WO2010095619A1 - Wearable motion support device - Google Patents

Wearable motion support device Download PDF

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WO2010095619A1
WO2010095619A1 PCT/JP2010/052289 JP2010052289W WO2010095619A1 WO 2010095619 A1 WO2010095619 A1 WO 2010095619A1 JP 2010052289 W JP2010052289 W JP 2010052289W WO 2010095619 A1 WO2010095619 A1 WO 2010095619A1
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Prior art keywords
support
forearm
pressure sensor
moving
contact
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PCT/JP2010/052289
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French (fr)
Japanese (ja)
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矢野 賢一
泰弘 山下
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国立大学法人岐阜大学
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Priority to JP2009-037186 priority
Application filed by 国立大学法人岐阜大学 filed Critical 国立大学法人岐阜大学
Publication of WO2010095619A1 publication Critical patent/WO2010095619A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0006Exoskeletons, i.e. resembling a human figure
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/013Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the arms, hands or fingers
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0277Elbow
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165Wearable interfaces
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • A61H2201/5058Sensors or detectors
    • A61H2201/5071Pressure sensors

Abstract

Disclosed is a wearable motion support device which can support the motion of a user appropriately by enhancing the detection accuracy of the body motion of the user. A wearable motion support unit (SU1) comprises a first support member (10) which is fitted to the proximal body part (A2) of a joint (A1), a second support member (12) which is coupled with the first support member (10) in such a manner that the posture can be changed and is fitted to the distal body part (A3) of the joint (A1), an outer member (80) arranged on the second support member (12), and an inner member (81) which is arranged on the distal body part (A3) side of the outer member (80) in such a manner as to approach the outer member (80) or to separate therefrom and is fitted to the distal body part (A3). On the inner circumferential surface of the outer member (80), a pressure sensor which detects the magnitude of a pushing force at the time when the inner member (81) pushes the outer member (80) by the movement of the distal body part (A3) is arranged.

Description

装着型動作支援装置Wearable motion support device
 本発明は、屈曲動作する関節を挟む身体部位に装着され、前記関節の屈曲動作を支援する装着型動作支援装置に関するものである。 The present invention relates to a wearable movement support device that is mounted on a body part that sandwiches a bending joint, and supports the bending movement of the joint.
 身体に障害のある人の動作を支援する装置として、身体の障害部位に装着する各種の装着型動作支援装置が提案されている。この装着型動作支援装置は、例えば上肢における肘部を挟んだ上腕部および前腕部に装着して肘関節を中心とした前腕部の動作を支援する装置や、下肢における膝部を挟んだ大腿部および下腿部に装着して膝関節を中心とした下腿部の動作を支援する装置等である。 Various types of wearable movement support devices that are worn on a body obstacle have been proposed as devices that support the movement of people with physical disabilities. This wearable movement support device is, for example, a device that is attached to the upper arm and forearm with the elbow in the upper limb sandwiched, and supports the forearm with the elbow joint as the center, or a thigh with the knee in the lower limb A device that is attached to the pelvis and crus to support the movement of the crus around the knee joint.
 前記装着型動作支援装置は、関節の近位身体部位(関節より体幹に近い身体部位)に装着される第1サポート部材と、前記関節の遠位身体部位(関節より体幹から遠い身体部位)に装着される第2サポート部材とを備える。前記第2サポート部材は、前記第1サポート部材に対して前記関節の屈曲動作を許容するよう姿勢変位可能に連結され、第1サポート部材に対して第2サポート部材を姿勢変位させる作動手段を該第1サポート部材に装備している。 The wearable motion support device includes a first support member attached to a proximal body part of a joint (a body part closer to the trunk than the joint), and a distal body part of the joint (a body part far from the trunk than the joint). And a second support member to be mounted on. The second support member is connected to the first support member so as to allow a posture displacement so as to allow the bending motion of the joint, and an operation means for displacing the second support member relative to the first support member is provided. The first support member is equipped.
 また、上肢用の装着型動作支援装置は、第2サポート部材の手首部や前腕部に対応する部位に、肘関節を中心とした該前腕部の動きを検知して検知信号を出力する検知手段が配設されたものがある。また、下肢用の装着型動作支援装置は、第2サポート部材の足首部や下腿部に対応する部位に、膝関節を中心とした該下腿部の動きを検知して検知信号を出力する検知手段が配設されたものがある。このような装着型動作支援装置は、例えば特許文献1に開示されている。 In addition, the wearable movement support device for the upper limbs is a detection means for detecting a movement of the forearm portion around the elbow joint and outputting a detection signal to a portion corresponding to the wrist portion or the forearm portion of the second support member. Is provided. In addition, the wearable movement support device for the lower limbs detects a movement of the lower leg around the knee joint and outputs a detection signal to a portion corresponding to the ankle part or the lower leg part of the second support member. Some are provided with detection means. Such a wearable motion support apparatus is disclosed in, for example, Patent Document 1.
特開2007-29113JP2007-29113A
 従来の装着型動作支援装置は、装着時の身体に対するフィット感を高めるため、第1サポート部材の近位身体部位に対向する側および第2サポート部材の遠位身体部位に対向する側に、身体部位へ弾力的に当接するパッド部材を備えている。このため第2サポート部材は、パッド部材の遠位身体部位に当接する部分や、該第2サポート部材のパッド部材に当接する部分に、前記検知手段が配設されている。しかし、近位身体部位に対する遠位身体部位の動作時に、該遠位身体部位に押されたパッド部材が弾性変形するため、検知手段に加わる力を正確に検知できず、該検知手段による検知精度が低い問題を内在していた。 In order to enhance the fit to the body at the time of wearing, the conventional wearable movement support device has a body on the side facing the proximal body part of the first support member and the side facing the distal body part of the second support member. A pad member is provided that elastically contacts the part. For this reason, the second support member is provided with the detection means at a portion that contacts the distal body portion of the pad member or a portion that contacts the pad member of the second support member. However, when the distal body part is moved with respect to the proximal body part, the pad member pushed by the distal body part is elastically deformed, so that the force applied to the detection unit cannot be accurately detected, and the detection accuracy by the detection unit There were inherent low problems.
 従って本発明では、ユーザーの身体動作の検知精度を向上させて、ユーザーの動作支援を適切に行ない得るようにした装着型動作支援装置を提供することを目的とする。 Therefore, it is an object of the present invention to provide a wearable motion support apparatus that can improve the accuracy of detection of a user's body motion and can appropriately support the user's motion.
 前記課題を解決し、所期の目的を達成するため、本発明の請求項1に記載の発明は、
 関節を挟む近位身体部位に装着される第1サポート部材と、前記関節の遠位身体部位に装着されると共に前記第1サポート部材に連結され、前記関節の屈曲動作に合わせて姿勢変位可能な第2サポート部材と、前記第1サポート部材に対して前記第2サポート部材を姿勢変位させる作動手段とを備え、前記作動手段が前記第2サポート部材を前記第1サポート部材に対して姿勢変位させることで、前記関節の屈曲動作を補助する装着型動作支援装置であって、
 前記第2サポート部材は、
 前記第1サポート部材に連結される固定部材と、
 前記固定部材の前記遠位身体部位側に該固定部材に対し近接・離間移動が可能に配設され、該遠位身体部位に装着される移動部材と、
 前記固定部材と前記移動部材との間に設けられ、固定部材に対して移動部材を相対的に近接移動することで押圧されて押圧力を検知する圧力センサとを備え、
 前記圧力センサが検知する押圧力に応じて前記作動手段を作動制御するよう構成したことを特徴とする。
 従って、請求項1に係る発明によれば、遠位身体部位に装着した移動部材が、該遠位身体部位の動きにより固定部材に近接移動すると、該移動部材に押圧された圧力センサが押圧力を精度よく検知することができる。そして、圧力センサが検知する押圧力に応じて作動手段を作動制御することで、第2サポート部材の姿勢変位による関節の屈曲動作を適切に補助し得る。
In order to solve the above-mentioned problem and achieve the intended object, the invention according to claim 1 of the present invention provides:
A first support member attached to a proximal body part sandwiching the joint, and attached to a distal body part of the joint and connected to the first support member, and posture changeable according to the bending operation of the joint A second support member; and an operating means for displacing the second support member with respect to the first support member, wherein the activating means displaces the second support member with respect to the first support member. Thus, a wearable movement support device that assists the bending movement of the joint,
The second support member is
A fixing member coupled to the first support member;
A moving member that is disposed on the distal body part side of the fixing member so as to be able to move toward and away from the fixing member, and is attached to the distal body part;
A pressure sensor that is provided between the fixed member and the moving member and that is pressed by moving the moving member relatively close to the fixed member to detect a pressing force;
The operation means is configured to control the operation according to the pressing force detected by the pressure sensor.
Therefore, according to the first aspect of the present invention, when the moving member attached to the distal body part moves close to the fixed member by the movement of the distal body part, the pressure sensor pressed by the moving member is pressed. Can be accurately detected. Then, by controlling the operation of the operating means according to the pressing force detected by the pressure sensor, it is possible to appropriately assist the bending operation of the joint due to the posture displacement of the second support member.
 請求項2に記載の発明は、
 前記圧力センサは、その圧力検知部に、前記固定部材または移動部材に向け突出する突出部を備えたことを要旨とする。
 従って、請求項2に係る発明によれば、固定部材に近接移動する移動部材が突出部に接触することで、圧力センサによる検知精度を好適に高めることができる。
The invention described in claim 2
The gist of the pressure sensor is that the pressure detecting portion includes a protruding portion that protrudes toward the fixed member or the moving member.
Therefore, according to the invention which concerns on Claim 2, the detection accuracy by a pressure sensor can be raised suitably because the moving member which moves close to a fixing member contacts a protrusion part.
 請求項3に記載の発明は、
 前記固定部材および前記移動部材の間には、固定部材に対して移動部材を相対的に近接移動することで弾性変形する弾性部材が前記圧力センサに接触した状態で設けられ、
 前記固定部材に対する前記移動部材の近接移動時に、前記圧力センサに接触する前記弾性部材が弾性変形して前記圧力センサを押圧するよう構成されたことを要旨とする。
 従って、請求項3に係る発明によれば、移動部材の移動時に弾性部材材が弾性変形して圧力センサを押圧するので、該移動部材の移動の微小な移動を検知することができ、圧力センサによる検知精度を高めることができる。
The invention according to claim 3
Between the fixed member and the moving member, an elastic member that is elastically deformed by relatively moving the moving member relative to the fixed member is provided in contact with the pressure sensor,
The gist of the invention is that the elastic member that contacts the pressure sensor is elastically deformed to press the pressure sensor when the moving member moves close to the fixed member.
Therefore, according to the invention of claim 3, since the elastic member material is elastically deformed and presses the pressure sensor when the moving member moves, the minute movement of the moving member can be detected. The detection accuracy by can be increased.
 請求項4に記載の発明は、
 前記固定部材および前記移動部材の間に、前記圧力センサを複数備えると共に、前記固定部材および前記移動部材の間に、該固定部材に対して該移動部材を弾性的に付勢する弾性部材を複数備え、
 前記移動部材を付勢する各弾性部材が均衡を保った状態において、前記移動部材と前記各圧力センサとの間隔が同等になるよう移動部材を保持することを要旨とする。
 従って、請求項4に係る発明によれば、移動部材がどの方向へ移動しても、圧力センサが検知するまでの時間が一定となり、圧力センサによる検知にタイムラグが生ずることを防止し得る。また、弾性部材により、移動部材をがたつきなく保持することができる。
The invention according to claim 4
A plurality of pressure sensors are provided between the fixed member and the moving member, and a plurality of elastic members are provided between the fixed member and the moving member to elastically bias the moving member against the fixed member. Prepared,
The gist is to hold the moving member so that the distance between the moving member and each of the pressure sensors is equal in a state where the elastic members for urging the moving member are balanced.
Therefore, according to the invention which concerns on Claim 4, even if a moving member moves to which direction, time until a pressure sensor detects becomes constant, and it can prevent that the time lag arises in the detection by a pressure sensor. The elastic member can hold the moving member without rattling.
 請求項5に記載の発明は、
 前記固定部材は、前記移動部材に対向する円形の内周面を備えると共に、前記移動部材は、前記内周面に対向する円形の外周面を備え、
 前記圧力センサは、前記内周面または外周面に、その周方向へ離間して複数個配設されていることを要旨とする。
 従って、請求項5に係る発明によれば、遠位身体部位の動きにより移動部材が固定部材の内周面内側において径方向の何れの方向へ移動しても、圧力センサによる検知が可能である。
The invention described in claim 5
The fixed member includes a circular inner peripheral surface facing the moving member, and the moving member includes a circular outer peripheral surface facing the inner peripheral surface,
The gist of the invention is that a plurality of the pressure sensors are disposed on the inner peripheral surface or the outer peripheral surface so as to be spaced apart from each other in the circumferential direction.
Therefore, according to the invention which concerns on Claim 5, even if a moving member moves to any direction of radial direction inside the inner peripheral surface of a fixing member by the movement of a distal body part, the detection by a pressure sensor is possible. .
 本発明に係る装着型動作支援装置によれば、遠位身体部位に装着した移動部材の動きを、第2サポート部材の固定部材と該移動部材との間に配設した圧力センサで検知するので、ユーザーの身体動作の検知精度を向上させることができる。従って、圧力センサの検知信号に応じて作動手段を作動させることで、ユーザーの動作支援を適切に行なうことができる。 According to the wearable motion support device of the present invention, the movement of the moving member attached to the distal body part is detected by the pressure sensor disposed between the fixing member of the second support member and the moving member. The detection accuracy of the user's body movement can be improved. Therefore, by operating the operating means according to the detection signal of the pressure sensor, it is possible to appropriately perform the user's operation support.
本発明の第1実施例に係る装着型動作支援装置を、右腕に装着した状態で示す概略斜視図である。BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic perspective view showing a wearable motion support device according to a first embodiment of the present invention in a state where it is worn on a right arm. 図1に示した第1実施例の装着型動作支援装置の平面図である。It is a top view of the mounting | wearing type | mold movement assistance apparatus of 1st Example shown in FIG. 図1に示した第1実施例の装着型動作支援装置の側面図である。It is a side view of the mounting | wearing type | mold movement assistance apparatus of 1st Example shown in FIG. 第1実施例の装着型動作支援装置において、第1サポート部材に対して第2サポート部材を動作させる作動機構を示す平断面図である。FIG. 5 is a cross-sectional plan view showing an operating mechanism for operating the second support member relative to the first support member in the wearable motion support device of the first embodiment. 第1実施例の装着型動作支援装置において、第1サポート部材と第2サポート部材とを連結する構成を示す斜視図である。It is a perspective view which shows the structure which connects a 1st support member and a 2nd support member in the mounting | wearing type | mold movement assistance apparatus of 1st Example. (a)は、第1実施例の装着型動作支援装置において、第2サポート部材に配設した動作検知部材を示す斜視図であり、(b)は、(a)に示した動作検知部材を構成するアウター部材およびインナー部材を示す斜視図である。(a) is a perspective view which shows the motion detection member arrange | positioned in the 2nd support member in the mounting | wearing type | mold movement assistance apparatus of 1st Example, (b) is a motion detection member shown to (a). It is a perspective view which shows the outer member and inner member which comprise. アウター部材の第1アウター半体と第2アウター半体とを開放すると共に、インナー部材の第1インナー半体と第2インナー半体とを開放した状態を示す斜視図である。It is a perspective view which shows the state which open | released the 1st outer half body and 2nd outer half body of an outer member, and open | released the 1st inner half body and 2nd inner half body of an inner member. 動作検知部材を左右方向で破断した縦断面図であって、アウター部材に対してインナー部材が周方向および径方向へ動き得ることを示している。It is the longitudinal cross-sectional view which fractured | ruptured the motion detection member in the left-right direction, Comprising: It has shown that an inner member can move to the circumferential direction and radial direction with respect to an outer member. 図8のIX-IX線断面図である。FIG. 9 is a sectional view taken along line IX-IX in FIG. 8. (a)は、アウター部材の第1アウター半体および第2アウター半体に設けた第1係合手段および第2係合手段を示す部分斜視図であり、(b)は、第1アウター半体と第2アウター半体とを当接させた状態を示す部分斜視図である。(a) is a fragmentary perspective view which shows the 1st engagement means and the 2nd engagement means which were provided in the 1st outer half body and the 2nd outer half body of an outer member, (b) is a 1st outer half body It is a fragmentary perspective view which shows the state which contact | abutted the body and the 2nd outer half body. (a)は、インナー部材の第1インナー半体および第2インナー半体に設けた第3係合手段および第4係合手段を示す部分斜視図であり、(b)は、第1インナー半体と第2インナー半体とを当接させた状態を示す部分斜視図である。(a) is a partial perspective view showing a third engagement means and a fourth engagement means provided in the first inner half and the second inner half of the inner member, and (b) is a first inner half. It is a fragmentary perspective view which shows the state which contact | abutted the body and the 2nd inner half body. 第2実施例の装着型動作支援装置に配設された動作検知部材を示す縦断面図である。It is a longitudinal cross-sectional view which shows the movement detection member arrange | positioned at the mounting | wearing type movement assistance apparatus of 2nd Example. 第3実施例の装着型動作支援装置に配設された動作検知部材を示す縦断面図である。It is a longitudinal cross-sectional view which shows the movement detection member arrange | positioned at the mounting | wearing type movement assistance apparatus of 3rd Example. 第4実施例の装着型動作支援装置に配設された動作検知部材を示す縦断面図である。It is a longitudinal cross-sectional view which shows the motion detection member arrange | positioned at the mounting | wearing type | mold movement assistance apparatus of 4th Example. 第5実施例に係る装着型動作支援装置を、右腕に装着した状態で示す概略斜視図である。It is a schematic perspective view which shows the wearing type movement assistance apparatus which concerns on 5th Example in the state with which the right arm was mounted | worn. 図15に示した第5実施例の装着型動作支援装置の平面図である。It is a top view of the mounting | wearing type | mold movement assistance apparatus of 5th Example shown in FIG. 図15に示した第5実施例の装着型動作支援装置の側面図である。It is a side view of the mounting | wearing type | mold movement assistance apparatus of 5th Example shown in FIG. 第5実施例の装着型動作支援装置において、第1サポート部材に対して第2サポート部材を動作させる作動機構を示す平断面図である。In the wearing type movement support device of the 5th example, it is a plane sectional view showing the action mechanism which operates the 2nd support member to the 1st support member. 第5実施例の装着型動作支援装置において、第1サポート部材と第2サポート部材とを連結する構成を示す斜視図である。In the wearing type movement support device of the 5th example, it is a perspective view showing the composition which connects the 1st support member and the 2nd support member. (a)は、第5実施例の装着型動作支援装置において、第2サポート部材における支持壁部の内壁面上部に配設した検知部を示した側面図であり、(b)は、(a)に示した検知部を下方から見た底面図である。(a) is the side view which showed the detection part arrange | positioned in the mounting | wearing type | mold movement assistance apparatus of 5th Example in the inner wall surface upper part of the support wall part in a 2nd support member, (b) is (a) It is the bottom view which looked at the detection part shown in FIG.
 次に、本発明に係る装着型動作支援装置につき、好適な実施例を挙げて、添付図面を参照しながら以下説明する。実施例では、ユーザー(被補助者)の右腕Aにおける肘関節A3を挟む上腕部A1および前腕部A2に装着して、該肘関節A3の屈曲動作による右腕Aの屈伸動作を補助する装着型動作支援装置を例示して説明する。なお、実施例でいう装着型動作支援装置の各方向については、身体前方へ水平に伸ばして手のひらをユーザーから見て左側に向けた右腕Aに該装着型動作支援装置を装着した状態において、該右腕Aの長手方向を前後方向(手首側を前側、肩側を後側)とし、右腕Aの胸部を指向する内側を左側、右腕Aの胸部と反対を指向する外側を右側、垂直方向を上下方向と指称する。すなわち図1は、第1実施例の装着型動作支援装置SU1を、後方斜め右上方から見たものである。 Next, the wearable motion support apparatus according to the present invention will be described below with reference to the accompanying drawings by giving a preferred embodiment. In the embodiment, the wearable movement is performed by attaching to the upper arm part A1 and the forearm part A2 sandwiching the elbow joint A3 in the right arm A of the user (subject) and assisting the bending and extending action of the right arm A by the bending action of the elbow joint A3. The support device will be described as an example. Note that each direction of the wearable movement support device in the embodiment is the state in which the wearable movement support device is mounted on the right arm A that is horizontally extended forward of the body and the palm is directed to the left side when viewed from the user. The longitudinal direction of the right arm A is the front-rear direction (the wrist side is the front side and the shoulder side is the rear side), the inside facing the chest of the right arm A is the left side, the outside facing the opposite side of the right arm A is the right side, and the vertical direction is up and down This is referred to as a direction. That is, FIG. 1 is a view of the wearable motion support apparatus SU1 of the first embodiment when viewed from the rear obliquely upper right.
(第1実施例)
 図1は、第1実施例に係る装着型動作支援装置SU1の全体構成を概略的に示す斜視図であり、図2および図3は、装着型動作支援装置SU1の全体構成を概略的に示す平面図および左側面図である。第1実施例の装着型動作支援装置SU1は、右腕Aにおいて、肘関節A3に対して近位身体部位である上腕部A1に装着される第1サポート部材10と、該第1サポート部材10に姿勢変位可能に連結されて、肘関節A3に対して遠位身体部位である前腕部A2に装着される第2サポート部材12とを備えている。また第2サポート部材12は、前腕部A2の手首部A4に近接した部位に、前腕部A2を支持すると共に該前腕部A2の動きを検知する動作検知部材14を備えている。
(First embodiment)
FIG. 1 is a perspective view schematically showing the overall configuration of the wearable motion support apparatus SU1 according to the first embodiment, and FIGS. 2 and 3 schematically show the overall configuration of the wearable motion support apparatus SU1. It is a top view and a left side view. The wearable motion support device SU1 according to the first embodiment includes, in the right arm A, a first support member 10 that is mounted on the upper arm A1 that is a proximal body part with respect to the elbow joint A3, and the first support member 10 And a second support member 12 connected to the forearm portion A2 which is a distal body part with respect to the elbow joint A3. Further, the second support member 12 includes an operation detection member 14 that supports the forearm portion A2 and detects the movement of the forearm portion A2 at a portion close to the wrist portion A4 of the forearm portion A2.
