JP7423211B2 - Movement support device - Google Patents

Description

The present disclosure relates to a motion support device that supports human motion using an actuator.

Conventionally, motion support devices (also referred to as power assist suits) have been proposed that are worn on a person to support the motions of that person. A motion support device includes an actuator and a plurality of frames or links connected by joints, and supports human motion by driving the joints with power generated by the actuator (see, for example, Patent Document 1). For example, a movement support device supports a person's movement by detecting a person's movement using a switch or a sensor, and adjusting the magnitude or timing of the power of an actuator in conjunction with the movement.

Patent No. 5526444

However, the motion support device of Patent Document 1 has a problem in that it is not suitable for different body types of multiple people. For example, the motion support device disclosed in Patent Document 1 includes a back frame and a pair of side frame sections, and the back frame and the like are arranged on the back side of a person and come into contact with the back. Further, the back frame and other parts that come into contact with the back are fixed and are not configured to suit each person's body shape. Therefore, it is difficult to provide a comfortable fit to the wearer who wears the movement support device.

Therefore, the present disclosure provides a motion support device that is easily adapted to any body type.

A motion support device according to an aspect of the present disclosure is a motion support device that supports motion of a person's lower back, and includes a left link mechanism attached to the left side of the person, and a right link mechanism attached to the right side of the person. a mechanism, and a fastening member that is attached to the waist of the person and fastened to the left link mechanism and the right link mechanism, the left link mechanism being a link that is attached to the left thigh of the person. a left thigh link whose lower end side is placed in front of or behind the left thigh; and a link attached to the left side of the person's upper body, where the lower end side of the link is located at the front or rear of the left thigh. a left upper body link that is rotatably attached to the upper end side; a left actuator that rotates either the left thigh link or the left upper body link relative to the other; and a left actuator that is arranged on the left chest of the person. and a left chest pad connected to the upper end of the left upper body link by a ball joint, and the right link mechanism is a link attached to the right thigh of the person, and the lower end of the link a right thigh link whose side is placed in front or behind the right thigh; and a link attached to the right side of the person's upper body, the lower end of which is rotatable with respect to the upper end of the right thigh link. a right upper body link that is freely attached; a right actuator that rotates either the right thigh link or the right upper body link relative to the other; and a right actuator that is placed on the right chest of the person and that It has an upper end and a right chest pad connected by a ball joint.

The motion support device of the present disclosure can be easily adapted to any person's body type.

FIG. 1A is a front view of the motion support device in the embodiment. FIG. 1B is a side perspective view of the motion support device in the embodiment. FIG. 2A is a front view of a person wearing the motion support device according to the embodiment. FIG. 2B is a rear view of a person wearing the motion support device according to the embodiment. FIG. 3 is a diagram illustrating an example of a person's motion supported by the motion support device according to the embodiment. FIG. 4 is a diagram schematically showing the movements of the left upper body link, left thigh link, and left fixing member with respect to the left joint in the embodiment. FIG. 5 is a diagram illustrating an example of a state in which the left joint portion in the embodiment is rotating. FIG. 6 is a diagram showing the configuration of a left chest pad, a right chest pad, a left upper body link, and a right upper body link in the embodiment. FIG. 7 is a diagram showing the sliding of the left joint part and the right joint part in the embodiment. FIG. 8 is a diagram showing the left fastening member being pulled out from the control unit and pushed into the control unit in the embodiment. FIG. 9 is a diagram showing expansion and contraction of the upper left body link in the embodiment. FIG. 10 is a diagram showing the sliding of the left joint according to Modification 1 of the embodiment. FIG. 11A is a front view of the motion support device in Modification 2 of the embodiment. FIG. 11B is a side perspective view of the motion support device in Modification 2 of the embodiment. FIG. 12 is a top view of a right leg pad and a right thigh harness in Modification 2 of the embodiment. FIG. 13 is a diagram illustrating an example of a fastening member in modification example 2 of the embodiment. FIG. 14 is a diagram illustrating a procedure for attaching the motion support device to a person using a fastening member in Modification 2 of the embodiment. FIG. 15 is a diagram illustrating an example of joining the left front belt and right front belt of the first belt in Modification 2 of the embodiment. FIG. 16 is a diagram showing another example of the fastening member in Modification 2 of the embodiment.

A motion support device according to an aspect of the present disclosure is a motion support device that supports motion of a person's lower back, and includes a left link mechanism attached to the left side of the person, and a right link mechanism attached to the right side of the person. a mechanism, and a fastening member that is attached to the waist of the person and fastened to the left link mechanism and the right link mechanism, the left link mechanism being a link that is attached to the left thigh of the person. a left thigh link whose lower end side is placed in front of or behind the left thigh; and a link attached to the left side of the person's upper body, where the lower end side of the link is located at the front or rear of the left thigh. a left upper body link that is rotatably attached to the upper end side; a left actuator that rotates either the left thigh link or the left upper body link relative to the other; and a left actuator that is arranged on the left chest of the person. and a left chest pad connected to the upper end of the left upper body link by a ball joint, and the right link mechanism is a link attached to the right thigh of the person, and the lower end of the link a right thigh link whose side is placed in front or behind the right thigh; and a link attached to the right side of the person's upper body, the lower end of which is rotatable with respect to the upper end of the right thigh link. a right upper body link that is freely attached; a right actuator that rotates either the right thigh link or the right upper body link relative to the other; and a right actuator that is placed on the right chest of the person and that It has an upper end and a right chest pad connected by a ball joint.

As a result, the upper end of the left upper body link and the upper end of the right upper body link are connected to the left chest pad and the right chest pad, respectively, by ball joints, making the motion support device easy to adapt to any body type. be able to. For example, the motion support device supports the waist motion of the wearer by pressing the chest of the wearer with the upper end of the left upper body link and the upper end of the right upper body link. At this time, the upper end of the left upper body link and the upper end of the right upper body link press against the chest of the wearer via the left chest pad and the right chest pad. Here, as described above, the upper end of the left upper body link and the upper end of the right upper body link are connected to the left chest pad and the right chest pad, respectively, by ball joints. Therefore, no matter what body shape the wearer has, the left chest pad and right chest pad can fit the wearer's chest and press the chest with the left chest pad and right chest pad. Therefore, the fit for the wearer can be improved.

The left link mechanism further includes a left joint portion that rotatably connects the left upper body link and the left thigh link, and the right link mechanism further includes a left joint portion that rotatably connects the left upper body link and the right thigh link. The left joint part and the right joint part may be fastened to the fastening member so as to be slidable along a direction around the waist of the person.

Thereby, the movement support device can be made more adaptable to any person's body type. In other words, since the left joint part and the right joint part are slidably fastened to the fastening member, no matter what waist width the wearer has, the left joint part can be appropriately placed on the left hip of the wearer. The right joint portion can be appropriately placed on the wearer's right hip. As a result, the fit can be further improved.

The motion support device further includes a control unit that is disposed on the back side of the person and controls movements of the left link mechanism and the right link mechanism, and the fastening member is attached to the left joint. It has a left fastening member to be fastened, and a right fastening member to be fastened to the right joint, and the left fastening member and the right fastening member can be pulled out from the control unit and pushed into the control unit. The left joint part and the right joint part are attached to the control unit so that the left joint part and the right joint part can be slid in the direction around the waist of the person by pulling out and pushing in the left fastening member and the right fastening member. Good too.

Thereby, by pulling out and pushing in the left fastening member and the right fastening member, each of the left joint part and the right joint part can be easily slid.

The left link mechanism further includes a left housing that houses and holds the lower end side of the left upper body link and is fastened to the fastening member so as to be placed on the left waist of the person, The right link mechanism further includes a right housing that houses and holds the lower end side of the right upper body link and is fastened to the fastening member so as to be disposed on the right waist of the person, The portion of the upper right body link that protrudes from the left casing is expandable and retractable along the longitudinal direction of the upper left body link, and the portion of the upper right body link that protrudes from the right casing extends along the longitudinal direction of the upper right body link. It may be stretchable along the direction.

Thereby, the movement support device can be made more adaptable to any person's body type. That is, by expanding and contracting the left upper body link and the right upper body link, the left chest pad and the right chest pad connected to the upper ends of these links can be placed at appropriate positions on the wearer's chest. Therefore, even if a plurality of people of different heights each wear the motion support device as a wearer, the left chest pad and the right chest pad can be fitted to appropriate positions of the wearer. As a result, the fit can be further improved.

