WO2015029257A1 - Structure s'adaptant sur une jambe pour dispositif d'aide au mouvement d'articulation - Google Patents

Structure s'adaptant sur une jambe pour dispositif d'aide au mouvement d'articulation Download PDF

Info

Publication number
WO2015029257A1
WO2015029257A1 PCT/JP2013/073567 JP2013073567W WO2015029257A1 WO 2015029257 A1 WO2015029257 A1 WO 2015029257A1 JP 2013073567 W JP2013073567 W JP 2013073567W WO 2015029257 A1 WO2015029257 A1 WO 2015029257A1
Authority
WO
WIPO (PCT)
Prior art keywords
exoskeleton
sole
foot
mounting structure
assist device
Prior art date
Application number
PCT/JP2013/073567
Other languages
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 PCT/JP2013/073567 priority Critical patent/WO2015029257A1/fr
Priority to JP2015533924A priority patent/JP5935177B2/ja
Publication of WO2015029257A1 publication Critical patent/WO2015029257A1/fr

Links

Images

Classifications

    • 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
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/0104—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 without articulation
    • A61F5/0111—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 without articulation for the feet or ankles
    • 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
    • A61F2005/0132—Additional features of the articulation
    • A61F2005/0179—Additional features of the articulation with spring means

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 sole member for mounting the foot is an exoskeleton-shaped lower leg mounting part (hereinafter referred to as “crus exoskeleton member”) that is mounted on the lower leg with a belt. It is supposed to be fixed.
  • the outer side of the lower leg is at the position corresponding to the first outer lower leg exoskeleton member 931 and the ankle joint (so-called ankle joint, ankle joint).
  • a second outer crus exoskeleton member 932 connected to the first outer crus exoskeleton member 931 is disposed, and the first inner side at a position corresponding to the first inner crus exoskeleton member 936 and the ankle joint is disposed inside the lower leg.
  • a second inner crus exoskeleton member 937 connected to the crus exoskeleton member 936 is disposed.
  • FIG. 1 is an external view of a foot mounting structure 900 mounted on the left foot of a human body as viewed from the heel side.
  • the caregiver when the caregiver safely wakes up or hangs up the caregiver from the bed or the like, the caregiver increases the distance between both feet so that the lower part of the knee is vertically upward. It may take a tilted posture and move the entire sole to the floor.
  • the sole member 910 includes the second outer crus exoskeleton member 932 disposed outside the foot and the second inner crus disposed inside the foot. It is fixed to the exoskeleton member 937.
  • the wearer wearing the joint motion assist device (hereinafter also simply referred to as “assist device”) having the foot mounting structure 900 increases the distance between both feet so that the lower knee is directed vertically upward.
  • the entire bottom surface of the sole member 910 cannot be attached to the floor surface, and an unnatural and unstable posture is forced. . Therefore, when the wearer of the assist device wakes up or holds down the cared person, it may not be able to perform a smooth operation without a sense of incongruity.
  • 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 is a foot mounting structure of an exoskeleton-type joint motion assisting device that is mounted on a foot of a human body and assists joint motion, from the knee joint of the human body to the ankle joint.
  • An outer exoskeleton member mounted on the outer side of the lower leg along the extending direction; an inner exoskeleton member mounted on the inner side of the lower leg along the direction extending from the knee joint to the ankle joint;
  • a sole member including a flat plate to which an end portion on the sole side of the skeleton member is connected and to which a sole of the foot portion is attached; and a foot in the outer exoskeleton member provided on the instep side of the sole member
  • a receiving member capable of receiving a bottom end portion, and a bottom end portion of the inner exoskeleton member is connected to the sole member so as to have a degree of freedom of movement of the ankle joint.
  • the direction from the buttocks to the toes is a vertical line
  • This is a foot mounting structure of the joint motion assisting device, characterized in that the distance between the joint motion assisting device and the device changes.
  • the end on the sole side of the inner exoskeleton member mounted on the inner side of the lower leg is relative to the sole member on which the sole of the foot is mounted. Connected to have freedom of movement of the ankle joint.
  • the sole side end and the sole member of the outer exoskeleton member attached to the outside of the lower leg are not fixedly connected, and the sole side end is outside the sole member. It can be received by a receiving member provided on the back side and can be detached from the receiving member.
  • the wearer wearing the joint assist device having the first foot mounting structure takes a posture in which the entire sole is attached to the floor and the foot width is narrowed (hereinafter, this posture is also referred to as “closed leg posture”).
  • the angle between the length direction of the inner exoskeleton member and the normal direction of the flat plate of the sole member is substantially parallel to the surface in which the direction from the heel portion to the toe portion is a vertical line.
  • the angle formed by the length direction of the outer exoskeleton member and the normal direction of the flat plate of the sole member is also substantially parallel, and the sole side end of the outer exoskeleton member is received by the receiving member.
  • this posture is also referred to as “open leg posture”
  • the hips to the toes In the plane in which the direction toward the vertical line becomes a vertical line, the angle formed by the length direction of the inner exoskeleton member and the normal direction of the flat plate in the sole member changes and widens.
  • the angle formed by the length direction of the outer exoskeleton member and the normal direction of the flat plate of the sole member also increases on the surface, but the foot side end of the outer exoskeleton member accepts it.
  • the wearer of the exoskeleton-type joint motion assisting device having the first foot mounting structure of the present invention takes a posture in which the lower knee is tilted vertically upward, for example, by widening the foot width.
  • the posture state in which the entire sole is placed on the floor surface can be smoothly realized, and the uncomfortable feeling given to the wearer in the posture state can be reduced.
  • the length direction of the inner exoskeleton member and the sole of the foot on the surface where the direction from the buttocks of the foot toward the toe is a vertical line Until the angle formed by the normal direction of the flat plate in the material becomes equal to or greater than a predetermined angle, the receiving member receives the end of the sole side of the outer exoskeleton member relative to the outer side of the sole member. Can be tolerated. In this case, when the angle formed is smaller than a predetermined angle, it is possible to allow the outer exoskeleton member to be received by the receiving member and realize a posture in which the entire sole is in contact with the floor surface. Further, even when the angle formed is equal to or greater than a predetermined angle, it is possible to realize a posture in which the entire sole is in contact with the floor surface.
  • an end on the sole side of the outer exoskeleton member can be fitted to the receiving member, and from the heel portion of the foot In the plane where the direction toward the toe portion is a vertical line, when the angle formed by the length direction of the inner exoskeleton member and the normal direction of the flat plate in the sole member is equal to or greater than a predetermined angle, The plantus side end of the outer exoskeleton member may be disengaged from the receiving member.
  • the angle formed is smaller than a predetermined angle
  • the outer exoskeleton member does not come off from the receiving member, so that a stable structure is realized and a posture in which the entire sole is in contact with the floor surface is realized. be able to. Further, even when the angle formed is equal to or greater than a predetermined angle, it is possible to realize a posture in which the entire sole is in contact with the floor surface.
