JP7487544B2 - Assist Device - Google Patents

Description

The presently disclosed invention relates to an assist device.

Various assist devices have been proposed that are worn on the body of a user (person) and assist the user in performing tasks. With an assist device, the user can perform tasks with little force (little burden), even when lifting a heavy object, for example. Such an assist device is disclosed, for example, in Patent Document 1.

JP 2018-199205 A

The assist device disclosed in Patent Document 1 has a frame made of metal or the like that is worn by the user. The output of an actuator mounted on the frame is transmitted to the upper and lower body of the user through a link mechanism. This assists with actions such as lifting a heavy object.

Movements that require assistance include, for example, assisting sick or elderly people in their daily activities, in addition to movements that place a heavy burden on the user, such as lifting heavy objects. When a user is performing a task that places a heavy burden on the user, a high-output assist device such as that disclosed in Patent Document 1 is effective.

However, when a user is providing assistance to a sick or elderly person, a high-power assist device may be overkill. In addition, high-power assist devices often use rigid components such as link mechanisms and metal frames, making them heavy in order to achieve high power output. This makes the assist device heavy, and the rigid components restrict the user's movement.

Therefore, the objective of this disclosure is to provide an assist device that is lightweight and comfortable to wear.

The assist device disclosed herein comprises a first attachment that is attached to at least one of the shoulders and chest of a user, a second attachment that is attached to each of the left and right legs or the waist of the user, a belt body that is provided along the back side of the user across the first attachment and the second attachment, and an actuator that is provided on the first attachment or the second attachment and that enables a portion of the belt body to be wound up and unwound.

According to the assist device having the above configuration, the belt body is provided along the back side of the user, spanning the first attachment and the second attachment. The actuator winds up the belt body, and tension acts on the belt body. This tension generates an assist force that assists the user in their work, reducing the burden on the user's body.

For example, when a user (caregiver) changes from a leaning forward position to an upright position while supporting a load (person being assisted) with their hands, the actuator winds up the belt, exerting tension on the belt. This tension makes it easier for the user to change from a leaning forward position to an upright position, reducing the strain on the user's body.

The belt body is lightweight and can conform to the user's body even when the user changes posture, following the user's movements. This provides an assist device that is comfortable to wear.
Preferably, the second wearing tool is worn on the legs of the user, thereby reducing the burden on the lower back.
Furthermore, at least a portion of the belt may be elastic, but preferably the belt is inelastic over its entire length, which clarifies the relationship between the actuator output and the tension acting on the belt, making it easier to control the required assist force.

When the actuator is provided on the first attachment, the assist device is as follows. That is, the actuator is provided on the first attachment, and the belt body has a first belt that is wound and fed by the actuator, a second belt that is attached to the second attachment, and a connecting member that connects the first belt and the second belt.

According to the assist device having the above configuration, tension is applied to the first belt and the second belt as the actuator winds up the first belt. The tension generates an assist force that assists the user in working, thereby reducing the physical burden on the user.
The first belt and the second belt may be wide belts (strip-shaped members) or narrow belts. In other words, the first belt and the second belt may be string-like belts (wire-like members).

When the second wearing device is attached to each of the left and right legs of the user and the user walks with the belt body stretched, the legs may be pulled by the belt body.
Therefore, preferably, the connecting member has a first attachment portion to which an end of the first belt is attached, and a second attachment portion which supports the second belt in a folded-over state so as to be freely movable in its longitudinal direction, and one end side of the second belt is attached to the second wearing device on the left leg side, and the other end side of the second belt is attached to the second wearing device on the right leg side.

With this configuration, when the user walks, the length of the portion of the second belt from the connecting member to the left second wearing device (left second belt portion) and the length of the portion from the connecting member to the right second wearing device (right second belt portion) are changed. This makes it easier for the user to walk.

In this configuration, further preferably, the second mounting portion has a shaft portion that is integral with the first mounting portion, and a rotating pulley that is supported by the shaft portion and around which the second belt is hung in a state where it is folded back halfway.
When a user walks, the length of the left second belt portion and the length of the right second belt portion can be easily changed by the rotating pulley, making it easier for the user to walk.

In addition, preferably, the second belt has a left second belt portion from the connecting member to the second wearing device on the left leg side, a right second belt portion from the connecting member to the second wearing device on the right leg side, and a connecting member connecting the left second belt portion and the right second belt portion.
According to this configuration, for example, when the user changes his/her posture, it is possible to prevent the left and right second belt parts from widening in the left and right space between the left and right second belt parts. In other words, it is possible to prevent the left and right second belt parts from not fitting along the back side of the user (the back side of the legs).

When a user walks, the length from the connection portion between the connecting member and the left second belt portion to the connecting member and the length from the connection portion between the connecting member and the right second belt portion to the connecting member are changed and become different. Therefore, preferably, the connecting member and the left second belt portion are connected to each other so as to be rotatable relative to each other, and the connecting member and the right second belt portion are connected to each other so as to be rotatable relative to each other.
According to this configuration, the movement of the second belt is less likely to be hindered by the connecting member.

Alternatively, preferably, the connecting member has a left support portion having a passage through which the left second belt portion passes, a right support portion having a passage through which the right second belt portion passes, a central support portion connecting the left support portion and the right support portion, and a hanging portion suspending and holding the central support portion from the connecting member.
When the user walks, the length of each of the left second belt portion and the right second belt portion folded back by the connecting member changes. The passage does not restrict the longitudinal displacement of each of the left second belt portion and the right second belt portion. The left support portion and the right support portion having such a passage allow the second belt to move freely in the longitudinal direction. And the central support portion can prevent the lateral gap between the left second belt portion and the right second belt portion from widening.

In a preferred embodiment, the first wearing device has a flexible shoulder belt and a hard member that is stiffer than the shoulder belt and is placed on the shoulder of the user, and the hard member has a pad portion provided along the shoulder belt.
According to the above-mentioned configuration, the first wearing device is worn on the shoulder of the user. By having the hard member hang on the shoulder, the function of preventing the first wearing device from shifting when tension is applied to the belt body is enhanced.

The assist device disclosed herein is lightweight and comfortable to wear.

FIG. 4 is a rear view showing an example of an assist device. FIG. 2 is a rear view of the assist device attached to the user's body. 1 is a side view of an assist device attached to a user's body. 11 is an explanatory diagram showing a state in which a user wearing the assist device is in a forward leaning position. FIG. FIG. 4 is an explanatory diagram of a control box and a belt body. 11A and 11B are explanatory diagrams illustrating a case where a user wearing the assist device changes his/her posture. 13 is an explanatory diagram of an attachment portion of a second belt to a second wearing tool. FIG. 5 is an explanatory diagram of a second belt and a connecting member. FIG. FIG. 11 is a side view showing an assist device of another embodiment. FIG. 11 is a view of the first wearing tool as seen from the rear side. FIG. FIG. 13A and 13B are explanatory diagrams showing modified examples of the connecting member. FIG. 13 is an explanatory diagram showing a modified example of the first attachment, the first attachment being viewed from the front. FIG. 15 is a rear view of the first attachment shown in FIG. 14 . 1 is an overall view of an assist device including a first attachment and a second attachment. FIG. FIG. 18 is an explanatory diagram showing a deployed state of the second wearing tool shown in FIG. 17 .

