JPS6155976B2 - - Google Patents
Info
- Publication number
- JPS6155976B2 JPS6155976B2 JP59056297A JP5629784A JPS6155976B2 JP S6155976 B2 JPS6155976 B2 JP S6155976B2 JP 59056297 A JP59056297 A JP 59056297A JP 5629784 A JP5629784 A JP 5629784A JP S6155976 B2 JPS6155976 B2 JP S6155976B2
- Authority
- JP
- Japan
- Prior art keywords
- hydraulic drive
- crotch
- holder
- hydraulic
- joints
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 210000003141 lower extremity Anatomy 0.000 claims description 9
- 210000003127 knee Anatomy 0.000 claims description 6
- 210000003423 ankle Anatomy 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 210000000689 upper leg Anatomy 0.000 claims description 5
- 210000002683 foot Anatomy 0.000 claims description 4
- 210000001699 lower leg Anatomy 0.000 claims description 3
- 230000006378 damage Effects 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 206010033799 Paralysis Diseases 0.000 description 2
- 210000000544 articulatio talocruralis Anatomy 0.000 description 2
- 206010000372 Accident at work Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 229920003002 synthetic resin Polymers 0.000 description 1
- 239000000057 synthetic resin Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
Description
【発明の詳細な説明】
本発明は、病気、交通事故、労働災害等で脊髄
損傷による下肢麻痺の障害者に着用する動力装具
で、特に、股、膝、足首の各関節を関節部に設け
た油圧駆動装置により回転させる下肢障害者用動
力装具に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention is a power orthosis to be worn by persons with lower limb paralysis due to spinal cord injury due to illness, traffic accidents, industrial accidents, etc. The present invention relates to a power orthosis for persons with lower limb disabilities that is rotated by a hydraulic drive device.
下肢麻痺の障害者は、日常の移動には手動また
は電動による車椅子が利用されている。ところ
が、この車椅子を利用の場合段差がある場所、或
いは車椅子の通れない幅の狭い場所になると移動
は困難という不都合がある。 People with lower limb paralysis use manual or electric wheelchairs for daily transportation. However, when using this wheelchair, there is a problem in that it is difficult to move around in areas with steps or narrow spaces that the wheelchair cannot pass through.
そのため、上記した不都合を解消するものとし
て、例えば第１図，第２図に示すように股、膝、
足首の関節に油圧駆動装置ａ，ｂ，ｃを設け、更
に大腿部、下腿部、足部を各サポート部材ｄ，
ｅ，ｆで支持して、各サポート部材ｄ，ｅ，ｆの
股、膝、足首となる関節部を前記油圧駆動装置ａ
〜ｃを介して回転可能に連結し、更に各油圧駆動
装置ａ〜ｃは油圧装置ｇと制御装置ｈに連絡させ
て制御装置ｈで制御できるようにした動力装具が
提案されている。 Therefore, as a solution to the above-mentioned inconvenience, for example, as shown in Figs. 1 and 2, the crotch, knee,
Hydraulic drive devices a, b, c are provided at the ankle joint, and support members d,
The hydraulic drive device a supports the crotch, knee, and ankle joints of each support member d, e, and f.
A power equipment has been proposed in which the hydraulic drive devices a to c are rotatably connected via the hydraulic devices g and the control device h so that the hydraulic drive devices a to c can be controlled by the control device h.
ところが、人間の股、膝、足首等は一軸でな
く、多軸をもつて構成されている。従つて、前記
各関節部を一軸の駆動源で駆動すると、歩行時、
若しくは立つたり座つたりする時に無理が生じ、
人体を損傷するという欠点がある。 However, the human crotch, knee, ankle, etc. do not have a single axis, but instead have multiple axes. Therefore, when each joint is driven by a uniaxial drive source, when walking,
Or you feel uncomfortable when standing or sitting,
It has the disadvantage of causing damage to the human body.
本発明は斯様な従来の欠点を解消するためのも
ので、即ち、股部の上部に緩衝部を設けて無理な
動きによる人体の損傷を防ぐことを目的としたも
のである。 The present invention is intended to eliminate such conventional drawbacks, that is, to prevent damage to the human body due to unreasonable movements by providing a buffer section in the upper part of the crotch.
以下本発明に係る下肢障害者用動力装具の一実
施例を添付第３図乃至第６図に基いて具体的に説
明する。 Hereinafter, one embodiment of the power orthosis for persons with lower limb disabilities according to the present invention will be described in detail with reference to the attached FIGS. 3 to 6.
