JPWO2014034145A1 - Auxiliary tool - Google Patents

Abstract

Auxiliary device for assisting body movement, comprising: a mounting portion attached to the body; an actuator including a polymer material that expands or contracts when a voltage is applied; and a mounting portion that attaches the actuator to the mounting portion. The part is detachably attached together with the actuator, and positioning means for positioning the actuator in the mounting part is provided.

Description

  The present invention relates to an auxiliary tool.

An auxiliary tool that assists a user's muscle strength is known (see, for example, Patent Document 1).
[Patent Document 1] Japanese Patent Application Laid-Open No. 2003-153828

  Since the above-mentioned auxiliary tools can be worn like clothes, it is preferable that they can be washed when soiled. However, in the case of an auxiliary tool using an actuator that operates by applying a voltage, there is a problem that it cannot be easily washed.

  According to a first aspect of the present invention, there is provided an auxiliary tool for assisting the movement of the body, an attachment portion attached to the body, an actuator including a polymer material that expands or contracts when a voltage is applied, and the actuator. A mounting portion attached to the mounting portion, and the mounting portion is detachably attached together with the actuator.

  It should be noted that the above summary of the invention does not enumerate all the necessary features of the present invention. In addition, a sub-combination of these feature groups can also be an invention.

FIG. 3 is a front view of a user wearing the auxiliary tool 10. FIG. 3 is a rear view of a user wearing the auxiliary tool 10. 3 is a block diagram illustrating a control system of the auxiliary tool 10. FIG. 5 is a flowchart of auxiliary tool control processing executed by the auxiliary tool 10. It is a right view explaining auxiliary tool 110 which changed the attachment position of an artificial muscle part. It is a front view explaining the auxiliary tool 210 which changed the attachment position of the artificial muscle part. It is a right view explaining the auxiliary tool 210 which changed the attachment position of the artificial muscle part. It is a front view explaining the auxiliary tool 310 which changed the attachment position of the artificial muscle part. It is a front view explaining the auxiliary tool 410 which changed attachment of the artificial muscle part. It is a front view explaining the auxiliary tool 510 which changed attachment of the power supply part 20. FIG. It is a front view explaining the auxiliary tool 610 which changed the attaching part. It is a front view of the auxiliary tool 710 which assists an upper body. It is a rear view of the auxiliary | assistant tool 710 which assists an upper body. It is a front view of the user wearing the auxiliary tool 810. It is a block diagram explaining the control system of the auxiliary tool 810. FIG. 5 is a flowchart of an artificial muscle control process executed by an auxiliary tool 810. It is a front view of a user wearing an auxiliary tool 910. It is a rear view of the user wearing the auxiliary tool 910. It is a front view of a user in the state where an artificial muscle part of auxiliary tool 910 was removed. It is a front view of the user of the state which changed the attachment position of the artificial muscle part. It is a front view of a user in the state where a fixed part is attached. An example of an attaching part and a to-be-attached part is shown. An example of the connection structure of a power wiring and a buckle is shown. The other example of a connection structure of an electric power wiring and a buckle is shown.

  Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. In addition, not all the combinations of features described in the embodiments are essential for the solving means of the invention.

  FIG. 1 is a front view of a user wearing the auxiliary tool 10. FIG. 2 is a rear view of the user wearing the auxiliary tool 10. The vertical and horizontal directions indicated by arrows in FIG. 1 are the vertical and horizontal directions of the auxiliary tool 10. Further, the front and rear directions viewed from the user are the front and rear directions of the auxiliary tool 10.

  It is assumed that the user wears a shirt 80 on the upper body and wears trousers 82 on the lower body. A belt 84 is wound around the waist of the body of the trousers 82. The belt 84 has a buckle 86 disposed on the front surface of the body. The upper part of the shirt 80 is formed so as not to deviate from the shoulder. The hem of the pants 82 is narrowed so as not to be displaced from the ankle. The inner surface of the shirt 80 and the trousers 82 may be configured like a diving suit that is in close contact with the user's body. The shirt 80, the trousers 82, and the belt 84 are an example of a mounting portion that is attached to the body. Furthermore, the belt 84 is an example of the portion of the mounting portion that is fixed to the body.

  The auxiliary tool 10 assists the movement of the user's body. As shown in FIGS. 1 and 2, the auxiliary device 10 includes an anterior right artificial muscle portion 12, an anterior left artificial muscle portion 14, a posterior right artificial muscle portion 16, an posterior left artificial muscle portion 18, and a power supply portion 20. And a right detection unit 22 and a left detection unit 24, which are examples of the detection unit, a mounting detection unit 26, and a control unit 28.

  The front right artificial muscle portion 12 includes a front right actuator 30, a pair of front right attachment portions 32, and a power wiring 34.

  The front right actuator 30 is formed to extend in the vertical direction. One end of the front right actuator 30 in the up-down direction, that is, the longitudinal direction, is disposed on the front surface of the shirt 80 above the right foot and above the belt 84 and the waist of the user. The other end in the longitudinal direction of the front right actuator 30 is disposed on the front surface of the trousers 82 below the knee of the right foot. The front right actuator 30 is provided so as to straddle the waist and knee joints of the user's torso.

  The front right actuator 30 includes a polymer material that expands and contracts when a voltage is applied. When a voltage is applied, the front right actuator 30 expands and contracts in the vertical direction, that is, in the longitudinal direction. As a result, the front right actuator 30 contracts to assist the user's right leg ascending when walking.

  An example of the polymer material is a crosslinked polyrotaxane. The front right actuator 30 is produced by winding a sheet member in which both surfaces of a planar polyrotaxane crosslinked body are sandwiched between stretchable electrodes. Here, the longitudinal direction of the front right actuator 30 is parallel to the axial direction of the wound sheet member. Since the front right actuator 30 has flexibility, it can reduce a user's uncomfortable feeling when walking in a worn state.

  Another example of the polymer material is a polypyrrole film. The polypyrrole film immersed in the electrolytic solution expands or contracts when a voltage is applied. For example, when a positive voltage is applied, the polypyrrole film expands. When a negative voltage is applied, the polypyrrole film contracts. Note that when the front right actuator 30 includes a polypyrrole film, an electrolyte is required, and thus the front right actuator 30 needs to be sealed.

  Another example of a polymeric material is polyvinyl chloride (PVC) gel. Provided in contact with the outer surfaces of the mesh body made of a conductive material, the first PVC gel and the second PVC gel disposed opposite to each other at a position sandwiching the mesh body, and the first PVC gel and the second PVC gel. The first electrode and the second electrode are formed. In a state in which no voltage is applied between the mesh body and the opposing surfaces of the first and second PVC gels, the mesh body is connected to the anode, the first and second electrodes are connected to the cathode, When a voltage is applied between the body and the first and second electrodes, part of the first and second PVC gels enter the mesh holes of the mesh body and are displaced in the thickness direction. Note that PVC is an example of a material constituting the gel, and dielectric polymer materials such as polymethyl methacrylate, polyurethane, polystyrene, polyvinyl acetate, and nylon 6 may be used. Further, an actuator made of PVC gel may be laminated to improve the output of the actuator. In this case, the mesh body of each actuator is connected to the anode, and the first and second electrodes are each connected to the cathode.

  The pair of front right attachment portions 32 attaches both ends of the front right actuator 30 in the expansion / contraction direction to clothes. One front right attachment portion 32 is provided at the upper end portion of the front right actuator 30 and attached to the front surface of the shirt 80. Note that the upper end portion of the front right actuator 30 may be attached to the belt 84 that is difficult to move due to the stretching force via the one front right attachment portion 32. Thus, by attaching to the belt 84 fixed to the body, the front right attachment portion 32 can reliably support the upper end portion of the front right actuator 30 that becomes a fulcrum during expansion and contraction. The other front right attachment portion 32 is provided at the lower end portion of the front right actuator 30 and attached to the front surface of the pants 82. The front right attachment portion 32 is detachably attached to the shirt 80 or the trousers 82 together with the front right actuator 30 by a button, a chuck, a magic tape (registered trademark), or the like. Part of the pair of front right mounting portions 32 is preferably made of an elastic member such as rubber.