[Overall configuration of the assist device 10]
FIG. 1 is a rear view showing an example of an assisting device. FIG. 2 is a rear view of the assisting device attached to the user's body. FIG. 3 is a side view of the assisting device attached to the user's body. FIG. 4 is an explanatory diagram showing a state in which a user wearing the assisting device is in a forward leaning posture (forward bending posture). The assisting device 10 shown in FIG. 1 includes a first attachment 11 attached to the left and right shoulders BS, which are a part of the user's (person's) body, and two second attachments 12 attached to the left and right legs BL, which are the other parts of the user's body. The first attachment 11 may be attached to at least one of the user's shoulders BS and chest BB, and may have a form other than that shown in the figure. In the present disclosure, the second attachment 12 is attached to the knees BN of the legs BL. The second attachment 12 may also have a form other than that shown in the figure.

In the assisting device 10 of the present disclosure, left and right refer to the left and right of a user wearing the assisting device 10 in an upright position, front and back refer to the front and back of the user, and up and down refer to the up and down of the user. Up is the side of the user's head, and down is the side of the user's feet.

In addition to the first attachment 11 and the left and right second attachments 12, the assist device 10 also includes a belt body 13, an actuator 14, a control unit 15, a battery 37, and a sensor 38.

The first attachment 11 is attached to the user's shoulder BS. One of the second attachments 12 is attached to the user's left knee BN. The other second attachment 12 is attached to the user's right knee BN. The left and right second attachments 12 are symmetrical, but have the same configuration. The first attachment 11 and the two second attachments 12 are attached to two locations separated by the user's waist joint BW, namely the shoulder BS and leg BL.

The first attachment 11 is made of a flexible fabric or the like. The first attachment 11 has a back body 21 that is attached to the back of the user, and a shoulder belt 22 and an armpit belt 23 that are connected to the back body 21. The shoulder belt 22 and the armpit belt 23 allow the back body 21 to be carried on the user's back. The armpit belt 23 connects the back body 21 and the shoulder belt 22, and its length is adjustable. By adjusting the length of the armpit belt 23, the back body 21 is in close contact with the user's back. The first attachment 11 is attached so that it cannot move in the front-back, left-right, or up-down directions relative to the shoulder BS. The first attachment 11 may include a hard member, for example, as a portion that is hung on the shoulder BS. The hard member will be described later.

The second attachment 12 is made of a flexible fabric or the like. The second attachment 12 has a knee body 24 that is attached to the rear side of the user's knee BN, and a knee belt 25 that extends from the knee body 24. The knee belt 25 goes around the knee BN at both the top and bottom of the knee BN, and its tip is fixed to the knee body 24. The length of the knee belt 25 wrapped around the knee BN can be adjusted using a belt and a buckle, or a fastening member such as a hook-and-loop fastener. This adjustment brings the knee body 24 into close contact with the rear side of the knee BN. The second attachment 12 is attached to the knee BN in such a way that it cannot move in the front-back, left-right, or up-down directions.

The belt body 13 is provided along the back side of the user so as to connect the first wearing device 11 and the second wearing device 12. The belt body 13 has a first belt 16 provided on the upper body side, a second belt 17 provided on the lower body side, and a connecting member 18 connecting the first belt 16 and the second belt 17. Each of the first belt 16 and the second belt 17 is long and flexible. The connecting member 18 is made of metal and is configured as a rectangular ring-shaped body called a "flat ring."
The connecting member 18 may be a fastener such as a buckle, other than a flat ring. When the connecting member 18 is a buckle, the first belt 16 and the second belt 17 are attached to upper and lower loops (holes) of the buckle, respectively. When the connecting member 18 is a buckle, the second belt 17 can be separated from the first belt 17, for example, when washing, which is highly convenient. The connecting member 18 consisting of a flat ring or a buckle may be made of resin in addition to being made of metal.

Each of the first belt 16 and the second belt 17 is a belt-like member made of cloth or leather, and can be bent to fit the shape of the body. Each of the first belt 16 and the second belt 17 may be a string-like belt (a wire-like member). Each of the first belt 16 and the second belt 17 of the present disclosure is a non-elastic member, that is, it has a property of being difficult to stretch or not stretching in the longitudinal direction. Note that the entire belt body 13 does not have to be a non-elastic member, and part of it may be non-elastic. In other words, part of the belt body 13 (e.g., the second belt 17) may have stretchability (stretchability with elasticity).

The assist device 10 of the present disclosure includes a control box 30. The control box 30 is provided on the back body 21 of the first attachment 11. FIG. 5 is an explanatory diagram of the control box 30 and the belt body 13. The control box 30 has a plate-shaped base 31 and a cover 32 that covers the base 31. To explain the internal structure of the control box 30, the cover 32 is shown in virtual lines (two-dot chain lines) in FIG. 5. The base 31 may be the back body 21 of the first attachment 11.

The actuator 14, the control unit 15, the battery 37, the sensor 38, etc. are provided in the space formed between the base 31 and the cover 32. An opening (notch) 32a is formed in the cover 32, and the first belt 16 passes through this opening 32a.

The actuator 14 is provided in the control box 30. In other words, the actuator 14 is provided in the first attachment 11. The actuator 14 enables a portion of the belt body 13 to be wound up and let out. To this end, the actuator 14 has a motor 33, a reducer unit 34, and a drive pulley 35. The motor 33 is a brushless DC motor. The motor 33 can rotate at a predetermined torque and a predetermined number of revolutions based on a drive signal output from the control unit 15. The motor 33 can rotate forward and reverse based on a drive signal output from the control unit 15.

Rotation-related parameters such as the rotation angle, rotation speed, or number of revolutions of the motor 33 are detected by a rotation detector 36 attached to the motor 33. The rotation detector 36 of the present disclosure is a rotary encoder, but may also be a Hall sensor or a resolver. The detection results of the rotation detector 36 are input to the control unit 15. The control unit 15 controls the operation of the motor 33 based on the detection results, allowing the assist device 10 to generate an appropriate assist force.

The reducer unit 34 is composed of multiple gears, and reduces the rotation speed of the motor 33 to rotate the output shaft 34a of the reducer unit 34. The drive pulley 35 is connected to the output shaft 34a, and they rotate together. One end 16a of the first belt 16 is attached to the drive pulley 35. When the drive pulley 35 rotates in one direction due to the forward rotation of the motor 33, the first belt 16 is wound up on the drive pulley 35. When the drive pulley 35 rotates in the other direction due to the reverse rotation of the motor 33, the first belt 16 is sent out from the drive pulley 35.

Thus, the actuator 14 has a drive pulley 35 capable of winding up the belt body 13, and a motor 33 for causing the drive pulley 35 to perform the winding operation of the belt body 13. The first belt 16 is wound up and sent out by the actuator 14.