  • an end on the sole side of the outer exoskeleton member is formed in a convex shape
  • the receiving member is the foot member. It is a concave-shaped member fixed to the outer side of the outer skeleton, and can receive an end portion of the convex-shaped sole side of the outer exoskeleton member.
  • the outer exoskeleton member can be reliably received by the receiving member.
  • the outer exoskeleton member is connected to the sole member via the receiving member when the bottom side end portion of the convex outer exoskeleton member is received by the concave receiving member.
  • guidance for guiding the end of the sole side of the outer exoskeleton member to the receiving member fixed to the outer side of the sole member can be set as the structure further provided with a member. In this case, when the outer exoskeleton member is shifted from the open leg posture in which the outer exoskeleton member is disengaged from the receiving member to the closed leg posture, the sole side end of the outer exoskeleton member can be guided to the receiving member.
  • the guide member is installed near the receiving member, and is a rectangle extending in the direction along the instep side.
  • a specific leaf spring which is one of the at least one leaf springs, is disposed on the inner side of the receiving member, and is an end on the sole side of the outer exoskeleton member The part can be guided to the receiving member by the specific leaf spring.
  • the number of the leaf springs is two, and the leaf springs other than the specific leaf spring are installed on the outer side of the receiving member.
  • the two spring plates are located on the sole side of the outer exoskeleton member. The plantar side end is guided to the receiving member so as to sandwich the end.
  • the guide member When the guide member is further provided as a component of the first foot mounting structure, the guide member is disposed in the vicinity of the receiving member and extends in a direction along the instep side.
  • a specific plate-like member that is one of the at least one plate-like member is installed on the outer side of the receiving member, and the sole side of the outer exoskeleton member The end of the guide member can be guided to the receiving member by the specific plate-like member.
  • the distance between the sole side end part and the receiving member is shortened.
  • the specific plate-like member installed on the outer side of the receiving member guides the sole side end to the receiving member.
  • the said guide member is installed so that one edge part may surround the said receiving member, and the direction along the instep side
  • a hollow hollow elastic member extending to the outer exoskeleton member, and a foot-side end portion of the outer exoskeleton member is inserted into the hollow inside of the hollow elastic member from the other end portion, and the receiving member is formed by the hollow elastic member.
  • the sole side end portion of the outer exoskeleton member shifts from the closed leg posture received by the receiving member to the open leg posture, the sole side end portion is detached from the receiving member and the sole side end portion. And the distance between the receiving member and the receiving member is increased.
  • the hollow elastic member is elastically curved while the inner side of the hollow elastic member is in contact with the sole side end of the outer exoskeleton member.
  • the inner side of the hollow elastic member comes into contact with the sole side end of the outer exoskeleton member as the distance between the sole side end and the receiving member becomes shorter.
  • the hollow elastic member is elastically restored and the sole side end is guided to the receiving member. As a result, when shifting from the open leg position to the closed leg position, the sole side end can be smoothly guided to the receiving member.
  • the hollow elastic member may be a cylindrical rubber member or a spring member.
  • the outer exoskeleton member is a first outer exoskeleton member corresponding to the lower leg of the human body; one end is the ankle joint of the human body. In a corresponding position, a second outer exoskeleton is connected to the first outer exoskeleton member so as to be rotatable in the direction of rotation of the ankle joint, and the other end is receivably connected to the receiving member. And a member.
  • 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. And a second inner exoskeleton member whose other end is connected to the sole member while being pivotably connected in the pivoting direction.
  • the thigh joint the joint unit connecting the foot bone and the lower leg bone
  • the present invention is 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, from the knee joint of the human body to the ankle joint.
  • An outer exoskeleton member mounted on the outer side of the lower leg along the extending direction; an inner exoskeleton member mounted on the inner side of the lower leg along the direction extending from the knee joint to the ankle joint;
  • a sole member including a flat plate to which an end portion on the sole side of the skeleton member is connected and a sole of the foot portion is mounted; and one end portion is connected to an end portion on the sole side of the outer exoskeleton member
  • a connecting member including at least an elastic member; a fixing member provided on an outer side of the sole member and fixing the other end of the connecting member; and in the inner exoskeleton member An end on the sole side is in contact with the sole member with respect to the sole member.
  • the elastic member expands and contracts in accordance with a change in an angle with a direction, and a distance between a foot side end of the outer exoskeleton member and the fixing member changes. It is a foot mounting structure of the joint motion assist device.
  • the end on the sole side of the inner exoskeleton member mounted on the inner side of the lower leg is relative to the sole member on which the sole of the foot is mounted.
  • the foot joint is arranged to have freedom of movement.
  • an end portion on the sole side of the outer exoskeleton member mounted on the outside of the lower leg is connected to one end portion of a connection member including at least an elastic member.
  • the other end of the connecting member is connected to a fixing member provided on the outer side of the sole member.
  • the wearer of the exoskeleton-type joint motion assisting device having the second foot mounting structure of the present invention takes a posture in which the lower knee is tilted vertically upward, for example, by widening the foot width.
  • the posture state in which the entire sole is placed on the floor surface can be smoothly realized, and the uncomfortable feeling given to the wearer in the posture state can be reduced.
  • the elastic member may be a long rubber member or a spring member such as a coil spring.
  • connection member is an elastic member, and the other end of the elastic member is fixed to the instep side of the fixing member. And so on.
  • it can be set as the simple structure which uses only a resilient member for a connection member.
  • connection member is a member connecting the other end of the string member and one end of the elastic member, and the string One end of the member may be connected to an end on the sole side of the outer exoskeleton member, and the other end of the elastic member may be fixed to the fixing member.
  • the connecting member connected to the sole side end of the outer exoskeleton member is a string member
  • the elastic member such as a coil spring is entangled with the pants of the wearer of the joint motion assist device. Can be reduced.
  • the fixing member is a hollow member formed with a hole through which the string member passes, and the string The other end of the member is connected to one end of the elastic member in the hollow interior of the fixing member, and the other end of the elastic member is fixed to the hollow interior of the fixing member.
  • the elastic member since the elastic member is accommodated in the hollow inside of the fixing member, it is possible to prevent the elastic member such as the coil spring from being entangled with the pants of the wearer of the joint motion assist device.
  • the outer exoskeleton member is a first outer exoskeleton member corresponding to the lower leg of the human body; one end is the ankle joint of the human body.