１，２，３は油圧駆動装置で、股Ａ，膝Ｂ，足
首Ｃの各関節部に設けて関節部を回転させるよう
にしてある。また油圧駆動装置１，２，３は、大
腿部４と下腿部５及び足部６を各支持するサポー
ト部材７，８，９と互いに連結する。油圧駆動装
置１，２，３には回転位置を検出するセンサ１
０，１１，１２を設けると共に、この信号を油圧
駆動装置の回転を制御する制御装置１３に送り回
転を制御するようにしてある。 Hydraulic drive devices 1, 2, and 3 are provided at each joint of the hip A, knee B, and ankle C to rotate the joints. Further, the hydraulic drive devices 1, 2, and 3 are connected to support members 7, 8, and 9 that support the thigh 4, lower leg 5, and foot 6, respectively. The hydraulic drive devices 1, 2, and 3 include a sensor 1 that detects the rotational position.
0, 11, and 12 are provided, and this signal is sent to a control device 13 that controls the rotation of the hydraulic drive device to control the rotation.
油圧駆動装置１〜３は油圧ポンプ、油圧タンク
からなる油圧装置１４と連絡させる。 The hydraulic drive devices 1 to 3 are connected to a hydraulic device 14 consisting of a hydraulic pump and a hydraulic tank.
制御装置１３及び油圧装置１４は胴に装着する
サポート部材１５の背部に装着されている。 The control device 13 and the hydraulic device 14 are attached to the back of a support member 15 attached to the torso.
前記股側油圧駆動装置１に連結した支持板１６
には上部側に、両側に軸受１７，１７と、この軸
受１７，１７を中心とした略等巨離の部位にゴム
等からなるクツシヨン材１８，１８を嵌める凹溝
１９を設けたホルダー２０を締付けねじ２１等で
着脱可能に取付け、第５図，第７図に示すように
取付けの方向が変えられるようにしてある。 A support plate 16 connected to the crotch side hydraulic drive device 1
The holder 20 has bearings 17, 17 on both sides, and a concave groove 19 in which a cushion material 18, 18 made of rubber or the like is fitted at an approximately equal distance from the bearings 17, 17 on the upper side. It is removably attached using a tightening screw 21 or the like, and the direction of attachment can be changed as shown in FIGS. 5 and 7.
前記ホルダー２０に設けた軸受１７，１７に
は、股上部サポート部材１５に適合させて形成し
て固定する合成樹脂材からなる基盤２２の取付け
板２３からの軸２４を、取付け板２３とホルダー
２０との間に前記クツシヨン材１８，１８を介装
させて軸支する。 A shaft 24 from a mounting plate 23 of a base 22 made of synthetic resin, formed and fixed to the crotch support member 15, is connected to the bearings 17, 17 provided on the holder 20. The cushion members 18, 18 are interposed between the two and are pivotally supported.
取付け板２３には、軸受け側に前記軸２４を嵌
める貫通孔２５を穿つと共に、軸２４をねじ２６
で取付け板２３に固定し、更に取付け板２３は軸
２４を中心として外方向に向け傾斜面２３′に成
形してある。また取付け板２３の他面２３″には
前記基盤２２が取付けてある。 The mounting plate 23 is provided with a through hole 25 on the bearing side into which the shaft 24 is fitted, and the shaft 24 is secured with a screw 26.
The mounting plate 23 is further formed into an inclined surface 23' facing outward about the shaft 24. Further, the base plate 22 is attached to the other surface 23'' of the mounting plate 23.
従つて歩行時に起る下肢の左右の振れや、身体
のひねりを緩衝吸収できるようにする。 Therefore, it is possible to absorb and absorb the side-to-side swings of the lower limbs and the twisting of the body that occur when walking.
次に本発明の作動を説明すると、まず、前記構
成からなる動力装具を障害者が装着した後油圧装
置１４を作動させると、予じめ記憶装置に記憶さ
れた健常者の歩行パターン信号が出力端子に読み
出され、この読み出された歩行パターン信号と、
各油圧駆動装置に設けたセンサ１０〜１２の出力
信号とに基づき制御装置１３から各駆動装置１〜
３の回転方向及び回転速度を制御する信号が出力
され、各駆動装置１〜３が作動して健常者とほぼ
同様な歩行が行なわれる。 Next, to explain the operation of the present invention, first, when a disabled person operates the hydraulic device 14 after wearing the power equipment configured as described above, a walking pattern signal of the able-bodied person stored in advance in the storage device is output. This read walking pattern signal is read out to the terminal,
Based on the output signals of the sensors 10 to 12 provided in each hydraulic drive device, the control device 13
A signal for controlling the rotational direction and rotational speed of the robot 3 is output, and each of the drive devices 1 to 3 is activated, allowing the patient to walk almost in the same way as a healthy person.
