WO2014092162A1 - 歩行支援機 - Google Patents
歩行支援機 Download PDFInfo
- Publication number
- WO2014092162A1 WO2014092162A1 PCT/JP2013/083370 JP2013083370W WO2014092162A1 WO 2014092162 A1 WO2014092162 A1 WO 2014092162A1 JP 2013083370 W JP2013083370 W JP 2013083370W WO 2014092162 A1 WO2014092162 A1 WO 2014092162A1
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- WO
- WIPO (PCT)
- Prior art keywords
- thigh
- waist
- crus
- walking
- thigh link
- Prior art date
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Images
Classifications
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- 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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
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- 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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/1215—Rotary drive
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
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- 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
- A61H2201/1628—Pelvis
- A61H2201/163—Pelvis holding means therefor
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/165—Wearable interfaces
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- A61H2201/1671—Movement of interface, i.e. force application means rotational
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1676—Pivoting
Definitions
- the present invention relates to a walking support device that is attached to a human leg and supports walking.
- Patent Document 1 there is known a walking support machine that is attached to a human leg and supports walking.
- This walking support machine is based on the walking principle called passive walking, and has been researched and developed by the present inventors.
- Passive walking is known as a walking principle closest to a natural walking of a person, and a walking support machine to which this principle is applied has attracted particular attention in recent years.
- the walking support machine described above has a structure that does not require an actuator such as an electric motor, unlike other walking support machines disclosed in Patent Document 2, for example.
- an actuator such as an electric motor
- the walking support machine described in Patent Document 1 based on the principle of passive walking, the movement of the leg (healthy leg) on which the walking support machine is not worn is walking through the waist (pelvis) of the user (wearer).
- the walk support machine operates naturally to support the user's walking. Therefore, such a walking support machine can be reduced in weight and cost, and is expected to reduce burden on the user and economically.
- An object of the present invention is to provide a technique for further improving various functions such as a walking support function in a walking support machine based on passive walking.
- a walking support device is a walking support device that is attached to a user's leg and supports the user's walking, and includes a pad portion that is addressed to the waist side of the user, A waist mounting belt that is worn around the user's waist, a thigh link portion that is disposed on the side of the user's thigh, and a lower leg link that is disposed on the side of the user's lower leg Of the thigh link portion so that the thigh link portion is swingable in the front-rear direction of the user.
- a hip joint part that holds the upper end, and is attached to the pad part of the waist mounting belt; holds the lower end of the thigh link part and holds the upper end of the crus link part; and the thigh link part and the crus link part; Knees that connect each other in a swingable manner
- Each of the thigh link portion and the crus link portion is higher in rigidity in the front-rear direction and in the vertical direction than the rigidity in the left-right direction, and is centered on the axis along the longitudinal direction. It can be elastically twisted as follows.
- the thigh link part and the crus link part have the above-described configuration, so that the rigidity in the front-rear direction and the vertical direction is higher than the rigidity in the left-right direction. Therefore, in the walking assistance machine, when a force that twists about an axis line (rotating axis) along the longitudinal direction is applied, it can be easily elastically deformed so as to be twisted. Therefore, the user wearing the walking assist device can easily change direction while rotating his / her waist in a relatively small space.
- the thigh link portion and the crus link portion are arranged in parallel with each other while maintaining a distance from each other, and a pair of cylindrical column portions including a hollow portion on the inside, and the pair of pairs You may have between the cylindrical pillar parts and the plate-shaped connection part which connects the said cylindrical pillar parts.
- the thigh link portion and the crus link portion are arranged in parallel with each other while maintaining a distance from each other, and a pair of cylindrical column portions including a hollow portion on the inside, and the pair of pairs Since it has the structure which is distribute
- the length of the thigh link portion and the crus link portion may be extendable in the longitudinal direction.
- the size of the walking support device can be adjusted as appropriate according to the physique of the user.
- the upper end of the thigh link portion is held in a detachable state, and the knee joint portion holds the lower end of the thigh link portion and the upper end of the crus link portion in a detachable state. You may do. Since the waist joint part and the knee joint part have such a configuration, the thigh link part and the crus link part can be exchanged with each other.
- the thigh link part is selected from a plurality of types of thigh link part groups having different conditions such as length in the longitudinal direction, and the crus link part has conditions such as length in the longitudinal direction. It may be selected from a plurality of different types of lower leg link portions. As described above, in the walking support machine, the thigh link portion and the lower thigh link portion are selected from a plurality of types, respectively, according to the user's request (for example, the user's body size) as appropriate. The thigh link part and the length of the crus link part can be set.
- the lower leg wearing part may be selected from a plurality of kinds of lower leg wearing part groups having different conditions such as circumference.
- the user's request for example, the user's body size
- the lower leg wearing part is selected by selecting the lower leg wearing part from a plurality of kinds of lower leg wearing part groups having different conditions such as circumference.
- a weight that is detachably attached to the thigh link part and / or the crus link part may be provided.
- the walking support machine has such a configuration, the swing pattern of the thigh link part and the crus link part of the walking support machine can be changed.
- the weight may be selected from a plurality of weight groups having different conditions such as weight.
- the swing pattern of the thigh link part and the crus link part of the walking support machine is appropriately set according to the user's request. Is possible.
- each of the thigh link part and the crus link part may be a combination of a pair of longitudinal processing members made of plate-like members facing each other. Good.
- the thigh link part and the crus link part have the above-described configuration, whereby the rigidity of the thigh link part can be ensured while ensuring a state that can be elastically deformed in the twisting direction.
- the waist joint portion includes a waist axis, a holding portion to which one end of the waist shaft is fixed, and holding an upper end of the thigh link portion, and is connected to the holding portion and is centered on the waist axis.
- a displacement portion that contacts the other end of the compression spring and is displaced according to expansion and contraction of the compression spring a cam follower connected to the displacement portion; and the cam follower is pressure-contacted so that the compression spring is compressed.
- the walking assist machine can reduce the number of parts of the torque generating device, and reduce the size and thickness of the torque generating device.
- each of the thigh link part and the lower leg link part may be elastically twisted in a range of + 70 ° to ⁇ 70 ° around an axis along the longitudinal direction.
- the thigh link part and the crus link part are elastically twisted within the above range, the thigh link part and the crus link part are moderately twisted and the twist is easily returned when the user walks.
- the walking motion including turning of the user wearing the walking assist device can be corrected without being restricted.
- Sectional view of a modified example of thigh link Sectional view of a modified example of thigh link Sectional view of a modified example of thigh link Sectional view of a modified example of thigh link
- Explanatory drawing of the walk support machine concerning other embodiments
- FIG. 1 is a side view of the walking assistance device 1 according to the first embodiment
- FIG. 2 is an explanatory view (perspective view) of a waist wearing belt 2 provided in the walking assistance device 1
- FIG. It is explanatory drawing of the walk assistance machine 1 of the state made.
- the walking assist device 1 of the present embodiment is a passive walking type, and mainly includes a waist attachment belt 2, a thigh link portion 3, a crus link portion 4, a crus attachment portion 5, a waist joint portion 6, and a knee.
- a joint portion 7, a thigh contact portion 8, and a torque generator 9 are provided.
- the walking assist device 1 of the present embodiment is for the right leg, and is used by being mounted on the right leg U1 of the user U.
- the walking support device 1 for the right leg is used, for example, when the right leg U1 of the user U is an affected leg and the left leg U2 is a healthy leg. In another embodiment, the walking support device 1 for the right leg may be used even when the right leg is a healthy leg and the left leg is an affected leg or is worn on the user's right leg. Good.
- the walking support device 1 will be described on the assumption that the right side in FIG. 1 is the front, the left side is the rear, the upper side is the upper side, and the lower side is the lower side. Further, it is assumed that the front side of the drawing in FIG. 3 is the front, the back side of the drawing in the drawing is the rear, the upper side in the drawing is the upper side, and the lower side in the drawing is the lower side.
- the waist attachment belt 2 is used to fix the link mechanism portion of the walking support machine 1 to the user U, and is attached to the user U in a form wound around the waist U3.
- the waist mounting belt 2 generally includes a generally flat arc-shaped main body 21 disposed from the rear of the waist U3 to the left and right side portions (waist side portions) of the waist U3,
- An adjustment unit 22 is provided that connects the left and right front end portions and adjusts the tightening degree of the waist mounting belt 2.
- a pad portion 21a having a cushioning property made of a closed cell foam made of resin or the like is provided in a portion of the inside of the main body portion 21 that is addressed to the waist side portion U31 on the right side of the waist U3.
- a pad portion 21b having cushioning properties is also provided in a portion of the inside of the main body portion 21 that is addressed to the waist side portion U32 on the left side of the waist U3.
- the one pad portion 21a is in close contact with the right waist side portion U31, and the other pad portion 21b is in close contact with the left waist side portion U32.
- the right pad portion 21a faces the left pad portion 21b (left waist side portion U32) via the waist U3 (pelvis).
- the inside of the main body 21 includes a flat resin core material. Therefore, the main body 21 has a function of supporting the pad parts 21a and 21b described above on the inside. Moreover, the main-body part 21 is provided with flexibility, and can deform
- a bag-shaped (pocket-shaped) accommodating portion 23 opened downward is provided outside the right-side pad portion 21 a in the main body portion 21.
- the accommodating portion 23 is a portion that accommodates the upper end side of the plate-shaped (plate-shaped) mounting plate 60 that constitutes the waist joint portion 6 of the walking assist device 1.
- the mounting plate 60 is in a state of being freely rotatable (oscillated) with respect to the waist shaft 61 provided in the waist joint portion 6.
- a hook-and-loop fastener 60d is provided on at least the surface facing the outside (the surface facing the front side in FIG. 1) of the upper end surface of the mounting plate 60.
- a mating surface fastener (not shown) is provided on the inner side (inner surface) of the housing portion 23 so as to be detachable from the surface fastener 60d.
- the attachment plate 60 is attached to the waist attachment belt 2 in such a manner that the upper end portion is inserted into the housing portion 23 using the adhesive force between the hook-and-loop fasteners.
- the mounting plate 60 faces the pad portion 21 a of the waist mounting belt 2 in a state where the upper end portion is accommodated in the accommodating portion 23. That is, the pad portion 21a and the upper end portion of the mounting plate 60 are in a state of overlapping each other.
- the adjustment portion 22 includes a belt-like right belt portion 22 a extending to the right front end portion of the main body portion 21 and a belt-like left belt portion 22 b extending to the left front end portion of the main body portion 21. .
- the right belt portion 22a and the left belt portion 22b are attached to the front end portions of the main body portion 21 in a state in which the length can be adjusted. Further, the right belt portion 22a and the left belt portion 22b are respectively provided with connection portions 24 (24a, 24b) that are fitted and connected in a detachable state.
- the waist mounting belt 2 uses the pad portion 21a mainly for the movement (force) of the left leg (healthy leg) U2 to which the walking support device 1 is not mounted in the state where the mounting plate 60 is mounted in the housing portion 23. It has a function of receiving and transmitting the received movement (force) to the lumbar joint portion 6 and the thigh link portion 3 through the mounting plate 60.
- the pad portion 21a is made of an elastic material having cushioning properties, and can be elastically deformed so as to follow the surface shape of the waist U3 (waist side portion U31). Further, the pad portion 21a has an appropriate strength and followability (elasticity), and it is difficult to form a gap between the pad portion 21a and the waist side portion U31. You can tell the power with certainty.
- Various conditions such as the size, strength, and elasticity (cushioning property) of the pad portion 21a are appropriately set in consideration of the size, shape, and the like of the waist U portion 31 of the user U.
- FIG. 4 is a side view of the thigh link portion 3.
- the thigh link portion 3 is a portion mainly disposed on the side (outside) of the thigh U11 of the right leg U1 (see FIG. 3), and has an elongated columnar (longitudinal) appearance shape as a whole. I have.
- the thigh link portion 3 is formed by processing a metal plate (metal plate-like member) such as an electrogalvanized steel plate (SECC) into a predetermined shape.
- SECC electrogalvanized steel plate
- 5 is a cross-sectional view taken along line AA ′ of FIG. As shown in FIG. 5, the thigh link portion 3 is formed in a cylindrical shape by combining (superimposing) two longitudinal members in a face-to-face state.
- each metal plate (metal plate-like member) used for the inner thigh member 31 and the outer thigh member 32 is 0.4 mm.
- each metal plate (metal plate-like member) used for the thigh inner member 31 and the thigh outer member 32 when it finally becomes the shape of the thigh link part 3, it is appropriate so that an elastic force can be exhibited. In addition to strength, those having flexibility (softness) are used.
- the thigh inner member 31 is shown on the right side, and the thigh outer member 32 is shown on the left side.
- the inner thigh member 31 mainly has an inner main body portion 31a composed of a substantially rectangular plate-like portion that is elongated and a central portion of the inner main body portion 31a bulges in a convex shape from the thigh U11 side toward the thigh outer member 32 side.
- An inner convex portion (first inner convex portion) 31b that is in contact with the outer thigh outer member 32 and an end along the longitudinal direction of the inner main body portion 31a (the direction from the front side to the rear side in FIG. 5).
- the inner portion is a portion processed into a step shape so that the portion approaches the thigh outer member 32 side from the thigh U11 side, and engages with each end portion along the longitudinal direction of the other thigh outer member 32 And a joint portion 31c, 31c.
- the inner convex portion 31b is linearly provided along the longitudinal direction of the thigh inner member 31 (inner main body portion 31a). When the thigh inner member 31 is viewed from the thigh U11 side, the inner convex portion 31b has a shape like an elongated concave groove. A plurality of through holes 31d are provided in the inner convex portion 31b so as to be aligned in a row while keeping a distance from each other.
- the inner thigh member 31 can be formed of a long and thin rectangular metal plate-like member by using, for example, a “pressless forming method (registered trademark)” which is a kind of drawing.
- the outer thigh member 32 mainly has an outer main body portion 32a composed of a substantially rectangular plate-like portion that is elongated and a central portion of the outer main body portion 32a is convex from the outer side toward the thigh inner member 31 (thigh U11) side.
- the outer convex portion (first outer convex portion) 32b that is in contact with the thigh inner member 31 and the end portions along the longitudinal direction of the outer main body portion 32a are on the thigh inner member 31 (thigh U11) side.
- the outer engaged portions 32c and 32c that are engaged with the inner engaging portions 31c and 31c are provided.
- the length (length in the longitudinal direction) of the thigh outer member 32 is set to be the same as the length (length in the longitudinal direction) of the counterpart thigh inner member 31.
- the outer convex part 32b is linearly provided along the longitudinal direction of the thigh outer member 32 (outer body part 32a). When the thigh outer member 32 is viewed from the outside, the outer convex portion 32b is shaped like a long and narrow concave groove. Similarly to the inner convex portion 31b, the outer convex portion 32b is also provided with a plurality of through-holes 32d arranged in a line while maintaining a distance from each other.
- each through-hole 32d provided in the outer side convex part 32b and each through-hole 31d provided in the inner side convex part 31b are provided so that it may mutually overlap, and the thigh contact part 8 is fixed.
- the size of the through hole 32d is set to be the same as the size of the through hole 31d.
- the outer thigh member 32 is a rectangular metal plate-like member having a width wider than that of the thigh inner member 31 (long in the short direction), using the above-mentioned “pressless forming method (registered trademark)” or the like. Can be formed.
- the outer convex part 32b of the outer thigh member 32 constituting the thigh link part 3 is in close contact with the inner convex part 31b of the other thigh inner member 31 as shown in FIG.
