WO2018225171A1 - Procédé de fabrication de dispositif d'aide au mouvement d'articulation - Google Patents

Procédé de fabrication de dispositif d'aide au mouvement d'articulation Download PDF

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Publication number
WO2018225171A1
WO2018225171A1 PCT/JP2017/021098 JP2017021098W WO2018225171A1 WO 2018225171 A1 WO2018225171 A1 WO 2018225171A1 JP 2017021098 W JP2017021098 W JP 2017021098W WO 2018225171 A1 WO2018225171 A1 WO 2018225171A1
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WO
WIPO (PCT)
Prior art keywords
joint
transmission member
finger
joint motion
bellows
Prior art date
Application number
PCT/JP2017/021098
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English (en)
Japanese (ja)
Inventor
圭治郎 山本
知江 茂垣
Original Assignee
圭治郎 山本
桑原　俊幸
知江 茂垣
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 圭治郎 山本, 桑原　俊幸, 知江 茂垣 filed Critical 圭治郎 山本
Priority to JP2019523257A priority Critical patent/JP6786719B2/ja
Priority to PCT/JP2017/021098 priority patent/WO2018225171A1/fr
Publication of WO2018225171A1 publication Critical patent/WO2018225171A1/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
    • 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

Definitions

  • the present invention relates to a method for manufacturing a joint motion assist device, and more particularly to a method for manufacturing a joint motion assist device that assists the joint motion of a predetermined object.
  • One of the devices that assists the movement of the patient is to assist the joint movement of the finger using the expansion and contraction of the bellows when the finger is paralyzed due to a central nervous disorder such as cerebral infarction.
  • a central nervous disorder such as cerebral infarction.
  • Conventional Example 1 a joint motion assist device using a bellows is lighter than a device using a motor and an actuator driven by a wire, and thus has high practicality. Further, since the joint motion assist device using the bellows can be driven at a low pressure, a low vibration and low noise pump such as a diaphragm pump or a vane pump can be used. From these points, it can be said that the joint motion assist device using the extendable bellows is highly practical.
  • an expandable / contractible bellows is disposed at a joint to be assisted.
  • the one side transmission member connected to the one side edge part of the said bellows is mounted
  • the transmission member on the other side connected to the other end portion of the bellows is attached to the connection portion on the other side connected to the joint to be assisted.
  • the transmission member is directly arranged at the corresponding connection site, and the transmission member is attached to the connection site. Therefore, in order to attach the joint motion assisting device of the technology of Conventional Example 1 to the hand, the thumb, index finger, middle finger, ring finger, and little finger (hereinafter also referred to as “five fingers”) are connected to each joint of the five fingers.
  • the transmission member must be directly arranged at the connected portion, and the arranged transmission member must be attached to the connection portion.
  • the joint motion assist device for assisting the joint motion of the fingers must be adapted to the shape of the hand portion of the wearer.
  • the shape of the wearer's hand is measured.
  • the transmission member is fixed to the finger mounting member.
  • very time-consuming processes such as measuring the shape of the hand and sewing the transmission member to the hand mounting member are required. It was.
  • the present invention has been made in view of the above circumstances, and is a new joint motion assist device that can easily produce a joint motion assist device that has an optimal shape for each user and is easy to wear.
  • An object of the present invention is to provide a manufacturing method of the above.
  • the present invention provides a bellows that is prepared for each joint that should assist joint motion in a predetermined object, and that generates a force that assists the joint motion; a connection site that is connected to an end of the bellows and connected to the joint And a transmission member that transmits to the joint a force that assists the joint movement caused by expansion and contraction of the bellows, wherein the joint extends and
  • a photographing step of photographing a symmetrical object having a structure that has one of congruent symmetry and left-right symmetry with the predetermined object when photographing; photographing information of the symmetrical object; and the predetermined object A duplication step of creating a duplicate image of the predetermined object when the joint is extended based on symmetry with the symmetric object; plastic deformation with reference to the duplicate image; A molding step of molding a solid material capable of forming a plastically deformable shape having the shape of the duplicate image; and a transmission member for preparing the transmission member suitable for the shape of the connection site with reference to the duplicate image A preparation step;
  • a symmetrical object having a structure having either a symmetry symmetry or a left-right symmetry with a predetermined object when the joint is extended Shoot with a camera or other imaging means.
  • the shooting information such as the distance between the shooting means and the symmetrical object, and the symmetry between the predetermined object and the symmetrical object
  • a duplicate image of a predetermined object is created when the image is extended.
  • a plastically deformable solid material is molded with reference to the duplicate image, and a plastically deformable shape having the shape of the duplicate image is created.
  • a solid material when creating a plastically deformable shape, a solid material may be placed on the duplicate image, and then the solid material may be molded to create the plastically deformable shape.
  • the plastically deformable shape in creating a plastically deformable shape, the plastically deformable shape may be created by mechanized automatic work, or the plastically deformable shape may be created manually.
  • the thickness of the plastically deformable shape is preferably about 1 to 3 mm.
  • a transmission member suitable for the shape of the connection site is prepared with reference to the duplicate image.
  • a transmission member having a length approximately the same as the length of the connection portion and shorter than the length of the connection portion may be prepared.
  • a transmission member that matches the shape of the connection site is selected with reference to the duplicate image.
  • the transmission member can be prepared without directly measuring the shape of the wearer's hand. For this reason, it is possible to reduce the burden on the measurer of the hand shape and the wearer of the joint motion assist device.
  • the transmission member prepared in the transmission member preparation step is attached at a position corresponding to the connection site in the plastically deformable shape, and the transmission member is a solid material of the same material as the plastically deformable shape. Cover with.
  • the transmission member can be attached to the plastically deformable shape in such a manner that the transmission member is embedded in the plastically deformable shape.
  • the mounting portion manufacturing step a predetermined processing is applied to the plastically deformable shape to which the transmission member is attached to manufacture a flexible mounting portion. Thereby, the mounting part to which the transmission member is attached is produced.
  • the end portion of the bellows is connected to the end portion of the transmission member attached to the mounting portion.