  One end of the power wiring 34 is electrically connected to the front right actuator 30 via the upper front right mounting portion 32. The other end of the power wiring 34 is connected to the power supply unit 20. As a result, the power wiring 34 electrically connects the front right actuator 30 and the power supply unit 20.

  Since the front left artificial muscle part 14, the rear right artificial muscle part 16, and the rear left artificial muscle part 18 have the same configuration as the front right artificial muscle part 12, their description is omitted except for the differences.

  The front left artificial muscle portion 14 includes a front left actuator 36, a pair of front left attachment portions 38, and a power wiring 40. The front left actuator 36 is attached to the front surface of the trousers 82 from the front surface of the shirt 80 above the waist to the lower part of the knee of the left foot by a pair of front left mounting portions 38. Note that one end of the front left actuator 36 may be attached to the belt 84 that is difficult to move due to the expansion and contraction force. The front left actuator 36 contracts to assist the user's left leg ascending when walking. The power wiring 40 electrically connects the front left actuator 36 and the power supply unit 20.

  The rear right artificial muscle portion 16 includes a rear right actuator 42, a pair of rear right attachment portions 44, and a power wiring 46. The rear right actuator 42 is attached to the rear surface of the trouser 82 by a pair of rear right attachment portions 44 from the rear surface of the trouser 82 at the base of the right foot to the vicinity of the ankle below the knee of the right foot. The rear right actuator 42 may be attached to the belt 84, the shirt 80, or the like. Further, the rear right actuator 42 may have a length up to below the knee. The rear right actuator 42 is disposed inside the pocket 88 of the trousers 82. The pocket 88 is preferably made of a material that can expand and contract with the expansion and contraction of the rear right actuator 42. Thereby, it can be prevented that the pocket 88 hinders the expansion and contraction of the rear right actuator 42. Further, it is possible to prevent the rear right actuator 42 from being deformed in the direction in which the pocket 88 intersects the expansion / contraction direction. The rear right actuator 42 contracts to assist the user's right foot ascending when kicking the ball. The power wiring 46 electrically connects the rear right actuator 42 and the power supply unit 20 via a wiring disposed on the back of the belt 84.

  The rear left artificial muscle portion 18 includes a rear left actuator 48, a pair of rear left attachment portions 50, and a power wiring 52. The rear left actuator 48 is attached to the rear surface of the trouser 82 by a pair of rear left mounting portions 50 from the rear surface of the trouser 82 at the base of the left foot to the vicinity of the ankle below the knee of the left foot. The rear left actuator 48 may be attached to the belt 84 and the shirt 80. Further, the rear left actuator 48 may have a length up to below the knee. The pocket 88 is preferably made of a material that can expand and contract with the expansion and contraction of the rear left actuator 48. The rear left actuator 48 is disposed inside the pocket 88 of the trousers 82. The rear left actuator 48 assists in raising the user's left foot when kicking the ball by contracting. The power wiring 52 electrically connects the rear left actuator 48 and the power supply unit 20 via a wiring disposed on the back of the belt 84.

  The power supply unit 20 is provided on the buckle 86 of the belt 84. The power supply unit 20 is electrically connected to the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 so as to be able to supply power.

  The right detection unit 22 is provided in the vicinity of the knee of the user's right foot. The right detection unit 22 detects an acceleration corresponding to the movement of the user's right foot. An example of the right detection unit 22 is a triaxial acceleration sensor. The right detection unit 22 is electrically connected to the control unit 28 via the wiring 54. The right detection unit 22 outputs a right acceleration signal corresponding to the movement and acceleration of the user's right foot to the control unit 28. The right acceleration signal is an example of a detection signal.

  The left detection unit 24 is provided in the vicinity of the knee of the user's left foot. The left detection unit 24 is a three-axis acceleration sensor, and detects an acceleration corresponding to the movement of the user's left foot. The left detection unit 24 outputs a left acceleration signal corresponding to the movement and acceleration of the user's left foot to the control unit 28 via the wiring 56. The left acceleration signal is an example of a detection signal.

  The attachment detection unit 26 is provided on the buckle 86 of the belt 84. An example of the attachment detection unit 26 is a pressure sensor. The attachment detection unit 26 detects pressure for determining attachment of the belt 84. The attachment detection unit 26 is electrically connected to the control unit 28. When the belt 84 is worn by the user and pressure is applied to the belt 84, the attachment detection unit 26 outputs a pressure signal corresponding to the pressure to the control unit 28.

  The control unit 28 governs overall control of the auxiliary tool 10. An example of the control unit 28 is a computer.

  FIG. 3 is a block diagram illustrating a control system of the auxiliary tool 10. As shown in FIG. 3, the control unit 28 includes a processing unit 60 and a storage unit 62. The processing unit 60 functions as an acquisition unit 64, a determination unit 66, and a power supply control unit 68 by reading the auxiliary tool control program stored in the storage unit 62.

  The acquisition unit 64 acquires a right acceleration signal and a left acceleration signal from the right detection unit 22 and the left detection unit 24. The acquisition unit 64 acquires a pressure signal from the mounting detection unit 26. The acquisition unit 64 outputs the acquired acceleration signal and pressure signal to the determination unit 66.

  The determination unit 66 acquires the right acceleration signal and the left acceleration signal from the acquisition unit 64. The determination unit 66 calculates the right speed that is the speed of the right foot based on the right acceleration signal. The determination unit 66 determines the moving direction, speed, and stop of the right foot from the sign of the calculated right speed. The determination unit 66 integrates the calculated right speed to detect the right uppermost position, which is the position where the right foot is most raised. The determination unit 66 calculates a left speed that is the speed of the left foot from the left acceleration signal. The determination unit 66 determines the moving direction, speed, and stop of the left foot from the left speed. The determination unit 66 integrates the calculated left speed to detect the left uppermost position, which is the position where the left foot is most raised. The determination unit 66 stores the detected right uppermost position and left uppermost position in the storage unit 62.

  The determination unit 66 acquires a pressure signal from the acquisition unit 64. The determination unit 66 detects the pressure acting on the belt 84 from the pressure signal, and determines whether the belt 84 is worn by the user or not. When the determination unit 66 determines that the belt 84 is attached, the power control unit outputs the right movement signal and the left movement signal indicating the rising, lowering, and stopping of the right foot and the left foot detected based on the right acceleration signal and the left acceleration signal. Output to 68. The speed of ascending and descending may be included in the right movement signal and the left movement signal.

  When the belt 84 is attached, the power supply control unit 68 controls the power supply unit 20 based on the right movement signal and the left movement signal detected by the determination unit 66 based on the right acceleration signal and the left acceleration signal. Thus, when the belt 84 is attached, the power source unit 20 supplies power to the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48, or supplies power. Stop.

  FIG. 4 is a flowchart of auxiliary tool control processing executed by the auxiliary tool 10. The auxiliary tool control process is executed by the processing unit 60 reading the auxiliary tool control program stored in the storage unit 62.

  As shown in FIG. 4, in the auxiliary tool control process, first, the acquisition unit 64 acquires a pressure signal from the mounting detection unit 26 and outputs the pressure signal to the determination unit 66 (S10). The determination unit 66 determines whether or not the belt 84 is attached to the user based on the acquired pressure signal (S12). Steps S10 and S12 are repeated until the determination unit 66 determines that the belt 84 is attached to the user.

  If the determination part 66 determines with the belt 84 having been mounted | worn by the user (S12: Yes), it will output that to the acquisition part 64. The acquisition unit 64 acquires the right acceleration signal and the left acceleration signal from the right detection unit 22 and the left detection unit 24, and outputs them to the determination unit 66 (S14).