  • a second outer exoskeleton member connected to the first outer exoskeleton member at a corresponding position so as to be rotatable in the rotation direction of the ankle joint, and having the other end connected to the connecting 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. And a second inner exoskeleton member whose other end is connected to the sole member while being pivotably connected in the pivoting direction.
  • FIG. 1 is an external view (YZ plan view) of a foot mounting structure of a joint motion assist device according to a first embodiment of the present invention.
  • FIG. 3 is an external view (XZ plan view) of the foot mounting structure of FIG. 2 (No. 1).
  • FIG. 3 is an external view (XZ plan view) of the foot mounting structure of FIG. 2 (part 2).
  • FIG. 5 is a diagram for explaining a configuration of a foot mounting portion in FIGS. 2 to 4; It is a figure for demonstrating the state of the foot
  • FIG. 8 is an external view (XZ plan view) of the foot mounting structure of FIG. 7. It is a figure for demonstrating the state of the foot
  • FIG. 11 is an external view (XZ plan view) of the foot mounting structure of FIG. 10. It is a figure for demonstrating the state of the leg
  • FIG. 10 is an external view (YZ top view) of the foot
  • FIG. 14 is an external view (XZ plan view) of the foot mounting structure of FIG. 13. It is a figure for demonstrating the state of the foot
  • fastening member 140 ... leaf spring member (specific leaf spring, guide member), 150 ... Hollow elastic member (inductive member), 160 ... rubber member (elastic member, connecting member), 171 ... string member (part of connecting member), 172 ... coil spring member (elastic member, connecting member), CV ... convex Part CC: recess, AX: shaft member, PL ... pulley, PN ... pin, 191, 192, 196, 197 ... connecting member, 211, 212, 213, 214 ... belt member, 311 ... outer thigh exoskeleton member, 316 ... inside Femoral exoskeleton member, 321, 322, 326, 327 ... articulating member, 900 ... foot mounting structure, 910 ...
  • ⁇ Configuration> 2 to 4 are external views of a foot mounting structure 100A (hereinafter, also simply referred to as “foot mounting structure 100A”) of the joint motion assist device according to the first embodiment.
  • the coordinate system (X, Y, Z) in FIGS. 2 to 4 indicates that when the foot mounting structure 100A is mounted on the left foot of the human body, the front direction of the human body is the + X direction in the upright posture.
  • This is a coordinate system in which the direction from the right side to the left side is the + Y direction and the vertically upward direction is the + Z direction (the same applies to FIGS. 5 to 15 described later).
  • FIG. 2 shows the foot part attached to the left foot part of the human body when the wearer of the joint motion assisting device takes the closed leg posture with the sole of the foot placed on the horizontal floor surface and the foot width is narrowed.
  • FIG. 6B is an external view (YZ plan view) of the mounting structure 100A viewed from the ⁇ X direction side (back side).
  • FIG. 3 is an external view (XZ plan view) of the foot mounting structure 100A mounted on the left foot of the human body viewed from the + Y direction side (outer side) in the closed leg posture.
  • FIG. 4 is an external view (XZ plan view) of the foot mounting structure 100A mounted on the left foot of the human body viewed from the ⁇ Y direction side (inner side) in the closed leg posture.
  • This foot mounting structure 100A is a long plate-shaped outer thigh exoskeleton member 311 mounted on the outer side of the thigh of the human body, and a length 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 100A includes a first outer exoskeleton member 111, a second outer exoskeleton member 112A, a first inner exoskeleton member 116, a second An inner exoskeleton member 117.
  • the foot mounting structure 100A includes a foot mounting portion 120A and a leaf spring member 140 as a specific leaf spring in the guide member.
  • 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 112A 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 is comprised from the toothed gear and the spherical convex part CV fixedly connected to the other edge part.
  • the external gear at one end of the second outer exoskeleton member 112A 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 191 and 192 so as to be able to turn in the turning direction of the ankle joint.
  • the convex portion CV at the other end of the second outer exoskeleton member 112A can be received by a concave portion CC formed on the outer receiving member 125 described later.
  • 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 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.
  • 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 at the ankle joint side at a position corresponding to the ankle joint, The meshing is ensured by the two connecting members 196 and 197 so as to be able to turn in the turning direction of the ankle joint.
  • a shaft hole for inserting a shaft member AX whose axial direction is an axis parallel to the X axis is formed at the other end of the second inner exoskeleton member 117.
  • the other end of the second inner exoskeleton member 117 is pivotally attached to an inner shaft support member 122 described later in the rotation direction of the shaft member AX.
  • the first outer exoskeleton member 111 disposed outside the crus and the first inner exoskeleton member 116 disposed inside the crus are lowered by the belt members 211 and 212 made of cloth. Mounted on the thigh.
  • the foot mounting portion 120A includes a flat plate member 121 as a part of the sole member and one of the sole members.
  • An inner shaft supporting member 122 as a part, an outer receiving member 125 as a receiving member, and a tacking member 129 are provided.
  • FIG. 5A is a view of the foot mounting portion 120A viewed from the + Y direction side
  • FIG. 5B is a view of the foot mounting portion 120A viewed from the + Z direction side.
  • the flat plate member 121 is, for example, a steel member, and in the first embodiment, is formed into a substantially rectangular flat plate with four corners rounded in the XY plan view.
  • the soles of the feet are arranged, and the belt members 213 and 214 made of cloth (see FIGS. 3 and 4, not shown in FIGS. 2, 5 (A) and (B)), The foot is worn.
  • the above-described inner shaft support member 122 is, for example, a steel member, and is formed into a U shape in the XZ plan view (see FIG. 4).
  • the inner shaft support member 122 includes shaft insertion portions 122a and 122b and a fixing portion 122c (see FIG. 5).
  • shaft holes HLa and HLb for inserting a shaft member AX having an axis parallel to the X axis as the axial direction are formed in the shaft inserting portion 122a on the + X direction side and the shaft inserting portion 122b on the -X direction side.
  • the fixing portion 122c is attached to the heel side at the substantially center of the inner side ( ⁇ Y direction side) end portion of the flat plate member 121 by screwing or the like (not shown).
  • the other end of the second inner exoskeleton member 117 is inserted between the shaft insertion portion 122a and the shaft insertion portion 122b, and the shaft hole HLa of the shaft insertion portion 122a and the shaft of the shaft member 122b are inserted.
  • the shaft member AX is inserted into the hole HLb and the shaft hole at the other end of the second inner exoskeleton member 117. For this reason, the other end of the second inner exoskeleton member 117 is rotatable with respect to the inner shaft support member 122 in the rotation direction of the shaft member AX.
  • the above-described outer receiving member 125 is, for example, a steel member, and is attached to a substantially central heel side of the outer side (+ Y direction side) end of the flat plate member 121 with screws or the like (not shown).
  • the outer receiving member 125 is formed with a substantially hemispherical recess CC on the + Z direction side in the closed leg posture.
  • the diameter of the concave portion CC is larger than the diameter of the convex portion CV at the other end of the second outer exoskeleton member 112A (see FIGS. 2 and 3).
  • the convex portion CV of the second outer exoskeleton member 112A shifts from the open leg state where the convex portion CV is disengaged from the outer receiving member 125 to the closed leg state, the convex portion CV is received in the concave portion CC of the outer receiving member 125. It is easy to be done. Further, in the YZ plan view, the convex portion of the second outer exoskeleton member 112A until the angle formed by the length direction of the second inner exoskeleton member 117 and the normal direction of the flat plate member 121 becomes a predetermined angle or more. CV is received in the recess CC.