The motion support device further includes a control unit that is disposed on the back side of the person and controls movements of the left link mechanism and the right link mechanism, and the fastening member is attached to the left joint. a left fixing member connected to the right joint portion, a right fixing member connected to the right joint portion, and a first belt and a second belt fixed to the left fixing member and the right fixing member, respectively; The first belt is arranged in front of the person, and the first length of the first belt from the part fixed to the left fixing member to the part fixed to the right fixing member is variable. The second belt is configured to be locked to each of a left locking portion and a right locking portion of the control unit, and to control the control unit from a portion of the second belt that is fixed to the left fixing member. A second length of the unit from a portion of the unit that is locked to the left locking portion is configured to be variable, and a second length of the control unit from a portion of the second belt that is locked to the right fixing member. A third length up to a portion locked by the right locking portion is configured to be variable, and the left joint portion and the right joint portion have the first length and the second length. , and by adjusting the third length, the fastening member may be slidably fastened to the fastening member along the waist direction of the person.

As a result, sliding between the left joint part and the right joint part is realized by adjusting the first length of the first belt and the second length and third length of the second belt. It is possible to suppress the complexity of the mechanical structure.

Further, the first belt includes a left front belt fixed to the left fixing member and arranged on the left front of the person, and a right front belt fixed to the right fixing member and arranged on the right front of the person. The front left belt and the front right belt may be removably joined to each other, and the first length may be adjusted by changing the joined parts of the front left belt and the front right belt.

As a result, the left front belt is fixed to the left fixing member, the right front belt is fixed to the right fixing member, and the left front belt and right front belt are joined on the front side of the person. Therefore, even if the left joint part connected to the left fixing member and the right joint part connected to the right fixing member are pulled toward the rear side of the person by the second belt, for example, they will not shift to the rear side. can be suppressed. In other words, with the left joint portion placed on the person's left hip and the right joint portion placed on the person's right hip, the first length of the first belt is adjusted and the first length of the first belt is adjusted. By tightening, it is possible to prevent the left and right joints from shifting backward from their positions.

Further, the second belt includes a left belt that is slidably locked to the left locking portion of the control unit, and a right belt that is slidably locked to the right locking portion of the control unit. a belt, one end of the left belt in the longitudinal direction is fixed to the left fixing member, and the other end is disposed in front of the person via the left locking part of the control unit, One longitudinal end of the right belt is fixed to the right fixing member, and the other end is disposed in front of the person via the right locking part of the control unit, and is connected to the left belt and the right The other end sides of the belts may be removably joined to each other, and the second length and the third length may be adjusted by changing the joined parts of the left belt and the right belt. good.

Thereby, by pulling the other ends of the left belt and the right belt toward the front, the second length and the third length can be shortened. As a result, the control unit locked to those belts via the left locking part and the right locking part can be drawn to the left fixing member and the right fixing member. When viewed from the control unit side, the left joint part connected to the left fixing member and the right joint part connected to the right fixing member can be easily slid toward the control unit side.

One longitudinal end of the left belt is fixed to the left fixing member, and the other end is disposed in front of the person via the left locking part of the control unit. Furthermore, the left belt is slidably locked to the left locking portion. Therefore, if the other end of the left belt is pulled forward with a force F, the control unit can be drawn toward the left fixing member with twice the force F. Similarly, one longitudinal end of the right belt is fixed to the right fixing member, and the other end is disposed in front of the person via the right locking part of the control unit. Furthermore, the right belt is slidably locked to the right locking portion. Therefore, if the other end of the right belt is pulled forward with a force F, the control unit can be drawn toward the right fixing member with twice the force F. Thereby, the second belt can be easily tightened.

Then, by tightening the second belt, that is, by joining the other ends of the left and right belts, the left fixing member, right fixing member, and control unit can be attracted and fixed around the person's torso. .

Hereinafter, embodiments will be specifically described with reference to the drawings.

Note that the embodiments described below are all inclusive or specific examples. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components, steps, order of steps, etc. shown in the following embodiments are examples, and do not limit the present disclosure. Further, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims indicating the most significant concept will be described as arbitrary constituent elements.

Furthermore, each figure is a schematic diagram and is not necessarily strictly illustrated. Moreover, in each figure, the same reference numerals are attached to the same constituent members. Furthermore, in the following embodiments, expressions such as substantially the same are used. For example, "substantially the same" does not only mean completely the same, but also means substantially the same, that is, including an error of, for example, several percent. In addition, "substantially the same" means the same within the scope of achieving the effects of the present disclosure. The same applies to other expressions using "abbreviation".

(Embodiment)
FIG. 1A and FIG. 1B are external views of the motion support device in this embodiment. Specifically, FIG. 1A is a front view of the motion support device, and FIG. 1B is a side perspective view of the motion support device. Further, FIGS. 2A and 2B are external views of a person wearing the motion support device according to the present embodiment. Specifically, FIG. 2A is a front view of a person wearing the motion support device, and FIG. 2B is a rear view of the person wearing the motion support device.

In the present disclosure, the vertical direction is defined as the Z-axis direction, the upper side in the vertical direction is defined as a plus side, and the lower side in the vertical direction is defined as a negative side. Further, the front-rear direction in a plane perpendicular to the vertical direction is defined as the Y-axis direction, and the left-right or lateral direction, which is a direction perpendicular to the Y-axis direction in the perpendicular plane, is defined as the X-axis direction. That is, "upper" in the present disclosure is the positive side in the Z-axis direction, which is the vertical direction, and "lower" is the negative side in the Z-axis direction, which is the vertical direction. In the present disclosure, "rear" refers to the minus side in the Y-axis direction, which is the front-back direction, and "front" refers to the plus side in the Y-axis direction, which is the front-rear direction. In the present disclosure, "left" refers to the plus side in the X-axis direction, which is the left-right direction, and "right" refers to the minus side in the X-axis direction, which is the left-right direction.

[Overall configuration of the device]
As shown in FIGS. 2A and 2B, the motion support device 100 according to the present embodiment is attached to a person P and supports the person P in forward bending of the waist and the like. In other words, the motion support device 100 supports a forward bending motion in which the person P moves from a standing posture to a forward bending posture, and a return motion in which the person P returns from a forward bending posture to a standing posture. As shown in FIGS. 1A and 1B, such a motion support device 100 includes a left link mechanism 110L, a right link mechanism 110R, a control unit 120, an upper body harness 130, a fastening member 140, and an abdominal belt 150. Equipped with.

[Fastening member]
The fastening member 140 is a belt or harness worn around the waist of the person P, and is fastened to the left link mechanism 110L and the right link mechanism 110R. For example, the fastening member 140 is made of synthetic resin, leather, or the like.

[Abdominal belt]
The abdominal belt 150 is a belt or harness worn on the abdomen of the person P, and is connected to the left and right ends of the fastening member 140, respectively. For example, the abdominal belt 150 includes a band portion made of synthetic fiber or leather, and two buckles that are configured to be detachable from each other. By connecting the two buckles, the abdominal belt 150 and the fastening member 140 are formed into a ring shape surrounding the abdomen and waist of the person P, and are fixed to the abdomen and waist. Note that the above-mentioned synthetic fiber is, for example, polyester. The band is made of a flexible material, and the buckle is made of a rigid member such as metal or synthetic resin. Note that the belt portion of the abdominal belt 150 may have more flexibility than the fastening member 140, and the belt portion of the abdominal belt 150 and the fastening member 140 may have the same flexibility. good.

[Left link mechanism]
The left link mechanism 110L is a mechanism that is attached to the left side (that is, the left half of the body) of a person, and includes a left chest pad 111L, a left upper body link 112L, a left joint 113L, a left thigh link 114L, and a left thigh harness. 115L, and a left fixing member 116L.

As shown in FIGS. 2A and 2B, the left thigh link 114L is a link that is attached to the left thigh of the person P, and the lower end side of the link is placed behind the left thigh. Specifically, as shown in FIGS. 1B and 2B, the left thigh link 114L includes a long portion extending in the longitudinal direction of the left thigh, and a portion extending from the lower end of the long portion to the rear side of the left thigh. It consists of a part that wraps around. Note that the longitudinal direction of the left thigh described above is the Z-axis direction in FIGS. 1A to 2B. Further, the lower end side of the left thigh link 114L may be fixed so as to be embedded in the left thigh harness 115L, for example.

