WO2015019485A1 - Structure de chaussure pour un dispositif d'aide au mouvement d'articulation - Google Patents

Structure de chaussure pour un dispositif d'aide au mouvement d'articulation Download PDF

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Publication number
WO2015019485A1
WO2015019485A1 PCT/JP2013/071627 JP2013071627W WO2015019485A1 WO 2015019485 A1 WO2015019485 A1 WO 2015019485A1 JP 2013071627 W JP2013071627 W JP 2013071627W WO 2015019485 A1 WO2015019485 A1 WO 2015019485A1
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WO
WIPO (PCT)
Prior art keywords
foot
joint
sole
shaft
sole member
Prior art date
Application number
PCT/JP2013/071627
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English (en)
Japanese (ja)
Inventor
圭治郎 山本
峰雄 石井
Original Assignee
学校法人 幾徳学園
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 学校法人 幾徳学園 filed Critical 学校法人 幾徳学園
Priority to JP2015530639A priority Critical patent/JP5930354B2/ja
Priority to PCT/JP2013/071627 priority patent/WO2015019485A1/fr
Publication of WO2015019485A1 publication Critical patent/WO2015019485A1/fr

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Classifications

    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • 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
    • A61H1/024—Knee
    • 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
    • A61H1/0266—Foot
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces

Definitions

  • the present invention relates to a foot mounting structure of a joint motion assist device, and more particularly to a foot mounting structure of an exoskeleton-type joint motion assist device that assists joint motion of a human body.
  • the structure for mounting the foot of the human body is also an exoskeleton structure.
  • the conventional foot mounting structure of the conventional technique is an exoskeleton-shaped lower leg mounting part (hereinafter referred to as “crus exoskeleton member”) that is disposed on the outer side and the inner side of the lower leg and is attached to the lower leg with a belt. And a sole member connected to the ankle side end of the crus exoskeleton member.
  • the sole member is a single flat plate that fixes the entire sole.
  • the wearer wearing the articulation assist device (hereinafter also simply referred to as “assist device”) of the prior art is in a state where only the toes are attached to the floor and the buttocks are separated from the floor during walking. (Hereinafter, also referred to as “an isolated land” state), and unnatural operation is forced.
  • a wearer wearing the assist device cannot be in a “bottom-bend” posture when taking a low posture by bending the knee joint and dropping his / her waist, and is forced to have an unnatural posture. It will be. Therefore, when the wearer of the assist device wakes up the cared person and moves it or hangs it down, it may not be able to perform a smooth operation.
  • the sole member is a first sole member 910 for attaching the sole of the rear foot including the buttocks with a belt, and the second sole member 920 for attaching the sole of the forefoot including the toe to the belt.
  • the coordinate system (X, Y, Z) in FIG. 1A indicates that the front direction of the human body is + X in the upright posture when the foot mounting structure 900 is mounted on the left foot of the human body.
  • This is a coordinate system in which the direction from the right side to the left side of the human body is the + Y direction, and the vertically upward direction is the + Z direction (the same applies to FIGS. 2 to 7 described later).
  • the foot mounting structure 900 shown in FIG. 1 (A) it is possible to enter the “heel-off” state when the sole of the rear foot including the heel is mounted on the first sole member 910. (See FIG. 1B).
  • the hinge 930 is used as an axis.
  • the one sole member 910 only rotates with respect to the second sole member 920, and the second foot member 920 side end portion of the first sole member 910 and the second foot according to the rotation.
  • interval with the 1st sole member 910 side edge part of the bottom member 920 does not change. Therefore, in the foot mounting structure 900 shown in FIGS. 1 (A) and 1 (B), the foot does not support the movement of the sole when the foot is in the “heeling away” state.
  • the present invention has been made in view of the above circumstances, and an object thereof is to provide a foot mounting structure of an articulation assist device capable of realizing smooth and stable movement of the foot.
  • the present invention relates to a foot mounting structure of an exoskeleton-type joint motion assist device that is mounted on a foot of a human body and assists joint motion, and extends along the direction extending from the knee joint of the human body to the ankle joint.
  • An outer exoskeleton member mounted on the outer side of the outer skeleton; an inner exoskeleton member mounted on the inner side of the lower leg along a direction extending from the knee joint to the ankle joint;
  • a rear plantar member including a flat plate disposed on the ankle joint side of the inner exoskeleton member and mounted on a sole of a rear foot including the buttocks of the foot; and including a toe of the foot
  • first and second rear bearing members Two shaped first and second rear bearing members; a direction along the instep side facing each other at each of the outer side end and the inner side end of the front sole member
  • Two first and second front bearing members extending in the direction of being fixed to the front sole member and having shaft holes formed in the instep side direction; shaft holes of the first rear bearing member and the first A first shaft member inserted into a shaft hole of one front bearing member; a shaft hole of the second rear bearing member and a second shaft member inserted into the shaft hole of the second front bearing member;
  • the front sole member is attached to the rear sole member so as to be rotatable in the pitch direction by the first and second shaft members, and the front sole member and the rear sole member When the flat plate is parallel, the front sole member side end of the rear sole member and the front sole member side end When the gap between the side sole member side end portion is narrowed and the angle at which the front sole member and the flat plate of the rear sole member intersect is widened, the front sole member side end of the rear sole member
  • the sole of the rear foot including the buttocks is attached to the rear sole member, and the sole of the fore foot including the toe portion is attached to the front sole member.
  • First and second rear bearing members extending in a direction along the instep side are fixed to each of the outer side end portion and the inner instep side end portion of the rear sole member.
  • first and second front bearing members extending in the direction along the instep side are fixed to each of the outer side end portion and the inner instep side end portion of the front side sole member so as to face each other. ing.
  • the front sole member is attached to the rear sole member so as to be rotatable in the pitch direction.
  • the first and second rear bearing members are fixed to the front foot member side end of the rear foot member, and the first and first (2)
  • the front bearing member may be fixed to the end portion on the rear sole member side of the front sole member.
  • the first and second rear bearing members and the first and second front bearing members can be made compact.
  • the shaft hole of the first and second rear bearing members may be on the toe side from the front foot member side end of the rear foot member.
  • the shaft hole of the first and second front bearing members is molded above the instep side on the rear sole member side of the front sole member. You can do that.
  • the front sole member rotates in the pitch direction with respect to the rear sole member, with the upper side on the instep side on the rear sole member side of the front sole member as a rotation axis. Become.
  • the rotation axis position in the foot part and the front foot can be substantially matched. As a result, it is possible to realize a smooth “distant ground” state.
  • the joint motion axis of the middle foot joint joint of the foot is on a substantially line segment connecting the first shaft member and the second shaft member.
  • the foot may be mounted so as to be positioned.
  • the present inventor is that the rotation axis position of the foot when the foot is in the “heeling away” state during walking or the like substantially coincides with the joint motion axis of the metatarsal joint of the foot. It is obtained from the results of research.
  • the rotational axis positions of the first and second shaft members and the rotational axis position of the foot when the foot is in the “seated ground” state during walking or the like are substantially matched. Can do. As a result, it is possible to realize a smoother “heel-off” state of the foot.
  • the foot mounting structure of the joint motion assisting device of the present invention can be configured to further include a heel stop member that is fixed to the rear side sole member and holds the heel of the foot. And when adopting such a configuration, a line connecting the joint motion axis of the metatarsal joint of the foot and the joint motion axis of the foot metatarsal joint as seen from the axial direction of the first and second shaft members A line passing through a predetermined position on the minute and substantially parallel to the articulation axis of the metatarsal joint and the articulation axis of the tarsal metatarsal joint connects the first axis member and the second axis member.
  • the foot portion can be attached so as to substantially coincide with a connecting line.
  • the foot part of the foot when the heel part of the foot is fixed with the heel stop member, the foot part is in a “heel-off” state during walking or the like.
  • the rotation axis of the foot part of the foot passes through a predetermined position on a line segment that connects the joint motion axis of the metatarsal joint of the foot part and the joint motion axis of the tarsal metatarsal joint (Lisfranc joint), and It is substantially parallel to the joint movement axis of the phalanx joint and the joint movement axis of the tarsal metatarsal joint.
  • the outer exoskeleton member is a first outer exoskeleton member corresponding to the lower leg of the human body; and a position where one end corresponds to the ankle joint of the human body.
  • a second outer exoskeleton member connected to the first outer exoskeleton member so as to be rotatable in the rotation direction of the ankle joint, and having the other end connected to the rear sole member; It can be set as the structure provided with.
  • the inner exoskeleton member includes a first inner exoskeleton member corresponding to the lower leg of the human body; and a position of one end corresponding to the ankle joint.
  • a second inner exoskeleton member that is pivotally connected in the pivoting direction and whose other end is connected to the rear sole member.
  • FIG. 1 is an external view (XZ plan view) of a foot mounting structure of a joint motion assist device according to an embodiment of the present invention.
  • FIG. 3 is an external view (YZ plan view) of the foot mounting structure of FIG. 2. It is a figure for demonstrating the structure of the foot
  • FIG. 5 is a separation view for explaining the configuration of the sole mounting portion of FIG. 4. It is a figure for demonstrating the state of the foot
  • DESCRIPTION OF SYMBOLS 100 Foot mounting structure of an articulation assist apparatus, 111 ... 1st outer exoskeleton member, 112 ... 2nd outer exoskeleton member, 116 ... 1st inner exoskeleton member, 117 ... 2nd inner exoskeleton member, 120 ... Foot mounting part, 130 ... rear foot mounting part, 131 ... rear flat plate member (part of rear foot member), 132 1 ... first connecting member (part of rear foot member), 132 2 ... second connection member (a part of the rear sole member), 134 1 ... first rear bearing member, 134 2 ... second rear bearing member, 139 ... tacking member, 140 ... front foot part Mounting portion, 141...
  • Flat plate member (front side sole member), 144 1 ... First front bearing member, 144 2 ... Second front bearing member, HB 1 , HB 2 , HF 1 , HF 2 ... shaft hole, AX 1. 1st shaft member, AX2 ... 2nd shaft member, 161, 162, 166, 167 ... articulating member, 211, 21 , 213, 214 ... belt member, 311 ... outer thigh exoskeleton member, 316 ... inner thigh exoskeleton member, 321, 322, 326, 327 ... connecting member, 900 ... foot mounting structure, 910 ... first plantar member, 920 ... second sole member, 930 ... hinge (hinge)
  • FIGS. the foot mounting structure of the joint motion assist device mounted on the left foot of the human body will be described as an example.
  • the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.
  • FIG. 2 shows the foot mounting structure 100 mounted on the left foot of the human body in the + Y direction when the entire sole is landed on the horizontal plane (hereinafter, this state is also referred to as “basic state”). It is the external view (XZ plane view) seen from the side (outer side).
  • FIG. 3 is an external view (YZ plan view) of the foot mounting structure 100 mounted on the left foot of the human body viewed from the ⁇ X direction side (heel side) in the basic state.
  • the foot mounting structure 100 includes a long plate-shaped outer thigh exoskeleton member 311 mounted on the outer side of the thigh of the human body, and an end mounted on the inner side of the thigh.
  • the plate-shaped inner femoral exoskeleton member 316 is connected to the end of the knee joint side.
  • the foot mounting structure 100 includes a first outer exoskeleton member 111, a second outer exoskeleton member 112, a first inner exoskeleton member 116, and a second inner exoskeleton member.
  • the foot mounting structure 100 includes a foot mounting portion 120.
  • the first outer exoskeleton member 111 is, for example, a steel member, and is fixedly connected to both the long plate-like exoskeleton member and the longitudinal ends of the long plate-like exoskeleton member. It is comprised from an external gear.
  • the first outer exoskeleton member 111 is disposed on the outer side (+ Y direction side) of the left lower leg part along the direction in which the left lower leg part extends from the knee joint to the ankle joint (so-called ankle joint or hip joint).
  • the external gear at the knee joint side end of the first outer exoskeleton member 111 meshes with the external gear at the knee joint side end of the outer thigh exoskeleton member 311 at a position corresponding to the knee joint, Engagement is ensured by the two connecting members 321 and 322.
  • the first outer exoskeleton member 111 and the outer thigh exoskeleton member 311 are rotatable in the rotation direction of the knee joint at a position corresponding to the knee joint.
  • the second outer exoskeleton member 112 is, for example, a steel member, and is a long plate-like plate-like exoskeleton member and an outer portion fixedly connected to one end of the plate-like exoskeleton member. It consists of a toothed gear. Then, the external gear at one end of the second outer exoskeleton member 112 meshes with the external gear at the end of the first outer exoskeleton member 111 on the ankle joint side at a position corresponding to the ankle joint, The meshing is secured by the two connecting members 161 and 162 so as to be able to turn in the turning direction of the ankle joint. The other end of the second outer exoskeleton member 112 is fixedly connected to the foot mounting portion 120.
  • the first inner exoskeleton member 116 is, for example, a steel member, and, like the first outer exoskeleton member 111 described above, a long plate-like exoskeleton member and a longitudinal length of the long plate-like exoskeleton member. And an external gear fixedly connected to both ends of the direction.
  • the first inner exoskeleton member 116 is disposed on the inner side ( ⁇ Y direction side) of the left lower leg along the direction in which the left lower leg extends from the knee joint to the ankle joint.
  • the external gear at the end on the knee joint side in the first inner exoskeleton member 116 meshes with the external gear at the end on the knee joint side in the inner femoral exoskeleton member 316 at a position corresponding to the knee joint,
  • the meshing is ensured by the two connecting members 326 and 327 so that the joint can rotate in the rotational direction of the joint.
  • the first inner exoskeleton member 116 and the inner thigh exoskeleton member 316 are rotatable in the rotation direction of the knee joint at a position corresponding to the knee joint.
  • the second inner exoskeleton member 117 is, for example, a steel member, and similarly to the second outer exoskeleton member 112 described above, a long plate-like plate-like exoskeleton member and the plate-like exoskeleton member. And an external gear fixedly connected to one end of the. Then, the external gear at one end of the second inner exoskeleton member 117 meshes with the external gear at the end of the first inner exoskeleton member 116 on the ankle joint side at a position corresponding to the ankle joint, The meshing is ensured by the two connecting members 166 and 167 so as to be able to turn in the turning direction of the ankle joint. The other end of the second inner exoskeleton member 117 is fixedly connected to the foot mounting portion 120.
  • the first outer exoskeleton member 111 disposed on the outer side of the crus and the first inner exoskeleton member 116 disposed on the inner side of the crus are separated by the belt members 211 and 212 made of cloth. It is attached to the part.