  • an articulation assist device including a bellows and a transmission member connected to the bellows is manufactured.
  • the transmission member is indirectly arranged at the connection site via the attachment portion, and the attachment portion is attached to the hand portion. For this reason, the joint motion assist device can be easily mounted.
  • a joint motion assist device having an optimum shape for each user can be easily manufactured.
  • the predetermined object may be a part of a human body or an object other than a human body having a skeleton structure.
  • a transmission member fixing member is prepared between the transmission member preparation step and the attachment step, and the transmission member is fixed to the connection site.
  • a first fixing member preparing step of fixing a member to the transmission member; and being performed between the attachment step and the mounting portion manufacturing step, and fixed to the transmission member prepared in the first fixing member preparation step A first covering step of covering the transmission member fixing member with the solid material.
  • the transmission member fixing member fixed to the transmission member can be attached to the plastically deformable shape in such a manner that the transmission member fixing member is embedded in the plastically deformable shape. For this reason, it is possible to produce an articulation assist device that can be securely mounted by fixing the transmission member to the connection site.
  • a cloth material pasting step of pasting a cloth member on a surface opposite to the surface on which the transmission member is attached in the plastically deformable shape. can be further provided.
  • the cloth member directly hits the predetermined object. For this reason, the tactile sensation (feel) for the wearer is better than when the cloth member is not attached to the joint motion assist device.
  • the predetermined object is one hand part of a human body
  • the symmetrical object is the other hand part of the human body.
  • the predetermined object is one hand part of the human body and the symmetrical object is the other hand part of the human body
  • the fingers of one hand part of the wearer wearing the joint motion assist device It is assumed that the wrist is contracted and the finger or wrist of the other hand is not contracted.
  • one hand part and the other hand part show very good left-right symmetry. For this reason, based on the imaging
  • the joint to assist the joint motion is at least one joint of fingers, after the transmission member preparation step and before the attachment step, Preparing a palm part fixing member for fixing the palm part and a wrist part fixing member for fixing the wrist part, and fixing the palm part fixing member to the transmission member disposed in the back part; After the attaching step and before the mounting portion producing step, the palm part fixing member and the wrist part fixing member are attached to the plastically deformable shape, and the palm part fixing member and the wrist part fixing A second coating step of coating the member with the solid material.
  • an articulation assist device that assists the articulation of fingers can be produced.
  • the palm part fixing member fixed to the transmission member disposed on the back part of the hand (more specifically, the back part covering the metacarpal bone) is embedded in the plastically deformable shape in a plastic deformation manner. Can be attached to possible shapes.
  • a joint motion assist device capable of assisting the motion of the third joint of the finger (the second joint in the case of the thumb) can be produced.
  • the joint motion assist device that is firmly attached to the hand portion can be produced in such a manner that the joint motion assist device is fixed to the palm portion. Furthermore, in this case, it is possible to produce an articulation assist device that is firmly attached to the hand part in a manner that the articulation assist device is fixed to the wrist. For this reason, it is possible to produce a joint motion assist device that can be securely attached to the hand.
  • the imaging step is performed in such a manner that the four fingers of the index finger, the middle finger, the ring finger, and the little finger, and the thumb of the thumb are extended and the fingertip of the thumb is separated from the finger.
  • the first direction from the dorsal side of the finger that is the dorsal side of the four fingers to the ventral side of the finger that is the palm side of the four fingers, and the dorsal side of the finger that is the dorsal side of the thumb A first imaging step of imaging the hand part including the four fingers in the first direction in a state in which the second direction toward the ventral side of the finger, which is the palm side of the thumb, is orthogonal; A second imaging step of imaging the hand portion including the index finger in the second direction; and passing through the center of the dorsal side and the ventral side of the index finger from the captured image captured in the second imaging step.
  • the metacarpal bones of the thumb are connected to the carpal bones by “biaxial joints” which are biaxial joints that move in directions orthogonal to each other.
  • each of the metacarpal bones of the index finger, the middle finger, the ring finger, and the little finger (hereinafter also referred to as “other four fingers such as an index finger” or “four fingers”) is connected to the carpal bone by a half joint. From such a hand structure, the direction from the dorsal side of the thumb to the ventral side is different from the direction from the dorsal side of the other four fingers such as the index finger to the ventral side.
  • the four fingers and thumb of the symmetrical object are extended, and the thumb is abducted on the palm side.
  • the hand part including the four fingers is photographed in the direction from the back side of the four fingers to the ventral side
  • the second photographing step the direction from the dorsal side of the thumb to the ventral side.
  • the hand part including the thumb and index finger is photographed.
  • the image processing step the image of the four fingers on the dorsal side with respect to the line in the direction in which the index finger passes through the center of the dorsal side and the ventral side of the index finger from the captured image captured in the second imaging step. Remove the image part.
  • the joining step the photographed image photographed in the first photographing step and the processed image processed in the image processing step are joined, and a joined image is created by removing the indicated finger portion in the processed image.
  • the joint motion assist apparatus suitable for the structure of the hand part can be manufactured.
  • the predetermined object is a finger including a metacarpal part covering a metacarpal bone in one hand part of a human body
  • the symmetrical object is the It is a finger including a metacarpal region covering the metacarpal bone in the other hand part of the human body
  • the joint to assist the joint movement may be at least one joint of the finger.
  • the situation in which the predetermined object is a finger in one hand part of the human body and the symmetrical object is a finger in the other hand part of the human body is one hand of the wearer wearing the joint motion assist device. It is assumed that the finger in the part is contracted and the finger in the other hand is not contracted. At this time, based on the left-right symmetry between the fingers in one hand and the fingers in the other hand, it is possible to produce an articulation assist device that matches the shape of the finger in one hand.
  • joint motion assist device manufacturing method of the present invention it is possible to further include an opening forming step of forming an opening in the joint corresponding portion of the finger in the plastically deformable shape after the molding step.
  • an articulation assist device in which an opening is formed in the joint corresponding portion of the finger can be manufactured.