The control unit 15 is composed of a control unit including a microcomputer. The control unit 15 controls the operation of the actuator 14 (motor 33). An acceleration sensor is provided as the sensor 38. A signal from the sensor 38 is input to the control unit 15. The control unit 15 is able to estimate the user's posture based on the signal from the sensor 38. The battery 37 supplies power to the control unit 15, the motor 33, the rotation detector 36, and the sensor 38. The sensor 38 may be provided outside the control box 30.

[Regarding the belt body 13]
As described above, the belt body 13 includes the first belt 16, the second belt 17, and the connecting member 18. One end 16a of the first belt 16 is wound around and fixed to the drive pulley 35. The other end 16b of the first belt 16 is fixed to the connecting member 18. When the first belt 16 is wound around the drive pulley 35, the connecting member 18 is pulled up. When the connecting member 18 is forcibly pulled down, the first belt 16 is unwound (pulled out) from the drive pulley 35. There is a correlation between the amount of winding or unwinding (pulling out amount) of the first belt 16 around the drive pulley 35 and the amount of rotation of the output shaft of the motor 33. A parameter related to the rotation of the motor 33 accompanying the winding or unwinding of the belt body 13 is detected by the rotation detector 36.

As described above, the connecting member 18 is configured from a rectangular ring-shaped body. The shaft portion 27a on one side (top side) of the ring-shaped body is the first attachment portion 27, and the end portion 16b of the first belt 16 is attached to the first attachment portion 27. In this disclosure, the first belt 16 is not removable from the first attachment portion 27, but may be removable by a buckle or the like.

The other side (lower side) of the rectangular ring-shaped body constituting the connecting member 18 is the second attachment portion 28 for attaching the second belt 17. In this way, the connecting member 18 has a first attachment portion 27 for attaching the first belt 16 and a second attachment portion 28 for attaching the second belt 17.

The second attachment portion 28 supports the second belt 17 in a folded-back state halfway (midway portion 17c). The second attachment portion 28 of the present disclosure has a shaft portion 28a that is integral with the first attachment portion 27, and a rotating pulley 29 that is supported by the shaft portion 28a and is freely rotatable. The second belt 17 is hung on the rotating pulley 29 in a folded-back state halfway. With this configuration, the second belt 17 is not fixed to the second attachment portion 28, and a configuration is obtained in which the second belt 17 is supported in a folded-back state but is movable in both longitudinal directions (arrow X direction in FIG. 5).

In FIG. 2, the second belt 17 is attached to the second attachment 12. More specifically, the second belt 17 is composed of a single belt-shaped member. One end 17a of the second belt 17 is attached to the left second attachment 12. The other end 17d of the second belt 17 is attached to the right second attachment 12. As described above, the middle portion 17c of the second belt 17 is hung on the connecting member 18.

According to the configuration of the second belt 17 as described above, the second belt 17 has a left second belt portion 19 from the connecting member 18 to the left second wearing device 12, and a right second belt portion 20 from the connecting member 18 to the right second wearing device 12. As described above (see FIG. 5), the second belt 17 is hung on the second attachment portion 28 (rotating pulley 29) and is not fixed, so the length of the left second belt portion 19 and the length of the right second belt portion 20 can be freely changed. However, the sum of the length of the left second belt portion 19 and the length of the right second belt portion 20 is constant. With this configuration, the user's walking, for example, is not restricted by the second belt 17, and the user can walk comfortably.

The second belt 17 further has a connecting member 39 that connects the left second belt portion 19 and the right second belt portion 20. The connecting member 39 connects the left second belt portion 19 and the right second belt portion 20 at a middle position between the folded portion (middle portion 17c) of the second belt 17 and the fixing portion (one end 17a, the other end 17d) with the two second wearing devices 12. The folded portion is the portion where the second belt 17 is folded at the connecting member 18. The fixing portion is the portion where the second belt 17 is fixed to each of the two second wearing devices 12.

For example, when the user changes his/her posture from an upright position to a bent-forward position as shown in FIG. 4, the connecting member 39 can prevent the left and right distance between the left second belt portion 19 and the right second belt portion 20 from widening. In other words, it can prevent the left second belt portion 19 and the right second belt portion 20 from not fitting along the back side of the user's leg BL.

The connecting member 39 is a belt-shaped member. As shown in FIG. 8, one end 39a of the connecting member 39 is connected to the left second belt portion 19 by, for example, a short pin 39b, so as to be mutually rotatable. The other end 39c of the connecting member 39 is connected to the right second belt portion 20 by, for example, a short pin 39d, so as to be mutually rotatable. This configuration makes it possible to prevent the connecting member 39 from making it difficult for the user to walk.

In other words, when the user walks, in FIG. 2, the length from the connecting portion (pin 39b) between the connecting member 39 and the left second belt portion 19 to the connecting member 18 and the length from the connecting portion (pin 39d) between the connecting member 39 and the right second belt portion 20 to the connecting member 18 change and become different. Therefore, with the above configuration, such movement of the second belt 17 is less likely to be hindered by the connecting member 39.

As shown in FIG. 7, one end 17a of the second belt 17 may be attached to the second wearing device 12 on the left side by a fastener 40 such as a buckle. The other end 17d of the second belt 17 may be attached to the second wearing device 12 on the right side by a fastener 40 such as a buckle. This makes the second belt 17 separable from the second wearing device 12.

In FIG. 8, the connecting member 39 is preferably removable from one or both of the left second belt portion 19 and the right second belt portion 20. One or both of the one end 39a and the other end 39c of the connecting member 39 are, for example, elongated holes 39e, and are removable from the second belt 17 (pins 39b, 39d). This allows the second belt 17 to be separated from the connecting member 18 (first belt 16). The connecting member 39 may have other configurations, which will be described later.

[Regarding the sensor 38 and the control unit 15]
In Fig. 5, as described above, the sensor 38 is configured with an acceleration sensor. The control unit 15 is capable of executing various types of arithmetic processing. The control unit 15 performs arithmetic processing on the signal from the sensor 38, thereby making it possible to detect the user's movement and posture. The sensor 38 has a configuration for outputting a signal according to the posture of the user, and functions as a posture detector for detecting the posture of the user. For example, the sensor 38 can detect whether the posture of the user's upper body is in a forward-leaning posture or an upright posture, or detect that the user has entered a squatting state.

In addition, there is a correlation between the amount of belt body 13 taken up and let out by drive pulley 35 by motor 33 and the user's posture. Therefore, based on the rotation angle of motor 33 detected by rotation detector 36, control unit 15 can estimate the user's posture. Rotation detector 36 functions as a posture detector for detecting the user's posture.

The control unit 15 processes the signals from one or both of the sensor 38 and the rotation detector 36, and outputs a drive signal to the actuator 14 (motor 33) based on the result of the processing, i.e., the user's posture. Based on the drive signal, the actuator 14 (motor 33) operates to wind and unwind the belt body 13, and temporarily suspend it, etc.

When the assist device 10 is worn by the user, the control unit 15 controls the motor 33 to always operate in a direction that winds up the belt body 13 with a weaker force (generating torque) than when generating an assist force, generating a weak tension in the belt body 13. This prevents the belt body 13 from becoming loose.