  The determination unit 66 calculates the right velocity of the right foot and the left velocity of the left foot based on the acquired right acceleration signal and left acceleration signal (S16). The determination unit 66 outputs a right movement signal or a left movement signal including ascending, descending, and stopping determined according to the right speed and the left speed to the power supply control unit 68 (S18).

  The power supply control unit 68 controls the power supply unit 20 based on the acquired right movement signal or left movement signal (S20). For example, when the power control unit 68 acquires a right movement signal indicating that the right foot is moving forward, the power control unit 68 supplies power to the front right actuator 30 from the power supply unit 20. As a result, a voltage is applied to the front right actuator 30. An example of the applied voltage is the maximum voltage at which the front right actuator 30 can exert the maximum stretching force. As a result, the front right actuator 30 contracts and raises the right foot forward. In this case, the power supply control unit 68 may cause the rear right actuator 42 to supply power and expand the power, or may not supply power. The power supply control unit 68 does not supply power to other actuators.

  In addition, when the power control unit 68 acquires a left movement signal indicating that the left foot is rising backward, the power control unit 68 supplies power from the power supply unit 20 to the rear left actuator 48. As a result, the rear left actuator 48 contracts and raises the left foot backward. When the rear left actuator 48 can be contracted by elastic force, the power supply control unit 68 stops the supply of power to the rear left actuator 48 when the left movement signal is acquired, It may be contracted. In this case, the power supply control unit 68 may cause the front left actuator 36 to supply power and expand the power, or may not supply power. The power supply control unit 68 does not supply power to other actuators.

  Next, the acquisition part 64 acquires a pressure signal similarly to step S10, and outputs it to the determination part 66 (S22). The determination unit 66 determines whether or not the state where the belt 84 is attached is maintained based on the pressure signal (S24). If the determination part 66 determines with the state with the belt 84 mounted | worn being maintained (S24: Yes), it will repeat step S14 and subsequent steps. On the other hand, when the determination unit 66 determines that the belt 84 is not attached, that is, the user has removed the belt 84 (S24: No), the auxiliary tool control process is terminated.

  As described above, since the auxiliary tool 10 is attached to the body by the shirt 80 or the like, the auxiliary forces of the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 are efficiently transmitted to the body. be able to. Thereby, the auxiliary tool 10 can fully assist the user's muscle strength during walking.

  In the auxiliary tool 10, the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 are formed by the front right attachment portion 32, the front left attachment portion 38, the rear right attachment portion 44, and the rear left attachment portion 50. Put on clothes. Accordingly, the user can wear clothes with a part or one end of the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 attached to the clothes. Accordingly, the user can easily attach the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48.

  In the auxiliary tool 10, the power supply unit 20, the mounting detection unit 26, and the control unit 28 are attached to the buckle 86 of the belt 84. As a result, when the user sits on a chair or sleeps on the side, the power supply unit 20, the mounting detection unit 26, and the control unit 28 do not interfere with the user. Further, since the expansion and contraction force of the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 does not act on the belt 84, the weight of the power supply unit 20, the mounting detection unit 26, and the control unit 28 is reduced. The resistance of the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 can be prevented from obstructing expansion and contraction.

  Next, the form which changed a part of auxiliary tool control process mentioned above is demonstrated.

  The determination unit 66 acquires the past history of the uppermost right position and the uppermost left position, which is the position where the right foot and the left foot are most raised, from the storage unit 62, determines the user's state, and then performs the right movement signal and the left movement signal. May be output. For example, when the calculated right uppermost position is lower than the average of past right uppermost positions, the determination unit 66 determines that the user's state is not good. Based on the determination result, the determination unit 66 outputs a right movement signal so that the contraction amount of the front right actuator 30 is larger than the initial value. Thereby, the power supply control unit 68 increases the voltage applied to the front right actuator 30. As a result, the front right actuator 30 contracts more than the initial value and raises the user's right foot to the average of the past right uppermost positions. Moreover, the determination part 66 may determine a user's state, after a user walks several steps. In this case, the power supply control unit 68 controls the power supply unit 20 after the user walks several steps. Note that the user's state may be determined based on the stride of the user's right foot and left foot instead of the user's right uppermost position and left uppermost position. The stride may be calculated from the forward component of the speed of the right foot and the left foot. Alternatively, the user's state may be determined by a change in the amount of movement of a predetermined position of the foot (knee, ankle, heel, etc.) when the foot is taken one step. In this case, if the amount of change is large or constant without change, the state of the user is good, and if the amount of change is small, it is determined that the state of the user is bad and the stretching force is increased.

  The determination unit 66 may determine whether the user is climbing up or down a hill or the like based on the uppermost right position and the uppermost left position, and output the determination result to the power supply control unit 68. In this case, the power supply control unit 68 may increase the voltage from the average voltage when the user is up, and lower the voltage from the average voltage when the user is down. The average voltage is a voltage applied when the user is walking on a flat ground.

  Next, the form which changed the attachment position of the artificial muscle part mentioned above is demonstrated.

  FIG. 5 is a right side view illustrating the auxiliary tool 110 in which the attachment position of the artificial muscle portion is changed. As shown in FIG. 5, the auxiliary tool 110 includes a front right artificial muscle portion 112 and a rear right artificial muscle portion 116. The front right artificial muscle portion 112 is attached to the front side of the right side surface of the shirt 80 and the trousers 82. The front right artificial muscle portion 112 includes a front right actuator 130 and a pair of front right attachment portions 132. The power wiring connecting the front right actuator 130 and the power supply unit 20 is omitted.

  The upper end of the front right actuator 130 is attached to the front side of the right side surface of the shirt 80 above the belt 84 via the front right attachment portion 132. The upper end of the front right actuator 130 may be attached to the belt 84. The lower end of the front right actuator 130 is attached to the front side of the right side surface of the trousers 82 below the knee via the front right attachment portion 132.

  Further, the rear right artificial muscle portion 116 is attached to the rear side of the right side surface of the trousers 82. The rear right artificial muscle portion 116 includes a rear right actuator 142 and a pair of rear right attachment portions 144. The power wiring is omitted. The upper end of the rear right actuator 142 is attached to the rear side of the right side surface of the trousers 82 below the belt 84 via the rear right attachment portion 144. Note that the upper end of the rear right actuator 142 may be attached to the shirt 80. The lower end of the rear right actuator 142 is attached to the rear side of the right side surface of the trousers 82 below the knee. In the same manner, the front left artificial muscle portion and the rear left artificial muscle portion are also attached to the left side surface.

  FIG. 6 is a front view for explaining the auxiliary tool 210 in which the attachment position of the artificial muscle portion is changed. FIG. 7 is a right side view illustrating the auxiliary tool 210 in which the attachment position of the artificial muscle portion is changed. As shown in FIGS. 6 and 7, the assisting device 210 includes a first right artificial muscle portion 212, a first left artificial muscle portion 214, a second right artificial muscle portion 216, and a second left artificial muscle portion 218. Is provided.

  The first right artificial muscle portion 212 includes a first right actuator 230 and a pair of first right attachment portions 232. The upper end of the first right actuator 230 is attached to the right outer surface of the trousers 82 above the knee via the first right attachment portion 232. Note that the upper end of the first right actuator 230 may be attached to the belt 84 or the shirt 80. The lower end of the first right actuator 230 is attached to the inner surface on the right side of the trousers 82 below the knee via the first right attachment portion 232. A central portion of the first right actuator 230 is disposed on the front surface of the trousers 82.