  • the joint motion assisting device can be easily attached to the hand part by aligning the joint with the opening. Further, when such an opening is formed, the joint is fitted into the opening at the time of bending the joint to compensate for insufficient elongation of the mounting portion. As a result, it is possible to reduce the feeling of pressure that the joint receives from the mounting portion, and it is possible to improve the convenience for the wearer such that the displacement between the joint and the mounting portion can be reduced. For this reason, the joint motion assist apparatus which has the convenience mentioned above can be produced.
  • the solid material is made of a material material having a property that changes from a plastically deformable state to a flexible state when heated
  • the predetermined treatment includes:
  • the heat treatment can be performed.
  • a plastically deformable solid member before the heating can be molded to easily form a plastically deformable shape object having a predetermined object shape.
  • a flexible mounting portion can be manufactured by a simple process such as a heat treatment.
  • the solid material has a property that does not undergo plastic deformation at room temperature, and changes to a state that can be plastically deformed when heated.
  • the treatment can be a neglect treatment in a room temperature environment.
  • the solid material that can be plastically deformed is molded, and the plasticity of the shape of the predetermined object can be easily obtained.
  • a deformable shape can be created.
  • a flexible mounting portion can be manufactured by a very simple process such as a natural leaving process in a room temperature environment.
  • the joint motion assist device manufacturing method of the present invention it is possible to easily create an easy-to-wear joint motion assist device having an optimal shape for each user. Play.
  • FIG. 1 It is an external view of a joint motion assist device manufactured by a method for manufacturing a joint motion assist device according to an embodiment of the present invention. It is a figure for demonstrating the structure of the thumb joint movement assistance part of FIG. It is a figure for demonstrating the structure of the finger joint movement assistance part for fingers of FIG. It is a figure for demonstrating the structure of the adjustment part of FIG. It is an external view of the preparation apparatus which produces the joint motion assistance apparatus of FIG. It is a figure for demonstrating the state when putting a wearer's left hand in the internal space of the member for hand part imaging
  • FIG. 1 It is an external view of a joint motion assist device manufactured by a method for manufacturing a joint motion assist device according to an embodiment of the present invention. It is a figure for demonstrating the structure of the thumb joint movement assistance part of FIG. It is a figure for demonstrating the structure of the finger joint movement assistance part for fingers of FIG. It is a figure for demonstrating the structure of the
  • FIG. 6 is a diagram for explaining a state in which the left hand of the wearer is placed in the internal space of the hand photographing member in FIG. 5 and a thumb is photographed. It is a figure for demonstrating the image processing process and image joining process by the imaging device of FIG. It is a figure for demonstrating the joining image produced with the imaging device of FIG. It is a figure for demonstrating the duplicate image produced with the imaging device of FIG. It is a figure for demonstrating the plastically deformable shape object of the right hand shape
  • photographing device 515 ... hand portion photographing member, 515U, 515L, 515R ... flat plate portion, 520 ... stage device, 521 ... display portion, 522 ... Cover sheet, 530 ... Heat treatment device, HDR ... Right hand (predetermined object), HDL ... Left hand (symmetric object), CIM ... Duplicate image, SHP ... Shaped object (shape that can be plastically deformed)
  • a joint motion assist device attached to the “right hand of the human body” as the predetermined object will be exemplified to describe a method for manufacturing the joint motion assist device.
  • the same or equivalent elements are denoted by the same reference numerals, and redundant description is omitted.
  • FIG. 1 shows an external view of a joint motion assist device 100 manufactured by the joint motion assist device manufacturing method.
  • FIG. 1 is an external view of the joint motion assist device 100 mounted on the right hand HDR as viewed from the back of the hand (back of hand) when the finger joint is in the extended state.
  • the joint motion assist device 100 includes a mounting unit 110, a thumb joint motion assist unit 130 1, and finger joint motion assist units 130 2 , 130 3 , 130 4 , and 130 5. Yes.
  • the joint motion assist device 100 includes an adjustment unit 180.
  • the mounting part 110 will be described.
  • the mounting portion 110 is a flexible silicone member in the present embodiment.
  • a transmission member is attached to the mounting portion 110 in such a manner that a plurality of transmission members described later are embedded.
  • the palm portion fixing member 150 is attached to the mounting portion 110 in such a manner that the palm portion fixing member 150 is embedded.
  • the wrist portion fixing member 160 is attached to the mounting portion 110 in such a manner that the wrist portion fixing member 160 is embedded.
  • the mounting unit 110 is mounted on the back and palm of the right hand HDR, and is disposed on the back of the finger on the dorsal side of the five fingers, and is mounted on the five fingers. Note that an elliptical opening is formed in the joint-corresponding portion of the mounting portion 110 (not shown in FIG. 1, see FIGS. 2, 3 and 12 described later).
  • thumb joint motion assist unit 130 1 The construction of the thumb articulation assist unit 130 1 will be described. Thumb articulation assist unit 130 1, assists the articulation of the thumb.
  • the thumb joint motion assisting unit 130 1 is mounted on the thumb finger (terminal segment, proximal segment) and middle segment when the mounting unit 110 is mounted on the hand. .
  • the thumb joint motion assisting unit 130 1 includes bellows 242 1 , 243 1 , pipes 232 1 , 233 1 , and transmission members 221 1 , 223 1 , 224 1 .
  • the thumb joint motion assist unit 130 1 includes a tip end fixing portion 252 1 and a transmission member fixing member 253 1 .
  • the fingertip direction is the + Y 1 direction with the thumb extended, and the finger belly on the palm side of the finger (hereinafter “finger belly”).
  • the direction from the side of the finger toward the dorsal side of the finger (hereinafter also referred to as “finger back”) is orthogonal to the + Z 1 direction, the Y 1 direction, and the Z 1 direction, and toward the little finger side. is a coordinate system with the direction + X 1 direction.
  • FIG. 2 is a diagram of the thumb joint motion assisting unit 130 1 attached to the thumb as viewed from the ⁇ X 1 direction side.
  • Bellows 242 1 of the above is a member made of stretchable resin having regularly spaced annular grooves, along the circumference of the first joint of the joint axis of the thumb is placed on the finger dorsally.