When the user changes posture, for example from an upright posture to a forward-leaning posture, tension is generated in the belt body 13 due to the change in posture. In this case, when the posture starts to change to a forward-leaning posture, the motor 33 is forcibly rotated (the motor 33 runs idly) by the tension of the belt body 13, not by the power of the actuator 14, and the belt body 13 is unwound. Alternatively, when the posture starts to change to a forward-leaning posture, the actuator 14 operates, that is, it drives the motor 33 to rotate, and unwinds the belt body 13.

Conversely, when the user changes from a forward-leaning posture to an upright posture, the belt body 13 tends to loosen due to the change in posture. In this case, when the user starts to change posture to an upright posture, the actuator 14 operates to maintain the tension acting on the belt body 13, that is, the motor 33 is driven to rotate and the belt body 13 is wound up.

In this manner, the belt body 13 is wound or unwound by a change in the user's posture. In this winding or unwounding, the motor 33 actively or passively rotates at a predetermined rotation angle. The rotation angle at this time is detected by the rotation detector 36. In this manner, the amount of operation of the actuator 14 (motor 33) when the belt body 13 is wound or unwound by a change in the user's posture is detected by the rotation detector 36.
The control unit 15 then acquires the amount of operation of the actuator 14 (the rotation angle of the motor 33) when the belt body 13 is wound or unwound due to a change in the user's posture, and controls the operation of the actuator 14 based on the amount of operation to provide an assist force to the user.

[Regarding the assisting force by the assist device 10]
6 is an explanatory diagram of a case where a user wearing the assisting device 10 changes his/her posture. In response to this change in posture, the assisting device 10 can apply an assisting force to the user.

When the first belt 16 is wound around the drive pulley 35 by the motor 33 of the actuator 14, the connecting member 18 pulls the second belt 17 towards the actuator 14, i.e., upward. The second belt 17 has both ends 17a, 17d attached to the left and right second wearing devices 12. The second wearing devices 12 are fixed to the knee region BN. Therefore, when the first belt 16 is wound around the drive pulley 35, tension acts on the first belt 16 and the second belt 17. This tension acts as an assist force (auxiliary force) for the user.

The case where the user changes from an upright posture to a forward leaning posture will be described. When the posture change to a forward leaning posture starts, the actuator 14 unwinds the belt body 13. Alternatively, the belt body 13 is unwound without the power of the actuator 14. This allows the user to naturally assume a forward leaning posture. When the forward leaning angle of the user's upper body relative to the vertical line reaches θ and the user stops at this forward leaning angle θ, the unwinding (unwinding) of the belt body 13 is stopped. The start and end of the posture change can be detected by the rotation detector 36 or the sensor 38.

When the user begins to change posture from a leaning forward position to an upright position, the actuator 14 winds up the belt body 13. This generates tension in the belt body 13. This tension generates a backward acting force F1 in the first wearing device 11. In other words, an acting force F1 is generated in a direction that raises the upper body of the user who is in a leaning forward position. At the same time, the tension in the second belt 17 generates an acting force F2 that pushes the left and right buttocks of the user forward. This allows the user to easily return to an upright position from a leaning forward position.

As shown in FIG. 4, the assist device 10 can also provide an assist force to the user when the user leans forward with the upper body and bends the knees (crouched position). When the user changes from a bent position to an upright position, for example, when lifting an object or part of the body of the person being assisted, the actuator 14 winds up the belt body 13. This creates tension in the belt body 13.

This tension generates a backward acting force F1 in the first attachment 11. In other words, an acting force F1 is generated in a direction that raises the upper body of the user who is in a forward-leaning posture. At the same time, the tension of the second belt 17 generates an acting force F2 that pushes the left and right buttocks of the user forward. Furthermore, a backward acting force F3 is generated in the second attachment 12. The acting forces F1, F2, and F3 described above can reduce the muscle load on the back muscles, quadriceps, and other muscles when the user is in a forward-leaning posture, and can assist in the lifting of luggage.

The assist device 10 functions even when the user changes from an upright posture to a bent posture. For example, this is the case when the user lifts down an object or a part of the body of the person being assisted. In this case, the actuator 14 delivers the belt body 13 while applying a braking force to the delivery of the belt body 13. In other words, the motor 33 rotates in the direction of delivering the belt body 13, but generates a torque in the direction of winding the motor 33. This generates tension in the belt body 13. Even in this case, the assist device 10 can assist the lifting motion by reducing the muscle load on the back muscles, quadriceps, etc., in the user's forward bending posture, by using the above-mentioned acting forces F1, F2, and F3.
As described above, according to the assist device 10 of the present disclosure, it is possible to reduce the muscle strain in the lower back when in a bending forward position, thereby preventing lower back pain.

Furthermore, according to the assisting device 10 of the present disclosure, even if the user is in a bent position with one of the left and right legs BL in front and the other in the back (asymmetric state), one of the left second belt portion 19 and the right second belt portion 20 of the second belt 17 (the side with the leg in front) can automatically become longer than the other. When the first belt 16 is wound up by the actuator 14 in this state, tension also acts on the second belt 17, and this tension acts on both the left second belt portion 19 and the right second belt portion 20, and the tension does not escape. Therefore, as described above, even if the user is in an asymmetric position, according to the assisting device 10 of the present disclosure, it is possible to apply an appropriate assisting force to the user.

Even when the user maintains a forward leaning posture, the assist device 10 of the present disclosure makes it possible to easily maintain that posture. That is, as shown in the right diagram of FIG. 6, when the user is in the first forward leaning posture, the operation of the actuator 14 stops, and the belt body 13 cannot be sent out. Even if the user tries to further lean forward (second forward leaning posture), the tension of the belt body 13 connecting the first attachment 11 and the second attachment 12 prevents the user from taking the second forward leaning posture. That is, the assist device 10 tries to make the user maintain the first forward leaning posture. It becomes easier for the user to maintain the first forward leaning posture. As a result, for example, when the user maintains the first forward leaning posture for a long time while working, the burden on the body is reduced.

[Regarding the assist device 10 of the present disclosure]
As described above, the assist device 10 of the present disclosure (see FIG. 2 ) includes the first attachment 11 attached to the user's shoulders BS, the second attachment 12 attached to each of the user's left and right legs BL, the belt body 13, and the actuator 14. The belt body 13 is provided along the back side of the user, spanning the first attachment 11 and the second attachment 12. The actuator 14 is provided on the first attachment 11, and is configured to enable a portion of the belt body 13 to be wound up and unwound.

The belt body 13 has a first belt 16 that is wound and unwound by the actuator 14, a second belt 17 that is attached to the second attachment 12, and a connecting member 18 that connects the first belt 16 and the second belt 17.

According to this assist device 10, a belt body 13 is provided along the back side of the user, spanning the first attachment 11 and the second attachment 12. An actuator 14 winds up the belt body 13 (first belt 16), so that tension acts on the first belt 16 and the second belt 17. This tension generates an assist force that assists the user in their work, reducing the physical burden on the user.

