracted, the rigidity of the connecting portion against compressive force in the axial direction is increased. Therefore, the upward force can be received by the connecting portion. Since it is possible to suppress the second mounting part from moving upward, it is possible to suppress the force that pulls up the knee from being transmitted to the user. The user's discomfort can be alleviated.

The connecting portion may include a plurality of rigid bodies with through holes. The connecting portion may include a string that passes through the through hole and connects the plurality of rigid bodies to each other. The connecting portion may include a first adjusting portion that is configured to be able to adjust the length of the string. One end of the string may be fixed to the first attachment part or the second attachment part. The other end of the string may be connected to the first adjustment section. The first adjustment section may adjust the length of the string to be shorter when the telescopic actuator is contracted than when the telescopic actuator is extended.
Details of the effects will be explained in Examples.

The telescoping actuator may include a string and a first adjustment section. The second mounting part may include a pulley. One end of the string may be fixed to the first attachment part. The other end of the string may be connected via a pulley to a first adjustment section provided in the first mounting section. The plurality of rigid bodies may be arranged in a range from one end of the string to the pulley. Details of the effects will be explained in Examples.

The contact surfaces of the plurality of rigid bodies may have fitting shapes that fit into each other. Details of the effects will be explained in Examples.

The contact surfaces of the plurality of rigid bodies may include a first region having a plane perpendicular to the axial direction of the through hole. The contact surfaces of the plurality of rigid bodies may include a second region that is recessed toward the center of the rigid body with respect to the first region and tapered and recessed toward the outside from the through hole. . Details of the effects will be explained in Examples.

The connecting portion may have a front side in the direction of movement of the user and a rear side in the direction of movement of the user. The first region may be placed on the front side in the traveling direction. The second region may be arranged on the rear side in the traveling direction. Details of the effects will be explained in Examples.

The plurality of rigid bodies may have side surfaces substantially parallel to the axial direction of the through hole. The plurality of rigid bodies may include a protrusion projecting from the side surface in the axial direction of the through hole. Details of the effects will be explained in Examples.

The connecting portion may include a plate-like member extending between the first mounting portion and the second mounting portion. The connecting portion may include a deformable portion that is configured to be able to change the cross-sectional shape of a cross section perpendicular to the longitudinal axis of the plate-like member between a linear shape and a bent shape. The deformable portion may have a linear cross-sectional shape when the telescopic actuator is extended, and may have a bent cross-sectional shape when the telescopic actuator is contracted. Details of the effects will be explained in Examples.

The connecting portion may include a plurality of rigid bodies. The connecting portion may include a soft actuator that connects the plurality of rigid bodies to each other. The connecting portion may include a second adjusting portion that is configured to be able to adjust the rigidity of the soft actuator. The second adjustment section may adjust the rigidity of the soft actuator to be higher when the telescopic actuator is contracted than when the telescopic actuator is extended. Details of the effects will be explained in Examples.

1 is a schematic configuration diagram (front view) of a walking assist device 1. FIG. 1 is a schematic configuration diagram (right side view) of the walking assist device 1. FIG. FIG. 4 is a perspective view of a rigid body 41R. It is a figure which shows the state of low rigidity of 40 R of connection parts. It is a figure which shows the state of high rigidity of 40 R of connection parts. It is a figure which shows the bending state of 40 R of connection parts. 3 is a diagram showing the operation of the walking assist device 1. FIG. 3 is a diagram showing the operation of the walking assist device 1. FIG. FIG. 2 is a diagram showing a state of the walking assist device 1 when the person is seated. It is a figure showing operation of walking assistance device 1a. It is a figure showing operation of walking assistance device 1a. It is a right view of walking assistance device 1b. It is a figure which shows the state of low rigidity of plate-shaped member 51Rb. It is a figure which shows the high rigidity state of plate-shaped member 51Rb. It is a right view of walking assistance device 1c. It is a right view of walking assistance device 1d. It is a right side view of a modification of walking assistance device 1d. It is a perspective view of rigid bodies 41Re and 42Re. It is a perspective view of rigid bodies 41Rf and 42Rf.

