WO2012124328A1 - Device for assisting joint exercise - Google Patents

Abstract

Provided is a device having a novel configuration and adapted to assist joint exercise. The device has a simple configuration, is lightweight, allows the user to easily attach and detach the device to and from the user, and can be utilized not only to assist the motion of the user but also to enable the user to effectively perform muscle strengthening training. A device (10) for assisting joint exercise assists the bending and stretching of a joint. A first mounting section (14) which is mounted to one of portions facing each other across the user's joint and a second mounting section (16) which is mounted to the other portion are provided to both end portions of each of flexible, assist force transmission sections (12). The device (10) is provided with drive sources (40) for applying tensile forces between the first mounting sections (14) and the second mounting section (16) through the assist force transmission sections (12). At least a part of each of the assist force transmission sections (12) can be elastically deformed in the direction in which the tensile force exerted by the drive source (40) acts.

Description

Articulating aids

The present invention provides the user with an assist force that assists in realizing bending and stretching when the user's joints are flexed and stretched, and a load (resisting force) for efficiently strengthening the muscle power necessary for the bending and stretching. It relates to an articulation aid.

Conventionally, in order to support movements such as walking of a physically disabled person who has lost muscle power or an elderly person who has lost muscle power, wearable operation assistance as shown in Japanese Patent No. 4200492 (Patent Document 1) An apparatus has been proposed.

By the way, the wearable motion assisting device described in Patent Document 1 is a so-called exoskeleton type assisting device, in which a rigid exoskeleton arm disposed on the side of the user's body serves as a motor at a joint. As a result, the user's arm, leg or the like with the exoskeleton arm can be operated together with the exoskeleton arm.

However, in an auxiliary device using such a hard exoskeleton, it is necessary to accurately measure the physical constitution of the user (the length of the thigh or lower leg, etc.) and precisely adjust the length of the exoskeleton arm. In addition, if this adjustment is not appropriate, excessive force may be applied to each joint during exercise, which may be extremely dangerous. Moreover, the attachment / detachment operation of the exoskeleton type auxiliary device is not easy for the user who needs the operation assistance, and the attachment / detachment requires considerable labor and time. Therefore, it was difficult to wear and use on a daily basis for the purpose of compensating for the decreased muscle strength and making the movement easier. Moreover, when using an auxiliary device having a large exoskeleton, it is almost impossible for the user to operate against the driving force of the exoskeleton with his own muscle power, and walking for the purpose of efficiently enhancing the muscle force The use of an auxiliary device for training etc. is not considered at all. In addition, since it is necessary to measure the surface myoelectric potential in order to control the operation of the auxiliary device, there is also a problem that the user needs to wear a large number of surface electrodes (usually 18).

Although Japanese Patent Laid-Open No. 2010-110464 (Patent Document 2) proposes a walking assistance device having a relatively simple and lightweight structure, the structure of Patent Document 2 as described above is also large. Since a rigid exoskeleton (frame) extending along the side of the thigh is required, there have been cases where the ease of installation and weight reduction have not been sufficient.

Patent No. 4200492 Unexamined-Japanese-Patent No. 2010-110464

The present invention has been made in the background of the above-mentioned circumstances, and the problem to be solved is a simple structure and light weight so that the user can easily attach and detach, and not only assistance of operation but also muscle power It is an object of the present invention to provide a novel articulatory aid that can be used to effectively perform augmentation training.

That is, according to the first aspect of the present invention, in the articulatory aid, the first attachment is provided to one of the two end portions of the flexible auxiliary power transmission unit across the user's joint. And a second mounting unit to be mounted to the other part, and a drive for applying a tensile force between the first mounting unit and the second mounting unit through the auxiliary force transmission unit. A source is provided, and at least a part of the auxiliary force transmission unit is elastically deformable in the direction of application of a tensile force by the drive source.

According to the articulating aid as described in the first aspect, the articulating aid having a hard exoskeleton can be obtained by allowing the assisting force transmitting portion to be flexible and permitting deformation. In contrast, the user can easily attach and detach. Therefore, when the movement is difficult due to age-related problems or a decrease in muscle strength due to injury or illness, the target motion can be performed using the force obtained from the joint exercise aid as the assisting force, or obtained from the joint exercise aid It is realized by the simple attachment / detachment work of the articulation aid that efficiently strengthening the muscle power necessary for the intended operation using force as a load. As a result, locomotive syndrome (motor organ syndrome) caused by motor organ disorder can prevent daily activities of the elderly etc. from being restricted on a daily basis, and perform highly efficient muscle strengthening training in daily life As a result, it is possible to quickly resolve various injuries and illnesses and temporary loss of muscle strength due to bed rest.

Furthermore, the softness of the assisting force transmitting portion makes it difficult for the user to have a sense of being restrained, thereby improving the feeling of wearing. Therefore, the physical and mental burden of the user due to the wearing of the articulatory aid is reduced and it becomes possible to wear continuously for a long time.

In addition, since at least a part of the assisting force transmitting portion is elastically deformable in the acting direction of the tensile force, the tensile force exerted by the driving source is assisted between the first mounting portion and the second mounting portion. It is relieved by the elasticity of the force transmission part. Therefore, the assisting force can be applied as a buffer without exerting an excessive load on the joints or the like of the user.

According to a second aspect of the present invention, in the articulatory aid described in the first aspect, a sensor for detecting bending and extension of a user's joint is provided, and the drive according to the detection result of the sensor A controller for controlling the source is provided.

According to the second aspect, since the assisting force is automatically controlled based on the detection result of the sensor, it is possible to obtain appropriate assistance in a timely manner without requiring a troublesome operation such as a switch operation.

According to a third aspect of the present invention, in the articulatory aid described in the second aspect, the sensor is a joint of the user based on a force exerted on the sensor according to bending and extension of the joint of the user. It is supposed that bending and stretching can be detected.

According to the third aspect, since the bending and extension of the joint is detected based on the force exerted on the sensor, highly accurate detection is made possible, which makes it possible to efficiently assist the user's operation. .

According to a fourth aspect of the present invention, in the articulatory aid described in the third aspect, the sensor includes at least one of a capacitive sensor and a resistance change sensor. is there.

If a capacitive sensor is employed in the fourth aspect, the force exerted on the sensor can be detected with high accuracy, and the operation can be appropriately assisted. Furthermore, in the capacitive sensor, the decrease in detection accuracy is small even if the force is repeatedly input, and the reproducibility of the detection result is good, so that the durability can be improved. Furthermore, since the capacitance type sensor has a small variation in detection accuracy with respect to temperature change, and the detection accuracy can be easily corrected by adjusting the initial value with respect to temperature variation, temperature change is Stable detection is realized even when it is large.