  • the above-described tacking member 129 is, for example, a steel member, and is fixed to the end portion of the flat plate member 121 on the ⁇ X direction side.
  • the heel stop member 129 supports the heel portion of the foot portion disposed on the flat plate member 121.
  • the leaf spring member 140 has a rectangular shape in which the longitudinal direction is the + Z direction in the XZ plan view in a closed leg posture. Yes.
  • the leaf spring member 140 is installed on the outer side (+ Y direction side) end of the flat plate member 121 and on the inner side ( ⁇ Y direction side) of the outer receiving member 125.
  • the leaf spring member 140 is deformed in a direction along the Y-axis direction (clockwise or counterclockwise in YZ plan view with the + X direction as the viewing direction) (see FIG. 6 described later). .
  • the foot mounting structure 100A 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 100A is mounted on the foot of a human body.
  • the wearer of the joint exercise assist device closes the leg with a narrow interval between both legs. It shall be in a posture.
  • the angle formed by the length direction of the second inner exoskeleton member 117 and the normal direction of the flat plate member 121 is substantially parallel in the YZ plan view, and the second outer exoskeleton member 112A
  • An angle formed by the length direction and the normal direction of the flat plate member 121 is also substantially parallel.
  • the convex portion CV of the second outer exoskeleton member 112A is received in the concave portion CC of the outer receiving member 125, and the entire bottom surface of the flat plate member 121 is in contact with the floor surface.
  • the length direction of the second inner exoskeleton member 117 and the normal line of the flat plate member 121 are viewed in YZ plan view. While the angle formed by the direction changes and expands, the angle formed by the length direction of the second outer exoskeleton member 112A and the normal direction of the flat plate member 121 also increases. When the angle formed is equal to or greater than a predetermined angle, the convex portion CV of the second outer exoskeleton member 112A is disengaged from the concave portion CC formed on the outer receiving member 125, as shown in FIG. 6B.
  • the leaf spring member 140 becomes the convex portion of the second outer exoskeleton member 112A. It bends elastically while in contact with CV.
  • the length direction of the second inner exoskeleton member 117 and the method of the flat plate member 121 are viewed in YZ plan view.
  • the angle formed by the line direction changes so as to be substantially parallel, and the angle formed by the length direction of the second outer exoskeleton member 112A and the normal direction of the flat plate member 121 also changes so as to be substantially parallel.
  • the leaf spring member 140 contacts the convex portion CV of the second outer exoskeleton member 112A.
  • the second outer exoskeleton member 112A is then elastically restored to guide the convex portion CV of the second outer exoskeleton member 112A to the concave portion CC formed in the outer receiving member 125.
  • the end portion of the second inner exoskeleton member 117 mounted on the inner shell side is disposed with respect to the flat plate member 121 so as to have a degree of freedom of movement of the ankle joint.
  • a convex portion CV that can be received in the concave portion CC formed in the outer receiving member 125 is formed at the end of the second outer exoskeleton member 112A attached to the outer shell side.
  • the convex portion CV of the second outer exoskeleton member 112A is received in the concave portion CC of the outer receiving member 125, and the entire bottom surface of the planar member 121 is in contact with the floor surface. Yes.
  • the convex portion CV of the second outer exoskeleton member 112A on the outer side becomes the outer receiving member 125. It becomes possible to keep the state in which the entire bottom surface of the flat plate member 121 is attached to the floor surface. Further, when shifting from the closed leg posture to the open leg posture, the convex portion CV of the second outer exoskeleton member 112 ⁇ / b> A maintains a state in contact with the leaf spring member 140.
  • the leaf spring member 140 is elastically restored while being in contact with the convex portion CV of the second outer exoskeleton member 112A, and the convex portion CV is formed into the outer receiving member 125. To the recessed portion CC.
  • FIG. 7 and 8 are external views of a foot mounting structure 100B (hereinafter, also simply referred to as “foot mounting structure 100B”) of the joint motion assist device according to the second embodiment.
  • FIG. 7 is an external view (YZ plan view) of the foot mounting structure 100B mounted on the left foot of the human body when viewed from the ⁇ X direction side (heel side) in the closed leg posture.
  • FIG. 8 is an external view (XZ plan view) of the foot mounting structure 100B mounted on the left foot of the human body viewed from the + Y direction side (outer side) in the closed leg posture.
  • the foot mounting structure 100B is replaced by a leaf spring member 140 as compared with the foot mounting structure 100A of the first embodiment described above (see FIGS. 2 to 4).
  • the difference is that a hollow elastic member 150 as a guide member is provided.
  • this difference will be mainly described.
  • the hollow elastic member 150 is a cylindrical rubber member that extends in the + Z direction in the closed leg posture.
  • the hollow elastic member 150 is installed on the outer side (+ Y direction side) end of the flat plate member 121 so as to surround the outer receiving member 125. Then, the convex portion CV of the second outer exoskeleton member 112A is inserted into the hollow inside of the hollow elastic member 150.
  • the foot mounting structure 100B mounted on the left foot of the human body has been described above, the foot mounting structure mounted on the right foot of the human body is configured in the same manner as the foot mounting structure mounted on the left foot. Has been.
  • the foot mounting structure 100B is mounted on the foot of a human body.
  • the wearer of the joint motion assist device is in a closed leg posture.
  • the angle formed by the length direction of the second inner exoskeleton member 117 and the normal direction of the flat plate member 121 is substantially parallel in the YZ plan view, and the second outer exoskeleton member 112A
  • An angle formed by the length direction and the normal direction of the flat plate member 121 is also substantially parallel.
  • the convex portion CV of the second outer exoskeleton member 112A is received in the concave portion CC of the outer receiving member 125, and the entire bottom surface of the flat plate member 121 is in contact with the floor surface.
  • the length direction of the second inner exoskeleton member 117 and the normal line of the flat plate member 121 are viewed in YZ plan view. While the angle formed by the direction changes and expands, the angle formed by the length direction of the second outer exoskeleton member 112A and the normal direction of the flat plate member 121 also increases. When the angle formed is equal to or greater than a predetermined angle, the convex portion CV of the bottom side end portion of the second outer exoskeleton member 112A is disengaged from the concave portion CC formed in the outer receiving member 125, and FIG.
  • the state in which the entire bottom surface of the flat plate member 121 to which the soles are attached is attached to the floor surface can be maintained. Then, as the distance between the convex portion CV of the second outer exoskeleton member 112A and the concave portion CC formed on the outer receiving member 125 becomes longer, the convex portion CV of the second outer exoskeleton member 112A comes into contact with the inside.
  • the hollow elastic member 150 is curved elastically.
  • the end portion of the second inner exoskeleton member 117 mounted on the inner shell side is disposed with respect to the flat plate member 121 so as to have freedom of movement of the ankle joint.
  • a convex portion CV that can be received in the concave portion CC formed in the outer receiving member 125 is formed at the end of the second outer exoskeleton member 112A attached to the outer shell side.
  • the convex portion CV of the second outer exoskeleton member 112A is received in the concave portion CC of the outer receiving member 125.