(Schematic configuration of walking assist device 1)
A schematic configuration of the walking assist device 1 will be explained using FIGS. 1 and 2. 1 and 2 are diagrams showing the state from the waist down when the walking assist device 1 is worn on the user. FIG. 1 is a front view, and FIG. 2 is a right side view. The front side with respect to the user is FR, the left side is LF, and the upper side is UP, which are indicated by arrows. The same applies to subsequent figures.

The walking aid device 1 includes a first mounting part 10, second mounting parts 20R and 20L, telescopic actuators 30R and 30L, and connecting parts 40R and 40L. Note that the suffixes "R" and "L" indicate the right side and left side of the parts that are arranged symmetrically with respect to the user. The first attachment part 10 is an annular member attached around the waist of the user, and is a part to which the walking assist device 1 is fixed. The second attachment parts 20R and 20L are annular members attached around the distal ends of the femurs located above the knee joints of the right and left legs.

The telescopic actuator 30R connects the first mounting section 10 and the second mounting section 20R. The telescopic actuator 30L connects the first mounting section 10 and the second mounting section 20L. Since the telescopic actuators 30R and 30L have a laterally symmetrical structure, the telescopic actuator 30R will be explained. The telescopic actuator 30R includes a string 31R and a winding device 32R. The winding device 32R is fixed to the front side of the first mounting section 10. The upper end of the string 31R is connected to a winding device 32R. The lower end of the string 31R is fixed to the front side of the second attachment part 20R by a fixing part 22R. By winding up the string 31R with the winding device 32R, a tensile force can be applied to the string 31R. Further, by the winding device 32R feeding out the string 31R, it is possible to make a state in which no force is applied to the string 31R.

The connecting portion 40R connects the right side surface of the first mounting portion 10 and the right side surface of the second mounting portion 20R. The connecting portion 40L connects the left side surface of the first mounting portion 10 and the left side surface of the second mounting portion 20L. Since the connecting portions 40R and 40L have a bilaterally symmetrical structure, the connecting portion 40R will be explained.

The connecting portion 40R includes rigid bodies 41R to 45R, a connecting string 46R, an adjusting portion 47R, a slide rail 48R, and a slider joint 49R. The rigid bodies 41R to 45R are provided with through holes 41h to 45h. The connecting string 46R passes through the through holes 41h to 45h and connects the rigid bodies 41R to 45R to each other. The connecting string 46R is a string for changing the rigidity of the connecting portion 40R. The slide rail 48R is arranged on the right side surface of the second mounting portion 20R so as to extend in the vertical direction. The slider joint 49R is a portion that can slide on the slide rail 48R.

One end of the connecting string 46R is fixed to the slider joint 49R, and the other end is connected to the adjustment part 47R. The adjustment part 47R is a part that can freely adjust the length of the connecting string 46R. The adjustment section 47R includes a bobbin 47B that is rotatable by a motor (not shown). The length can be shortened by winding up the connecting string 46R with the bobbin 47B, and the length can be increased by sending out the connecting string 46R.

FIG. 3 shows a perspective view of the rigid body 41R. Since the rigid bodies 41R to 45R all have the same structure, the rigid body 41R will be explained as a representative example. The rigid body 41R includes contact surfaces CS that come into contact with other rigid bodies on the upper side and the lower side. The contact surface CS includes a first area A1 and a second area A2. The first area A1 is located on the front side in the traveling direction, and the second area A2 is located on the rear side in the traveling direction. The first region A1 has a plane perpendicular to the axial direction AD of the through hole 41h. The second region A2 is a region recessed toward the center 41c of the rigid body 41R with respect to the first region. That is, the second region A2 is a region that is recessed in the retraction direction D1. The second region A2 is tapered and retracted outward from the through hole 41h. In the example of FIG. 3, the second region A2 has a curved surface and is inclined toward the rear side from the through hole 41h.