  • One side of the bellows 242 1 ends ( "-Y 1 direction” in FIG. 2), the transfer member 223 1 of the other side end portion side connecting portion formed on ( “+ Y 1 direction” in FIG. 2) It is connected to the other end of the bellows 242 1 is connected to the connection portion formed on the end side of the one side of the transmission member 221 1.
  • bellows 242 1 generates a force for assisting the articulation of the first articulation.
  • the bellows 243 1 is a stretchable resin member having annular grooves that are equally spaced in the same manner as the bellows 2421 1, and extends around the joint axis of the second joint of the thumb, Be placed.
  • One side end portion of the bellows 243 1 is connected to the connection portion formed on the end side of the other side of the transmission member 224 1 (bellows 243 1 side), the other end of the bellows 243 1, the transfer
  • the member 223 1 is connected to a connecting portion formed on one end side.
  • the bellows 543 1 thus arranged generates a force that assists the joint movement of the second joint.
  • the bellows 242 1, the flexible piping 232 1 made of a resin having mounted the bellows 242 1 is communicated with the adjustment unit 180 via a pipe 232 1.
  • the bellows 242 1 is expanded and contracted.
  • the bellows 242 1 generates a force that assists the articulation described above.
  • the bellows 243 1, the flexible piping 233 1 made of a resin having mounted the bellows 243 1 is communicated with the adjustment unit 180 via a pipe 233 1.
  • the bellows 243 1 expands and contracts.
  • the bellows 243 1 generates a force that assists the articulation described above.
  • the transmission member 221 1 is, for example, a steel member and has a long plate portion.
  • the long plate portion is formed with an annular connecting portion that is substantially upright at the end on one side and extends along the direction of the finger back.
  • a transmission member 223 1 is connected to one end of the long plate portion of the transmission member 221 1 via a bellows 242 1 .
  • the connecting portion of the end of one side of the transmission member 221 1 is connected to the other end of the bellows 242 1.
  • the end portion of one side of the long plate portion of the transmission member 221 1 is in when the articulation assist device 100 to the right is mounted, and the joint axis of the first joint of the thumb to the rotation axis, It is connected to the transmission member 223 1 so as to be rotatable.
  • the long plate portion of the transmission member 221 1 is attached to the mounting portion 110 in a mode of being embedded in the mounting portion 110. Then, the long plate portion of the transmission member 221 1 is attached to the terminal segment of the thumb via the attachment portion 110.
  • the transmission member 223 1 is, for example, a steel member and has a long plate portion. And the annular connection part extended substantially along the direction of a finger spine is formed in the both ends of the said long board part.
  • a transmission member 224 1 is connected to one end of the long plate portion of the transmission member 223 1 via a bellows 243 1 .
  • the connecting portion at one end of the transmission member 223 1 is connected to the other end of the bellows 243 1 .
  • the end on one side of the long plate portion of the transmission member 223 1 uses the joint axis of the second joint of the thumb as the rotation axis, It is adapted to be pivotally connected to the transmitting member 224 1.
  • a transmission member 221 1 is connected to the other end of the long plate portion of the transmission member 223 1 via a bellows 242 1 .
  • the end portion side of the connecting portion of the transmission member 223 1 of the other side is connected to one side end portion of the bellows 242 1.
  • the long plate portion of the transmission member 223 1 is attached to the mounting portion 110 so as to be embedded in the mounting portion 110. Then, the long plate portion of the transmission member 223 1 is attached to the proximal portion of the thumb through the attachment portion 110.
  • Transmission member 2241 described above for example, a steel member, and has a long plate portion.
  • the long plate portion is formed with an annular connecting portion that is substantially upright at the other end and extends along the direction of the finger back.
  • a transmission member 223 1 is connected to the other end of the long plate portion of the transmission member 224 1 via a bellows 243 1 .
  • the connection part of the other end part of the transmission member 224 1 is connected to one end part of the bellows 243 1 .
  • Long plate portion of the transmission member 224 1 is in a manner to be embedded in the mounting portion 110 is attached to the mounting portion 110.
  • the long plate portion of the transmission member 224 1 via the mounting portion 110 is mounted on metacarpal site of thumb.
  • Additional distal end fixing part 252 1 in this embodiment, a silicone member having flexibility is fixed to the distal portion of the thumb at the mounting portion 110.
  • the distal end fixing portion 252 1 is fixed to the finger distal end portion when the thumb joint motion assisting portion 130 1 is attached to the thumb.
  • Transmitting member fixing member 253 1 of the above are long plate-like member made of plastically deformable metal.
  • the transmission member fixing member 253 1 is fixed to the transmission member 223 1 and is attached to the mounting portion 110 in a mode of being embedded in the mounting portion 110.
  • the opening 112 1 is formed in the portion corresponding to the first joint of the thumb, and the opening 113 1 is formed in the portion corresponding to the second joint of the thumb (see FIG. 12). ).
  • Finger articulation assist unit 130 2 assists the articulation of the index finger.
  • finger articulation assist unit 130 3 assists the middle of the articulation.
  • finger articulation assist unit 130 4 assists the ring finger of the articulation.
  • finger articulation assist unit 130 5 assists the articulation of the little finger.
  • Figure 3 is a representative of the finger articulation assisting section 130 k, and block diagram of a finger articulation assist unit 130 2 are shown.
  • the fingertip direction is the + Y 2 direction
  • the direction from the finger pad side to the finger dorsal side is the + Z 2 direction
  • Y perpendicular to the two directions and the Z 2 direction a coordinate system with the direction + X 2 direction to the little finger side.
  • FIG. 3 is a diagram of the finger articulation assist unit 130 2 attached to the index finger, viewed from -X 2 direction.
  • the finger joint motion assist units 130 3 , 130 4 , and 130 5 are configured in the same manner as the finger joint motion assist unit 130 2 .
  • each of the finger joint motion assist portions 130 k includes a tip end fixing portion 252 k and transmission member fixing members 253 k and 256 k .
  • the bellows 241 k is an elastic resin member having annular grooves with equal intervals, and is arranged on the finger back side along the joint axis of the first joint.