The left upper body link 112L is a link attached to the left side of the upper body of the person P, as shown in FIGS. 2A and 2B. The lower end side of this left upper body link 112L is rotatably attached to the upper end side of the left thigh link 114L via a left joint portion 113L. Specifically, the left upper body link 112L is made of a long rod extending along the vertical direction of the person's P's body. Note that the vertical direction of the upper body of the person P is the Z-axis direction in FIGS. 1A to 2B. Further, the upper end of the left upper body link 112L is arranged in front of the person P. More specifically, the upper end of the left upper body link 112L is placed on the left chest of the person P.

Note that the left upper body link 112L and the left thigh link 114L are each made of a rigid member. Specifically, these links are made of metal such as aluminum, or synthetic resin such as hardened resin or carbon fiber.

The left chest pad 111L is placed on the left chest of the person P, and is connected to the upper end of the left upper body link 112L. Specifically, the left chest pad 111L has a member having elasticity and flexibility, and is connected to the upper end of the left upper body link 112L so that the member is directed toward the left chest side of the person P. This left chest pad 111L is sandwiched between the upper end of the left upper body link 112L and the left chest of the person P when the motion support device 100 is attached to the person P. The left chest pad 111L reduces the pressure when the upper end of the left upper body link 112L presses against the left chest of the person P, and the pain caused to the person P can be alleviated.

The left joint portion 113L is connected to the lower end of the left upper body link 112L and the upper end of the left thigh link 114L. Specifically, the left joint portion 113L rotatably connects the left upper body link 112L and the left thigh link 114L. Further, the left joint portion 113L includes a left housing 118L made of, for example, synthetic resin, and a left sensor (not shown) and a left actuator 117L housed within the left housing 118L. The left sensor is an assist sensor that detects the motion of the person P via the left thigh link 114L, and is, for example, an encoder. The left actuator 117L rotates either the left thigh link 114L or the left upper body link 112L relative to the other. Specifically, the left actuator 117L applies power to the left thigh link 114L and left upper body link 112L to support the forward bending motion or standing motion of the person P, depending on the motion detected by the left sensor. Give.

Note that in this embodiment, the left joint portion 113L is fixed to the left upper body link 112L. That is, the left actuator 117L rotates the left thigh link 114L with respect to the left joint portion 113L and the left upper body link 112L.

As shown in FIGS. 1A and 1B, the left fixing member 116L is a plate-shaped member made of, for example, synthetic resin. Such a left fixing member 116L is arranged on the left side of the person P. Specifically, the left fixing member 116L is fixed to the left end of the fastening member 140 attached to the waist of the person P.

Further, the left fixing member 116L is connected to the left joint portion 113L via the shaft member J, as shown in FIG. 1A. The shaft member J is a cylindrical member whose central axis is arranged along the X-axis direction. In other words, the left joint portion 113L rotates with respect to the left fixed member 116L so as to rotate around the shaft member J as the rotation axis, specifically, to rotate around the central axis of the shaft member J as the rotation axis. It is attached so that it can move freely.

The left thigh harness 115L is a band-shaped member made of a flexible material such as synthetic fiber or leather, and is wrapped around the left thigh of the person P.

[Right link mechanism]
The right link mechanism 110R is a mechanism that is attached to the right side (that is, the right half of the body) of a person. In this embodiment, the right link mechanism 110R includes the same components as the left link mechanism 110L described above, but has a form that is symmetrical to the left link mechanism 110L.

Specifically, the right link mechanism 110R includes a right chest pad 111R, a right upper body link 112R, a right joint portion 113R, a right thigh link 114R, a right thigh harness 115R, and a right fixing member 116R.

As shown in FIGS. 2A and 2B, the right thigh link 114R is a link attached to the right thigh of the person P, and the lower end side of the link is placed behind the right thigh. Specifically, as shown in FIGS. 1B and 2B, the right thigh link 114R includes a long portion extending in the longitudinal direction of the right thigh, and a portion extending from the lower end of that portion to the rear side of the right thigh. It consists of a part that wraps around. Note that the longitudinal direction of the right thigh mentioned above is the Z-axis direction in FIGS. 1A to 2B. Further, the lower end side of the right thigh link 114R may be fixed so as to be embedded in the right thigh harness 115R, for example.

The right upper body link 112R is a link attached to the right side of the upper body of the person P, as shown in FIGS. 2A and 2B. The lower end side of this right upper body link 112R is rotatably attached to the upper end side of the right thigh link 114R via the right joint portion 113R. Specifically, the right upper body link 112R is made of a rod body formed in an elongated shape along the vertical direction of the person's P's body. Further, the upper end of the right upper body link 112R is arranged in front of the person P. More specifically, the upper end of the right upper body link 112R is placed on the right chest of the person P.

Note that the right upper body link 112R and the right thigh link 114R are each made of a rigid member. Specifically, these links are made of metal such as aluminum, or synthetic resin such as hardened resin or carbon fiber.

The right chest pad 111R is placed on the right chest of the person P, and is connected to the upper end of the right upper body link 112R. Specifically, the left chest pad 111L has a member having elasticity and flexibility, and is connected to the upper end of the right upper body link 112R so that the member is directed toward the right chest side of the person P. This right chest pad 111R is sandwiched between the upper end of the right upper body link 112R and the right chest of the person P when the motion support device 100 is attached to the person P. The right chest pad 111R reduces the pressure when the upper end of the right upper body link 112R presses against the right chest of the person P, and the pain inflicted on the person P can be alleviated.

The right joint portion 113R is connected to the lower end of the right upper body link 112R and the upper end of the right thigh link 114R. Specifically, the right joint portion 113R rotatably connects the right upper body link 112R and the right thigh link 114R. Further, the right joint portion 113R includes a right housing 118R made of, for example, synthetic resin, and a right sensor (not shown) and a right actuator 117R housed within the right housing 118R. The right sensor is an assist sensor that detects the motion of the person P via the right thigh link 114R, and is, for example, an encoder. The right actuator 117R rotates either the right thigh link 114R or the right upper body link 112R relative to the other. Specifically, the right actuator 117R applies power to the right thigh link 114R and the right upper body link 112R to support the forward bending motion or standing motion of the person P, depending on the motion detected by the right sensor. Give.

Note that in this embodiment, the right joint portion 113R is fixed to the right upper body link 112R. That is, the right actuator 117R rotates the right thigh link 114R with respect to the right joint portion 113R and the right upper body link 112R.

As shown in FIGS. 1A and 1B, the right fixing member 116R is a plate-shaped member made of, for example, synthetic resin. Such a right fixing member 116R is arranged on the right side of the person P. Specifically, the right fixing member 116R is fixed to the right end of a fastening member 140 worn around the waist of the person P.

Further, the right fixing member 116R is connected to the right joint portion 113R via the shaft member J, as shown in FIG. 1A. The shaft member J is a cylindrical member whose central axis is arranged along the X-axis direction. That is, the right joint portion 113R rotates with respect to the right fixed member 116R so as to rotate around the shaft member J as the rotation axis, specifically, to rotate around the central axis of the shaft member J as the rotation axis. It is attached so that it can move freely.

The right thigh harness 115R is a band-shaped member made of a flexible material such as synthetic fiber or leather, and is wrapped around the right thigh of the person P.

[Upper body harness]
The upper body harness 130 is a thin strip-shaped member made of a flexible material such as synthetic fiber or leather, and fixes the positions of the upper left body link 112L and the upper right body link 112R with respect to the person P. As shown in FIGS. 1A and 2B, such an upper body harness 130 is connected to each of the left chest pad 111L and the right chest pad 111R, and the control unit 120, and is placed over the left and right shoulders of the person P.

Specifically, the upper body harness 130 includes a left shoulder harness 133L, a right shoulder harness 133R, and a center harness 132.

The central harness 132 is placed on the back of the person P along the spine. The lower end of the central harness 132 is connected to a fastening member 140 via the control unit 120.

The left shoulder harness 133L is placed over the left shoulder of the person P. Further, one end of the left shoulder harness 133L is connected to the left chest pad 111L. Thereby, one end of the left shoulder harness 133L is connected to the upper end of the left upper body link 112L via the left chest pad 111L. The other end of the left shoulder harness 133L is connected to the upper end of the center harness 132.

The right shoulder harness 133R is placed over the right shoulder of the person P. Further, one end of the right shoulder harness 133R is connected to the right chest pad 111R. Thereby, one end of the right shoulder harness 133R is connected to the upper end of the right upper body link 112R via the right chest pad 111R. The other end of the right shoulder harness 133R is connected to the upper end of the center harness 132.