以上のように、本発明は、股，膝，足首の関節
を回転させる油圧駆動装置を、大腿部、下腿部、
足部を支持するサポート部材７，８，９と関節部
で互いに回転可能に連結し、駆動装置１〜３は作
動を制御する制御装置１３及び油圧装置１４と連
絡させてなる動力装具において、前記股部側の油
圧駆動装置には支持板１６を連結し、この支持板
１６の上部側には着脱可能で固定するホルダー２
０を設けると共に、ホルダー２０に設けた軸受１
７，１７には股の上部で受止め固定する基盤２２
の取付け板２３を、ホルダー２０と取付け板２２
の間にクツシヨン材１８，１８を介装して軸支さ
せた下肢障害者用動力装具で、この動力装具で
は、股部の上部に設けたホルダー２０と、このホ
ルダー２０に軸支する基盤２２の取付け板２３の
間にクツシヨン材１８を介装して設けてあるの
で、歩行時もしくは立ち座り時で生ずる下肢部の
左右の振れや身体のひねりを緩衝吸収し、身体に
無理をあたえない。従つて人体の損傷を防ぐこと
ができる効果がある。 As described above, the present invention provides a hydraulic drive device that rotates the joints of the thigh, knee, and ankle.
In the power orthosis described above, the support members 7, 8, and 9 supporting the foot are rotatably connected to each other at joints, and the drive devices 1 to 3 are connected to a control device 13 and a hydraulic device 14 that control the operation. A support plate 16 is connected to the hydraulic drive device on the crotch side, and a holder 2 that is removably fixed is attached to the upper side of the support plate 16.
0 and the bearing 1 provided in the holder 20.
7 and 17 have a base 22 that is received and fixed at the upper part of the crotch.
The mounting plate 23 of the holder 20 and the mounting plate 22
This is a power orthosis for people with lower limb disabilities that is pivotally supported with cushioning materials 18, 18 interposed between them, and this power orthosis consists of a holder 20 provided at the upper part of the crotch, and a base 22 that is pivotally supported on this holder 20. Since the cushion material 18 is interposed between the mounting plates 23, it absorbs and absorbs side-to-side shaking of the lower limbs and twisting of the body that occur when walking or standing or sitting, and does not put strain on the body. Therefore, it is effective in preventing injury to the human body.
図面は本発明に係る下肢障害者用動力装具を示
すもので、第１図は従来の動力装具の正面図、第
２図は第１図の一部背面図、第３図は本発明に係
る動力装具の正面図、第４図は第３図の背面図、
第５図は要部の緩衝部の拡大図、第６図は第５図
のＸ―Ｘ線の断面図、第７図は支持板に取付ける
ホルダーの方向を第５図の状態から変えた側面
図、第８図は第７図の平面図である。
１，２，３…油圧駆動装置、４…大腿部、５…
下腿部、６…足部、７，８，９…サポート部材、
１０，１１，１２…センサ、１３…制御装置、１
４…油圧装置、１５…サポート部材、１６…支持
板、１７…軸受け、１８…クツシヨン材、１９…
凹溝、２０…ホルダー、２１…締付けねじ、２２
…基盤、２３…取付け板、２４…軸、２５…貫通
孔。
The drawings show a power orthosis for persons with lower limb disabilities according to the present invention, in which FIG. 1 is a front view of a conventional power orthosis, FIG. 2 is a partial rear view of FIG. 1, and FIG. 3 is a power orthosis according to the present invention. The front view of the power equipment, Figure 4 is the rear view of Figure 3,
Figure 5 is an enlarged view of the main buffer section, Figure 6 is a cross-sectional view taken along the line X--X in Figure 5, and Figure 7 is a side view of the holder attached to the support plate, with the direction changed from that shown in Figure 5. 8 is a plan view of FIG. 7. 1, 2, 3...Hydraulic drive device, 4...Thigh, 5...
Lower leg, 6...foot, 7, 8, 9...support member,
10, 11, 12...sensor, 13...control device, 1
4... Hydraulic device, 15... Support member, 16... Support plate, 17... Bearing, 18... Cushion material, 19...
Concave groove, 20... Holder, 21... Tightening screw, 22
...Base, 23...Mounting plate, 24...Shaft, 25...Through hole.