On the other hand, if a resistance change type sensor is adopted, the resistance value changes sharply with respect to the force exerted on the sensor, and control with less time delay becomes possible, and operation assistance can be performed in a timely manner. it can. Furthermore, since the resistance change sensor can be detected over a wide range from a small force to a large force acting on the sensor, the detection result is effective for both small and large bends in the joint. You can get

According to a fifth aspect of the present invention, in the articulatory aid described in any one of the first to fourth aspects, the assisting force transmitting portion is in the form of a band extending in the force transmitting direction. .

According to the fifth aspect, the band of the assisting force transmitting unit reduces the mass of the assisting force transmitting unit, thereby reducing the weight of the articulation aid. As a result, it is possible to improve the ease of wearing and to reduce the load due to the wearing, and it is possible to obtain an articulation aid that is easier to handle.

In addition, since the assisting force transmitting portion is made thin, bending in the thickness direction is easily permitted, so that the assisting force transmitting portion is deformed according to the surface shape of the user's body, so that foreign matter is generated. The feeling is reduced, and the feeling of wearing is improved. Furthermore, if the assisting force transmitting portion is thin, when the user wears the garment from the top with the articulating aid installed, the convex portion of the clothes by the assisting force transmitting portion is less likely to occur, preventing the articulating aid from being noticeable. It becomes easy to use regularly in daily life.

According to a sixth aspect of the present invention, in the articulatory aid described in any one of the first to fifth aspects, the assisting force transmitting portion is integrally provided on the clothes-like main body portion. By wearing the main body portion, the auxiliary force transmission portion is disposed straddling the joint of the user.

According to the sixth aspect, the auxiliary force transmission unit is integrally provided with the clothes-like main body, so that the attachment of the auxiliary force transmission unit and the arrangement of the auxiliary force transmission unit to the predetermined position make the main unit similar to the clothes. Complete easily by wearing. Therefore, it is easy to use even elderly people and sick people with weak muscles on a daily basis, and it is possible to appropriately transmit the pulling force by the driving source to effectively obtain the target operation assistance. it can.

According to a seventh aspect of the present invention, in the articulatory aid described in any one of the first to sixth aspects, the elastically deformable portion of the assisting force transmitting portion is a portion of tensile force by the driving source. The elasticity in the direction orthogonal to that in the action direction is made smaller than the elasticity in the action direction.

According to the seventh aspect, in the longitudinal direction which is the acting direction of the tensile force, the tensile force by the drive source is sufficiently buffered and transmitted, whereby the load on the joint or the like of the user can be suppressed. . Further, in the width direction orthogonal to the direction of action of the tensile force, deformation is suppressed, so that selective transmission of force is realized, and improvement in shape stability and durability can be achieved.

According to an eighth aspect of the present invention, in the articulatory aid described in any one of the first to seventh aspects, the assisting force transmitting unit is disposed across at least one of the hip joint and the knee joint of the user. It is set up.

According to the eighth aspect, bending and extension of at least one of the hip joint and the knee joint is assisted by exerting an assisting force on the leg. Therefore, for example, the assisting force to compensate for the lack of muscle strength necessary for bending and stretching of joints (assist force) and the assisting force acting as a resistance load to the muscle forces necessary for bending and stretching of joints (resist force) This makes it possible to facilitate exercise and strengthen the leg muscles.

Further, according to a ninth aspect of the present invention, in the articulatory aid described in the eighth aspect, the first mounting portion is attached to at least one of a user's thigh and a knee joint, and The second attachment portion is attached to the waist of the user, and the auxiliary force transmission portion is disposed across the hip joint.

According to the ninth aspect, the tensile force by the driving source is an assist force for reinforcing the muscle force required for bending and stretching of the hip joint, and a resist force for efficiently enhancing the muscle force such as the muscle around the hip joint Since it acts, the walking motion with bending and stretching of the hip joint etc. is assisted by the articulating aid.

According to a tenth aspect of the present invention, in the articulation aid described in the ninth aspect, the drive source is attached to the second mounting portion.

According to the tenth aspect, since the drive source is supported by the second mounting portion attached to the lower back where the movement is smaller than that of the thigh when bending and stretching the hip joint, the drive source is stably supported, By arranging the drive source which is relatively easy to be heavy in weight to the lower part of the waist, it is possible to prevent the inertial force or the like acting on the drive source from becoming a load on the leg of the user.

In addition, the first mounting unit is attached to the thigh or knee joint, and the second mounting unit for supporting the drive source is attached to the waist, and both the first mounting unit and the second mounting unit are hip joints It is located near the Therefore, it is possible to shorten the length of the assist force transmission unit disposed across the hip joint, advantageously reducing the weight and size of the articulation aid and facilitating the articulation aid easily. It can be attached.

According to an eleventh aspect of the present invention, in the articulatory aid described in any one of the first to tenth aspects, the tensile force by the drive source is an assist that reinforces a force necessary for bending and stretching motion of a joint It acts as a force.

According to the eleventh aspect, when the muscle force required for the flexion-extension movement of the joint is lowered, the tensile force by the drive source is transmitted through the assist force transmission zone to act as the assist force. In addition, the lack of muscle strength is compensated, and it becomes possible to perform bending and stretching exercises of a target joint. According to this, when exercise is difficult due to, for example, a decrease in muscle strength due to aging or the like, it is possible to support the user's motion as needed to maintain the easily movable state. As a result, it is possible to prevent a decrease in muscle strength from restricting the activity, and to prevent a further decrease in muscle strength, thereby making it possible to prevent the aggravation of symptoms.

According to a twelfth aspect of the present invention, in the articulatory aid described in any one of the first to eleventh aspects, the tensile force by the drive source resists the force required for the flexion-extension movement of the joint. It acts as a force.

According to the twelfth aspect, for example, when the muscle force required for the flexion-extension movement of the joint is temporarily reduced due to injury or the like, the assisting force by the driving source is daunted in a direction to oppose the force required for the operation. By making it act and act as a load (resist force), it is possible to efficiently carry out rehabilitation for recovering function by strengthening the decreased muscle strength. In addition, since the muscular strength can be effectively enhanced by the action of the resisting power, it is also possible to use a healthy person to efficiently achieve the purpose of preventing the muscular strength from being reduced due to lack of exercise and the like.