- the outer engaged portions 32c and 32c of the thigh outer member 32 are engaged with the inner engaging portions 31c and 31c, respectively, so as to attract the thigh inner member 31 toward the outer main body portion 32a. Therefore, the outer thigh member 32 is in a state of holding the inner thigh member 31.
- a space is formed along the longitudinal direction of the thigh link portion 3.
- the thigh link portion 3 generally has a shape in which two elongated processing members (the thigh inner member 31 and the thigh outer member 32) are combined in a cylindrical shape (columnar shape) having a space inside. There is no. And the inner side convex part 31b and the outer side convex part 32b of each member are functioning as a reinforcement member which improves the intensity
- the thigh link portion 3 has rigidity, so that bending is prevented.
- the thigh link portion 3 has sufficient rigidity as the walking assisting device 1 in the direction of the torque that works around the waist axis 61 and the direction of the torque that works around the knee axis 71.
- the thigh link portion 3 of the present embodiment is deformed so that the thigh link portion 3 is slightly twisted when a twisting force is applied to the thigh link portion 3 about the axis (rotation axis) along the longitudinal direction. can do.
- the inner thigh member 31 and the outer thigh member 32 constituting the thigh link portion 3 are formed by processing metal plate materials having elasticity, and these are not completely fixed to each other.
- the thigh link portion 3 can be elastically deformed as a whole in the torsion direction.
- the inner engagement portion 31c of the thigh inner member 31 and the outer engaged portion 32c of the thigh outer member 32 are engaged with each other in an overlapping state, but are not completely fixed to each other. .
- the rigidity of the thigh link portion 3 and the degree of elastic deformation in the torsional direction are determined by the thickness of each member 31, 32 constituting the thigh link portion 3, the type of metal, and the outside of the thigh outer member 32.
- the size and shape of the convex portion 32b and the inner convex portion 31b of the inner thigh member 31, the size of the hollow portion inside the thigh link portion 3, and the relationship between the inner engaging portions 31c and 31c and the outer engaged portions 32c and 32c It can be adjusted by appropriately setting the strength and the like.
- the strength of the thigh link portion 3 can be improved by changing the material constituting the members 31 and 32 from normal SECC to a high-strength stainless steel or spring steel.
- the strength in the cylindrical axis direction is improved, and the bending moment is also improved by increasing the second moment of section.
- the torsional strength also increases, it is set according to the user's leg strength.
- One end (upper end) 3a of the thigh link portion 3 is connected to the hip joint 6 and the other end (lower end) 3b is connected to the knee joint 7, as will be described later.
- the length of the thigh link portion 3 (length in the longitudinal direction) is such that the upper end portion 3a is connected to the waist joint portion 6 and the lower end portion 3b is connected to the knee joint portion 7.
- the center of 61 is slightly above the position of the greater trochanter relative to the waist U portion 31 of the user U (for example, a position several centimeters above the greater trochanter. Is set so that the center of the knee axis 71 of the knee joint portion 7 is slightly above the position of the knee joint of the user U, for example.
- the center position of the knee axis 71 of the knee joint portion 7 may be appropriately set within the range from the upper end to the lower end of the knee joint portion of the user U (that is, within the range of the knee joint portion). In the case of this embodiment, the length of the thigh link portion 3 is set to 300 mm.
- the above-described thigh link portion 3 is arranged in parallel with each other while being spaced apart from each other, and has a pair of cylindrical column portions 33 and 34 including hollow portions 33a and 34a inside, and the pair of cylindrical column portions. And a plate-like connecting portion 35 that connects the cylindrical column portions 33 and 34 to each other.
- the cylindrical column portions 33 and 34 are formed by a thigh inner member 31 and a thigh outer member 32.
- the connecting portion 35 is also formed by the thigh inner member 31 and the thigh outer member 32.
- the crus link part 4 is a part mainly arranged on the side (outside) of the crus U12 of the right leg U1 (see FIG. 3), and as a whole, the crus link part 4 is elongated like the above-described thigh link part 3. It has a columnar (longitudinal) appearance. However, the length, width (length in the short direction), and thickness in the longitudinal direction of the crus link portion 4 are set slightly smaller than those of the thigh link portion 3.
- the lower thigh link portion 4 is formed by processing a metal plate (metal plate-like member) such as an electrogalvanized steel plate (SECC) into a predetermined shape.
- SECC electrogalvanized steel plate
- the crus link portion 4 is formed of a cylinder formed by combining (superimposing) two longitudinal members in a face-to-face state.
- the crus link portion 4 of the present embodiment is slightly deformed when a force that twists about the axis (rotation axis) along the longitudinal direction is applied to the crus link portion 4. , Can be deformed to twist.
- One end part (upper end part) 4a of the lower leg link part 4 is arranged on the thigh link part 3 side, and is a part connected to the knee joint part 7 as described later.
- the other end portion (lower end portion) 4b of the lower leg link portion 4 is a portion arranged on the ankle side of the user U, and the lower end portion 4b is protected as shown in FIG. 1 and FIG.
- a cap 10 is put on.
- the protective cap 10 is also effective in preventing the crus link portion 4 and the like from being bent.
- the protective cap 10 is made of a metal material such as aluminum or magnesium processed into a predetermined shape.
- the protective cap 10 is provided with an insertion hole into which the lower end portion 4b of the crus link portion 4 is inserted.
- the lower end portion 4b of the lower leg link portion 4 is fixed to the insertion hole of the protective cap 10 using an adhesive or the like. In this way, the lower end 4b is fixed to the insertion hole, whereby the lower end 4b of the crus link 4 is protected by the protective cap 10.
- the length of the lower leg link portion 4 (length in the longitudinal direction) is set shorter than the length of the thigh link portion 3 (length in the longitudinal direction) as described above.
- the length of the crus link part 4 is secured so that a crus attachment part 5 (described later) attached to the crus link part 4 can be attached to the user's U crus U12.
- the length of the lower leg link portion 4 is set to 250 mm.
- the length of the crus link part 4 in other embodiment may be shorter than this.
- the crus link portion 4 is a portion disposed inside the thigh link portion 3.
- the lower leg mounting portion (tibial cuff) 5 is a portion to be mounted on the lower leg U ⁇ b> 12 of the right leg U ⁇ b> 1 of the user U, and generally has a substantially U shape. At the same time, it is shaped to embrace the lower leg U12 from the front-rear direction.
- the lower leg mounting part 5 has a function of transmitting (outputting) the movement (force) of the lower leg link part 4 to the lower leg U12 of the user U.
- the lower leg mounting portion 5 is shaped like the figure 8 is laid sideways when viewed from the outside (right side) fixed to the lower leg link portion 4, and its front portion curves backward.
- the lower leg mounting portion 5 is provided with an opening 5a for the purpose of reducing the weight and improving the elastic force.
- the lower leg mounting part 5 is slightly tapered (tapered) from the upper side to the lower side. There is a gap along the vertical direction between the end of the front part of the lower leg mounting part 5 and the end of the rear part, and the lower leg U12 is attached to and detached from the lower leg mounting part 5 from this gap.
- the lower leg mounting portion 5 is made of a synthetic resin processed into a predetermined shape, and has appropriate strength and appropriate elasticity. Therefore, the crus mounting part 5 can be brought into close contact with the crus U12 in a state where the crus mounting part 5 is moderately and slightly expanded.
- the lower leg attachment part 5 is fixed to the inner side of the lower leg link part 4 using a screw-like fixing member 51 in a removable state.
- the screw-like fixing member 51 is inserted into the through holes 42 d and 41 d provided in the crus link part 4 and fixed to the crus link part 4.
- the attachment location in the height direction of the crus attachment part 5 can be adjusted as appropriate.
- the attachment angle with respect to the fixing member 51 is changed in the front-rear direction, the front-rear direction inclination of the crus mounting part 5 can be adjusted as appropriate.
- the waist joint portion 6 holds the upper end (upper end portion 3a) of the thigh link portion 3, supports the thigh link portion 3 in a swingable manner in the front-rear direction of the user U, and faces the pad portion 21a. It is configured to be attached to the waist mounting belt 2.
- 6 is a side view of the lumbar joint portion 6 as viewed from the inside
- FIG. 7 is a cross-sectional view taken along the line CC ′ of FIG.
- FIG. 7 shows a cross-sectional structure in the vicinity of the waist joint section 6 cut by a CC ′ line composed of two line segments intersecting at the center O of the waist shaft 61 shown in FIG. As shown in FIGS.
- the lumbar joint portion 6 includes a substantially cylindrical lumbar shaft 61, a rotary plate 62 that is pivotally supported with respect to the lumbar shaft 61, and a waist One end of the shaft 61 is fixed and a housing (main body portion) 63 that accommodates the rotating plate 62, and a retaining portion 64 that is fixed to the other end of the waist shaft 61 and prevents the rotating plate 62 from being supported by the waist shaft 61 from slipping off. And a holding part 65 for holding the upper end part 3a of the thigh link part 3 and the rotary plate 62 so as to connect the waist joint part 6 and the thigh link part 3 together.
- the mounting plate 60 is fixed to the rotating plate 62 so as to be able to be attached and is attached to the waist mounting belt 2 so as to face the pad portion 21a.
- Each member constituting the hip joint portion 6 is formed by processing a metal material such as aluminum or magnesium into a predetermined shape using a known processing technique (for example, machining). In other embodiments, each member constituting the waist joint portion 6 may be formed from other materials such as engineering plastics.
- the housing (main body portion) 63 has a generally circular, shallow vessel shape, and a waist shaft 61 is erected at a substantially central portion inside the housing 63.
- a resin layer 61b for reducing friction with the peripheral surface of the shaft hole 62b of the rotary plate 62 is formed on the peripheral surface of the waist shaft 61.
- the rotating plate 62 has a substantially disk shape and is made of a metal material.
- the rotation plate 62 is provided in a substantially disc-shaped main body portion 62a, a through-hole-shaped shaft hole 62b through which the waist shaft 61 is inserted, and a substantially disc-shaped main body portion 62a.
- It has at least one set of through-holes provided, and includes fixing holes 62c and 62c arranged at locations facing each other with the shaft hole 62b interposed therebetween.
- five sets (that is, a total of ten) of the fixing holes 62 c are provided in the main body portion 62 a of the rotating plate 62.
- the angle ⁇ x formed between the straight holes connecting the center O and the center of each fixed hole 62c between the fixed holes 62c and 62c adjacent to each other along the circumferential direction of the rotating plate 62 is 15 Set to °.
- the fixing hole 62c is used when the attachment plate 60 is fixed to the rotating plate 62 using a screw-like fixing member (not shown).
- a disc-shaped retaining part 64 having a diameter larger than the diameter of the waist shaft 61 is attached to the other end of the waist shaft 61.
- Screw holes 61 a and 64 a through which screw-like fixing members (not shown) are inserted are respectively provided at the centers of the waist shaft 61 and the retaining portion 64.
- a screw-like fixing member (not shown) is inserted into the screw holes 61 a and 64 a and screwed thereto, whereby the retaining portion 64 is fixed to the other end of the waist shaft 61.
- the retaining plate 64 prevents the rotating plate 62 pivotally supported by the waist shaft 61 from being unnecessarily detached from the waist shaft 61 during use of the walking assist device 1 or the like.
- the mounting plate 60 will be described. As described above, the attachment plate 60 is attached to the waist attachment belt 2 at the upper end side. The lower end side of the mounting plate 60 is fixed to a rotating plate 62 that is pivotally supported with respect to the waist shaft 61. Although the mounting plate 60 has a generally rectangular shape as a whole, the lower end side thereof has a shape (that is, an arc shape) following the arc-shaped peripheral shape of the housing 63.
- the mounting plate 60 is formed from a plastic material or a metal material. In the case of this embodiment, the mounting plate 60 is formed from a resin material such as acrylic, ultrahigh molecular weight polyethylene, or polycarbonate.
- the mounting plate 60 includes a plate-shaped (plate-shaped) main body portion 60 a, a through-hole-shaped exposed portion 60 b that exposes the retaining portion 64 fixed to the waist shaft 61, and the mounting plate 60 with respect to the rotating plate 62. And a fixing hole 60c used for fixing.
- the mounting plate 60 and the rotating plate 62 are overlapped so that the fixing hole 60c of the mounting plate 60 and the fixing hole 62c of the rotating plate 62 overlap each other.
- the mounting plate 60 is provided with at least one set of fixing holes 60c (that is, two fixing holes 60c) facing each other with the exposed portion 60b interposed therebetween. Yes.
- the two fixing holes 60c included in the mounting plate 60 overlap with the set of fixing holes 62c1 and 62c1.
- the plate 62 and the mounting plate 60 are overlapped.
- a bolt-shaped fixing member (not shown) is inserted into the fixing hole 62c (62c1) and the fixing hole 60c that overlap each other.
- the fixing hole 62c provided in the rotary plate 62 is provided with a space 62g for accommodating a nut-like fixing member (not shown). Therefore, after the nut-like fixing member is accommodated in the space 62g, the bolt-like fixing member is inserted into the fixing hole 60c of the mounting plate 60 and the fixing hole 62c of the rotating plate 62, and the nut-like fixing member is inserted.
- the mounting plate 60 is fixed to the rotating plate 62 by being screwed to the fixing member.
- the attachment plate 60 is attached to the waist shaft 61 in a state of being freely rotatable (oscillated) in the front-rear direction, like the rotary plate 62.
- the rotating plate 62 is provided with a cam portion 62d that constitutes the torque generator 9, as will be described later.
- a resin-made sliding portion 62f that forms an annular shape surrounding the shaft hole 62b is formed on the outer surface (the surface facing the housing 63) of the rotating plate 62, and by this sliding portion 62f, Friction between the rotating plate 62 and the housing 63 and wear of the rotating plate 62 and the like are reduced.
- the holding portion 65 is formed integrally with the lower end portion of the housing (main body portion) 63.
- the holding part 65 has a rectangular tube shape that opens downward as a whole.
- an insertion hole 65a into which the upper end portion 3a of the thigh link portion 3 is inserted is provided.
- the upper end portion 3 a of the thigh link portion 3 is fixed to the insertion hole 65 a of the holding portion 65 using an adhesive or the like. In this way, the upper end portion 3a is fixed to the insertion hole 65a, whereby the holding portion 65 can hold the thigh link portion 3.
- the waist joint portion 6 can hold the thigh link portion 3 in a state of being freely rotatable (swinging) in the front-rear direction around the waist shaft 61 while being attached to the waist mounting belt 2. it can.
- FIG. 8 is a cross-sectional view of the knee joint 7 and corresponds to a cross-sectional view taken along the line LL ′ of FIG.
- the knee joint portion 7 is a portion that connects the thigh link portion 3 and the crus link portion 4 in a state in which the thigh link portion 3 and the crus link portion 4 are freely rotatable (oscillated).
- the knee joint portion 7 includes a substantially cylindrical knee shaft 71, a crus side knee joint portion 72 that holds the upper end portion 4 a of the crus link portion 4, and a thigh side knee that holds the lower end portion 3 b of the thigh link portion 3.
- shaft 71 with respect to the thigh side knee joint part 73 are provided.
- the crus side knee joint part 72 and the thigh side knee joint part 73 are in a state of being able to rotate (swing) with respect to each other via the knee shaft 71 while overlapping each other.
- the lower leg side knee joint part 72 and the thigh side knee joint part 73 of the present embodiment are both formed in a predetermined shape from a metal material such as aluminum using a known processing technique (for example, machining).
- an insertion hole 71a through which a screw-like fixing member 74 is inserted is provided at the center of the knee axis 71 (on the axis P).
- the diameter of the knee shaft 71 is set to be larger at the other end on the opposite side than one end disposed on the thigh-side knee joint portion 73 side.
- the portion 71 b having a large diameter prevents the crus-side knee joint 72 pivotally supported by the knee shaft 71 from coming off the knee shaft 71 and coming out.
- a resin layer 71c is formed on the peripheral surface of the one end of the knee shaft 71 having a small diameter for the purpose of reducing friction.
- the crus side knee joint part 72 is a part that mainly overlaps the thigh side knee joint part 73 and is a substantially disc-shaped main body part 72a, and a part connected to the lower end of the main body part 72a, and the crus link part 4 And a holding portion 72b for holding the upper end portion 4a.
- the main body 72a is provided with a through-hole-shaped shaft hole 72d through which the knee shaft 71 is inserted.
- the shaft hole 72d has a larger inner diameter on the opposite side than the thigh-side knee joint part 73 side, and the diameter of the knee shaft 71 is in the portion of the shaft hole 72d where the inner diameter is set larger.
- the part 71b set large is accommodated. And the part by which the diameter of the knee axis
- the holding portion 72b is generally formed in a rectangular tube shape that opens downward, and is formed integrally with the main body portion 72a.
- An insertion hole 72c into which the upper end portion 4a of the crus link portion 4 is inserted is provided at the lower end of the holding portion 72b.
- the upper end portion 4a of the lower leg link portion 4 is fixed to the insertion hole 72c provided in the holding portion 72b using an adhesive or the like. As described above, the upper end 4a is fixed to the insertion hole 72c, so that the holding portion 72b of the crus knee joint portion 72 can hold the crus link portion 4.
- the thigh-side knee joint portion 73 is a portion that mainly overlaps the crus-side knee joint portion 72 and is a substantially disc-shaped main body portion 73a and a portion that is connected to the upper end of the main body portion 73a, and is the thigh link portion 3.
- maintenance part 73b holding the lower end part 3b of this is provided.
- the main body 73a is provided with a bottomed shaft hole 73d into which a tip end portion of a screw-like knee shaft 71 is inserted and screwed.
- the shaft hole 73 d is provided on the axis P of the knee shaft 71.
- the holding portion 73b is generally formed in a rectangular tube shape opened upward, and is integrally formed with the main body portion 73a.
- An insertion hole 73c into which the lower end portion 3b of the thigh link portion 3 is inserted is provided at the upper end of the holding portion 73b.
- the lower end portion 3b of the thigh link portion 3 is fixed to the insertion hole 73c provided in the holding portion 73b using an adhesive or the like. In this way, the lower end 3b is fixed to the insertion hole 73c, whereby the holding portion 73b of the thigh-side knee joint portion 73 can hold the thigh link portion 3.
- the knee joint portion 7 connects the thigh link portion 3 and the crus link portion 4 in a state in which the thigh link portion 3 and the crus link portion 4 are rotatable (oscillated) with each other via the knee shaft 71 (centering on the knee shaft 71) It has become.
- a resin-made sliding portion is provided at a portion where the lower leg side knee joint portion 72 and the thigh side knee joint portion 73 are in contact with each other for the purpose of reducing friction and wear between them. May be.
- FIG. 9 is an enlarged view of the thigh contact portion 8 as viewed from the rear.
- the thigh contact portion 8 is a portion that is assigned to the thigh U11 of the user's right leg U1 and supports the thigh U11.
- the size of the thigh contact portion 8 is smaller than the above-described crus mounting portion 5 and generally forms a flat shape in the front-rear direction and is curved along the side shape of the thigh U11. ing.
- the thigh contact portion 8 is made of a synthetic resin processed into a predetermined shape, like the crus mounting portion 5.
- the thigh contact portion 8 is a curved flat contact portion 81 addressed to the thigh U11, and a columnar fixing portion that is erected on the contact portion 81 and fixed to the main body portion 3c of the thigh link portion 3. 83.
- the contact portion 81 is provided with an opening 82 for the purpose of reducing the weight.
- the thigh contact portion 8 is fixed to the thigh link portion 3 using the fixing portion 83 so that the contact portion 81 is directed to the thigh U11 and is interposed between the thigh link portion 3 and the thigh U11. ing.
- the thigh link portion 3 is provided with through holes 32d and 31d.
- a screw-like fixing member 84 (see FIG. 1) is inserted into the through holes 32d and 31d, and the fixing member 84 is connected to the thigh contact portion.
- the thigh contact portion 8 is fixed to a predetermined portion of the thigh link portion 3 by being screwed to the eight fixing portions 83.
- the thigh contact portion 8 is attached to the thigh link portion 3 so as to be directed to the portion of the thigh U11 that is above the center portion of the thigh U11 in the height direction (vertical direction). Yes. Further, the thigh contact portion 8 is set so as to be directed to the substantially central portion of the thigh U11 in the front-rear direction.
- the angle of the contact portion 81 of the thigh contact portion 8 can be adjusted as appropriate by changing the fixing angle of the fixing portion 83.
- the attachment position of the thigh contact portion 8 with respect to the thigh link portion 3 may be set so that the thigh contact portion 8 is directed to a portion below the center portion of the thigh U11.
- the attachment position of the thigh contact portion 8 with respect to the thigh link portion 3 may be set so that the thigh contact portion 8 is directed to the outermost portion of the thigh U11.
- the attachment position of the thigh contact portion 8 with respect to the thigh link portion 3 may be set so that the thigh contact portion 8 is at least addressed to the thigh U11.
- the user U wearing the walking support machine 1 can easily maintain the standing posture when standing up. Due to the support effect of the three points comprising the waist attachment belt 2, the lower leg attachment portion 5 and the thigh contact portion 8, the user U can balance the one leg standing on the right leg U1 to which the walking support device 1 is attached (the balance in the left-right direction). ). Such stabilization of the right and left balance in the right leg U1 is such that the right leg U1 becomes a support leg (landing side leg) even when the user U walks with the walking assist device 1 attached. It is thought that it is obtained sometimes. In addition, the user U can easily transmit force from the walking support device 1 to the right leg U1 through the thigh contact portion 8 together with the lower leg mounting portion 5 during walking.
- the torque generator 9 is a device that generates joint torque around the waist axis 61 using a cam-spring mechanism. As shown in FIGS. 6 and 7, the torque generator 9 mainly includes a compression spring 91, a columnar determining portion 92 that contacts one end of the compression spring 91 and determines the position of the one end, and a compression spring. A displacement portion 93 that comes into contact with the other end of 91 and is displaced according to the expansion and contraction of the compression spring 91, a cam follower (roller follower) 94 connected to the displacement portion 93, and a cam follower 94 so that the compression spring 91 is compressed.
- a compression spring 91 mainly includes a compression spring 91, a columnar determining portion 92 that contacts one end of the compression spring 91 and determines the position of the one end, and a compression spring.
- a displacement portion 93 that comes into contact with the other end of 91 and is displaced according to the expansion and contraction of the compression spring 91, a cam follower (roll
- the outer peripheral surface 62e includes a peripheral surface 62e whose distance from the waist axis 61 varies in the circumferential direction.
- a cylindrical accommodation portion 95 that accommodates the displacement portion 93 and a cam follower accommodation portion 96 that is connected to the tubular accommodation portion 95 and accommodates a cam follower 94 that is displaced along the expansion / contraction direction of the compression spring 91.
- the compression spring 91 is made of a coil (compression coil spring) having a predetermined spring coefficient, and is accommodated in the cylindrical accommodation portion 95. At one end of the compression spring 91 accommodated in the cylindrical accommodating portion 95, a metal columnar determining portion 92 is disposed. The determining part 92 is disposed in the cylindrical housing part 95 so as to come into contact with one end of the compression spring 91. A spiral screw outer peripheral surface 92 a is formed on the outer peripheral surface of the determining portion 92, and the screw outer peripheral surface 92 a is formed on the inner peripheral surface of the cylindrical housing portion 95. The determination part 92 is fixed in the cylindrical accommodating part 95 by screwing with 95e.
- a minus groove (not shown) is formed on the end face of the determining unit 92.
- the determining unit 92 is cylindrical.
- the position of the end portion of the compression spring 91 (that is, the amount of compression of the compression spring 91) is adjusted by moving up or down in the housing portion 95.
- a lid 97 is attached to one end portion (tip portion) of the cylindrical housing portion 95 so as to be detachable from the cylindrical housing portion 95.
- the lid portion 97 closes the opening 95b at the tip of the cylindrical housing portion 95, and has a screw surface that can be screwed with the screw inner peripheral surface 95e on the outer peripheral surface.
- the lid portion 97 When adjusting the position of the determining portion 92 (that is, the end position of the compression spring 91), the lid portion 97 is appropriately removed from the cylindrical housing portion 95. It is attached so as to close the opening 95b.
- the torque generator 9 used for the walking assistance machine 1 there is an opportunity to adjust the generated torque relatively frequently. For example, the torque to be generated is finely adjusted as appropriate according to the physical condition of the user U (the degree of functional recovery of the affected leg, the degree of fatigue, etc.) and the place where he / she walks (flat ground, inclined ground, etc.) There is a need. Therefore, as in the present embodiment, it is necessary to appropriately adjust the position of the determination unit 92 that determines the amount of compression of the compression spring 91 with the above-described configuration.
- the displacement portion 93 is disposed on the other end side (root side) of the cylindrical housing portion 95, contacts the other end of the compression spring 91, and sandwiches the compression spring 91 with the determination portion 92. It has become. Further, the displacement portion 93 is a portion that displaces in the cylindrical housing portion 95 along the expansion / contraction direction of the compression spring 91 (the axial direction of the tubular housing portion 95).
- a cam follower 94 having a roller portion 94a that is pressed against the outer peripheral surface 62e of the cam portion 62d is attached to the displacement portion 93.
- the roller portion 94a is attached to the shaft portion 94b fixed to the displacement portion 93 in a rotatable state.
- a cam follower accommodating portion 96 that accommodates the roller portion 94 a of the cam follower 94 is provided on the base side of the cylindrical accommodating portion 95.
- the cam follower accommodating portion 96 accommodates the roller portion 94a of the cam follower 94 so that it can be displaced (lifted / lowered) along the axial direction of the cylindrical accommodating portion 95 (the expansion / contraction direction of the compression spring 91).
- the cam portion 62 d is formed integrally with the rotating plate 62 and is made of the same metal material as the rotating plate 62.
- the rotating plate 62 has a substantially disk shape, and its peripheral portion has an arc shape.
- An outer peripheral surface (cam surface) 62e of the cam portion 62d is formed so as to be assigned to the arcuate peripheral portion of the rotating plate 62.
- the cam portion 62d has a substantially semicircular shape, but generally the distance from the center O of the waist shaft 61 to the outer peripheral surface 62e gradually increases from the front to the rear in the circumferential direction. , Is set to be larger. In the present embodiment, as shown in FIG.
- the rotating plate 62 is pivotally supported by the waist shaft 61 such that the cam portion 62 d faces obliquely downward in the front.
- the radius r1 on the front side of the cam portion 62d is compared with the radius r2 on the rear side, the radius r2 is larger.
- the cam portion 62d is provided on a rotating plate 62 that is rotatably supported with respect to the waist shaft 61, and the rotating plate 62 is fixed to the mounting plate 60 as described above. That is, the cam portion 62d is fixed in a state where the attachment position (angle) is positioned with respect to the attachment plate 60.
- the mounting angle of the cam portion 62d can be changed by appropriately adjusting the mounting angle of the rotating plate 62 with respect to the mounting plate 60. Specifically, the fixing holes 62c and 62c overlapped with the fixing holes 60c and 60c of the mounting plate 60 from a plurality of sets (five sets in this embodiment) of the fixing holes 62c and 62c provided in the rotating plate 62. The fixing plate 62 and the mounting plate 60 are fixed together with the selected fixing holes 62c and 62c and the fixing holes 60c and 60c of the mounting plate 60 by using a predetermined fixing member. The mounting angle of the cam part 62d can be changed.
- the relative positional relationship between the roller portion 94a of the cam follower 94 and the outer peripheral surface 62e of the cam portion 62d is changed.
- the roller portion 94a of the cam follower 94 can move in the front-rear direction along the outer peripheral surface 62e of the cam portion 62d in accordance with the movement of the thigh link portion 3 that rotates (swings) in the front-rear direction about the waist shaft 61. It has a configuration.
- the front end 62d1 and the rear end 62d2 of the cam portion 62d are each protruding in a convex shape. That is, in the section sandwiched between the front end 62d1 and the rear end 62d2, the outer peripheral surface 62e of the cam portion 62d has a distance from the front to the outer peripheral surface 62e from the center O of the waist shaft 61 as described above. It gradually increases toward the rear. However, the distance between the front end 62d1 and the rear end 62d2 is set to be larger than that of the other portions so that the roller portion 94a of the cam follower 94 does not get over the front end 62d1 and the rear end 62d2.
- the torque generated by the torque generator 9 acts on the thigh link portion 3 so as to move the thigh link portion 3 forward.
- the walking assist device 1 of the present embodiment is provided with the torque generating device 9 so that the thigh link portion 3 and the lower thigh link portion 4 can be easily swung forward, and the knee joint of the user U is bent along with it. It is easy to do. As a result, the user U becomes difficult to trip during walking.
- the walking assist device 1 of the present embodiment is a two-link system having a thigh link portion 3 and a crus link portion 4.
- the walking assist device 1 is based on passive walking, and the lumbar axis 61 of the lumbar joint portion 6 and the knee axis 71 of the knee joint portion 7 are both uniaxial (pitch axis).
- the walking assist device 1 has one pad portion 21a addressed to the right waist side portion U31 and the other pad portion 21b addressed to the left waist side portion U32.
- the waist attachment belt 2 is attached to the waist U3 of the user U.
- the waist attachment belt 2 is attached so as to be wound around the waist U3 of the user U.
- the tightening degree of the waist mounting belt 2 is adjusted so that the pad portions 21a and 21b are in close contact with the waist side portions U31 and U32.
- the tightening degree of the waist belt 2 can be adjusted by appropriately changing the lengths of the right belt portion 22a and the left belt portion 22b of the adjustment portion 22.
- the user U may perform such wearing of the waist mounting belt 2 while sitting on a chair or the like or standing up.
- the waist mounting belt 2 is mounted so that the position of the waist shaft 61 is slightly shifted from the position of the greater trochanter of the user U's pelvis.
- the waist mounting belt 2 and the waist joint portion 6 are fixed in a detachable state using a hook-and-loop fastener. Therefore, the position of the waist shaft 61 can be adjusted to a desired position by appropriately adjusting the attachment position of the attachment plate 60 of the waist joint part 6 with respect to the waist attachment belt 2 (accommodating part 23).
- the waist U3 may be extremely bent, and it may be difficult to determine the mounting position of the waist joint portion 6 with respect to the waist mounting belt 2 in advance.
- the waist joint portion 6 can be attached to and detached from the waist attachment belt 2, so that the position of the waist shaft 61 can be adjusted as appropriate.
- the force is easily transmitted to the right leg U1. It has been confirmed by the present inventors' research that the right leg U1 is swung in a more natural form.
- the user U inserts the vicinity of the ankle into the lower leg mounting portion 5 in a slightly bent state. Thereafter, when the user U maintains the standing posture by raising the upper body with the lower leg U12 inserted into the lower leg attachment part 5, the lower leg attachment part 5 moves upward and the inner surface of the lower leg attachment part 5 is used.
- the lower leg mounting part 5 is mounted on the lower leg U12 in conformity with the front and rear sides of the lower leg U12 of the person U.
- the walking support device 1 is attached to the user.
- the thigh contact portion 8 is automatically addressed to a predetermined location on the user's U thigh U11 when the attachment of the waist attachment belt 2 and the lower leg attachment portion 5 is completed.