  • One end of the bellows 241 k (“ ⁇ Y k direction side” in FIG. 3) is the connection portion formed on the other end side (“+ Y k direction side” in FIG. 3) of the transmission member 222 k .
  • the other end portion of the bellows 241 k is connected to a connection portion formed on one end side of the transmission member 221 k .
  • the bellows 241 k thus arranged generates a force that assists the joint movement of the first joint.
  • the bellows 242 k is a stretchable resin member having annular grooves that are equally spaced in the same manner as the bellows 241 k, and is disposed on the finger back side around the joint axis of the second joint. .
  • One side end portion of the bellows 242 k is connected to the connection portion formed on the end side of the other side of the transmission member 223 k, the other end of the bellows 242 k, one side of the transmission member 222 k It is connected to the connection part formed in the edge part side.
  • the bellows 242 k thus arranged generates a force that assists the joint movement of the second joint.
  • the bellows 243 k is a stretchable resin member having annular grooves with equal intervals, like the bellows 241 k and 242 k, and extends along the joint axis of the third joint. It arrange
  • One side end portion of the bellows 243 k is connected to the connection portion formed on the end side of the other side of the transmission member 224 k (Bellows 243 k side), the other end of the bellows 243 k, the transfer
  • the member 223 k is connected to a connecting portion formed on one end side.
  • the bellows 243 k thus arranged generates a force that assists the joint movement of the third joint.
  • the internal space of the bellows 241 k and the internal space of the bellows 242 k communicate with each other via a flexible resin pipe 231 k .
  • the bellows 242 k, flexible pipe 232 k made of resin having attached, the bellows 242 k communicates with the adjusting unit 180 through a pipe 232 k.
  • the air pressure in the bellows 241 k and 242 k changes, the bellows 241 k and 242 k expand and contract.
  • the bellows 241 k and 242 k generate a force for assisting the joint motion described above.
  • the bellows 243 k flexible pipe 233 k made of resin having attached, the bellows 243 k communicates with the adjusting unit 180 through a pipe 233 k.
  • the bellows 243 k expands and contracts.
  • the bellows 243 k generates a force that assists the joint motion described above.
  • the transmission member 221 k is, for example, a steel member and has a long plate portion.
  • the long plate portion is formed with an annular connecting portion that is substantially upright at the end on one side and extends along the direction of the finger back.
  • a transmission member 222 k is connected to one end of the long plate portion of the transmission member 221 k via a bellows 241 k .
  • the connecting portion of one side of the end portion of the transmission member 221 k is connected to the other end of the bellows 241 k.
  • the end on one side of the long plate portion of the transmission member 221 k can be rotated with the joint axis of the first joint as a rotation axis when the joint motion assist device 100 is mounted on the right hand.
  • the long plate portion of the transmission member 221 k is attached to the mounting portion 110 in a mode of being embedded in the mounting portion 110. Then, the long plate portion of the transmission member 221 k is attached to the distal node portion of the finger via the attachment portion 110.
  • the transmission member 222 k is, for example, a steel member and has a long plate portion. And the annular connection part extended substantially along the direction of a finger spine is formed in the both ends of the said long board part.
  • a transmission member 223 k is connected to one end of the long plate portion of the transmission member 222 k via a bellows 242 k .
  • the connecting portion of one side of the end portion of the transmission member 222 k is connected to the other end of the bellows 242 k.
  • the end on one side of the long plate portion of the transmission member 222 k can be rotated with the joint axis of the second joint as the rotation axis when the joint motion assist device 100 is mounted on the right hand. It is connected to the transmission member 223 k .
  • a transmission member 221 k is connected to the other end of the long plate portion of the transmission member 222 k via a bellows 241 k .
  • the connecting portion on the other end side of the transmission member 222 k is connected to one end portion of the bellows 241 k .
  • the long plate portion of the transmission member 222 k is attached to the mounting portion 110 in a mode of being embedded in the mounting portion 110.
  • the long plate portion of the transmission member 222 k is attached to the middle joint portion of the finger via the attachment portion 110.
  • the transmission member 223 k is, for example, a steel member and has a long plate portion. And the annular connection part extended substantially along the direction of a finger spine is formed in the both ends of the said long board part.
  • a transmission member 224 k is connected to one end of the long plate portion of the transmission member 223 k via a bellows 243 k .
  • the connection part of the one end part side of the transmission member 223 k is connected to the other side end part of the bellows 243 k .
  • the end on one side of the long plate portion of the transmission member 223 k can be rotated with the joint axis of the third joint as the rotation axis when the joint motion assist device 100 is attached to the right hand. It is adapted to be connected to the transmitting member 224 k to.
  • a transmission member 222 k is connected to the other end of the long plate portion of the transmission member 223 k via a bellows 242 k .
  • the connecting portion on the other end side of the transmission member 223 k is connected to one end portion of the bellows 242 k .
  • the long plate portion of the transmission member 223 k is attached to the mounting portion 110 in a mode of being embedded in the mounting portion 110. Then, the long plate portion of the transmission member 223 k is attached to the proximal portion of the finger via the attachment portion 110.
  • the transmission member 224 k is, for example, a steel member and has a long plate portion.
  • the long plate portion is formed with an annular connecting portion that is substantially upright at the other end and extends along the direction of the finger back.
  • a transmission member 223 k is connected to the other end of the long plate portion of the transmission member 224 k via a bellows 243 k .
  • the connecting portion of the end of the other side of the transmission member 224 k is connected to one side end portion of the bellows 243 k.
  • the long plate portion of the transmission member 224 k is attached to the mounting portion 110 in a mode of being embedded in the mounting portion 110. Then, the long plate portion of the transmission member 224 k is attached to the middle part of the finger through the attachment portion 110.
  • the distal end fixing portion 252 k is a flexible silicone member, and is fixed to the distal end portion of the corresponding finger in the mounting portion 110.
  • the tip fixing portion 252 k is fixed to the finger tip when the finger joint motion assisting portion 130 k is attached to the corresponding finger.
  • the transmission member fixing member 253 k is a metal long plate member that can be plastically deformed.