For example, when a user (caregiver) changes from a forward leaning position to an upright position while supporting a load (person being assisted) with his/her hands (see FIG. 6), the actuator 14 winds up the belt body 13, applying tension to the belt body 13. This tension makes it easier for the user to change from a forward leaning position to an upright position, reducing the burden on the user's body. In other words, the tension applied to the belt body 13 by the actuator 14 is generated as an assist force.
In addition, the belt member 13 of the present disclosure is inelastic over its entire length, which clarifies the relationship between the output of the actuator 14 and the tension acting on the belt member 13, making it easier to control the required assist force.

When the second wearing device 12 is attached to the user's legs BL and the user walks with the belt body 13 taut, the legs BL may be pulled by the belt body 13. If the lengths of the left second belt portion 19 and the right second belt portion 20 in the second belt 17 are always constant and fixed, the user may feel uncomfortable when walking.
In the present disclosure, one end 17a of the second belt 17 is attached to the left second attachment 12, and the other end 17d of the second belt 17 is attached to the right second attachment 12. The second attachment portion 28 of the connecting member 18 supports the second belt 17 in a folded-back state and movable in the longitudinal direction.

With this configuration, when the user walks, the length of the left second belt portion 19 and the length of the right second belt portion 20 of the second belt 17 are changed. This makes it easier for the user to walk.

Furthermore, in this disclosure, as shown in FIG. 5, the second attachment portion 28 of the connecting member 18 has a rotating pulley 29 supported by a shaft portion 28a that is integral with the first attachment portion 27. The second belt 17 is hung on the rotating pulley 29 in a state where it is folded back midway. Therefore, when the user walks, the length of the left second belt portion 19 and the length of the right second belt portion 20 can be easily changed, making it even easier for the pedestrian to walk.

[Another assist device 10]
In the assist device 10 disclosed above, the second attachment 12 is attached to the leg BL of the user. As shown in Fig. 9, the second attachment 12 may be attached to the waist BW of the user. In this case, the second attachment 12 may be in the form of a waist belt or pants. When the second attachment 12 is attached to the waist BW, the actuator 14 may be attached to the first attachment 11 or the second attachment 12. In Fig. 9, the actuator 14 is attached to the first attachment 11.

In the case of the assist device 10 shown in FIG. 9, the belt body 13 is also provided along the back side of the user, spanning the first attachment 11 and the second attachment 12. The actuator 14 winds up the belt body 13, causing tension to act on the belt body 13. This tension generates an assist force that assists the user in their work, reducing the physical burden on the user.

[Hard Member of the First Wearing Tool 11]
Fig. 10 is a view of the first wearing device 11 as seen from the back side. As described above, the first wearing device 11 may include a hard member 50 as a portion to be hung on the shoulder BS. Fig. 11 is a back view of the hard member 50, and Fig. 12 is a perspective view of the hard member 50. The hard member 50 is made of, for example, resin and has a higher rigidity than the shoulder belt 22. The shoulder belt 22 is made of a flexible belt member. The hard member 50 has a shape that fits from the user's back BC to the left and right shoulders BS. The hard member 50 has left and right pad portions 51L, 51R and a central pad portion 51C that connects these pad portions 51L, 51R, and has an overall U-shape.

As shown in Figures 11 and 12, the left pad portion 51L includes a portion that can contact the user's left shoulder BS from above. The right pad portion 51R includes a portion that can contact the user's right shoulder BS from above. The central pad portion 51C includes a portion that can contact the user's back BC from the rear side. In Figure 11, at least the left and right pad portions 51L, 51R are provided along the left and right shoulder belts 22. The shoulder belt 22 may be provided between the user's shoulder BS and the hard member 50 (pad portions 51L, 51R), and the hard member 50 (pad portions 51L, 51R) may be provided between the user's shoulder BS and the shoulder belt 22.

The left and right pad portions 51L, 51R are each provided with an attachment portion 52 for fixing the left and right shoulder belts 22. The attachment portion 52 is, for example, a screw hole. The shoulder belt 22 is fixed to the left and right pad portions 51L, 51R by fastening them together to the attachment portion 52 with a screw (not shown).
The central pad portion 51C is provided with a fixing portion 53 for fixing the control box 30. The fixing portion 53 is, for example, a screw hole. The control box 30 is fixed to the central pad portion 51C by fastening the fixing portion 53 with a screw (not shown). When the control box 30 has a plate-shaped base 31, the base 31 is fixed to the fixing portion 53 of the central pad portion 51C.

With the above-mentioned configuration, the shoulder belt 22, the hard member 50, and the control box 30 are integrated together.
In this manner, the first wearing device 11 may have a hard member 50. The hard member 50 has a higher rigidity than the shoulder belt 22 and serves as a hard shoulder pad that is placed on the shoulder BS of the user. The hard member 50 has left and right pad portions 51L, 51R that are provided along the shoulder belt 22. According to the first wearing device 11 having such a hard member 50, the first wearing device 11 is worn on the shoulder BS of the user, and the hard member 50 is placed on the shoulder BS of the user, thereby enhancing the function of preventing the first wearing device 11 from shifting from the upper body of the user when tension is applied to the belt body 13. In particular, the hard member 50 functions effectively when the output of the actuator 14 is high.

Although not shown, each of the left and right pad portions 51L, 51R may have a structure that allows the length to be adjusted. In this case, the length of each of the pad portions 51L, 51R can be adjusted according to the physique of the user, making it possible to more effectively prevent the first attachment 11 from shifting out of position.

[Regarding other forms of the connecting member 39]
As described above (see FIG. 4 ), the second belt 17 has the left second belt portion 19, the right second belt portion 20, and a connecting member 39. The left second belt portion 19 is the portion from the connecting member 18 to the second wearing device 12 on the left leg side. The right second belt portion 20 is the portion from the connecting member 18 to the second wearing device 12 on the right leg side. The connecting member 39 connects the left second belt portion 19 and the right second belt portion 20.

In the configuration shown in Figs. 4 and 8, the left second belt portion 19 and the right second belt portion 20 are rotatably connected to the connecting member 39 by pins 39b and 39d. The connecting member 39 makes it possible to prevent the left-right gap between the left second belt portion 19 and the right second belt portion 20 from widening when the user changes his/her posture. The connecting member 39 having such a function may be in other configurations.

Figure 13 is an explanatory diagram showing a modified example of the connecting member 39. The connecting member 39 has a left support portion 45L, a right support portion 45R, a central support portion 46, and a hanging portion 47. The left support portion 45L has a passage 45L-1 through which the left second belt portion 19 passes. The left support portion 45L shown in Figure 13 has a cylindrical shape, and the passage 45L-1 is configured by a hole that penetrates vertically. The right support portion 45R has a passage through which the right second belt portion 20 passes. The right support portion 45R shown in Figure 13 has a cylindrical shape, and the passage 45R-1 is configured by a hole that penetrates vertically.

The central support part 46 is a beam-shaped member interposed between the left support part 45L and the right support part 45R. The central support part 46 connects the left support part 45L and the right support part 45R, and prevents the left support part 45L and the right support part 45R from spreading in the left-right direction. The lower part of the hanging part 47 is connected to the central support part 46, and the upper part of the hanging part 47 is connected to the connecting member 18. The hanging part 47 is a column-shaped member that holds the central support part 46 by suspending it from the connecting member 18. The connecting member 39 may be made of resin, cloth, leather, etc.