  • the foot mounting portion 120 includes the first shaft member AX1, A biaxial member AX2, a rear foot mounting portion 130, and a front foot mounting portion 140 are provided.
  • FIG. 4A is a view of the foot mounting portion 120 viewed from the + Y direction side
  • FIG. 4B is a view of the foot mounting portion 120 viewed from the + Z direction side
  • 5A and 5B are diagrams in which the foot mounting portion 120 is separated into a rear foot mounting portion 130 and a front foot mounting portion 140.
  • FIG. 5A is a view of the separated rear foot mounting portion 130 and front foot mounting portion 140 as viewed from the + Y direction side
  • FIG. 5B is a view of the separated rear foot mounting portion 130 and front foot mounting portion 140 as viewed from the + Z direction side.
  • the rear foot mounting portion 130 and the front foot mounting portion 140 are attached by the first shaft member AX1 and the second shaft member AX2 (see FIGS. 4A and 4B).
  • the first shaft member AX1 is a steel columnar member, for example.
  • the first shaft member AX1 is inserted into a shaft hole HB 1 formed in a first rear bearing member 134 1 described later and a shaft hole HF 1 formed in the first front bearing member 144 1 .
  • the second shaft member AX2 is a columnar member made of steel, for example.
  • the second shaft member AX2 is axial hole HB 2 is formed on the second rear bearing member 134 2 which will be described later, and are inserted into the shaft hole HF 2, which is molded into the second front bearing member 144.
  • the second shaft member AX2 is arranged on the extension line in the axial direction of the first shaft member AX1 described above.
  • the joint motion axis of the metatarsal joint of the foot and the joint motion axis of the foot metatarsal joint are substantially parallel to each other. It substantially coincides with a line connecting AX2 (see axis AXA in FIG. 7 described later).
  • the rear foot mounting portion 130 is mounted with a rear foot that is hung from the buttocks to the arch (see FIG. 2).
  • the rear foot mounting portion 130 includes a rear plate member 131 as a part of the rear foot member, and a rear foot member.
  • a first connecting member 132 1 as a part and a second connecting member 132 2 as a part of the rear sole member are provided.
  • the rear leg portion attachment portions 130 1 and the first rear-side bearing member 134, a second rear-side bearing member 134 2, and a heel stop member 139 are provided.
  • the rear flat plate member 131 is, for example, a steel member.
  • the rear flat plate member 131 is formed into a rectangular flat plate with two corners on the ⁇ X direction side rounded in the XY plan view.
  • the rear flat plate member 131 is provided with a sole of the rear foot including the buttocks in the foot, and is made of a cloth belt member 213 (see FIG. 2, not shown in FIGS. 5A and 5B). Thus, the rear foot portion is attached.
  • the first connecting member 132 1 is, for example, a steel member and has a rectangular shape in the XZ plan view.
  • the first connecting member 132 1 is substantially in the center of the rear outer lateral side of the flat plate member 131 (+ Y direction side) end portion is attached with screws or the like (not shown). Then, in the + Z direction side end portion of the first connecting member 132 1, the other end of the second outer exoskeleton member 112 is fixedly connected.
  • the second connecting member 132 2 is, for example, a steel member, and has a rectangular shape in the XZ plan view, like the first connecting member 132 1 described above.
  • the second connecting member 132 2 is not shown so as to face the first connecting member 132 1 at the substantially center of the inner side ( ⁇ Y direction side) end of the rear flat plate member 131. It can be attached with screws. Then, in the + Z direction side end portion of the second connecting member 132 2 and the other end of the second inner outer frame member 117 is fixedly connected.
  • the first rear bearing member 134 1 is, for example, a steel member, and has a rectangular shape with the longitudinal direction as the X direction in the XZ plan view. In this embodiment, the end on the + X direction side Is formed in a semicircular shape.
  • the shaft hole HB 1 protrudes in the + X direction from the + X direction side end portion of the rear flat plate member 131.
  • the + Z direction side in the present embodiment, the center of the semicircle described above
  • the second rear bearing member 134 2 above for example, a steel member, similarly to the first rear-side bearing member 134 1 described above, is the longitudinal direction in the XZ plane view a rectangular shape with the X direction And the end on the + X direction side is formed in a semicircular shape.
  • the second rear-side bearing member 134 2 a shaft hole HB 2 for inserting the second shaft member AX2 is formed processed.
  • the shaft hole HB 2 when after the second-side bearing member 134 2 is attached to the rear side flat plate member 131, a shaft hole HB 1 which is molded into the first rear-side bearing member 134 1 described above
  • the rear flat plate member 131 is molded on the upper side in the + Z direction (in the present embodiment, the center of the semicircle described above) at the position protruding from the + X direction side end portion in the + X direction. It has become.
  • the above-described tack-fastening member 139 is, for example, a steel member, and is fixed to the end portion on the ⁇ X direction side of the rear flat plate member 131.