  • the transmission member fixing member 253 k is fixed to the transmission member 222 k and is attached to the mounting portion 110 in a mode of being embedded in the mounting portion 110.
  • the transmission member fixing member 256 k is a metal long plate member that can be plastically deformed.
  • the transmission member fixing member 256 k is fixed to the transmission member 223 k and is attached to the mounting portion 110 in a mode of being embedded in the mounting portion 110.
  • the mounting portion 110 an opening 111 k is formed in the first joint corresponding portion, the opening 112 k is formed in the second joint corresponding portion, the opening 113 k is formed in the third joint corresponding portion (See FIG. 12).
  • the adjustment unit 180 communicates with the bellows 242 1 of the thumb joint motion assist unit 130 1 via the pipe 232 1 .
  • the adjustment unit 180 communicates with the bellows 243 1 of the thumb joint motion assist unit 130 1 via the pipe 233 1 .
  • the adjusting unit 180 communicates with the bellows 241 k and 242 k of the finger joint motion assisting unit 130 k via the pipe 232 k .
  • the adjustment unit 180 communicates with the bellows 243 k of the finger joint motion assist unit 130 k via the pipe 233 k .
  • these bellows are collectively referred to simply as “bellows”.
  • the adjusting unit 180 having such a communication relationship includes a pressurizing pump 181, a depressurizing pump 182, an electro-pneumatic control valve 183, a control unit 184, and pipes 185 and 186. Yes.
  • the pressurizing pump 181 is connected to one side of the pump side connection port of the electro-pneumatic control valve 183 via the pipe 185.
  • the pressurizing pump 181 is used when forcibly supplying air to the bellows.
  • the decompression pump 182 is connected to the other side of the pump side connection port of the electro-pneumatic control valve 183 via a pipe 186.
  • the decompression pump 182 is used when forcibly discharging air from the bellows.
  • the above-described electro-pneumatic control valve 183 includes a flow path switching valve and a pressure control valve (proportional solenoid valve). One side of the inlet side of the flow path switching valve is connected to the pressurizing pump 181, and the other side of the inlet side is connected to the pressure reducing pump 182.
  • the flow path switching valve communicates with the designated bellows with the pipe 185 connected to the pressurizing pump 181 when the air is forcibly supplied to the bellows under the control of the control unit 184.
  • a flow path is formed by connecting the pipes.
  • the flow path switching valve communicates with the designated bellows with the pipe 186 connected to the pressure reducing pump 182 when forcibly discharging the air from the bellows under the control of the control unit 184.
  • the pipe is connected to form a flow path.
  • the flow path switching valve when forcibly supplying air to the bellows 242 1 of the thumb joint motion assisting unit 130 1 , the flow path switching valve connects the pipe 185 and the pipe 232 1 to form a flow path. Further, when performing forced discharge of air from the bellows 242 1, the flow path switching valve, and connecting the pipe 186 and the pipe 232 1 to form a flow path. Furthermore, when forcibly supplying air to the bellows 243 1 , the flow path switching valve connects the pipe 185 and the pipe 233 1 to form a flow path. Further, when the air is forcibly discharged from the bellows 243 1 , the flow path switching valve connects the pipe 186 and the pipe 233 1 to form a flow path.
  • the flow path switching valve connects the pipe 185 and the pipe 232 k to form a flow path. To do. Further, when forcibly discharging air from the bellows 241 k and the bellows 242 k , the flow path switching valve connects the pipe 186 and the pipe 232 k to form a flow path. Furthermore, when forcibly supplying air to the bellows 243 k , the flow path switching valve connects the pipe 185 and the pipe 233 k to form a flow path. Further, when forcibly discharging air from the bellows 243 k , the flow path switching valve connects the pipe 186 and the pipe 233 k to form a flow path.
  • the control unit 184 performs forced discharge of air from the bellows, switching of forced supply of air to the bellows, and control of air pressure in the bellows.
  • the control unit 184 forms a flow path that connects the electro-pneumatic control valve 183 to the pressurizing pump 181 and the bellows for articulation, Control to adjust the air pressure in the bellows.
  • the control unit 184 forms a flow path that connects the electro-pneumatic control valve 183 to the decompression pump 182 and the bellows for articulation. Control to adjust air pressure.
  • Such control is performed based on biological information on brain waves and muscle strength based on experiments, simulations, and experiences.
  • the biological information related to the electroencephalogram and muscular strength can be acquired by detecting a brain wave, electromyogram, muscle hardness, and the like by a detection unit (not shown).
  • FIG. 5 shows an external view of a manufacturing apparatus 500 that manufactures the joint motion assist apparatus 100.
  • the manufacturing apparatus 500 includes an imaging apparatus 510, a hand imaging member 515, a stage apparatus 520, and a heat treatment apparatus 530.
  • the coordinate system (U, V, W) in FIG. 5 is a coordinate system in which the W-axis direction is a vertically upward direction and the top plate of the desk DSK is a UV plane, and is defined as illustrated.
  • the photographing apparatus 510 includes a camera and a data processing unit.
  • the photographing apparatus 510 is attached to an attachment member FIX fixed to the desk DSK, and is disposed above the desk DSK.
  • the camera captures a vertically downward direction.
  • the data processing unit converts the result of photographing by the camera into digital image data.
  • the data processing unit performs a predetermined process on the digital image data to generate image data.
  • the image data generated in this way is sent to the stage device 520 by wire. Details of the processing by the data processing unit will be described later.
  • the hand photographing member 515 is a transparent acrylic member, and has a rectangular parallelepiped internal space extending in the V-axis direction, and openings are formed at both ends in the V-axis direction. Yes.
  • the hand photographing member 515 is placed on the stage device 520 as shown in FIG. 5, and the hand part is inserted into the internal space of the hand photographing member 515 from the opening. Be able to.
  • the flat plate portion on the + W direction side parallel to the UV plane of the hand photographing member 515 is referred to as a flat plate portion 515U
  • the flat plate portion on the ⁇ U direction side parallel to the VW plane is referred to as a flat plate portion 515L
  • VW A flat plate portion on the + U direction side parallel to the plane is referred to as a flat plate portion 515R.