[Controller unit]
The control unit 120 is arranged on the back side of the person P, and controls the movements of the left link mechanism 110L and the right link mechanism 110R. Specifically, the control unit 120 is attached to the rear side of the fastening member 140. The control unit 120 includes a casing made of, for example, synthetic resin, and a control circuit, a battery, and the like housed within the casing. The control circuit performs control to drive the left actuator 117L and the right actuator 117R. That is, the control circuit controls the left actuator 117L and the right actuator 117R according to the output signals from the above-mentioned left sensor and right sensor. The battery supplies driving power to the left actuator 117L and the right actuator 117R.

[Example of operation]
FIG. 3 is a diagram showing an example of the movement of the person P supported by the movement support device 100.

For example, the person P wearing the movement support device 100 assumes a forward bending posture as shown in FIG. 3(a). Then, the person P tries to stand up while holding, for example, luggage in both hands. At this time, the above-mentioned left sensor and right sensor detect the standing up motion of the person P.

When the left sensor and the right sensor detect the standing motion, the control unit 120 controls the left actuator 117L of the left joint part 113L and the right actuator 117R of the right joint part 113R. As a result, the left actuator 117L and the right actuator 117R, under the control of the control unit 120, transmit the power for supporting the standing operation to the left upper body link 112L, the right upper body link 112R, the left thigh link 114L, and the right thigh link 114R. Granted to.

That is, the left actuator 117L drives the left joint portion 113L so that the angle between the left upper body link 112L and the left thigh link 114L increases. As a result, the left upper body link 112L pushes the upper body of the person P upward or backward, and the left thigh link 114L pushes the left thigh of the person P downward or backward. Similarly, the right actuator 117R drives the right joint portion 113R so that the angle between the right upper body link 112R and the right thigh link 114R increases. As a result, the right upper body link 112R pushes the upper body of the person P upward or backward, and the right thigh link 114R pushes the right thigh of the person P downward or backward.

As a result, the person P wearing the motion support device 100 can easily stand up due to the power provided by the left actuator 117L and the right actuator 117R, as shown in FIGS. 3(b) and 3(c). The motion support device 100 supports such motions of the person P.

Hereinafter, in the motion support device 100 according to the present embodiment, the left link mechanism 110L and the right link mechanism 110R are configured symmetrically and have substantially the same configuration, so the configuration of the left link mechanism 110L will mainly be explained below. will be explained in detail.

[Rotation of left fixed member]
FIG. 4 is a diagram schematically showing the movements of the left upper body link 112L, the left thigh link 114L, and the left fixing member 116L with respect to the left joint portion 113L. That is, in FIG. 4, the shapes of the left upper body link 112L, left joint portion 113L, left thigh link 114L, and left fixing member 116L are shown in a simplified manner in order to make their movements easier to understand.

As described above, the left joint portion 113L is rotatably attached to the left fixed member 116L using the central axis of the shaft member J as the rotation axis. In other words, the left fixing member 116L is rotatably attached to the left joint portion 113L.

Further, the left thigh link 114L is rotatably attached to the left joint portion 113L and the left upper body link 112L. For example, the rotational axis of the left upper body link 112L coincides with the central axis of the shaft member J described above.

Therefore, the left fixed member 116L, the left upper body link 112L, and the left thigh link 114L can each rotate about the central axis of the shaft member J as a rotation axis, as shown in FIG.

Thereby, the movement support device 100 according to the present embodiment can support the person P's more free movement.

FIG. 5 is a diagram showing an example of a state in which the left joint portion 113L is rotating.

For example, as shown in FIG. 5, when the person P changes from a standing posture to a forward bending posture, the person P may bend the back muscles without stretching the back muscles from the waist to the shoulders in a straight line. In such a case, in the motion support device 100 according to the present embodiment, even if the waist of the person P does not fall forward, if the upper body above the waist falls forward, the upper part of the left joint portion 113L , rotates forward with respect to the left fixed member 116L.

That is, in this embodiment, the left thigh link 114L and the left upper body link 112L are rotatably connected to each other via the left joint portion 113L, and the left joint portion 113L is connected to the left thigh link 114L, which is fixed to the fastening member 140. It is rotatably attached to the fixed member 116L.

Therefore, the degree of freedom in tilting the left thigh link 114L and the left upper body link 112L with respect to the fastening member 140 can be increased compared to the case where the left joint portion 113L is fixed to the fastening member 140 in a non-rotatable manner.

If the left joint portion 113L is unrotatably fixed to the fastening member 140, either the left thigh link 114L or the left upper body link 112L is fixed to the fastening member 140. Therefore, for example, if the waist of the person P wearing the fastening member 140 falls forward, the left upper body link 112L also tends to fall forward. However, as shown in FIG. 5, when the person P bends his/her back muscles and bends forward without leaning forward at the waist, the left upper body link 112L follows the movement of the person's P's back muscles and bends forward. things become difficult.

However, in the motion support device 100 according to the present embodiment, since the left joint portion 113L is rotatably attached to the fastening member 140, both the left thigh link 114L and the left upper body link 112L are fixed to the fastening member 140. You can prevent this from happening. Therefore, as shown in FIG. 5, even when a person P bends his or her back muscles and bends forward without leaning his or her hips forward, the left upper body link 112L can easily follow the movement of the person P's back muscles and move forward. can be defeated.

In this embodiment, similarly to the left link mechanism 110L, in the right link mechanism 110R, the right thigh link 114R and the right upper body link 112R are rotatably connected to each other via the right joint portion 113R, and the right joint The portion 113R is rotatably attached to the right fixing member 116R fixed to the fastening member 140. Therefore, the degree of freedom of inclination of the right thigh link 114R and the right upper body link 112R with respect to the fastening member 140 can be increased compared to the case where the right joint portion 113R is unrotatably fixed to the fastening member 140.

Therefore, the motion support device 100 according to the present embodiment can support more free movement of the person P.

[Ball joint]
FIG. 6 is a diagram showing the configuration of the left chest pad 111L, the right chest pad 111R, and the left upper body link 112L and right upper body link 112R. Specifically, (a) of FIG. 6 shows the front side of the left chest pad 111L and the right chest pad 111R that are connected to the left upper body link 112L and the right upper body link 112R. FIG. 6(b) shows a cross section of the left chest pad 111L shown in FIG. 6(a) along line AA.

The left chest pad 111L and the right chest pad 111R are configured as buckles. That is, the left chest pad 111L and the right chest pad 111R are configured to be detachable from each other in the X-axis direction, as shown in FIG. 6(a). Further, the upper end 12aL of the left upper body link 112L is connected to the front side of the left chest pad 111L, and the upper end 12aR of the right upper body link 112R is connected to the front side of the right chest pad 111R. Furthermore, one end of the left shoulder harness 133L is connected to the upper part of the left chest pad 111L, and one end of the right shoulder harness 133R is connected to the upper part of the right chest pad 111R.

When wearing the motion support device 100, the person P first wears the motion support device 100 with the left chest pad 111L and right chest pad 111R separated. Then, the person P joins the left chest pad 111L and the right chest pad 111R. Thereby, the upper end portion 12aL of the left upper body link 112L is arranged so as to press against the left chest of the person P via the left chest pad 111L. Similarly, the upper end 12aR of the right upper body link 112R is arranged so as to press against the right chest of the person P via the right chest pad 111R.

Further, in this embodiment, the left chest pad 111L is connected to the upper end portion 12aL of the left upper body link 112L by a ball joint, as shown in FIG. 6(b).

Specifically, the sphere 12b is fixed to the upper end 12aL of the upper left body link 112L via a rod-shaped fixing part 12c. Further, the left chest pad 111L includes a flexible member 11b that is pressed against the chest of the person P, and a plate 11a that is arranged to cover the front surface of the flexible member 11b. Furthermore, a holding part 11c is formed on the front surface of the plate 11a to hold the above-mentioned sphere 12b so as to wrap around it. That is, a hollow portion having an opening on the front side (ie, the positive side in the Y-axis direction) is formed inside the holding portion 11c. The above-mentioned fixing part 12c is arranged in the opening on the front side of the holding part 11c. The holding portion 11c, the sphere 12b, and the fixing portion 12c constitute a ball joint. Note that the ball joint is also called a universal joint, free joint, or spherical joint.

Therefore, the upper end portion 12aL of the left upper body link 112L is rotatably held by the holding portion 11c around the sphere 12b. Further, the right chest pad 111R is also connected to the upper end portion 12aR of the right upper body link 112R by a ball joint, similarly to the left chest pad 111L. Therefore, the upper end portion 12aR of the right upper body link 112R is also held by the right chest pad 111R so as to be rotatable about the ball of the ball joint.