  • the barb member 139 supports the barb portion of the rear foot disposed on the rear flat plate member 131.
  • the front foot portion mounting portion 140 is mounted with a front foot portion from the arch portion to the toe portion (see FIG. 2).
  • Front foot mounting portion 140 FIG. 5 (A), the as overall indicated by (B), the front flat plate member 141 as a front sole member, 1 and the first front bearing member 144, a second front Bearing member 144 2 .
  • the above-described front flat plate member 141 is, for example, a steel member.
  • the front flat plate member 141 is formed into a rectangular flat plate obtained by rounding two corners on the + X direction side in the XY plan view.
  • the soles of the front feet including the toes in the feet are arranged, and a cloth belt member 214 (see FIG. 2, not shown in FIGS. 5A and 5B), The forefoot part is worn.
  • First front bearing member 144 1 of the above is, for example, a steel member, which is a longitudinal direction in the XZ plane view a rectangular shape with the X direction.
  • the first front bearing member 144 1 has an outer lateral side of the front flat plate member 141 (+ Y direction side) to the side leg portion attachment portions 130 side after the end (-X direction side), short direction instep side ( It is fixed with screws (not shown) so as to extend along the + Z direction side).
  • the first front bearing member 144 1 a shaft hole HF 1 to insert the first shaft member AX1 is molded.
  • the shaft hole HF 1 is formed above the + Z direction side on the ⁇ X direction side of the front flat plate member 141. It has become.
  • the second front bearing member 144 2 is, for example, a steel member, and has a flat plate shape with the longitudinal direction as the X direction in the XZ plan view, similar to the first front bearing member 144 1 described above. .
  • the second front bearing member 144 2 the medial side (-Y direction side) side leg portion attachment portions 130 side after the end (-X direction side) of the front flat plate member 141, the short-side direction instep-side so as to extend along the (+ Z direction side), so as to face the 1 first front bearing member 144 as described above, is fixed by screws or the like (not shown). Then, the 2 second front bearing member 144, a shaft hole HF 2 for inserting the second shaft member AX2 is formed processed.
  • the shaft hole HF 2 faces the shaft hole HF 1 formed in the first front bearing member 144 1 described above when the second front bearing member 144 2 is attached to the front flat plate member 141.
  • the front flat plate member 141 is molded above the + Z direction side on the ⁇ X direction side.
  • the first front bearing member 144 1 a distance LF between the second front bearing member 144 2, the first rear-side bearing member 134 1 and the second rear-side bearing member 134 2
  • the end portion on the + X direction side of the first and second rear bearing members 134 1 , 134 2 formed in a semicircular shape is longer than the distance LB between the front plate of the front foot mounting portion 140 It comes in contact with the member 141.
  • the rear foot mounting portion 130 rotates counterclockwise in the XZ plan view from the state shown in FIG. 4 with the first and second shaft members AX1 and AX2 as the rotation axes and the ⁇ Y direction as the line-of-sight direction. Even in the case of rotation, the end portions on the + X direction side of the semicircular first and second rear bearing members 134 1 and 134 2 are always in contact with the front flat plate member 141 of the front foot mounting portion 140. Yes.
  • the foot mounting structure 100 of the present embodiment when the foot is in the “seated ground” state, a part of the weight of the joint motion assist device and a part of the weight of the cared person.
  • it is structured such that it escapes to the floor surface via the front foot mounting part 140 and reduces the burden on the waist, knees, etc. of the wearer of the joint motion assist device.
  • the foot mounting structure 100 that is mounted on the left foot of the human body has been described above, but the foot mounting structure that is mounted on the right foot of the human body is configured similarly to the foot mounting structure that is mounted on the left foot. Has been.
  • the foot mounting structure 100 is mounted on a foot of a human body and is initially in a basic state as shown in FIG. 6 (A).
  • the distance between the + X direction side end of the rear flat plate member 131 and the ⁇ X direction side end of the front flat plate member 141 (hereinafter also simply referred to as “interval”) is shown in FIG. ), The distance D S is obtained.
  • the angle at which the rear flat plate member 131 and the front flat plate member 141 intersect with each other increases.
  • the distance between the -X direction side end portion of the + X-direction side end portion of the rear flat plate member 131 front flat plate member 141 is a distance D T spread.
  • the first shaft member AX1 and the second shaft member AX2 are used as rotation axes, and the rear side
  • the flat plate member 131 rotates clockwise (hereinafter also simply referred to as “clockwise”) in the XZ plan view with the ⁇ Y direction as the viewing direction.
  • clockwise hereinafter also simply referred to as “clockwise”
  • the rear flat plate member 131 and the front flat plate member 141 become parallel, and the soles are Following the shrinking movement, the interval narrows to the distance D S.