According to the present invention, bending and stretching of the joint is performed by applying a tensile force between the first mounting portion and the second mounting portion disposed on each one side of the joint via the assisting force transmitting portion. To compensate for the lack of muscle strength, or to effectively strengthen the muscle strength. In addition, the assisting force transmitting portion is elastically deformable in the direction of application of the tensile force by the drive source, and the tensile force by the drive source is buffered and exerted on the user, thereby preventing an excessive load on the joint. The burden on the user is reduced. Further, the flexibility of the auxiliary power transmission unit allows the auxiliary power transmission unit to be easily attached and detached as needed, and can be used for a long time with an excellent feeling of wearing.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a front view showing an articulation aid as a first embodiment of the present invention. FIG. 2 is a rear view of the articulation aid shown in FIG. 1; FIG. 2 is a perspective view of a capacitive sensor that constitutes the articulation aid shown in FIG. 1; The rear view of the articulation aid shown by FIG. 2 WHEREIN: The figure which shows the internal structure of a drive device. The front view which shows the articulatory movement instrument as a 2nd embodiment of the present invention. FIG. 6 is a rear view of the articulation aid shown in FIG. 5; The front view which shows the articulatory movement instrument as a 3rd embodiment of the present invention. FIG. 8 is a rear view of the articulation aid shown in FIG. 7; FIG. 10 is a front view showing an articulation aid as a fourth embodiment of the present invention. The front view which shows the articulation aid as another one Embodiment of this invention. The back view which shows the articulatory movement instrument as another one Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

An articulation aid 10 according to a first embodiment of the present invention is shown in FIGS. The joint exercise assisting tool 10 is for assisting bending and extension of a hip joint, and one end of the assisting force transmission bands 12, 12 as a pair of assisting force transmitting parts extending across the hip joint, one of which holds the hip joint It has a structure in which a first mounting portion 14 mounted on the side and a second mounting portion 16 mounted on the other side of the hip joint are provided. In FIG. 1 and FIG. 2, the joint exercise assisting tool 10 is illustrated in a worn state of the user, and the outline of the user is shown by a two-dot chain line. In the following description, in principle, the front means the abdomen side (front) of the user, the back means the back side (rear) of the user, and the upper and lower directions are vertically and vertically. I say the upper and lower inside, respectively. Further, in the following description, “assist force” means an assisting force acting in a direction to supplement the force required for the operation, and “resist force” resists the force required for the operation. It refers to the assistance that acts in a direction.

More specifically, the auxiliary power transmission band 12 has a structure in which the first traction band 18 and the second traction band 20, each formed of a fabric, are connected by a metal connection fitting 22, The components of the traction band 18 and the second traction band 20 can be flexibly deformed.

The first traction band 18 is formed of a thin strip-like cloth that gradually narrows toward one end side (the upper side in FIG. 1), and the user of It is arranged to cover the front of the thigh. Further, the first traction band 18 is elastically deformable in the length direction (vertical direction in FIG. 1) in which the action direction of the tensile force by the electric motor 40 described later is (upper and lower direction in FIG. 1) In the left and right direction, the elasticity is reduced to limit the deformation, and the length and width directions have anisotropy of the amount of deformation with respect to the input. The first traction band 18 desirably has an elasticity of 0.3 kgf / cm or more and 0.5 kgf / cm or less in the length direction.

Further, a ring-shaped connection fitting 22 is attached to the upper end of the first traction band 18, and the first traction band 18 is coupled to the second traction band 20 via the coupling fitting 22. The second traction band 20 is a band having a substantially constant width dimension, and is formed of a fabric using small stretchable fibers. An intermediate portion of the second traction band 20 is inserted into the connection fitting 22 and is connected to the first traction band 18, whereby the auxiliary power transmission band 12 is configured. The second traction band 20 does not necessarily have to be restricted in stretchability, and one having elasticity similar to that of the first traction band 18 and formed of elastic fibers or the like may also be adopted.

In addition, a first mounting portion 14 is provided below the first traction band 18 of the auxiliary force transmission band 12. The first mounting portion 14 is a sports supporter used to protect a knee joint, is formed of a stretchable fabric or the like, and is wound around and worn on the user's knee joint. Also, the first mounting portion 14 is integrally formed with the first traction band 18, and the first traction band 18 extends upward from the front surface portion of the first mounting portion 14. The first mounting portion 14 is provided with a partial through hole 24. By positioning the through hole 24 on the kneecaps of the user, bending and extension of the knee joint is not impeded. .

Further, both ends of the second traction band 20 of the auxiliary force transmission band 12 are attached to the second mounting portion 16. The second mounting portion 16 has a transmission band support belt 26 and a drive device support belt 28 respectively attached to the waist, and one end of the second traction band 20 is attached to the transmission band support belt 26 And the other end is attached to the drive support belt 28.

The transfer belt support belt 26 is formed of a belt-like low-elasticity fabric, and is wound around the user's waist, and the both ends are connected by hook-and-loop fasteners, snaps, hooks, etc. It is attached to. Further, the transmission band support belt 26 is provided with a pair of guide fittings 30 and 30 in the shape of a ring, and is disposed on the left and right sides of the waist in a state where the transmission band support belt 26 is attached to the waist. Then, one end of the second traction band 20 is attached to the front surface portion of the transmission band support belt 26 using means such as stitching, welding, snaps, hooks, and hook and loop fasteners.

Furthermore, a pair of capacitance type sensors 32 as sensors are attached to the transmission band support belt 26. The capacitance type sensor 32 is a flexible capacitance change type sensor in which elastic deformation is allowed, as disclosed in, for example, JP 2010-43880 A, JP 2009-20006 A, and the like. 3, a pair of electrode films 36a and 36b formed of a conductive elastic material is provided on both sides of a dielectric layer 34 formed of a dielectric elastic material, as shown in FIG. Have. Further, the capacitance type sensor 32 is attached to the transmission band support belt 26 by fixing one electrode film 36 a to the inner surface of the back of the transmission band support belt 26.

Then, in the mounted state of the transmission band support belt 26, the other electrode film 36 b is superimposed on the user's collar part and the electrostatic capacitance type sensor 32 is sandwiched between the collar part and the transmission band support belt 26. Thereby, the capacitance type sensor 32 detects a change in applied pressure due to bending and stretching of the hip joint as a change in capacitance with the approach / separation of the pair of electrode films 36a and 36b, and a drive device whose detection result is described later It outputs to the 38 control device 46. In addition, as the electrostatic capacitance type sensor 32 is shown with the broken line in FIG. 2, a left-right paired pair is arrange | positioned, and each one electrostatic capacitance type sensor 32 is piled up on the collar part on either side. Also, although the thickness dimensions of the dielectric layer 34 and the pair of electrode films 36 a and 36 b are shown to be larger than the length dimensions and the width dimensions in FIG. 3, those dielectric layers are preferably shown. Each of the electrodes 34 and the pair of electrode films 36a and 36b is in the form of a thin film, and can be disposed without giving a sense of discomfort to the buttocks.