(Change in rigidity of connecting portion 40R)
A mechanism for changing the rigidity of the connecting portion 40R will be explained. FIG. 4 shows a state of low rigidity, and FIG. 5 shows a state of high rigidity.

In FIG. 4, the adjustment section 47R sends out the connecting string 46R to lengthen it, and the slider joint 49R has moved to the lower side of the slide rail 48R. The length L1 of the connecting string 46R from the lower surface of the adjustment portion 47R to the slider joint 49R is greater than the sum of the heights H1 of the rigid bodies 41R to 45R. Therefore, the rigid bodies 41R to 45R are not pressed against each other and can therefore move individually. Therefore, the rigidity of the connecting portion 40R against the axial compressive force CF is low. Furthermore, the rigidity of the connecting portion 40R against the forward bending force BF1 and the backward bending force BF2 is also low.

On the other hand, in FIG. 5, the adjustment section 47R winds up the connecting string 46R to shorten it, and the slider joint 49R has moved above the slide rail 48R. The length L2 of the connecting string 46R from the lower surface of the adjustment part 47R to the slider joint 49R is equal to the total height H1 of the rigid bodies 41R to 45R. Therefore, the rigid bodies 41R to 45R are pressed against each other and connected. Therefore, the rigidity of the connecting portion 40R against the axial compressive force CF is high. Further, the first area A1 disposed on the front side in the traveling direction is in plane contact with each other. Therefore, the rigidity is high (hard to bend) against the forward bending force BF1. On the other hand, the second regions A2 arranged on the rear side in the traveling direction are in line contact with each other because they have tapers. Therefore, the rigidity is low (easy to bend) against the backward bending force BF2. Therefore, as shown in FIG. 6, the connecting portion 40R can only bend backward.

(Operation of walking aid device 1)
FIG. 7 shows an assisting motion when swinging the right foot forward. At this time, the hip joint is in a bent state. When swinging out the right foot, the adjustment section 47R adjusts the connecting string 46R to be shorter, and the winding device 32R winds up the string 31R. As described above, by shortening the connecting string 46R, the rigidity of the connecting portion 40R against the compressive force CF can be increased.

Further, by winding the string 31R, tension Fa can be generated in the string 31R. Here, the angle between the extension line of the string 31R and the axis of the connecting portion 40R is defined as θ1. Then, the tension Fa can be decomposed into an assist force Ff and a pulling force Fn. The assist force Ff is a force that contributes to the forward movement of the knee, and can be expressed by the formula "assist force Ff=tension Fa×sin θ1". The lifting force Fn is a force that pulls up the knee toward the waist, and can be expressed by the equation "lifting force Fn=tension Fa×cos θ1". Structurally, since the angle θ1 is an acute angle, the lifting force Fn is normally larger than the assisting force Ff.

This pulling force Fn acts on the connecting portion 40R as a compressive force CF. As described above, the rigidity of the connecting portion 40R against the compressive force CF is increased. Therefore, since the pulling force Fn can be received by the connecting portion 40R, the second mounting portion 20R will not be pulled upward. As a result, it becomes possible to apply only the assist force Ff to the user. Since it is possible to suppress the transmission of the lifting force Fn to the user, it is possible to suppress the uncomfortable feeling of the knee being pulled upward.

Further, as described above with reference to FIG. 6, the connecting portion 40R can only be bent in the backward direction even in a highly rigid state. Therefore, it is possible to reduce the feeling of restraint.

FIG. 8 shows the motion when the right foot lands and is kicked out backwards. At this time, the hip joint is in an extended state. When the right foot kicks off, the adjustment section 47R adjusts the length of the connecting string 46R, and the winding device 32R sends out the string 31R. As described above, by lengthening the connecting string 46R, the rigidity of the connecting portion 40R can be lowered against any of the compressive force CF, the forward bending force BF1, and the backward bending force BF2. Furthermore, due to the feeding of the string 31R, no tension Fa is generated in the string 31R. The second mounting part 20R can be completely free with respect to the first mounting part 10. It is possible to eliminate the feeling of restraint when kicking off the foot.