Claims (1)
置を、大腿部、下腿部、足部を支持するサポート
部材と関節部で互いに回動可能に連結し、油圧駆
動装置は、作動を制御する制御装置及び油圧装置
と、連結させてなる動力装具において、前記股部
側の油圧駆動装置には支持板を連結し、この支持
板の上部側には着脱可能で固定するホルダーを設
けると共に、ホルダーに設けた軸受けには、股の
上部で受止め固定する基盤の取付け板を、ホルダ
ーと取付け板の間にクツシヨン材を介装して軸支
させてなる下肢障害者用動力装具。1 A hydraulic drive device that rotates the joints of the crotch, knee, and ankle is rotatably connected to a support member that supports the thigh, lower leg, and foot at the joints, and the hydraulic drive device rotates the joints of the thigh, knee, and ankle. In the power equipment connected to a control device and a hydraulic device, a support plate is connected to the hydraulic drive device on the crotch side, and a removable and fixing holder is provided on the upper side of the support plate. A power orthosis for persons with lower limb disabilities, in which a mounting plate of a base, which is received and fixed at the upper part of the crotch, is pivotally supported by a bearing provided on the holder, with a cushion material interposed between the holder and the mounting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59056297A JPS60199450A (en) | 1984-03-26 | 1984-03-26 | Power mount for lower limb disabled person |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59056297A JPS60199450A (en) | 1984-03-26 | 1984-03-26 | Power mount for lower limb disabled person |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60199450A JPS60199450A (en) | 1985-10-08 |
| JPS6155976B2 true JPS6155976B2 (en) | 1986-11-29 |
Family
ID=13023178
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59056297A Granted JPS60199450A (en) | 1984-03-26 | 1984-03-26 | Power mount for lower limb disabled person |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60199450A (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1992016177A1 (en) * | 1991-03-13 | 1992-10-01 | Polycane Australia Pty. Ltd. | Walking aid |
| JP4315766B2 (en) | 2003-05-21 | 2009-08-19 | 本田技研工業株式会社 | Walking assist device |
| JP4112430B2 (en) | 2003-05-21 | 2008-07-02 | 本田技研工業株式会社 | Walking assist device |
| JP4624200B2 (en) * | 2005-07-11 | 2011-02-02 | 学校法人東京理科大学 | Walking assist device |
| JP2015208795A (en) * | 2014-04-24 | 2015-11-24 | パナソニック株式会社 | Operation assisting device |
| JP2018158403A (en) * | 2017-03-22 | 2018-10-11 | 株式会社ジェイテクト | Assist device |
-
1984
- 1984-03-26 JP JP59056297A patent/JPS60199450A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60199450A (en) | 1985-10-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20130253385A1 (en) | Motorized exoskeleton unit | |
| CN109646245B (en) | Steering mechanism for lower limb exoskeleton robot | |
| KR20140088757A (en) | Standing up assistant wheelchair | |
| US8142379B2 (en) | Orthopedic arm and shoulder brace | |
| CN107260494A (en) | Assistant robot | |
| KR101787555B1 (en) | Walking assist device implemented the movement of pelvis | |
| CN110051503A (en) | A kind of (rehabilitation) robot based on human body lower limbs ectoskeleton | |
| CN110074949A (en) | A kind of lower limb exoskeleton robot and application method | |
| JP2009195646A (en) | Walking steering device | |
| JP2000107213A (en) | Auxiliary joint using ultrasonic motor | |
| WO2017093830A1 (en) | Dual-use exoskeleton convertible into a walking aid and a wheelchair | |
| JPS6155976B2 (en) | ||
| JPS58163364A (en) | Power accessory for lower limb disabled person | |
| CA2170959A1 (en) | Invalid chair with pivotal foot rest | |
| US3463146A (en) | Invalid mobility device | |
| Townsend et al. | Powered walking machine prosthesis for paraplegics | |
| JP2759636B2 (en) | Walking aids | |
| CN114888778A (en) | Compatible lower limb exoskeleton robot | |
| KR20190044391A (en) | Walking supporter using air pressure | |
| Rose et al. | Swivel walkers for paraplegics: considerations and problems in their design and application | |
| KR20200029069A (en) | A wheelchair using in combination with walking assistant robot | |
| de Miguel-Fernández et al. | Biomechanical Effects of a Passive Hip Structure in a Knee Exoskeleton for People with Spinal Cord Injury: A Comparative Case Study | |
| USRE28103E (en) | Izoli izxl | |
| LU501045B1 (en) | Sitting type walking lower limb exoskeleton | |
| Chen et al. | A Novel Lower Limb Rehabilitation Exoskeleton Combined with Wheelchair |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |