WO2010095619A1 - Dispositif enfilable d'assistance au mouvement - Google Patents

Dispositif enfilable d'assistance au mouvement Download PDF

Info

Publication number
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
Authority
WO
WIPO (PCT)
Prior art keywords
support
support member
pressure sensor
forearm
contact
Prior art date
Application number
PCT/JP2010/052289
Other languages
English (en)
Japanese (ja)
Inventor
賢一 矢野
泰弘 山下
Original Assignee
国立大学法人岐阜大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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
Priority to JP2011500612A priority Critical patent/JP5516570B2/ja
Publication of WO2010095619A1 publication Critical patent/WO2010095619A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS 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
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/013—Orthopaedic 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0277—Elbow
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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. .
  • 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.
  • 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. It is a top view of the mounting
  • 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. It is a perspective view which shows the structure which connects a 1st support member and a 2nd support member in the mounting
  • (a) is a perspective view which shows the motion detection member arrange
  • (b) is a motion detection member shown to (a). It is a perspective view which shows the outer member and inner member which comprise. It is a perspective view which shows the state which open
  • FIG. 9 is a sectional view taken along line IX-IX in FIG. 8.
  • (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
  • (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
  • 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.
  • 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) is the side view which showed the detection part arrange
  • 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.
  • 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.
  • FIG. 1 is a view of the wearable motion support apparatus SU1 of the first embodiment when viewed from the rear obliquely upper right.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the second support member 12 is configured to rotate with respect to the first support member 10.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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.
  • the locking portion 122A and the locking receiving portion 123A overlap in the opening / closing direction (circumferential direction).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • an oxide film lubrication layer containing molybdenum is formed to a thickness of 20 to 50 ⁇ m by anodizing treatment (alumite treatment) to improve the lubricity of the contact surfaces of the outer member 80 and the inner member 81.
  • anodizing treatment alumite treatment
  • the metal may not be duralumin, and the lubricating layer may be provided as necessary.
  • the lubricating layer may be formed of fluorine processing or a synthetic resin having self-lubricating properties.
  • 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.
  • 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.
  • 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.
  • 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.
  • the second support member 12 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).
  • 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.
  • the fourth pressure sensor 130D detects the magnitude of the force, and a detection signal is output to the control means.
  • 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.
  • 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.
  • 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.
  • 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.
  • the servo motor 70 can be controlled not to operate even if the fourth pressure sensor 130D outputs a detection signal.
  • 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.
  • the operation control of the servo motor 70 can be diversified by comparing the numerical values of the respective detection pressures.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • each pressure sensor 130A, 130B, 130C, 130D pushed by the inner member 81 is a point.
  • the detection accuracy is further improved.
  • 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.
  • 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.
  • 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.
  • 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. .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • each pressure sensor 130A, 130B, 130C, 130D has a corresponding contact support member. 138 is elastically deformed and a pressing force is applied.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the second support member 212 includes a detection unit 214 that detects the movement of the forearm portion A2.
  • 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.
  • a housing installation portion 224 that houses each component of the operating mechanism M is defined inside.
  • 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.
  • 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.
  • 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. .
  • 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.
  • 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.
  • the 2nd support wall part 240B is formed so that the forearm mounting
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • 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.
  • the rotation support member 260 is rotated forward and backward 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.
  • 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.
  • 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.
  • symbol 269 in FIG. 18 and FIG. 19 is the ring-shaped sleeve which uses a self-lubricating resin as a material.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • each contact support member 283 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • reference numeral 284 in FIG. 20B denotes a signal line extending from the pressure sensor 282 and embedded in the support body portion 240.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first connecting means 116 may be provided with the locking lever 122 and the locking groove 123 in reverse
  • the second connecting means 115 includes the engaging protrusions 117 and 124 and the engaging recesses 119 and 125. May be provided in reverse.
  • 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.
  • 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.
  • 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.
  • 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.
  • the second connection support member 65 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.
  • 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.
  • the posture may be changed in the upper left / lower right direction.
  • the number of contact support members 283 may be three or more in accordance with the number of pressure sensors 282.
  • 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.
  • first support member 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)

Abstract

L'invention concerne un dispositif enfilable d'assistance au mouvement, capable d'assister adéquatement le mouvement d'un utilisateur en améliorant la précision de détection du mouvement corporel de l'utilisateur. Une unité enfilable (SU1) d'assistance au mouvement comporte un premier organe (10) de soutien installé sur la partie corporelle proximale (A2) d'une articulation (A1), un deuxième organe (12) de soutien qui est couplé au premier organe (10) de soutien, de telle manière que la posture puisse être modifiée, et installé sur la partie corporelle distale (A3) de l'articulation (A1), un organe extérieur (80) disposé sur le deuxième organe (12) de soutien et un organe intérieur (81) qui est disposé côté partie corporelle distale (A3) de l'organe extérieur (80) de manière à s'approcher de l'organe extérieur (80) ou à s'en écarter et qui est installé sur la partie corporelle distale (A3). Sur la surface circonférentielle intérieure de l'organe extérieur (80) est disposé un capteur de pression qui détecte l'amplitude d'un effort de poussée à l'instant où l'organe intérieur (81) pousse l'organe extérieur (80) par le mouvement de la partie corporelle distale (A3).
PCT/JP2010/052289 2009-02-19 2010-02-16 Dispositif enfilable d'assistance au mouvement WO2010095619A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2011500612A JP5516570B2 (ja) 2009-02-19 2010-02-16 装着型動作支援装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2009-037186 2009-02-19
JP2009037186 2009-02-19

Publications (1)

Publication Number Publication Date
WO2010095619A1 true WO2010095619A1 (fr) 2010-08-26

Family

ID=42633899

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2010/052289 WO2010095619A1 (fr) 2009-02-19 2010-02-16 Dispositif enfilable d'assistance au mouvement

Country Status (2)

Country Link
JP (1) JP5516570B2 (fr)
WO (1) WO2010095619A1 (fr)

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012061262A (ja) * 2010-09-17 2012-03-29 Gifu Univ 装着型動作支援装置
JP2013059491A (ja) * 2011-09-13 2013-04-04 Kawasaki Heavy Ind Ltd 装着型動作支援装置
ITVR20120080A1 (it) * 2012-04-27 2013-10-28 Fgp Srl Ortesi per l¿ausilio con funzioni riabilitative degli arti
ITVR20120081A1 (it) * 2012-04-27 2013-10-28 Fgp Srl Ortesi per l¿ausilio del polso con funzioni riabilitative
JP2014113666A (ja) * 2012-12-10 2014-06-26 Kubota Corp 姿勢保持具
JP2015100527A (ja) * 2013-11-25 2015-06-04 パナソニック株式会社 アシストアーム
JP2015167611A (ja) * 2014-03-05 2015-09-28 セイコーエプソン株式会社 指関節駆動装置
JP2016190319A (ja) * 2016-08-04 2016-11-10 株式会社クボタ 姿勢保持具
WO2017170619A1 (fr) * 2016-03-30 2017-10-05 国立大学法人 香川大学 Dispositif de support de force musculaire
CN107307974A (zh) * 2017-07-20 2017-11-03 上海理工大学 一种穿戴式肘关节康复训练和生活辅助装置
WO2018142663A1 (fr) * 2017-01-31 2018-08-09 株式会社マキタ Outil d'aide au travail
EP3244840A4 (fr) * 2015-02-03 2018-12-05 RCM Enterprise, LLC Doigt prothétique bio-mécanique à bascule en forme de h
WO2019069069A1 (fr) * 2017-10-02 2019-04-11 University Of Strathclyde Appareil pour la rééducation, l'assistance et/ou l'augmentation de la force d'un bras chez un utilisateur
US10327920B2 (en) 2015-05-15 2019-06-25 Rcm Enterprise Llc Bidirectional biomechanical prosthetic full finger configured for abduction and adduction with MCP pivot and multiple-finger ring
US10327921B2 (en) 2015-02-03 2019-06-25 Rcm Enterprise Llc Bio-mechanical prosthetic finger with Y-shaped rocker
US10610382B2 (en) 2015-05-15 2020-04-07 Rcm Enterprise Llc Bidirectional biomechanical prosthetic full finger configured for abduction and adduction with MCP pivot
US10639168B2 (en) 2015-02-03 2020-05-05 Rcm Enterprise Llc Biomechanical finger brace assembly
CN111714848A (zh) * 2020-07-08 2020-09-29 于鑫 一种手臂康复锻炼医疗器材
EP4173762A1 (fr) * 2021-10-29 2023-05-03 ETH Zurich Dispositif et procédé d'agencement sur un corps comprenant une partie symétrique de rotation essentiellement, et procédé de déplacement et/ou de manipulation d'un objet utilisant le dispositif