  • the convex portion CV of the second outer exoskeleton member 112A on the outer side becomes the outer receiving member 125. It becomes possible to keep the state in which the entire bottom surface of the flat plate member 121 is attached to the floor surface. Further, when shifting from the closed leg posture to the open leg posture, the convex portion CV of the second outer exoskeleton member 112 ⁇ / b> A maintains a state of being in contact with the inside of the hollow elastic member 150.
  • FIG. 10 and 11 are external views of a foot mounting structure 100C (hereinafter, also simply referred to as “foot mounting structure 100C”) of the joint motion assist device according to the third embodiment.
  • FIG. 10 is an external view (YZ plan view) of the foot mounting structure 100C mounted on the left foot when viewed from the ⁇ X direction side (heel side) in the closed leg posture.
  • FIG. 11 is an external view (XZ plan view) of the foot mounting structure 100C mounted on the left foot when viewed from the + Y direction side (outer side) in the closed leg posture.
  • the foot mounting structure 100C has a second outer exoskeleton member as compared with the foot mounting structure 100A (see FIGS. 2 to 4) of the first embodiment described above.
  • description will be made mainly focusing on these differences.
  • the second outer exoskeleton member 112C 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.
  • the external gear at one end of the second outer exoskeleton member 112C 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 191 and 192 so as to be able to turn in the turning direction of the ankle joint.
  • the other end of the second outer exoskeleton member 112C is fixedly connected to one end of the rubber member 160.
  • the length of the second outer exoskeleton member 112C is shorter than the length of the second outer exoskeleton member 112A described above.
  • the length obtained by adding the length of the second outer exoskeleton member 112C and the length of the rubber member 160 at the time of contraction substantially matches the length of the second outer exoskeleton member 112A. It has become.
  • the above-described foot mounting portion 120C is different from the above-described foot mounting portion 120A of the first embodiment in that an outer fixing member 126C as a fixing member is provided instead of the outer receiving member 125.
  • the outer fixing member 126C is a cubic member made of steel, for example, and is fixed to a substantially central heel side of the outer side (+ Y direction side) end portion of the flat plate member 121 with screws or the like (not shown). It is attached.
  • the other end of the rubber member 160 is fixedly connected to the surface on the + Z direction side of the outer fixing member 126C.
  • the rubber member 160 is a rod-like or plate-like rubber member extending along the + Z direction in the closed leg posture.
  • the rubber member 160 has one end connected to the other end of the second outer exoskeleton member 112C and the other end connected to the surface on the + Z direction side of the outer fixing member 126C.
  • the foot mounting structure 100C mounted on the left foot of the human body has been described above, but the foot mounting structure mounted on the right foot of the human body is configured similarly to the foot mounting structure mounted on the left foot. Has been.
  • the wearer of the joint motion assist device assumes a closed leg posture.
  • the angle between the length direction of the second inner exoskeleton member 117 and the normal direction of the flat plate member 121 is substantially parallel in YZ plan view, and the second outer exoskeleton member 112C
  • An angle formed by the length direction and the normal direction of the flat plate member 121 is also substantially parallel.
  • the rubber member 160 is contracted, and the entire bottom surface of the flat plate member 121 is in contact with the floor surface.
  • the length direction of the second inner exoskeleton member 117 and the normal line of the flat plate member 121 are viewed in YZ plan view. While the angle formed by the direction changes and expands, the angle formed by the length direction of the second outer exoskeleton member 112C and the normal direction of the flat plate member 121 also increases. Then, as the distance between the other end of the second outer exoskeleton member 112C and the outer fixing member 126C becomes longer, the rubber member 160 is elastically extended, as shown in FIG. In addition, the state in which the entire bottom surface of the flat plate member 121 is attached to the floor surface can be maintained.
  • the length direction of the second inner exoskeleton member 117 and the method of the flat plate member 121 in YZ plan view changes so as to be substantially parallel, and the angle formed by the length direction of the second outer exoskeleton member 112C and the normal direction of the flat plate member 121 also changes so as to be substantially parallel.
  • the rubber member 160 elastically contracts.
  • the end portion of the second inner exoskeleton member 117 mounted on the inner shell side is disposed with respect to the flat plate member 121 so as to have a degree of freedom of movement of the ankle joint.
  • the rubber member 160 fixed to the outer fixing member 126C is connected to the end of the second outer exoskeleton member 112C mounted on the outer side. In the closed leg posture in which the distance between both feet is narrowed, the rubber member 160 is in a contracted state.
  • FIGS. 13 and 14 are external views of a foot mounting structure 100D (hereinafter also simply referred to as “foot mounting structure 100D”) of the joint motion assist device according to the fourth embodiment.
  • FIG. 13 is an external view (YZ plan view) of the foot mounting structure 100D viewed from the ⁇ X direction side (heel side) in the closed leg posture.
  • FIG. 14 is an external view (XZ plan view) of the foot mounting structure 100D viewed from the + Y direction side (outer side) in the closed leg posture.
  • the foot mounting structure 100 ⁇ / b> D replaces the foot mounting structure 100 ⁇ / b> C of the third embodiment described above (see FIGS. 10 and 11).
  • the above-described foot mounting portion 120D is different from the above-described foot mounting portion 120C of the third embodiment in that an outer fixing member 126D is provided instead of the outer fixing member 126C.
  • the outer fixing member 126D is, for example, a steel cubic member, and the inside is hollow.
  • the outer fixing member 126D is attached to the heel side of the outer side (+ Y direction side) end of the flat plate member 121 by screwing (not shown) or the like.
  • a hole through which the string member 171 is passed is formed on the surface on the + Z direction side of the outer fixing member 126D.
  • a pulley PL and a pin PN are attached to the hollow inside of the outer fixing member 126D.
  • the pulley PL is a disk-shaped member whose axial direction is an axis parallel to the Y axis, and is arranged on the ⁇ Z direction side of the hole of the outer fixing member 126D through which the string member 171 passes. It has come to be. Further, the pin PN is arranged at the end on the ⁇ X direction side inside the hollow (see FIG. 14).
  • One end of the string member 171 is connected to the other end of the second outer exoskeleton member 112C.
  • the string member 171 is wound around the pulley PL inside the hollow portion of the outer fixing member 126D, and the other end is connected to one end of the coil spring member 172.
  • the other end of the coil spring member 172 is fixed to the pin PN inside the hollow portion of the outer fixing member 126D.
  • the coil spring member 172 expands and contracts in the X direction inside the hollow portion of the outer fixing member 126D. For this reason, when the whole connecting member connecting the string member 171 and the coil spring member 172 expands and contracts, only the string member 171 appears outside the outer fixing member 126D.
  • the wearer of the joint motion assist device is in a closed leg posture.
  • the angle between the length direction of the second inner exoskeleton member 117 and the normal direction of the flat plate member 121 is substantially parallel in YZ plan view, and the second outer exoskeleton member 112C An angle formed by the length direction and the normal direction of the flat plate member 121 is also substantially parallel.
  • the coil spring member 172 is contracted, and the entire bottom surface of the flat plate member 121 is in contact with the floor surface.