  The second right artificial muscle portion 216 includes a second right actuator 242 and a pair of second right attachment portions 244. The lower end of the second right actuator 242 is attached to the right outer surface of the trousers 82 below the knee via the second right attachment portion 244. The upper end of the second right actuator 242 is attached to the inner surface on the right side of the trousers 82 above the knee via the second right attachment portion 244. The upper end of the second right actuator 242 may be attached to the belt 84 or the shirt 80. The center portion of the second right actuator 242 is disposed on the right front surface of the trousers 82. Thus, the first right actuator 230 and the second right actuator 242 intersect at the front side of the trousers 82 below the knee. The first right actuator 230 and the second right actuator 242 cross below the knee in the illustrated example.

  Similarly, the first left artificial muscle portion 214 includes a first left actuator 236 and a pair of first left attachment portions 238. The second left artificial muscle portion 218 includes a second left actuator 248 and a pair of second left attachment portions 250. The first left actuator 236 and the second left actuator 248 are attached by the first left attachment portion 238 and the second left attachment portion 250 so as to intersect at the front side on the left side of the trousers 82. The first left actuator 236 and the second left actuator 248 cross below the knee in the illustrated example.

  In the auxiliary tool 210, when the user moves forward, a voltage is applied to all of the first right actuator 230, the second right actuator 242, the first left actuator 236, and the second left actuator 248 to contract. At this time, the intersection of the first left actuator 236 and the second left actuator 248 and the intersection of the first right actuator 230 and the second right actuator 242 are respectively located below the knees. You can hook the intersection to the knee. Thereby, an upward force can be more effectively applied to the knee. In the auxiliary tool 210, when the user proceeds in the right direction, a voltage is applied to at least one of the first right actuator 230 and the second left actuator 248. In the auxiliary tool 210, when the user proceeds in the left direction, a voltage is applied to at least one of the second right actuator 242 and the first left actuator 236.

  FIG. 8 is a front view for explaining the auxiliary tool 310 in which the attachment position of the artificial muscle portion is changed. As shown in FIG. 8, the auxiliary tool 310 includes a front right artificial muscle portion 312 and a front left artificial muscle portion 314. The upper end of the front right actuator 330 of the front right artificial muscle portion 312 is attached to the position of the belt 84 corresponding to the waist by the front right attachment portion 332 at the right side of the buckle 86. Under the front right actuator 330, it is attached to the position of the front surface of the trousers 82 corresponding to the foot by the front right attachment portion 332. The upper left of the front left actuator 336 of the front left artificial muscle portion 314 is attached to the position of the belt 84 corresponding to the waist by the front left attachment portion 338 on the left side of the buckle 86. The lower left of the front left actuator 336 of the front left artificial muscle portion 314 is attached to the front surface of the trouser 82 corresponding to the foot by the front left attachment portion 338.

  FIG. 9 is a front view for explaining the auxiliary tool 410 in which the attachment of the artificial muscle portion is changed. As shown in FIG. 9, the auxiliary tool 410 includes a right artificial muscle portion 412 and a left artificial muscle portion 414. The right artificial muscle portion 412 includes a right actuator 430 and a pair of right attachment portions 432. The upper end of the right actuator 430 is attached to the right front surface of the trousers 82 via the right attachment portion 432. The lower end of the right actuator 430 is attached to the right front surface of the trousers 82 via the right attachment portion 432. The right actuator 430 is attached to the trousers 82 so as to wind the right leg of the user and the right side of the trousers 82.

  The left artificial muscle portion 414 includes a left actuator 436 and a pair of left attachment portions 438. The left actuator 436 has an upper end and a lower end attached to the trousers 82 by the left attachment portion 438 so as to wind the left foot of the user and the left side of the trousers 82.

  In the auxiliary tool 410, since the right actuator 430 and the left actuator 436 are wound around the right foot and the left foot, the user can exert more force than usual. Further, the user's force can be adjusted by controlling the winding force of the right actuator 430 and the left actuator 436.

  FIG. 10 is a front view for explaining the auxiliary tool 510 in which the attachment of the power supply unit 20 is changed. As shown in FIG. 10, the auxiliary tool 510 further includes a holding part 570. The holding unit 570 holds the power supply unit 20, the mounting detection unit 26, and the control unit 28. The holding part 570 is attached so as to be movable along the belt 84. Thereby, the power supply unit 20, the mounting detection unit 26, and the control unit 28 can move along the belt 84 together with the holding unit 570.

  FIG. 11 is a front view for explaining the auxiliary tool 610 with the mounting portion changed. As shown in FIG. 11, the auxiliary tool 610 includes a front right artificial muscle portion 612 and a front left artificial muscle portion 614. The front right actuator 630 of the front right artificial muscle portion 612 is sewn to the front surface of the trousers 82 by the front right attachment portion 632. The front left actuator 636 of the front left artificial muscle portion 614 is sewn to the front surface of the trouser 82 by the front left attachment portion 638. Thus, when the front right actuator 630 and the front left actuator 636 are sewn, the clothes such as the trousers 82 to be sewn are preferably made of a material that can be stretched and contracted along with the expansion and contraction of the front right actuator 630 and the front left actuator 636. Thereby, the trousers 82 can be prevented from obstructing the expansion and contraction of the front right actuator 630 and the front left actuator 636. Further, it is possible to prevent the front right actuator 630 and the front left actuator 636 from being deformed in the direction in which the trousers 82 intersect the extension / contraction direction.

  The numerical values such as the shape, arrangement, material, number, etc. of the configuration of each embodiment described above may be changed as appropriate. Moreover, you may combine each embodiment.

  For example, although an example in which two or four actuators are provided has been shown, one or more actuators may be provided.

  In the above-described embodiment, the right detection unit 22 and the left detection unit 24 output the acceleration of the right foot and the left foot, respectively, to detect the movement of the user. However, the other detection unit detects the movement of the other part of the user. You may make it do. Specifically, the movement of the user's right hand, left hand, waist, head, etc. may be detected by the detection unit.

  In the above-mentioned embodiment, the example which attaches an actuator to the shirt 80, the trousers 82, and the belt 84 was shown, However, You may attach an actuator to another clothes. For example, an actuator may be attached to an underwear, a garter belt, or the like.

  In order to assist the upper body such as the back and the elbow, an actuator may be provided on the suspender, shirt, or the like. FIG. 12 is a front view of an auxiliary tool 710 that assists the upper body. FIG. 13 is a rear view of an auxiliary tool 710 that assists the upper body. As shown in FIGS. 12 and 13, the auxiliary tool 710 includes a right artificial muscle portion 712 and a left artificial muscle portion 714. The right artificial muscle portion 712 includes a right actuator 730 and a pair of right attachment portions 732. One right attachment portion 732 attaches the front end of the right actuator 730 to the shirt 80 below the right shoulder. The other right attachment portion 732 attaches the rear end of the right actuator 730 to the right portion of the belt 84. The left artificial muscle portion 714 includes a left actuator 736 and a pair of left attachment portions 738. One left attachment portion 738 attaches the front end of the left actuator 736 to a portion of the shirt 80 below the left shoulder. The other left attachment portion 738 attaches the rear end of the left actuator 736 to the left portion of the belt 84. Thereby, the right actuator 730 and the left actuator 736 are attached across the user's shoulder. As a result, the auxiliary tool 710 can assist muscle strength when the user lifts something.

  The end portion of the actuator may be directly attached to the body by a band or the like through the attachment portion.

  The actuator may be of a type that expands or contracts by voltage application, or a type that contracts.

  Next, an auxiliary tool 810 that assists the user with the actuator and detects the movement of the user will be described.

  FIG. 14 is a front view of a user wearing the auxiliary tool 810. As shown in FIG. 14, the auxiliary tool 810 omits the right detection unit 22, the left detection unit 24, and the mounting detection unit 26 from the auxiliary tool 10 of FIG.