 前記第1サポート部材10は、図1~図3に示すように、装着型動作支援装置SU1の右部に位置して、上腕部A1の外側において該上腕部A1の長手方向(前後方向)に延在する本体部20と、本体部20の左部から左側に向かって下方へ突出するよう湾曲状に形成され、上腕部A1を包み込むように該上腕部A1に装着される上腕装着部21とを備えている。本体部20は、上腕部A1に近接するベース部材22と、このベース部材22に右側外方から組付けられたカバー部材23とを備えている。これらベース部材22およびカバー部材23は、カーボン繊維または合成樹脂等を材質とした厚さ1.5~2mm程度の成形部材であり、両部材22,23を組付けることで、本体部20には後方に開口する収容設置部24が画成される。この収容設置部24には、第1サポート部材10に対して第2サポート部材12を回転変位させる作動機構Mを構成する各部材が収容されている。なお、図4および図5に示すように、ベース部材22の前部には円形の支持孔25が形成されており、この支持孔25には、後述する回転支持部材50が回転可能に配設されている。 As shown in FIGS. 1 to 3, the first support member 10 is located on the right side of the wearable motion support device SU1, and is located outside the upper arm portion A1 in the longitudinal direction (front-rear direction) of the upper arm portion A1. An extending main body part 20, and an upper arm mounting part 21 which is formed in a curved shape so as to protrude downward from the left part of the main body part 20 toward the left side and is attached to the upper arm part A1 so as to wrap around the upper arm part A1. It has. The main body portion 20 includes a base member 22 that is close to the upper arm portion A1 and a cover member 23 that is assembled to the base member 22 from the right outer side. The base member 22 and the cover member 23 are molded members having a thickness of about 1.5 to 2 mm made of carbon fiber, synthetic resin, or the like. By assembling both the members 22 and 23, An accommodation installation portion 24 that opens rearward is defined. The housing / installation portion 24 accommodates each member constituting the operating mechanism M that rotates and displaces the second support member 12 with respect to the first support member 10. As shown in FIGS. 4 and 5, a circular support hole 25 is formed in the front portion of the base member 22, and a rotation support member 50 described later is rotatably disposed in the support hole 25. Has been.
 上腕装着部21は、本体部20の前記ベース部材22と一体的に形成されている。そして、ベース部材22の上縁部には、第1サポート部材10を上腕部A1に固定するための第1締付ベルト26が装着されている。また、上腕装着部21における左端部近傍の外面には面ファスナ27が配設されており、前記第1締付ベルト26の自由端側が分離可能に貼り付けられる。すなわち、上腕装着部21を上腕部A1に沿わせた状態において、第1締付ベルト26を上方から上腕部A1に沿わせながら前記面ファスナ27に貼り付けることで、第1サポート部材10が上腕部A1に装着される。なお上腕装着部21には、強度が低下しない範囲内で開口28が形成されており、第1サポート部材10の軽量化が図られると共に、上腕部A1への装着時における通気性の向上が図られている。 The upper arm mounting portion 21 is formed integrally with the base member 22 of the main body portion 20. A first tightening belt 26 for fixing the first support member 10 to the upper arm portion A1 is attached to the upper edge portion of the base member 22. A hook-and-loop fastener 27 is disposed on the outer surface of the upper arm mounting portion 21 in the vicinity of the left end portion, and the free end side of the first fastening belt 26 is detachably attached. That is, in a state where the upper arm mounting portion 21 is along the upper arm portion A1, the first support member 10 is attached to the hook and loop fastener 27 while being attached along the upper arm portion A1 from above. Mounted on the part A1. The upper arm mounting portion 21 is formed with an opening 28 within a range where the strength does not decrease, so that the weight of the first support member 10 can be reduced and the air permeability when mounted on the upper arm portion A1 can be improved. It has been.
 第1サポート部材10における本体部20および上腕装着部21の上腕部A1と対向する内面10Aには、上腕パッド部材29が着脱可能に配設されている。この上腕パッド部材29は、例えばウレタンゴムやスポンジゴム等を材質とする成形体であり、適度の弾力性および柔軟性を有すると共に形状保持性も有している。この上腕パッド部材29のパッド外面29Aは、第1サポート部材10の内面10Aに密着的に整合する形状とされると共に、該上腕パッド部材29のパッド内面29Bは、上腕部A1に対して適度に弾性変形しながら当接し得る。また上腕パッド部材29には、上腕装着部21に設けた開口28に整合するパッド開口29Cが形成されている。なお上腕パッド部材29は、図示しない面ファスナやフック等により、第1サポート部材10に着脱可能に装着される。また上腕パッド部材29は、パッド外面29Aの形状が同一で厚さが異なる複数サイズが準備され、体格(上腕部A1のサイズ)に適合する上腕パッド部材29を選択することで、第1サポート部材10は体格が異なるユーザーに共用可能となっている。 The upper arm pad member 29 is detachably disposed on the inner surface 10A of the first support member 10 facing the main arm 20 and the upper arm A1 of the upper arm mounting portion 21. The upper arm pad member 29 is a molded body made of, for example, urethane rubber or sponge rubber, and has appropriate elasticity and flexibility, and also has shape retention. The pad outer surface 29A of the upper arm pad member 29 is shaped so as to closely adhere to the inner surface 10A of the first support member 10, and the pad inner surface 29B of the upper arm pad member 29 is appropriately positioned with respect to the upper arm portion A1. It can contact while elastically deforming. The upper arm pad member 29 has a pad opening 29 </ b> C that matches the opening 28 provided in the upper arm mounting portion 21. The upper arm pad member 29 is detachably attached to the first support member 10 by a surface fastener, a hook or the like (not shown). The upper arm pad member 29 is prepared in a plurality of sizes having the same shape and different thickness on the pad outer surface 29A. By selecting the upper arm pad member 29 suitable for the physique (size of the upper arm portion A1), the first support member 10 can be shared by users with different physiques.
 前記第2サポート部材12は、図1~図3に示すように、装着型動作支援装置SU1の右部に位置して、前腕部A2の長手方向(前後方向)に延在する支持体部40と、支持体部40の左部から左側に向かって下方へ突出するよう湾曲状に形成され、前腕部A2を包み込むように該前腕部A2に装着される前腕装着部41と、前記動作検知部材14とを備えている。支持体部40は、第1サポート部材10に連結支持されるロッド部材42と、このロッド部材42の前腕部A2側にスライド機構44を介して配設され、該ロッド部材42に対して前後方向へスライド移動可能なスライド部材43とを備えている。これらロッド部材42およびスライド部材43は、カーボン繊維または合成樹脂等を材質とした厚さ1.5~2mm程度の成形部材であり、より強度が要求される場合には、ロッド部材42を補強部材で補強する場合もある。なお、ロッド部材42の後端部には、第1サポート部材10に配設された第1連結支持部材60に連結される第2連結支持部材65が配設される。スライド機構44は、ロッド部材42に前後方向へ延在するよう固定されたガイドレール44Aと、スライド部材43に固定されて前記ガイドレール44Aに沿って往復移動可能なスライダ44Bとから構成され、スライダ44Bがガイドレール44Aに沿って前後方向へ所定のストロークでスライド移動することで、ロッド部材42に対してスライド部材43がスライド移動する。 As shown in FIGS. 1 to 3, the second support member 12 is located on the right side of the wearable motion support device SU1, and extends in the longitudinal direction (front-rear direction) of the forearm portion A2. A forearm mounting portion 41 that is formed in a curved shape so as to protrude downward from the left portion of the support body portion 40 toward the left side, and is mounted on the forearm portion A2 so as to wrap around the forearm portion A2. 14. The support body portion 40 is disposed on the rod member 42 connected to and supported by the first support member 10 and on the forearm portion A2 side of the rod member 42 via the slide mechanism 44, and is supported in the front-rear direction with respect to the rod member 42. And a slide member 43 slidably movable. The rod member 42 and the slide member 43 are molded members made of carbon fiber or synthetic resin and having a thickness of about 1.5 to 2 mm. When more strength is required, the rod member 42 is used as a reinforcing member. In some cases, it may be reinforced. A second connection support member 65 connected to the first connection support member 60 provided on the first support member 10 is provided at the rear end portion of the rod member 42. The slide mechanism 44 includes a guide rail 44A fixed to the rod member 42 so as to extend in the front-rear direction, and a slider 44B fixed to the slide member 43 and capable of reciprocating along the guide rail 44A. The slide member 43 slides with respect to the rod member 42 by 44B sliding along the guide rail 44A in the front-rear direction with a predetermined stroke.
 前腕装着部41は、支持体部40の前記スライド部材43と一体的に形成されている。そして、前腕装着部41における右端部には、第2サポート部材12を前腕部A2に固定するための第2締付ベルト45が装着されている。また、前腕装着部41における左端部近傍の外面には面ファスナ46が配設されており、前記第2締付ベルト45の自由端側が分離可能に貼り付けられる。すなわち、前腕装着部41を前腕部A2に沿わせた状態において、第2締付ベルト45を前腕部A2に沿わせながら前記面ファスナ46に貼り付けることで、第2サポート部材12が前腕部A2に固定される。なお前腕装着部41には、強度が低下しない範囲内で開口47が形成されており、第2サポート部材12の軽量化が図られると共に、前腕部A2への装着時における通気性の向上が図られている。 The forearm mounting portion 41 is formed integrally with the slide member 43 of the support portion 40. A second tightening belt 45 for fixing the second support member 12 to the forearm portion A2 is attached to the right end portion of the forearm attachment portion 41. A hook-and-loop fastener 46 is disposed on the outer surface near the left end of the forearm mounting portion 41, and the free end side of the second fastening belt 45 is detachably attached. That is, in the state where the forearm mounting portion 41 is along the forearm portion A2, the second support member 12 is attached to the hook and loop fastener 46 while being along the forearm portion A2 so that the second support member 12 is attached to the forearm portion A2. Fixed to. The forearm mounting portion 41 is formed with an opening 47 within a range where the strength does not decrease, so that the weight of the second support member 12 can be reduced and the air permeability when mounted on the forearm portion A2 can be improved. It has been.
 第2サポート部材12におけるスライド部材43および前腕装着部41の前腕部A2と対向する内面12Aには、前腕パッド部材48が着脱可能に配設されている。この前腕パッド部材48は、例えばウレタンゴムやスポンジゴム等を材質とする成形体であり、適度の弾力性および柔軟性を有すると共に形状保持性も有している。この前腕パッド部材48のパッド外面48Aは、第2サポート部材12の内面12Aに密着的に整合する形状とされると共に、該前腕パッド部材48のパッド内面48Bは、前腕部A2に対して適度に弾性変形しながら当接し得る。また前腕パッド部材48には、前腕装着部41に設けた開口47に整合するパッド開口48Cが形成されている。なお前腕パッド部材48は、図示しない面ファスナやフック等により、第2サポート部材12に着脱可能に装着される。また前腕パッド部材48は、パッド外面48Aの形状が同一で厚さが異なる複数サイズが準備され、体格(前腕部A2のサイズ)に適合する前腕パッド部材48を選択することで、第2サポート部材12は体格が異なるユーザーに共用可能となっている。 A forearm pad member 48 is detachably disposed on the inner surface 12A of the second support member 12 facing the slide member 43 and the forearm portion A2 of the forearm mounting portion 41. The forearm pad member 48 is a molded body made of, for example, urethane rubber or sponge rubber, and has appropriate elasticity and flexibility, and also has shape retention. The pad outer surface 48A of the forearm pad member 48 is shaped to closely adhere to the inner surface 12A of the second support member 12, and the pad inner surface 48B of the forearm pad member 48 is moderately positioned relative to the forearm portion A2. It can contact while elastically deforming. The forearm pad member 48 is formed with a pad opening 48 </ b> C that matches the opening 47 provided in the forearm mounting portion 41. The forearm pad member 48 is detachably attached to the second support member 12 by a surface fastener, a hook or the like (not shown). Further, the forearm pad member 48 is prepared in a plurality of sizes having the same shape and different thickness of the pad outer surface 48A, and the second support member 48 is selected by selecting the forearm pad member 48 suitable for the physique (size of the forearm portion A2). 12 can be shared by users with different physiques.
 前記第1サポート部材10と第2サポート部材12とは、図3~図5に示すように、第1サポート部材10に配設した前記回転支持部材50に固定されて、本体部20から前方へ延出する前記第1連結支持部材60に、第2サポート部材12の後側に設けた前記第2連結支持部材65を連結することで、両サポート部材10,12が相互に連結される。前記回転支持部材50は、後述するように、作動機構Mにより正逆回転するようになっており、該回転支持部材50の回転により第1連結支持部材60が上下方向へ回動しながら姿勢変位し、これにより第1サポート部材10に対して第2サポート部材12が回転するよう構成されている。 As shown in FIGS. 3 to 5, the first support member 10 and the second support member 12 are fixed to the rotation support member 50 disposed on the first support member 10 and forward from the main body 20. The support members 10 and 12 are connected to each other by connecting the second connection support member 65 provided on the rear side of the second support member 12 to the extended first connection support member 60. As will be described later, the rotation support member 50 is rotated forward and backward by the operating mechanism M, and the rotation of the rotation support member 50 causes the first connection support member 60 to rotate in the vertical direction and to change the posture. Thus, the second support member 12 is configured to rotate with respect to the first support member 10.
 前記回転支持部材50は、図4および図5に示すように、第1サポート部材10のベース部材22に収容設置部24側から当接する円形状のフランジ部51と、このフランジ部51より小径で前記支持孔25に嵌合する円形嵌合部52と、この円形嵌合部52の端面から矩形状に突出した矩形係止部53と、前記矩形係止部53の端面に形成されたビス孔54とを備えている。前記矩形係止部53は、前記第1連結支持部材60に設けた矩形穴部63と嵌合するようになっており、第1連結支持部材60は、ベース部材22を挟んで回転支持部材50と一体的に回転するよう構成される。また前記ビス孔54には、図4および図5に示すように、前記第1連結支持部材60の脱落防止を図る締結部材55を回転支持部材50に固定するためのもので、該締結部材55の円盤56に取付けたビス57を螺合するようになっている。すなわち回転支持部材50は、第1連結支持部材60を取付けた状態で締結部材55を締結させることで、円形嵌合部52が支持孔25に嵌合する状態で回転可能に保持される。また、締結部材55を外すことで、第1連結支持部材60を回転支持部材50から取り外すことができ、第1サポート部材10と第2サポート部材12とを簡易に分離させたり連結させ得る。なお、図4および図5に示すように、自己潤滑性樹脂を材質とするリング状のスリーブ58が支持孔25の内周端面に装着され、円形嵌合部52が該スリーブ58に接触しながら摺動することで回転支持部材50の円滑な回転が得られる。 As shown in FIGS. 4 and 5, the rotation support member 50 includes a circular flange portion 51 that comes into contact with the base member 22 of the first support member 10 from the accommodation installation portion 24 side, and a smaller diameter than the flange portion 51. A circular fitting portion 52 that fits into the support hole 25, a rectangular locking portion 53 that protrudes in a rectangular shape from the end face of the circular fitting portion 52, and a screw hole formed in the end face of the rectangular locking portion 53 54. The rectangular locking portion 53 is adapted to fit into a rectangular hole 63 provided in the first connection support member 60, and the first connection support member 60 sandwiches the base member 22 and the rotation support member 50. And is configured to rotate integrally. 4 and 5, the screw hole 54 is used to fix a fastening member 55 for preventing the first connection support member 60 from falling off to the rotation support member 50. Screws 57 attached to the disk 56 are screwed together. That is, the rotation support member 50 is rotatably held in a state in which the circular fitting portion 52 is fitted into the support hole 25 by fastening the fastening member 55 with the first connection support member 60 attached. Moreover, the 1st connection support member 60 can be removed from the rotation support member 50 by removing the fastening member 55, and the 1st support member 10 and the 2nd support member 12 can be isolate | separated or connected easily. 4 and 5, a ring-shaped sleeve 58 made of a self-lubricating resin is attached to the inner peripheral end surface of the support hole 25, and the circular fitting portion 52 is in contact with the sleeve 58. By sliding, the rotation support member 50 can be smoothly rotated.
 前記第1連結支持部材60は、図4および図5に示すように、上下に離間して前方へ延出する連結片部61,61が形成されている。各連結片部61には、上下方向における同一軸線上に、係止孔62が形成されている。また第2連結支持部材65は、前記連結片部61,61間に前方から整合可能な連結ボス部66が形成されている。この連結ボス部66には、上下方向に貫通して前記各係止孔62に整合する挿通孔67が形成されている。従って、第1連結支持部材60の各連結片部61,61と第2連結支持部材65の連結ボス部66とを整合させたもとで、各係止孔62および挿通孔67へ連結ピン68を挿通することで第1連結支持部材60と第2連結支持部材65とが連結され、これにより第1サポート部材10に対して第2サポート部材12の連結が図られる。 As shown in FIGS. 4 and 5, the first connection support member 60 is formed with connection piece portions 61, 61 that are spaced apart vertically and extend forward. Each connecting piece 61 is formed with a locking hole 62 on the same axis in the vertical direction. The second connection support member 65 is formed with a connection boss 66 that can be aligned from the front between the connection pieces 61 and 61. The connecting boss portion 66 is formed with an insertion hole 67 that penetrates in the vertical direction and aligns with the locking holes 62. Therefore, the connecting pins 68 are inserted into the locking holes 62 and the insertion holes 67 with the connecting pieces 61 and 61 of the first connecting support member 60 and the connecting bosses 66 of the second connecting support member 65 aligned. By doing so, the 1st connection support member 60 and the 2nd connection support member 65 are connected, and the connection of the 2nd support member 12 with respect to the 1st support member 10 is achieved by this.
 なお第2連結支持部材65は、連結ピン68を中心として第1連結支持部材60に対して左右方向への揺動が可能である。従って第2サポート部材12は、第1サポート部材10に対して左右方向への姿勢変位が可能となっている。これにより、装着型動作支援装置SU1を右腕Aに装着した際に、第2サポート部材12の左右方向の向きを微調整して、該第2サポート部材12を前腕部A2に対して無理なく沿わせることができる。 The second connection support member 65 can swing in the left-right direction with respect to the first connection support member 60 around the connection pin 68. Accordingly, the second support member 12 can be displaced in the left-right direction with respect to the first support member 10. As a result, when the wearable motion support device SU1 is mounted on the right arm A, the horizontal direction of the second support member 12 is finely adjusted so that the second support member 12 fits the forearm portion A2 without difficulty. Can be made.
 前記作動機構Mは、図2~図4に示すように、ギアボックス71を備えた作動手段としてのサーボモータ70と、該サーボモータ70の出力軸72に固定されたベベルギアタイプの第1ギア73と、前記回転支持部材50に回転不能に固定されて前記第1ギア73に噛合するベベルギアタイプの第2ギア74とを備えている。サーボモータ70は、図示しない制御手段により作動制御され、ケースが細長で軽量かつコンパクトに構成され、ベース部材22に設けたモータ固定部(図示省略)に対して出力軸72が前方へ延出する向きで装着される。そしてサーボモータ70は、ベース部材22および該ベース部材22に組付けたカバー部材23に挟持されて、収容設置部24内にがたつきなく適切に保持され、出力軸72に固定された第1ギア73と回転支持部材50に固定された第2ギア74とが適切に噛合する。なお、回転支持部材50の前記円形フランジ部51の前記円形嵌合部52とは反対側の端面には、右側方へ延出するシャフト75が設けられ、このシャフト75にはロータリーエンコーダ76が連結されている。 As shown in FIGS. 2 to 4, the operating mechanism M includes a servo motor 70 as an operating means having a gear box 71, and a bevel gear type first gear 73 fixed to an output shaft 72 of the servo motor 70. And a bevel gear type second gear 74 which is fixed to the rotation support member 50 so as not to rotate and meshes with the first gear 73. The servo motor 70 is controlled by a control means (not shown), the case is thin and light and compact, and the output shaft 72 extends forward with respect to a motor fixing portion (not shown) provided on the base member 22. Mounted in the direction. The servo motor 70 is sandwiched between the base member 22 and the cover member 23 assembled to the base member 22, is appropriately held without rattling in the housing installation portion 24, and is fixed to the output shaft 72. The gear 73 and the second gear 74 fixed to the rotation support member 50 are properly meshed with each other. A shaft 75 extending rightward is provided on the end surface of the circular flange portion 51 of the rotation support member 50 opposite to the circular fitting portion 52, and a rotary encoder 76 is connected to the shaft 75. Has been.
 従って、サーボモータ70の正逆作動により出力軸72が正逆回転すると、第1ギア73および第2ギア74を介して回転支持部材50がベース部材22に対して正逆回転し、これにより第2サポート部材12が第1サポート部材10に対して姿勢変位する。そして、回転支持部材50と第2サポート部材12とが一体的に回転するよう構成されているので、該回転支持部材50の回転角度を前記ロータリーエンコーダ76で検知することで、第1サポート部材10に対する第2サポート部材12の動作状態が適切に把握される。なお、ロータリーエンコーダ76の検知信号は、図示しない制御手段へ出力される。 Therefore, when the output shaft 72 rotates forward and backward by the forward and reverse operation of the servo motor 70, the rotation support member 50 rotates forward and backward with respect to the base member 22 via the first gear 73 and the second gear 74, thereby 2 The posture of the support member 12 is displaced with respect to the first support member 10. Since the rotation support member 50 and the second support member 12 are configured to rotate integrally, the first support member 10 is detected by detecting the rotation angle of the rotation support member 50 with the rotary encoder 76. The operation state of the second support member 12 is appropriately grasped. The detection signal of the rotary encoder 76 is output to a control means (not shown).