When the user walks, the lengths of the left second belt portion 19 and the right second belt portion 20, which are folded back at the connecting member 18 (rotating pulley 29), change. The passages 45L-1, 45R-1 of the connecting member 39 do not restrict the longitudinal displacement of the left second belt portion 19 and the right second belt portion 20. The left support portion 45L and the right support portion 45R, which have such passages 45L-1, 45R-1, allow the second belt 17 to move freely in the longitudinal direction. And the central support portion 46 can prevent the lateral gap between the left second belt portion 19 and the right second belt portion 20 from widening.

As a result, for example, when the user changes his/her posture from an upright position to a bent-forward position as shown in FIG. 4, the connecting member 39 shown in FIG. 13 can prevent the left and right gap between the left second belt portion 19 and the right second belt portion 20 from widening. In other words, it can prevent the left second belt portion 19 and the right second belt portion 20 from not following the back side of the user's leg BL. Moreover, the longitudinal movement of the second belt 17 becomes smoother.

[Modifications of the first attachment 11]
Fig. 14 is an explanatory diagram showing a modified example of the first wearing device 11, and is a view of the first wearing device 11 as seen from the front. Fig. 15 is a view of the first wearing device 11 shown in Fig. 14 as seen from the back. Fig. 15 shows a state in which the first wearing device 11 is worn by a user. The first wearing device 11 shown in Figs. 14 and 15 is worn on the shoulders BS and also on the waist BW of the user.

The first wearing device 11 has a back body part 21 that contacts the back of the user, left and right shoulder belts 22L, 22R, a waist belt 60, and a connecting member 61. The back body part 21, shoulder belts 22L, 22R, and waist belt 60 are made of flexible fabric or the like, and can be shaped to fit the user's body shape. They also have cushioning properties (elasticity) and can reduce the burden (pain) on the user. When the shoulder belts 22L, 22R are hung on the shoulders BS, the back body part 21 is carried on the user's back. The waist belt 60 is wrapped around the waist BW of the user. The connecting member 61 is a member that connects the lower part of the back body part 21 and the rear part of the waist belt 60. The connecting member 61 is made of, for example, fabric, and is flexible.

The rear end of the left shoulder belt 21L is connected to the upper left side of the back body 21, and the rear end of the right shoulder belt 21R is connected to the upper right side of the back body 21. In FIG. 14, the first wearing device 11 further has an adjustment belt mechanism 62. The adjustment belt mechanism 62 has a left first adjustment belt 63L, a right first adjustment belt 63R, a left second adjustment belt 64L, and a right second adjustment belt 64R.

The adjustment belt mechanism 62 includes multiple resin or metal ring members through which the belt, called koki, passes. A first ring member 65-1 is attached to the front end 22La of the left shoulder belt 22L. A second ring member 65-2 is attached to the front end 22Ra of the right shoulder belt 22R. A third ring member 65-3 is attached to the left front end 60a of the waist belt 60. A fourth ring member 65-4 is attached to the right front end 60b of the waist belt 60. The adjustment belt mechanism 62 further includes a fifth ring member 65-5 that connects the left first adjustment belt 63L and the left second adjustment belt 64L, and a sixth ring member 65-6 that connects the right first adjustment belt 63R and the right second adjustment belt 64R.

A buckle (fastener) 66a is provided between one end 63La of the first left adjustment belt 63L and one end 63Ra of the first right adjustment belt 63R. FIG. 14 shows the state in which the buckle 66a is released. A buckle (fastener) 66b is provided between one end 64La of the second left adjustment belt 64L and one end 64Ra of the second right adjustment belt 64R. FIG. 14 shows the state in which the buckle 66b is fastened. The lower buckle 66a connects the first adjustment belts 63L and 63R to each other, or releases the connection. The upper buckle 66b connects the second adjustment belts 64L and 64R to each other, or releases the connection.

The first adjustment belt 63L passes through a third annular member 65-3 on its way and extends upward, and then passes through another annular member 65-5 on its way and hangs down. The other end 63Lb of the first adjustment belt 63L is looped. The other end 63Lb is the part that the user grasps with his or her hand to pull it downward.
The second adjustment belt 63R passes through a fourth annular member 65-4 in the middle and is provided so as to extend upward, and further passes through another annular member 65-6 in the middle and is in a state of hanging down. The other end 63Rb of the second adjustment belt 63R is in a loop shape. The other end 63Rb is the part that the user grasps with his/her hand to pull downward.

The adjustment belt mechanism 62 having the above configuration allows the user to easily remove the first attachment 11 by undoing the buckles 66a and 66b when the first attachment 11 is attached to the user's body. To wear the first attachment 11, the user simply puts the left and right shoulder belts 22L and 22R on their back and fastens the buckles 66a and 66b. In this way, the first attachment 11 can be easily put on and taken off.

Furthermore, the user pulls down the other end 63Lb of the first adjustment belt 63L and the other end 63Rb of the second adjustment belt 63R with his/her hands while wearing the first wearing tool 11. Then, the distance between the third annular member 65-3 and the fifth annular member 65-5 becomes smaller, and the distance between the fourth annular member 65-4 and the sixth annular member 65-6 becomes smaller. As a result, the distance between the first annular member 65-1 and the third annular member 65-3 becomes smaller, and the distance between the second annular member 65-2 and the fourth annular member 65-4 becomes smaller. That is, the distance between the front end 22La of the left shoulder belt 22L and the left front end 60a of the waist belt 60 becomes smaller, and the distance between the front end 22Ra of the right shoulder belt 22R and the right front end 60b of the waist belt 60 becomes smaller.
Furthermore, the pulling force also reduces the distance between the third annular member 65-3 and the fourth annular member 65-4, thereby tightening the waist belt 60.
Furthermore, the pulling force reduces the distance between the first annular member 65-1 and the second annular member 65-2, thereby tightening the left and right shoulder belts 22L, 22R.
As described above, according to the adjustment belt mechanism 62, the first wearing device 11 is securely attached to the user, that is, the first wearing device 11 is in close contact with the user's body, and is easy to operate.

As shown in FIG. 15, the upper part of the control box 30 is attached to the left and right shoulder belts 22L, 22R, and the lower part of the control box 30 is attached to the waist belt 60. The control box 30 is detachably attached to the shoulder belts 22L, 22R and the waist belt 60 by a buckle (fastener) or a ring-shaped member made of resin or metal for passing the belt through, called a koki.

In the assist device 10, when the actuator 14 winds up the belt body 13, the tension of the belt body 13 generates an assist force that assists the user in working. Due to the tension, the shoulder belts 22L, 22R are subjected to a downward force on the back side (rear side) of the user. Due to this downward force, an upward force acts on the shoulder belts 22L, 22R on the front side of the user. This upward force is transmitted to the front part of the waist belt 60 through the first adjustment belts 63L, 63R and the second adjustment belts 64L, 64R, and an upward force also acts on the front part of the waist belt 60.