- the walking support device 1 can be easily mounted, and can be completed in a few seconds.
- the walking support device 1 is previously separated from the waist wearing belt 2 and the other parts, and they are attached separately to the user U, and then they are attached to each other.
- the method of fixing with a hook-and-loop fastener is also mentioned.
- the thigh link portion 3 and the crus link portion 4 are arranged substantially straight along the vertical direction. If the walking assist device 1 of the present embodiment is mounted, the user U can support the affected leg on the right leg U1 by the support effect of the three points including the waist mounting belt 2, the lower leg mounting part 5 and the thigh contact part 8. It becomes easy to maintain the balance when standing on one foot (the balance in the left-right direction), and can stand up in a stable state. As described above, the walking support device 1 of the present embodiment is provided with the thigh contact portion 8 that supports the thigh U11 from the outside in the thigh link portion 3.
- the stability of the right leg U1 is improved, and the above-described three-point support effect is obtained.
- the one leg stands on the right leg U1 to which the walking assist device 1 is attached. This makes it easy to maintain the balance and makes it possible to stand up in a stable state.
- the posture of the user U becomes unstable when only one right leg U1 stands with the thigh contact portion 8 removed from the thigh link portion 3.
- the walking assistance device 1 may be used as necessary with the thigh contact portion 8 removed.
- the cylindrical accommodating part 95 of the torque generator 9 is provided in the form connected to the housing 63 of the waist joint part 6 so that it may face diagonally downward ahead. Therefore, when the standing user U sits on a chair or the like, the cylindrical housing portion 95 is prevented from interfering with the chair or the like. Further, when the user U in the walking state shakes his / her hand back and forth, the hand is prevented from interfering with the cylindrical housing portion 95.
- FIG. 10 is an explanatory diagram schematically illustrating a state in which the user U walks with the walking assistance device 1 attached.
- FIG. 10 shows a state in which the left leg (healthy leg) U2 has landed on the ground X as a support leg, and the right leg (affected leg) U1 to which the walking assist device 1 is attached is separated from the ground X as a free leg.
- the walking assistance device 1 of the present embodiment is based on passive walking, and the user's left leg U2 is connected to the walking assistance device 1 attached to the right leg U1 via the waist U3 (pelvis). Is considered to be.
- the pad portion 21a of the waist mounting belt 2 allows the movement (force) of the left leg (healthy leg) U2 to be attached via the mounting plate 60 (the waist joint portion 6) that is attached to face the pad portion 21a. It has a function of transmitting to the thigh link part 3 and the crus link part 4.
- the walking assist device 1 attached to the right leg U1 naturally performs a leg motion that alternately repeats the movement of the free leg and the movement of the support leg. That is, the user U supports the leg movement in the walking motion of the right leg U1 by the walking support machine 1 by transmitting the movement of the left leg U2 which is a healthy leg to the walking support machine 1 attached to the right leg U1. (Assisted).
- the walking assist device 1 of the present embodiment includes the torque generator 9 based on the cam-spring function as described above. Therefore, during swinging of the right leg U1, swinging out of the right leg U1 is more strongly promoted by the torque generated by the torque generator 9. This is because the elastic energy stored in the compression spring 91 is used. It should be noted that elastic energy is stored in the compression spring 91 in the latter half of the supporting time of the right leg U1. At this time, the right leg U ⁇ b> 1 is prevented from falling forward, but as a result, the impact when the left leg U ⁇ b> 2 lands on the ground X at the time of the free leg is alleviated.
- the knee joint part 7 of the walking support machine 1 bends ahead of the knee joint of the right leg U1. become.
- the walking assisting device 1 can lead the leg movement of the right leg U1, the force (torque) is efficiently transmitted to the right leg U1, and the knee joint of the right leg U1 can be easily bent. This has been confirmed by the inventor's research.
- the angle at which the lower leg mounting portion 5 is tilted backward with respect to the longitudinal direction of the lower leg link portion 4 is not particularly limited, but is preferably 15 ° to 30 °, for example.
- FIG. 11 is an explanatory diagram showing torque characteristics of the torque generator 9.
- the horizontal axis (cam follower angle ⁇ 1) of the graph shown in FIG. 11 is a straight line C ′ passing through the center line M of the cam portion 62d passing through the center O of the waist shaft 61, the center of the cam follower 94, and the center O of the waist shaft 61.
- the vertical axis of the graph represents the torque (Nm) generated around the waist axis 61.
- the attachment plate 60 attached to the waist attachment belt 2 attached to the waist U3 is also upright in the substantially vertical direction G.
- the cam follower 94 is disposed at an angle of 20 ° forward with respect to the vertical direction G.
- the mounting position of the cam portion 62d (the mounting position of the rotating plate 62) is set so that the cam follower 94 is disposed at an angle of ⁇ 20 ° rearward from the center line M of the cam portion 62d.
- the mounting position of the cam portion 62d (the mounting position of the rotating plate 62) is set so that the cam follower 94 is arranged at an angle of ⁇ 35 ° rearward from the center line M of the cam portion 62d.
- the cam follower 94 moves from -55 ° to -15 °, Torque is generated in the angle interval of ⁇ 1, and a higher torque region than the generated torque is used.
- the use torque area of the torque generator 9 can be changed by changing the moving section of the cam follower 94 with respect to the outer peripheral surface 62e. Therefore, the user U can appropriately adjust the use torque region of the torque generator 9 by appropriately changing the moving section of the cam follower 94 according to the use situation or the like.
- the walking assistance machine 1 of this embodiment can change the position of the determination part 92 in the cylindrical accommodating part 95 suitably with the spring compression amount of the compression spring 91 using tools, such as a driver. it can. That is, by changing the position of the determination unit 92, the amount of spring compression of the compression spring 91 can be easily adjusted, and consequently, the torque generated by the torque generator 9 can be adjusted.
- the walking assist device 1 of the present embodiment has a function of teaching the user U the correct walking motion.
- the walking assist device 1 of the present embodiment is based on the principle of passive walking that is considered to be closest to a human walking motion. For example, when one leg (the right leg U1) is an affected leg as in the user U of the present embodiment, the right leg U1 that is the affected leg is moved outwardly during the swinging leg even if the walking motion is to be performed correctly. It is known to move from the rear to the front while drawing an arc that expands. However, if the walking support device 1 of the present embodiment is mounted, the movement of the affected leg (right leg U1) of the user U is prevented from spreading outward by the walking support device 1. And is correctly guided in the front-rear direction.
- the thigh link portion 3 includes a pair of members (a thigh inner member 31 and a thigh outer member 32) formed by processing a metal plate member into a predetermined shape. It consists of a combination of shapes. Such a thigh link portion 3 is lighter than, for example, a thigh link portion made of a metal rod-like member, and can greatly reduce the burden on the user U. In the walking support machine 1 of the present embodiment, the same configuration as that of the thigh link portion 3 is adopted for the crus link portion 4.
- the crus link part 4 is also lighter than, for example, a crus link part made of a metal rod-like member, and the burden on the user U can be greatly reduced. Moreover, since the thigh link part 3 and the crus link part 4 are reduced in weight in this way, the walking assistance machine 1 of this embodiment is convenient for carrying around.
- the thigh link portion 3 is reinforced so that the inner convex portion 31b and the outer convex portion 32b of each member improve the strength of the thigh link portion 3 in particular. It functions as a member. Therefore, such a thigh link portion 3 has a structure that can be thinned while ensuring sufficient strength for the walking support device 1. Moreover, in the walking support machine 1 of this embodiment, since the same structure as the thigh link part 3 is employ
- the walking assistance machine 1 of this embodiment is provided with the thigh link part 3 and the crus link part 4 of the structure as mentioned above, the user U is wearing the walking assistance machine 1 and the waist U3.
- the direction (front-rear direction) of the user U can be changed while rotating. For example, when the user U wears the walking support device 1 and tries to rotate the body (waist U3) so that the left shoulder moves backward and the right shoulder moves forward (counterclockwise). (When trying to screw), the thigh link portion 3 disposed on the side of the thigh U11 of the right leg U1 and the crus link portion 4 disposed on the side of the lower leg U12 of the right leg U1, Each twisting force is applied.
- both the thigh link part 3 and the crus link part 4 of this embodiment have a structure that can be elastically deformed in a twisting direction to some extent, so that the user U tries to rotate the body (waist U3). It is difficult to prevent the movement. Therefore, the user U can also move the right leg U1 to which the walking assist device 1 is attached in conjunction with the movement of rotating the body (waist U3) as described above. As a result, the user U can rotate and move so as to twist his / her body in a narrow space (for example, a passage space in a kitchen or a private room space of a lavatory) while wearing the walking assist device 1. . Moreover, it is also possible for the user U1 to rotate in a state reverse to that described above (that is, in a clockwise direction) with the walking assistance device 1 being worn.
- the walking support device 1 of this embodiment has a high function of teaching the user U the correct walking motion.
- the walking assist device 1 of the present embodiment is based on the principle of passive walking, which is the closest to a human walking motion.
- the walking assist device 1 of the present embodiment includes the thigh link portion 3 and the crus link portion 4 having a structure that can be elastically deformed in the twisting direction.
- the walking assist device 1 has a high function of teaching the user U a correct walking motion.
- the cam portion 62d provided in the torque generating device 9 is pivotally supported in a state in which it can rotate (swing) in the front-rear direction with respect to the waist shaft 61 provided in the waist joint portion 6.
- the rotating plate 62 is fixed to the mounting plate 60.
- the cam portion 62d is not a single component, but the hip joint portion 6 to which the thigh link portion 3 is connected and the mounting plate 60 attached to the waist mounting belt 2 can be rotated (swinged) with respect to each other.
- the cam portion 62d provided in the torque generating device 9 is made of metal, so that the roller portion 94a of the cam follower 94 is suppressed from being sunk into the cam portion 62d.
- the cam portion 62d is made of metal, the cam portion 62d is not easily worn.
- the attachment angle with respect to the cam follower 94 of the cam part 62d with which the torque generator 9 is provided is adjusted by changing the attachment angle with respect to the attachment plate 60 of the rotating plate 62 suitably.
- the rotating plate 62 is provided with five sets of fixing holes 62 c and 62 c, and each set is shifted by 15 ° in the circumferential direction of the rotating plate 62. Has been placed. Therefore, in the case of this embodiment, the attachment angle of the cam part 62d with respect to the cam follower 94 can be adjusted every 15 °.
- the crus side knee joint portion 72 and the thigh side knee joint portion 73 constituting the knee joint portion 7 are located via the knee shaft 71 when the walking assist device 1 is not worn. (With the knee axis 71 as the center), they can rotate up to 360 ° relative to each other. Therefore, for example, the crus link part 4 and the thigh link part 3 can be arranged so that the crus link part 4 and the thigh link part 3 overlap each other. Therefore, the walking assistance device 1 of the present embodiment can be folded small.
- the waist mounting belt 2 is configured to be mounted in a form that is wound around the waist U3 of the user U.
- the waist mounting belt 2 has a structure in which the waist U3 of the user U is sandwiched between the pad portions 21a and 21b from the left and right directions.
- the attachment plate 60 provided in the waist joint portion 6 is attached to the accommodation portion 23 of the waist attachment belt 2 using a hook-and-loop fastener.
- the walking assistance device 1 of this embodiment having such a configuration can support the thigh link portion 3 and the lower leg link portion 4 of the walking assistance device 1 only by the waist mounting belt 2.
- a belt-like member whose both ends are connected to the waist mounting belt 2 and suspended from the shoulder of the user U may be used as an auxiliary.
- the torsion characteristic in the thigh link part 3 and the crus link part 4 of the walking assistance machine 1 of this embodiment is demonstrated.
- the thigh link portion 3 and the crus link portion 4 are obtained by combining two long processing members made of a thin metal plate material into a cylindrical shape (columnar shape) so as to have a space inside. (Hereinafter sometimes referred to as “hollow leg member”).
- the lower limbs of a human (user U) can usually be twisted (twisted) in the range of about 40 to 50 ° from the front side to the outside and inside. Also, the human lower limb can usually generate a torsional torque of about 1 Nm.
- the thigh link portion 3 and the crus link portion 4 of the walking assist device 1 are twisted in both the left and right directions around the axis (rotation axis) along the longitudinal direction in the torsional range of the lower limbs of the human (user U). Can be elastically deformed.
- FIG. 12 is an explanatory diagram of a graph showing the relationship between the torsion angle ⁇ (°) in the hollow leg member and the torsion torque ⁇ (Nm) generated.
- the horizontal axis of the graph of FIG. 12 indicates the torsion angle ⁇ (°), and the vertical axis thereof indicates the torsion torque ⁇ (Nm).
- a straight line X1 shown in FIG. 12 corresponds to the relationship between the torsion angle ⁇ (°) in the hollow leg member and the generated torsion torque ⁇ (Nm).
- the hollow leg member the one used for the thigh link portion 3 (length 40 cm) was used.
- the hollow leg member can be elastically deformed if the torsion angle ⁇ (°) is in the range of 0 ⁇ ⁇ ⁇ 70, and if it exceeds that range, it is plastically deformed.
- the angle (torsion angle) ⁇ (°) at which the hollow leg member can be twisted is in the range of 0 ⁇ ⁇ ⁇ 50 from the range of torsional torque normally generated by humans ( ⁇ 1 Nm).
- the range in which elastic deformation is possible that is, the twist angle ⁇ (°) at which the hollow rigid member can be elastically twisted about the axis along the longitudinal direction is in the range of 0 ⁇ ⁇ ⁇ 70. Therefore, if it is this range, a hollow leg member can be used in the state which can be elastically deformed.
- FIG. 12 also shows a graph X2 in the case of a solid leg member formed by cutting an aluminum material as a comparison object.
- the angle (torsion angle) ⁇ (°) at which the solid leg member can be twisted is substantially 0 from the range of torsional torque generated by the human ( ⁇ 1 Nm).
- ⁇ 1 Nm the range of torsional torque generated by the human
- the thigh link part 3 and the crus link part 4 of the walking assist device 1 have a characteristic (twist torsion) that is moderately easily twisted and moderately twisted during walking of the human (user U) (including change of direction). Rigidity). As a result, the walking motion of the user U wearing the walking assist device 1 can be corrected without being restricted.
- the leg (lower leg) can be sufficiently twisted with a torque of about 1 Nm. Therefore, the twisting operation is restricted.
- the torsional rigidity of the thigh link part and the crus link part is too low, an appropriate torque for returning the leg (lower limb) of the human (user U) to the normal position is not generated and the twisted part remains to be twisted. turn into.
- the thigh link portion 3 and the crus link portion 4 of the walking support machine 1 are elastically twisted in the range of + 70 ° to ⁇ 70 ° with the axis along the longitudinal direction as the center.
- the case of twisting to the outside of the leg (lower limb) is represented as +
- the case of twisting to the inside is represented as-.
- FIG. 13 is an enlarged view of the thigh contact portion 8 ⁇ / b> A in a state viewed from the rear in the walking assist device of the second embodiment.
- the thigh contact portion 8A made of an elastic body is used as the portion addressed to the user's U thigh U11.
- the thigh contact portion 8A is formed, for example, by attaching an elastic body so as to cover the surface of the thigh contact portion 8 of the first embodiment.
- an elastic body used for the thigh contact portion 8A an elastic body made of a delayed elastic resin foam that easily follows the surface shape of the thigh U11 is particularly preferable.
- an elastic body used for Tempur (registered trademark) processed into a predetermined shape may be used as the elastic body of the present embodiment.
- the thigh contact portion 8A made of such an elastic body is restrained from excessively concentrating force on the thigh U11 when the walking assist device is mounted. Therefore, the user U is less likely to feel pain due to contact even if the thigh contact portion 8A is in contact with the thigh U11.