Further, FIG. 9 shows the state when the person is seated. No assisting operation is required when the person is seated. However, since the waist joint is in a bent state, if the connecting portion 40R is in a high rigidity state, a feeling of tension will occur. Therefore, when the user is seated, the connecting string 46R is adjusted to be longer by the adjusting portion 47R. Thereby, the connecting portion 40R can be brought into a low rigidity state, so that the feeling of tension can be suppressed. Even when sitting while wearing the walking assist device 1, it is possible to suppress the feeling of discomfort.

The walking assist device 1a of the second embodiment is different from the walking assist device 1 of the first embodiment in the configurations of the telescopic actuator 30Ra and the connecting portion 40Ra. The same parts as those in Example 1 are designated by the same reference numerals, and the description thereof will be omitted. Further, parts unique to the second embodiment are distinguished by adding "a" to the end of the reference numeral. FIG. 10 is a right side view when swinging the right foot forward. FIG. 11 is a right side view when the right foot is kicked out backward after landing.

An adjustment section 47Ra is fixed to the front of the first mounting section 10. The second mounting portion 20R includes a pulley 21Ra. One end of the connecting string 46Ra is fixed to the first attachment part 10 by a fixing part 11Ra. One connecting string 46Ra is connected from the fixed part 11Ra to the adjusting part 47Ra via the through holes of the rigid bodies 41R to 45R, the unillustrated through holes of the slider joint 49R, and the pulley 21Ra. The rigid bodies 41R to 45R are arranged in a range from the fixed part 11Ra to the pulley 21Ra.

A telescopic actuator 30Ra is configured by the connecting string 46Ra and the adjusting portion 47Ra. Further, a connecting portion 40Ra is constituted by the connecting string 46Ra, the adjusting portion 47Ra, the fixing portion 11Ra, the rigid bodies 41R to 45R, the slide rail 48R, and the slider joint 49R.

(Operation of walking assist device 1a)
As shown in FIG. 10, when swinging the right foot forward, the adjustment section 47Ra shortens the length by winding up the connecting string 46Ra. A tension Fa directed from the pulley 21Ra toward the adjustment portion 47Ra can be generated in the connecting string 46Ra. The assist force Ff can be generated according to the above-mentioned principle. Further, the slider joint 49R moves above the slide rail 48R. The rigid bodies 41R to 45R are pressed against each other and connected, resulting in a highly rigid state. As described above, the pulling force Fn can be received by the connecting portion 40Ra.

As shown in FIG. 11, when kicking the right foot backward, the adjustment section 47Ra lengthens the length by feeding out the connecting string 46Ra. Tension Fa directed from the pulley 21Ra toward the adjustment portion 47Ra is no longer generated. Moreover, the slider joint 49R moves to the lower side of the slide rail 48R. Since the rigid bodies 41R to 45R are no longer pressed against each other, the connection is released and the rigidity becomes low. It is possible to eliminate the feeling of restraint when kicking off the foot.

(effect)
It becomes possible to share the adjustment part 47Ra and the connecting string 46Ra with the telescopic actuator 30Ra and the connecting part 40Ra. Since the number of parts can be reduced, it is possible to reduce weight and cost.

The walking assist device 1b of the third embodiment differs from the walking assist device 1 of the first embodiment in the configuration of the connecting portion 40Rb. The same parts as those in Example 1 are designated by the same reference numerals, and the description thereof will be omitted. Further, parts unique to the third embodiment are distinguished by adding "b" to the end of the reference numerals.

FIG. 12 shows a right side view of the walking assist device 1b. The connecting portion 40Rb includes a plate member 51Rb and a deformable portion 52Rb. The plate member 51Rb extends between the first mounting section 10 and the second mounting section 20R. The upper end of the plate member 51Rb is rotatably fixed to the first mounting part 10 by a fixing part 53Rb. The lower end of the plate member 51Rb is rotatably fixed to the second mounting portion 20R by a fixing portion 54Rb. A plurality of deformable portions 52Rb are arranged on the back side of the plate member 51Rb. The deformable portion 52Rb is a soft actuator. By controlling the applied voltage by a control unit (not shown), the contracted state of the deformable portion 52Rb can be freely controlled.