Thus, in this embodiment, the upper end of the left upper body link 112L and the upper end of the right upper body link 112R are connected to the left chest pad 111L and the right chest pad 111R, respectively, by ball joints. Therefore, the motion support device 100 can be easily adapted to any body type. For example, as shown in FIG. 3, the motion support device 100 presses the chest of the wearer of the motion support device 100 with the upper end of the left upper body link 112L and the upper end of the right upper body link 112R. Support movement. At this time, the upper end of the left upper body link 112L and the upper end of the right upper body link 112R press against the chest of the wearer via the left chest pad 111L and the right chest pad 111R. Here, as described above, the upper end of the left upper body link 112L and the upper end of the right upper body link 112R are connected to the left chest pad 111L and the right chest pad 111R, respectively, by ball joints. Therefore, regardless of the wearer's body type, the left chest pad 111L and right chest pad 111R can be pressed against the chest with the left chest pad 111L and right chest pad 111R while fitting the wearer's chest. be able to. Therefore, the fit for the wearer can be improved.

[Joint slide]
FIG. 7 is a diagram showing the sliding of the left joint portion 113L and the right joint portion 113R. Specifically, (a) of FIG. 7 shows a state in which the left joint portion 113L, the right joint portion 113R, the fastening member 140, and the control unit 120 are viewed from above. FIG. 7B shows the left joint portion 113L, the fastening member 140, and the control unit 120 viewed from the left side.

The left joint part 113L and the right joint part 113R in this embodiment are fastened to the fastening member 140 so as to be slidable along the waist direction of the person P, as shown in FIGS. 7(a) and 7(b). There is.

Specifically, as shown in FIG. 7A, the fastening member 140 includes a left fastening member 140L fastened to the left joint portion 113L and a right fastening member 140R fastened to the right joint portion 113R. . That is, the fastening member 140 is separated into a left fastening member 140L arranged on the left side of the person P and a right fastening member 140R arranged on the right side of the person P. The left fastening member 140L and the right fastening member 140R are attached to the control unit 120 so that they can be pulled out from the control unit 120 and pushed into the control unit 120.

Therefore, as shown in FIGS. 7A and 7B, the left joint part 113L and the right joint part 113R are connected in the direction around the waist of the person P by pulling out and pushing in the left fastening member 140L and the right fastening member 140R. Slide to .

FIG. 8 is a diagram showing the left fastening member 140L being pulled out from the control unit 120 and pushed into the control unit 120. Specifically, (a) of FIG. 8 shows a state in which the left fastening member 140L is fixed to the control unit 120. FIG. 8B shows a state in which the left fastening member 140L is pulled out from the control unit 120, or a state in which the left fastening member 140L is pushed into the control unit 120.

For example, a plurality of convex portions 14 are formed on one surface of the left fastening member 140L, that is, the surface opposite to the person P. The plurality of convex portions 14 are arranged along the longitudinal direction of the left fastening member 140L, that is, along the waist direction of the person P, and each of the plurality of convex portions 14 is spaced apart from the adjacent convex portion 14 by a certain distance. ing.

Furthermore, a rod 16 and a pair of support parts 15 that support the rod 16 are attached to both ends of the control unit 120 in the X-axis direction. Each of the pair of support parts 15 is, for example, a rectangular plate having a hole, and supports the rod 16 when the rod 16 is inserted into the hole. Such a rod 16 is supported by a pair of support parts 15 in a direction perpendicular to the direction around the waist of the person P, that is, along the Z-axis direction. Further, the rod 16 is formed with a through hole 16a extending in the direction around the waist of the person P, that is, in the X-axis direction.

For example, as shown in FIG. 8A, the rod 16 is arranged such that the through hole 16a of the rod 16 is disposed at a position offset from the convex portion 14 of the left fastening member 140L in the Z-axis direction. It is biased toward the negative side (ie, downward) in the Z-axis direction by an elastic body such as a spring. At this time, the rod 16 is sandwiched between the two protrusions 14 of the left fastening member 140L. That is, the two convex portions 14 come into contact with the rod 16, thereby suppressing the pulling out of the left fastening member 140L from the control unit 120 and the pushing of the left fastening member 140L into the control unit 120.

On the other hand, as shown in FIG. 8B, for example, the person P moves the rod 16 to the positive side (that is, upward) in the Z-axis direction, against the bias of the elastic body described above. As a result, the through hole 16a of the rod 16 is arranged at substantially the same position in the Z-axis direction as the convex portion 14 of the left fastening member 140L. That is, the plurality of convex portions 14 of the left fastening member 140L are in a state where they can be inserted into the through hole 16a. Therefore, the person P can pull out the left fastening member 140L from the control unit 120 or push the left fastening member 140L into the control unit 120. As a result, the left joint portion 113L slides as shown in FIG. 7 by pulling out and pushing in the left fastening member 140L.

Note that the right fastening member 140R is also attached to the control unit 120 similarly to the example shown in FIG.

In this manner, in this embodiment, the left joint portion 113L and the right joint portion 113R are slidably fastened to the fastening member 140. Therefore, regardless of the waist width of the wearer, the left joint portion 113L can be appropriately placed on the wearer's left hip, and the right joint portion 113R can be appropriately placed on the wearer's right hip. . Further, in this embodiment, by pulling out and pushing in the left fastening member 140L and the right fastening member 140R, the left joint portion 113L and the right joint portion 113R can be easily slid. As a result, the fit can be further improved and the fit can be easily obtained. Therefore, the movement support device 100 can be made more adaptable to any person's body type.

[Slide of upper body link]
FIG. 9 is a diagram showing expansion and contraction of the left upper body link 112L. Specifically, (a) of FIG. 9 shows the left upper body link 112L and the left joint portion 113L viewed from the left side. FIG. 9(b) shows a cross section of the left upper body link 112L and the left joint portion 113L in the YZ plane.

The left joint portion 113L of the left link mechanism 110L has a left housing 118L. As shown in FIGS. 9(a) and 9(b), this left housing 118L accommodates and holds the lower end side of the left upper body link 112L, and the fastening member 140 is arranged to be placed on the left waist of the person P. It has been concluded.

Here, in this embodiment, as shown in FIG. 9(a), the portion of the left upper body link 112L protruding from the left housing 118L is expandable and contractible along the longitudinal direction of the left upper body link 112L. . Specifically, the left joint portion 113L includes a switch 13 and a guide 17, as shown in FIG. 9(b).

The switch 13 includes an operating portion 13b exposed from the left housing 118L and an insertion portion 13a housed in the left housing 118L. Such a switch 13 switches the state of the upper left body link 112L between a movable state and a non-movable state with respect to the left housing 118L in response to an operation by the person P. The guide 17 is housed in the left housing 118L and guides the movement of the left upper body link 112L.

Further, a plurality of insertion holes 12d are formed in the left upper body link 112L. The plurality of insertion holes 12d are arranged along the longitudinal direction of the left upper body link 112L, and each of the plurality of insertion holes 12d is spaced apart from the adjacent insertion hole 12d by a certain distance.

For example, as shown in FIG. 9B, the insertion portion 13a of the switch 13 is inserted into the insertion hole 12d of the upper left body link 112L along the Y-axis direction. At this time, the peripheral edge of the insertion hole 12d in the upper left body link 112L is locked to the insertion portion 13a of the switch 13. As a result, the left upper body link 112L is fixed to the left housing 118L and the left joint portion 113L, and is in an immovable state.

On the other hand, for example, when the person P touches the operating part 13b of the switch 13 and moves the operating part 13b to the rear side (that is, to the negative side in the Y-axis direction), the insertion part 13a of the switch 13 is inserted into the insertion hole of the left upper body link 112L. It is extracted from 12d. As a result, the left upper body link 112L becomes movable along the guide 17 inside the left housing 118L. Therefore, the person P can pull out the upper left body link 112L from the left housing 118L or push the upper left body link 112L into the left housing 118L.

Note that the right upper body link 112R is also expandable and retractable like the left upper body link 112L. That is, the right joint portion 113R of the right link mechanism 110R has a right housing 118R. This right housing 118R accommodates and holds the lower end side of the right upper body link 112R, and is fastened to the fastening member 140 so as to be placed on the right waist of the person P. The portion of the right upper body link 112R protruding from the right housing 118R is expandable and retractable along the longitudinal direction of the right upper body link 112R.