- the thigh contact portion 8 of the first embodiment is made slightly smaller, and the above-described elastic body is attached to the core material fixed to the thigh link portion 3. You may utilize as a contact part. Note that the walking assistance machine of the present embodiment is the same as that of the first embodiment except for the thigh contact portion 8A.
- FIG. 14 is an explanatory view of the lower leg mounting portion 5A used in the walking assist device of the third embodiment as viewed from the front.
- FIG. 15 is an explanatory view of the lower leg mounting portion 5A used in the walking assist device of the third embodiment as viewed from above.
- the walking assist device of the present embodiment has the same configuration as that of the first embodiment except for the lower leg mounting portion 5A.
- the lower leg mounting part (tibial cuff) 5A is a part to be attached to the lower leg U12 of the right leg U1 of the user U, and is generally U-shaped and embraces the lower leg U12 from the front-rear direction.
- main body portion 50A of the crus mounting portion 5A has a simple cylindrical shape.
- the portion having such a cylindrical shape is referred to as a main body portion 50A of the crus mounting portion 5A.
- the main body 50A is slightly tapered (tapered) from the top to the bottom.
- the main body part 50A of the lower leg attachment part 5A is viewed in plan from the outside (right side) fixed to the lower leg link part 4, the main body part 50A has an annular (loop-like) member having an opening 5Aa on the inner side.
- the user's lower leg U12 has a curved shape so as to be held in the front-rear direction.
- 50 A of main-body parts are provided with the part divided
- annular main body 50A arranged in two upper and lower stages, only the lower part 50A2 is connected to the base 52A fixed to the crus link part 4, and the upper part 50A1 is separated from the base 52A. It has become a state. Therefore, a gap 5Ac is formed between the upper portion 50A1 and the base 52A.
- the lower leg mounting portion 5A of the present embodiment is made of a synthetic resin processed into a predetermined shape, and has appropriate strength and appropriate elasticity.
- the upper part 50A1 of the main body part 50A is separated from the base part 52A fixed to the lower leg link part 4, and can move to some extent back and forth, right and left and up and down. It has a structure. Therefore, the main body part 50A of the lower leg mounting part 5A can be brought into close contact with the lower leg U12 in a state where it is moderately slightly expanded, and the upper part 50A1 of the main body part 50A is adjusted to some extent according to the movement of the lower leg U12. Can move back and forth, left and right.
- the user's U lower leg U12 (particularly, the upper part of the lower leg U12) is allowed to move to the front and rear, right and left to some extent with respect to the lower leg link part 4.
- the lower leg U12 (front shin part or rear calf part) of the user U hits the crus wearing part 5A too strongly, and pain may occur in the crus U12. It is suppressed.
- the lower leg mounting part 5A is fixed to the inner side of the lower leg link part 4 using two screw-like fixing members 51A and 51A in a removable state.
- the screw-like fixing members 51A and 51A are inserted into through holes 42d and 41d provided in the crus link part 4 and fixed to the crus link part 4.
- the distal ends of the screw-like fixing members 51A and 51A are screwed in such a manner that they are inserted into the base portion 52A of the crus mounting portion 5A.
- FIG. 16 is a perspective view showing the cam adjusting device 100 used in the walking assistance device of the fourth embodiment
- FIG. 17 shows the cam adjusting device 100 used in the walking assistance device of the fourth embodiment as seen from the inside.
- the walking assist device of this embodiment includes a cam adjusting device 100 that adjusts the relative positional relationship between the cam portion 62Bd formed on the rotating plate 62B and the roller portion 94Ba of the cam follower 94B.
- the cam adjusting device 100 mainly includes a servo motor 101, a first pulley 102, a timing belt 103, and a second pulley 104.
- one end of the waist shaft 61B included in the waist joint portion 6B is fixed to the housing 63B, as in the first embodiment.
- the other end of the waist shaft 61B is fixed to the mounting plate 60B.
- the mounting plate 60B of the present embodiment is attached in such a manner that the upper end portion is accommodated in the accommodating portion 23 of the waist mounting belt 2.
- the rotating plate 62B of the present embodiment is pivotally supported by the waist shaft 61B so that it can be rotated (oscillated) in the front-rear direction, but is not fixed to the mounting plate 60B.
- a second pulley (toothed pulley) 104 is pivotally supported on the waist shaft 61B of the present embodiment.
- the second pulley 104 is disposed between the rotating plate 62B and the mounting plate 60B.
- the second pulley 104 is fixed with respect to the rotating plate 62B. That is, when the second pulley 104 rotates on the waist axis 61B, the rotating plate 62B also rotates at the same time.
- the external shape of the main body 62Ba of the rotating plate 62B is the same as that of the first embodiment.
- cam portion 62Bd, the outer peripheral surface (cam surface) 62Be, and the like which are the same as those of the first embodiment, are also formed on the rotating plate 62B of the present embodiment.
- a timing belt (toothed belt) 103 is hung on the second pulley 104.
- the servo motor 101 is attached to the rear portion of the waist mounting belt 2 (the rear portion of the main body portion 21).
- the servo motor 101 rotates a drive shaft (not shown) using electric power supplied from a power supply device (not shown).
- the servo motor 101 is controlled to rotate the drive shaft based on a command from a control device (not shown).
- a first pulley 102 is attached to the tip of a drive shaft provided in the servo motor 101.
- the diameter of the first pulley 102 is set smaller than the diameter of the second pulley 104.
- a timing belt 103 is also laid on the first pulley 102.
- the timing belt 103 that spans the first pulley 102 rotates in conjunction with the timing belt 103.
- the second pulley 104 will rotate. That is, when the second pulley 104 rotates, the rotation plate 62B fixed to the second pulley 104 also rotates, and the position of the cam portion 62Bd provided on the rotation plate 62B with respect to the cam follower 94B (roller portion 94Ba) Will be changed.
- the cam portion 62Bd is connected to the cam follower 94B (roller portion 94Ba).
- the drive shaft of the servo motor 101 is driven to rotate so that the position is shifted by a predetermined angle, and the second pulley 104 is rotated using the timing belt 103.
- the use torque region of the torque generator 9 ⁇ / b> B can be changed using the cam adjusting device 100. That is, in the present embodiment, the use torque region can be changed without disassembling the hip joint portion 6B of the walking support machine.
- the torque characteristics of the torque generator 9B of the present embodiment are the same as the torque characteristics of the first embodiment shown in FIG.
- the torque characteristics of the torque generator 9B are as follows.
- the horizontal axis (cam follower angle ⁇ 1) in the graph shown in FIG. 11 is the cam follower angle ⁇ 2 (the center line M of the cam portion 62Bd passing through the center O of the waist shaft 61B) and the center of the cam follower 94B.
- the attachment plate 60B attached to the waist attachment belt 2 attached to the waist U3 is also in the substantially vertical direction. It becomes an upright state.
- the cam follower 94 ⁇ / b> B is disposed forward at an angle of 20 ° with respect to the vertical direction G as in the first embodiment.
- the mounting position of the cam portion 62Bd (the mounting position of the rotating plate 62) is set so that the cam follower 94B is disposed at an angle of ⁇ 20 ° rearward from the center line M of the cam portion 62Bd.
- the servo motor 101 is driven and the second pulley 104 is rotated so that the cam follower 94B is arranged at an angle of ⁇ 40 ° rearward from the center line M of the cam portion 62Bd, and the cam portion 62Bd
- the attachment position attachment position of the rotating plate 62B
- the cam follower 94B Will move from ⁇ 20 ° to ⁇ 60 °, and torque in the angle section of ⁇ 2 is generated, and a torque range higher than the generated torque is used.
- the cam adjusting device 100 by changing the moving section of the cam follower B94 with respect to the outer peripheral surface 62Be, it is possible to automatically and easily change the use torque region of the torque generating device 9B even during walking. it can.
- FIG. 18 is a side view of the walking assistance machine 1A of the fifth embodiment.
- the walking assist device 1A of the present embodiment mainly includes a waist attachment belt 2, a thigh link portion 3A, a crus link portion 4A, a crus attachment portion 5A, a waist joint portion 6A, a knee joint portion 7A, and a thigh contact. 8A and a torque generator 9 are provided.
- the waist mounting belt 2 and the torque generating device 9 provided in the walking support machine 1A are the same as those in the first embodiment.
- the walking support machine 1A of the present embodiment is configured such that the thigh link portion 3A and the lower leg link portion 4A can be detached from the modularized waist joint portion 6A and knee joint portion 7A.
- FIG. 19 is a side view of the thigh link portion 3A of the fifth embodiment.
- the thigh link portion 3A and the crus link portion 4A are formed by processing a metal plate into a predetermined shape, as in the first embodiment.
- the thigh link portion 3A is composed of a thigh inner member 31A and a thigh outer member 32A combined in a state of facing each other.
- the thigh link portion 3A includes a pair of cylindrical column portions 33A and 34A, and a plate-like connecting portion 35A that is arranged between the cylindrical column portions 33A and 34A and connects the cylindrical column portions 33A and 34A.
- the lower leg link portion 4A is formed by combining the lower leg inner member 41A and the lower leg outer member 42A in a state of facing each other.
- the crus link portion 4A includes a pair of cylindrical column portions 43A and 44A, and a plate-like connecting portion 45A that is arranged between them and connects the cylindrical column portions 43A and 44A.
- the upper end portion 3Aa of the thigh link portion 3A is attached to the holding portion 65A of the waist joint portion 6A in a removable state. Further, the lower end portion 3Ab of the thigh link portion 3A is attached in a detachable state to the thigh side knee joint portion 73A of the knee joint portion 7A. Further, the upper end portion 4Aa of the crus link portion 4A is attached to the crus side knee joint portion 72A of the knee joint portion 7A in a removable state.
- the structures of the knee shaft 71 and the fixing member 74 provided in the knee joint portion 7A are the same as those in the first embodiment.
- FIG. 20 is an exploded perspective view of the vicinity of the knee joint portion 7A in the walking assist device 1A of the fifth embodiment.
- an attachment structure between the lower end 3Ab of the thigh link portion 3A and the thigh-side knee joint 73A of the knee joint 7A will be described with reference to FIG. 20 and the like.
- the thigh-side knee joint portion 73A is a portion that mainly overlaps the crus-side knee joint portion 72A and is a substantially disc-shaped main body portion 73Aa, and a portion that is connected to the upper end of the main body portion 73Aa and is a thigh link portion 3A.
- a holding portion 73Ab that holds the lower end portion 3Ab of the A.
- the holding portion 73Ab includes a first holding portion 173Ab standing on the main body portion 73Aa and a second holding portion 273Ab separate from the first holding portion 173Ab.
- the holding portion 73Ab holds the lower end portion 3Ab of the thigh link portion 3A between the first holding portion 173Ab and the second holding portion 273Ab.
- the lower end portion 3Ab (lower end surface) of the thigh link portion 3A is held in a state of abutting on the upper surface 73Aa1 of the main body portion 73Aa where the first holding portion 173Ab is erected.
- the first holding portion 173Ab is provided with a convex portion 173Ab1.
- the convex portion 173Ab1 is fitted into a groove-shaped portion formed by the cylindrical column portions 33A and 34A of the thigh link portion 3A and the plate-like connecting portion 35A.
- the second holding portion 273Ab is also provided with a convex portion 273Ab1, and the convex portion 273Ab1 is a groove formed by the cylindrical column portions 33A and 34A of the thigh link portion 3A and the plate-like connecting portion 35A. It is fitted to the shaped part.
- the second holding portion 273Ab includes a screw hole 273Ab2 that penetrates the convex portion 273Ab1.
- the through-hole 232Ad which penetrates 35 A of connection parts is provided in lower end part 3Ab of the thigh link part 3A.
- the screw 273 is screwed into the through hole 173Ab2, the through hole 232Ad, and the screw hole 273Ab2.
- the lower end 3Ab of the thigh link portion 3A is held by the holding portion 73Ab so as to be sandwiched between the first holding portion 173Ab and the second holding portion 273Ab while using the screw 273. .
- the thigh link portion 3A can be easily detached from the holding portion 73Ab by loosening the screw 273 and removing the screw 273 from the through hole 173Ab2, the through hole 232Ad, and the screw hole 273Ab2.
- the crus side knee joint part 72A is a part mainly overlapping the thigh side knee joint part 73A and is a part connected to the lower end of the body part 72Aa and a crus link part 4A. And a holding portion 72Ab for holding the upper end portion 4Aa of the head.
- the basic configuration of the holding portion 72Ab in the crus knee joint portion 72A is the same as the holding portion 73Ab in the above-described thigh side knee joint portion 73A.
- the holding portion 72Ab includes a first holding portion 172Ab provided at the lower end of the main body portion 72Aa and a second holding portion 272Ab that is separate from the first holding portion 172Ab.
- the holding portion 72Ab holds the upper end portion 4Aa of the crus link portion 4A between the first holding portion 172Ab and the second holding portion 272Ab.
- the upper end portion 4Aa (upper end surface) of the crus link portion 4A is held in a state where the first holding portion 172Ab is in contact with the lower surface 72Aa1 of the main body portion 72Aa that is erected downward.
- the first holding portion 172Ab includes a convex portion 172Ab1 and a through hole 172Ab2
- the second holding portion 272Ab includes a convex portion 272Ab1 and a screw hole 272Ab2.
- a gap 72Ac that accommodates the upper end portion 4Aa of the crus link portion 4A is provided between the first holding portion 172Ab and the second holding portion 272Ab.
- the size of the gap 72Ac corresponds to the thickness of the upper end portion 4Aa.
- the upper end 4Aa of the lower leg link portion 4A is provided with a through hole 142Ad that penetrates the connecting portion 45A.
- the screw 272 is screwed into the through hole 172Ab2, the through hole 142Ad, and the screw hole 272Ab2.
- the upper end portion 4Aa of the crus link portion 4A is held by the holding portion 72Ab so as to be sandwiched between the first holding portion 172Ab and the second holding portion 272Ab using the screw 272.
- the lower leg link portion 4A can be easily detached from the holding portion 72Ab by loosening the screw 272 and removing the screw 272 from the through hole 172Ab2, the through hole 142Ad, and the screw hole 272Ab2.
- the holding portion 65A of the lumbar joint portion 6A has the same structure as the holding portion 72Ab of the above-described crus knee joint portion 72A, and holds the upper end portion 3Aa of the thigh link portion 3A in a removable state.
- the upper end portion 3Aa of the thigh link portion 3A is provided with a through hole 132Ad that is used when attached to the holding portion 65A of the waist joint portion 6A.
- the lower end 4Ab of the crus link 4A is covered with a protective cap 10A of the same type as that of the first embodiment, as shown in FIG.
- the protective cap 10A is in a detachable (free) state with respect to the lower end portion 4Ab of the crus link portion 4A.
- the walking support device 1A of the present embodiment can replace the thigh link portion 3A and the lower thigh link portion 4A with each other.
- the thigh link portion 3A seven types (an example of a thigh link portion group) having different lengths in the longitudinal direction at intervals of 20 mm are prepared in advance. Specifically, each thigh link part 3A whose total length is 200 mm, 220 mm, 240 mm, 260 mm, 280 mm, 300 mm, and 320 mm is prepared in advance.
- the crus link part 4A two types (an example of a crus link part group) having different lengths in the longitudinal direction at intervals of 60 mm are prepared in advance.
- each leg link part 4A whose total length is 200 mm and 260 mm is prepared in advance.
- the types of the thigh link portion 3A and the crus link portion 4A prepared in advance are set as appropriate according to the required physique of the user. This is based on the Japanese physique, and can handle most Japanese users. Non-Japanese can respond by reviewing the maximum and minimum values of the total length.
- a user selects one type from among a plurality of types of thigh link portions 3A, and the selected thigh link portion 3A is applied to the walking assist device 1A.
- the user, the practitioner, and the like select one type from among a plurality of types of lower leg link portions 4A, and the selected lower leg link portion 4A is applied to the walking assist device 1A.
- the thigh link portion 3A and the crus link portion 4A are configured to be detachable (free) from the modularized hip joint portion 6A and knee joint portion 7A.
- the thigh link unit and the length of the lower thigh link unit can be set as appropriate.
- the thigh link portion 3A and the lower leg link portion 4A of the walking assist device 1A are of the same type (for example, a new thigh link portion 3A and lower leg link portion 4A of the same type (size)). It may be replaced with.
- the lower leg mounting portion 5A is appropriately selected from a plurality of types (lower leg mounting portion group) having different circumferences in consideration of the size, shape, etc. of the user's lower leg (which may include lower limb orthosis). Selected.
- FIG. 21 is a side view of the walking assistance machine 1A with the weight 200 attached thereto.
- FIG. 21 shows a state in which the weight 200 is attached to the walking assist device 1A of the fifth embodiment described above.
- the weights 200 are respectively attached to the thigh link portion 3A and the crus link portion 4A of the walking support machine 1A.
- the weight 200 attached to the thigh link portion 3A may be particularly expressed as a weight 200a
- the weight 200 attached to the crus link portion 4A may be particularly expressed as a weight 200b.
- FIG. 22 is an enlarged view of the weight 200a attached to the thigh link portion 3A
- FIG. 23 is a cross-sectional view taken along the line C-C 'of FIG.
- the weight 200a is formed in an elongated rod shape as a whole, and is attached so as to fit into a groove-shaped portion formed by the cylindrical column portions 33A and 34A of the thigh link portion 3A and the connecting portion 35A.
- the weight 200a is provided with a convex portion 201 that is fitted into the groove-shaped portion of the thigh link portion 3A.
- the weight 200a is mainly made of a metal material such as brass.
- the weight 200a incorporates a magnet (not shown), and is attached to the metal thigh link portion 3A by a magnetic force.
- the weight 200a is fixed to the thigh link portion 3A using a fixing member 210a (210) having a substantially semicircular arc shape.
- the fixing member 210a (210) is made of a plastic material, a metal material, or the like. As shown in FIG. 23, both end portions 211 and 211 of the fixing member 210a (210) are curved in a bowl shape so as to face each other.
- the fixing member 210a (210) is fixed to the thigh link portion 3A by the two end portions 211 and 211 being elastically deformed and hooked to the end portion of the thigh link portion 3A.
- the weight 200a is sandwiched between the fixing member 210a (210) and the thigh link portion 3A. Further, when a force for pulling the fixing member 210a (210) away from the thigh link portion 3A is applied, the end portion 211 is elastically deformed outward, and the fixing member 210a (210) can be easily removed. In this way, the weight 200a is attached to the thigh link portion 3A in a detachable state.
- the basic configuration of the weight 200b attached to the lower leg link portion 4A is the same as the weight 200a for the above-described thigh link portion 3A, and the weight 200b uses the fixing member 210b (210) to lower the lower leg link portion 4A. Is attached to.
- the weight 200 may not be provided with a magnet.
- the weight 200 is attached to a predetermined portion of the thigh link portion 3A or the crus link portion 4A only by the fixing member 210 described above. Also good.
- the weight 200a attached to the thigh link portion 3A has a weight of 130g
- the weight 200b attached to the crus link portion 4A has a weight of 60g.
- the weight of the weight 200a attached to the thigh link portion 3A and the weight of the weight 200b attached to the crus link portion 4A can be appropriately changed according to the user's request. For example, depending on the state of the affected leg of the user wearing the walking support device, the user or a practitioner such as a doctor or a physical therapist may have different weights depending on the user's symptoms and walking state. It is appropriately selected from seeds (weight group).
- the weight 200 may be attached to both the thigh link part 3A and the crus link part 4A, or may be attached only to the thigh link part 3A or the crus link part 4A.
- the attachment position of the weight 200a in the thigh link portion 3A may be on the upper end portion 3Aa side of the thigh link portion 3A or on the lower end portion 3Ab side of the thigh link portion 3A. Further, the attachment position of the weight 200a may be attached to the central portion of the thigh link portion 3A. That is, the attachment position of the weight 200a is not particularly limited, and is appropriately set by the user himself or a practitioner such as a doctor or a physical therapist according to the user's symptoms and walking state.
- FIG. 24 is an explanatory diagram of a two-link model simulating a walking support machine.
- An angle (relative angle) ⁇ 20 between the thigh link portion 3A and the crus link portion 4A swinging around the center P is shown.
- the direction of the arrow F shown in FIG. 24 is the front of a walk assistance machine. As shown in FIG.
- the lengths of the thigh link portion 3A and the crus link portion 4A of the two-link model are 320 mm and 260 mm, respectively.
- the weights of the thigh link portion 3A and the crus link portion 4A are 100 g and 70 g, respectively.
- the weights of the weights attached to the thigh link portion 3A and the crus link portion 4A are 130 g and 60 g, respectively.
- the thigh link part 3A and the crus link part 4A are in a straight state, and the thigh link part 3A and the crus link part 4A in the straight state are tilted 10 ° rearward from the vertical direction.
- a double pendulum motion was performed by applying a torque around the center O of the waist axis 61.
- the torque decreases from 1 Nm to 0 Nm while the thigh link 3A swings 30 ° (see FIG. 25).
- the simulation was performed in three ways in which weights were set on the upper end side, the center portion, and the lower end side of the thigh link portion 3A and the lower leg link portion 4A, respectively.
- FIG. 25 shows the change over time of the angle (absolute angle) ⁇ 10 between the thigh link portion 3A swinging around the center O of the waist axis 61 and the vertical line G1 passing through the center P of the knee axis 71.
- the thigh link portion 3A is vertical with respect to an angle (absolute angle) ⁇ 10 between the thigh link portion 3A swinging around the center O of the waist shaft 61 and the vertical line G1 passing through the center P of the knee shaft 71.
- the case where it exists ahead with respect to the line G1 is represented by plus, and on the contrary, the case where it exists behind the vertical line G1 is represented by minus (see FIG. 24).
- L1 in FIG. 25 is a case where the weight is set on each upper end side of the thigh link portion 3A and the crus link portion 4A
- L2 is a weight where each center of the thigh link portion 3A and the crus link portion 4A is located.
- L3 is a case where the weight is set on each lower end side of the thigh link portion 3A and the crus link portion 4A.
- the thigh link portion 3A and the crus link portion 4A are in a straight line.
- the case where it is arranged is 0 °.
- the value of ⁇ 20 becomes larger than 0 °.
- L11 in FIG. 25 is a case where the weight is set on each upper end side of the thigh link portion 3A and the crus link portion 4A
- L12 is a weight at each central portion of the thigh link portion 3A and the crus link portion 4A. This is the case where L13 is set, and L13 is the case where the weight is set on each lower end side of the thigh link portion 3A and the crus link portion 4A.
- the change with time (slope of the graph) of the swing angle ⁇ 10 of the thigh link portion 3A is slightly increased, and the maximum value of the knee angle ⁇ 20 is further increased. Becomes larger and the walking pitch (time) becomes shorter.
- the maximum value of the knee angle ⁇ 20 becomes small, and the walking pitch (time) becomes long.
- the walking assisting machine can be changed in the swing pattern depending on the installation position of the weight while being powerless. Therefore, an improvement effect of walking can be expected by achieving an appropriate weight balance (weight weight and balance of weight attachment positions) in the walking support machine according to the user's symptoms and walking state.
- markers are attached to the lower end part (protective cap 10A) of the lower back part (the hip axis), the knee joint part (the knee axis), and the lower leg link part 4A.
- . 1 A of said walk assistance machines with which the marker was attached were mounted
- the length of the thigh link portion 3A of the walking assist device 1A is 320 mm, and a weight having a weight of 190 g is attached to the position on the upper end side of the thigh link portion 3A.
- the length of the lower leg link portion 4A is 260 mm, and a weight having a weight of 190 g is attached to a position on the upper end side of the lower leg link portion 4A.
- a user walking with the walking assistance device 1A attached was photographed using a high-speed camera to obtain a video of the walking assistance device 1A.
- the trajectory data of each marker is extracted from the acquired moving image (image data), and the extracted result passes through the thigh link portion 3A swinging around the center O of the waist axis 61 and the center P of the knee axis 71.
- Data of ⁇ 20 over time was acquired.
- how to take angle (theta) 10 and angle (theta) 20 is the same as the way of taking the angle in the simulation mentioned above (refer FIG. 24).
- FIG. 26 is an explanatory diagram schematically showing a walking cycle.
- the acquired data of the angle ⁇ 10 and the angle ⁇ 20 are shown as a graph in FIG.
- the data of the angle ⁇ 10 and the angle ⁇ 20 in the walking assist device 1A with the weight removed are also obtained in the same manner. These data are also shown as a graph in FIG.
- L21 is data (graph) of ⁇ 20 (knee angle) in the walking support device 1A with a weight
- L22 (broken line) is ⁇ 20 in the walking support device 1A without a weight
- L31 (solid line) in FIG. 27 is data (graph) of ⁇ 10 (swing angle of the thigh link portion) in the walking assist device 1A with a weight
- L32 (broken line) is a state without a weight.
- It is data (graph) of (theta) 10 (fluctuation angle of a thigh link part) in 1 A of walking assistance machines.
- the period t1 shown in FIG. 27 shows the both-leg support period when there is a weight
- the period t2 shows the both-leg support period when there is no weight.
- the maximum value of the angle ⁇ 20 (knee angle) is slightly smaller when there is a weight than when there is no weight (0 in FIG. 27). (Refer to around .2 to 0.4 seconds), and the change over time (tilt of the graph) of the angle ⁇ 10 (swing angle of the thigh link) is slightly larger (around 0.2 seconds in FIG. 27). .
- the stride is swung forward and the stride is widened rather than lifted. At this time, the movement amount of the foot was 123 cm when there was no weight and 134 cm when there was a weight.
- the walking pitch (time) is shorter when there is a weight than when there is no weight.
- the walking support device of the type that is attached to the right leg is illustrated, but in other embodiments, it may be attached to the left leg.
- the walking support device is attached to only one leg (right leg).
- the left and right sides of one waist wearing belt are You may use what attached the walk support machine.
- the thigh link portion and the crus link portion are connected to each other via the knee joint portion.
- Embodiment 1 A configuration in which the knee joint portion, the lower leg link portion, the lower leg attachment portion, and the like are omitted from the walking support device may be used as the walking support device. Even with such a walking support device, leg movement in the walking motion is supported (assisted) with respect to the leg (for example, the right leg) of the user wearing the walking support device. In this case, it is preferable to hang a belt around the thigh contact portion 8 and wind it around the thigh U11.
- the thigh contact portion is attached to the thigh link portion.
- the thigh contact portion may be omitted.
- the attachment plate is attached to the waist attachment belt using a hook-and-loop fastener, but in other embodiments, the attachment plate is attached using other known attachment means. Also good. In addition, it is preferable that the attachment plate is detachably attached to the waist attachment belt as in the above embodiment.
- a gap 5Ac is formed between the base part 52A for fixing the lower leg mounting part 5A to the lower leg link part 4 and the upper part 50A1 of the main body part 50A.
- a hinge portion may be provided in a form connecting the base portion 52A and the upper stage portion 50A1.
- the hinge portion is provided, and the upper portion 50A1 in the main body portion 50A of the lower leg mounting portion 5A is mainly allowed to move in the front-rear direction, but is prevented from moving in the up-down direction.
- the hinge part by providing the hinge part, the vertical movement of the lower leg mounting part is suppressed, and the movement of the lower leg link part is easily transmitted efficiently to the user's lower leg.
- each member constituting the thigh link part and the crus link part is made of a metal plate-like member, but in other embodiments, the thigh link part and the crus link part
- Each member which comprises may be comprised from the resin member (for example, resin molded product), for example.
- the torque generating device is configured to generate torque that moves the thigh link portion toward the front of the user.
- torque generated by the torque generating device may be changed as appropriate.
- the torque generator may be configured to generate torque that moves the thigh link portion toward the user.
- the mounting plate 60 is provided with one set of fixing holes 60c and 60c.
- two or more sets of fixing holes 60c and 60c are provided in the mounting plate 60.
- the rotating plate The mounting position (cam follower 94 (roller) of the cam portion 62d (outer peripheral surface 62e) provided in the rotating plate 62 is combined with each set of fixing holes 62c and 62c (adjacent at intervals of 15 °) provided in 62.
- the position) relative to the part 94a) can be changed in increments of 5 °.
- the fixing holes 62c and 62c of the rotating plate 62 but also the fixing holes 60c and 60c provided on the mounting plate 60 side are used to adjust the mounting position (angle) of the cam portion 62d. Good.
- FIG. 28 is a cross-sectional view of a modified example of the thigh link portion 3B.
- the thigh link portion 3B is formed by squeezing a cylindrical (pipe-shaped) metal member into a plate shape to form a connecting portion 35B, and long cylindrical column portions 33B and 34B so as to sandwich the connecting portion 35B from both sides. Is formed.
- FIG. 28 shows a through-hole 132Bd formed at the upper end of the thigh link portion 3B.
- the thigh link portion 3B manufactured by processing one cylindrical member may be used.
- a structure similar to that of the thigh link portion 3B may be applied to the crus link portion.
- the cylindrical column portions 33B and 34B of the thigh link portion 3B are not limited to a circular shape in cross section, and may be elliptical or polygonal (for example, rectangular).
- FIG. 29 is a cross-sectional view of a modified example of the thigh link portion 3C.
- the thigh link portion 3C is formed by processing both end portions of a single metal plate into a cylindrical shape.
- the thigh link portion 3C includes a plate-like connecting portion 35C disposed in the central portion, and a pair of cylindrical column portions 33C and 34C that sandwich the connecting portion 35C from both sides.
- the thickness of the connecting portion 35C is appropriately set according to the strength required for the thigh link portion 3C.
- the plate material of the portions constituting the cylindrical column portions 33C and 34C may be appropriately subjected to connection processing such as welding.
- FIG. 29 shows a through hole 132Cd formed at the upper end of the thigh link portion 3C. In this manner, the thigh link portion 3C manufactured by processing one metal plate material may be used.
- a structure similar to that of the thigh link portion 3C may be applied to the crus link portion.
- FIG. 30 is a cross-sectional view of a modified example of the thigh link portion 3D.
- the thigh link portion 3D is formed by processing both end portions of one metal plate material into a rectangular tube shape.
- the thigh link portion 3D includes a plate-like connecting portion 35D disposed at the center portion and a pair of cylindrical column portions 33D and 34D that sandwich the connecting portion 35D from both sides.
- the thickness of the connecting portion 35D is appropriately set according to the strength required for the thigh link portion 3D.
- the plate material of the portions constituting the cylindrical column portions 33D and 34D may be appropriately subjected to connection processing such as welding.
- FIG. 30 shows a through-hole 132Dd formed at the upper end of the thigh link 3D. In this manner, the thigh link portion 3D manufactured by processing one metal plate material may be used.
- a structure similar to the thigh link portion 3D may be applied to the crus link portion.
- a known metal member such as a cold rolled steel plate (SPCC) or a hot rolled steel plate (SPHC) may be used.
- the metal member may be subjected to a surface treatment such as galvanization or painting.
- FIG. 31 is a rear view of a walking assist device 1B according to another embodiment.