As described above (see FIG. 15), the control box 30 is also connected to the rear of the waist belt 60. Due to the tension of the belt body 13 as described above, the control box 30 receives a downward force, which is transmitted to the waist belt 60.
As a result, a downward force acts on the rear part of the waist belt 60, and an upward force acts on the front part of the waist belt 60. The upward force transmitted from the shoulder belts 22L, 22R and acting on the waist belt 60 and the downward force transmitted from the control box 30 and acting on the waist belt 60 are balanced, and the first attachment 11 does not slip significantly from the user's body.

Since the first attachment 11 has the waist belt 60, the assist force can be applied to the user not only through the shoulder belts 22L, 22R but also through the waist belt 60, which is comfortable for the user.
In addition, the burden on the user caused by the weight (own weight) of the control box 30 is reduced by the waist belt 60.
By having the first wearing device 11 have the waist belt 60 in this way, an assist device 10 that is comfortable to wear and has high functionality is obtained.

The first attachment 11 includes a waist belt 60, which may require some effort on the part of the user to attach the first attachment 11. However, as described above, the adjustment belt mechanism 62 makes it easy to attach and detach the first attachment 11, and can reduce the time required for attachment and detachment. In addition, the user can securely attach the first attachment 11 with minimal effort.

In FIG. 14, the front end 22La of the left shoulder belt 22L, the front end 22Ra of the shoulder belt 22R, and the front ends 60a, 60b of the waist belt 60 each have a configuration that can hide one or both of the buckles 66a, 66b and the annular members 65-1 to 65-4. For example, the front end 22La etc. may have a cover portion or a cylindrical shape. This is preferable, for example, when a user wearing the assist device 10 assists a care recipient in a care facility, as the relatively hard buckles 66a, 66b and the annular members 65-1 to 65-4 do not come into direct contact with the body of the care recipient (and the user).

The waist belt 60 shown in FIG. 15 has a cover 69 that covers part of the belt body 13 (first belt 16). The cover 69 is attached to the main body of the waist belt 60, and part of the belt body 13 passes between the main body and the cover 69. For example, when a user holds a care recipient, the care recipient may place their arms behind the user. In this case, the care recipient's hands may touch the belt body 13, which may hinder the movement of the belt body 13. However, the cover 69 makes it difficult for the care recipient to touch the belt body 13.

[Modification of connecting member 18]
14 and 15, a modified example of the connecting member 18 that connects the first belt 16 located on the upper body side and the second belt 17 located on the lower body side will be described. The connecting member 18 has a fastener 40 such as a buckle and, for example, a rectangular ring-shaped body 41 called a "flat ring". The fastener 40 has a first member 40a and a second member 40a that can be separated and connected. When the user pinches a part of the fastener 40 with his/her fingers, the first member 40a and the second member 40a go from a connected state to a separated state. Also, when the first member 40a and the second member 40a are combined, they go into a connected state.

An end of the first belt 16 is attached to the first member 40a. The second member 40a and the annular body 41 are connected by a connecting short belt 42. The second belt 17 is hung on the annular body 41. The second belt 17 is folded back on the annular body 41 in the middle, and the second belt 17 is supported so as to be freely movable in its longitudinal direction.
As described above, the connecting member 18 shown in Figures 14 and 15 has a fastener 40 as a first attachment portion to which the end of the first belt 16 is attached, and a ring-shaped body 41 as a second attachment portion that supports the second belt 17 in a folded-over state in the middle and allows it to move freely in the longitudinal direction.
The second member 40b may be configured to be integrated with the annular body 41. In other words, a flat ring is not used, and a loop portion (hole portion) that the second member 40b has as a part thereof may be the annular body around which the second belt 17 is hung. In this case, the short belt 42 is omitted.

According to the connecting member 18 having such a configuration, the first belt 16 and the second belt 17 can be easily separated from each other. Moreover, the first belt 16 and the second belt 17 can also be easily connected to each other.
For example, the second belt 17 can be replaced with one having a different overall length, making it easy to change the length of the second belt 17 according to the physique (height) of the user.
Furthermore, when only one of the first belt 16 and the second belt 17 deteriorates, it is only necessary to replace the deteriorated belt without replacing the entire belt body 13.
Furthermore, when the second belt 17 is to be washed, it can be easily detached from the first belt 16.

As described with reference to FIG. 13, the second belt 17 may have a connecting member 39 connecting the left second belt portion 19 and the right second belt portion 20. The connecting member 39 has a left support portion 45L having a passage through which the left second belt portion 19 passes, a right support portion 45R having a passage through which the right second belt portion 20 passes, and a central support portion 46 connecting the left support portion 45L and the right support portion 45R. In the embodiment shown in FIG. 13, a hanging portion 47 extending from the connecting member 18 is provided, but the hanging portion 47 may have a different form (separate from the connecting member 18), or the hanging portion 47 may be omitted.

[About accessories for the harness]
FIG. 16 is an overall view of the assisting device 10 including the first attachment 11 and the second attachment 12. As described above, the second attachment 12 for the legs is connected to the belt body 13 (first belt 16 and second belt 17) extending from the first attachment 11 side to be worn on the upper body, and is integrated with the first attachment 11. Therefore, the user wears the integrated first attachment 11 and second attachment 12 on the upper body and legs. However, since the belt body 13 is flexible, the left and right second attachments 12 are free relative to the first attachment 11 before wearing. Therefore, when the user wears the assisting device 10, the belt body 13 may be twisted, and the second attachment 12 for the left leg may be on the right side and the second attachment 12 for the right leg may be on the left side. In this case, wearing errors are likely to occur, and waste time is required.

As shown in FIG. 16, the assist device 10 includes a left string member 43L that connects a left portion 11La of the first attachment 11 (waist belt 60) to the second attachment 12 for the left leg, and a right string member 43R that connects a right portion 11Ra of the first attachment 11 (waist belt 60) to the second attachment 12 for the right leg. Each of the string members 43L and 43R has a fastener 44, such as a cylindrical buckle, in the middle. By setting this fastener 44 in a separated state, separation of the first attachment 11 and the second attachment 12 is not hindered.

The string members 43L and 43R make it easier for the second attachment 12 for the left leg to be on the left side and the second attachment 12 for the right leg to be on the right side when the user puts on the assist device 10. This makes it possible to shorten the time it takes to put on the assist device 10.
The length of the string members 43L, 43R is set so that the left and right second attachments 12, 12 suspended from the first attachment 11 are positioned around the knees of the user when the user wears the first attachment 11 around the upper body. This makes it easy to wear the second attachment 12. The string members 43L, 43R are made of, for example, an elastic material, and are unlikely to impede the user's movements.

[Modifications of the second attachment 12]
FIG. 17 is an explanatory diagram of the second attachment 12 for the legs. FIG. 17 is an image diagram of the state in which the second attachment 12 is attached to the leg (knee) of the user. FIG. 18 is an explanatory diagram showing the unfolded state of the second attachment 12 shown in FIG. 17. FIG. 18 is a rear view of the second attachment 12 in the unfolded state before being attached to the leg of the user. The second attachment 12 has a band 70 that is wound around the leg of the user and a transmission belt 71 fixed to the band 70. The second attachment 12 for the left leg and the second attachment 12 for the right leg have the same configuration.