On the other hand, as shown in FIGS. 1 and 2, the drive device support belt 28 is formed of a small stretchable band-like cloth like the transmission band support belt 26 and wound around the waist of the user. Then, both ends are attached to the user's waist by being connected by hook-and-loop fasteners, snaps, hooks and the like. Also, the drive device support belt 28 has a large area in which the back surface portion extends downward below the front surface portion, and the drive device 38 is fixed to the back surface portion.

As shown in FIG. 4, the drive device 38 is an electric motor 40 as a drive source, a rotary shaft 42 rotationally driven by the electric motor 40, and a power supply device such as a battery for supplying electric power to the electric motor 40. And a control device 46 for controlling the electric motor 40 based on the detection result of the capacitance type sensor 32.

The electric motor 40 is a general electric motor and generates a rotational driving force of the drive shaft 48 by energization from the power supply device 44. Further, the rotational driving force exerted on the drive shaft 48 of the electric motor 40 is transmitted to the rotating shaft 42 via a reduction gear train (not shown). The rotating shaft 42 is a circular shaft-like member supported so as to be allowed to rotate in the circumferential direction, and the other end of the second traction band 20 is fixed to the outer peripheral surface thereof. Thus, the other end of the second traction band 20 is attached to the drive device support belt 28 via the drive device 38, whereby the auxiliary force transmission zone 12 is disposed across the hip joint. .

Then, the second traction band 20 of the auxiliary force transmission band 12 is wound around the rotation shaft 42 by the rotation shaft 42 being rotated in one circumferential direction by the driving force exerted from the drive shaft 48 of the electric motor 40. . Thereby, the driving force by the electric motor 40 is transmitted in the length direction of the auxiliary power transmission band 12 (the length direction of the first traction band 18 and the second traction band 20), and the first mounting portion 14 and It is exerted as a tensile force between the second mounting parts 16. As apparent from the above, the auxiliary force transmission band 12 extends in the transmission direction of the driving force of the electric motor 40. On the other hand, when the rotary shaft 42 is rotated in the other circumferential direction by the electric motor 40, the winding of the auxiliary force transmission band 12 by the rotary shaft 42 is released, and the first mounting portion 14 and the second mounting portion 16 are The tension is released between the two.

Further, the control of the electric motor 40 is executed by the control device 46 controlling the presence or absence of energization from the power supply device 44 to the electric motor 40 and the energization direction (rotation direction of the drive shaft 48). The control device 46 includes a CPU, a RAM, a ROM, and the like, and detects and detects bending motion and extension motion of the hip joint of the user based on the detection result (output signal) of the capacitance type sensor 32 and detects the hip joint. The controller controls energization of the electric motor 40 according to the movement of the motor. Thereby, the tensile force exerted between the first mounting portion 14 and the second mounting portion 16 based on the driving force of the electric motor 40 is adjusted by the control device 46. In the present embodiment, the control device 46 specifies the phase of the walking motion (for example, bending the hip joint to carry the rear foot forward, extending the hip joint to kick the ground with the forefoot, etc.) The energization of the electric motor 40 is controlled in accordance with the identified stage of the walking motion.

When the joint exercise assisting device 10 having such a structure is worn, when bending the hip joint, an assisting force (assist force) is exerted to reinforce the force necessary for the bending movement of the hip joint, and the hip joint Bending and stretching movements are assisted. That is, when the control device 46 specifies that the user tries to bend the hip joint based on the detection result of the capacitance type sensor 32, the power supply device 44 supplies power to the electric motor 40 to circumferentially rotate the rotating shaft 42. Rotate to one side. As a result, the second traction band 20 is taken up by the rotation shaft 42 and the substantial length of the second traction band 20 is shortened, so that the second traction band 20 is extrapolated to the middle portion of the second traction band 20. The connecting fitting 22 is drawn to the second mounting portion 16 side (upper side) and displaced. Then, a tensile force is exerted on the first attachment portion 14 through the first traction band 18 attached to the connection fitting 22, and the second attachment portion 14 attached to the knee joint is attached to the waist. Is drawn to the side of the mounting portion 16. As a result, an assist force acts to pull the knee joint against the gravity toward the lumbar region, thereby assisting the flexion movement of the hip joint. If the control device 46 adjusts the amount of rotation of the rotating shaft 42 (the time for which the electric motor 40 is energized) based on the detection value of the capacitance type sensor 32, the operation performed by the user is excessive. No shortage of assist power is provided.

On the other hand, when the control device 46 specifies that the user intends to extend the hip joint based on the detection result of the capacitance type sensor 32, the power supply device 44 energizes the electric motor 40 to surround the rotary shaft 42. Rotate in the other direction. As a result, the winding of the second traction band 20 by the rotating shaft 42 is released, and the substantial length of the second traction band 20 becomes longer. The inserted connection fitting 22 is displaced in the direction (downward) away from the second mounting portion 16 by its own weight or the like. Then, the tensile force applied to the first mounting portion 14 through the first traction band 18 attached to the connection fitting 22 is released, and the first mounting portion 14 is moved to the second position based on the action of gravity or the like. It separates from the mounting part 16 of. As a result, the extension movement of the hip joint is prevented from being blocked by the articulation aid 10.

As described above, when the articulatory aid 10 is worn, a part of the force required for bending the hip joint is compensated by the generated force of the electric motor 40. When carrying out the action of carrying the hindfoot forward, it is possible to carry out the intended action with a small muscle force. Therefore, if the joint exercise assisting tool 10 is used, even if the user does not have sufficient muscle strength to operate due to aging or injury or illness, the intended operation can be smoothly performed, and the user It is possible to prevent the activities of

Further, the first traction band 18 of the auxiliary force transmission band 12 provided on the path for transmitting the generated driving force of the electric motor 40 to the leg of the user as the assist force can be elastically deformed in the force transmission direction. It is done. Thereby, the generated driving force of the electric motor 40 is relieved by the elastic deformation of the first traction band 18 and then exerted on the leg of the user. Therefore, compared with the case where the generated driving force of the electric motor 40 is directly transmitted, the load on the joints of the user is reduced, and it is possible to prevent the occurrence of a problem such as muscle injury. In the present embodiment, in particular, the assist force exerted on the user's leg is a relatively small force of about 2 kgf to 5 kgf, and it is not forcible operation but a lack of muscle power necessary for the operation Since it is based on the idea of compensating for, necessary assistance can be performed without putting a burden on the user's body.