 第2サポート部材12の動作検知部材14は、図1~図3および図6に示すように、第2サポート部材12におけるスライド部材43の前端部にビス等により固定され、前腕部A2の手首部A4に近接する部位に装着される。この動作検知部材14は、前記スライド部材43に固定される固定部材としてのアウター部材80と、前記アウター部材80の内側に該アウター部材80から取外し可能に配設され、前腕部A2に装着される移動部材としてのインナー部材81とを備えている。これらアウター部材80およびインナー部材81は、何れも前後方向に開口した円形リング形状に構成されている。そして、アウター部材80およびインナー部材81を後述するように構成することで、アウター部材80に対するインナー部材81の動作は、(1)周方向へは、装着型動作支援装置SU1の後側から見て右方向および左方向の両方向の回転変位が自在であり、(2)径方向へは、全ての方向(360度)に若干の移動が可能であり、(3)前後方向へは、前方向および後方向の両方向への移動が不可能となっている。 As shown in FIGS. 1 to 3 and 6, the motion detection member 14 of the second support member 12 is fixed to the front end portion of the slide member 43 of the second support member 12 with screws or the like, and the wrist portion of the forearm portion A2. Attached to a part close to A4. This motion detection member 14 is disposed on the inner side of the outer member 80 as a fixing member fixed to the slide member 43 and is removable from the outer member 80, and is attached to the forearm portion A2. And an inner member 81 as a moving member. Both the outer member 80 and the inner member 81 are formed in a circular ring shape opened in the front-rear direction. Then, by configuring the outer member 80 and the inner member 81 as described later, the operation of the inner member 81 with respect to the outer member 80 is (1) viewed from the rear side of the wearable motion support device SU1 in the circumferential direction. Rotational displacement in both the right and left directions is free. (2) A slight movement in all directions (360 degrees) is possible in the radial direction. (3) The forward and backward directions are Movement in both directions in the backward direction is impossible.
 アウター部材80は、図6~図8に示すように、各々が円の1/2の長さとなる円弧状をなす第1アウター半体82と第2アウター半体83とから2分割に構成され、両半体82,83の長手方向における一方の端部である第1端部82A,83A同士および他方の端部である第2端部82B,83B同士を夫々当接させることで円形リング形状をなすよう構成されている。第1アウター半体82および第2アウター半体83は、基本的な構成が同じで、外周サポート部材84と、この外周サポート部材84の湾曲内側に配設される内周ガイド部材85とを備えている。第1アウター半体82の外周サポート部材84は、内周ガイド部材85を保持すると共に、第2サポート部材12のスライド部材43にアウター部材80を確実に固定するためのものである。また、第2アウター半体83の外周サポート部材84は、内周ガイド部材85を保持すると共に、該第2アウター半体83を第1アウター半体82にヒンジ接合するためのものである。すなわち、第1アウター半体82と第2アウター半体83とは、図7に示すように、両半体82,83の第1端部82A,83Aに臨む外周サポート部材84,84の端部に形成された第1ヒンジ部86により連結され、第1アウター半体82に対して第2アウター半体83が回転可能になっている。従ってアウター部材80は、両半体82,83の第2端部82B,83B同士を当接させた閉成状態(図6参照)と、第2端部82B,83Bを離間させた開放状態(図7参照)とに開閉し得るようになっている。 As shown in FIGS. 6 to 8, the outer member 80 is divided into two parts, a first outer half body 82 and a second outer half body 83, each of which has an arc shape that is half the length of a circle. The first end portions 82A and 83A, which are one end portions in the longitudinal direction of both halves 82 and 83, and the second end portions 82B and 83B which are the other end portions are brought into contact with each other to form a circular ring shape. It is configured to make. The first outer half body 82 and the second outer half body 83 have the same basic configuration, and include an outer peripheral support member 84 and an inner peripheral guide member 85 disposed on the curved inner side of the outer peripheral support member 84. ing. The outer peripheral support member 84 of the first outer half body 82 is for holding the inner peripheral guide member 85 and for securely fixing the outer member 80 to the slide member 43 of the second support member 12. Further, the outer peripheral support member 84 of the second outer half body 83 is for holding the inner peripheral guide member 85 and hinge-joining the second outer half body 83 to the first outer half body 82. That is, the first outer half body 82 and the second outer half body 83 are end portions of the outer peripheral support members 84 and 84 facing the first end portions 82A and 83A of the both half bodies 82 and 83, as shown in FIG. The second outer half body 83 is rotatable with respect to the first outer half body 82. Therefore, the outer member 80 is in a closed state (see FIG. 6) in which the second ends 82B and 83B of both halves 82 and 83 are in contact with each other, and an open state in which the second ends 82B and 83B are separated (see FIG. 6). (See FIG. 7).
 各内周ガイド部材85,85は、金属または硬質合成樹脂等の変形困難でかつ軽量な素材から形成され、装着型動作支援装置SU1を右腕Aに装着した通常の使用時に想定される外力程度では容易に変形しない剛性を有している。そして内周ガイド部材85は、前後幅寸法W1が前記外周サポート部材84より大きく形成された内側壁部87と、この内側壁部87の外周前端部に、径方向外方へ突出すると共に周方向の全長に亘って延在形成された前端部88と、前記内側壁部87の外周後端部に、径方向外方へ突出すると共に周方向の全長に亘って延在形成された後端部89とを備えている。そして外周サポート部材84は、その前端縁および後端縁が前記前端部88と後端部89の各外周面に夫々当接した状態で内周ガイド部材85の外側に固定されており、これら外周サポート部材84と内周ガイド部材85と間に長手方向の全長に亘って内部空間90が画成されている。なお、内周ガイド部材85の前端面が、インナー部材81の後述する前当接面110と摺接する前ガイド面91であり、該部材85の後端面が、インナー部材81の後述する後当接面111と摺接する後ガイド面92である。 Each of the inner peripheral guide members 85, 85 is formed of a material that is difficult to deform and lightweight, such as metal or hard synthetic resin, and has an external force level that is assumed during normal use when the wearable motion support device SU1 is mounted on the right arm A. Rigidity that does not easily deform. The inner circumferential guide member 85 protrudes radially outward at an inner wall portion 87 having a front-rear width dimension W1 larger than that of the outer circumferential support member 84, and an outer circumferential front end portion of the inner wall portion 87, and in the circumferential direction. A front end portion 88 extending over the entire length of the inner wall portion 87 and a rear end portion projecting radially outward and extending over the entire length in the circumferential direction at the outer peripheral rear end portion of the inner wall portion 87. 89. The outer peripheral support member 84 is fixed to the outer side of the inner peripheral guide member 85 in a state where the front end edge and the rear end edge thereof are in contact with the outer peripheral surfaces of the front end portion 88 and the rear end portion 89, respectively. An internal space 90 is defined between the support member 84 and the inner peripheral guide member 85 over the entire length in the longitudinal direction. The front end surface of the inner circumferential guide member 85 is a front guide surface 91 that is in sliding contact with a front contact surface 110 described later of the inner member 81, and the rear end surface of the member 85 is a rear contact described later of the inner member 81. The rear guide surface 92 is in sliding contact with the surface 111.
 そして、第1アウター半体82の第2端部82Bと第2アウター半体83の第2端部83Bには、図7および図10に示すように、第4連結手段95および第3連結手段96からなるアウター半体連結手段(固定半体連結手段)L2が設けられ、両半体82,83を閉成状態に保持し得ると共に、簡単に開放状態となし得るようになっている。第4連結手段95は、第1アウター半体82の第2端部82Bにおいて、前端部88の周方向端部および後端部89の周方向端部に、両アウター半体82,83の開閉方向(周方向)に突出するよう設けた嵌合突部97,97と、第2アウター半体83の第2端部83Bにおいて、前端部88の周方向端部および後端部89の周方向端部に、前記開閉方向(周方向)へ凹設された嵌合凹部98,98とで構成される。すなわち第4連結手段95は、第1アウター半体82に対する第2アウター半体83の閉成時に、第1アウター半体82の第2端部82Bに対して第2アウター半体83の第2端部83Bを当接させる際に、各嵌合突部97,97が対応する嵌合凹部98,98へ夫々突入して嵌合するよう構成されている。従って、嵌合突部97と嵌合凹部98とは、前記開閉方向と交差する方向(径方向および前後方向)で重なり合っている。 As shown in FIGS. 7 and 10, the fourth connecting means 95 and the third connecting means are provided on the second end 82 </ b> B of the first outer half 82 and the second end 83 </ b> B of the second outer half 83. The outer half connecting means (fixed half connecting means) L2 comprising 96 is provided so that both halves 82 and 83 can be held in a closed state and can be easily opened. The fourth connecting means 95 opens and closes the outer halves 82 and 83 at the circumferential end of the front end 88 and the circumferential end of the rear end 89 at the second end 82B of the first outer half 82. In the fitting protrusions 97, 97 provided so as to protrude in the direction (circumferential direction) and the second end 83B of the second outer half 83, the circumferential end of the front end 88 and the circumferential direction of the rear end 89 It is comprised by the recessed part 98,98 recessed in the said opening-closing direction (circumferential direction) at the edge part. In other words, the fourth connecting means 95 is configured so that the second outer half 83 is second with respect to the second end 82B of the first outer half 82 when the second outer half 83 is closed with respect to the first outer half 82. When the end 83B is brought into contact with each other, the fitting protrusions 97 and 97 are configured to enter and fit into the corresponding fitting recesses 98 and 98, respectively. Therefore, the fitting protrusion 97 and the fitting recess 98 overlap in a direction (radial direction and front-rear direction) intersecting with the opening / closing direction.
 第3連結手段96は、図10(a)に示すように、第2アウター半体83の第2端部83Bにおいて、内側壁部87の周方向端部に、両アウター半体82,83の開閉方向(周方向)に突出するよう設けた係合爪部99と、第1アウター半体82の第2端部82Bに、前記内部空間90に連通するよう形成された係合孔部100とを備えている。そして、係合爪部99の先端下部には、前記開閉方向と交差する方向に突出した球状突部(突部)101が形成されている。また、係合孔部100に臨む内側壁部87には、開閉方向と交差するよう凹設された凹部102が形成されており、係合爪部99が係合孔部100に係合された際に球状突部101が凹部102に嵌合するよう構成されている。すなわち第3連結手段96は、第1アウター半体82に対する第2アウター半体83の閉成時に、第1アウター半体82の第2端部82Bに対して第2アウター半体83の第2端部83Bを当接させる際に、係合爪部99が係合孔部100へ突入して係合すると共に、球状突部101と凹部102とが嵌合するよう構成されている。従って、係合爪部99と係合孔部100とは前記開閉方向と交差する方向(径方向および前後方向)で重なり合うと共に、球状突部101と凹部102前記開閉方向(周方向)で重なり合っている。 As shown in FIG. 10A, the third connecting means 96 is formed at the second end 83 </ b> B of the second outer half 83 at the circumferential end of the inner wall portion 87. An engagement claw 99 provided so as to protrude in the opening / closing direction (circumferential direction), and an engagement hole 100 formed in the second end 82B of the first outer half 82 so as to communicate with the internal space 90; It has. A spherical protrusion (protrusion) 101 protruding in a direction intersecting with the opening / closing direction is formed at the lower end of the engagement claw 99. Further, the inner wall 87 facing the engagement hole 100 is formed with a recess 102 that is recessed so as to intersect the opening and closing direction, and the engagement claw 99 is engaged with the engagement hole 100. At this time, the spherical protrusion 101 is configured to fit into the recess 102. That is, when the second outer half body 83 is closed with respect to the first outer half body 82, the third connecting means 96 is connected to the second outer half body 83 with respect to the second end 82 </ b> B of the second outer half body 83. When the end portion 83B is brought into contact, the engaging claw portion 99 enters and engages with the engaging hole portion 100, and the spherical protruding portion 101 and the recessed portion 102 are fitted. Therefore, the engaging claw portion 99 and the engaging hole portion 100 overlap in the direction (radial direction and front-rear direction) intersecting the opening / closing direction, and the spherical protrusion 101 and the recess 102 overlap in the opening / closing direction (circumferential direction). Yes.
 従って前記アウター部材80は、第4連結手段95の嵌合突部97,97と嵌合凹部98,98とが嵌合し、第3連結手段96の係合爪部99と係合孔部100が係合すると共に球状突部101と凹部102とが嵌合することで、第1アウター半体82および第2アウター半体83の第1端部82A,83Aの当接部分および第2端部82B,83Bの当接部分に段差や隙間が形成されず、内周面80A、前ガイド面91および後ガイド面92は全周に亘って平滑になるよう構成されている。そして、第4連結手段95の嵌合突部97と嵌合凹部98および第3連結手段96の係合爪部99と係合孔部100が、アウター部材80の径方向で重なり合って第2端部82B,83Bが径方向へずれるのを防止するように係合しており、アウター部材80に対し径方向外方から外力が加わっても、第2端部82B,83Bの当接部分に径方向への段差が形成されない。また、第4連結手段95の嵌合突部97と嵌合凹部98および第3連結手段96の係合爪部99と係合孔部100が、アウター部材80の前後方向で重なり合って第2端部82B,83Bが前後方向へずれるのを防止するように係合しており、アウター部材80に対し前方向外方または後方向外方から外力が加わっても、第2端部82B,83Bの当接部分に前後方向への段差が形成されない。更に、第3連結手段96の球状突部101と凹部102とが、アウター部材80の周方向において重なり合って第2端部82B,83Bが周方向へ離間するのを防止するように係合しており、アウター部材80に対し周方向外方から外力が加わっても、第2端部82B,83Bの当接部分に隙間が形成されない。 Therefore, in the outer member 80, the fitting protrusions 97, 97 of the fourth connecting means 95 and the fitting recesses 98, 98 are fitted, and the engaging claw 99 and the engaging hole 100 of the third connecting means 96 are fitted. And the spherical protrusion 101 and the recess 102 are engaged with each other, so that the contact portions and the second end portions of the first end portions 82A and 83A of the first outer half body 82 and the second outer half body 83 are obtained. No step or gap is formed in the contact portions of 82B and 83B, and the inner peripheral surface 80A, the front guide surface 91, and the rear guide surface 92 are configured to be smooth over the entire periphery. Then, the fitting protrusion 97 and the fitting recess 98 of the fourth connecting means 95 and the engaging claw 99 and the engaging hole 100 of the third connecting means 96 overlap in the radial direction of the outer member 80 so that the second end. The portions 82B and 83B are engaged so as to prevent displacement in the radial direction, and even if an external force is applied to the outer member 80 from the outside in the radial direction, a diameter is applied to the contact portion of the second end portions 82B and 83B. No step in the direction is formed. Further, the fitting protrusion 97 and the fitting recess 98 of the fourth connecting means 95 and the engaging claw 99 and the engaging hole part 100 of the third connecting means 96 overlap in the front-rear direction of the outer member 80, and the second end. The portions 82B and 83B are engaged so as to prevent the portions 82B and 83B from shifting in the front-rear direction, and even if an external force is applied to the outer member 80 from the front outward or rearward outward, the second end portions 82B and 83B No step in the front-rear direction is formed at the contact portion. Further, the spherical protrusion 101 and the recess 102 of the third connecting means 96 are engaged with each other so as to prevent the second end portions 82B and 83B from separating in the circumferential direction by overlapping in the circumferential direction of the outer member 80. Even if an external force is applied to the outer member 80 from the outer side in the circumferential direction, no gap is formed at the contact portion of the second end portions 82B and 83B.
 インナー部材81は、図6~図8に示すように、各々が円の1/2の長さとなる円弧状をなす第1インナー半体105と第2インナー半体106とから2分割に構成され、両半体105,106の長手方向における一方の端部である第1端部105A,106A同士および他方の端部である第2端部105B,106B同士を夫々当接させることで円形リング形状をなすよう構成されている。第1インナー半体105および第2インナー半体106は、基本的な構成が同じで、金属または硬質合成樹脂等の変形困難でかつ軽量な素材から形成され、前記アウター部材80と同様に、装着型動作支援装置SU1を右腕Aに装着した通常の使用時に想定される外力程度では容易に変形しない剛性を有している。そして、第1インナー半体105および第2インナー半体106は、前記アウター部材80(内周ガイド部材85の内側壁部87)の前後幅寸法W1より幅広に形成された支持壁部材107と、この支持壁部材107の外周前端部に、径方向外方へ突出すると共に周方向の全長に亘って延在形成された前端部108と、前記支持壁部材107の外周後端部に、径方向外方へ突出すると共に周方向の全長に亘って延在形成された後端部109とを備えている。なお、前端部108の後端面が、前記アウター部材80の前ガイド面91と摺接する前当接面110であり、後端部89の前端面が、アウター部材80の後ガイド面92と摺接する後当接面111である。 As shown in FIGS. 6 to 8, the inner member 81 is divided into two parts from a first inner half body 105 and a second inner half body 106 each having an arc shape that is half the length of a circle. The first end portions 105A and 106A that are one end portions in the longitudinal direction of both half bodies 105 and 106 and the second end portions 105B and 106B that are the other end portions are brought into contact with each other to form a circular ring shape. It is configured to make. The first inner half body 105 and the second inner half body 106 have the same basic configuration, and are formed from a material that is difficult to deform and lightweight, such as metal or hard synthetic resin. The mold motion support device SU1 is rigid enough not to be easily deformed by an external force that is assumed during normal use with the right arm A attached. The first inner half body 105 and the second inner half body 106 include a support wall member 107 formed wider than the front-rear width dimension W1 of the outer member 80 (the inner wall portion 87 of the inner circumferential guide member 85); A front end 108 that protrudes radially outward and extends over the entire length in the circumferential direction at the front outer periphery of the support wall member 107, and a radial rear end at the outer peripheral rear end of the support wall member 107. And a rear end portion 109 that protrudes outward and extends over the entire length in the circumferential direction. The rear end surface of the front end portion 108 is a front contact surface 110 that is in sliding contact with the front guide surface 91 of the outer member 80, and the front end surface of the rear end portion 89 is in sliding contact with the rear guide surface 92 of the outer member 80. This is the rear contact surface 111.
 前記第1インナー半体105と第2インナー半体106とは、両半体105,106の第1端部106A,106Aに臨む支持壁部材107の端部に形成された第2ヒンジ部112により連結され、第1インナー半体105に対して第2インナー半体106が回転可能になっており、両半体105,106の第2端部105B,106B同士を当接させた閉成状態(図6参照)と、第2端部105B,106Bを離間させた開放状態(図7参照)とに姿勢変位し得るようになっている。なお、第1インナー半体105の支持壁部材107内面および第2インナー半体106の支持壁部材107内面には、前腕部A2に接触する手首パッド部材113,113が配設されている。これら手首パッド部材113,113は、パッド外面113Aの形状が同一で厚さが異なる複数サイズが準備される。これにより、同一サイズのインナー部材81に対して厚さが異なる手首パッド部材113を選択して装着することで、体格が異なる(手首部A4の太さが異なる)ユーザーへの使用が可能となっている。 The first inner half 105 and the second inner half 106 are formed by a second hinge portion 112 formed at the end of the support wall member 107 facing the first ends 106A and 106A of both halves 105 and 106. The second inner half 106 is connected to the first inner half 105 so that the second inner half 106 can rotate, and the second ends 105B and 106B of the two halves 105 and 106 are in contact with each other. 6) and the open state (see FIG. 7) in which the second end portions 105B and 106B are separated from each other. Wrist pad members 113 and 113 that contact the forearm portion A2 are disposed on the inner surface of the support wall member 107 of the first inner half body 105 and the inner surface of the support wall member 107 of the second inner half body 106. These wrist pad members 113 and 113 are prepared in a plurality of sizes having the same shape and different thickness of the pad outer surface 113A. Accordingly, by selecting and mounting the wrist pad member 113 having a different thickness with respect to the inner member 81 having the same size, it is possible to use the wrist pad member 113 having a different physique (the thickness of the wrist portion A4 is different). ing.
 そして、第1インナー半体105の第2端部105Bと第2インナー半体106の第2端部106Bには、図7および図11に示すように、第2連結手段115および第1連結手段116からなるインナー半体連結手段(移動半体連結手段)L1が設けられ、両半体105,106を閉成状態に保持し得ると共に、簡単に開放状態となし得るようになっている。第2連結手段115は、第2インナー半体106の第2端部106Bにおいて、前端部108の周方向端部に、両インナー半体105,106の開放方向(周方向)に突出するよう設けた係合突部117と、第1インナー半体105の第2端部105Bにおいて前端部108の周方向端部に、前記開閉方向(周方向)へ凹設された係合凹部119を備えている。係合突部117には、先端で開口して周方向へ延在するスリット118が形成され、係合凹部119には、前後方向に延在して前後端が支持された係合ピン120が設けられている。また、第2インナー半体106の第2端部106Bにおいて、後端部109の周方向端部に設けた第2連結手段115は、第2インナー半体106の第2端部106Bにおいて後端部109の周方向端部から前記開閉方向へ突出するよう設けた係合突部124と、第1インナー半体105の第2端部105Bにおいて後端部109の周方向端部に、前記開閉方向に沿って凹設した係合凹部125とを備えている。すなわち、前者の第2連結手段115は、第1インナー半体105に対する第2インナー半体106の閉成時に、係合突部117が対応する係合凹部119へ突入すると共に係合ピン120にスリット118が係合するよう構成され、後者の第2連結手段115は、係合突部124が係合凹部125に係合するよう構成される。従って、係合突部117と係合凹部119および係合突部124と係合凹部125は、前記開閉方向と交差する方向(径方向および前後方向)で重なり合っている。 As shown in FIGS. 7 and 11, the second connecting means 115 and the first connecting means are provided on the second end 105B of the first inner half 105 and the second end 106B of the second inner half 106, respectively. Inner half body connecting means (moving half body connecting means) L1 consisting of 116 is provided so that both halves 105 and 106 can be held in a closed state and can be easily opened. The second connecting means 115 is provided at the second end 106B of the second inner half 106 so as to protrude in the opening direction (circumferential direction) of the inner halves 105, 106 at the circumferential end of the front end 108. And an engagement recess 119 that is recessed in the opening / closing direction (circumferential direction) at the circumferential end of the front end 108 at the second end 105B of the first inner half 105. Yes. The engagement protrusion 117 is formed with a slit 118 that opens at the tip and extends in the circumferential direction, and the engagement recess 119 has an engagement pin 120 that extends in the front-rear direction and supports the front and rear ends. Is provided. Further, the second connecting means 115 provided at the circumferential end of the rear end 109 at the second end 106B of the second inner half 106 is connected to the rear end at the second end 106B of the second inner half 106. The engagement protrusion 124 provided so as to protrude from the circumferential end of the portion 109 in the opening / closing direction, and the opening / closing at the circumferential end of the rear end 109 in the second end 105B of the first inner half 105 And an engaging recess 125 which is recessed along the direction. That is, when the second inner half body 106 is closed with respect to the first inner half body 105, the former second connecting means 115 enters the engaging pin 120 and the engaging protrusion 117 enters the corresponding engaging recess 119. The slit 118 is configured to engage, and the latter second connecting means 115 is configured such that the engaging protrusion 124 engages with the engaging recess 125. Therefore, the engagement protrusion 117 and the engagement recess 119, and the engagement protrusion 124 and the engagement recess 125 overlap each other in the direction intersecting the opening / closing direction (radial direction and front-rear direction).