  • the hand photographing member 515 is removed from the stage device 520 when the hand is not photographed.
  • the stage device 520 includes a display unit 521 and a cover sheet 522. This stage device 520 is fixed to the top plate of the desk DSK.
  • the display unit 521 receives image data sent from the imaging device 510. Then, the display unit 521 displays an image corresponding to the image data.
  • the cover sheet 522 is a transparent member, and is disposed on the upper surface of the display unit 521 so as to cover the display unit 521. On the cover sheet 522, a part of the joint motion assist device is manufactured.
  • the heat treatment apparatus 530 has a storage unit that can store an object. And the heat processing is performed with respect to the object accommodated in the accommodating part. In this embodiment, the heat processing apparatus 530 heat-processes the shape object which shape
  • a plurality of transmission members of various lengths, piping, a plurality of transmission member fixing members, a palm part fixing member and a wrist part fixing member, and a cloth member are prepared.
  • clay-like silicone a solid material that can be plastically deformed, and a solid material that changes from a plastically deformable state to a flexible state when subjected to heat treatment
  • the hand photographing member 515 is placed on the stage device 520 (see FIG. 5).
  • the right hand HDR of the wearer who wears the joint motion assist device 100 (hereinafter also simply referred to as “wearer”) is contracted.
  • the left hand HDL of the wearer is assumed to be in a healthy state.
  • the wearer puts a healthy left hand HDL (symmetric object) into the internal space of the hand photographing member 515 from the ⁇ V direction side.
  • the four fingers of the index finger, the middle finger, the ring finger, the little finger, and the thumb are extended, and the thumb abduction (back of the thumb) is brought into a state where the fingertip of the thumb is separated from the finger. 4) press the four fingers against the flat plate portion 515U of the hand photographing member 515 and make the thumb to the flat plate portion 515R. Press against.
  • the creator of the joint motion assist device hereinafter, also simply referred to as “producer” uses the photographing device 510 to photograph the left hand HDL in the state shown in FIG. 6 as the first photographed image.
  • the four fingers and the thumb are extended, the thumb tip of the thumb is separated from the index finger, and the thumb is moved by hand. While pressing against the flat plate portion 515U of the part photographing member 515, the four fingers are pressed against the flat plate portion 515L. Then, the creator uses the photographing device 510 to photograph the left hand HDL in the state shown in FIG. 7 as the second photographed image. When the second captured image is thus captured, the creator removes the hand photographing member 515 from the stage device 520.
  • the data processing unit of the imaging device 510 causes the line A- in the direction in which the index finger extends from the second captured image to the center of the dorsal side and the abdominal side of the index finger (the center on the flex side of the index finger).
  • a photographed image portion on the dorsal side of the four fingers with respect to A (see FIG. 7), that is, a photographed image portion on the ⁇ U direction side with respect to the line AA is removed to create a processed image.
  • the data processing unit is connected to the end portion in the + U direction in the first captured image and the end portion in the ⁇ U direction in the processed image.
  • the photographed image and the processed image are joined.
  • the data processing unit removes the finger portion in the processed image and performs a process of smoothly connecting the first captured image and the processed image to create a joined image.
  • FIG. 9 shows an example of the joined image created in this way.
  • the data processing unit assumes that the joint is extended based on the photographing magnification of the photographing device 510 and the distance between the photographing device 510 and the hand photographing member 515. A duplicate image having the same shape as the right-hand HDR of the wearer is generated. Then, the data processing unit sends the image data of the generated duplicate image to the stage device 520. Upon receiving the image data sent from the data processing unit, the stage device 520 displays a duplicate image CIM corresponding to the image data on the display unit 521. FIG. 10 shows a duplicate image CIM displayed on the display unit 521.
  • the creator refers to the duplicate image CIM displayed on the display unit 521, molds clay-like silicone (hereinafter also referred to as “silicone clay”) on the cover sheet 522 of the stage device 520, and creates the duplicate image CIM.
  • a plastically deformable shape SHP (hereinafter, also simply referred to as a “shape object”) having the shape is created.
  • the thickness of the formed object SHP is set to about 1 to 3 mm.
  • FIG. 11 shows a plastically deformable shape SHP molded by the manufacturer.
  • the creator refers to the duplicate image CIM displayed on the display unit 521, and determines the shape of the bellows at the time of contraction, that is, the transmission member suitable for the shape of the connection part connected to each joint of each of the five fingers. Considering this, a transmission member having the same length as that of the connection portion and shorter than the length of the connection portion is prepared.
  • a transmission member 221 1 adapted to the length of the distal segment
  • a transmission member 223 1 adapted to the length of the proximal segment
  • a transmission member 224 1 adapted to the length of the middle segment.
  • the creator can transmit the transmission member 221 k adapted to the length of the distal segment, the transmission member 222 k adapted to the length of the middle segment, and the transmission member adapted to the length of the proximal segment.
  • a transmission member 224 k adapted to 223 k and the length of the middle hand part is prepared.
  • fabricators refers to the duplicated image CIM, to prepare a transfer member fixing member 253 k fixed to the transmission member fixing member 253 k to the transmitting member 222 k, the preparing the transfer member fixing member 256 k
  • the transmission member fixing member 256 k is fixed to the transmission member 224 k .
  • the creator also prepares the palm part fixing member 150 and the wrist part fixing member 160 with reference to the duplicate image CIM. Then, the creator fixes the palm part fixing member 150 to the transmission member 224 k .
  • the creator refers to the duplicate image CIM and attaches each prepared member to the shape object SHP.
  • the transmission member 221 1 is attached to a position corresponding to the distal segment part
  • the transmission member 223 1 is attached to a position corresponding to the proximal part
  • the transmission member 224 1 corresponds to the middle part.
  • the manufacturer coats these transmission members 221 1 , 223 1 , and 224 1 with silicone clay.
  • fabricators can transfer member fixing member 253 1 fixed coated with silicone clay transmitting member 223 1.