  • the rear foot part that is applied from the buttocks to the arch part is attached to the rear foot part attaching part 130, and the fore foot part that is applied from the arch part to the toe part is the front foot part attaching part 140.
  • the rear foot mounting portion 130 and the front foot mounting portion 140 are substantially coincident with the pivot axis position of the foot when the foot is in the “seated ground” state during walking or in the position of bottom bending. It is attached rotatably.
  • the first and second shaft members AX1, AX2 are pivoted.
  • the rear flat plate member 131 in the rear foot mounting portion 130 rotates and corresponds to the movement in which the soles extend when it is in the “heel-off” state
  • interval with the part mounting part 140 spreads.
  • the rear flat plate member 131 rotates with the first and second shaft members AX1 and AX2 as the rotation shafts. Accordingly, the distance between the rear foot mounting portion 130 and the front foot mounting portion 140 is reduced in response to the movement of the sole shrinking.
  • the tack-fastening member is fixed to the rear flat plate member of the rear foot mounting portion, but the toe portion of the front foot portion is further fixed to the front flat plate member of the front foot mounting portion. It is good also as a structure which fixes the toe stop member which supports the. In this case, that is, when the foot mounting structure has a structure including a heel stop member and a toe stop member, the middle foot heel of the foot is placed on a line segment connecting the first shaft member and the second shaft member.
  • Rear foot mounting portion 130 and front foot mounting portion in which shaft holes for inserting the first and second shaft members are formed so that the joint motion axis of the joint joint is positioned (see axis AXB in FIG. 7). It may be set to 140.
  • the tacking member is fixed to the rear flat plate member of the rear foot mounting part.
  • the tacking member is not fixed to the rear flat plate member and is described above. It is good also as a structure which does not fix a toe stop member to the front side flat member of a front side leg mounting part. In this case, that is, when the foot mounting structure is a structure that does not include the heel stopper member and the toe stopper member, the middle foot of the foot is placed on the line segment connecting the first shaft member and the second shaft member.
  • Rear foot mounting portion 130 and front foot mounting in which a shaft hole for inserting the first and second shaft members is formed so that the joint motion axis of the phalanx joint is located (see axis AXB in FIG. 7). What is necessary is just to make it the part 140.
  • FIG. 7 Rear foot mounting portion 130 and front foot mounting in which a shaft hole for inserting the first and second shaft members is formed so that the joint motion axis of the phalanx joint is located (see axis AXB in FIG. 7). What is necessary is just to make it the part 140.
  • the + X direction side ends of the first and second rear bearing members have a semicircular shape, but only the ⁇ Z direction side of the + X direction side end is a quarter circle. It is good also as a shape and it is good also as another shape about the + Z direction side of the said + X direction side edge part.
  • the first and second front bearing members have a rectangular shape whose longitudinal direction is the X direction.
  • the ⁇ X direction side of the first and second front bearing members is a semicircular shape. You may make it shape
  • the ankle joint side end of the first outer exoskeleton member is an external gear
  • the ankle side end of the second outer exoskeleton member is an external gear.
  • These members are connected so as to be rotatable in the rotation direction of the ankle joint at a position corresponding to the ankle joint.
  • the ankle joint side end of the first inner exoskeleton member is an external gear
  • the ankle side end of the second inner exoskeleton member is an external gear.
  • These members are connected so as to be rotatable in the rotation direction of the ankle joint at a position corresponding to the ankle joint.
  • the first outer exoskeleton member and the second outer exoskeleton member are integrated into a member
  • the first inner exoskeleton member and the second inner exoskeleton member are integrated into a member. It may be.
  • the foot mounting structure of the joint motion assist device of the present invention is not only worn by a caregiver as a power assist device when used in the field of care and welfare, but also by a cared person with weak power. It can also be used as a device for power assist or rehabilitation. Further, the foot mounting structure of the joint motion assist device of the present invention can also be used as a power assist device for lifting heavy objects outside the fields of nursing care and welfare.
  • the present invention is applied to the foot mounting structure of the joint motion assist device that assists the joint motion of the human body, but the exoskeleton-type mammal other than the human body having the joint mechanism, the exoskeleton-type
  • the present invention can also be applied to a foot mounting structure of a joint motion assist device such as a robot.
  • the foot mounting structure of the joint motion assist device of the present invention can be applied to the foot mounting structure of an exoskeleton joint motion assist device that assists joint motion.