 第1連結手段116は、図7および図11に示すように、第1インナー半体105の第2端部105Bにおいて、後端部109の周方向端部近傍に支持ピン121により枢支されて周方向外方へ揺動可能な係止レバー122と、第2インナー半体106の第2端部106Bにおいて、後端部109の周方向端面から周方向へ凹設された係止溝123とを備えている。係止レバー122は、L型に形成されて先端部に後方へ折曲した係止部122Aを備え、後端部109から径方向外方へ起立した状態(図11(a))と、該後端部109から周方向へ倒伏して前記係止溝123に係止可能な状態(図11(b))とに揺動する。また係止溝123は、前記係止レバー122の倒伏時の形状に合致するL型に形成され、前記係止部122Aが係合する係止受部123Aが、前後方向に延在すると共に後端部109の後端面に開口するように形成されている。すなわち第1連結手段116は、第1インナー半体105に対して第2インナー半体106を当接させたもとで、起立した係止レバー122を回転させて係止溝123へ嵌合させると共に、係合突部124が係合凹部125に突入するよう構成されている。従って、係止部122Aおよび係止受部123Aは、前記開閉方向(周方向)で重なり合っている。なお、係止溝123に嵌合した係止レバー122の係止部122Aが、第2インナー半体106の後端面から外方へ突出しているので、この突出した係止部122Aに指をかけることで該係止レバー122を起立状態へ姿勢変位させることが可能であり、該係止レバー122と係止溝123との係止状態を容易に解除させ得る。 As shown in FIGS. 7 and 11, the first connecting means 116 is pivotally supported by a support pin 121 near the circumferential end of the rear end 109 at the second end 105 </ b> B of the first inner half 105. A locking lever 122 that can swing outward in the circumferential direction, and a locking groove 123 that is recessed in the circumferential direction from the circumferential end surface of the rear end 109 at the second end 106B of the second inner half 106. It has. The locking lever 122 is provided with a locking portion 122A formed in an L shape and bent backward at the front end portion thereof, and stands up radially outward from the rear end portion 109 (FIG. 11A), It swings from the rear end 109 in the circumferential direction so that it can be locked in the locking groove 123 (FIG. 11B). The locking groove 123 is formed in an L shape that matches the shape of the locking lever 122 when lying down, and a locking receiving portion 123A with which the locking portion 122A engages extends in the front-rear direction and the rear. An opening is formed in the rear end surface of the end portion 109. That is, the first connecting means 116 rotates the locking lever 122 upright while the second inner half 106 is brought into contact with the first inner half 105 and is fitted into the locking groove 123. The engagement protrusion 124 is configured to enter the engagement recess 125. Accordingly, the locking portion 122A and the locking receiving portion 123A overlap in the opening / closing direction (circumferential direction). Note that the locking portion 122A of the locking lever 122 fitted in the locking groove 123 protrudes outward from the rear end surface of the second inner half body 106, so that a finger is applied to the protruding locking portion 122A. Accordingly, the posture of the locking lever 122 can be displaced to the upright state, and the locking state between the locking lever 122 and the locking groove 123 can be easily released.
 前記インナー部材81は、各第2連結手段115,115の係合突部117,124と係合凹部119,125とが係合し、第1連結手段116の係止レバー122と係止溝123とが嵌合することで、第1インナー半体105および第2インナー半体106の第1端部105A,106Aの当接部分および第2端部105B,106Bの当接部分に段差や隙間が形成されず、外周面81A、前当接面110および後当接面111は全周に亘って平滑になるよう構成されている。そして、第2連結手段115,115の係合突部117,124と係合凹部119,125が、インナー部材81の径方向で重なり合って第2端部105B,106Bが径方向でずれるのを防止するように係合しており、インナー部材81に対し径方向外方から外力が加わっても、第2端部105B,106Bの当接部分に径方向への段差が形成されない。また、第2連結手段115,115の係合突部117,124と係合凹部119,125が、インナー部材81の前後方向で重なり合って第2端部105B,106Bが前後方向へずれるのを防止するように係合しており、インナー部材81に対し前方向外方または後方向外方から外力が加わっても、第2端部105B,106Bの当接部分に前後方向への段差が形成されない。更に、第1連結手段116の係止レバー122における係止部122Aと係止溝123の係止受部123Aとが、インナー部材81の周方向において重なり合って第2端部105B,106Bが周方向へ離間するのを防止するように係合しており、インナー部材81に対し周方向外方から外力が加わっても、第2端部105B,106Bの当接部分に隙間が形成されない。 In the inner member 81, the engagement protrusions 117 and 124 and the engagement recesses 119 and 125 of the second connection means 115 and 115 are engaged, and the locking lever 122 and the locking groove 123 of the first connection means 116 are engaged. And the first inner half 105 and the second inner half 106 have a step or a gap between the contact portions of the first end portions 105A and 106A and the contact portions of the second end portions 105B and 106B. Without being formed, the outer peripheral surface 81A, the front contact surface 110, and the rear contact surface 111 are configured to be smooth over the entire periphery. The engagement protrusions 117 and 124 of the second connecting means 115 and 115 and the engagement recesses 119 and 125 overlap in the radial direction of the inner member 81 to prevent the second end portions 105B and 106B from shifting in the radial direction. Even if an external force is applied to the inner member 81 from the outside in the radial direction, no step in the radial direction is formed at the contact portion of the second end portions 105B and 106B. Further, the engagement protrusions 117 and 124 of the second connecting means 115 and 115 and the engagement recesses 119 and 125 overlap in the front-rear direction of the inner member 81 to prevent the second end portions 105B and 106B from shifting in the front-rear direction. Even if an external force is applied to the inner member 81 from the front outer side or the rear outer side, no step in the front-rear direction is formed at the contact portion of the second end portions 105B and 106B. . Further, the locking portion 122A of the locking lever 122 of the first connecting means 116 and the locking receiving portion 123A of the locking groove 123 overlap in the circumferential direction of the inner member 81 so that the second ends 105B and 106B are circumferential. Even if an external force is applied to the inner member 81 from the outer side in the circumferential direction, no gap is formed at the contact portion of the second end portions 105B and 106B.
 そして、前記アウター部材80とインナー部材81との寸法関係は次のようになっている。先ず、図9に示すように、インナー部材81の外周面81Aにおける外径寸法d1は、アウター部材80の内周面80Aにおける内径寸法D1より小さく(d1<D1)設定されている。また、インナー部材81の前当接面110および後当接面111間の前後幅寸法W2は、アウター部材80の前ガイド面91および後ガイド面92間の前後幅寸法W1と同寸法とされ(W1=W2)、所謂「すきまばめ」の寸法公差とされている。従って、アウター部材80に装着されたインナー部材81は、前後方向へがたつくことがなく、かつ径方向へスムーズに回転変位し得る。更に、インナー部材81の前端部88および後端部89の外周直径d2は、アウター部材80の前記内径寸法D1より大きく、かつインナー部材81が径方向の何れの方向へ移動した状態であっても、インナー部材81の前当接面110および後当接面111が、アウター部材80の前ガイド面91および後ガイド面92に対して常に全周に亘って当接し得るように設定されている。例えば、インナー部材81が径方向上方へ最大に移動しても、径方向下方においては各当接面110,111が各ガイド面91,92に接しており、インナー部材81が径方向右方へ最大に移動しても、径方向左方においては各当接面110,111が各ガイド面91,92に接した状態となっている。 The dimensional relationship between the outer member 80 and the inner member 81 is as follows. First, as shown in FIG. 9, the outer diameter dimension d1 of the outer peripheral surface 81A of the inner member 81 is set smaller than the inner diameter dimension D1 of the inner peripheral surface 80A of the outer member 80 (d1 <D1). The front-rear width dimension W2 between the front contact surface 110 and the rear contact surface 111 of the inner member 81 is the same as the front-rear width dimension W1 between the front guide surface 91 and the rear guide surface 92 of the outer member 80 ( W1 = W2), a so-called “clearance fit” dimensional tolerance. Therefore, the inner member 81 attached to the outer member 80 does not rattle in the front-rear direction and can be smoothly rotated and displaced in the radial direction. Further, the outer peripheral diameter d2 of the front end portion 88 and the rear end portion 89 of the inner member 81 is larger than the inner diameter dimension D1 of the outer member 80, and the inner member 81 is moved in any radial direction. The front contact surface 110 and the rear contact surface 111 of the inner member 81 are set so that they can always contact the front guide surface 91 and the rear guide surface 92 of the outer member 80 over the entire circumference. For example, even if the inner member 81 moves maximum in the radial direction, the contact surfaces 110 and 111 are in contact with the guide surfaces 91 and 92 in the lower radial direction, and the inner member 81 moves to the right in the radial direction. Even if it moves to the maximum, the contact surfaces 110 and 111 are in contact with the guide surfaces 91 and 92 on the left side in the radial direction.
 従って、アウター部材80に装着されたインナー部材81は、前述したように、該アウター部材80に対して周方向へは両方向(左方向、右方向)の回転変位が自在となっている。そしてインナー部材81は、アウター部材80に対して径方向の全ての方向に若干の移動が許容される。またインナー部材81は、前後方向へは両方向(前方向、後方向)の移動が不可能である。更にインナー部材81は、径方向の何れの方向へ移動しても、アウター部材80から脱落することがない。なお第1実施例では、アウター部材80およびインナー部材81をジュラルミンから形成すると共に、インナー部材81の前当接面110および後当接面111と、アウター部材80の前ガイド面91および後ガイド面92とに、陽極酸化処理(アルマイト処理)によりモリブデン配合の酸化皮膜潤滑層を20~50μmの厚さで形成して、アウター部材80およびインナー部材81の接触面の潤滑性向上を図っている。但し、金属はジュラルミンでなくてもよく、また潤滑層は必要に応じて設ければよい。また潤滑層は、フッ素加工や、自己潤滑性を有する合成樹脂等で形成してもよい。 Therefore, as described above, the inner member 81 attached to the outer member 80 can be rotationally displaced in both directions (left direction and right direction) in the circumferential direction with respect to the outer member 80. The inner member 81 is allowed to move slightly in all radial directions with respect to the outer member 80. Further, the inner member 81 cannot move in both directions (forward and backward directions) in the front-rear direction. Furthermore, the inner member 81 does not fall off the outer member 80 even if it moves in any radial direction. In the first embodiment, the outer member 80 and the inner member 81 are made of duralumin, the front contact surface 110 and the rear contact surface 111 of the inner member 81, and the front guide surface 91 and the rear guide surface of the outer member 80. In addition, an oxide film lubrication layer containing molybdenum is formed to a thickness of 20 to 50 μm by anodizing treatment (alumite treatment) to improve the lubricity of the contact surfaces of the outer member 80 and the inner member 81. However, the metal may not be duralumin, and the lubricating layer may be provided as necessary. Further, the lubricating layer may be formed of fluorine processing or a synthetic resin having self-lubricating properties.
 そして前記動作検知部材14は、図8および図9に示すように、アウター部材80における両内周ガイド部材85,85の内側壁部87に、インナー部材81が径方向へ動いてアウター部材80を押圧した際の押圧力の強さを検知する圧力センサ130が配設されている。第1実施例では、第1アウター半体82および第2アウター半体83に夫々2個ずつ配設され、合計4個の圧力センサ130(第1~第4の圧力センサ130A,130B,130C,130D)を備えている。これら圧力センサ130(130A,130B,130C,130D)は、シート形態の圧力センサであり、各内側壁部87に周方向へ等間隔となるよう形成した設置部132に貼着して固定されている。 As shown in FIGS. 8 and 9, the motion detecting member 14 moves the inner member 81 radially to the inner wall portion 87 of both inner peripheral guide members 85, 85 in the outer member 80. A pressure sensor 130 for detecting the strength of the pressing force when pressed is provided. In the first embodiment, two each of the first outer half body 82 and the second outer half body 83 are provided, and a total of four pressure sensors 130 (first to fourth pressure sensors 130A, 130B, 130C, 130D). These pressure sensors 130 (130A, 130B, 130C, and 130D) are pressure sensors in the form of sheets, and are affixed by being fixed to the installation portions 132 formed at equal intervals in the circumferential direction on the respective inner wall portions 87. Yes.
 第1アウター半体82の内周ガイド部材85に配設された第1圧力センサ130Aは、図8に示すように、アウター部材80の中心から水平右方向の内周面に配設され、該半体82の内周ガイド部材85に配設された第2圧力センサ130Bは、アウター部材80の中心から垂直下方の内周面に配設されている。また、第2アウター半体83の内周ガイド部材85に配設された第3圧力センサ130Cは、アウター部材80の中心から水平左方向の内周面に配設され、該半体83の内周ガイド部材85に配設された第4圧力センサ130Dは、アウター部材80の中心から垂直上方の内周面に配設されている。 The first pressure sensor 130A disposed on the inner peripheral guide member 85 of the first outer half body 82 is disposed on the inner peripheral surface in the horizontal right direction from the center of the outer member 80, as shown in FIG. The second pressure sensor 130 </ b> B disposed on the inner circumferential guide member 85 of the half body 82 is disposed on the inner circumferential surface vertically downward from the center of the outer member 80. The third pressure sensor 130 </ b> C disposed on the inner peripheral guide member 85 of the second outer half 83 is disposed on the inner peripheral surface in the horizontal left direction from the center of the outer member 80. The fourth pressure sensor 130 </ b> D disposed on the circumferential guide member 85 is disposed on the inner peripheral surface vertically upward from the center of the outer member 80.
 図8に示すように、第1アウター半体82に配設された2つの圧力センサ130A,130Bの各信号線133は、該第1アウター半体82内に画成された内部空間90を介して前記第2サポート部材12のスライド部材43側へ引き出された後、第1サポート部材10側へ延長されて図示省略した制御手段へ接続されている。また、第2アウター半体83に配設された2つの圧力センサ130C,130Dの信号線133は、該第2アウター半体83内に画成された内部空間90を第1ヒンジ部86側へ配線され、第1端部83A,82Aを介して第1アウター半体82内に画成された内部空間90へ引き出され、前記圧力センサ130A,130Bの信号線133と同様に制御手段側へ配線されている。 As shown in FIG. 8, the signal lines 133 of the two pressure sensors 130 </ b> A and 130 </ b> B disposed in the first outer half body 82 pass through an internal space 90 defined in the first outer half body 82. After being pulled out to the slide member 43 side of the second support member 12, the second support member 12 is extended to the first support member 10 side and connected to a control means (not shown). Further, the signal lines 133 of the two pressure sensors 130C and 130D disposed in the second outer half 83 pass through the internal space 90 defined in the second outer half 83 to the first hinge part 86 side. Wired and drawn out to the internal space 90 defined in the first outer half body 82 through the first end portions 83A and 82A, and wired to the control means side in the same manner as the signal lines 133 of the pressure sensors 130A and 130B. Has been.
 従って、アウター部材80に装着されたインナー部材81が上方へ移動すると第4圧力センサ130Dが押圧され、該第4圧力センサ130Dがその力の大きさを検知して検知信号が制御手段へ出力される。また、インナー部材81が下方へ移動すると第2圧力センサ130Bが押圧され、インナー部材81が右方へ移動すると第1圧力センサ130Aが押圧され、インナー部材81が左方へ移動すると第3圧力センサ130Cが押圧される。一方、インナー部材81が右上方へ斜めに移動すると第4圧力センサ130Dおよび第1圧力センサ130Aが同時に押圧され、インナー部材81が左上方へ斜め移動すると第4圧力センサ130Dおよび第3圧力センサ130Cが同時に押圧される。同様に、インナー部材81が右下方へ斜めに移動すると、第1圧力センサ130Aおよび第2圧力センサ130Bが同時に押圧され、インナー部材81が左下方へ斜めに移動すると、第2圧力センサ130Bおよび第3圧力センサ130Cが同時に押圧される。 Accordingly, when the inner member 81 mounted on the outer member 80 moves upward, the fourth pressure sensor 130D is pressed, the fourth pressure sensor 130D detects the magnitude of the force, and a detection signal is output to the control means. The The second pressure sensor 130B is pressed when the inner member 81 moves downward, the first pressure sensor 130A is pressed when the inner member 81 moves rightward, and the third pressure sensor when the inner member 81 moves leftward. 130C is pressed. On the other hand, when the inner member 81 moves obliquely upward to the right, the fourth pressure sensor 130D and the first pressure sensor 130A are pressed simultaneously, and when the inner member 81 moves obliquely upward to the left, the fourth pressure sensor 130D and the third pressure sensor 130C. Are simultaneously pressed. Similarly, when the inner member 81 moves diagonally to the lower right, the first pressure sensor 130A and the second pressure sensor 130B are simultaneously pressed, and when the inner member 81 moves obliquely to the lower left, the second pressure sensor 130B and the second pressure sensor 130B are pressed. The three pressure sensors 130C are pressed simultaneously.
 従って、例えば第4圧力センサ130Dだけが検知信号を出力している場合は、ユーザーが上腕部A1に対して前腕部A2を上方へ挙げようとしているからであるので、前記サーボモータ70を作動制御して第2サポート部材12を上方へ姿勢変位させれば、前腕部A2を上方へ曲げようとするユーザーの動作支援をなし得る。また、第2圧力センサ130Bが検知信号を出力している場合は、ユーザーが前腕部A2を下方へ降ろそうとしているからであるので、前記サーボモータ70を逆に作動制御して第2サポート部材12を下方へ姿勢変位させれば、右腕Aを降ろそうとするユーザーの動作支援をなし得る。なお、第4圧力センサ130Dと第3圧力センサ130Cとが同時に検知信号を出力している場合や、第4圧力センサ130Dと第1圧力センサ130Aとが同時に検知信号を出力している場合は、必ずしもユーザーが前腕部A2を上方へ挙げようとしているとは限らないので、第4圧力センサ130Dが検知信号を出力していても前記サーボモータ70を作動させないよう制御することが可能である。同様に、第2圧力センサ130Bと第3圧力センサ130Cとが同時に検知信号を出力している場合や、第2圧力センサ130Bと第1圧力センサ130Aとが同時に検知信号を出力している場合は、必ずしもユーザーが前腕部A2を下方へ動かそうとしているとは限らないので、第2圧力センサ130Bが検知信号を出力していても前記サーボモータ70を作動させないよう制御することが可能である。更に、2個の圧力センサ130が検知信号を同時に出力している場合は、各々の検知圧力の数値を比較することで、サーボモータ70の作動制御の多様化を図り得る。 Therefore, for example, when only the fourth pressure sensor 130D outputs a detection signal, the user is trying to raise the forearm portion A2 upward with respect to the upper arm portion A1, so the servo motor 70 is controlled to operate. Then, if the posture of the second support member 12 is displaced upward, it is possible to support the operation of the user trying to bend the forearm A2 upward. When the second pressure sensor 130B outputs a detection signal, the user is trying to lower the forearm A2 downward. Therefore, the servo motor 70 is reversely controlled to control the second support member. If the posture 12 is displaced downward, it is possible to assist the user who wants to lower the right arm A. When the fourth pressure sensor 130D and the third pressure sensor 130C are outputting detection signals at the same time, or when the fourth pressure sensor 130D and the first pressure sensor 130A are simultaneously outputting detection signals, Since the user does not always try to raise the forearm A2 upward, the servo motor 70 can be controlled not to operate even if the fourth pressure sensor 130D outputs a detection signal. Similarly, when the second pressure sensor 130B and the third pressure sensor 130C are simultaneously outputting detection signals, or when the second pressure sensor 130B and the first pressure sensor 130A are simultaneously outputting detection signals. Since the user does not always try to move the forearm A2 downward, it is possible to control the servo motor 70 not to operate even if the second pressure sensor 130B outputs a detection signal. Furthermore, when the two pressure sensors 130 output detection signals simultaneously, the operation control of the servo motor 70 can be diversified by comparing the numerical values of the respective detection pressures.
 なお、例えば前腕部A2を上方へ挙げようとすると該前腕部A2が左方へ動き、前腕部A2を下方へ降ろそうとすると該前腕部A2が右方へ動くユーザー等もいる。このようなユーザーの場合には、第3圧力センサ130Cだけが検知信号を出力している場合は、ユーザーが上腕部A1に対して前腕部A2を上方へ挙げようとしているので、前記サーボモータ70を作動制御して第2サポート部材12を上方へ姿勢変位させれば、前腕部A2を上方へ曲げようとするユーザーの動作支援をなし得る。また、第1圧力センサ130Aが検知信号を出力している場合は、ユーザーが前腕部A2を下方へ降ろそうとしているからであるので、前記サーボモータ70を逆に作動制御して第2サポート部材12を下方へ姿勢変位させれば、右腕Aを降ろそうとするユーザーの動作支援をなし得る。すなわち、当該装着型動作支援装置SU1を使用するユーザーの動作傾向に合わせて、各圧力センサ130A~130Dの検知信号に基づいたサーボモータ70の作動制御を行なうことで、当該ユーザーの動作支援を好適に行ない得る。 For example, there are users who move the forearm A2 to the left when the forearm A2 is raised upward, and the forearm A2 moves to the right when the forearm A2 is lowered. In the case of such a user, when only the third pressure sensor 130C outputs a detection signal, the user is going to raise the forearm portion A2 upward with respect to the upper arm portion A1, so the servo motor 70 If the position of the second support member 12 is displaced upward by controlling the movement of the second support member 12, it is possible to support the operation of the user trying to bend the forearm A2 upward. When the first pressure sensor 130A outputs a detection signal, the user is trying to lower the forearm A2 downward. Therefore, the servo motor 70 is reversely controlled to control the second support member. If the posture 12 is displaced downward, it is possible to assist the user who wants to lower the right arm A. That is, the operation support of the user is preferably performed by controlling the operation of the servo motor 70 based on the detection signals of the pressure sensors 130A to 130D in accordance with the movement tendency of the user who uses the wearable movement support apparatus SU1. You can do it.