- the thigh link portion 3A and the crus link portion 4B of the walking support device 1B are the same as those of the walking support device 1A of the fifth embodiment described above, and are also implemented for the waist joint portion 6A and the knee joint portion 7A. It is the same as that of the form 5.
- the lower leg link portion 4A is not attached to the lower leg link portion 4A of the walking assist device 1B, and the lower leg link portion 4A is located on the thigh link portion so that the protective cap 10A that protects the lower end of the lower leg link portion 4A faces upward.
- 3A is overlaid in the left-right direction in FIG.
- the thigh contact portion 8B is attached to the inner side of the crus link portion 4A (the side facing the user's thigh).
- the thigh contact portion 8B is fixed to the thigh link portion 3A together with the crus link portion 4A using a screw-like fixing means 80.
- a belt (not shown) is further hung on the thigh contact portion 8B, and the belt is wound around the thigh of the user and fixed. In this way, the walking support device 1B in a state where the lower leg link portion 4A is overlapped with the thigh link portion 3A may be used.
- FIG. 32 is an explanatory view of a modified example of the waist mounting belt 2C.
- the basic configuration of the waist mounting belt 2C is the same as that of the first embodiment described above.
- the accommodating part 23C of the waist mounting belt 2C is of an openable / closable type, unlike the bag-like one of the first embodiment.
- the accommodating portion 23 ⁇ / b> C includes an accommodating main body portion 23 ⁇ / b> C ⁇ b> 1 addressed to the back side of the attachment plate 60 of the waist joint portion 6 and an accommodating lid portion 23 ⁇ / b> C ⁇ b> 2 that covers the front side of the attachment plate 60.
- the rear end of the storage lid 23C2 is integrally connected to the storage main body 23C1.
- the end portion on the front side of the storage lid portion 23C2 is detachable from the storage main body portion 23C1.
- the housing lid 23C2 is provided with a plurality of convex engaging portions 25, and the housing main body 23C1 has a concave shape fixed to the engaging portion 25 by engagement with the engaging portion 25.
- a plurality of engaged portions 26 are provided.
- the housing lid 23C2 is attached to the housing body 23C1 when the engaging portion 25 engages with the engaged portion 26, and is removed from the housing body 23C1 when the engagement is released. .
- a hook-and-loop fastener 27 is attached to the surface of the housing main body 23C1, and the hook-and-loop fastener 27 is bonded to a mating hook-and-loop fastener (not shown) provided on the attachment plate 60. Since the accommodating portion 23C of the waist mounting belt 2C is openable as described above, it is possible to perform an operation of attaching the attachment plate 60 to the accommodating portion 27C (the hook-and-loop fastener 27) with the accommodating lid portion 23C2 opened. . On the contrary, it is also possible to perform an operation of removing the mounting plate 60 from the housing portion 27C (the hook-and-loop fastener 27) with the housing lid portion 23C2 opened. Therefore, in this waist mounting belt 2C, the attaching and detaching work of the mounting plate 60 can be easily performed.
- FIG. 33 is an explanatory view of a modified example of the mounting plate 60D.
- the attachment plate 60D is attached to the waist mounting belt 2 as in the first embodiment.
- the mounting plate 60D is different from the first embodiment in that the plate-like main body 60Da is divided into an upper main body 60Da1 and a lower main body 60Da2, which are connected to each other by a hinge H. ing.
- the position of the hinge portion H in the main body portion 60Da is set so as to be disposed between the waist joint portion 6 and the accommodating portion 23 of the waist mounting belt 2.
- the mounting plate 60D can be bent so that the upper body part 60Da1 and the lower body part 60Da2 approach each other while the hinge part H moves outward.
- the attachment plate 60D can be bent along the shape of the waist side of the user U.
- the thigh link portion of the walking support machine And the mounting angle with respect to the lower limbs of the lower leg link part can be adjusted.
- FIG. 34 is an explanatory diagram showing a state in which the walking assist device 1 is mounted on both legs.
- the walking assist device 1 of the present invention may be mounted on each leg of the user U one by one.
- the walking support machine 1 for the right leg and the walking support machine 1 for the left leg are symmetrical with each other, but the basic structure is the same. As described above, even when the walking support device 1 is mounted on both legs, it is possible to support and improve (correct) the walking motion of the user U.
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Abstract
Description
近年、受動歩行を基礎とした歩行支援機の更なる歩行支援機能の向上が求められている。
本発明に係る歩行支援機は、利用者の脚に装着されて、前記利用者の歩行を支援する歩行支援機であって、前記利用者の腰側部に宛がわれるパッド部を含み、前記利用者の腰の周りに巻かれる形で装着される腰装着ベルトと、前記利用者の大腿の側方に配される大腿リンク部と、前記利用者の下腿の側方に配される下腿リンク部と、前記利用者の下腿に装着されると共に、前記下腿リンク部に取り付けられる下腿装着部と、前記利用者の前後方向で前記大腿リンク部が揺動自在となるように前記大腿リンク部の上端を保持し、前記腰装着ベルトのパッド部に取り付けられる腰関節部と、前記大腿リンク部の下端を保持すると共に前記下腿リンク部の上端を保持し、前記大腿リンク部と前記下腿リンク部とを互いに揺動自在な状態で接続する膝関節部と、を備え、前記大腿リンク部及び前記下腿リンク部は、それぞれ、前後方向及び上下方向における剛性が、左右方向における剛性よりも高くなっており、それぞれ、長手方向に沿った軸線を中心として弾性的にねじれることが可能であることを特徴とする。前記歩行支援機において、前記大腿リンク部及び前記下腿リンク部は、上記構成を備えることにより、前後方向及び上下方向における剛性が、左右方向における剛性よりも高くなっている。そのため、前記歩行支援機では、長手方向に沿った軸線(回転軸)を中心としてねじるような力が加えられると、ねじれるように容易に弾性変形することができる。したがって、前記歩行支援機を装着した利用者は、比較的、狭いスペースにおいて、腰を回転させながら容易に方向転換を行うことが可能となる。
本発明によれば、受動歩行を基礎とした歩行支援機における歩行支援機能等の諸機能を更に向上させる技術を提供することができる。
(歩行支援機1)
本発明の一実施形態に係る歩行支援機1を、図1乃至図11を参照しつつ説明する。図1は、実施形態1の歩行支援機1の側面図あり、図2は、歩行支援機1が備える腰装着ベルト2の説明図(斜視図)であり、図3は、利用者Uに装着された状態の歩行支援機1の説明図である。本実施形態の歩行支援機1は、受動歩行型であって、主として、腰装着ベルト2と、大腿リンク部3と、下腿リンク部4と、下腿装着部5と、腰関節部6と、膝関節部7と、大腿接触部8と、トルク発生装置9とを備えている。本実施形態の歩行支援機1は、右脚用であり、利用者Uの右脚U1に装着されて使用される。右脚用の歩行支援機1は、例えば、利用者Uの右脚U1が患脚であり、左脚U2が健脚である場合に利用される。なお、他の実施形態においては、右脚用の歩行支援機1を、右脚が健脚であり、左脚が患脚である場合にも、利用者の右脚に装着して使用されてもよい。図1における右側が前方であり、同図左側が後方であり、同図上側が上方であり、同図下側が下方であるとして、歩行支援機1を説明する。また、図3における紙面手前側が前方であり、同図の紙面奥側が後方であり、同図上側が上方であり、同図下側が下方であるとする。
腰装着ベルト2は、歩行支援機1のリンク機構部分を利用者Uに固定するために利用され、腰U3の周りに巻かれる形で利用者Uに装着される。腰装着ベルト2は、全体的には、腰U3の後方から腰U3の左右の側部(腰側部)に亘って配される概ね扁平な円弧状の本体部21と、この本体部21の左右の前端部間を繋ぐ形で配され、腰装着ベルト2の締め付け具合を調節する調節部22とを備えている。本体部21の内側のうち、腰U3の右側の腰側部U31に宛がわれる部分には、樹脂製の独立気泡発泡体等からなるクッション性を有するパッド部21aが設けられている。なお、本体部21の内側のうち、腰U3の左側の腰側部U32に宛がわれる部分にも、クッション性を有するパッド部21bが設けられている。利用者Uが腰装着ベルト2を装着した際、一方のパッド部21aは右側の腰側部U31に対して密着し、他方のパッド部21bは左側の腰側部U32に対して密着する。その際、右側のパッド部21aは、腰U3(骨盤)を介して左側のパッド部21b(左側の腰側部U32)と向かい合う形となる。
図4は、大腿リンク部3の側面図である。大腿リンク部3は、主として、右脚U1の大腿U11の側方(外側)に配される部分であり(図3参照)、全体的には、細長く延びた柱状(長手状)の外観形状を備えている。大腿リンク部3は、電気亜鉛めっき鋼板(SECC)等の金属板(金属製板状部材)を所定形状に加工したものからなる。図5は、図4のA-A’線断面図である。図5に示されるように、大腿リンク部3は、2つの長手状の部材を向かい合わせの状態で組み合わせて(重ね合せて)筒状に形成されたものからなる。大腿リンク部3を構成する2つの部材(加工部材)のうち、一方の部材は、大腿U11側に配される大腿内側部材31であり、他方の部材は、大腿内側部材31に向かい合った状態で大腿内側部材31の外側に配される大腿外側部材32である。本実施形態の場合、大腿内側部材31及び大腿外側部材32に利用される各金属板(金属製板状部材)の厚みは、0.4mmである。大腿内側部材31及び大腿外側部材32に利用される各金属板(金属製板状部材)としては、最終的に大腿リンク部3の形状となった際に、弾性力を発揮できるように、適度は強度と共に、可撓性(柔軟性)を備えるものが利用される。なお、図5において、大腿内側部材31は、右側に示され、大腿外側部材32は、左側に示されている。
下腿リンク部4は、主として、右脚U1の下腿U12の側方(外側)に配される部分であり(図3参照)、全体的には、上述した大腿リンク部3と同様、細長く延びた柱状(長手状)の外観形状をなしている。ただし、下腿リンク部4は、大腿リンク部3よりも長手方向における長さ、幅(短手方向における長さ)、及び厚みが、若干、小さく設定されている。下腿リンク部4についても、大腿リンク部3と同様、電気亜鉛めっき鋼板(SECC)等の金属板(金属製板状部材)を所定形状に加工したものからなる。具体的には、下腿リンク部4は、大腿リンク部3と同様、2つの長手状の部材を向かい合わせの状態で組み合わせて(重ね合せて)筒状に形成されたものからなる。
下腿装着部(脛カフ)5は、図1、図3等に示されるように、利用者Uの右脚U1の下腿U12に装着される部分であり、全体的には、略U字状をなすと共に、下腿U12を前後方向から抱き込むような形状をなしている。下腿装着部5は、下腿リンク部4の動き(力)を、利用者Uの下腿U12に伝える(出力する)機能を備えている。下腿装着部5は、下腿リンク部4に固定される外側(右側方)から平面視した際に、数字の8の字を横倒ししたような形状であって、その前方部分が後方に向かって湾曲すると共に、その後方部分が前方に向かって湾曲した形状となっている。下腿装着部5には、軽量化や、弾性力の向上等の目的で、開口部5aが設けられている。なお、下腿装着部5は、上方から下方に向かって若干、先細り状(テーパー状)をなしている。下腿装着部5の前方部分の端部と、後方部分の端部との間には、上下方向に沿った隙間があり、この隙間から下腿U12が下腿装着部5に対して着脱される。下腿装着部5は、合成樹脂を所定形状に加工したものからなり、適度な強度と共に適度な弾性を備えている。そのため、下腿装着部5は、適度に若干、押し広げられた状態で下腿U12に密着させることができる。なお、下腿装着部5が下腿U12に対して大き過ぎる場合や、下腿装着部5が押し広げられ過ぎる場合(柔らかすぎる場合)等では、下腿リンク部4の動きを、下腿装着部5を介して下腿U12に上手く伝えることができなくなってしまう。そのため、下腿装着部5の大きさ、強度、弾性等の諸条件は、利用者Uの下腿U12の大きさ、形状、位置等を考慮して、適宜、設定される。下腿装着部5は、下腿リンク部4の内側に、取り外し可能な状態でネジ状の固定部材51を利用して固定される。ネジ状の固定部材51は、下腿リンク部4に設けられている貫通孔42d,41dに挿通されて下腿リンク部4に固定される。なお、下腿リンク部4に設けられている貫通孔42d,41dの位置を変更すれば、下腿装着部5の高さ方向における取り付け個所を適宜、調節することができる。また、固定部材51に対する取付角度を前後方向に変更すれば、下腿装着部5の前後方向の傾きを適宜、調節することもできる。