  • the length direction of the second inner exoskeleton member 117 and the normal line of the flat plate member 121 are viewed in YZ plan view. While the angle formed by the direction changes and expands, the angle formed by the length direction of the second outer exoskeleton member 112C and the normal direction of the flat plate member 121 also increases. Then, as the distance between the other end of the second outer exoskeleton member 112C and the outer fixing member 126D becomes longer, the coil spring member 172 elastically expands, as shown in FIG. 15B. In addition, the state in which the entire bottom surface of the flat plate member 121 is attached to the floor surface can be maintained.
  • the length direction of the second inner exoskeleton member 117 and the method of the flat plate member 121 are viewed in YZ plan view.
  • the angle formed by the line direction changes so as to be substantially parallel, and the angle formed by the length direction of the second outer exoskeleton member 112C and the normal direction of the flat plate member 121 also changes so as to be substantially parallel.
  • the coil spring member 172 elastically contracts.
  • the end portion of the second inner exoskeleton member 117 mounted on the inner shell side is disposed with respect to the flat plate member 121 so as to have a degree of freedom of movement of the ankle joint.
  • the end portion of the second outer exoskeleton member 112 ⁇ / b> C mounted on the outer side is connected to one end portion of the string member 171.
  • the other end of the string member 171 is connected to a coil spring member 172 fixed to the outer fixing member 126C. In the closed leg posture in which the distance between both feet is narrowed, the coil spring member 172 is in a contracted state.
  • the coil spring member 172 elastically extends, so that the entire bottom surface of the flat plate member 121 is placed on the floor surface. The contact state can be maintained. Further, when moving from the open leg position to the closed leg position, the coil spring member 172 elastically contracts.
  • the coil spring member 172 connected to one end of the string member 171 and the other end of the string member 171 is connected to the end of the second outer exoskeleton member 112C.
  • the outer fixing member 126D is housed in the hollow interior. For this reason, the coil spring member 172 can be prevented from being entangled in the pants of the wearer of the joint motion assist device.
  • a leaf spring member is provided as the guide member
  • a hollow elastic member is provided as the guide member.
  • a spherical convex portion is formed at the other end of the second outer exoskeleton member 112A, and a hemispherical concave portion is formed at the + Z direction side of the outer receiving member. It was decided to be processed. On the other hand, for example, a hemispherical concave portion may be formed at the other end of the second outer exoskeleton member, and a spherical convex portion may be formed at the + Z direction side of the outer receiving member.
  • the other end of the second outer exoskeleton member 112A and the outer receiving member are not fitted, and the length direction of the second outer exoskeleton member 112A is set.
  • the angle formed by the normal direction of the flat plate member becomes a predetermined angle
  • the other end of the second outer exoskeleton member 112A is detached from the outer receiving member.
  • the other end of the second outer exoskeleton member and the outer receiving member can be fitted, and the angle formed by the length direction of the second outer exoskeleton member and the normal direction of the flat plate member is previously set.
  • the second outer exoskeleton member may be fitted to the outer receiving member until a predetermined angle or more is reached.
  • a convex portion is formed at the other end of the second outer exoskeleton member,
  • a concave portion may be formed and processed on the + Z direction side of the outer receiving member, or a concave portion is formed on the other end portion of the second outer exoskeleton member so that a convex portion is formed on the + Z direction side of the outer receiving member. May be formed and processed.
  • the concave portion is formed on the + Z direction side of the outer receiving member.
  • the surface of the outer receiving member on the + Z direction side is flat. It may be a processing mode.
  • the bottom side end of the second outer exoskeleton member may be in contact with the floor surface.
  • the height (position of a Z direction) of the convex part formed in the edge part of a 2nd outer exoskeleton member at the time of a closed leg posture, and a 2nd inner exoskeleton member The height of the shaft member AX connecting the inner shaft support member 122 is made substantially the same (see FIG. 2). On the other hand, you may make it the height of the convex part formed in the edge part of a 2nd outer side exoskeleton member differ from the height of the shaft member AX.
  • one leaf spring member is provided as the guide member, but the number of leaf spring members may be two.
  • one leaf spring member is disposed close to the outer receiving member on the inner side ( ⁇ Y direction side) of the outer receiving member, and the other one The leaf spring member may be disposed close to the outer receiving member on the outer side (+ Y direction side) of the outer receiving member.
  • the number of leaf spring members may be three or more.
  • one leaf spring member is disposed on the inner side ( ⁇ Y direction side) of the outer receiving member in proximity to the outer receiving member, and the other two or more leaf spring members are disposed on the outer side. What is necessary is just to arrange
  • the leaf spring member as the guide member is arranged on the inner shell side ( ⁇ Y direction side) of the outer receiving member.
  • a plate-like member extending along the instep side may be disposed on the outer side (+ Y direction side) of the outer receiving member as a guide member.
  • the number of plate-like members may be two or more. In this case, one plate-shaped member is disposed on the outer side (+ Y direction side) of the outer receiving member in the vicinity of the outer receiving member, and the other plate-shaped member is disposed in the vicinity of the outer receiving member.
  • the outer receiving member may be disposed on the + X direction side or the ⁇ X direction side.
  • the plate member may be a leaf spring.
  • the leaf spring member is disposed on the inner side ( ⁇ Y direction side) of the outer receiving member in the vicinity of the outer receiving member. Then, a plate-like member may be arranged on the outer side (+ Y direction side) of the outer receiving member.
  • the hollow elastic member is a cylindrical rubber member, but may be a coil spring or the like.
  • the other end of the second outer exoskeleton member and the outer fixing member are indirectly connected via the rubber member.
  • a spring such as a coil spring is used.
  • the other end of the second outer exoskeleton member and the outer fixing member may be indirectly connected via the member.
  • the connecting member that indirectly connects the other end of the second outer exoskeleton member and the outer fixing member is a member that connects the string member and the coil spring member.
  • a member in which a string member and a rubber member are connected may be adopted as the connection member.
  • the coil spring member is accommodated in the hollow interior of the outer fixing member.
  • the coil spring member may not be accommodated in the hollow interior of the outer fixing member.
  • the second inner exoskeleton member is interposed between the shaft insertion portion 122a and the shaft insertion portion 122b in the inner shaft support member formed in a U shape in the XZ plan view.
  • the second The inner exoskeleton member was connected to the flat plate member.
  • the wearer of the joint motion assist device takes a posture in which the space between both feet is widened and the lower knee is tilted vertically upward. In this case, other modes may be used as long as they can cope with the movement of the ankle joint during the posture.
  • 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.
  • each member is 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.
  • first outer exoskeleton member and the second outer exoskeleton member are integrated into a member
  • first inner exoskeleton member and the second inner exoskeleton member are integrated into a member. It may be.
  • the sole side end of the inner exoskeleton member may be installed on the flat plate member so as to have a degree of freedom of flexion and extension of the ankle joint with respect to the flat plate member.
  • 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 present invention can also be applied to a foot mounting structure of a joint motion assist device such as an exoskeleton type 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.