 また、前記各圧力センサ130A,130B,130C,130Dにおける圧力検知部の中心には、アウター部材80の中心に向けて突出した突出部135が取り付けられている。この突出部135は、例えば硬質プラスチック等から形成されたもので、突出先端が球面状に形成されている。従って、アウター部材80に装着したインナー部材81の外周面81Aは、各突出部135の先端と点接触するようになる。すなわち、インナー部材81が突出部135に当接することで、当該突出部135が配設された圧力センサ130(130A,130B,130C,130D)が点で押されるようになり、力の強さ度合をより正確に検知して検知精度を高め得る。一方、インナー部材81が周方向へ回転変位する際に、該インナー部材81の外周面81Aが、各突出部135に接触してアウター部材80の内周面80Aには直接的に接触しないので、該突出部135はインナー部材81の回転変位がスムーズになされるよう機能する。 Further, a protruding portion 135 protruding toward the center of the outer member 80 is attached to the center of the pressure detecting portion in each of the pressure sensors 130A, 130B, 130C, and 130D. The projecting portion 135 is made of, for example, hard plastic or the like, and the projecting tip is formed in a spherical shape. Accordingly, the outer peripheral surface 81 </ b> A of the inner member 81 attached to the outer member 80 comes into point contact with the tip of each protruding portion 135. That is, when the inner member 81 comes into contact with the protruding portion 135, the pressure sensor 130 (130A, 130B, 130C, 130D) provided with the protruding portion 135 is pushed at a point, and the strength of the force is determined. Can be detected more accurately to improve detection accuracy. On the other hand, when the inner member 81 is rotationally displaced in the circumferential direction, the outer peripheral surface 81A of the inner member 81 comes into contact with each protrusion 135 and does not directly contact the inner peripheral surface 80A of the outer member 80. The protrusion 135 functions so that the rotational displacement of the inner member 81 is smoothly performed.
 第1実施例の装着型動作支援装置SU1は、右腕Aへの装着に際して、前記動作検知部材14のアウター部材80およびインナー部材81を夫々開放させておく。そして、第1締付ベルト26を利用して第1サポート部材10を右腕Aの上腕部A1に装着し、第2締付ベルト45を利用して第2サポート部材12を前腕部A2に装着すると共に、インナー部材81およびアウター部材80夫々閉成して動作検知部材14を前腕部A2の手首部A4近傍に装着する。なお、動作検知部材14を装着するに際しては、第2サポート部材12が第1サポート部材10に対して連結ピン68を中心として左右方向へ旋回すると共に、該第2サポート部材12のスライド部材43が支持体部40に対して前後方向へスライド変位するので、該動作検知部材14を前腕部A2の適切な位置に装着することができる。 The wearing-type motion support device SU1 of the first embodiment opens the outer member 80 and the inner member 81 of the motion detection member 14 when the right arm A is worn. Then, the first support member 10 is attached to the upper arm portion A1 of the right arm A using the first fastening belt 26, and the second support member 12 is attached to the forearm portion A2 using the second fastening belt 45. At the same time, the inner member 81 and the outer member 80 are closed, and the motion detection member 14 is mounted in the vicinity of the wrist A4 of the forearm A2. When mounting the motion detection member 14, the second support member 12 pivots in the left-right direction around the connecting pin 68 with respect to the first support member 10, and the slide member 43 of the second support member 12 moves. Since the slide displacement is performed in the front-rear direction with respect to the support body portion 40, the motion detection member 14 can be attached to an appropriate position of the forearm portion A2.
 前述のように構成された第1実施例の装着型動作支援装置SU1によれば、次のような作用効果を奏する。
(1)前腕部A2の手首部A4近傍に対する動作検知部材14の着脱を簡易に行ない得る。すなわち、開放させたインナー部材81の第1インナー半体105に前腕部A2を載せたもとで、第2インナー半体106の第2端部106Bを第1インナー半体105の第2端部105Bへ当接させることで、インナー半体連結手段L1の第1連結手段116および第2連結手段115が夫々係合され、両インナー半体105,106をワンタッチの簡単な操作で固定することができる。そして、前腕部A2に装着したインナー部材81を、開放させたアウター部材80の第1アウター半体82に載せたもとで、第2アウター半体83の第2端部83Bを第1アウター半体82の第2端部82Bへ当接させることで、アウター半体連結手段L2の第4連結手段95および第3連結手段96が夫々係合し、両アウター半体82,83をワンタッチの簡単な操作で固定することができる。
(2)アウター部材80の前記各圧力センサ130A,130B,130C,130Dが貼着された内周面80Aと、インナー部材81の各圧力センサ130A,130B,130C,130Dを押す外周面81Aとが、何れも変形困難な素材から形成されているので、前腕部A2の動きに対して押圧される該圧力センサ130A,130B,130C,130Dの検知精度が向上し、検知信号に応じてサーボモータ70を適切に作動制御して右腕Aの動作支援を適切に行なうことができる。
(3)各圧力センサ130A,130B,130C,130Dの圧力検知部に前記突出部135が配設されているので、インナー部材81に押された各圧力センサ130A,130B,130C,130Dが点で力を受けるようになり、検知精度を更に高められる。
(4)ユーザーが手首部A4を回転させる捻り動作を行なう際には、アウター部材80に設けた各突出部135にインナー部材81の外周面81Aが点接触して、該インナー部材81が抵抗なくスムーズに回転変位するので、手首部A4を回転させる捻り動作を無理なく容易に行なうことができる。
(5)アウター部材80の第1アウター半体82および第2アウター半体83がアウター半体連結手段L2により適切に連結されるので、図10(b)に示すように、インナー部材81の回転を案内する前ガイド面91および後ガイド面92の境界部分に段差や隙間が形成されない。同様に、インナー部材81の第1インナー半体105および第2インナー半体106がインナー半体連結手段L1により適切に連結されるので、図11(b)に示すように、アウター部材80の前ガイド面91および後ガイド面92に摺接する前当接面110および後当接面111の境界部分に段差や隙間が形成されない。従って、アウター部材80に保持されたインナー部材81は、周方向における両方向へスムーズに回転するようになり、遠位身体部位A2の回転を伴う捻り操作を簡易に行なうことを可能とする。
(6)上腕部A1に対して前腕部A2を屈伸する動作を行なう際に、第1サポート部材10と第2サポート部材12との連結部(回転支持部材50)に対する手首部A4の位置および距離の変化に応じて、第2サポート部材12のスライド部材43が支持体部40に対して前後方向へスライドするので、前腕部A2に対する前腕装着部41および動作検知部材14の装着位置にずれが生じない。従って、前腕部A2を屈伸する動作が阻害されることがなく、また屈伸動作に際して違和感が生ずることもない。
(7)第2サポート部材12を姿勢変位させるサーボモータ70や、第1ギア73および第2ギア74からなる作動機構Mや、回転支持部材50およびロータリーエンコーダ76等が、第1サポート部材10に設けた収容設置部24内に配設されるので、装着型動作支援装置SU1の小型化およびコンパクト化が図られる。従って、装着感の向上が図られて、子供や老人であっても容易に使用することができる。また、作動機構M等が第1サポート部材10および第2サポート部材12の外側に殆ど露出しないので、これらの可動部分に指先や衣服の裾部等が挟み込まれる不都合の発生も好適に防止し得る。
(8)第2サポート部材12が第1サポート部材10に対して着脱可能なので、同一形状の第2連結支持部材65を設けた形状・サイズが異なる複数の第2サポート部材12を準備すれば、第1サポート部材10に対して形状・サイズが異なる第2サポート部材12を選択的に装着し得る。従って、ユーザーの体格変化に対応し得ると共に、肘関節A3を挟む上腕部A1と前腕部A2以外の身体部位に装着して、当該身体部位の動作補助を行なうことも可能である。
According to the wearable motion support apparatus SU1 of the first embodiment configured as described above, the following operational effects can be obtained.
(1) The motion detection member 14 can be easily attached to and detached from the vicinity of the wrist A4 of the forearm A2. That is, with the forearm A2 placed on the first inner half 105 of the opened inner member 81, the second end 106B of the second inner half 106 is moved to the second end 105B of the first inner half 105. By abutting, the first connecting means 116 and the second connecting means 115 of the inner half body connecting means L1 are respectively engaged, and both the inner half bodies 105 and 106 can be fixed by a simple operation with one touch. Then, the inner member 81 attached to the forearm portion A2 is placed on the first outer half body 82 of the opened outer member 80, and the second end portion 83B of the second outer half body 83 is placed on the first outer half body 82. By contacting the second end 82B of the outer half body 82, the fourth connecting means 95 and the third connecting means 96 of the outer half body connecting means L2 are engaged with each other, and the outer half bodies 82 and 83 can be easily operated with one touch. It can be fixed with.
(2) An inner peripheral surface 80A to which the pressure sensors 130A, 130B, 130C, and 130D of the outer member 80 are attached, and an outer peripheral surface 81A that presses the pressure sensors 130A, 130B, 130C, and 130D of the inner member 81 are provided. Since both are formed of a material that is difficult to deform, the detection accuracy of the pressure sensors 130A, 130B, 130C, and 130D that are pressed against the movement of the forearm portion A2 is improved, and the servo motor 70 according to the detection signal. It is possible to appropriately support the movement of the right arm A by appropriately controlling the operation of the arm A.
(3) Since the protrusion 135 is disposed at the pressure detection part of each pressure sensor 130A, 130B, 130C, 130D, each pressure sensor 130A, 130B, 130C, 130D pushed by the inner member 81 is a point. The detection accuracy is further improved.
(4) When the user performs a twisting operation to rotate the wrist portion A4, the outer peripheral surface 81A of the inner member 81 is in point contact with each protrusion 135 provided on the outer member 80, and the inner member 81 does not have resistance. Since the rotation is smoothly displaced, the twisting operation for rotating the wrist A4 can be easily performed without difficulty.
(5) Since the first outer half body 82 and the second outer half body 83 of the outer member 80 are appropriately connected by the outer half body connecting means L2, the rotation of the inner member 81 is performed as shown in FIG. No step or gap is formed at the boundary between the front guide surface 91 and the rear guide surface 92 for guiding the guide. Similarly, since the first inner half body 105 and the second inner half body 106 of the inner member 81 are appropriately connected by the inner half body connecting means L1, as shown in FIG. No step or gap is formed at the boundary between the front contact surface 110 and the rear contact surface 111 that are in sliding contact with the guide surface 91 and the rear guide surface 92. Accordingly, the inner member 81 held by the outer member 80 rotates smoothly in both directions in the circumferential direction, and it is possible to easily perform a twisting operation with rotation of the distal body part A2.
(6) The position and distance of the wrist portion A4 with respect to the connecting portion (the rotation support member 50) between the first support member 10 and the second support member 12 when performing the bending and extending operation of the forearm portion A2 with respect to the upper arm portion A1. Since the slide member 43 of the second support member 12 slides in the front-rear direction with respect to the support body portion 40 in accordance with the change in the position, a shift occurs in the mounting positions of the forearm mounting portion 41 and the motion detection member 14 with respect to the forearm portion A2. Absent. Therefore, the operation of bending and stretching the forearm portion A2 is not hindered, and a sense of incongruity does not occur during the bending and extending operation.
(7) The servo motor 70 that displaces the second support member 12, the operating mechanism M including the first gear 73 and the second gear 74, the rotation support member 50, the rotary encoder 76, and the like are included in the first support member 10. Since it is disposed in the provided accommodation installation section 24, the wearable motion support device SU1 can be reduced in size and size. Therefore, the feeling of wearing is improved, and even a child or an elderly person can easily use it. Further, since the operating mechanism M and the like are hardly exposed to the outside of the first support member 10 and the second support member 12, it is possible to suitably prevent the occurrence of inconvenience that a fingertip, a skirt of clothes, etc. are sandwiched between these movable parts. .
(8) Since the second support member 12 can be attached to and detached from the first support member 10, if a plurality of second support members 12 having different shapes and sizes provided with the same shape of the second connection support member 65 are prepared, The second support member 12 having a different shape and size with respect to the first support member 10 can be selectively mounted. Therefore, it is possible to cope with a change in the user's physique, and to attach to body parts other than the upper arm part A1 and the forearm part A2 that sandwich the elbow joint A3, and to assist the movement of the body part.
(第2実施例)
 図12は、第2実施例に係る装着型動作支援装置SU2における第2サポート部材12の動作検知部材14を、左右方向で上下に破断した縦断面図である。第2実施例の装着型動作支援装置SU2は、動作検知部材14以外の構成が前記第1実施例の装着型動作支援装置SU1と同一である。従って、ここでは第1実施例と異なる動作検知部材14について詳細に説明し、第1実施例の装着型動作支援装置SU1と同一の構成を有する部材および部位は、同一の符号を付して説明を省略する。第2実施例における第2サポート部材12の動作検知部材14は、図12に示すように、アウター部材80とインナー部材81との間に、各圧力センサ130A,130B,130C,130Dと個別に対応した複数(第2実施例では4つ)の当接支持部材(弾性部材)138を追加して設け、アウター部材80に対してインナー部材81を相対的に近接移動することで、各当接支持部材138が弾性変形して対応の圧力センサ130A,130B,130C,130Dを押圧するよう構成されている。
(Second embodiment)
FIG. 12 is a longitudinal sectional view in which the motion detection member 14 of the second support member 12 in the wearable motion support device SU2 according to the second embodiment is broken up and down in the left-right direction. The wearable motion support device SU2 of the second embodiment has the same configuration as the wearable motion support device SU1 of the first embodiment except for the motion detection member 14. Accordingly, here, the motion detection member 14 different from the first embodiment will be described in detail, and members and parts having the same configuration as the wearable motion support device SU1 of the first embodiment will be given the same reference numerals. Is omitted. The motion detection member 14 of the second support member 12 in the second embodiment individually corresponds to each of the pressure sensors 130A, 130B, 130C, and 130D between the outer member 80 and the inner member 81 as shown in FIG. A plurality of (four in the second embodiment) contact support members (elastic members) 138 are additionally provided, and the inner member 81 is moved relatively close to the outer member 80 so that each contact support member is supported. The member 138 is configured to be elastically deformed to press the corresponding pressure sensors 130A, 130B, 130C, and 130D.
 各当接支持部材138は、細長の薄いバネ鋼から形成されて弾性変形が可能な板バネであり、長手方向の2箇所で同一方向に折曲げられている。この当接支持部材138は、長手方向の一端部に設けられてアウター部材80に取付けられる取付部138Aと、対応の圧力センサ130(130A,130B,130C,130D)を押圧する押圧部138Bと、長手方向の他端部に設けられてインナー部材81に当接する作動部138Cとを備える。なお押圧部138Bは、2カ所の折曲部における前記取付部138Aから遠い折曲部(作動部138Cに近い側)に位置している。各当接支持部材138は、図12に示すように、アウター部材80の内周ガイド部材85に対して取付部138Aを固定して片持ち状態に配設され、押圧部138Bが圧力センサ130に設けた突出部135に接触すると共に、作動部138Cがインナー部材81の支持壁部材107の外周面に弾力的に当接するようになっている。そして、各圧力センサ130A,130B,130C,130Dに対応して配設された4つの各当接支持部材138は、図12に示すように、アウター部材80に対してインナー部材81が径方向へ相対的に移動するに際し、常に支持壁部材107の外周面に当接した状態が維持される。従って、アウター部材80に対するインナー部材81の径方向における可動範囲内の何れの位置に該インナー部材81が移動しても、各圧力センサ130A,130B,130C,130Dには、対応する当接支持部材138が弾性変形して押圧力が加わった状態となっている。 Each abutment support member 138 is a leaf spring that is formed of an elongated thin spring steel and can be elastically deformed, and is bent in the same direction at two locations in the longitudinal direction. The abutting support member 138 includes an attachment portion 138A provided at one end in the longitudinal direction and attached to the outer member 80, a pressing portion 138B that presses the corresponding pressure sensor 130 (130A, 130B, 130C, 130D), An actuating portion 138 </ b> C that is provided at the other end in the longitudinal direction and abuts against the inner member 81. Note that the pressing portion 138B is located at a bent portion (side closer to the operating portion 138C) of the two bent portions from the mounting portion 138A. As shown in FIG. 12, each abutment support member 138 is disposed in a cantilever state with the attachment portion 138 </ b> A fixed to the inner peripheral guide member 85 of the outer member 80, and the pressing portion 138 </ b> B is attached to the pressure sensor 130. The operating portion 138 </ b> C is elastically brought into contact with the outer peripheral surface of the support wall member 107 of the inner member 81 while being in contact with the provided protruding portion 135. The four abutment support members 138 disposed corresponding to the pressure sensors 130A, 130B, 130C, and 130D are such that the inner member 81 is in the radial direction with respect to the outer member 80, as shown in FIG. When relatively moving, the state of always contacting the outer peripheral surface of the support wall member 107 is maintained. Therefore, even if the inner member 81 moves to any position within the movable range of the inner member 81 in the radial direction with respect to the outer member 80, each pressure sensor 130A, 130B, 130C, 130D has a corresponding contact support member. 138 is elastically deformed and a pressing force is applied.
 このような第2実施例の装着型動作支援装置SU2は、インナー部材81に外力が付与されない場合に、各当接支持部材138が均衡を保った状態となる。そして、各当接支持部材138は、均衡を保った状態において、インナー部材81をアウター部材80と同心となるように位置させ、該インナー部材81と第1~第4の各圧力センサ130A,130B,130C,130Dとの間隔が同等となるように該インナー部材81を保持する。また、第2実施例の装着型動作支援装置SU2は、アウター部材80に対するインナー部材81の近接移動時に、各当接支持部材138が弾性変形して各圧力センサ130A,130B,130C,130Dを押圧し、該圧力センサ130A,130B,130C,130Dが検知する押圧力に応じて作動機構Mのサーボモータ70を作動制御する。 In the wearable motion support device SU2 of the second embodiment, when the external force is not applied to the inner member 81, the contact support members 138 are in a balanced state. Each contact support member 138 positions the inner member 81 to be concentric with the outer member 80 in a balanced state, and the inner member 81 and the first to fourth pressure sensors 130A, 130B. , 130C, 130D, the inner member 81 is held so that the distance between them is the same. Further, in the wearable motion support device SU2 of the second embodiment, when the inner member 81 moves close to the outer member 80, each contact support member 138 elastically deforms and presses each pressure sensor 130A, 130B, 130C, 130D. Then, the servo motor 70 of the operating mechanism M is controlled to operate according to the pressing force detected by the pressure sensors 130A, 130B, 130C, and 130D.
 例えば、インナー部材81が図12において上方へ移動すると、第4圧力センサ130Dおよび第3圧力センサ130Cに対する押圧力が増加する一方、第1圧力センサ130Aおよび第2圧力センサ130Bに対する押圧力は減少する。すなわち、第4および第3の各圧力センサ130D,130Cに対する押圧力が増加すると共に、第1および第2の各圧力センサ130A,130Bに対する押圧力が減少した場合には、前記サーボモータ70を作動制御して第2サポート部材12を上方へ姿勢変位させて、前腕部A2を上方へ曲げようとするユーザーの動作支援を行なうようになっている。また、インナー部材81が図12において下方へ移動すると、第2圧力センサ130Bおよび第1圧力センサ130Aに対する押圧力が増加し、第4圧力センサ130Dおよび第3圧力センサ130Cに対する押圧力は減少する。すなわち、第2および第1の各圧力センサ130B,130Aに対する押圧力が増加すると共に、第4および第3の各圧力センサ130D,130Cに対する押圧力が減少した場合には、前記サーボモータ70を作動制御して第2サポート部材12を下方へ姿勢変位させて、前腕部A2を降ろそうとするユーザーの動作支援を行なうようになっている。 For example, when the inner member 81 moves upward in FIG. 12, the pressing force on the fourth pressure sensor 130D and the third pressure sensor 130C increases, while the pressing force on the first pressure sensor 130A and the second pressure sensor 130B decreases. . That is, when the pressing force on the fourth and third pressure sensors 130D and 130C increases and the pressing force on the first and second pressure sensors 130A and 130B decreases, the servo motor 70 is operated. By controlling and displacing the second support member 12 in the upward direction, the user's operation assistance for bending the forearm portion A2 upward is performed. Further, when the inner member 81 moves downward in FIG. 12, the pressing force against the second pressure sensor 130B and the first pressure sensor 130A increases, and the pressing force against the fourth pressure sensor 130D and the third pressure sensor 130C decreases. That is, when the pressing force on the second and first pressure sensors 130B and 130A increases and the pressing force on the fourth and third pressure sensors 130D and 130C decreases, the servo motor 70 is operated. By controlling the position of the second support member 12 to be displaced downward, the user's operation support for lowering the forearm portion A2 is performed.
 従って、第2実施例の装着型動作支援装置SU2では、インナー部材81の径方向への移動を、各当接支持部材138を介して各圧力センサ130A,130B,130C,130Dで適切に検知し得る。すなわち、インナー部材81の動きが、当接支持部材138の弾性変形により各圧力センサ130A,130B,130C,130Dにダイレクトに伝達されるから、前腕部A2の微小な動作も各圧力センサ130A,130B,130C,130Dで適切に検知され、検知精度を高く維持することが可能である。また、各当接支持部材138が均衡に保たれた状態では、アウター部材80に対してインナー部材81が全周に亘って同等の距離で保持されるので、該インナー部材81と各圧力センサ130A,130B,130C,130Dとの間隔も同等となっており、該インナー部材81が径方向の何れの方向へ移動してもタイムラグなく検知し得る。また、各当接支持部材138により、インナー部材81を、がたつきなく保持することができる。 Accordingly, in the wearable motion support device SU2 of the second embodiment, the radial movement of the inner member 81 is appropriately detected by the pressure sensors 130A, 130B, 130C, and 130D via the contact support members 138. obtain. That is, since the movement of the inner member 81 is directly transmitted to the pressure sensors 130A, 130B, 130C, and 130D by the elastic deformation of the contact support member 138, the minute operation of the forearm portion A2 is also performed by the pressure sensors 130A and 130B. , 130C, 130D, and the detection accuracy can be maintained high. Further, in a state in which each contact support member 138 is kept in balance, the inner member 81 is held at an equal distance over the entire circumference with respect to the outer member 80, and therefore, the inner member 81 and each pressure sensor 130A. , 130B, 130C, and 130D are equal, and even if the inner member 81 moves in any radial direction, it can be detected without a time lag. Moreover, the inner member 81 can be held without rattling by the contact support members 138.