(Change in rigidity of connecting portion 40Rb)
A mechanism for changing the rigidity of the connecting portion 40Rb will be explained. 13(A) and FIG. 14(A) are right side views of the plate-like member 51Rb. 13(B) and FIG. 14(B) are cross-sectional views taken along the line BB. That is, FIGS. 13(B) and 14(B) are cross-sectional views perpendicular to the longitudinal axis LA of the plate-like member 51Rb.

FIG. 13 shows a state in which the deformable portion 52Rb is not contracted (low rigidity state). As shown in the cross-sectional view of FIG. 13(B), the cross-sectional shape of the plate member 51Rb is linear. Since the cross-sectional moment of inertia is small, the rigidity against bending moments is low. It easily buckles against the compressive force CF in the axial direction.

On the other hand, FIG. 14 shows a state in which the deformable portion 52Rb is contracted (high rigidity state). The longitudinal direction of the deformed portion 52Rb is arranged perpendicular to the longitudinal axis LA of the plate-like member 51Rb. Therefore, the deformed portion 52Rb has a large amount of contraction in the direction perpendicular to the longitudinal axis LA. Therefore, as shown in the cross-sectional view of FIG. 14(B), the cross section perpendicular to the longitudinal axis LA can be bent. Since the cross-sectional moment of inertia can be increased compared to the linear cross section of FIG. 13(B), the rigidity against bending moment can be increased. It becomes possible to increase the rigidity against the compressive force CF in the axial direction.

(Operation of walking assist device 1b)
As shown in FIG. 12, when swinging the right foot forward, the telescopic actuator 30R winds up the string 31R, thereby generating an assist force Ff. At the same time, by contracting the deformable portion 52Rb, the cross-sectional shape of the plate member 51Rb can be made into a bent shape. Since the plate member 51Rb can be brought into a highly rigid state, it becomes possible to receive the pulling force Fn at the connecting portion 40Rb.

On the other hand, when kicking the right foot backward, the telescopic actuator 30R sends out the string 31R, so no assist force Ff is generated. At the same time, by not shrinking the deformable portion 52Rb, the cross-sectional shape of the plate member 51Rb can be made into a linear shape. Since the plate member 51Rb can be brought into a low rigidity state, it is possible to eliminate the feeling of restraint.

The walking assist device 1c of the fourth embodiment is different from the walking assist device 1 of the first embodiment in the configuration of the connecting portion 40Rc. The same parts as those in Example 1 are designated by the same reference numerals, and the description thereof will be omitted. Further, parts unique to the fourth embodiment are distinguished by adding "c" to the end of the reference numeral.

FIG. 15 shows a right side view of the walking assist device 1c. The connecting portion 40Rc includes rigid bodies 41Rc to 45Rc, connecting portions 61Rc to 64Rc, and an adjusting portion 65Rc. The upper end of the rigid body 41Rc is rotatably fixed to the first mounting part 10 by a fixed part 66Rc. The lower end of the rigid body 45Rc is rotatably fixed to the second mounting part 20R by a fixed part 67Rc. Each of the connecting portions 61Rc to 64Rc connects the rigid bodies 41Rc to 45Rc to each other. The adjustment section 65Rc is a section that applies a control voltage to each of the connection sections 61Rc to 64Rc. The connecting parts 61Rc to 64Rc are soft actuators whose rigidity can be changed by control voltage. For the soft actuator, a polymer material such as a polymer gel or a shape memory material such as a shape memory alloy can be used.

(Operation of walking assist device 1c)
As shown in FIG. 15, when swinging the right foot forward, the telescopic actuator 30R winds up the string 31R, thereby generating an assist force Ff. At the same time, the adjustment section 65Rc adjusts the control voltage so as to increase the rigidity of the connection sections 61Rc to 64Rc. Thereby, the rigidity of the connecting portion 40Rc against compressive force and bending force can be increased, so that the pulling force Fn can be received by the connecting portion 40Rc.