Moreover, in the present embodiment, the elasticity of the first traction band 18 in the force transmission direction is set between 0.3 kgf / cm and 0.5 kgf / cm. As a result, the driving force generated by the electric motor 40 is sufficiently buffered to prevent an excessive load from acting on the leg of the user, and an effective assist that can sufficiently realize the user's operation. Forces can be transmitted to the user's legs to effectively assist in movement.

Furthermore, the deformation of the first traction band 18 in the direction substantially orthogonal to the force transmission direction is limited, and the circumferential direction of the first mounting portion 14 integrally formed with the first traction band 18 Expansion and contraction (diameter expansion deformation or diameter reduction deformation) is suppressed, and the stability of the shape is enhanced. As a result, when the electric motor 40 exerts a tensile force, the first mounting portion 14 is held without coming off the knee joint, and the assist force is effectively transmitted to the leg.

In addition, the assist force by the joint motion assisting tool 10 is exerted during bending motion of the hip joint, and is released during extension motion of the hip joint. Thereby, if the articulatory aid 10 is worn, the flexion movement of the hip joint which requires the movement against the gravity in the standing state is assisted, while the extension movement of the hip joint assisted by the action of the gravity in the standing state. Then, the assist force does not act as a drag force, and a smooth operation is realized. Therefore, even in the walking motion in which bending and extension of the hip joint are repeated, the necessary assist force can be provided in a timely manner to appropriately assist the motion without interfering with the motion.

In the joint exercise assisting tool 10 of the present embodiment, such switching of assistance according to the operation state of the user is automatically performed by the control device 46 based on the detection result of the capacitive sensor 32. It has become. Therefore, the user does not have to manually control the timing of applying the assist force, the magnitude of the assist force to be applied, and the like, and appropriate assistance can be obtained in a timely manner.

Moreover, by using the capacitive sensor 32 as a sensor, highly accurate detection results can be obtained. Therefore, for example, if the magnitude or the like of the assist force is adjusted based on the detection result, more appropriate assistance is possible. Furthermore, in the capacitive sensor 32, the decrease in the detection accuracy with respect to the temperature change is small and the correction with respect to the temperature change is easy, so that the correct detection result can be stably obtained even when the temperature change is large. . In addition, in the capacitive sensor 32, since the decrease in detection accuracy with respect to repetitive input is small, sufficient durability can be ensured, and regular use in daily life can be realized.

Further, by making the assisting force transmitting portion in the present embodiment be the assisting force transmitting band 12 formed of a thin cloth having a band shape, sufficient flexibility is imparted, and a hard exoskeleton is obtained. It can be easily attached and detached as compared with the joint movement assisting device. That is, when wearing a hard exoskeleton to the user, the user needs to adjust the bending angle of the joint according to the shape of the exoskeleton, and it is often difficult to sit and wear. However, since the assist force transmission band 12 connecting the first mounting portion 14 and the second mounting portion 16 is flexible and bends as needed, the articulating assistance tool 10 of the present embodiment can be used as an auxiliary power transmission band. If 12 is made sufficiently long, it is possible to attach the first mounting portion 14 and the second mounting portion 16 at appropriate positions regardless of how much the bending angle of the joint of the user is. is there. Moreover, because the assist force transmission band 12 is flexible, for example, it is possible to mount the first mounting portion 14 and the second mounting portion 16 in a sitting posture in which the hip joint is bent, which is easy. Attachment and detachment work can be performed in posture.

Furthermore, by adopting the auxiliary power transmission band 12 formed of a thin ribbon-shaped cloth, the joint exercise auxiliary tool 10 is made lightweight, and even an elderly person or the like with reduced muscle strength can be easily handled. Moreover, in the present embodiment, since the first mounting portion 14 and the second mounting portion 16 are also made of cloth respectively, the weight of the entire joint exercise assisting tool 10 is further reduced, including the attaching / removing operation and the like. Further improvement of the manageability is achieved.

Furthermore, the auxiliary power transmission band 12 is easily bent in the thickness direction along the shape of the user's body surface in the mounted state by the auxiliary power transmission band 12 being made of a thin cloth. Therefore, according to the articulatory aid 10, a good feeling of wearing is realized, and when the clothes are overlaid and worn on the articulator 10, the assist power transmission band 12 is made to be uneven and conspicuous. Can be used casually in everyday life. In the present embodiment, each of the first mounting portion 14 and the second mounting portion 16 is also made thin, so that visual discomfort may occur when wearing clothes overlapping on the articulating aid 10. Is easier to use on a daily basis.

In addition, the first attachment portion 14 is attached to the knee joint and the second attachment portion 16 is attached to the waist, thereby preventing the assist force transmission band 12 from being longer than necessary to perform joint motion. The assist force is efficiently exerted on the leg while achieving downsizing of the assisting tool 10. When the separation distance from the hip joint serving as the fulcrum to the first attachment portion 14 serving as the fulcrum point is increased when the lid is pivoted, the tensile force efficiently acts on the first attachment portion 14 It is from. In addition, the drive device 38 is provided at the waist with a small amount of exercise when walking, which can prevent the drive device 38 from interfering with the walking motion.

An articulation aid 50 according to a second embodiment of the present invention is shown in FIGS. 5 and 6. The joint movement assisting tool 50 includes an assisting force transmission band 12 and an assisting force transmission band 52 as an assisting force transmitting portion, and a first mounting portion 14 and a second mounting portion 16 provided at both ends thereof. ing. In the following description, parts substantially the same as those in the first embodiment will be assigned the same reference numerals and explanation thereof will be omitted.

More specifically, the auxiliary power transmission band 52 includes the third traction band 54 and the fourth traction band 56, and is disposed across the hip joint on the back side of the user to The mounting portion 14 and the second mounting portion 16 are connected.

The third traction band 54 extends upward from the upper end on the back side of the first mounting portion 14, and the lower end is fixed to the first mounting portion 14 and the upper end is connected to the connection fitting 22. It is fixed. The third traction band 54 is formed separately from the first mounting portion 14 and connected by means such as stitching, and the required performance of the third traction band 54 and the first mounting portion 14 are obtained. All of the required performances of are realized in a high degree. Further, the third traction band 54 is gradually narrowed toward the upper side, and is configured to allow deformation or the like of the thigh muscle at the time of bending and extension of the hip joint, and the tension by the electric motor 40 of the drive device 38 It can be elastically deformed in the length direction (vertical direction in FIG. 6) in which the force acts.