(第3実施例)
 図13は、第3実施例に係る装着型動作支援装置SU3における第2サポート部材12の動作検知部材14を、左右方向で上下に破断した縦断面図である。第3実施例の装着型動作支援装置SU3は、動作検知部材14以外の構成が前記第1実施例の装着型動作支援装置SU1と同一である。従って、ここでは第1実施例と異なる動作検知部材14について詳細に説明し、第1実施例の装着型動作支援装置SU1と同一の構成を有する部材および部位は、同一の符号を付して説明を省略する。第3実施例における第2サポート部材12の動作検知部材14は、図13に示すように、アウター部材80の内側壁部87およびインナー部材81の支持壁部材107の間に複数(第3実施例では8個)のコイルバネ(弾性部材)136を、周方向へ等間隔に配設したものである。各コイルバネ136は、その一端がアウター部材80の内側壁部87に固定されており、他端がインナー部材81の外周面81Aに常に接触した状態となっている。
(Third embodiment)
FIG. 13 is a longitudinal sectional view in which the motion detection member 14 of the second support member 12 in the wearable motion support device SU3 according to the third embodiment is broken up and down in the left-right direction. The wearable motion support device SU3 of the third embodiment has the same configuration as the wearable motion support device SU1 of the first embodiment except for the motion detection member 14. Accordingly, here, the motion detection member 14 different from the first embodiment will be described in detail, and members and parts having the same configuration as the wearable motion support device SU1 of the first embodiment will be given the same reference numerals. Is omitted. As shown in FIG. 13, a plurality of motion detection members 14 of the second support member 12 in the third embodiment are provided between the inner wall portion 87 of the outer member 80 and the support wall member 107 of the inner member 81 (third embodiment). In this example, eight coil springs (elastic members) 136 are arranged at equal intervals in the circumferential direction. One end of each coil spring 136 is fixed to the inner wall portion 87 of the outer member 80, and the other end is always in contact with the outer peripheral surface 81 </ b> A of the inner member 81.
 このような第3実施例の装着型動作支援装置SU3は、インナー部材81に外力が付与されない場合に、各コイルバネ136が均衡を保った状態となる。そして、各コイルバネ136は、均衡を保った状態において、インナー部材81をアウター部材80と同心となるように位置させ、該インナー部材81と第1~第4の各圧力センサ130A,130B,130C,130Dとの間隔が同等となるように該インナー部材81を保持する。従って、インナー部材81が径方向における何れの方向へ移動しても、各圧力センサ130A,130B,130C,130Dが検知するまでの時間が一定となり、圧力センサ130A,130B,130C,130Dによる検知にタイムラグが生ずることを防止し得る。また、各コイルバネ136により、インナー部材81をがたつきなく保持することができる。 In such a wearable motion support device SU3 of the third embodiment, each coil spring 136 is in a balanced state when no external force is applied to the inner member 81. Each coil spring 136 is positioned so that the inner member 81 is concentric with the outer member 80 in a balanced state, and the inner member 81 and the first to fourth pressure sensors 130A, 130B, 130C, The inner member 81 is held so that the distance from 130D is equal. Therefore, even if the inner member 81 moves in any radial direction, the time until each pressure sensor 130A, 130B, 130C, 130D detects is constant, and the detection by the pressure sensors 130A, 130B, 130C, 130D is possible. A time lag can be prevented from occurring. Moreover, the inner member 81 can be held without rattling by the coil springs 136.
(第4実施例)
 図14は、第4実施例に係る装着型動作支援装置SU4における第2サポート部材12の動作検知部材14を、左右方向で上下に破断した縦断面図である。第4実施例の装着型動作支援装置SU4は、動作検知部材14以外の構成が前記第1実施例の装着型動作支援装置SU1と同一である。従って、ここでは第1実施例と異なる動作検知部材14について詳細に説明し、第1実施例の装着型動作支援装置SU1と同一の構成を有する部材および部位は、同一の符号を付して説明を省略する。第4実施例における第2サポート部材12の動作検知部材14は、図14に示すように、インナー部材81の支持壁部材107と手首パッド部材113とを分離した構成となっている。そして、各手首パッド部材113は、支持壁部材107に対向する外面側に設けられた硬質の外殻部142と、この外殻部142の内側に設けられて前腕部A2に当接する軟質のパッド部143とからなり、コイルバネ(支持部材)140を介して支持壁部材107に弾力的に支持されている。
(Fourth embodiment)
FIG. 14 is a longitudinal sectional view in which the motion detection member 14 of the second support member 12 in the wearable motion support device SU4 according to the fourth embodiment is broken up and down in the left-right direction. The wearable motion support apparatus SU4 of the fourth embodiment has the same configuration as the wearable motion support apparatus SU1 of the first embodiment except for the motion detection member 14. Accordingly, here, the motion detection member 14 different from the first embodiment will be described in detail, and members and parts having the same configuration as the wearable motion support device SU1 of the first embodiment will be given the same reference numerals. Is omitted. As shown in FIG. 14, the motion detection member 14 of the second support member 12 in the fourth embodiment has a configuration in which the support wall member 107 of the inner member 81 and the wrist pad member 113 are separated. Each wrist pad member 113 includes a hard outer shell portion 142 provided on the outer surface facing the support wall member 107, and a soft pad provided inside the outer shell portion 142 and in contact with the forearm portion A2. Part 143, and is elastically supported by the support wall member 107 via a coil spring (support member) 140.
 各手首パッド部材113は、図14に示すように、複数(第4実施例では2個)のコイルバネ140により支持壁部材107に連結されている。前記コイルバネ140は、例えば一端が手首パッド部材113の外殻部142に固定されており、他端が支持壁部材107の外周面に掛止されている。そしてコイルバネ140は、支持壁部材107に対する手首パッド部材113の径方向への移動は許容するが、支持壁部材107に対する手首パッド部材113の周方向への回転は規制するようになっている。なお、インナー部材81の支持壁部材107と、アウター部材80に配設された各圧力センサ130A,130B,130C,130Dとの関係は、図8に示した第1実施例の動作検知部材14と同じである。 Each wrist pad member 113 is connected to the support wall member 107 by a plurality of (two in the fourth embodiment) coil springs 140 as shown in FIG. For example, one end of the coil spring 140 is fixed to the outer shell portion 142 of the wrist pad member 113, and the other end is hooked to the outer peripheral surface of the support wall member 107. The coil spring 140 allows the wrist pad member 113 to move in the radial direction relative to the support wall member 107, but restricts the rotation of the wrist pad member 113 relative to the support wall member 107 in the circumferential direction. The relationship between the support wall member 107 of the inner member 81 and the pressure sensors 130A, 130B, 130C, and 130D disposed on the outer member 80 is the same as that of the motion detection member 14 of the first embodiment shown in FIG. The same.
 前述のように構成された第4実施例の動作検知部材14では、第1インナー半体105の第1端部105Aと第2インナー半体106の第1端部106Aとを当接させると、各手首パッド部材113,113のパッド部143が、ユーザーの前腕部A2に隙間なく当接する。そして、ユーザーが前腕部A2を上方へ曲げるよう動作して手首パッド部材113が上方へ移動すると、コイルバネ140を介して支持壁部材107が上方へ押され、第1実施例と同様に第4圧力センサ130Dに押圧力が加わるので、前腕部A2を上方へ曲げようとするユーザーの動作支援を行なうようになっている。また、手首パッド部材113が下方へ移動すると、コイルバネ140を介して支持壁部材107が下方へ押され、第1実施例と同様に第2圧力センサ130Bに押圧力が加わるので、前腕部A2を下方へ降ろそうとするユーザーの動作支援を行なうようになっている。 In the motion detection member 14 of the fourth embodiment configured as described above, when the first end 105A of the first inner half 105 and the first end 106A of the second inner half 106 are brought into contact with each other, The pad portions 143 of the wrist pad members 113 and 113 are in contact with the user's forearm portion A2 without a gap. When the user operates to bend the forearm portion A2 upward and the wrist pad member 113 moves upward, the support wall member 107 is pushed upward via the coil spring 140, and the fourth pressure is the same as in the first embodiment. Since a pressing force is applied to the sensor 130D, a user's operation support for bending the forearm portion A2 upward is performed. Further, when the wrist pad member 113 moves downward, the support wall member 107 is pushed downward via the coil spring 140, and a pressing force is applied to the second pressure sensor 130B as in the first embodiment. It is designed to assist users who want to move down.
 従って、第4実施例の装着型動作支援装置SU4では、インナー部材81の径方向への移動を、各コイルバネ140を介して各圧力センサ130A,130B,130C,130Dで適切に検知し得る。すなわち、手首パッド部材113の動きが各コイルバネ140を介して支持壁部材107にダイレクトに伝達されるから、前腕部A2の微小な動作も各圧力センサ130A,130B,130C,130Dで適切に検知され、検知精度を高く維持することが可能である。なお、コイルバネ140の長さやサイズを変更することで、ユーザーの前腕部A2に適合した異なるサイズの手首パッド部材113の採用が可能である。 Therefore, in the wearable motion support apparatus SU4 of the fourth embodiment, the movement of the inner member 81 in the radial direction can be appropriately detected by the pressure sensors 130A, 130B, 130C, and 130D via the coil springs 140. That is, since the movement of the wrist pad member 113 is directly transmitted to the support wall member 107 via each coil spring 140, the minute movement of the forearm portion A2 is also appropriately detected by each pressure sensor 130A, 130B, 130C, 130D. It is possible to maintain high detection accuracy. In addition, by changing the length and size of the coil spring 140, it is possible to employ the wrist pad member 113 having a different size suitable for the user's forearm A2.
(第5実施例)
 図15は、第5実施例に係る装着型動作支援装置SU5の全体構成を概略的に示す斜視図である。第5実施例の装着型動作支援装置SU5は、右腕Aにおいて肘関節A3より近位身体部位である上腕部A1に装着される第1サポート部材210と、該第1サポート部材210に回転変位可能に連結されて、肘関節A3より遠位身体部位である前腕部A2に装着される第2サポート部材212と、第1サポート部材210に対して第2サポート部材212を回転変位させる作動機構Mとを備えている。また第2サポート部材212は、前腕部A2の動きを検知する検知手段214を備えている。
(Fifth embodiment)
FIG. 15 is a perspective view schematically showing the overall configuration of the wearable motion support apparatus SU5 according to the fifth embodiment. The wearable motion support device SU5 of the fifth embodiment includes a first support member 210 that is mounted on the upper arm A1, which is a body part proximal to the elbow joint A3 in the right arm A, and can be rotationally displaced to the first support member 210. And a second support member 212 that is attached to the forearm A2 that is a body part distal to the elbow joint A3, and an operating mechanism M that rotates and displaces the second support member 212 relative to the first support member 210. It has. Further, the second support member 212 includes a detection unit 214 that detects the movement of the forearm portion A2.
 第1サポート部材210は、図15~図17に示すように、本体部220と、この本体部220に着脱可能に装着された上腕装着部221とを備えている。本体部220は、装着型動作支援装置SU5を右腕Aに装着した際に上腕部A1の右部に位置して、該上腕部A1の外側において該上腕部A1の長手方向(前後方向)に延在する。この本体部220は、上腕部A1に近接するベース部材222と、このベース部材222に右側外方から組付けられたカバー部材223とを備えている。そして本体部220は、ベース部材222とカバー部材223とを組付けることで、前記作動機構Mの各構成部材を収容する収容設置部224が内部に画成される。ベース部材222の前部には、図16および図17に示すように、左右方向に離間して前方へ平行に延出する2つの支持部225,226が設けられている。右側に位置する第1支持部225には円形の第1支持孔227が形成されており、第2サポート部材212の後述する支持体部(固定部材)240を第1サポート部材210に支持する回転支持部材260が、該第1支持孔227に回転可能に配設されている。左側に位置する第2支持部226には、第1支持孔227と左右方向で同一軸線上に位置する円形の第2支持孔228が形成されており、第2サポート部材212の後述する前腕装着部(移動部材)241を第1サポート部材210に支持する締結支持部材265が、該第2支持孔228に回転可能に配設されている。 As shown in FIGS. 15 to 17, the first support member 210 includes a main body portion 220 and an upper arm attachment portion 221 that is detachably attached to the main body portion 220. The main body 220 is positioned on the right part of the upper arm part A1 when the wearable motion support device SU5 is attached to the right arm A, and extends in the longitudinal direction (front-rear direction) of the upper arm part A1 outside the upper arm part A1. Exists. The main body 220 includes a base member 222 that is close to the upper arm A1 and a cover member 223 that is assembled to the base member 222 from the right outer side. The main body 220 is assembled with the base member 222 and the cover member 223, so that a housing installation portion 224 that houses each component of the operating mechanism M is defined inside. As shown in FIGS. 16 and 17, two support portions 225 and 226 that are spaced apart in the left-right direction and extend forward in parallel are provided at the front portion of the base member 222. A circular first support hole 227 is formed in the first support portion 225 located on the right side, and the support portion (fixing member) 240 (to be described later) of the second support member 212 is supported by the first support member 210. A support member 260 is rotatably disposed in the first support hole 227. The second support portion 226 located on the left side is formed with a circular second support hole 228 located on the same axis as the first support hole 227 in the left-right direction. A fastening support member 265 that supports the portion (moving member) 241 on the first support member 210 is rotatably disposed in the second support hole 228.
 上腕装着部221は、図15~図17に示すように、後方から見た端面形状が「横C字形」をなして上部が左右に分離した湾曲状に形成され、右側外部が前記本体部220に着脱可能に取付けられている。この上腕装着部221は、本体部220のベース部材222に左側外方から着脱可能に固定される固定部材230と、この固定部材230に取付けられた上腕パッド部材231とを備えている。上腕パッド部材231は、外側に位置する外殻部232と、この外殻部232の内側に設けられて上腕部A1に接触するパッド部233とを備えている。外殻部232は、カーボン繊維または合成樹脂等を材質とした薄肉部分であり、形状保持性を有しつつ湾曲の曲率が変化するように弾性変形が可能となっている。パッド部233は、ウレタンゴムやスポンジゴム等を材質とする成形体であり、適度の弾力性および柔軟性を有しており、上腕部A1を下方から包み込んで該上腕部A1に密着し得る。従って上腕パッド部材231は、上部の両端が左右に近接・離間するよう変形が可能であり、上腕部A1に対して容易に着脱し得る。 As shown in FIGS. 15 to 17, the upper arm mounting portion 221 is formed in a curved shape with the end face shape viewed from the rear forming a “horizontal C shape” and the upper portion separated into left and right sides, and the outer right side is the main body portion 220. Is detachably attached. The upper arm mounting portion 221 includes a fixing member 230 that is detachably fixed to the base member 222 of the main body portion 220 from the left outer side, and an upper arm pad member 231 attached to the fixing member 230. The upper arm pad member 231 includes an outer shell portion 232 positioned outside, and a pad portion 233 provided inside the outer shell portion 232 and in contact with the upper arm portion A1. The outer shell 232 is a thin portion made of carbon fiber, synthetic resin, or the like, and is elastically deformable so as to change the curvature of curvature while having shape retainability. The pad portion 233 is a molded body made of urethane rubber, sponge rubber, or the like, has appropriate elasticity and flexibility, and can wrap the upper arm portion A1 from below and be in close contact with the upper arm portion A1. Therefore, the upper arm pad member 231 can be deformed so that both ends of the upper part are close to and separated from each other right and left, and can be easily attached to and detached from the upper arm part A1.
 上腕パッド部材231の左側上部には、図15~図17に示すように、矩形リング状の掛止部材235を備えた面ファスナ形態のベルト部材234が、一端を固定した状態に取付けられている。また、上腕パッド部材231の右側上部には、前後方向に延在して左右方向の断面形状が「略コ字形」をなすバックル236が設けられている。従って、ベルト部材234に配設した掛止部材235をバックル236に引っ掛け、該バックル236で折り返した該ベルト部材234を締結することで、上腕パッド部材231を上腕部A1に締め付けながら固定し得る(図15参照)。なお、上腕パッド部材231には、該部材231の強度が低下しない範囲内で開口237が形成されており、上腕部A1への装着時における通気性の向上および軽量化が図られている。 A belt member 234 in the form of a hook-and-loop fastener having a rectangular ring-shaped hooking member 235 is attached to the upper left portion of the upper arm pad member 231 with one end fixed, as shown in FIGS. . In addition, a buckle 236 that extends in the front-rear direction and has a cross-sectional shape in the left-right direction that is “substantially U-shaped” is provided on the upper right side of the upper arm pad member 231. Therefore, the hook member 235 disposed on the belt member 234 is hooked on the buckle 236, and the belt member 234 folded back by the buckle 236 is fastened, so that the upper arm pad member 231 can be fixed while being fastened to the upper arm portion A1 ( (See FIG. 15). The upper arm pad member 231 is formed with an opening 237 within a range in which the strength of the member 231 does not decrease, so that air permeability is improved and weight is reduced when the upper arm pad member 231 is attached to the upper arm portion A1.
 前記第2サポート部材212は、図15~図17に示すように、第1サポート部材210に対して回転可能に支持された支持体部240と、該第1サポート部材210に対して回転可能に支持された前腕装着部241とを備えている。支持体部240は、第1サポート部材210の本体部220の前方に位置する右壁部から、左上方および左下方へ湾曲して左側(体幹側)が開放した形状に形成されている。すなわち支持体部240は、第2サポート部材212の回転方向において、前記前腕装着部241を挟んで対向する第1支持壁部240Aおよび第2支持壁部240Bを備え、これら第1支持壁部240Aおよび第2支持壁部240Bが、外方から前腕装着部241に対面するように形成されている。この支持体部240は、例えば硬質の合成樹脂等を材質とする。そして、支持体部240の右壁部には、後方へ延出した板状の第1連結部材242が配設され、この第1連結部材242は第1サポート部材210に回転可能に連結されるようになっている。なお、図18および図19に示すように、第1連結部材242の後端近傍には、矩形穴部243が形成されている。 As shown in FIGS. 15 to 17, the second support member 212 is rotatably supported with respect to the first support member 210 and a support body portion 240 that is rotatably supported with respect to the first support member 210. And a forearm mounting portion 241 supported. The support portion 240 is formed in a shape in which the left wall (trunk side) is opened by bending from the right wall portion located in front of the main body portion 220 of the first support member 210 to the upper left and lower left. That is, the support body portion 240 includes a first support wall portion 240A and a second support wall portion 240B that face each other across the forearm mounting portion 241 in the rotation direction of the second support member 212, and these first support wall portions 240A. And the 2nd support wall part 240B is formed so that the forearm mounting | wearing part 241 may be faced from the outside. The support 240 is made of, for example, hard synthetic resin. A plate-like first connecting member 242 extending rearward is disposed on the right wall portion of the support portion 240, and the first connecting member 242 is rotatably connected to the first support member 210. It is like that. As shown in FIGS. 18 and 19, a rectangular hole 243 is formed near the rear end of the first connecting member 242.
 前腕装着部241は、前腕部A2に装着される前腕パッド部材245と、この前腕パッド部材245から後方へ延出した板状の第2連結部材248とを備えている。前腕パッド部材245は、前記上腕パッド部材231と同様に、外側に位置する外殻部246と、この外殻部246の内側に設けられて前腕部A2に接触するパッド部247とを備えている。外殻部246は、カーボン繊維または合成樹脂等を材質とした弾性変形が可能な薄肉部分であり、左側(体幹側)が開放する略円筒形状に形成されている。パッド部247は、ウレタンゴムやスポンジゴム等を材質とする成形体であり、適度の弾力性および柔軟性を有しており、前腕部A2を右方から包み込んで該前腕部A2に密着し得るようになっている。これにより前腕パッド部材245は、左側の上下端が上下に近接・離間するよう変形が可能であり、前腕部A2に対して容易に着脱し得る。前記第2連結部材248は、前腕パッド部材245における第1サポート部材210の本体部220前方に位置する右側部分に、該前腕パッド部材245から後方へ延出して配設されている。この第2連結部材248は、第1サポート部材210に回転可能に連結されるようになっており、図18および図19に示すように、該第2連結部材248の後端には円形穴部249が形成されている。 The forearm mounting portion 241 includes a forearm pad member 245 attached to the forearm portion A2 and a plate-like second connecting member 248 extending rearward from the forearm pad member 245. Similar to the upper arm pad member 231, the forearm pad member 245 includes an outer shell portion 246 positioned outside, and a pad portion 247 provided inside the outer shell portion 246 and in contact with the forearm portion A2. . The outer shell portion 246 is a thin-walled portion that can be elastically deformed using carbon fiber, synthetic resin, or the like, and is formed in a substantially cylindrical shape that is open on the left side (trunk side). The pad portion 247 is a molded body made of urethane rubber, sponge rubber, or the like, has appropriate elasticity and flexibility, and can wrap the forearm portion A2 from the right side so as to be in close contact with the forearm portion A2. It is like that. Thereby, the forearm pad member 245 can be deformed so that the upper and lower ends of the left side are close to and away from each other vertically, and can be easily attached to and detached from the forearm portion A2. The second connecting member 248 is disposed to extend rearward from the forearm pad member 245 on the right side portion of the forearm pad member 245 positioned in front of the main body 220 of the first support member 210. The second connecting member 248 is rotatably connected to the first support member 210. As shown in FIGS. 18 and 19, a circular hole is formed at the rear end of the second connecting member 248. 249 is formed.
 前記前腕パッド部材245は、図17および図20(a)に示すように、第2サポート部材212の回転方向において、前記支持体部240の第1支持壁部240Aとの間に、前記検知手段214を構成する後述の第1検知部280を配設し得る空間を画成すると共に、該支持壁部240の第2支持壁部240Bとの間に、該検知手段214を構成する後述の第2検知部281を配設し得る空間を画成した状態に配設されている。従って、前腕装着部241は、第2サポート部材212の回転方向で、第1支持壁部240Aと第2支持壁部240Bの間において支持体部240に対して相対移動が可能な可動範囲を確保した状態に配設され、前腕パッド部材245は、第1支持壁部240Aへの近接移動および第2支持壁部240Bへの近接移動が許容されるようになっている。 As shown in FIG. 17 and FIG. 20A, the forearm pad member 245 is located between the first support wall portion 240A of the support body portion 240 in the rotational direction of the second support member 212 and the detection means. A space in which a later-described first detector 280 constituting 214 can be disposed, and a later-described second detector constituting the detector 214 between the support wall 240 and the second support wall 240B. 2 is arranged in a state that defines a space in which the two detection units 281 can be arranged. Therefore, the forearm mounting portion 241 has a movable range in which relative movement with respect to the support body portion 240 can be performed between the first support wall portion 240A and the second support wall portion 240B in the rotation direction of the second support member 212. The forearm pad member 245 is allowed to move close to the first support wall 240A and move close to the second support wall 240B.