  In the auxiliary tool 810, the polymer materials included in the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 output an electromotive force when they are expanded and contracted by an external force. For example, when the user moves the right foot, the front right actuator 30 is deformed by an external force resulting from the movement, generates an electromotive force, and outputs the electromotive force. Further, the front right actuator 30 generates an electromotive force when it receives a load from the right foot of the user in a state where the voltage is applied from the power supply unit 20 to expand and contract. In this case, the working voltage that is the voltage acting on both ends of the front right actuator 30 is smaller than the applied voltage that is the voltage applied from the power supply unit 20. The difference between the working voltage at both ends of the front right actuator 30 and the applied voltage applied from the power supply unit 20 becomes an electromotive force due to the deformation of the front right actuator 30 due to the movement of the right foot of the user. The front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 are a front right working voltage, a front left working voltage, a rear right working voltage, and a rear that are voltages acting at both ends. The left working voltage is output to the control unit 828. The front right working voltage, the front left working voltage, the rear right working voltage, and the rear left working voltage include an electromotive force and a voltage applied from the power supply unit 20.

  FIG. 15 is a block diagram for explaining a control system of the auxiliary tool 810. As illustrated in FIG. 15, the control unit 828 includes a processing unit 860 and a storage unit 62. The processing unit 860 functions as the acquisition unit 64, the calculation unit 866, and the power supply control unit 68 by reading the auxiliary tool control program stored in the storage unit 62.

  The acquisition unit 64 includes a front right working voltage, a front left working voltage, and a rear right working voltage, which are voltages acting on both ends of the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48. And the rear left working voltage is obtained. The acquisition unit 64 outputs each working voltage to the calculation unit 866. It should be noted that the operating voltages in the state where the applied voltage is not applied to the front right actuator 30, the front left actuator 36, the rear right actuator 42 and the rear left actuator 48 from the power supply unit 20 are the front right actuator 30 and the front left actuator 36. The electromotive force generated in the rear right actuator 42 and the rear left actuator 48.

  The calculation unit 866 acquires each applied voltage or electromotive force from the acquisition unit 64. The calculating unit 866 applies the front right applied voltage, the front left applied voltage, and the rear right applied voltage applied to each of the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 from the power supply control unit 68. And the back left applied voltage is acquired.

  The calculating unit 866 compares each applied voltage and each working voltage individually, and the front right electromotive force generated by the external force acting on the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48. The front left electromotive force, the rear right electromotive force, and the rear left electromotive force are calculated. The external force acts by, for example, the user bending and stretching the foot.

  The calculation unit 866 calculates the amount of front right expansion / contraction of the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 that are expanded / contracted according to the external force acting by the user's movement from the calculated electromotive forces. The left expansion amount, the rear right expansion amount, and the rear left expansion amount are calculated. The front right expansion amount, front left expansion amount, rear right expansion amount and rear left expansion amount are only the expansion amounts corresponding to the electromotive force, and are examples of calculated values.

  The calculation unit 866 calculates and determines the moving direction and stop of the movement of the right foot and the left foot by the user based on each expansion / contraction amount calculated from the electromotive force. The calculation unit 866 generates a right movement signal and a left movement signal based on the movement direction and stop of each of the right foot and the left foot, and outputs them to the power supply control unit 68.

  The power supply control unit 68 controls the power supply unit 20 based on the right movement signal and the left movement signal corresponding to the expansion / contraction amount calculated by the calculation unit 866. As a result, the power supply unit 20 supplies power to one of the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48, or stops supplying power.

  FIG. 16 is a flowchart of auxiliary tool control processing executed by the auxiliary tool 810. The auxiliary tool control process is executed by the processing unit 860 reading the auxiliary tool control program stored in the storage unit 62.

  As shown in FIG. 16, in the auxiliary tool control processing, first, the acquisition unit 64 acquires the electromotive forces of the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48, and the calculation unit 866 Is output (S110). Initially, no voltage is applied to the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48. Therefore, the working voltage acting on both ends of the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 becomes an electromotive force. The calculation unit 866 determines whether the user has moved based on the acquired electromotive force (S112). If the calculation unit 866 determines that the acquired electromotive force is “0” and the user is not moving (S112: No), steps S110 and S112 are repeated.

  When determining that the user has moved from the acquired electromotive force (S112: Yes), the calculating unit 866 calculates the amount of expansion / contraction of the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 from the electromotive force. (S114).

  The calculating unit 866 calculates the moving direction of the right foot and the left foot from the amount of expansion / contraction (S116). The calculation unit 866 outputs a right movement signal and a left movement signal corresponding to the calculated movement direction to the power supply control unit 68 (S118).

  Next, the power supply control unit 68 controls the power supply unit 20 according to the right movement signal and the left movement signal acquired from the calculation unit 866, and the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear Electric power is supplied to the left actuator 48 (S120).

  For example, when the power control unit 68 acquires a right movement signal indicating that the right foot is moving forward, the power control unit 68 supplies power to the front right actuator 30 from the power supply unit 20. As a result, the applied voltage is applied to the front right actuator 30 by the power supply unit 20. An example of the applied voltage is a maximum voltage at which the front right actuator 30 can exert the maximum stretching force. As a result, the front right actuator 30 contracts and raises the right foot forward. In this case, the power supply control unit 68 may cause the rear right actuator 42 to supply power and expand the power, or may not supply power. The power supply control unit 68 does not supply power to other actuators.

  In addition, when the power control unit 68 acquires a left movement signal indicating that the left foot is rising backward, the power control unit 68 supplies power from the power supply unit 20 to the rear left actuator 48. As a result, the rear left actuator 48 contracts and raises the left foot backward. In this case, the power supply control unit 68 may cause the front left actuator 36 to supply power and expand the power, or may not supply power. The power supply control unit 68 does not supply power to other actuators.

  Next, the calculation unit 866 acquires the value of the working voltage acting on the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 via the acquisition unit 64. In addition, the calculation unit 866 acquires the value of the applied voltage applied by the power supply unit 20 to the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 from the power supply control unit 68 (S122). .

  Next, the calculation unit 866 calculates the electromotive force generated in each of the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 that are expanded and contracted by the user's movement from the acquired working voltage and applied voltage (S124). .

  The calculation unit 866 determines whether the user's movement has stopped based on the calculated electromotive force (S126). If the calculation unit 866 determines that the user's movement has not stopped (S126: No), the calculation unit 866 repeats the processing from step S114 onward, and changes the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 to the user's movement. Combine and extend.

  On the other hand, for example, when the calculation unit 866 determines that the user's movement has stopped after the threshold time has elapsed with all the electromotive forces being constant (S126: Yes), the calculation unit 866 outputs a stop signal to the power supply control unit 68. When acquiring the stop signal, the power supply control unit 68 stops the supply of power applied to the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 (S128).

  As described above, the auxiliary tool 810 includes the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 that expand and contract by applying a voltage and output an electromotive force by expanding and contracting with an external force. ing. Thus, the auxiliary tool 810 can assist the user's movement by the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48, and can calculate and determine the user's movement. Therefore, the auxiliary tool 810 can simplify the configuration.

  Further, since the auxiliary tool 810 can assist and calculate the movement of the user at the same place by the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48, the user movement more appropriately. Can assist.

  In the above-described embodiment, in the auxiliary tool 810, the right detection unit 22, the left detection unit 24, the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 that function as a detection unit are used to move the user. Was detected. However, these detection units may detect information other than the user's movement. For example, the detection unit may detect a change in the user's body such as the position of a specific part of the user's body, the user's muscle strength, and output a detection signal corresponding to the change in the body. Hereinafter, although the embodiment which changed the form shown in FIG. 15 is described, the following changes may be added to the form of FIG.

  The power supply control unit 68 compares the reference value with the detection signals output by the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 functioning as a detection unit, and compares the reference signals with the front right actuator 30. The power supply unit 20 that supplies power to the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 is controlled.

  Here, an example of the reference value is set in advance and stored in the storage unit 62. In this case, the reference value is set and stored from information such as the user's step length detected in advance and the height of the foot raised during walking.