Further, the fourth traction band 56 is inserted into the connection fitting 22 attached to the third traction band 54. Similar to the second traction band 20, the fourth traction band 56 is in the form of a thin strip having a substantially constant width, and is formed of fibers that are difficult to expand and contract to limit elastic deformation. An intermediate portion of the fourth traction band 56 is inserted into the connection fitting 22, and one end is fixed to the transmission band support belt 26 by means such as stitching, and the other end is fixed. The part is fixed to the rotation shaft 42 of the drive device 38. Thus, the third traction band 54 is connected to the middle portion of the fourth traction band 56, and the first mounting portion 14 and the second mounting portion 16 are connected to the third and fourth traction bands 54, It is mutually connected by 56.

Then, the rotation shaft 42 is rotated to one side in the circumferential direction by the driving force of the electric motor 40, and the fourth traction band 56 is wound around the rotation shaft 42, whereby the third and fourth traction bands 54 are obtained. , 56 between the first mounting portion 14 and the second mounting portion 16. On the other hand, when the rotation shaft 42 is rotated to the other side in the circumferential direction and the winding of the fourth traction band 56 by the rotation shaft 42 is released, the above-mentioned tensile force is released. The electric motor 40 for applying a tensile force to the fourth traction band 56 may be provided separately from the electric motor 40 for applying a tensile force to the second traction band 20, or the common electric motor may be provided. The tensile force by the motor 40 may be selectively exerted on either the second traction band 20 or the fourth traction band 56.

Then, when the user bends the hip joint, a tensile force in a direction to draw the first mounting portion 14 toward the second mounting portion 16 side is exerted through the third and fourth traction bands 54, 56, thereby the hip joint An assisting force (resist force) is exerted on the leg that acts in a direction that resists the force required for the bending movement of the foot. As a result, the driving force of the electric motor 40 acts as a load (resistance) against the motion for bending the hip joint, so that the muscle force necessary for the motion accompanied by the motion of the hip joint such as the walking motion is efficiently enhanced. Furthermore, when extending the hip joint, the tensile force exerted between the first mounting portion 14 and the second mounting portion 16 through the third and fourth traction bands 54, 56 is released, and the tensile force is reduced. It is prevented from acting as an assist force. Thereby, the strengthening of the muscle such as the hip joint muscles is efficiently realized. In addition, if the tensile force exerted on the first mounting portion 14 through the first and second traction bands 18 and 20 is released when the hip joint is bent and controlled to be applied when the hip joint is extended. Also, it is possible to add a load to the exercise for extending the hip joint, and it is possible to realize the strengthening of muscle strength more effectively.

On the other hand, if the control of the action of the tensile force and the release control are reversed, it is also possible to effectively obtain an assisting force (assisting force) for assisting the movement. That is, in addition to the application of the assist force by the first and second traction bands 18 and 20 shown in the first embodiment, the first mounting portion 14 is provided with the third and fourth traction bands 54 and 56. By releasing the applied tensile force during the flexion movement of the hip joint and acting during the extension movement of the hip joint, the assisting force through the first and second traction bands 18 and 20 for the bending movement of the hip joint And an assist force is exerted through the third and fourth traction bands 54, 56 against the motion for stretching the hip joint.

In short, according to the joint movement assisting tool 50 of the present embodiment, the function as an assisting tool for assisting the movement of walking and the like according to the user's request, and the strength enhancement of the muscle around the hip joint in rehabilitation etc. It is possible to select and use any of the functions as an aid for the purpose. In addition, in the joint exercise assisting tool 50, the assisting force is exerted not only to the bending motion of the hip joint but also to the stretching movement, so that the motion of the user is more effectively assisted.

In addition, in the joint movement assisting tool 50, since the third and fourth traction bands 54 and 56 are provided and the assisting force is exerted even for the extension movement of the hip joint, the joint movement assisting tool 50 is seated. In the case of wearing at the same time, it is also possible to start the operation assistance by the articulation aid 50 with the sitting posture as it is after the installation and to assist the stand-up operation.

Further, FIGS. 7 and 8 show an articulation aid 60 according to a third embodiment of the present invention. The articulation aid 60 has a body portion 62 in the form of a pant (leggings) that adheres to the body surface, covering from the lower back to the lower knee. The main body portion 62 is formed of a fabric excellent in stretchability that allows elastic deformation according to the user's body shape, and deforms according to the user's body shape or the like.

In addition, an auxiliary force transmission unit 64 is provided in the main body unit 62. The assisting force transmitting portion 64 is a thin strip-like cloth, and is branched left and right from the upper end of the first pulling portion 66 at a predetermined angle from the upper end of the first pulling portion 66 extending vertically to cover the front of the thigh. And a second pulling portion 68 extending obliquely upward. In addition, the assisting force transmitting unit 64 has a length direction in which the first pulling portion 66 and the second pulling portion 68 both act as the application direction of the tensile force by the electric motor 40 of the drive device 38 (in FIG. Elastic deformation is permitted in the direction, and is restricted in the width direction. The assist force transmission unit 64 is integrally formed with the main body unit 62, and is integrally provided at the time of weaving.

Further, a first mounting portion 70 is provided below the first pulling portion 66 of the assisting force transmitting portion 64. The first mounting portion 70 is substantially annular, and is mounted so as to substantially cover the knee joint over the entire circumference. Further, the first mounting portion 70 is integrally provided with the main body portion 62 and the first traction portion 66 by using the same cloth as the first traction portion 66, and elastic deformation in the circumferential direction is limited. The gap from the knee joint is suppressed. Further, in the first mounting portion 70, the portion covering the front surface of the knee joint is woven and integrated into the main body portion 62, and the portion covering the rear surface from the side surface of the knee joint is the main portion 62 in the left and right side portions. Are separated from each other and extend in a band. A pair of surface fasteners (not shown) are provided on the left and right pair of belt portions of the first mounting portion 70 separated from the main body 62, and these belt portions are pulled in the circumferential direction as necessary to tighten the knee joints. After that, the first mounting portion 70 is positioned with respect to the knee joint by mutually connecting with the surface fastener. In the front center portion of the first mounting portion 70, a portion formed of a material having excellent stretchability similar to the main body portion 62 is provided, and the portion is disposed so as to cover the kneecaps. And restraint of the knee joint is prevented.