 前腕パッド部材245の左側上部には、図15~図17に示すように、矩形リング状の掛止部材251を備えた面ファスナ形態の2本のベルト部材250が、一端が固定された状態で前後に離間して取付けられている。また、前腕パッド部材245の左側下部には、前後方向に延在して左右方向の断面形状が「略コ字形」をなす2個のバックル252が、各ベルト部材250に対応するよう前後に離間して設けられている。従って、各ベルト部材250を、対応のバックル252に掛止部材251を引っ掛け、該バックル252で折り返した該ベルト部材250を締結することで、前腕パッド部材245を前腕部A2に締め付けながら固定し得る(図17参照)。 In the upper left part of the forearm pad member 245, as shown in FIGS. 15 to 17, two belt members 250 in the form of hook-and-loop fasteners having a rectangular ring-shaped hooking member 251 are fixed at one end. Attached to the front and rear. Further, at the lower left portion of the forearm pad member 245, two buckles 252 extending in the front-rear direction and having a cross-sectional shape in the left-right direction having a “substantially U-shape” are separated in the front-rear direction so as to correspond to the belt members 250. Is provided. Therefore, each of the belt members 250 can be fixed while tightening the forearm pad member 245 to the forearm portion A2 by hooking the latch member 251 on the corresponding buckle 252 and fastening the belt member 250 folded back by the buckle 252. (See FIG. 17).
 前記第1サポート部材210と第2サポート部材212とは、図18および図19に示すように、該第1サポート部材210に配設した回転支持部材260および締結支持部材265を利用して、互いに回転可能な状態で連結される。すなわち、支持体部240に設けた第1連結部材242が、第1連結部225に回転可能に係止した回転支持部材260に連結されると共に、前腕装着部241に設けた第2連結部材248が、第2連結部226に係止した締結支持部材265に回転可能に支持される。回転支持部材260は、後述するように、作動機構Mにより正逆回転するようになっており、該作動機構Mにより回転支持部材260が回転することで、第1サポート部材210に対して第2サポート部材212が回転変位するようになる。 As shown in FIGS. 18 and 19, the first support member 210 and the second support member 212 are connected to each other using a rotation support member 260 and a fastening support member 265 disposed on the first support member 210. Connected in a rotatable state. That is, the first connection member 242 provided on the support body 240 is connected to the rotation support member 260 that is rotatably locked to the first connection portion 225 and the second connection member 248 provided on the forearm mounting portion 241. Is rotatably supported by the fastening support member 265 locked to the second connecting portion 226. As will be described later, the rotation support member 260 is rotated forward and backward by the operation mechanism M. When the rotation support member 260 is rotated by the operation mechanism M, the rotation support member 260 is rotated with respect to the first support member 210. The support member 212 is rotationally displaced.
 回転支持部材260は、図18および図19に示すように、第1サポート部材210におけるベース部材222の第1支持部225に収容設置部224側(右側)から当接する円形状のフランジ部261と、このフランジ部261より小径で前記第1支持孔227に嵌合する円形嵌合部262と、この円形嵌合部262の端面から矩形状に突出した矩形係止部263と、この矩形係止部263の端面に形成されたビス孔264とを備えている。矩形係止部263は、前記第1連結部材242に設けた矩形穴部243と嵌合するようになっており、第1連結部材242は、第1サポート部材210に対して、回転支持部材260と一体的に回転するようになっている。 As shown in FIGS. 18 and 19, the rotation support member 260 includes a circular flange portion 261 that contacts the first support portion 225 of the base member 222 of the first support member 210 from the accommodation installation portion 224 side (right side). A circular fitting portion 262 having a diameter smaller than that of the flange portion 261 and fitting into the first support hole 227; a rectangular locking portion 263 protruding in a rectangular shape from an end surface of the circular fitting portion 262; And a screw hole 264 formed on the end face of the portion 263. The rectangular locking portion 263 is adapted to be fitted into a rectangular hole portion 243 provided in the first connecting member 242, and the first connecting member 242 is relative to the first support member 210 and the rotation support member 260. And rotate together.
 締結支持部材265は、図18および図19に示すように、第2サポート部材212における第2連結部材248に左側から当接する円形状のフランジ部266と、このフランジ部266より小径の円形嵌合部267と、この円形嵌合部267の端面に右方へ突出するよう設けたビス268とを備えている。円形嵌合部267は、第2連結部材248の厚みおよび第2支持部226の厚みを合わせた幅に形成されており、該第2連結部材248に設けた円形穴部249と、該第2支持部226に設けた第2支持孔228とに夫々嵌合する(図18)。またビス268は、回転支持部材260に設けた前記ビス孔264に螺合するようになっている。従って第2連結部材248は、円形穴部249と円形嵌合部267との嵌合により、第1サポート部材210に対して独立して回転可能に支持される。なお、図18および図19における符号269は、自己潤滑性樹脂を材質とするリング状のスリーブである。 As shown in FIGS. 18 and 19, the fastening support member 265 includes a circular flange portion 266 that contacts the second connecting member 248 in the second support member 212 from the left side, and a circular fitting having a smaller diameter than the flange portion 266. 267 and a screw 268 provided on the end face of the circular fitting portion 267 so as to protrude rightward. The circular fitting portion 267 is formed to have a width obtained by combining the thickness of the second connection member 248 and the thickness of the second support portion 226, and the circular hole portion 249 provided in the second connection member 248 and the second connection member 248. It fits in the 2nd support hole 228 provided in the support part 226, respectively (FIG. 18). The screw 268 is screwed into the screw hole 264 provided in the rotation support member 260. Therefore, the second connecting member 248 is supported so as to be independently rotatable with respect to the first support member 210 by the fitting of the circular hole portion 249 and the circular fitting portion 267. In addition, the code | symbol 269 in FIG. 18 and FIG. 19 is the ring-shaped sleeve which uses a self-lubricating resin as a material.
 前記作動機構Mは、図16~図18に示すように、第1実施例と基本的に同じ構成である。従って、第1実施例の作動機構Mと同一部材および部位は同一の符号で指示し、詳細な説明は省略する。なお、作動機構Mの第2ギア74は、回転支持部材260に回転不能に固定されている。また、回転支持部材260の円形フランジ部261に、シャフト75を介してロータリーエンコーダ276が連結されている。 The operating mechanism M has basically the same configuration as that of the first embodiment as shown in FIGS. Accordingly, the same members and parts as those of the operating mechanism M of the first embodiment are designated by the same reference numerals, and detailed description thereof is omitted. The second gear 74 of the operating mechanism M is fixed to the rotation support member 260 so as not to rotate. A rotary encoder 276 is connected to the circular flange portion 261 of the rotation support member 260 via the shaft 75.
 従って、サーボモータ70の正逆作動により出力軸72が正逆回転すると、第1ギア73および第2ギア74を介して回転支持部材260がベース部材222に対して正逆回転し、これにより第2サポート部材212が第1サポート部材210に対して回転変位する。そして、回転支持部材260と第2サポート部材212の支持体部240とが一体的に回転するよう構成されているので、該回転支持部材260の回転角度をロータリーエンコーダ76で検知することで、第1サポート部材210に対する第2サポート部材212の動作状態が適切に把握される。 Therefore, when the output shaft 72 rotates forward and backward by the forward and reverse operation of the servo motor 70, the rotation support member 260 rotates forward and backward with respect to the base member 222 via the first gear 73 and the second gear 74, thereby The two support members 212 are rotationally displaced with respect to the first support member 210. Since the rotation support member 260 and the support body portion 240 of the second support member 212 are configured to rotate integrally, the rotation angle of the rotation support member 260 is detected by the rotary encoder 76, so that the first The operation state of the second support member 212 with respect to the first support member 210 is appropriately grasped.
 次に、前記検知手段214について説明する。第5実施例の装着型動作支援装置SU5は、図15~図17および図20に示すように、第2サポート部材212における支持体部240の前腕装着部242と対向する面に、該支持体部240に対する前腕装着部241の変位を検知する検知手段214が設けられている。この検知手段214は、支持体部240の第1支持壁部240Aから前腕パッド部材245側に突設した台座部240Cに、前腕パッド部材245に対向して設けた第1検知部280と、該支持体部240の第2支持壁部240Bから前腕パッド部材245側に突設した台座部240Dに、該前腕パッド部材245に対向して設けた第2検知部281とを備えている。第1検知部280および第2検知部281は、基本的に同じ構成であり、圧力センサ282と、該圧力センサ282および前腕パッド部材245の夫々に弾力的に当接して弾性変形が可能な当接支持部材(弾性部材)283とを備えている。 Next, the detection means 214 will be described. As shown in FIG. 15 to FIG. 17 and FIG. 20, the wearable motion support device SU5 of the fifth embodiment has the support on the surface of the second support member 212 facing the forearm mounting portion 242 of the support 240. Detection means 214 for detecting the displacement of the forearm mounting portion 241 relative to the portion 240 is provided. This detection means 214 includes a first detection unit 280 provided on a pedestal 240C projecting from the first support wall 240A of the support 240 to the forearm pad member 245 and facing the forearm pad member 245, and A pedestal 240D projecting from the second support wall 240B of the support 240 to the forearm pad member 245 is provided with a second detector 281 provided to face the forearm pad member 245. The first detection unit 280 and the second detection unit 281 have basically the same configuration, and the pressure sensor 282 and each of the pressure sensor 282 and the forearm pad member 245 are elastically contacted to be elastically deformable. And a contact support member (elastic member) 283.
 第1検知部280および第2検知部281の各当接支持部材283は、細長の薄いバネ鋼から形成された弾性変形が可能な板バネであり、長手方向の略中間部位で折曲げられている。この当接支持部材283は、長手方向の一端部に設けられて支持体部240の前記台座部240C(240D)に取付けられる取付部283Aと、対応の圧力センサ282を押圧する押圧部283Bと、長手方向の他端部に設けられて前腕装着部241の前腕パッド部材245に当接する作動部283Cとを備える。押圧部283Bは、作動部283Cに近い折曲部に位置している。各当接支持部材283は、図20(a),(b)に示すように、前記台座部240C(240D)に対して取付部283Aを固定して片持ち状態に配設され、押圧部283Bが圧力センサ282に接触すると共に、作動部283Cが前腕パッド部材245の外郭部246に弾力的に当接するようになっている。そして、各圧力センサ282に対応して配設された2つの各当接支持部材138は、図17および図20に示すように、支持体部240に対して前腕装着部241が第2サポート部材212の回転方向へ相対的に移動するに際し、常に前腕パッド部材245の外郭部246の外面に当接した状態が維持される。従って、支持体部240に対して前腕装着部241が可動範囲内の何れの位置に移動しても、各圧力センサ282には、対応する当接支持部材283が弾性変形して押圧力が加わった状態となっている。 Each contact support member 283 of the first detection unit 280 and the second detection unit 281 is a plate spring that is formed from an elongated thin spring steel and can be elastically deformed, and is bent at a substantially intermediate portion in the longitudinal direction. Yes. The contact support member 283 is provided at one end in the longitudinal direction and attached to the pedestal 240C (240D) of the support 240, a pressing part 283B that presses the corresponding pressure sensor 282, An actuating portion 283C provided at the other end in the longitudinal direction and abutting on the forearm pad member 245 of the forearm mounting portion 241. The pressing part 283B is located at a bent part close to the operating part 283C. As shown in FIGS. 20 (a) and 20 (b), each contact support member 283 is disposed in a cantilever state with a mounting portion 283A fixed to the pedestal portion 240C (240D), and a pressing portion 283B. Is in contact with the pressure sensor 282, and the operating portion 283C is elastically brought into contact with the outer portion 246 of the forearm pad member 245. As shown in FIGS. 17 and 20, the two abutting support members 138 disposed corresponding to the pressure sensors 282 are configured so that the forearm mounting portion 241 is the second support member with respect to the support portion 240. When relatively moving in the rotational direction of 212, the state of always contacting the outer surface of the outer portion 246 of the forearm pad member 245 is maintained. Therefore, even if the forearm mounting part 241 moves to any position within the movable range with respect to the support part 240, the corresponding contact support member 283 is elastically deformed to each pressure sensor 282, and a pressing force is applied. It is in the state.
 前述のように構成された第5実施例の装着型動作支援装置SU5は、前腕装着部241に外力が付与されない場合に、各当接支持部材283が均衡を保った状態となる。そして、各当接支持部材283は、均衡を保った状態において、前腕パッド部材245と支持体部240の第1支持壁部240Aとの間隔と、該前腕パッド部材245と該支持体部240の第2支持壁部240Bとの間隔とが同一となるように前腕装着部241を位置させる(図17参照)。すなわち、各当接支持部材283は、均衡を保った状態において、前腕パッド部材245と各圧力センサ282,282との間隔が同等となるよう前腕装着部241を保持する。また、第5実施例の装着型動作支援装置SU5は、支持体部240の第1支持壁部240Aまたは第2支持壁部240Bに対する前腕装着部241の近接移動時に、各当接支持部材283が弾性変形して対応する各圧力センサ282を押圧し、該圧力センサ282が検知する押圧力に応じて作動機構Mのサーボモータ70を作動制御する。 In the wearable motion support device SU5 of the fifth embodiment configured as described above, when the external force is not applied to the forearm mounting portion 241, each contact support member 283 is in a balanced state. Each contact support member 283 maintains the balance between the forearm pad member 245 and the first support wall portion 240A of the support portion 240, and between the forearm pad member 245 and the support portion 240. The forearm mounting portion 241 is positioned so that the distance from the second support wall portion 240B is the same (see FIG. 17). That is, each contact support member 283 holds the forearm mounting portion 241 so that the distance between the forearm pad member 245 and the pressure sensors 282 and 282 is equal in a balanced state. In addition, in the wearable motion support device SU5 of the fifth embodiment, when the forearm mounting portion 241 moves close to the first support wall portion 240A or the second support wall portion 240B of the support body portion 240, each contact support member 283 has the contact support member 283. The corresponding pressure sensor 282 is pressed by elastic deformation, and the servo motor 70 of the operating mechanism M is controlled in accordance with the pressing force detected by the pressure sensor 282.
 例えば、支持体部240に対して前腕装着部241が上方へ移動すると、第1検知部280における当接支持部材283の弾性変形量が大きくなって、該第1検知部280の圧力センサ282に対する押圧力が増加する一方、第2検知部281における当接支持部材283の弾性変形量が小さくなって、該第2検知部281の圧力センサ282に対する押圧力が減少する。すなわち、第1検知部280の圧力センサ282に対する押圧力が増加して、第2検知部281の圧力センサ282に対する押圧力が減少した場合には、前記サーボモータ70を作動制御して第2サポート部材212を上方へ回転変位させて、前腕部A2を上方へ曲げようとするユーザーの動作支援を行なうようになっている。また、支持体部240に対して前腕装着部241が下方へ移動すると、第2検知部281における当接支持部材283の弾性変形量が大きくなって、該第2検知部281の圧力センサ282に対する押圧力が増加する一方、第1検知部280における当接支持部材283の弾性変形量が小さくなって、該第1検知部280の圧力センサ282に対する押圧力が減少する。すなわち、第2検知部281の圧力センサ282に対する押圧力が増加して、第1検知部280の圧力センサ282に対する押圧力が減少した場合には、前記サーボモータ70を作動制御して第2サポート部材212を下方へ回転変位させて、前腕部A2を下方へ曲げようとするユーザーの動作支援を行なうようになっている。 For example, when the forearm mounting portion 241 moves upward with respect to the support body portion 240, the amount of elastic deformation of the contact support member 283 in the first detection portion 280 increases, and the pressure sensor 282 of the first detection portion 280 increases. While the pressing force increases, the elastic deformation amount of the contact support member 283 in the second detection unit 281 decreases, and the pressing force of the second detection unit 281 on the pressure sensor 282 decreases. That is, when the pressing force of the first detection unit 280 against the pressure sensor 282 increases and the pressing force of the second detection unit 281 against the pressure sensor 282 decreases, the servo motor 70 is operated to control the second support. The member 212 is rotated and displaced upward to assist the user in trying to bend the forearm A2 upward. Further, when the forearm mounting portion 241 moves downward with respect to the support body portion 240, the amount of elastic deformation of the contact support member 283 in the second detection portion 281 increases, and the pressure sensor 282 of the second detection portion 281 increases with respect to the pressure sensor 282. While the pressing force increases, the amount of elastic deformation of the contact support member 283 in the first detection unit 280 decreases, and the pressing force of the first detection unit 280 against the pressure sensor 282 decreases. That is, when the pressing force of the second detection unit 281 against the pressure sensor 282 increases and the pressing force of the first detection unit 280 against the pressure sensor 282 decreases, the servo motor 70 is operated to control the second support. The member 212 is rotated and displaced downward to assist the user in trying to bend the forearm A2 downward.
 また、前記各圧力センサ282における圧力検知部の中心には、支持体部240の外面に向けて突出した突出部285が取り付けられている。この突出部285は、例えば硬質プラスチック等から形成されたもので、突出先端が球面状に形成されている。従って、当接支持部材283の押圧部283Bは、突出部285の先端と点接触するようになる。すなわち、当接支持部材283の押圧部283Bが突出部285に当接することで、当該突出部285が配設された圧力センサ282が点で押されるようになり、その押付け強さの度合をより正確に検知して検知精度を高め得る。なお、図20(b)中の符号284は、圧力センサ282から延出して支持体部240内に埋設された信号線である。 Further, a protruding portion 285 protruding toward the outer surface of the support portion 240 is attached to the center of the pressure detecting portion in each pressure sensor 282. The projecting portion 285 is made of, for example, hard plastic or the like, and the projecting tip is formed in a spherical shape. Accordingly, the pressing portion 283B of the contact support member 283 comes into point contact with the tip of the protruding portion 285. That is, when the pressing portion 283B of the contact support member 283 contacts the protruding portion 285, the pressure sensor 282 provided with the protruding portion 285 is pressed at a point, and the degree of pressing strength is further increased. Accurate detection can improve detection accuracy. Note that reference numeral 284 in FIG. 20B denotes a signal line extending from the pressure sensor 282 and embedded in the support body portion 240.
 前述のように構成された第5実施例の装着型動作支援装置SU5によれば、次のような作用効果を奏する。
(1)第2サポート部材212に設けた検知手段214における第1検知部280および第2検知部281が、常に圧力センサ282および前腕パッド部材245に弾力的に当接する当接支持部材283を夫々備えているので、前腕パッド部材245の微小な動きを各圧力センサ282,282でダイレクトに検知することができるから、該圧力センサ282,282による検知精度が向上する。そして、各圧力センサ282,282の検知信号に応じてサーボモータ70が適切に作動制御されるので、右腕Aの動作支援を適切に行なうことができる。
(2)前腕装着部241は、該前腕装着部241に外力が付与されない状態において、第1検知部280の当接支持部材283および第2検知部281の当接支持部材283が均衡を保った状態となり、支持体部240に対する可動範囲の中間となる位置に弾力的に保持される。従って、前腕パッド部材245と各圧力センサ282,282の間隔が同等となり、前腕装着部241が第1検知部280側または第2検知部281のどの方向へ移動しても、圧力センサ282,282によりタイムラグなく検知し得る。
(3)各圧力センサ282の圧力検知部に突出部285が配設されているので、当接支持部材283を介して前腕パッド部材245で押された該圧力センサ282が点で力を受けるようになり、検知精度を更に高めることができる。
(4)第2サポート部材212を構成する支持体部240および前腕装着部241を利用して、前腕部A2の動作を検知するようにしたので、第1実施例の装着型動作支援装置SU1よりも軽量化を図り得る。
(5)第2サポート部材212を姿勢変位させるサーボモータ70、第1ギア73および第2ギア74からなる作動機構Mや、回転支持部材260およびロータリーエンコーダ76等が、第1サポート部材210の本体部220に設けた収容設置部224内に配設されるので、装着型動作支援装置SU5の小型化および軽量化が図られる。従って、装着感の向上が図られて、子供や老人であっても容易に使用することができる。また、作動機構M等が第1サポート部材210および第2サポート部材212の外側に露出しないので、これらの可動部分に指先や衣服の裾部等が挟み込まれる不都合の発生も好適に防止し得る。
(6)第2サポート部材212が第1サポート部材210に対して着脱可能なので、同一形状の第1連結部材242および第2連結部材248を備え、支持体部240および前腕パッド部材245の形状・サイズが異なる複数の第2サポート部材212を準備すれば、第1サポート部材210に対して形状・サイズが異なる第2サポート部材212を選択的に装着し得る。従って、ユーザーの体格変化に対応し得ると共に、肘関節A3を挟む上腕部A1と前腕部A2以外の身体部位に装着して、当該身体部位の動作補助を行なうことも可能である。
(7)第1サポート部材210は、上腕装着部221が本体部220に対して着脱可能なので、本体部220を共通に使用して、形状・サイズが異なる複数の上腕装着部221を準備すれば、該上腕装着部221の形状・サイズが異なる複数の第1サポート部材210を構成し得る。同様に、第2サポート部材212は、支持体部240と前腕装着部241とが分離していると共に、該前腕装着部241が第1サポート部材210に対して着脱可能なので、支持体部240を共通に使用して、形状・サイズが異なる複数の前腕装着部241を準備すれば、該前腕装着部241の形状・サイズが異なる複数の第2サポート部材212を構成し得る。従って、上腕装着部221および前腕装着部241の選択により、体格が異なるユーザーに対応し得る。
The wearable motion support device SU5 of the fifth embodiment configured as described above has the following operational effects.
(1) The first detection unit 280 and the second detection unit 281 in the detection unit 214 provided on the second support member 212 respectively provide the contact support member 283 that elastically contacts the pressure sensor 282 and the forearm pad member 245, respectively. Since it is provided, minute movements of the forearm pad member 245 can be directly detected by the pressure sensors 282 and 282, so that the detection accuracy by the pressure sensors 282 and 282 is improved. Since the servo motor 70 is appropriately controlled in accordance with the detection signals of the pressure sensors 282 and 282, the right arm A can be appropriately supported.