Landscapes

  • Health & Medical Sciences (AREA)
  • Vascular Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nursing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
  • Invalid Beds And Related Equipment (AREA)

Abstract

Selon l'invention, l'extrémité d'un second élément squelettique externe médian (117), qui s'adapte sur la partie intérieure du cou-de-pied, est disposée de telle sorte que la cheville a des degrés de liberté de mouvement par rapport à un élément de plaque plate (121). Une convexité (CV), qui peut être maintenue dans une concavité (CC) formée dans un élément de maintien latéral (125), est formée sur l'extrémité d'un second élément squelettique externe latéral (112A), qui s'adapte sur la partie extérieure du cou-de-pied. Dans une position de jambe fermée, la convexité (CV) du second élément squelettique externe latéral (112A) est maintenue dans la concavité (CC) de l'élément de maintien latéral (125), et toute la surface inférieure de l'élément de plaque plate (121) est en contact avec le sol. Lors du passage de ladite position de jambe fermée à une position de jambe ouverte, la convexité (CV) du second élément squelettique externe latéral (112A) se détache de la concavité (CC) de l'élément de maintien latéral (125), permettant de garder toute la surface inférieure de l'élément de plaque plate (121) en contact avec le sol. Lors du passage de ladite position de jambe ouverte à la position de jambe fermée, un élément de ressort de plaque (140) est restauré tout en étant en contact avec la convexité (CV) du second élément squelettique externe latéral (112A), et guide ladite convexité (CV) vers la concavité (CC) de l'élément de maintien latéral (125).
PCT/JP2013/073567 2013-09-02 2013-09-02 Structure s'adaptant sur une jambe pour dispositif d'aide au mouvement d'articulation WO2015029257A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2013/073567 WO2015029257A1 (fr) 2013-09-02 2013-09-02 Structure s'adaptant sur une jambe pour dispositif d'aide au mouvement d'articulation
JP2015533924A JP5935177B2 (ja) 2013-09-02 2013-09-02 関節運動アシスト装置の足部装着構造