  Another example of the reference value is set by the calculation unit 866 based on information detected by the detection unit such as the front right actuator 30. In this case, the detection unit such as the front right actuator 30 detects a part of the user's body when the user starts moving, or the user's muscle strength, and outputs the detected part to the calculation unit 866. For example, when the user starts walking, the detection unit such as the front right actuator 30 detects the movement of the user's foot or the change in muscle strength for a few steps. The calculation unit 866 calculates an average value from the movement of the user's foot acquired from the detection unit such as the front right actuator 30 and stores the average value in the storage unit 62 as a reference value.

  When a plurality of users use one auxiliary tool 810, the calculation unit 866 sets a reference value in association with each of the users and stores the reference value in the storage unit 62.

  The power supply control unit 68 sets a voltage value to be applied to the front right actuator 30, the front left actuator 36, the rear right actuator 42, and the rear left actuator 48 from the reference value stored in the storage unit 62.

  For example, once the voltage value is set from the reference value, the power supply control unit 68 continuously controls the voltage value with the voltage value regardless of the information detected by the detection unit such as the front right actuator 30.

  Further, the power supply control unit 68 may compare the information detected by the detection unit such as the front right actuator 30 with the reference value and change the voltage value so as to approach the reference value. In this case, the power supply control unit 68 may acquire information detected from the detection unit at all times, or may acquire information from the detection unit at a predetermined time interval.

  The power supply control unit 68 sets the voltage value so as to provide an auxiliary force with a preset ratio with respect to the user's muscle strength. Here, an example of the preset ratio is several% to several tens%. Thereby, the auxiliary tool 810 can give sufficient assisting force to the user who is walking, and can reduce the gap between self-walking and auxiliary walking. As a result, the auxiliary tool 810 can reduce the user's uncomfortable feeling when the auxiliary walking is stopped and the self walking is performed.

  The calculation unit 866 may update the reference value. For example, when the number of times the user's muscle strength or the like achieves the reference value is equal to or less than a predetermined threshold ratio, the calculation unit 866 may decrease the reference value.

  Next, removal of the actuator and attachment of the actuator will be described. FIG. 17 is a front view of a user wearing the auxiliary tool 910. FIG. 18 is a rear view of the user wearing the auxiliary tool 910. In FIG. 17 and FIG. 18, the same reference numerals are given to the same elements as those in FIG.

  In the auxiliary tool 910, the artificial muscle portion 912 and the artificial muscle portion 914 have an attachment portion 932 at the upper end in the extension / contraction direction and an attachment portion 934 at the lower end in the extension / contraction direction. The attachment portion 932 has a cylindrical shape. The attachment portion 932 includes an anode and a cathode. By attaching the attachment portion 932, the artificial muscle portions 912 and 914 are attached, and the actuators 916 and 918 and the power source are electrically connected. The attachment portion 934 has a ring shape, and the artificial muscle portions 912 and 914 are attached to the shirt 80 or the trousers 82 by locking the ring portion.

  The shirt 80 has four attached portions 960 on the front surface and two locking portions 966 on the rear surface. Further, the front surface of the trouser 82 has two locking portions 966, and the rear surface has two locking portions 966 and two attached portions 960. Note that an example of attaching the attached portion 960 and the locking portion 966 to the shirt 80 or the like is stitching, but is not limited thereto, and may be attached by adhesion, or may be fixed to the shirt 80 or the like by other members. Alternatively, the shirt 80 or the like may be sandwiched between other members and fastened to the body.

  The attached portion 960 is the front surface of the shirt 80 and is provided on the left and right sides of the abdomen and chest. Moreover, the to-be-attached part 960 is the rear surface of trousers 82, Comprising: It is provided also in the base part of a right-and-left leg. The attached portion 960 has a concave shape so that the attaching portion 932 is attached. The attached portion 960 has terminals corresponding to the anode and the cathode of the attaching portion 932, and electrically connects the terminal and the power source by connecting the terminal and the power wirings 34 and 40. The attached portion 960 and the power wirings 34 and 40 are detachably connected.

  The locking portion 966 is provided on the rear surface of the shirt 80 and on the left and right sides of the waist. The locking portion 966 has a plurality of mounting hooks 965 arranged in the vertical direction. The attachment hook 965 has a ring shape and has a part that is partially cut away. Note that the notched portion of the attachment hook 965 may be provided with a structure that moves only inside the ring to prevent the member locked to the attachment hook 965 from easily coming off.

  In the example shown in FIG. 17, the locking portion 966 has three attachment hooks 965 arranged vertically. Further, the locking portion 966 is provided on the front surface of the trousers 82, below the knees of the left and right feet, and on the rear surface of the trousers 82, and also in the vicinity of the ankles of the left and right feet. Note that the attachment hook 965 is also an example of a portion to be attached to which the attachment portion 932 is attached.

  The belt 84 has a buckle 986 disposed on the front surface of the trunk. The buckle 986 is removably attached from the belt 84. Therefore, by removing the buckle 986, the power wirings 34, 40, the right detector 22 and the left detector 24 connected to the buckle 986 are removed from the belt 84. The power wirings 34 and 40, the right detection unit 22 and the left detection unit 24 may be detached from the buckle 986, respectively.

  The attachment portion 932 is attached to the attachment portion 960 by being inserted into the attachment portion 960, and the upper end of the artificial muscle portion 912 is positioned and fixed to the shirt 80. That is, the attachment portion 932 also serves as a positioning unit that positions the artificial muscle portion 912.

  The attachment portion 934 is attached to the attachment hook 965 by being engaged with the attachment hook 965 of the engagement portion 966, and the lower end of the artificial muscle portion 912 is positioned and fixed to the trouser 82. That is, the attachment portion 934 also serves as a positioning means for positioning the artificial muscle portion 912.

  As described above, the upper and lower ends of the artificial muscle portion 912 are positioned and fixed to the shirt 80 or the like by the attachment portions 932 and 934. Thereby, the artificial muscle part 912 is attached to the auxiliary tool 910. In addition, since the attachment of the artificial muscle part 914 is the same as the artificial muscle part 912, description is abbreviate | omitted. In addition, the structure of the attaching parts 932 and 934 and the to-be-attached part 960 or the latching | locking part 966 is not restricted to the structure mentioned above, A fastener, a hook-and-loop fastener, and a buckle may be sufficient.

  Further, since the attachment portions 932 and 934 serve as positioning means, when the user attaches the actuator to the auxiliary tool 910 again, the attachment portions 932 and 934 are attached without being shifted from the position where the assist force is appropriately generated. The positioning means may be a fastener, a magnet, a hook, or a buckle. Further, when hook-and-loop fasteners are used for the attachment portion 932 and the attachment portion 960, a line or a figure for guiding the attachment position may be displayed on the surface of the shirt 80 or the like. In the present embodiment, the positioning means is provided in the attachment portions 932 and 934, but may be provided in a portion different from the attachment portions 932 and 934.

  The attaching portion 932 removes the upper end of the artificial muscle portion 912 from the shirt 80 by detaching from the attached portion 960. The attachment portion 932 can be detached from the auxiliary tool 910 together with the artificial muscle portion 912 that is an actuator.

  The attachment portion 934 removes the lower end of the artificial muscle portion 912 from the trousers 82 by releasing the engagement of the engagement portion 966 with the attachment hook 965. The attachment portion 934 can be detached from the auxiliary tool 910 together with the artificial muscle portion 912 that is an actuator.

  In this way, the upper and lower ends of the artificial muscle portion 912 are removed from the shirt 80 and the like by the attachment portions 932 and 934. Thereby, the artificial muscle part 912 is removed from the auxiliary tool 910. Since the removal of the artificial muscle portion 914 is the same as that of the artificial muscle portion 912, the description is omitted.