In addition, while the second pulling portion 68 of the assisting force transmitting portion 64 is branched by the right and left and the end portion extending inward is tightened and held by the drive device support belt 28, it is branched to the left and right and the outside The extending side is separated from the main body 62 at the side of the waist, and the end is band-like and is fixed to the rotating shaft 42 of the drive device 38. Although not shown in the drawing, the drive device 38 of the present embodiment is provided with one electric motor 40 whose rotation direction of the drive shaft 48 is controlled by the control device 46, and transmission of left and right assist power The rotary shafts 42, 42 connected to each one of the parts 64, 64 are rotated by one electric motor 40. Further, in the present embodiment, the auxiliary power transmission unit 64 on the left side is inserted from the rear side to the drive device 38 and is fixed to the rotating shaft 42, and the auxiliary power transmission unit 64 on the right side with respect to the drive device 38 It is inserted from between the drive support belt 28 and fixed to the rotation shaft 42. As described above, the lower end portion of the assisting power transmission portion 64 is attached to the first attachment portion 14 and the upper end portion is attached to the drive device support belt 28 as the second attachment portion. It is set up.

According to the articulation assist device 60 having such a structure, the first attachment portion 70 and the second attachment portion 70 can be provided through the assisting force transmitting portion 64 in the same manner as the articulation assist device 10 shown in the first embodiment. A tensile force can be exerted between the mounting portions 16 to assist in the motion of the hip joint including the walking motion.

Moreover, since the assist force transmission unit 64 is integrally incorporated in the body 62 of the pants shape, the articulating assistance tool 60 can be easily attached and detached by the same simple operation as the pants. . Furthermore, only by properly wearing the main body portion 62, the assisting force transmitting portion 64 can be disposed at an accurate position, and the assisting force can be efficiently obtained. In addition, even when worn under clothes, it is hard to cause problems such as unevenness and bulkiness, and it is difficult to give visual discomfort to others, while the user's motion is restricted and the degree of freedom in selecting clothes is It is possible to avoid the problem of becoming smaller.

When the joint exercise assisting device of the present invention is used to assist the movement of the joints of the upper body, the auxiliary force transmitting unit may be integrally provided on the shirt-like main body as in the present embodiment. In short, according to the joint to be assisted in operation, a clothes-like main body to be worn to cover the joint may be prepared.

An articulation aid 80 according to a fourth embodiment of the present invention is shown in FIG. The joint movement assisting tool 80 has a structure in which the first mounting portion 14 and the second mounting portion 16 are connected by an auxiliary power transmission band 82 as an auxiliary power transmission portion.

The auxiliary power transmission band 82 is configured to include a first traction band 84, a second traction band 86 and a third traction band 88. The first to third traction bands 84, 86 and 88 are each formed of a thin strip-like cloth extending with a substantially constant width dimension, and the first and second traction bands 84 and 86 serve to electrically drive the drive 38. While being elastically deformable in the length direction (vertical direction in FIG. 9) in which the tensile force by the motor 40 acts, the third traction band 88 has limited elastic deformation in the longitudinal direction. . Further, the second traction band 86 is provided with a cog 90, and it is possible to easily adjust the length of the second traction band 86 according to the physique.

The upper end of the first traction band 84 and the lower end of the second traction band 86 are respectively attached to the annular first connection fitting 92, and the first traction band 84 and the second traction band 86 It is connected via the first connection fitting 92. Furthermore, the upper end of the second traction band 86 is attached to the annular second connection fitting 94, and the third traction band 88 is inserted into the second connection fitting 94, and the second traction band The upper end of 86 and the middle portion of the third traction band 88 are connected via a second connection fitting 94. The first and second traction bands 84 and 86 may be non-removably fixed to the first and second connection fittings 92 and 94, but using hooks, snaps, hook-and-loop fasteners, etc. It is desirable to be removably attached. In this embodiment, it is removably mounted using snaps 96.

Further, the lower end of the first traction band 84 is attached to the upper end of the front portion of the first mounting portion 14. The attachment of the first traction band 84 to the first attachment portion 14 may be fixed by stitching or adhesion, but it is preferable that the attachment is detachably attached by hooks, snaps, surface fasteners, etc. .

Furthermore, the third traction band 88 extends from the side of the waist to the rear and extends backward from the side of the waist and is fixed to the rotation shaft 42 of the drive unit 38 shown in FIG. The part is attached to the drive support belt 28 of the second attachment part 16 in front of the waist. More specifically, a hook fitting 98 is attached to the other end of the third traction band 88, and an annular or semi-annular fitting 100 is provided on the front portion of the drive support belt 28. It is attached in a removable state. A plurality of mounting brackets 100 are provided side by side in the circumferential direction on the driving device support belt 28, and by appropriately selecting the mounting bracket 100 to which the hook fitting 98 is to be attached, a third one can be selected. The length of the traction band 88 can be adjusted.

As described above, in the articulation aid 80, the first mounting portion 14 and the second mounting portion 16 are connected by the assisting force transmission band 82 configured to include the first to third traction bands 84, 86, 88. A tensile force is exerted between the first mounting portion 14 and the second mounting portion 16 through the auxiliary power transmission band 82. Then, as in the first embodiment, an assist force utilizing a tensile force is exerted during bending and extension of the hip joint to assist the walking motion.

Further, in the present embodiment, the auxiliary force transmission band 82 is constituted by the first to third traction bands 84, 86, 88, and they are connected by the connection fittings 92, 94, respectively. Therefore, when any one of the first to third traction bands 84, 86, 88 is damaged, it is possible to remove and replace only the damaged part from the connection fitting 92, 94, and maintenance It is excellent in sex.

In addition, users with a wide range of physiques can be used by replacing the first to third traction bands 84, 86, 88 with ones having different lengths according to the physique of the user (femoral length etc.) Therefore, it is possible to cope with the case where, for example, an unspecified number of users use in a hospital rehabilitation center or the like. Furthermore, since the plurality of mounting brackets 100 are provided side by side, by changing the mounting position of the hook fitting 98, the length of the auxiliary power transmission band 82 in the vertical direction can be changed. And adjustment according to physical difference can be easily performed. In addition, since the second traction band 86 is provided with the coco 90, the length of the second traction band 86 can be adjusted to easily adjust the length of the auxiliary power transmission band 82. .

Although the embodiments of the present invention have been described above in detail, the present invention is not limited by the specific description. For example, in the above embodiment, the first mounting portion is attached to the knee joint in order to use the articulation aid for assisting the motion of the hip joint, but the first mounting portion is the second mounting across the hip joint What is necessary is just to be provided on the side opposite to the part, and in the case where the second attachment part is attached to the waist part, substantially the same effect can be obtained even if the first attachment part is attached to the thigh. However, if the mounting position of the first mounting part is too close to the hip joint, the assisting force will not be effective effectively. desirable.

Further, the disposition of the drive device is not limited to the lower back portion. For example, in the case of assisting the bending and extension motion of the shoulder joint, the motion of the user is hindered by providing the drive device on the back of the user. Without doing so, the transfer path of the assisting force can be shortened to miniaturize the articulating aid.