In this manner, in this embodiment, the left upper body link 112L and the right upper body link 112R are configured to be expandable and contractible. Therefore, the left chest pad 111L and the right chest pad 111R connected to the upper ends of these links can be placed at appropriate positions on the wearer's chest. Therefore, even if a plurality of people of different heights wear the motion support device 100 as wearers, the left chest pad 111L and the right chest pad 111R can be fitted to appropriate positions of the wearers. As a result, the fit can be further improved. Therefore, the movement support device 100 can be made more adaptable to any person's body type.

(Modification 1)
In the embodiment described above, sliding of the left joint portion 113L and the right joint portion 113R is realized by pulling out and pushing in the left fastening member 140L and the right fastening member 140R. However, the sliding of the left joint portion 113L and the right joint portion 113R is not limited to the configuration of the above embodiment, and may be realized by other configurations. In this modification, sliding of the left joint portion 113L and the right joint portion 113R is realized by changing the positions of the left fixing member 116L and the right fixing member 116R with respect to the fastening member 140.

FIG. 10 is a diagram showing the sliding of the left joint portion 113L according to this modification. Specifically, FIG. 10(a) shows the left fastening member 140L and the left fixing member 116L viewed from the left side. FIG. 10(b) shows the left fastening member 140L, left fixing member 116L, and left joint portion 113L viewed from above. Note that FIG. 10(b) shows a cross section of the left fastening member 140L in the XY plane.

A plurality of insertion holes 21 are formed in the left fastening member 140L in this modification, as shown in FIGS. 10(a) and 10(b). The plurality of insertion holes 21 are arranged along the longitudinal direction of the left fastening member 140L, that is, along the waist direction of the person P, and each of the plurality of insertion holes 21 is spaced apart from the adjacent insertion hole 21 by a certain distance. ing. Furthermore, two protrusions 22 are formed on the left fixing member 116L in this modification. The two protrusions 22 of the left fixing member 116L are inserted into the two insertion holes 21 of the left fastening member 140L, respectively. Thereby, each of the two protrusions 22 engages with the peripheral edge of the insertion hole 21 in the left fastening member 140L. As a result, the left fixing member 116L is fixed to the left fastening member 140L. Therefore, the left joint portion 113L, which is connected to the left fixing member 116L via the shaft member J, is also fixed to the left fastening member 140L.

Further, the two protrusions 22 of the left fixing member 116L can be inserted into any of the plurality of insertion holes 21 formed in the left fastening member 140L. Therefore, the person P removes the left fixing member 116L fixed to the left fastening member 140L and replaces the left fixing member 116L with another part of the left fastening member 140L. The position relative to 140L can be changed. That is, the person P pulls out the two protrusions 22 of the left fixing member 116L inserted into the two insertion holes 21 of the left fastening member 140L from the two insertion holes 21, and inserts them into the other two insertion holes 21. can be inserted. As a result, the left joint portion 113L connected to the left fixing member 116L via the shaft member J can be slid with respect to the left fastening member 140L.

Even in this modification, the left joint portion 113L and the right joint portion 113R are slidably fastened to the fastening member 140. Therefore, regardless of the waist width of the wearer, the left joint portion 113L can be appropriately placed on the wearer's left hip, and the right joint portion 113R can be appropriately placed on the wearer's right hip. . As a result, the fit can be further improved.

(Modification 2)
In this modification, sliding of the left joint portion 113L and the right joint portion 113R is achieved by adjusting the first belt and the second belt.

FIGS. 11A and 11B are external views of the motion support device in this modification. Specifically, FIG. 11A is a front view of the motion support device in this modification, and FIG. 11B is a side perspective view of the motion support device in this modification.

The motion support device 100a in this modification includes each component other than the fastening member 140 and the abdominal belt 150 included in the motion support device 100 in the above embodiment. Note that the control unit 120 in this modification has a substantially rectangular parallelepiped shape.

That is, the movement support device 100a includes a fastening member 160 made of a first belt and a second belt, which will be described later, instead of the fastening member 140 and abdominal belt 150 included in the movement support device 100 in the above embodiment. In this modification, the left joint portion 113L and the right joint portion 113R slide along the direction around the waist of the person P by adjusting the first belt and the second belt.

Further, the motion support device 100a in this modification may include a left leg pad 119L and a right leg pad 119R.

The left leg pad 119L is attached to the front side of the left thigh of the person P. As shown in FIGS. 11A and 11B, the left thigh link 114L in this modification includes a long portion extending in the longitudinal direction of the left thigh, and a portion extending from the lower end of the long portion to the front side of the left thigh. It consists of parts. A portion of the left thigh link 114L that wraps around the front side is embedded and fixed in the left leg pad 119L. The left thigh harness 115L in this modification is a band-shaped member made of a flexible material such as synthetic fiber or leather, and is fixed to the left leg pad 119L. This left thigh harness 115L is wrapped around the left thigh so that the left leg pad 119L is positioned on the front side of the left thigh.

The right leg pad 119R is attached to the front side of the right thigh of the person P. As shown in FIGS. 11A and 11B, the right thigh link 114R in this modification includes a long portion extending in the longitudinal direction of the right thigh, and a portion extending from the lower end of the portion to the front side of the right thigh. It consists of parts. A portion of the right thigh link 114R that wraps around to the front side is embedded and fixed in the right leg pad 119R. The right thigh harness 115R in this modification is a band-shaped member made of a flexible material such as synthetic fiber or leather, and is fixed to the right leg pad 119R. This right thigh harness 115R is wrapped around the right thigh so that the right leg pad 119R is positioned on the front side of the right thigh.

FIG. 12 is a top view of the right leg pad 119R and the right thigh harness 115R.

As shown in FIG. 12, the right leg pad 119R is attached to the front side of the right thigh Pr of the person P. One end of the right thigh harness 115R is fixed to the right side of the right leg pad 119R (i.e., the negative side in the X-axis direction), and the other end side is fixed to the left side of the right leg pad 119R (i.e., the positive side in the X-axis direction). Fixed. Then, by adjusting the length of the right thigh harness 115R, the right thigh harness 115R is tightened.

Specifically, the right thigh harness 115R is composed of two harnesses R1 and R2. That is, one end of the harness R1 is fixed to the right side of the right leg pad 119R, and one end of the harness R2 is fixed to the left side of the right leg pad 119R. The other end sides of each of the harness R1 and the harness R2 have a hook-and-loop fastener, and are removably joined to each other at an arbitrary location. Therefore, the right thigh harness 115R is tightened by sandwiching the right thigh Pr between the right leg pad 119R and the right leg pad 119R. As a result, the right leg pad 119R is positioned in front of the right thigh Pr.

A portion 114a of the right thigh link 114R that wraps around to the front side (that is, the positive side in the Y-axis direction) is fixed so as to be embedded in the right leg pad 119R.

Note that the left leg pad 119L and left thigh harness 115L also have the same configuration as the above-described right leg pad 119R and right thigh harness 115R, specifically, a configuration that is bilaterally symmetrical with respect to the right leg pad 119R and right thigh harness 115R. has.

FIG. 13 is a diagram showing an example of a fastening member 160 in this modification.

The fastening member 160 includes a left fixing member 116L, a right fixing member 116R, a first belt 161, and a second belt 162.

The left fixing member 116L is connected to the left joint portion 113L via the shaft member J. Further, the right fixing member 116R is also connected to the right joint portion 113R via the shaft member J, similarly to the left fixing member 116L.

The first belt 161 is a belt that is fixed to the left fixing member 116L and the right fixing member 116R, and is arranged in front of the person P, and includes a left front belt 161L and a right front belt 161R.

The left front belt 161L is fixed to the front end side of the left fixing member 116L, and is arranged on the left front of the person P. The right front belt 161R is fixed to the front end side of the right fixing member 116R, and is arranged on the right front of the person P. The left front belt 161L and the right front belt 161R are detachably joined to each other. Specifically, the left front belt 161L and the right front belt 161R have hook-and-loop fasteners, and are removably joined to each other at arbitrary locations. Therefore, the first belt 161 is configured to have a variable first length from the portion of the first belt 161 that is fixed to the left fixing member 116L to the portion of the first belt 161 that is fixed to the right fixing member 116R. There is. That is, the first length is adjusted by changing the joining portions of the left front belt 161L and the right front belt 161R.

Here, the control unit 120 has a left locking portion 121L and a right locking portion 121R attached to its casing. The left locking portion 121L is formed in an annular shape and is attached to the left side of the casing of the control unit 120. Specifically, the left locking portion 121L is attached to the left side of the housing of the control unit 120 so as to be rotatable about an axis along the Z-axis direction. The right locking portion 121R is formed in an annular shape and is attached to the right side of the casing of the control unit 120. Specifically, the right locking portion 121R is attached to the right side of the housing of the control unit 120 so as to be rotatable about an axis along the Z-axis direction.