  FIG. 19 is a front view of the user with the artificial muscle portion of the auxiliary tool 910 removed. As shown in FIG. 19, in the auxiliary tool 910, the artificial muscle portion 912, the artificial muscle portion 914, the power wirings 34 and 40, the right detection portion 22, the left detection portion 24, and the buckle 986 are included in a shirt. 80 and pants 82 can be removed. Thereby, the user can wash the shirt 80 or the trousers 82 when the shirt 80 or the trousers 82 becomes dirty.

  FIG. 20 is a front view of the user in a state where the attachment position of the artificial muscle portion is changed. In the example shown in FIG. 20, the attachment portion 934 of the artificial muscle portion 912 is engaged with an attachment hook 965 located at the center in the vertical direction of the engagement portion 966. Since the contraction direction of the artificial muscle portion 912 is the vertical direction, the auxiliary force applied to the user of the artificial muscle portion 912 can be adjusted by changing the vertical position of the attachment hook 965 to which the attachment portion 932 is attached. For example, when the attachment portion 934 is locked to the attachment hook 965 positioned at the top, the artificial muscle portion 912 is slackened. When the artificial muscle portion 912 is displaced, a part of the displacement is used to take the slack, so that the assisting force of the artificial muscle portion 912 is larger when there is no slack than when there is slack. Therefore, by changing the position of the attachment hook 965 to which the attachment portion 932 is attached in a direction along the contraction direction of the artificial muscle portion 912, the assisting force that the artificial muscle portion 912 gives to the user can be adjusted.

  In addition, the artificial muscle portion 912 can be attached to the attachment portion 960 attached to the chest of the shirt 80, and the attachment portion 934 can be attached to the engaging portion 966 attached to the back waist. Thereby, the artificial muscle part 912 can also change the user's part to which the assisting force is applied or the direction in which the assisting force is applied. In addition, the artificial muscle part 912 can be attached also to the rear surface of the trousers 82 by the method described above.

  FIG. 21 is a front view of the user in a state where the fixing portion is attached. In the example shown in FIG. 21, the attached portion 962 has a fixing portion 954. The fixing portion 954 is connected to the two attached portions 962, and is fastened to the user's waist by the fixing portion 954 so that the position of the attached portion 960 is fixed so as not to be displaced from the user's body. An example of the fixing portion 954 is an elastic belt. In addition, since the shape and function of the attached portion 962 are the same as those of the attached portion 960, description thereof is omitted.

  The locking portion 968 has a fixing portion 956. The fixing portion 956 is connected to the locking portion 968, and is fixed to the user's shin portion by the fixing portion 956 so that the position of the locking portion 968 does not deviate from the user's body. An example of the fixing portion 956 is an elastic belt. Note that the shape and function of the locking portion 968 are the same as those of the locking portion 966, and a description thereof will be omitted.

  In the example shown in FIG. 21, the fixing portion 954 is connected to the two attached portions 962, but the fixing portion 954 is not connected to the attached portion 962 and may be a separate body. Good. In the case where the fixing portion 954 is a separate body, the fixing portion 954 prevents the position of the attached portion 962 from shifting by tightening the user's waist while sandwiching the attached portion 962.

  Further, the fixing portion 954 may be provided on a part of the shirt 80 or the trousers 82. In this case, the fixing portion 954 is made of a highly elastic material. The fixing part 954 provided in a part of the shirt 80 or the trousers 82 is connected to the attached part 962 and tightens the fixing part 954 to the user's body. Thereby, the to-be-attached part 962 is fixed to a user's body.

  FIG. 22 shows an example of the attaching portion and the attached portion. In the example shown in FIG. 22, the attachment portion 932 has a cylindrical portion 948, and an anode terminal 940 and a cathode terminal 942 are provided at the ends thereof. The anode terminal 940 is connected to the anode of the actuator 916, and the cathode terminal 942 is connected to the cathode of the actuator 916.

  The mounted portion 960 has a concave shape 950 that is complementary to the cylindrical portion 948 of the mounting portion 932. Furthermore, a cylindrical recess 944 corresponding to the anode terminal 940 and a conical recess 946 are provided on the bottom surface of the recess 950. The cylindrical recess 944 is connected to the anode wiring in the power wiring 34, and the conical recess 946 is connected to the cathode wiring in the power wiring 34.

  The anode terminal 940 of the mounting portion 932 can be inserted into the cylindrical recess 944 of the mounted portion 960, but the corner of the anode terminal 940 and the conical slope portion interfere with the conical recess 946. Can't insert. On the other hand, the cathode terminal 942 can be inserted into the cylindrical recess 944 and the conical recess 946, but cannot be electrically connected because the length of the cylindrical recess 944 is long. Therefore, in attaching the attachment portion 932 and the attachment portion 960, the anode terminal 940 and the cathode terminal 942 of the attachment portion 932 have a structure that prevents erroneous connection. Note that the anode terminal 940, the cathode terminal 942, the cylindrical recess 944, and the conical recess 946 are examples of connection portions that electrically connect the attached portion 960 included in the shirt 80 and the actuator 916 that is an actuator. .

  When PVC gel is used as an artificial muscle, it does not function as an artificial muscle if the anode and the cathode are connected in reverse due to its structure. Therefore, by providing the attachment portion 932 and the attachment portion 960 with a structure that prevents erroneous connection of the connection portion, it is possible to avoid a state in which the artificial muscle does not function. In the example shown in FIG. 22, the misconnection prevention structure has shown an example in which the shapes of the anode and the cathode are different, but the shape is not limited to the cylinder and the cone, and the cross-sectional shape, length, and thickness are made different. May be. Moreover, it is good also as an incorrect connection prevention structure by making the insertion shape of a terminal into an asymmetrical shape.

  On the other hand, when a polyrotaxane crosslinked body is used as an artificial muscle, it functions as an artificial muscle even if the anode and the cathode are connected in reverse. Therefore, in this case, the terminals may be easily connected to each other by not providing the attachment portion 932 and the attachment portion 960 with a structure that prevents erroneous connection.

  In the example shown in FIG. 22, the attachment portion 932 has an example having the cylindrical portion 948. However, a part of the cylindrical portion 948 is cut into a D shape, and the concave shape 950 is also a concave shape complementary to the D shape. It is good. Thereby, since the connection phase is determined by the D shape, erroneous connection can be prevented.

  In the example shown in FIGS. 17 and 22, the attaching portion 932 is attached to the attached portion 960, and the artificial muscle portion 912 is attached to the shirt 80 or the like. However, the present invention is not limited to the above configuration, and the attached portion 960 is detachable from the shirt 80 or the like, and the artificial muscle portion 912, the artificial muscle portion 914, the power wiring 34, the attachment portion 932 and the attached portion 960 are connected. 40 and the buckle 986 may be integrally removed from the shirt 80 or the like. In that case, it is not necessary to provide an attachment part and a to-be-attached part.

  FIG. 23 shows an example of a connection configuration between the power wiring and the buckle. As shown in FIG. 23, the buckle 986 and the power wirings 34 and 40 may be detachably connected. The power wiring 34 and the like have an anode terminal 988 and a cathode terminal 990. The anode terminal 988 has a cylindrical shape like the anode terminal 940. The cathode terminal 990 has a conical shape like the cathode terminal 942. On the other hand, a cylindrical recess is provided in the anode terminal 992 of the buckle 986, and a conical recess is provided in the cathode terminal 994. Accordingly, it is possible to prevent the anode terminal 988 from being connected to the cathode terminal 994 and the cathode terminal 990 from being connected to the anode terminal 992.