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104606027B (zh) * 2015-02-02 2016-09-21 浙江大学台州研究院 肘关节运动康复装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008006161A (ja) * 2006-06-30 2008-01-17 Shinano Kenshi Co Ltd パワーアシスト装置およびセンサ
JP2008012358A (ja) * 2005-10-11 2008-01-24 Matsushita Electric Ind Co Ltd 動作支援装置
WO2008041614A1 (fr) * 2006-10-03 2008-04-10 University Of Tsukuba Dispositif d'aide au mouvement et système de maintenance/gestion de dispositif d'aide au mouvement
JP2009005764A (ja) * 2007-06-26 2009-01-15 Osaka Prefecture Univ ダンパー機能付回転型アクチュエータおよびそれを用いた動作補助装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2008012358A (ja) * 2005-10-11 2008-01-24 Matsushita Electric Ind Co Ltd 動作支援装置
JP2008006161A (ja) * 2006-06-30 2008-01-17 Shinano Kenshi Co Ltd パワーアシスト装置およびセンサ
WO2008041614A1 (fr) * 2006-10-03 2008-04-10 University Of Tsukuba Dispositif d'aide au mouvement et système de maintenance/gestion de dispositif d'aide au mouvement
JP2009005764A (ja) * 2007-06-26 2009-01-15 Osaka Prefecture Univ ダンパー機能付回転型アクチュエータおよびそれを用いた動作補助装置

Cited By (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012061262A (ja) * 2010-09-17 2012-03-29 Gifu Univ 装着型動作支援装置
JP2013059491A (ja) * 2011-09-13 2013-04-04 Kawasaki Heavy Ind Ltd 装着型動作支援装置
ITVR20120080A1 (it) * 2012-04-27 2013-10-28 Fgp Srl Ortesi per l¿ausilio con funzioni riabilitative degli arti
ITVR20120081A1 (it) * 2012-04-27 2013-10-28 Fgp Srl Ortesi per l¿ausilio del polso con funzioni riabilitative
JP2014113666A (ja) * 2012-12-10 2014-06-26 Kubota Corp 姿勢保持具
JP2015100527A (ja) * 2013-11-25 2015-06-04 パナソニック株式会社 アシストアーム
US9877848B2 (en) 2014-03-05 2018-01-30 Seiko Epson Corporation Finger joint driving device
JP2015167611A (ja) * 2014-03-05 2015-09-28 セイコーエプソン株式会社 指関節駆動装置
US11173052B2 (en) 2015-02-03 2021-11-16 Rcm Enterprise Llc Bio-mechanical prosthetic finger with y-shaped rocker
EP3735942A3 (fr) * 2015-02-03 2021-01-27 RCM Enterprise, LLC Doigt prothétique bio-mécanique à bascule en forme de h
US10327921B2 (en) 2015-02-03 2019-06-25 Rcm Enterprise Llc Bio-mechanical prosthetic finger with Y-shaped rocker
US11596529B2 (en) 2015-02-03 2023-03-07 Rcm Enterprise Llc Biomechanical finger brace assembly
EP3244840A4 (fr) * 2015-02-03 2018-12-05 RCM Enterprise, LLC Doigt prothétique bio-mécanique à bascule en forme de h
US10806600B2 (en) 2015-02-03 2020-10-20 Rcm Enterprise Llc Bio-mechanical prosthetic finger with H-shaped rocker
US10639168B2 (en) 2015-02-03 2020-05-05 Rcm Enterprise Llc Biomechanical finger brace assembly
JP2020049262A (ja) * 2015-02-03 2020-04-02 アールシーエム エンタープライズ, エルエルシーRcm Enterprise, Llc Ｈ形ロッカーを有する生体機械的義指
US10537448B2 (en) 2015-02-03 2020-01-21 Rcm Enterprise Llc Bio-mechanical prosthetic finger with H-shaped rocker
US10842652B2 (en) 2015-05-15 2020-11-24 RCM Enterprise, LLC Bidirectional biomechanical prosthetic full finger configured for abduction and adduction with MCP pivot and multiple-finger ring
US10327920B2 (en) 2015-05-15 2019-06-25 Rcm Enterprise Llc Bidirectional biomechanical prosthetic full finger configured for abduction and adduction with MCP pivot and multiple-finger ring
US11419738B2 (en) 2015-05-15 2022-08-23 Rcm Enterprise Llc Bidirectional biomechanical prosthetic full finger configured for abduction and adduction with MCP pivot
US10610382B2 (en) 2015-05-15 2020-04-07 Rcm Enterprise Llc Bidirectional biomechanical prosthetic full finger configured for abduction and adduction with MCP pivot
JPWO2017170619A1 (ja) * 2016-03-30 2019-02-07 国立大学法人 香川大学 筋力補助装置
CN109070355A (zh) * 2016-03-30 2018-12-21 国立大学法人香川大学 肌力辅助装置
WO2017170619A1 (fr) * 2016-03-30 2017-10-05 国立大学法人 香川大学 Dispositif de support de force musculaire
JP2016190319A (ja) * 2016-08-04 2016-11-10 株式会社クボタ 姿勢保持具
WO2018142663A1 (fr) * 2017-01-31 2018-08-09 株式会社マキタ Outil d'aide au travail
CN107307974A (zh) * 2017-07-20 2017-11-03 上海理工大学 一种穿戴式肘关节康复训练和生活辅助装置
WO2019069069A1 (fr) * 2017-10-02 2019-04-11 University Of Strathclyde Appareil pour la rééducation, l'assistance et/ou l'augmentation de la force d'un bras chez un utilisateur
US11497671B2 (en) 2017-10-02 2022-11-15 University Of Strathclyde Apparatus for the rehabilitation, assistance and/or augmentation of arm strength in a user
CN111714848A (zh) * 2020-07-08 2020-09-29 于鑫 一种手臂康复锻炼医疗器材
EP4173762A1 (fr) * 2021-10-29 2023-05-03 ETH Zurich Dispositif et procédé d'agencement sur un corps comprenant une partie symétrique de rotation essentiellement, et procédé de déplacement et/ou de manipulation d'un objet utilisant le dispositif
WO2023072678A1 (fr) * 2021-10-29 2023-05-04 ETH Zürich Dispositif et procédé d'agencement sur un corps comprenant une partie essentiellement symétrique en rotation, et procédé de déplacement et/ou de manipulation d'un objet à l'aide du dispositif