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2013/073567 WO2015029257A1 (fr) 2013-09-02 2013-09-02 Structure s'adaptant sur une jambe pour dispositif d'aide au mouvement d'articulation

Publications (1)

Publication Number Publication Date
WO2015029257A1 true WO2015029257A1 (fr) 2015-03-05

Family

ID=52585862

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2013/073567 WO2015029257A1 (fr) 2013-09-02 2013-09-02 Structure s'adaptant sur une jambe pour dispositif d'aide au mouvement d'articulation

Country Status (2)

Country Link
JP (1) JP5935177B2 (fr)
WO (1) WO2015029257A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016189253A1 (fr) * 2015-05-27 2016-12-01 Université De Bordeaux Articulation de membre inférieur pour la locomotion bipède
JP2018525239A (ja) * 2015-07-17 2018-09-06 エクソ・バイオニクス，インコーポレーテッド ヒト外骨格のための汎用テンセグリティ関節
JP7088058B2 (ja) 2019-02-06 2022-06-21 トヨタ自動車株式会社 脚装具

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11298287B2 (en) 2020-06-02 2022-04-12 Dephy, Inc. Systems and methods for a compressed controller for an active exoskeleton
US11148279B1 (en) 2020-06-04 2021-10-19 Dephy, Inc. Customized configuration for an exoskeleton controller
US11147733B1 (en) 2020-06-04 2021-10-19 Dephy, Inc. Systems and methods for bilateral wireless communication
US11389367B2 (en) 2020-06-05 2022-07-19 Dephy, Inc. Real-time feedback-based optimization of an exoskeleton
US11173093B1 (en) 2020-09-16 2021-11-16 Dephy, Inc. Systems and methods for an active exoskeleton with local battery

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009148590A (ja) * 2001-08-06 2009-07-09 Noble Patterson 歩行補助器具
JP2010142353A (ja) * 2008-12-17 2010-07-01 Honda Motor Co Ltd 体重支持装置
JP2012165821A (ja) * 2011-02-10 2012-09-06 Suncall Engineering Kk 歩行補助装置
JP2012217746A (ja) * 2011-04-13 2012-11-12 Toyota Motor Corp 脚装具

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009148590A (ja) * 2001-08-06 2009-07-09 Noble Patterson 歩行補助器具
JP2010142353A (ja) * 2008-12-17 2010-07-01 Honda Motor Co Ltd 体重支持装置
JP2012165821A (ja) * 2011-02-10 2012-09-06 Suncall Engineering Kk 歩行補助装置
JP2012217746A (ja) * 2011-04-13 2012-11-12 Toyota Motor Corp 脚装具

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016189253A1 (fr) * 2015-05-27 2016-12-01 Université De Bordeaux Articulation de membre inférieur pour la locomotion bipède
FR3036613A1 (fr) * 2015-05-27 2016-12-02 Univ Bordeaux Articulation de membre inferieur pour la locomotion bipede
CN108135769A (zh) * 2015-05-27 2018-06-08 波尔多大学 用于双足行走的下肢关节
JP2018525239A (ja) * 2015-07-17 2018-09-06 エクソ・バイオニクス，インコーポレーテッド ヒト外骨格のための汎用テンセグリティ関節
JP7088058B2 (ja) 2019-02-06 2022-06-21 トヨタ自動車株式会社 脚装具

Also Published As

Publication number Publication date
JPWO2015029257A1 (ja) 2017-03-02
JP5935177B2 (ja) 2016-06-15

Similar Documents

Publication Publication Date Title
JP5935177B2 (ja) 関節運動アシスト装置の足部装着構造
JP6767002B2 (ja) 歩行支援装置用の靴アセンブリ
JP6548913B2 (ja) 関節アセンブリ、およびこれを含む歩行補助ロボット
KR102158131B1 (ko) 보행보조장치
US10166679B2 (en) Movement assistance device
KR101937012B1 (ko) 하지 관절 보조용 외골격 시스템
KR101142240B1 (ko) 근력 지원용 착용형 로봇
JP5714874B2 (ja) 装着型動作支援装置
JP2009268839A (ja) 肩甲骨鎖骨機構
US20180257217A1 (en) Load-bearing exoskeleton
KR101233649B1 (ko) 근력 지원용 착용형 로봇
US8968223B2 (en) Motion assist device
EP3705104B1 (fr) Articulation tibio-tarsienne d'une orthèse ou d'un exosquelette
CN113478466B (zh) 一种兼具负载传导及步行节能的无源下肢外骨骼
US20180296423A1 (en) Joint-assisting device
US11357333B2 (en) Wearable chair with truss structure
KR20150138325A (ko) 기계식 링크장치
JP5930354B2 (ja) 関節運動アシスト装置の足部装着構造
KR20120106235A (ko) 무릎관절 보조기
KR102097620B1 (ko) 외골격 서브조립체 및 이러한 서브조립체를 포함하는 외골격 구조물
KR102343391B1 (ko) 고관절 자유도 보상 기능을 구비한 슈트형 하지 로봇
KR101855002B1 (ko) 외골격 로봇용 관절 보조장치
KR102588951B1 (ko) 착좌각이 변경 가능한 착용식 의자
JP6713684B2 (ja) 動作アシスト装置
KR102661949B1 (ko) 인공무릎관절

Legal Events

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

Ref document number: 13892412

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2015533924

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 13892412

Country of ref document: EP

Kind code of ref document: A1