  FIG. 24 shows another example of the connection configuration between the power wiring and the buckle. As shown in FIG. 24, the power wiring 34 and the like are divided into an anode wiring and a cathode wiring. Further, the anode terminal 992 of the buckle 986 is disposed on the upper side, and the cathode terminal 994 is disposed on the lower side. In this way, it is possible to prevent the anode terminal 988 from being connected to the cathode terminal 994 and the cathode terminal 990 from being connected to the anode terminal 992. Further, for example, the upper connection method may be a hook method, and the lower connection method may be an insertion method to prevent erroneous connection by changing the connection method.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

  The execution order of each process such as operations, procedures, steps, and stages in the apparatus, system, program, and method shown in the claims, the description, and the drawings is particularly “before” or “prior”. It should be noted that they can be implemented in any order unless the output of the previous process is used in the subsequent process. Regarding the operation flow in the claims, the description, and the drawings, even if it is described using “first”, “next”, etc. for the sake of convenience, it means that it is essential to carry out in this order. is not.

  DESCRIPTION OF SYMBOLS 10 Auxiliary tool, 12 Front right artificial muscle part, 14 Front left artificial muscle part, 16 Rear right artificial muscle part, 18 Rear left artificial muscle part, 20 Power supply part, 22 Right detection part, 24 Left detection part, 26 Wearing detection part 28 control unit, 30 front right actuator, 32 front right mounting part, 34 power wiring, 36 front left actuator, 38 front left mounting part, 40 power wiring, 42 rear right actuator, 44 rear right mounting part, 46 power wiring, 48 Rear left actuator, 50 Rear left mounting section, 52 Power wiring, 54 wiring, 56 wiring, 60 Processing section, 62 Storage section, 64 Acquisition section, 66 Determination section, 68 Power supply control section, 80 Shirt, 82 Trousers, 84 Belt , 86 buckle, 88 pockets, 110 auxiliary equipment, 112 front right artificial muscle part, 116 rear right artificial muscle part, 130 front right actuator, 13 2 front right mounting part, 142 rear right actuator, 144 rear right mounting part, 210 auxiliary equipment, 212 first right artificial muscle part, 214 first left artificial muscle part, 216 second right artificial muscle part, 218 second left artificial part Muscle part, 230 1st right actuator, 232 1st right attachment part, 236 1st left actuator, 238 1st left attachment part, 242 2nd right actuator, 244 2nd right attachment part, 248 2nd left actuator, 250 1st 2 left mounting part, 310 auxiliary tool, 312 front right artificial muscle part, 314 front left artificial muscle part, 330 front right actuator, 332 front right mounting part, 336 front left actuator, 338 front left mounting part, 410 auxiliary tool, 412 Right artificial muscle part, 414 Left artificial muscle part, 430 Right actuator, 432 Right mounting part, 436 Left actuator 438 Left mounting part, 510 Auxiliary tool, 570 Holding part, 610 Auxiliary tool, 612 Front right artificial muscle part, 614 Front left artificial muscle part, 630 Front right actuator, 632 Front right mounting part, 636 Front left actuator, 638 Front Left attachment part 710 Auxiliary tool, 712 Right artificial muscle part, 714 Left artificial muscle part, 730 Right actuator 732 Right attachment part, 736 Left actuator, 738 Left attachment part, 810 Auxiliary tool 828 Control part, 860 Processing part, 866 Calculation part , 910 Auxiliary tool, 912, 914 Artificial muscle part, 916, 918 Actuator, 932, 934 Mounting part, 940 Anode terminal, 942 Cathode terminal, 944 Cylindrical recess, 946 Conical recess, 948 Cylindrical part, 950 Concave shape , 954, 956 Fixing part, 960, 962 Mounting portion, 965 mounting hook, 966, 968 engaging portions, 986 buckle, 988 anode terminal, 990 a cathode terminal, 992 an anode terminal, 994 a cathode terminal

Claims (27)

An auxiliary device for assisting in the movement of the body,
A mounting part to be attached to the body,
An actuator comprising a polymeric material that expands or contracts when a voltage is applied;
A mounting portion for attaching the actuator to the mounting portion;
The attachment portion is an auxiliary tool that is detachably attached together with the actuator.   The auxiliary tool according to claim 1, wherein positioning means for positioning the actuator in the mounting portion is provided.   The auxiliary tool according to claim 1 or 2, wherein the mounting portion has a plurality of attached portions to which the attachment portion is selectively attached.   The auxiliary device according to claim 3, wherein the mounting portion includes a fixing portion that fixes the attached portion to the body.   The auxiliary tool according to any one of claims 1 to 4, further comprising a connection portion that electrically connects the mounting portion and the actuator, wherein the connection portion has a structure that prevents erroneous connection. A plurality of the actuators are provided,
The one actuator is attached to the front surface of the mounting portion,
The said other actuator is an auxiliary tool of any one of Claim 1 to 5 attached to the rear surface of the said mounting part. A plurality of the actuators are provided,
The auxiliary tool according to any one of claims 1 to 6, wherein one of the actuators and the other actuator are attached to the mounting portion so as to cross each other. One end of the actuator is disposed at the position of the mounting portion corresponding to the foot,
The auxiliary tool according to any one of claims 1 to 7, wherein the other end of the actuator is disposed at a position of the mounting portion corresponding to a waist. The actuator is long in the expansion / contraction direction,
The auxiliary tool according to any one of claims 1 to 8, wherein both ends of the actuator in an expansion / contraction direction are attached to the mounting portion by the attachment portion. The auxiliary tool according to any one of claims 1 to 9, wherein the actuator is attached so as to wind the mounting portion. The auxiliary device according to any one of claims 1 to 10, wherein the actuator is attached across a joint. The auxiliary tool according to claim 3 or 4, wherein the attached portion is sewn to a mounting portion. A power supply for supplying power to the actuator;
The auxiliary tool according to any one of claims 1 to 12, wherein the power supply unit is attached to the mounting unit corresponding to the body. The auxiliary tool according to claim 13, wherein the power supply unit is provided on a front surface of the mounting unit. The auxiliary device according to claim 14, wherein the power supply unit is movably provided on the belt. The auxiliary device according to claim 15, wherein the power supply unit supplies power to the actuator when the belt is attached. The auxiliary tool according to any one of claims 1 to 16, further comprising a detection unit that detects a user's movement. The auxiliary device according to claim 17, wherein the detection unit detects a movement of the user's foot. A power supply for supplying power to the actuator;
A detection unit that detects the movement of the user's foot and outputs a detection signal;
A power control unit that controls the power unit based on the detection signal;
The auxiliary device according to any one of claims 1 to 18, wherein the power supply control unit controls the power supply unit after a user wearing the auxiliary device walks several steps. The polymer material of the actuator generates an electromotive force by expanding and contracting due to an external force resulting from the movement of the user,
The auxiliary tool according to any one of claims 1 to 19, further comprising a calculation unit configured to calculate a calculated value corresponding to the external force applied to the actuator by the electromotive force. A power supply for supplying power to the actuator;
A power supply control unit for controlling the power supply unit;
The auxiliary tool according to claim 20, wherein the power supply control unit controls the power supply unit based on the calculated value calculated by the calculating unit.   The auxiliary tool according to claim 20 or 21, wherein the calculation unit determines a direction of movement of the user based on the calculated value.   The auxiliary tool according to any one of claims 20 to 22, wherein the calculation unit determines that the movement of the user is stopped based on the calculated value. The auxiliary tool according to any one of claims 1 to 23, further comprising a detection unit that detects a change in a user's body and outputs a detection signal corresponding to the change. A power supply for supplying power to the actuator;
A power control unit that controls the power unit based on the detection signal;
The auxiliary tool according to claim 24, wherein the power supply control unit controls the power supply unit by comparing a predetermined reference value with a detection signal. 26. The auxiliary tool according to claim 25, further comprising a calculation unit that sets the reference value from the detection signal.   27. The auxiliary tool according to claim 26, wherein the calculation unit compares the detection signal with the reference value, and changes the reference value when the number of times the detection signal achieves the reference value is equal to or less than a threshold ratio. .

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