The second belt 162 is fixed to the left fixing member 116L and the right fixing member 116R, and is further locked to the left locking portion 121L and right locking portion 121R of the control unit 120, respectively.

Specifically, the second belt 162 includes a left belt 162L and a right belt 162R. The left belt 162L is slidably locked to the left locking portion 121L of the control unit 120 by being inserted through the hole H1 in the left locking portion 121L. That is, one longitudinal end of the left belt 162L is fixed to the rear end of the left fixing member 116L, and the other end is arranged in front of the person P via the left locking part 121L of the control unit 120. . In addition, in this embodiment, the other end side of the left belt 162L is inserted into the hole H1 of the left locking part 121L and the holes H2 and H3 formed in the left fixing member 116L, so that the other end side of the left belt 162L is inserted into the front side of the person P. It is located in

The right belt 162R is inserted into the hole H1 in the right locking portion 121R of the control unit 120, and thereby is slidably locked in the right locking portion 121R. That is, one longitudinal end of the right belt 162R is fixed to the rear end of the right fixing member 116R, and the other end is arranged in front of the person P via the right locking part 121R of the control unit 120. . In this embodiment, the other end of the right belt 162R is inserted into the hole H1 of the right locking part 121R and the holes H2 and H3 formed in the right fixing member 116R, so that the other end side of the right belt 162R is inserted into the front side of the person P. It is located in

The other ends of the left belt 162L and right belt 162R are removably joined to each other. Specifically, the other end side of the left belt 162L and the other end side of the right belt 162R have hook-and-loop fasteners, and are removably joined to each other at arbitrary locations. Thereby, the second belt 162 is configured such that the second length and the third length of the second belt 162 are respectively variable. Here, the second length is the length from the portion of the left belt 162L that is fixed to the left fixing member 116L to the portion that is locked to the left locking portion 121L of the control unit 120. Further, the third length is the length from the portion of the right belt 162R that is fixed to the right fixing member 116R to the portion that is locked to the right locking portion 121R of the control unit 120. That is, the second length and the third length are adjusted by changing the joining portions of the left belt 162L and the right belt 162R.

FIG. 14 is a diagram showing a procedure for attaching the motion support device 100a to the person P using the fastening member 160 in this modification.

When the motion support device 100a is attached to the person P, the fastening member 160 is first removed, as shown in FIG. 14(a). That is, the left front belt 161L and right front belt 161R of the first belt 161 are separated from each other, and the left belt 162L and right belt 162R of the second belt 162 are separated from each other. Then, the person P enters the space surrounded by the left fixing member 116L, the right fixing member 116R, and the control unit 120.

Next, as shown in FIG. 14B, the person P joins the front end sides of the left front belt 161L and the right front belt 161R of the first belt 161. At this time, the person P pulls the front end side of the left front belt 161L toward the right side, and the front end side of the right front belt 161R toward the left side. As a result, the first belt 161 is tightened and the first length described above is adjusted. As a result, the left fixing member 116L is placed on the left hip of the person P, and the right fixing member 116R is placed on the right hip of the person P.

Next, as shown in FIG. 14C, the person P joins the front end sides of the left belt 162L and right belt 162R of the second belt 162. At this time as well, the person P pulls the front end of the left belt 162L toward the right and the front end of the right belt 162R toward the left. Thereby, the second belt 162 is tightened, and the above-mentioned second length and third length are adjusted. For example, the control unit 120 is drawn toward the back of the person P by shortening the second length and the third length. Further, at this time, the left fixing member 116L and the right fixing member 116R are pulled toward the rear side of the person P due to the tightening of the second belt 162. However, the left fixing member 116L and the right fixing member 116R are connected via the first belt 161 at the time shown in FIG. 14(c). Therefore, the first belt 161 can prevent the left fixing member 116L and the right fixing member 116R from being pulled and displaced rearward.

Here, the left locking portion 121L is hooked on the left belt 162L like a pulley. Therefore, when the person P pulls the front end side of the left belt 162L to the right side with a force F, the left locking portion 121L of the control unit 120 is drawn to the left fixing member 116L with twice the force F. Similarly, when the person P pulls the front end side of the right belt 162R to the right side with force F, the right locking portion 121R of the control unit 120 is drawn to the right fixing member 116R with twice the force F. Therefore, the person P can easily tighten the second belt 162, and as a result, can easily wear the motion support device 100a.

FIG. 15 is a diagram showing an example of joining of the left front belt 161L and the right front belt 161R in the first belt 161.

As shown in FIG. 15, indicators such as S, M, and L are attached to the right front belt 161R of the first belt 161. As shown in FIG. These indicators indicate the size of the person wearing the motion support device 100a. For example, the person P refers to these indicators when joining the left front belt 161L and the right front belt 161R in order to wear the movement support device 100a. Specifically, when the person P is size M, the person P aligns the tip of the left front belt 161L with the part of the right front belt 161R marked with the indicator "M", and then connects the left front belt 161L and the right front belt 161R. to join. Thereby, the first length of the first belt 161 is appropriately adjusted according to the size of the person P. That is, the left fixing member 116L and the right fixing member 116R are placed on the left waist and right waist of the person P, respectively, with the first belt 161 having no slack.

FIG. 16 is a diagram showing another example of the fastening member 160 in this modification.

As shown in FIG. 16, the fastening member 160 may further include a left waist plate 163L and a right waist plate 163R.

Each of the left waist plate 163L and the right waist plate 163R is an elongated plate, and is made of a material that is more rigid than the first belt 161 and the second belt 162.

One longitudinal end of the left waist plate 163L is fixed to the left fixing member 116L, and the other end is inserted into the control unit 120. That is, the other end side of the left waist plate 163L is attached to the control unit 120 so that it can be pulled out from the control unit 120 and pushed into the control unit 120. Similarly, one longitudinal end of the right waist plate 163R is fixed to the right fixing member 116R, and the other end is inserted into the control unit 120. That is, the other end side of the right waist plate 163R is attached to the control unit 120 so that it can be pulled out from the control unit 120 and pushed into the control unit 120.

As described above, in the example shown in FIG. 16, the fastening member 160 has a left waist plate 163L and a right waist plate 163R that are more rigid than the second belt 162. Therefore, it is possible to prevent the control unit 120 from sagging due to its own weight before the person P tightens the second belt 162. Furthermore, when the second belt 162 is tightened, its left waist plate 163L and right waist plate 163R are pushed into the control unit 120. Therefore, interference with the tightening of the second belt 162 by the left waist plate 163L and the right waist plate 163R can be suppressed.

As described above, in this modification, by adjusting the first length of the first belt 161 and the second and third lengths of the second belt 162, the left joint portion 113L and the right joint Slide with the portion 113R is realized. Therefore, the complexity of the mechanical structure can be suppressed.

Further, in this modification, the left front belt 161L is fixed to the left fixing member 116L, the right front belt 161R is fixed to the right fixing member 116R, and the left front belt 161L and right front belt 161R are joined on the front side of the person P. Ru. Therefore, even if the left joint 113L connected to the left fixing member 116L and the right joint 113R connected to the right fixing member 116R are pulled toward the rear side of the person P by the second belt 162, It is possible to prevent it from shifting to the rear side. That is, the first length of the first belt 161 is adjusted with the left joint portion 113L placed on the left hip of the person P and the right joint portion 113R placed on the right hip of the person P. By tightening the first belt 161, it is possible to prevent the left joint portion 113L and the right joint portion 113R from shifting rearward from their positions.

Further, in this modification, the second length and the third length can be shortened by pulling the front end sides of each of the left belt 162L and the right belt 162R toward the front. As a result, the control unit 120, which is locked to these belts via the left locking part 121L and the right locking part 121R, can be drawn to the left fixing member 116L and the right fixing member 116R. When viewed from the control unit 120 side, the left joint portion 113L connected to the left fixing member 116L and the right joint portion 113R connected to the right fixing member 116R can be easily connected to the control unit 120 side. It can be slid.

Further, one longitudinal end of the left belt 162L is fixed to the left fixing member 116L, and the other end is disposed in front of the person P via the left locking portion 121L of the control unit 120. Further, the left belt 162L is slidably locked to the left locking portion 121L. Therefore, if the other end of the left belt 162L is pulled forward with a force F, the control unit 120 can be drawn toward the left fixing member 116L with twice the force F. Similarly, one longitudinal end of the right belt 162R is fixed to the right fixing member 116R, and the other end is disposed in front of the person P via the right locking portion 121R of the control unit 120. Further, the right belt 162R is slidably locked to the right locking portion 121R. Therefore, if the other end of the right belt 162R is pulled forward with a force F, the control unit 120 can be drawn toward the right fixing member 116R with twice the force F. Thereby, the second belt 162 can be easily tightened.