On the other hand, when kicking the right foot backward, the telescopic actuator 30R sends out the string 31R, so no assist force Ff is generated. At the same time, the adjustment section 65Rc adjusts the control voltage so as to reduce the rigidity of the connection sections 61Rc to 64Rc. As a result, the connecting portion 40Rc can be brought into a low rigidity state, thereby making it possible to eliminate the feeling of restraint.

The walking assist device 1d of the fifth embodiment differs from the walking assist device 1 of the first embodiment in the configuration of the connecting portion 40Rd. The same parts as those in Example 1 are designated by the same reference numerals, and the description thereof will be omitted. Further, parts unique to the fifth embodiment are distinguished by adding "d" to the end of the reference numeral.

FIG. 16 shows a right side view of the walking assist device 1d. The connecting portion 40Rd includes a support portion 71Rd and an adjustment portion 72Rd. The adjustment part 72Rd is fixed to the right side surface of the first mounting part 10. A pinion gear 74Rd rotatable by a motor (not shown) is disposed inside the adjustment portion 72Rd. A rack gear 75Rd is formed on the upper part of the support portion 71Rd. Rack gear 75Rd is engaged with pinion gear 74Rd. By rotating the pinion gear 74Rd, the downward protrusion length of the support portion 71Rd can be adjusted. The lower end of the support part 71Rd is rotatably fixed to the second mounting part 20R by a fixing part 73Rd.

The support portion 71Rd is made of an elastic material (eg, metal) and has a shape that becomes narrower toward the bottom. Therefore, since the support portion 71Rd has the property of being able to bend like a fishing rod or a bow (flexibility), it can follow the movement of the second mounting portion 20R in the front-rear direction. Further, the width of the support portion 71Rd increases toward the upper side, and the amount of elastic deformation decreases. Therefore, it becomes possible to suppress deformation of the rack gear 75Rd formed on the upper part of the support portion 71Rd.

(Operation of walking assist device 1d)
As shown in FIG. 16, when swinging the right foot forward, the telescopic actuator 30R winds up the string 31R, thereby generating an assist force Ff. Moreover, since the tip of the support portion 71Rd is deformed to move upward according to the amount of winding of the string 31R, a downward elastic force is generated. This downward elastic force can offset the upward pulling force Fn, thereby making it possible to alleviate the user's discomfort. Further, the magnitude of the downward elastic force can be adjusted by changing the length of the downward protrusion of the support portion 71Rd using the adjustment portion 72Rd.

(Modified example of walking aid device 1d)
As shown in FIG. 17, the adjustment part 72Rd may be fixed to the rear of the first mounting part 10. A fixing part 73Rd that fixes the lower end of the support part 71Rd may be arranged behind the second mounting part 20R. As shown in FIG. 17, when swinging the right foot forward, the adjustment section 72Rd may be controlled to lengthen the support section 71Rd. Further, when kicking the right foot backward, the adjustment section 72Rd may be controlled to shorten the length of the support section 71Rd. The connecting portion 40Rd also makes it possible to apply an assist force for assisting the swinging of the knee from the back side of the knee. Further, as shown in FIG. 17, the width of the support portion 71Rd may be constant.

Although specific examples of the present invention have been described in detail above, these are merely illustrative and do not limit the scope of the claims. The techniques described in the claims include various modifications and changes to the specific examples illustrated above. The technical elements described in this specification or the drawings exhibit technical utility alone or in various combinations, and are not limited to the combinations described in the claims as filed. Furthermore, the techniques illustrated in this specification or the drawings can achieve multiple objectives simultaneously, and achieving one of the objectives has technical utility in itself.