腰関節部6は、大腿リンク部3の上端(上端部3a)を保持し、大腿リンク部3を利用者Uの前後方向に揺動自在な状態で支持し、パッド部21aと対向する形で腰装着ベルト2に取り付けられる構成となっている。図6は、内側から見た腰関節部6の側面図であり、図7は、図6のC-C’線断面図である。図7には、図6に示される腰軸61の中心Oで交わる2つの線分からなるC-C’線によって切断された腰関節部6付近の断面構造が示されている。腰関節部6は、図6及び図7に示されるように、略円柱状をなした腰軸61と、この腰軸61に対して回転自在な状態で軸支される回転プレート62と、腰軸61の一端が固定され回転プレート62を収容するハウジング(本体部)63と、腰軸61の他端に固定され、腰軸61に軸支された回転プレート62を抜け止めする抜け止め部64と、ハウジング63に対して一体的に形成され、腰関節部6と大腿リンク部3とを接続するために、大腿リンク部3の上端部3aを保持する保持部65と、回転プレート62と共に回転できるように回転プレート62に固定され、パッド部21aと対向する形で腰装着ベルト2に取り付けられる取付板60とを備えている。腰関節部6を構成する各部材は、アルミニウム、マグネシウム等の金属材料を、公知の加工技術(例えば、削り出し加工)を利用して所定形状に加工されたものからなる。なお、他の実施形態においては、エンジニアリングプラスチック等の他の材料から、腰関節部6を構成する各部材を形成してもよい。
図8は、膝関節部7の断面図であり、図1のL-L’線断面図に相当する。膝関節部7は、大腿リンク部3と下腿リンク部4とを、互いに回転(揺動)自在な状態で、接続する部分である。膝関節部7は、略円柱状をなした膝軸71と、下腿リンク部4の上端部4aを保持する下腿側膝関節部72と、大腿リンク部3の下端部3bを保持する大腿側膝関節部73と、膝軸71を大腿側膝関節部73に対して固定するネジ状の固定部材74とを備えている。下腿側膝関節部72と大腿側膝関節部73とは、互いに重なりつつ膝軸71を介して互いに回転(揺動)自在な状態となっている。本実施形態の下腿側膝関節部72及び大腿側膝関節部73は、共にアルミニウム等の金属材料を所定形状に公知の加工技術(例えば、削り出し加工)を利用して形成される。
図9は、後方から見た状態の大腿接触部8の拡大図である。大腿接触部8は、図3等に示されるように、利用者の右脚U1の大腿U11に宛がわれて、大腿U11を支える部分である。大腿接触部8の大きさは、上述した下腿装着部5よりも小さく、全体的には、前後方向に扁平状に広がった形をなすと共に、大腿U11の側面形状に沿って湾曲した形をなしている。また、大腿接触部8は、下腿装着部5と同様、合成樹脂を所定形状に加工したものからなる。大腿接触部8は、大腿U11に宛がわれる湾曲した扁平状の接触部81と、この接触部81に立設されると共に、大腿リンク部3の本体部3cに固定される円柱状の固定部83とを備えている。なお、接触部81には、軽量化等の目的で、開口部82が設けられている。
トルク発生装置9は、カム-バネ機構を利用して、腰軸61周りに、関節トルクを発生させる装置である。トルク発生装置9は、図6及び図7に示されるように、主として、圧縮バネ91と、圧縮バネ91の一端と当接し、前記一端の位置を決定する円柱状の決定部92と、圧縮バネ91の他端と当接し、圧縮バネ91の伸縮に応じて変位する変位部93と、この変位部93に接続されるカムフォロア(ローラフォロア)94と、圧縮バネ91が圧縮されるようにカムフォロア94が圧接されると共に、腰軸61からの距離が周方向に沿って変化する外周面62eを含み、回転プレート62の周縁の一部に形成されるカム部62dと、決定部92、圧縮バネ91及び変位部93を収容する筒状収容部95と、この筒状収容部95に接続し、圧縮バネ91の伸縮方向に沿って変位するカムフォロア94を収容するカムフォロア収容部96とを備えている。
ここで、歩行支援機1の使用方法を説明する。先ず、歩行支援機1の装着方法の一例を説明する。歩行支援機1は、図3に示されるように、一方のパッド部21aが右側の腰側部U31に宛がわれ、かつ他方のパッド部21bが左側の腰側部U32に宛がわれるように、腰装着ベルト2が利用者Uの腰U3に装着される。腰装着ベルト2は、利用者Uの腰U3の周りに巻かれる形で装着される。腰装着ベルト2は、各パッド部21a,21bが、各腰側部U31,U32にそれぞれ密着するように、締め付け具合が調節される。なお、腰装着ベルト2の締め付け具合は、調節部22の右側帯部22a及び左側帯部22bの長さを適宜、変更することにより、調節することができる。なお、利用者Uは、このような腰装着ベルト2の装着を、椅子等に腰掛けた状態で行ってもよいし、起立した状態で行ってもよい。
利用者Uが、歩行支援機1を装着した状態で、水平な地面X上で起立すると、大腿リンク部3及び下腿リンク部4は、鉛直方向に沿って概ね真っ直ぐに配される。本実施形態の歩行支援機1を装着すれば、腰装着ベルト2、下腿装着部5及び大腿接触部8からなる3点の支持効果によって、利用者Uは、患脚である右脚U1での片足立ち時のバランス(左右方向のバランス)を保ち易くなり、安定した状態で起立することができる。本実施形態の歩行支援機1は、上述したように、大腿リンク部3に、大腿U11を外側から支える大腿接触部8が設けられている。この大腿接触部8を備えることによって、右脚U1の安定性が向上すると共に、上述した3点の支持効果が得られることになり、歩行支援機1を装着した右脚U1での片足立ち時のバランスを保ち易くし、安定した状態で起立することを可能としている。なお、大腿接触部8を大腿リンク部3から取り外した状態で、右脚U1のみで片脚立ちすると、利用者Uの姿勢が不安定となることが、本願発明者によって確かめられている。ただし、他の実施形態においては、大腿接触部8を取り外した状態で歩行支援機1を必要に応じて利用してもよい。
次いで、歩行支援機1を装着した状態での利用者Uの歩行について、説明する。人(利用者U)の歩行では、一方の脚が地面に着地する支持脚として機能すると共に、他方の脚が地面から離れる遊脚として機能する動作が、右脚U1と左脚U2との間で交互に入れ替わって行われる。図10は、歩行支援機1を装着して利用者Uが歩行する様子を模式的に表した説明図である。図10には、左脚(健脚)U2が支持脚として地面Xに着地し、歩行支援機1を装着した右脚(患脚)U1が遊脚として地面Xから離れる状態が示されている。本実施形態の歩行支援機1は、受動歩行を基礎としており、利用者の左脚U2が、腰U3(骨盤)を介して右脚U1に装着されている歩行支援機1に対して連結されているとみなされる。つまり、腰装着ベルト2のパッド部21aは、左脚(健脚)U2の動き(力)を、パッド部21aに対向する形で取り付けられている取付板60(腰関節部6)を介して、大腿リンク部3や下腿リンク部4等に伝える機能を備えている。その結果、左脚(健脚)U2の動きによって、右脚U1に装着されている歩行支援機1が自然に、遊脚の動きと支持脚の動きとを交互に繰り返す脚運動を行う。つまり、利用者Uは、健脚である左脚U2の動きが右脚U1に装着されている歩行支援機1に伝えられることによって、右脚U1の歩行動作における脚運動が歩行支援機1によって支援(アシスト)される。
本実施形態の歩行支援機1において、大腿リンク部3は、上述したように、金属製板状部材が所定形状に加工されてなる一対の部材(大腿内側部材31及び大腿外側部材32)が筒状に組み合わされたものからなる。このような大腿リンク部3は、例えば、金属製の棒状部材からなる大腿リンク部と比べて、軽量であり、利用者Uの負担を大きく低減することができる。また、本実施形態の歩行支援機1では、下腿リンク部4についても、大腿リンク部3と同様な構成が採用されている。そのため、下腿リンク部4も、例えば、金属製の棒状部材からなる下腿リンク部と比べて、軽量であり、利用者Uの負担を大きく低減することができる。また、このように大腿リンク部3及び下腿リンク部4が軽量化されているため、本実施形態の歩行支援機1は、持ち運びにも便利である。
ここで、本実施形態の歩行支援機1の大腿リンク部3及び下腿リンク部4におけるねじり特性について説明する。大腿リンク部3及び下腿リンク部4は、上述のように、薄手の金属製板材からなる2つの長手状の加工部材が、内部に空間を有するように、筒状(柱状)に組み合わさったもの(以下、「中空脚部材」と称する場合がある)からなる。
次いで、本発明の実施形態2を、図13を参照しつつ説明する。図13は、実施形態2の歩行支援機における後方から見た状態の大腿接触部8Aの拡大図である。本実施形態の歩行支援機では、利用者Uの大腿U11に宛がわれる部分が、弾性体からなる大腿接触部8Aが用いられている。この大腿接触部8Aは、例えば、実施形態1の大腿接触部8の表面を覆うように弾性体を取り付けたものからなる。この大腿接触部8Aに利用される弾性体としては、大腿U11の表面形状に追従し易い遅延弾性型の樹脂発泡体からなる弾性体が特に好ましい。例えば、テンピュール(登録商標)に利用されている弾性体を所定形状に加工したものを、本実施形態の弾性体として利用してもよい。このような弾性体からなる大腿接触部8Aは、歩行支援機の装着時に、大腿U11に対して力が集中し過ぎることが抑制される。したがって、利用者Uは、大腿接触部8Aが大腿U11に接触していても、接触による痛みを感じ難くなっている。なお、他の実施形態においては、実施形態1の大腿接触部8を一回り小さく形成した物等からなり、大腿リンク部3に固定される芯材に上述した弾性体を取り付けたものを、大腿接触部として利用してもよい。なお、本実施形態の歩行支援機は、大腿接触部8A以外の構成は、実施形態1と同様である。
次いで、本発明の実施形態3を、図14及び図15を参照しつつ説明する。図14は、実施形態3の歩行支援機で利用される下腿装着部5Aを前方から見た説明図である。また、図15は、実施形態3の歩行支援機で利用される下腿装着部5Aを上方から見た説明図である。なお、本実施形態の歩行支援機は、下腿装着部5A以外の構成は、実施形態1と同様である。下腿装着部(脛カフ)5Aは、利用者Uの右脚U1の下腿U12に装着される部分であり、全体的には、略U字状をなすと共に、下腿U12を前後方向から抱き込むような筒形状をなしている。このように筒形状をなす部分を、下腿装着部5Aの本体部50Aと称する。本体部50Aは、上方から下方に向かって若干、先細り状(テーパー状)をなしている。また、この下腿装着部5Aの本体部50Aを、下腿リンク部4に固定される外側(右側方)から平面視した際、本体部50Aは、内側に開口5Aaを有する環状(ループ状)部材が、利用者の下腿U12を前後方向から抱きかかえるように、湾曲した形をなしているとも言える。そして、本体部50Aは、開口5Aaを間において上下2段に分かれて配される部分を備えている。上下2段に分かれて配されている環状をなした本体部50Aのうち、下段部分50A2のみが下腿リンク部4に固定される基部52Aに接続されており、上段部分50A1は、基部52Aから分離された状態となっている。そのため上段部分50A1と基部52Aとの間には、隙間5Acが形成されている。
次いで、本発明の実施形態4を、図16及び図17を参照しつつ説明する。図16は、実施形態4の歩行支援機で利用されるカム調節装置100を示した斜視図であり、図17は、実施形態4の歩行支援機で利用されるカム調節装置100を内側から見た側面図である。本実施形態の歩行支援機は、回転プレート62Bに形成されているカム部62Bdと、カムフォロア94Bのローラ部94Baとの相対的な位置関係を、調節するカム調節装置100を備えている。カム調節装置100は、主として、サーボモータ101と、第1プーリー102と、タイミングベルト103と、第2プーリー104とを備えている。
次いで、本発明の実施形態5を、図18乃至図20を参照しつつ説明する。図18は、実施形態5の歩行支援機1Aの側面図である。本実施形態の歩行支援機1Aは、主として、腰装着ベルト2と、大腿リンク部3Aと、下腿リンク部4Aと、下腿装着部5Aと、腰関節部6Aと、膝関節部7Aと、大腿接触部8Aと、トルク発生装置9とを備えている。なお、歩行支援機1Aが備えている腰装着ベルト2及びトルク発生装置9は、実施形態1のものと同じである。
本実施形態のように、大腿リンク部3A、及び下腿リンク部4Aが、モジュール化された腰関節部6A、及び膝関節部7Aに対して着脱可能(自在)に構成されることにより、利用者の要求(例えば、利用者の身体サイズ)に応じて適宜、大腿リンク部が及び下腿リンク部の長さを、設定することが可能となる。
次いで、本発明の実施形態6を、図21乃至図27を参照しつつ説明する。本実施形態では、重り(ウエイト)を装着した歩行支援機を説明する。図21は、重り200を装着した歩行支援機1Aの側面図である。図21には、上述した実施形態5の歩行支援機1Aに、重り200が装着された状態が示されている。
ここで、重りを装着した歩行支援機における大腿リンク部、及び下腿リンク部の各動きを、コンピュータを用いてシミュレーションした。シミュレーションの条件は、以下の通りである。
次いで、重り付きの歩行支援機を利用者が装着した状態で歩行し、その歩行時の歩行支援機における大腿リンク部及び下腿リンク部の動きを、以下に示す手順により解析した。
本発明は上記記述及び図面によって説明した実施形態に限定されるものではなく、例えば次のような実施形態も本発明の技術的範囲に含まれる。
Claims (11)
- 利用者の脚に装着されて、前記利用者の歩行を支援する歩行支援機であって、
前記利用者の腰側部に宛がわれるパッド部を含み、前記利用者の腰の周りに巻かれる形で装着される腰装着ベルトと、
前記利用者の大腿の側方に配される長手状をなした大腿リンク部と、
前記利用者の下腿の側方に配される長手状をなした下腿リンク部と、
前記利用者の下腿に装着されると共に、前記下腿リンク部に取り付けられる下腿装着部と、
前記利用者の前後方向で前記大腿リンク部が揺動自在となるように前記大腿リンク部の上端を保持し、前記腰装着ベルトのパッド部に取り付けられる腰関節部と、
前記大腿リンク部の下端を保持すると共に前記下腿リンク部の上端を保持し、前記大腿リンク部と前記下腿リンク部とを互いに揺動自在な状態で接続する膝関節部と、を備え、
前記大腿リンク部及び前記下腿リンク部は、それぞれ、前後方向及び上下方向における剛性が、左右方向における剛性よりも高くなっており、それぞれ、長手方向に沿った軸線を中心として弾性的にねじれることが可能であることを特徴とする歩行支援機。 - 前記大腿リンク部及び前記下腿リンク部は、それぞれ、互いに間隔を保ちつつ互いに平行に並ぶ形で配され、かつ内側に中空部を含む一対の筒柱部と、前記一対の筒柱部の間に配され、前記筒柱部同士を連結する板状の連結部とを有する請求項1に記載の歩行支援機。
- 前記大腿リンク部及び前記下腿リンク部は、それぞれ、長手方向の長さが伸縮可能である請求項1又は2に記載の歩行支援機。
- 前記腰関節部は、前記大腿リンク部の上端を着脱可能な状態で保持し、
前記膝関節部は、前記大腿リンク部の下端、及び前記下腿リンク部の上端を、それぞれ着脱可能な状態で保持する請求項1~3の何れか一項に記載の歩行支援機。 - 前記大腿リンク部は、長手方向の長さ等の条件が互いに異なる複数種の大腿リンク部群から選択され、
前記下腿リンク部は、長手方向の長さ等の条件が互いに異なる複数種の下腿リンク部群から選択される請求項1~4の何れか一項に記載の歩行支援機。 - 前記下腿装着部は、周長等の条件が互いに異なる複数種の下腿装着部群から選択される請求項1~5の何れか一項に記載の歩行支援機。
- 前記大腿リンク部及び/又は前記下腿リンク部に対して着脱可能に取り付けられる重りを備える請求項1~6の何れか一項に記載の歩行支援機。
- 前記重りは、重さ等の条件が互いに異なる複数種の重り群から選択される請求項7に記載の歩行支援機。
- 前記大腿リンク部及び前記下腿リンク部は、それぞれ、板状部材からなる1組の長手状の加工部材を、互いに向かい合わせの状態で組み合わせたものからなる請求項1~8の何れか一項に記載の歩行支援機。
- 前記腰関節部は、腰軸と、この腰軸の一端が固定され、前記大腿リンク部の上端を保持する保持部と、前記保持部に接続し、前記腰軸を中心として前記大腿リンク部を前後方向に揺動させる本体部と、前記腰軸に対して回転自在な状態で軸支されると共に前記本体部に固定される回転プレートと、前記回転プレートと共に回転できるように前記回転プレートに固定され、前記パッド部を介して腰装着ベルトに取り付けられる取付板とを有し、
圧縮バネと、
前記圧縮バネの一端と当接し、前記一端の位置を決定する決定部と、
前記圧縮バネの他端と当接し、前記圧縮バネの伸縮に応じて変位する変位部と、
前記変位部に接続されるカムフォロアと、前記圧縮バネが圧縮されるように前記カムフォロアが圧接されると共に、前記腰軸からの距離が周方向に沿って変化する外周面を含み、前記回転プレートの周縁部に形成されるカム部とを有するトルク発生装置を備える請求項1~9の何れか一項に記載の歩行支援機。 - 前記大腿リンク部及び前記下腿リンク部は、それぞれ、長手方向に沿った軸線を中心として+70°~-70°の範囲で弾性的にねじれる請求項1に記載の歩行支援機。
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CN104853712A (zh) | 2015-08-19 |
JP6021124B2 (ja) | 2016-11-09 |
DK3195844T3 (da) | 2021-06-14 |
EP2932953A1 (en) | 2015-10-21 |
EP2932953A4 (en) | 2016-07-27 |
EP2932953B1 (en) | 2019-02-20 |
EP3195844B1 (en) | 2021-04-28 |
CN106798630B (zh) | 2020-01-03 |
JP6261058B2 (ja) | 2018-01-17 |
JPWO2014092162A1 (ja) | 2017-01-12 |
JP2016214976A (ja) | 2016-12-22 |
US20150313786A1 (en) | 2015-11-05 |
CN104853712B (zh) | 2017-07-28 |
EP3195844A1 (en) | 2017-07-26 |
CN106798630A (zh) | 2017-06-06 |
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