Abstract

Selon l'invention, la section de pied postérieure allant du talon au cou-de-pied est montée dans la section de chaussure postérieure (130), et la section de pied antérieure allant du cou-de-pied à l'orteil est montée dans la section de chaussure antérieure (140). La section de chaussure postérieure (130) et la section de chaussure antérieure (140) sont fixées de façon rotative de façon à coïncider grossièrement avec la position de l'axe de rotation du pied lorsque le pied est dans l'état « talon séparé du sol » pendant la marche ou dans une position de courbure de semelle. Lors du passage d'un état dans lequel toute la semelle est en contact avec le sol, à un état « talon séparé du sol » en conséquence d'un mouvement de marche ou de l'adoption d'une position de courbure de semelle, l'élément de plaque postérieure (131) de la section de chaussure postérieure (130) tourne à l'aide de premier et second éléments d'axe comme axe de rotation. Correspondant au mouvement d'extension de la semelle dans l'état « talon séparé du sol », la distance entre la section de chaussure postérieure (130) et la section de chaussure antérieure (140) s'élargit. Par conséquent, lorsque le dispositif d'aide au mouvement d'articulation est porté, un mouvement de pied uniforme et stable peut être obtenu.
PCT/JP2013/071627 2013-08-09 2013-08-09 Structure de chaussure pour un dispositif d'aide au mouvement d'articulation WO2015019485A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2015530639A JP5930354B2 (ja) 2013-08-09 2013-08-09 関節運動アシスト装置の足部装着構造
PCT/JP2013/071627 WO2015019485A1 (fr) 2013-08-09 2013-08-09 Structure de chaussure pour un dispositif d'aide au mouvement d'articulation

Applications Claiming Priority (1)

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PCT/JP2013/071627 WO2015019485A1 (fr) 2013-08-09 2013-08-09 Structure de chaussure pour un dispositif d'aide au mouvement d'articulation

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EP3338753A1 (fr) * 2016-12-26 2018-06-27 Samsung Electronics Co., Ltd Appareil d'assistance au mouvement
CN109044744A (zh) * 2018-09-03 2018-12-21 杭州程天科技发展有限公司 一种外骨骼机器人转向装置
CN111936100A (zh) * 2018-03-30 2020-11-13 山本圭治郎 关节运动辅助装置
US10835444B2 (en) 2017-11-13 2020-11-17 Free Bionics Taiwan Inc. Shoe assembly for a walking assist device

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JP2000051289A (ja) * 1998-08-14 2000-02-22 Koganei Corp 介護用筋力補助装置およびそれに用いる空気圧アクチュエータ

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JP2012143365A (ja) * 2011-01-11 2012-08-02 Toyota Motor Corp 歩行支援装置
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JPH0568602A (ja) * 1991-09-11 1993-03-23 Sanwa Resin Kogyo Kk スキー靴
JP2000051289A (ja) * 1998-08-14 2000-02-22 Koganei Corp 介護用筋力補助装置およびそれに用いる空気圧アクチュエータ

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3338753A1 (fr) * 2016-12-26 2018-06-27 Samsung Electronics Co., Ltd Appareil d'assistance au mouvement
CN108236559A (zh) * 2016-12-26 2018-07-03 三星电子株式会社 运动辅助设备
US10617590B2 (en) 2016-12-26 2020-04-14 Samsung Electronics Co., Ltd. Motion assistance apparatus
CN108236559B (zh) * 2016-12-26 2022-06-28 三星电子株式会社 运动辅助设备
US10835444B2 (en) 2017-11-13 2020-11-17 Free Bionics Taiwan Inc. Shoe assembly for a walking assist device
CN111936100A (zh) * 2018-03-30 2020-11-13 山本圭治郎 关节运动辅助装置
CN111936100B (zh) * 2018-03-30 2023-03-17 山本圭治郎 关节运动辅助装置
CN109044744A (zh) * 2018-09-03 2018-12-21 杭州程天科技发展有限公司 一种外骨骼机器人转向装置
CN109044744B (zh) * 2018-09-03 2024-01-02 杭州程天科技发展有限公司 一种外骨骼机器人转向装置

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