Further, the sensor for detecting the user's operation is not limited to the capacitance type sensor, and for example, a resistance change type for detecting the user's operation based on a change in resistance value due to the action of a force. It is also possible to employ a sensor of If such a resistance change type sensor is employed, measurement using a DC voltage is possible, so that the measurement circuit can be easily simplified, and miniaturization and cost reduction can be easily realized. In addition, since the resistance value changes sharply even to the action of a small force, it is possible to detect a wide range of motion, from slight movement of the joint to large movement. As the resistance change sensor, for example, one having the flexibility described in Japanese Patent Application Laid-Open No. 2008-69313 or the like is suitably adopted. Further, a plurality of types of sensors having different structures and detection methods may be used in combination, such as using a combination of a capacitive sensor and a resistance change sensor.

Moreover, the arrangement position of the sensor shown in the said embodiment is an illustration to the last, and if a user's operation | movement can be detected, an arrangement | positioning aspect will not be specifically limited. Specifically, for example, as in the articulatory aid 110 shown in FIG. 10, a capacitive sensor 112 is disposed on the back surface (the overlapping surface on the thigh) of the first traction band 18. The pinching force between the first traction band 18 and the thigh accompanying the deformation of the thigh muscle when bending the hip joint can also be detected as a change in capacitance. Furthermore, for example, as in the case of the joint exercise assisting tool 120 shown in FIG. 11, if the capacitance type sensor 122 which spreads from the hips to the thighs of the user is adopted, the bending and extension of the hip joint can be detected more directly. Can. In this case, the articulation aid 120 has a pants (leggings) provided with a capacitive sensor 122 in addition to the assisting force transmission band 12 and the first and second mounting portions 14 and 16 shown in the first embodiment. The sensor holding suit 124 is mounted, and the auxiliary force transmission band 12 and the first and second mounting portions 14 and 16 are mounted after the sensor holding suit 124 is mounted. The capacitance type sensors 112 and 122 shown in FIGS. 10 and 11 also have the same basic structure as the capacitance type sensor 32 shown in the embodiment, and thus the description thereof is omitted here. Do. Furthermore, a combination of the capacitive sensor 112 and the capacitive sensor 122 may be adopted, which makes it possible to detect an operation with higher accuracy.

Further, in the above embodiment, in order to effectively assist the flexion and extension of the hip joint, the assist force transmission unit is provided at least on the front side. However, for example, in the case of assisting the flexion and extension of the knee joint, the back side Only the auxiliary power transmission unit may be provided. In short, the assisting force transmitting unit may be appropriately disposed in consideration of the mobility and the like of the joints.

Further, the auxiliary power transmission unit is not necessarily limited to one having flexibility as a whole, and if it is partial, there may be a hard portion formed of metal, plastic or the like. Furthermore, the entire assisting force transmitting unit may be elastically deformable in the force transmitting direction, or the assisting force transmitting unit may partially allow elastic deformation in the force transmitting direction.

Also, the transmission band support belt 26 and the drive device support belt 28 are not necessarily provided independently, for example, the end portion of the auxiliary force transmission band 12 is fixed to the front of the drive device support belt 28 to drive In some cases, the device support belt 28 simultaneously has the function of a transmission band support belt. Also, the auxiliary power transmission band 12 does not have to be formed separately from the transmission band support belt 26, and the second of the auxiliary power transmission bands 12 may extend from the front of the transmission band support belt 26. The traction band 20 may be integrally provided. As apparent from the above, when the drive device support belt 28 has a function as a transmission band support belt, the auxiliary force transmission zone 12 may be integrally formed with the drive device support belt 28.

Further, in the above embodiment, the articulatory aid for assisting the flexion-extension motion of the hip joint is shown, however, the articulatory aid according to the present invention is a joint other than the hip joint such as a knee joint, a shoulder joint or an elbow joint. It can also be used to assist bending and stretching exercises.

10, 50, 60, 80, 110, 120: Arthritic movement aid, 12, 52, 82: auxiliary force transmission band (auxiliary force transmission part) 14, 14, 70: first mounting part, 16: second mounting Parts 32, 112, 122: Capacitance sensor 40: Electric motor (drive source) 46: Controller 62: Main body 64: Auxiliary force transmitter

Claims (12)

1. For both end portions of the flexible auxiliary power transmission unit, there are provided a first mounting portion mounted on one of the portions sandwiching the user's joint and a second mounting portion mounted on the other portion. And a drive source is provided to exert a tensile force between the first mounting portion and the second mounting portion through the auxiliary force transmission portion, and at least a portion of the auxiliary force transmission portion The joint movement assisting device is characterized in that it is elastically deformable in the acting direction of the tensile force by the driving source.
2. The joint exercise assisting device according to claim 1, further comprising: a sensor that detects bending and extension of a user's joint, and a control device that controls the drive source based on a detection result of the sensor.
3. The joint exercise assisting device according to claim 2, wherein the sensor is capable of detecting bending and extension of a user's joint based on a force exerted on the sensor according to bending and extension of the user's joint.
4. The articulating aid according to claim 3, wherein the sensor comprises at least one of a capacitive sensor and a resistance change sensor.
5. The articulating movement assisting device according to any one of claims 1 to 4, wherein the assisting force transmitting portion is formed in a band shape extending in a force transmitting direction.
6. The said auxiliary-force transmission part is integrally provided in the clothes-like main-body part, By mounting | wearing of this main-body part, the said auxiliary-force transmission part is arrange | positioned over a user's joint. Articulation aid according to any one of the preceding claims.
7. The elastic deformation of the elastically deformable portion in the auxiliary force transmission portion is smaller in elasticity in the direction orthogonal to the elastic force in the acting direction of the tensile force by the drive source. Articulation aid as described.
8. The articulating exercise assisting device according to any one of claims 1 to 7, wherein the assisting force transmitting portion is disposed straddling at least one of a hip joint and a knee joint of a user.
9. The first attachment portion is attached to at least one of a user's thigh and a knee joint, and the second attachment portion is attached to a user's waist, and the auxiliary force transmission portion straddles a hip joint The articulation aid of claim 8, wherein
10. The articulation aid of claim 9, wherein the drive source is attached to the second mounting portion.
11. The articulating movement assisting device according to any one of claims 1 to 10, wherein the tensile force by the drive source acts as an assist force that reinforces a force required for a bending and extending movement of a joint.
12. The joint exercise assisting device according to any one of claims 1 to 11, wherein the tensile force by the drive source acts as a resist force against the force necessary for the bending and extension movement of the joint.

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