(Modified example)
The rigid bodies 41R to 45R constituting the connecting portion 40R can have various shapes. For example, the contact surface may have a fitting shape such that the rigid bodies fit into each other. This will be explained using a representative example of the rigid bodies 41Re and 42Re in FIG. 18. The upper contact surfaces CS1 of the rigid bodies 41Re and 42Re have a triangular wedge shape that projects upward. Further, the lower contact surfaces CS2 of the rigid bodies 41Re and 42Re have a triangular depression shape corresponding to a wedge shape. By shortening the connecting string 46R, the upper contact surface CS1 of the rigid body 42Re and the lower contact surface CS2 of the rigid body 41Re can be fitted into each other. Thereby, it is possible to suppress occurrence of deviation in the rotational direction around the connecting string 46R in the rigid bodies 41Re and 42Re. It becomes possible to align the directions of the rigid bodies 41Re and 42Re.

Further, the rigid body may include a portion for suppressing deviation in the rotational direction about the connecting string 46R. This will be explained using a representative example of the rigid bodies 41Rf and 42Rf in FIG. 19. The rigid bodies 41Rf and 42Rf have side surfaces SS that are substantially parallel to the axial direction AD of the through holes 41h and 42h. Furthermore, the rigid bodies 41Rf and 42Rf are provided with protrusions PP that protrude from the side surface SS in the axial direction AD of the through hole. The protrusion PP includes an abutment surface AS located in the same plane as the side surface SS. When the upper contact surface CS of the rigid body 42Rf and the lower contact surface CS of the rigid body 41Rf are brought into contact, the contact surface AS of the rigid body 42Rf can be brought into contact with the side surface SS of the rigid body 41Rf. This makes it possible to align the directions of the rigid bodies 41Re and 42Re.

The structure of the adjustment part 47R for adjusting the length of the connecting string 46R is not limited to a structure using a bobbin, and may be of various structures. For example, a twisting string actuator may be used, which achieves a pulling action by twisting two strings.

1: Walking assistance device 10: First attachment part 20R, 20L: Second attachment part 30R, 30L: Telescopic actuator 31R, 31L: String 40R, 40L: Connection part 41R to 45R: Rigid body 46R: Connection string 47R: Adjustment part

Claims (7)