Then, by tightening the second belt 162, that is, by joining the other ends of the left belt 162L and the right belt 162R, the left fixing member 116L, right fixing member 116R, and control unit 120 can be attached to the person P's waist. It can be attracted and fixed.

(Other variations)
Although the motion support device according to one or more aspects has been described above based on the embodiment and each modification thereof, the present disclosure is not limited to this embodiment and each modification. Unless it deviates from the spirit of the present disclosure, the present disclosure also includes various modifications that can be thought of by those skilled in the art to the embodiment and each modification, and a form constructed by combining the components of the embodiment and each modification. may be included within the range.

For example, in the above embodiment and each modification, the upper ends of the upper left body link 112L and the upper right body link 112R are placed on the chest of the person P. It is not limited to the chest, but may also be around the shoulders or around the armpits. Further, the upper ends of the left upper body link 112L and the right upper body link 112R may be placed on the back of the person P. Even in these cases, in the present disclosure, the upper end of the left upper body link 112L and the upper end of the right upper body link 112R are connected to the left chest pad 111L and the right chest pad 111R, respectively, by ball joints. Thereby, no matter where the upper ends of the upper left body link 112L and the upper right body link 112R are located on the person P, a feeling of fit can be improved.

Further, in the above embodiment and each modification, the body harness 130 is connected to the fastening member 140 or 160 via the control unit 120, but it does not need to be connected to the fastening member 140 or 160. In this case, for example, the left shoulder harness 133L is wrapped around the left shoulder of the person P, and both ends of the left shoulder harness 133L are connected to the left chest pad 111L. Similarly, the right shoulder harness 133R is wrapped around the right shoulder of the person P, and both ends of the right shoulder harness 133R are connected to the right chest pad 111R. Alternatively, the left shoulder harness 133L and the right shoulder harness 133R are configured as a single harness and are hung around the person P's neck. In this case, one end of the single harness is connected to the left chest pad 111L, and the other end is connected to the right chest pad 111R.

Further, in the above embodiment and each modification, the left joint portion 113L is rotatably attached to the left fixing member 116L, and the right joint portion 113R is rotatably attached to the right fixing member 116R. There is. However, the left joint part 113L and the right joint part 113R do not have to be rotatably attached.

Further, in the above embodiment and modification 1, the lower end side of the left thigh link 114L is arranged behind the left thigh of the person P, and the lower end side of the right thigh link 114R is arranged behind the right thigh of the person P. placed behind. However, the lower end side of the left thigh link 114L is arranged in front of the left thigh of the person P as in the second modification, and the lower end side of the right thigh link 114R is also arranged in front of the left thigh of the person P as in the second modification. It may be placed in front of the right thigh. In such a case, since no links are placed behind the left thigh and right thigh, the person P can easily squat down.

Further, in the above embodiment and each modification, the left link mechanism 110L and the right link mechanism 110R are configured symmetrically, but may be configured asymmetrically, and have different configurations from each other. It's okay.

The motion support device according to the present disclosure has the effect of being able to easily adapt to any human body shape, and can be applied to, for example, a power assist suit that supports human motion.

11a Plate 11b Flexible member 11c Holding part 12aL Upper end part 12aR Upper end part 12b Sphere 12c Fixed part 12d Insertion hole 13 Switch 13a Insertion part 13b Operation part 14 Convex part 15 Support part 16 Rod body 16a Through hole 21 Insertion hole 22 Projection part 100 Operation Support device 110L Left link mechanism 110R Right link mechanism 111L Left chest pad 111R Right chest pad 112L Left upper body link 112R Right upper body link 113L Left joint 113R Right joint 114L Left thigh link 114R Right thigh link 115L Left thigh harness 115R Right thigh harness １１６Ｌ 左固定部材 １１６Ｒ 右固定部材 １１７Ｌ 左アクチュエータ １１７Ｒ 右アクチュエータ １１８Ｌ 左筐体 １１８Ｒ 右筐体 １１９Ｌ 左脚パッド １１９Ｒ 右脚パッド １２０ 制御ユニット １２１Ｌ 左係止部 １２１Ｒ 右係止部 １３０ 上体ハーネス １３２ 中央ハーネス133R Left shoulder harness 133L Right shoulder harness 140, 160 Fastening member 140L Left fastening member 140R Right fastening member 161 First belt 161L Left front belt 161R Right front belt 162 Second belt 162L Left belt 162R Right belt J Shaft member

Claims (4)

A motion support device that supports the motion of a person's lower back,
a left link mechanism attached to the left side of the person;
a right link mechanism attached to the right side of the person;
a fastening member attached to the waist of the person and fastened to the left link mechanism and the right link mechanism;
a control unit that is disposed on the back side of the person and controls movements of each of the left link mechanism and the right link mechanism ,
The left link mechanism is
a left thigh link that is attached to the left thigh of the person, the lower end of the link being placed in front of or behind the left thigh;
a left upper body link that is attached to the left side of the person's upper body, the lower end of which is rotatably attached to the upper end of the left thigh link;
a left actuator that rotates either the left thigh link or the left upper body link relative to the other;
a left chest pad placed on the left chest of the person and connected to the upper end of the left upper body link by a ball joint;
a left joint portion rotatably connecting the left upper body link and the left thigh link ;
The right link mechanism is
a right thigh link that is attached to the right thigh of the person, the lower end of the link being placed in front or behind the right thigh;
a right upper body link that is attached to the right side of the person's upper body, the lower end of which is rotatably attached to the upper end of the right thigh link;
a right actuator that rotates either the right thigh link or the right upper body link relative to the other;
a right chest pad placed on the right chest of the person and connected to the upper end of the right upper body link by a ball joint;
a right joint portion rotatably connecting the right upper body link and the right thigh link ;
The left joint part and the right joint part are slidably fastened to the fastening member along the waist direction of the person,
The fastening member is
a left fixing member connected to the left joint;
a right fixing member connected to the right joint;
comprising a first belt and a second belt fixed to the left fixing member and the right fixing member, respectively;
The first belt is
The first belt is arranged in front of the person, and a first length of the first belt from a portion fixed to the left fixing member to a portion fixed to the right fixing member is configured to be variable;
The second belt is
latched to each of a left latching portion and a right latching portion of the control unit;
A second length of the second belt from a portion of the second belt that is fixed to the left fixing member to a portion of the second belt that is locked to the left locking portion of the control unit is configured to be variable; A third length of the belt of No. 2 from a portion fixed to the right fixing member to a portion locked to the right locking portion of the control unit is configured to be variable;
The left joint portion and the right joint portion are
By adjusting the first length, the second length, and the third length, the fastening member is slidably fastened to the fastening member along the waist direction of the person.
Movement support equipment. The left link mechanism further includes:
a left housing that stores and holds the lower end side of the left upper body link and is fastened to the fastening member so as to be placed on the left waist of the person;
The right link mechanism further includes:
a right casing that stores and holds the lower end side of the right upper body link and is fastened to the fastening member so as to be placed on the right waist of the person;
A portion of the upper left body link protruding from the left housing is expandable and contractable along the longitudinal direction of the upper left body link,
A portion of the right upper body link protruding from the right casing is freely expandable and contractable along the longitudinal direction of the right upper body link .
The motion support device according to claim 1. The first belt is
a left front belt fixed to the left fixing member and placed in the left front of the person;
a right front belt fixed to the right fixing member and arranged on the right front of the person;
The left front belt and the right front belt are removably joined to each other,
The first length is adjusted by changing the joined parts of the left front belt and the right front belt,
The motion support device according to claim 1 or 2 . The second belt is
a left belt slidably locked to the left locking portion of the control unit;
a right belt slidably locked to the right locking portion of the control unit;
One longitudinal end of the left belt is fixed to the left fixing member, and the other end is disposed in front of the person via the left locking part of the control unit,
One longitudinal end of the right belt is fixed to the right fixing member, and the other end is disposed in front of the person via the right locking part of the control unit,
The other end sides of the left belt and the right belt are removably joined to each other,
The second length and the third length are adjusted by changing the joined parts of the left belt and the right belt,
The motion support device according to any one of claims 1 to 3 .

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