Also Published As

Publication number Publication date
JPWO2010095619A1 (ja) 2012-08-23
JP5516570B2 (ja) 2014-06-11

Similar Documents

Publication Publication Date Title
JP5516570B2 (ja) 装着型動作支援装置
JP2010188018A (ja) 装着型動作支援装置
JP5074415B2 (ja) 義手
EP3984512A1 (fr) Appareil d'exercice de rééducation de membres supérieur et inférieur
JP2009219650A (ja) 装着型動作補助装置
US8591444B2 (en) Hinge for an orthopedic brace
EP3282964B1 (fr) Appareil de fixation pour outils d'accès à distance
JP2008521454A (ja) 協調的腕治療のためのシステムおよび方法ならびに対応する回転モジュール
US20160303734A1 (en) Attachment apparatus for remote access tools
CN102854793A (zh) 用于手腕带的固定装置
CN109893306B (zh) 假肢
JP5793313B2 (ja) 歩行補助装置
Bianchi et al. Optimization-based scaling procedure for the design of fully portable hand exoskeletons
KR101965070B1 (ko) 탄성구조체, 탄성구동기 및 이를 구비한 착용형 로봇
JP5643922B2 (ja) 装着型動作支援装置
EP4101435A1 (fr) Dispositif d'aide au mouvement
JP7300168B2 (ja) 膝関節補助装置
JP2009219648A (ja) 装着型動作補助装置
EP3247986B1 (fr) Mécanisme de mesure de force
JP2015006266A (ja) 身体動作補助装置
CN215789841U (zh) 一种外骨骼腰宽调整机构及外骨骼系统
JP2009219649A (ja) 装着型動作補助装置
KR102217337B1 (ko) 탄성기어유닛 및 이를 구비하는 관절 구동기
KR102168226B1 (ko) 탄성기어유닛 및 이를 구비하는 관절구동기
JP3159560U (ja) バンド長さ調整機構付きバックル構造

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 10743745

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2011500612

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 10743745

Country of ref document: EP

Kind code of ref document: A1