a first mounting part that is mounted on the user's waist side;
a second mounting part that is mounted on the user's knee side;
a telescopic actuator that connects the first mounting part and the second mounting part and is configured to be extendable and contractible;
a connecting portion connecting the first mounting portion and the second mounting portion , the connecting portion including a plurality of rigid bodies each having a through hole;
A walking aid device comprising:
The telescopic actuator is
a string passing through the through hole and connecting the plurality of rigid bodies to each other;
a first adjustment section configured to be able to adjust the length of the string;
It is equipped with
The second mounting part includes a pulley,
One end of the string is fixed to the first attachment part,
The other end of the string is connected to the first adjustment section provided in the first mounting section via the pulley,
The plurality of rigid bodies are arranged in a range from one end of the string to the pulley,
The first adjustment unit adjusts the length of the string to be shorter when the telescopic actuator is contracted than when the telescopic actuator is extended;
The rigidity of the connecting portion against the compressive force in the axial direction is higher when the telescopic actuator is contracted than when the telescopic actuator is extended.
Walking aid device. a first mounting part that is mounted on the user's waist side;
a second mounting part that is mounted on the user's knee side;
a telescopic actuator that connects the first mounting part and the second mounting part and is configured to be extendable and contractible;
a connecting part connecting the first mounting part and the second mounting part;
A walking aid device comprising:
The connecting portion is
a plurality of rigid bodies with through holes;
a string passing through the through hole and connecting the plurality of rigid bodies to each other;
a first adjustment section configured to be able to adjust the length of the string;
It is equipped with
The contact surfaces of the plurality of rigid bodies have fitting shapes that fit into each other,
One end of the string is fixed to the first attachment part or the second attachment part,
The other end of the string is connected to the first adjustment section,
The first adjustment unit adjusts the length of the string to be shorter when the telescopic actuator is contracted than when the telescopic actuator is extended;
The rigidity of the connecting portion against the compressive force in the axial direction is higher when the telescopic actuator is contracted than when the telescopic actuator is extended.
Walking aid device. a first mounting part that is mounted on the user's waist side;
a second mounting part that is mounted on the user's knee side;
a telescopic actuator that connects the first mounting part and the second mounting part and is configured to be extendable and contractible;
a connecting part connecting the first mounting part and the second mounting part;
A walking aid device comprising:
The connecting portion is
a plurality of rigid bodies with through holes;
a string passing through the through hole and connecting the plurality of rigid bodies to each other;
a first adjustment section configured to be able to adjust the length of the string;
It is equipped with
The contact surfaces of the plurality of rigid bodies are
a first region having a plane perpendicular to the axial direction of the through hole;
a second region that is recessed toward the center of the rigid body with respect to the first region and tapered and recessed toward the outside from the through hole;
It is equipped with
One end of the string is fixed to the first attachment part or the second attachment part,
The other end of the string is connected to the first adjustment section,
The first adjustment unit adjusts the length of the string to be shorter when the telescopic actuator is contracted than when the telescopic actuator is extended;
The rigidity of the connecting portion against the compressive force in the axial direction is higher when the telescopic actuator is contracted than when the telescopic actuator is extended.
Walking aid device. The connecting portion has a front side in the direction of movement of the user and a rear side in the direction of movement of the user,
The first region is located on the front side in the traveling direction,
The walking assist device according to claim 3 , wherein the second region is arranged on the rear side in the traveling direction. a first mounting part that is mounted on the user's waist side;
a second mounting part that is mounted on the user's knee side;
a telescopic actuator that connects the first mounting part and the second mounting part and is configured to be extendable and contractible;
a connecting part connecting the first mounting part and the second mounting part;
A walking aid device comprising:
The connecting portion is
a plurality of rigid bodies with through holes;
a string passing through the through hole and connecting the plurality of rigid bodies to each other;
a first adjustment section configured to be able to adjust the length of the string;
It is equipped with
The plurality of rigid bodies have side surfaces substantially parallel to the axial direction of the through hole,
The plurality of rigid bodies each include a protrusion protruding from the side surface in the axial direction of the through hole,
One end of the string is fixed to the first attachment part or the second attachment part,
The other end of the string is connected to the first adjustment section,
The first adjustment unit adjusts the length of the string to be shorter when the telescopic actuator is contracted than when the telescopic actuator is extended;
The rigidity of the connecting portion against the compressive force in the axial direction is higher when the telescopic actuator is contracted than when the telescopic actuator is extended.
Walking aid device. a first mounting part that is mounted on the user's waist side;
a second mounting part that is mounted on the user's knee side;
a telescopic actuator that connects the first mounting part and the second mounting part and is configured to be extendable and contractible;
a connecting part connecting the first mounting part and the second mounting part;
A walking aid device comprising:
The connecting portion is
a plate-like member extending between the first mounting part and the second mounting part;
a deformable portion configured to be able to change the cross-sectional shape of a cross section perpendicular to the longitudinal axis of the plate-like member between a straight shape and a bent shape;
It is equipped with
The deformation portion has the cross-sectional shape as the linear shape when the telescopic actuator is extended, and has the cross-sectional shape as the bent shape when the telescopic actuator is contracted;
The rigidity of the connecting portion against the compressive force in the axial direction is higher when the telescopic actuator is contracted than when the telescopic actuator is extended.
Walking aid device. a first mounting part that is mounted on the user's waist side;
a second mounting part that is mounted on the user's knee side;
a telescopic actuator that connects the first mounting part and the second mounting part and is configured to be extendable and contractible;
a connecting part connecting the first mounting part and the second mounting part;
A walking aid device comprising:
The connecting portion is
multiple rigid bodies,
a soft actuator that connects the plurality of rigid bodies to each other;
a second adjustment section configured to be able to adjust the rigidity of the soft actuator;
It is equipped with
The second adjustment unit adjusts the soft actuator to have a higher rigidity when the telescopic actuator is contracted than when the telescopic actuator is extended;
The rigidity of the connecting portion against the compressive force in the axial direction is higher when the telescopic actuator is contracted than when the telescopic actuator is extended.
Walking aid device.

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