The belt-shaped body 70 is an elastic belt-shaped member and has stretchability. The belt-shaped body 70 is made of, for example, an elastic cloth member. In contrast, the transmission belt 71 is a belt made of a non-elastic material and has non-stretchability. The transmission belt 71 is made of, for example, the same material as the belt body 13 (first belt 16, second belt 17).

As shown in FIG. 18, the band-shaped body 70 has a configuration that can be unfolded on a plane, and when unfolded, the left-right dimension is greater than the up-down dimension. The band-shaped body 70 has a central band main body portion 70a and four stopper band portions 70b-1, 70b-2, 70b-3, and 70b-4 extending from the top and bottom positions on both the left and right sides of the band main body portion 70a. One side member 73a of a hook-and-loop fastener is fixed to one side of the portion of the band-shaped body 70 that includes the stopper band portions 70b-1, 70b-2, 70b-3, and 70b-4. The entire other side of the band-shaped body 70 is the other side member 73b of the hook-and-loop fastener. Needless to say, the one side member 73a and the other side member 73b are detachable. As shown in FIG. 17, the strap 70 is wrapped around the user's legs (knees) and attached to the user's legs (knees) by the hook-and-loop fastener.

The transmission belt 71 is connected at its longitudinal center to one side of a fastener 40 such as a buckle. The end of the second belt 17 is connected to the other side of the fastener 40. By separating the one side and the other side of the fastener 40, the second belt 17 and the second wearing device 12 can be separated.

The transmission belt 71 has a belt portion 71a on one side and a belt portion 71b on the other side with the fastener 40 in the center. The belt portion 71a on one side is fixed in a range from a first stopper band portion 70b-1 located on the lower side on one side in the left-right direction of the band-shaped body 70 (the right side in FIG. 18) to an upper center portion 70a-1 of the band main body portion 70a. The belt portion 71a on one side is provided so as to extend beyond the first stopper band portion 70b-1.
The other belt portion 71b of the transmission belt 71 is fixed in a range from a second stopper band portion 70b-2 located on the other left-right side (the left side in FIG. 18) and the lower side of the band-shaped body 70 to an upper center portion 70a-1 of the band main body portion 70a. The other belt portion 71b is provided so as to extend beyond the first stopper band portion 70b-b.

When the belt-shaped body 70 having the above-mentioned configuration is worn by wrapping it around the user's leg (knee), as shown in Figure 17, the belt portion 71a on one side of the transmission belt 71 is arranged in a spiral shape in one direction along the cylindrical belt main body 70a for half a circumference, and the belt portion 71b on the other side of the transmission belt 71 is arranged in a spiral shape in the other direction along the cylindrical belt main body 70a for half a circumference.
One side member of a hook-and-loop fastener is fixed to a protruding extension portion 71a-1 of the belt portion 71a on one side, and the extension portion 71a-1 can be attached to the other side of the band-shaped body 70. One side member of a hook-and-loop fastener is fixed to a protruding extension portion 71b-1 of the belt portion 71b on the other side, and the extension portion 71b-1 can be attached to the other side of the band-shaped body 70.

Here, a hypothetical case will be described in which the second wearing device 12 does not have the transmission belt 71, the band 70 is made of a highly elastic material, and the second belt 17 is directly connected to a part of the band 70. In this case, when the actuator 14 of the assist device 10 operates and tension acts on the second belt 17, the band 70 may be deformed and stretched by the force of the tension, and the force for the assist operation may not be accurately transmitted to the user's legs (knees).
17 and 18, however, the tension acting on the second belt 17 is transmitted to the transmission belt 71. The transmission belt 71 is fixed to the band-shaped body 70 by, for example, sewing. Therefore, the force acting on the second belt 17 is accurately transmitted to the user's legs (knees) through the transmission belt 71. Therefore, the assist force of the assist device 10 is appropriately applied to the user.

〔others〕
In order to prevent and alert the user to lower back pain, it is preferable that the second attachment 12 is attached to the legs BL. This is because attaching the second attachment 12 to the legs BL reduces the burden on the lower back BW.
In each of the assisting devices 10, the belt 13 is lightweight and can conform to the user's body even when the user changes posture, following the user's movements. This provides an assisting device 10 that is comfortable to wear.
In the above disclosure, the control box 30 is provided on the rear side (back side) of the user in the first wearing device 11, but it may be provided on the front side of the user. In this case, the belt body 13 is provided along the back side of the user via the shoulder BS of the user.

The embodiments disclosed herein are illustrative in all respects and are not restrictive. The scope of the present invention is not limited to the above-described embodiments, but includes all modifications within the scope of the equivalents to the configurations described in the claims.

10: Assist device 11: First attachment 12: Second attachment 13: Belt body 14: Actuator 16: First belt 16b: End 17: Second belt 17a: One end 17d: Other end 18: Connecting member 19: Left second belt portion 20: Right second belt portion 22: Shoulder belt 27: First attachment portion 28: Second attachment portion 28a: Shaft portion 29: Rotating pulley 39: Linking member 45L: Left support portion 45R: Right support portion 46: Central support portion 47: Suspension portion 50: Hard member 51L, 51R: Pad portion BS: Shoulder portion BB: Chest portion BW: Waist portion BL: Leg portion

Claims (6)

A first wearing tool that is worn on at least one of a shoulder and a chest of a user;
A second wearing device to be worn on each of the left and right legs of the user;
A belt body provided along a back side of the user across the first wearing tool and the second wearing tool;
an actuator provided in the first wearing device and configured to allow a portion of the belt body to be wound up and unwound;
Equipped with
the belt body includes a first belt that is wound and unwound by the actuator, a second belt that is attached to the second wearing device, and a connecting member that connects the first belt and the second belt,
The connecting member has a first attachment portion to which an end portion of the first belt is attached, and a second attachment portion that supports the second belt in a folded-back state and movable in a longitudinal direction thereof,
One end of the second belt is attached to the second wearing tool on the left leg side, and the other end of the second belt is attached to the second wearing tool on the right leg side,
The second belt has a left second belt part from the connecting member to the second wearing device on the left leg side, a right second belt part from the connecting member to the second wearing device on the right leg side, and a connecting member connecting the left second belt part and the right second belt part.
Assist device. The assist device according to claim 1 , wherein the belt body is non-elastic. The assist device described in claim 1, wherein the second mounting portion has a shaft portion that is integral with the first mounting portion, and a rotating pulley that is supported by the shaft portion and around which the second belt is hung in a state where it is folded back halfway . The connecting member and the left second belt portion are connected to each other so as to be rotatable relative to each other,
The assist device according to claim 1 , wherein the connecting member and the right second belt portion are connected to each other so as to be rotatable relative to each other. The assist device described in claim 1, wherein the connecting member has a left support portion having a passage for passing the left second belt portion, a right support portion having a passage for passing the right second belt portion, a central support portion connecting the left support portion and the right support portion, and a hanging portion for holding the central support portion by suspending it from the connecting member. 2. The assist device according to claim 1, wherein the first attachment has a flexible shoulder belt and a hard member that is stiffer than the shoulder belt and is placed on the shoulder of the user, and the hard member has a pad portion provided along the shoulder belt.

Images