(2) In the forearm mounting portion 241, the abutment support member 283 of the first detection unit 280 and the abutment support member 283 of the second detection unit 281 are balanced in a state where no external force is applied to the forearm mounting unit 241. It becomes a state and is elastically held at a position that is in the middle of the movable range with respect to the support portion 240. Accordingly, the distance between the forearm pad member 245 and the pressure sensors 282 and 282 is equal, and the pressure sensors 282 and 282 are moved regardless of the direction of the first detection unit 280 or the second detection unit 281 when the forearm mounting unit 241 moves. Can be detected without time lag.
(3) Since the projecting portion 285 is disposed at the pressure detection portion of each pressure sensor 282, the pressure sensor 282 pushed by the forearm pad member 245 via the contact support member 283 is subjected to a force at a point. Thus, the detection accuracy can be further improved.
(4) Since the operation of the forearm portion A2 is detected using the support portion 240 and the forearm mounting portion 241 constituting the second support member 212, the mounting-type motion support device SU1 of the first embodiment is used. Can also be reduced in weight.
(5) The servo motor 70 that displaces the second support member 212, the operating mechanism M including the first gear 73 and the second gear 74, the rotation support member 260, the rotary encoder 76, and the like are the main body of the first support member 210. Since it is disposed in the accommodation installation unit 224 provided in the unit 220, the wearable motion support device SU5 can be reduced in size and weight. Therefore, the feeling of wearing is improved, and even a child or an elderly person can easily use it. In addition, since the operating mechanism M and the like are not exposed to the outside of the first support member 210 and the second support member 212, it is possible to suitably prevent the occurrence of inconvenience that a fingertip, a skirt of clothes, etc. are sandwiched between these movable parts.
(6) Since the second support member 212 can be attached to and detached from the first support member 210, the first support member 242 and the second connection member 248 having the same shape are provided, and the shapes of the support body 240 and the forearm pad member 245 are provided. If a plurality of second support members 212 having different sizes are prepared, the second support members 212 having different shapes and sizes can be selectively attached to the first support member 210. Therefore, it is possible to cope with a change in the user's physique, and to attach to body parts other than the upper arm part A1 and the forearm part A2 that sandwich the elbow joint A3, and to perform operation assistance of the body part.
(7) Since the upper arm mounting portion 221 can be attached to and detached from the main body portion 220 of the first support member 210, if the main body portion 220 is commonly used and a plurality of upper arm mounting portions 221 having different shapes and sizes are prepared. A plurality of first support members 210 having different shapes and sizes of the upper arm mounting portions 221 can be formed. Similarly, in the second support member 212, the support body portion 240 and the forearm mounting portion 241 are separated, and the forearm mounting portion 241 is detachable from the first support member 210. If a plurality of forearm mounting portions 241 having different shapes and sizes are prepared in common, a plurality of second support members 212 having different shapes and sizes of the forearm mounting portions 241 can be configured. Therefore, it is possible to cope with users having different physiques by selecting the upper arm mounting part 221 and the forearm mounting part 241.
(変更例)
 第1実施例~第5実施例では、右腕Aの肘関節A3を挟む上腕部A1および前腕部A2に装着される装着型動作支援装置SUを例示したが、本願の装着型動作支援装置SUは、様々に変更して実施可能である。
(1)第1実施例、第2実施例、第3実施例および第4実施例では、アウター部材80に配設される圧力センサ130の配設数は4個に限定されるものではなく、3個以下または5個以上であってもよい。但し、インナー部材81が、上下、左右、斜め上方および斜め下方の全方向へ移動可能であるから、該インナー部材81の動きにより発生する力の検知精度を高めには、最低3個の圧力センサ130を周方向へ等間隔に配置するのが望ましい。すなわち、インナー部材81の全方向の動きに対する検知精度を向上させるには、圧力センサ130の配設数の多少に関係なく、周方向へ等間隔に配設するのが望ましい。但し、周方向において、圧力センサ130の配設間隔が狭い部分と広い部分とがあるように、圧力センサ130を不均等に配設するようにしてもよい。
(2)第1実施例、第2実施例、第3実施例および第4実施例では、検知手段としての圧力センサ130を、アウター部材80に配設した態様を例示したが、インナー部材81の径方向への回転位置を検知する位置検知センサを設ければ、インナー部材81における各インナー半体105,106の支持壁部材107(インナー部材81の外周面81A)に、所定数の圧力センサ130を配設することが可能である。この態様では、インナー部材81が径方向へ動いた際に、アウター部材80における各アウター半体82,83の内周ガイド部材85が圧力センサ130を押すようになり、前記第1実施例と同等の作用効果が得られる。
(3)第1実施例~第5実施例では、圧力センサ130,282の圧力検知部に突出部135,285を設けたが、該突出部135,285はなくてもよい。
(4)第1実施例、第2実施例、第3実施例および第4実施例では、固定部材および移動部材として円形リング形状(環状)のアウター部材80およびインナー部材81からなる動作検知部材14を例示したが、これら固定部材および移動部材は円形リング状以外の形状であってもよい。
(5)アウター部材80の第1アウター半体82および第2アウター半体83とを連結するアウター半体連結手段L2は、第1実施例に示した第3連結手段96や第4連結手段95の形態に限定されない。例えば、第4連結手段95は、第1アウター半体82の第2端部82Bに嵌合突部97を突設し、第2アウター半体83の第2端部83Bに嵌合凹部98を凹設するようにしてもよい。第3連結手段96においても、係合爪部99を第1アウター半体82の第2端部82Bに設けると共に、係合孔部100を第2アウター半体83の第2端部83Bに嵌合凹部98を凹設するようにしてもよい。
(6)インナー部材81の第1インナー半体105および第2インナー半体106とを連結するインナー半体連結手段L1も、第1実施例に示した第1連結手段116や第2連結手段115の形態に限定されない。すなわち、第1連結手段116は、係止レバー122と係止溝123を逆に設けるようにしてもよいし、第2連結手段115は、係合突部117,124と係合凹部119,125とを逆に設けるようにしてもよい。
(7)第1実施例では、インナー部材81の前当接面110および後当接面111間の前後幅寸法W2を、アウター部材80の前ガイド面91および後ガイド面92間の前後幅寸法W1より小さく(W1>W2)設定して、インナー部材81とアウター部材80の前後寸法に余裕を持たせるようにしてもよい。
(8)第1実施例では、第2サポート部材12を左右方向へ旋回させる第2の作動機構を設けて、第2サポート部材12を、上下方向のみならず、左右方向や、右上・左下方向および左上・右下方向にも姿勢変位させ得るようにしてもよい。
(9)第1実施例~第5実施例では、サーボモータ70と回転支持部材50の連係機構として、ベベルギアからなる第1ギア73および第2ギア74を示したが、この連係機構は、例えばウォームギアおよびホイルギアからなるギア機構や、プーリーおよびタイミングベルトからなるベルト機構等としてもよい。
(10)作動機構Mの作動手段は、サーボモータに限定されず、アクチュエーターモータ等を使用することも可能である。
(11)第1実施例において、第2サポート部材12の左右方向への姿勢変位を不要とする場合は、前記第2連結支持部材65を後方へ更に延長させ、該第2連結支持部材65に前記矩形穴部63を設けて、該第2連結支持部材65を前記回転支持部材50に直接連結するようにしてもよい。
(12)第2実施例では、弾性部材として板バネ形態の当接支持部材138を例示したが、該当接支持部材138はコイルバネやゴム等であってもよい。また、当接支持部材138の配設数は、圧力センサ130の配設数に合わせて3個以下または5個以上であってもよい。
(13)第2実施例では、当接支持部材138をアウター部材80に配設した形態を例示したが、圧力センサ130をインナー部材81における各インナー半体105,106の支持壁部材107に配設する場合には、該当接支持部材138を支持壁部材107に配設してもよい。
(14)第3実施例では、弾性部材としてコイルバネ136を例示したが、該弾性部材136は板バネやゴム等であってもよい。また、弾性部材136の配設数は7個以下または9個以上であってもよい。また、弾性部材136の配設間隔は均等でなくてもよい。
(15)第4実施例では、支持部材としてコイルバネ140を例示したが、該支持部材140は板バネやゴム等であってもよい。また、支持部材140の配設数は3個以下または5個以上であってもよい。また、支持部材140の配設間隔は均等でなくてもよい。
(16)第5実施例では、検知手段としての圧力センサ282を、支持体部240に配設した態様を例示したが、該圧力センサ282は、前腕装着部241における前腕パッド部材245の外殻部246に設けてもよい。
(17)第5実施例では、第2サポート部材212を左右方向へ旋回させる第2の作動機構を設けて、第2サポート部材212を、上下方向のみならず、左右方向や、右上・左下方向および左上・右下方向にも姿勢変位させ得るようにしてもよい。
(18)第5実施例では、当接支持部材283の配設数は、圧力センサ282の配設数に合わせて3個以上であってもよい。
(19)第1実施例~第5実施例では、上肢用として右腕Aに装着される装着型動作支援装置を例示したが、第1サポート部材10、第2サポート部材12および動作検知部材14の形状およびサイズ等を変更することで、左腕用や、下肢の左脚用または右脚用として実施することも可能である。
(Change example)
In the first to fifth embodiments, the wearable motion support device SU mounted on the upper arm portion A1 and the forearm portion A2 sandwiching the elbow joint A3 of the right arm A is illustrated, but the wearable motion support device SU of the present application is Various modifications can be made.
(1) In the first embodiment, the second embodiment, the third embodiment, and the fourth embodiment, the number of pressure sensors 130 disposed on the outer member 80 is not limited to four. It may be 3 or less or 5 or more. However, since the inner member 81 can move in all directions, up and down, right and left, obliquely upward and obliquely downward, at least three pressure sensors are required to increase the accuracy of detecting the force generated by the movement of the inner member 81. It is desirable to arrange 130 at equal intervals in the circumferential direction. That is, in order to improve the detection accuracy with respect to the movement of the inner member 81 in all directions, it is desirable to dispose the pressure sensors 130 at equal intervals in the circumferential direction regardless of the number of pressure sensors 130. However, in the circumferential direction, the pressure sensors 130 may be disposed unevenly such that there are a narrow portion and a wide portion where the pressure sensors 130 are disposed.
(2) In the first embodiment, the second embodiment, the third embodiment, and the fourth embodiment, the mode in which the pressure sensor 130 as the detecting means is disposed on the outer member 80 is illustrated. If a position detection sensor for detecting the rotational position in the radial direction is provided, a predetermined number of pressure sensors 130 are provided on the support wall member 107 (the outer peripheral surface 81A of the inner member 81) of the inner halves 105, 106 of the inner member 81. Can be arranged. In this aspect, when the inner member 81 moves in the radial direction, the inner peripheral guide members 85 of the outer halves 82 and 83 of the outer member 80 press the pressure sensor 130, which is the same as in the first embodiment. The following effects can be obtained.
(3) In the first to fifth embodiments, the protrusions 135 and 285 are provided in the pressure detection portions of the pressure sensors 130 and 282. However, the protrusions 135 and 285 may not be provided.
(4) In the first embodiment, the second embodiment, the third embodiment, and the fourth embodiment, the motion detection member 14 including a circular ring-shaped (annular) outer member 80 and an inner member 81 as a fixed member and a moving member. However, the fixed member and the moving member may have a shape other than the circular ring shape.
(5) The outer half connecting means L2 for connecting the first outer half 82 and the second outer half 83 of the outer member 80 is the third connecting means 96 or the fourth connecting means 95 shown in the first embodiment. It is not limited to the form. For example, the fourth connecting means 95 has a fitting protrusion 97 protruding from the second end 82B of the first outer half 82 and a fitting recess 98 at the second end 83B of the second outer half 83. A recess may be provided. Also in the third connecting means 96, the engaging claw 99 is provided at the second end 82B of the first outer half 82, and the engaging hole 100 is fitted into the second end 83B of the second outer half 83. The joint recess 98 may be provided as a recess.
(6) The inner half connecting means L1 for connecting the first inner half 105 and the second inner half 106 of the inner member 81 is also the first connecting means 116 and the second connecting means 115 shown in the first embodiment. It is not limited to the form. That is, the first connecting means 116 may be provided with the locking lever 122 and the locking groove 123 in reverse, and the second connecting means 115 includes the engaging protrusions 117 and 124 and the engaging recesses 119 and 125. May be provided in reverse.
(7) In the first embodiment, the front-rear width dimension W2 between the front contact surface 110 and the rear contact surface 111 of the inner member 81 is the front-rear width dimension between the front guide surface 91 and the rear guide surface 92 of the outer member 80. It may be set to be smaller than W1 (W1> W2) so that the front and rear dimensions of the inner member 81 and the outer member 80 have a margin.
(8) In the first embodiment, a second operating mechanism for turning the second support member 12 in the left-right direction is provided, and the second support member 12 is moved not only in the up-down direction, but also in the left-right direction, upper right direction, and lower left direction. Alternatively, the posture may be changed in the upper left / lower right direction.
(9) In the first to fifth embodiments, the first gear 73 and the second gear 74, which are bevel gears, are shown as the linkage mechanism between the servo motor 70 and the rotation support member 50. A gear mechanism including a worm gear and a wheel gear, a belt mechanism including a pulley and a timing belt, or the like may be used.
(10) The operation means of the operation mechanism M is not limited to a servo motor, and an actuator motor or the like can be used.
(11) In the first embodiment, when it is not necessary to change the posture of the second support member 12 in the left-right direction, the second connection support member 65 is further extended rearward, and the second connection support member 65 The rectangular hole 63 may be provided so that the second connection support member 65 is directly connected to the rotation support member 50.
(12) In the second embodiment, the contact support member 138 in the form of a leaf spring is exemplified as the elastic member, but the contact support member 138 may be a coil spring, rubber, or the like. Further, the number of contact support members 138 may be three or less or five or more in accordance with the number of pressure sensors 130.
(13) In the second embodiment, the contact support member 138 is disposed on the outer member 80. However, the pressure sensor 130 is disposed on the support wall member 107 of each of the inner halves 105 and 106 in the inner member 81. In the case of providing, the corresponding contact support member 138 may be disposed on the support wall member 107.
(14) In the third embodiment, the coil spring 136 is exemplified as the elastic member, but the elastic member 136 may be a leaf spring, rubber, or the like. Further, the number of the elastic members 136 may be 7 or less, or 9 or more. Further, the spacing between the elastic members 136 may not be uniform.
(15) In the fourth embodiment, the coil spring 140 is exemplified as the support member. However, the support member 140 may be a leaf spring, rubber, or the like. Also, the number of support members 140 may be three or less or five or more. Further, the intervals between the support members 140 may not be uniform.
(16) In the fifth embodiment, an example in which the pressure sensor 282 as the detection means is disposed on the support body 240 is illustrated, but the pressure sensor 282 is an outer shell of the forearm pad member 245 in the forearm mounting portion 241. You may provide in the part 246.
(17) In the fifth embodiment, a second operating mechanism for turning the second support member 212 in the left-right direction is provided, and the second support member 212 is moved not only in the up-down direction, but also in the left-right direction, upper right, lower left direction. Alternatively, the posture may be changed in the upper left / lower right direction.
(18) In the fifth embodiment, the number of contact support members 283 may be three or more in accordance with the number of pressure sensors 282.
(19) In the first to fifth embodiments, the wearable motion support device mounted on the right arm A for the upper limb is illustrated, but the first support member 10, the second support member 12, and the motion detection member 14 By changing the shape, size, etc., the present invention can be implemented for the left arm, the left leg of the lower limb, or the right leg.
10 第1サポート部材,12 第2サポート部材,
70 サーボモータ(作動手段) ,80 アウター部材(固定部材),
81 インナー部材(移動部材),80A 内周面,81A 外周面,
130 圧力センサ,135 突出部,
136 コイルバネ(弾性部材) ,138 当接支持部材(弾性部材),
210 第1サポート部材,212 第2サポート部材,
240 支持体部(固定部材),240A 内壁面,
282 圧力センサ,283 当接支持部材(弾性部材),
285 突出部,A1 上腕部(近位身体部位),
A2 前腕部(遠位身体部位),A3 肘関節(関節)
10 first support member, 12 second support member,
70 servo motor (actuating means), 80 outer member (fixing member),
81 inner member (moving member), 80A inner peripheral surface, 81A outer peripheral surface,
130 pressure sensor, 135 protrusion,
136 coil spring (elastic member), 138 contact support member (elastic member),
210 first support member, 212 second support member,
240 support part (fixing member), 240A inner wall surface,
282 pressure sensor, 283 contact support member (elastic member),
285 protrusion, A1 upper arm (proximal body part),
A2 forearm (distal body part), A3 elbow joint (joint)

Claims (5)

  1.  関節(A3)を挟む近位身体部位(A1)に装着される第1サポート部材(10/210)と、前記関節(A3)の遠位身体部位(A2)に装着されると共に前記第1サポート部材(10/210)に連結され、前記関節(A3)の屈曲動作に合わせて姿勢変位可能な第2サポート部材(12/212)と、前記第1サポート部材(10/210)に対して前記第2サポート部材(12/212)を姿勢変位させる作動手段(70)とを備え、前記作動手段(70)が前記第2サポート部材(12/212)を前記第1サポート部材(10/210)に対して姿勢変位させることで、前記関節(A3)の屈曲動作を補助する装着型動作支援装置であって、
     前記第2サポート部材(12/212)は、
     前記第1サポート部材(10/210)に連結される固定部材(80/240)と、
     前記固定部材(80/240)の前記遠位身体部位(A2)側に該固定部材(80/240)に対し近接・離間移動が可能に配設され、該遠位身体部位(A2)に装着される移動部材(81/241)と、
     前記固定部材(80/240)と前記移動部材(81/241)との間に設けられ、固定部材(80/240)に対して移動部材(81/241)を相対的に近接移動することで押圧されて押圧力を検知する圧力センサ(130/282)とを備え、
     前記圧力センサ(130/282)が検知する押圧力に応じて前記作動手段(70)を作動制御するよう構成した
    ことを特徴とする装着型動作支援装置。
    A first support member (10/210) attached to the proximal body part (A1) sandwiching the joint (A3), and a first support member attached to the distal body part (A2) of the joint (A3) A second support member (12/212) coupled to the member (10/210) and capable of changing its posture in accordance with the bending motion of the joint (A3); and the first support member (10/210) Operating means (70) for displacing the posture of the second support member (12/212), and the operating means (70) moves the second support member (12/212) to the first support member (10/210). Is a wearable motion support device that assists the bending motion of the joint (A3) by displacing the posture,
    The second support member (12/212)
    A fixing member (80/240) coupled to the first support member (10/210);
    The fixing member (80/240) is disposed on the distal body part (A2) side so as to be able to move toward and away from the fixing member (80/240), and is attached to the distal body part (A2). A moving member (81/241) to be
    Provided between the fixed member (80/240) and the moving member (81/241), by moving the moving member (81/241) relatively close to the fixed member (80/240) A pressure sensor (130/282) that detects the pressing force when pressed,
    A wearable movement support apparatus characterized in that the operation means (70) is controlled to operate according to the pressing force detected by the pressure sensor (130/282).
  2.  前記圧力センサ(130)は、その圧力検知部に、前記固定部材(80)または移動部材(81)に向け突出する突出部(135/285)を備えた請求項1記載の装着型動作支援装置。 The wearable motion support device according to claim 1, wherein the pressure sensor (130) includes a protrusion (135/285) protruding toward the fixed member (80) or the moving member (81) in the pressure detection part. .
  3.  前記固定部材(80/240)および前記移動部材(81/241)の間には、固定部材(80/240)に対して移動部材(81/241)を相対的に近接移動することで弾性変形する弾性部材(138/283)が前記圧力センサ(130/282)に接触した状態で設けられ、
     前記固定部材(80/240)に対する前記移動部材(81/241)の近接移動時に、前記圧力センサ(130/282)に接触する前記弾性部材(138/283)が弾性変形して前記圧力センサ(130/282)を押圧するよう構成された請求項1または2記載の装着型動作支援装置。
    Between the fixed member (80/240) and the movable member (81/241), the movable member (81/241) is moved relatively close to the fixed member (80/240) to be elastically deformed. An elastic member (138/283) is provided in contact with the pressure sensor (130/282),
    When the moving member (81/241) moves close to the fixing member (80/240), the elastic member (138/283) that contacts the pressure sensor (130/282) is elastically deformed, and the pressure sensor ( The wearable motion support device according to claim 1 or 2, wherein the wearable motion support device is configured to press 130/282).
  4.  前記固定部材(80/240)および前記移動部材(81/241)の間に、前記圧力センサ(130/282)を複数備えると共に、前記固定部材(80/240)および前記移動部材(81/241)の間に、該固定部材(80/240)に対して該移動部材(81/241)を弾性的に付勢する弾性部材(136/138/283)を複数備え、
     前記移動部材(81/241)を付勢する各弾性部材(136/138/283)が均衡を保った状態において、前記移動部材(81/241)と前記各圧力センサ(130/282)との間隔が同等になるよう移動部材(81/241)を保持する請求項1~3の何れか一項に記載の装着型動作支援装置。
    A plurality of pressure sensors (130/282) are provided between the fixed member (80/240) and the movable member (81/241), and the fixed member (80/240) and the movable member (81/241) are provided. ), A plurality of elastic members (136/138/283) for elastically urging the moving member (81/241) against the fixing member (80/240),
    In a state where the elastic members (136/138/283) biasing the moving member (81/241) are kept in balance, the moving member (81/241) and the pressure sensors (130/282) The wearable motion support apparatus according to any one of claims 1 to 3, wherein the movable member (81/241) is held so that the distance is equal.
  5.  前記固定部材(80)は、前記移動部材(81)に対向する円形の内周面(80A)を備えると共に、前記移動部材(81)は、前記内周面(80A)に対向する円形の外周面(81A)を備え、
     前記圧力センサ(130)は、前記内周面(80A)または外周面(81A)に、その周方向へ離間して複数個配設されている請求項1~4の何れか一項に記載の装着型動作支援装置。
    The fixed member (80) includes a circular inner peripheral surface (80A) facing the moving member (81), and the moving member (81) is a circular outer periphery facing the inner peripheral surface (80A). Surface (81A),
    The pressure sensor (130) according to any one of claims 1 to 4, wherein a plurality of the pressure sensors (130) are arranged on the inner peripheral surface (80A) or the outer peripheral surface (81A) so as to be spaced apart from each other in the circumferential direction. Wearable motion support device.
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