  • the manufacturer attaches the transmission member 221 k to a position corresponding to the distal node part and attaches the transmission member 222 k to a position corresponding to the middle node part. Further, the manufacturer attaches the transmission member 223 k to a position corresponding to the proximal part, and attaches the transmission member 224 k to a position corresponding to the middle hand part. Then, the manufacturer coats these transmission members 221 k , 222 k , 223 k , and 224 k with silicone clay.
  • fabricators are a fixed transmission member fixed member 253 k to the transmitting member 222 k coated with a silicone clay, the transfer member fixing member 256 k fixed to the transmitting member 223 k is coated with a silicone clay. Further, the creator covers the palm portion fixing member 150 fixed to the transmission member 224 k with silicone clay. Further, the creator refers to the duplicate image CIM and attaches the wrist portion fixing member 160 to the shape SHP and covers it with silicone clay.
  • the creator molds silicone clay to create a cylindrical tip fixing portion 252 j having both ends opened. Then, the creator attaches the tip end fixing portion 252 j to a position corresponding to the fingertip in the shaped object SHP. Next, the creator forms the cloth member into the shape of the shape SHP, and affixes the formed cloth member to the surface of the shape SHP opposite to the surface to which the transmission member is attached (the cloth member). Is not shown).
  • the creator stores the shaped object SHP in the storage unit of the heat treatment apparatus 530.
  • the heat treatment apparatus 530 performs a heat treatment on the shaped object SHP.
  • the shaped object SHP that can be plastically deformed becomes a member having flexibility.
  • the mounting part 110 with which the wearer's right hand HDR is mounted is produced.
  • FIG. 12 shows the appearance of the apparatus at this stage.
  • the creator connects the bellows to the transmission member attached to the mounting portion 110. Specifically relates thumb, the transfer member 221 1, whereas the connection of the ends of the side connecting the other end of the bellows 242 1. Also, the transmission member 223 1, whereas connects the other end of the bellows 243 1 to the connection portion of the end on the side, connects one side end portion of the bellows 242 1 to the connection portion of the other side of the end portion To do.
  • one end portion of the bellows 243 1 is connected to the connection portion on the other end portion side.
  • the fabricators are piping 232 1 attached to the bellows 242 1, attaching the pipe 233 1 to the bellows 243 1.
  • the other end portion of the bellows 242 k is connected to the connecting portion of the one end portion of the transmission member 221 k .
  • the other end of the bellows 242 k is connected to the connecting portion at one end, and the one end of the bellows 241 k is connected to the connecting portion on the other end.
  • the other end of the bellows 243 k is connected to the connecting portion at one end, and the one end of the bellows 242 k is connected to the connecting portion at the other end. To do.
  • one end portion of the bellows 243 k is connected to the connection portion on the other end portion side.
  • the creator attaches the pipe 231 k to the bellows 241 k and the bellows 242 k , and attaches the pipe 232 k to the bellows 242 k .
  • the manufacturer attaches the pipe 233 k to the bellows 243 k .
  • FIG. 13 shows the joint motion assist device 100 thus manufactured.
  • illustration of piping is abbreviate
  • a fixing means such as a hook-and-loop fastener is attached.
  • fixing means such as a hook-and-loop fastener for fixing the joint motion assisting device 100 with the palm part is attached to both ends of the palm part fixing member 150 covered with silicone clay.
  • fixing means such as a hook-and-loop fastener for fixing the joint motion assisting device 100 at the wrist portion is attached to both ends of the wrist portion fixing member 160 covered with silicone clay (both in FIG. 13). Not shown).
  • the finger joint of the left hand HDL is extended.
  • the image capturing apparatus 510 captures the state at the time of shooting.
  • the data processing unit of the imaging device 510 generates a duplicate image of the right hand HDR when the joint is extended from the imaging result.
  • the data processing unit sends the image data of the generated duplicate image to the stage device 520.
  • the display unit 521 displays the duplicate image CIM corresponding to the image data.
  • the creator refers to the duplicate image CIM, molds silicone clay, and has the same shape as the right hand HDR when the joint is extended. Create a product SHP.
  • the creator refers to the duplicate image CIM, and prepares a transmission member that matches the shape of the connection portion connected to each joint of each of the five fingers.
  • the creator refers to the duplicate image CIM and attaches each prepared member to the shape object SHP.
  • the mounting part 110 which has flexibility is produced by heat-processing a shaped object.
  • the mounting part 110 is thus manufactured, the manufacturer connects the bellows to the transmission member attached to the mounting part 110.
  • the creator attaches a pipe to the bellows. As a result, the joint motion assist device 100 is manufactured.
  • the joint motion assist device 100 when the joint motion assist device 100 is manufactured, the joint motion assist device can be easily manufactured without performing laborious steps such as direct measurement of the shape of the hand. Further, in the joint motion assist device 100 to be manufactured, the transmission member is indirectly arranged at the connection site via the mounting portion 110, and the mounting portion 110 is mounted on the hand portion. For this reason, the joint motion assist device can be easily mounted.
  • the imaging device 510 is in a state where the four fingers and thumb of a healthy hand (symmetric object) are extended and the fingertip of the thumb is separated from the index finger. Shoots four fingers in the direction from the dorsal side of the four fingers to the ventral side. In addition, the imaging device 510 is in the direction from the dorsal side of the thumb to the ventral side in the above-described hand state (four fingers and thumb extended, and thumb extended to the palm side). The back side of the thumb and the flexure side such as the index finger are photographed. Subsequently, the photographing apparatus 510 creates a duplicate image based on the joint image obtained by joining these photographed images. For this reason, the joint motion assist apparatus 100 suitable for the structure of the hand portion can be manufactured.
  • a transmission member fixing member, a palm part fixing member, and a wrist part fixing member are attached. For this reason, it is possible to produce a joint motion assist device that can be securely attached to the hand.
  • the joint motion assist apparatus 100 can be easily mounted on the hand portion by aligning each joint with the opening.
  • the opening is formed in the mounting portion 110, the joint is fitted into the opening at the time of joint bending in assisting the joint motion, and the lack of extension of the mounting portion 110 is compensated.
  • the feeling of pressure that the joint receives from the mounting portion 110 can be reduced.
  • the occurrence of deviation between the joint and the mounting portion 110 can be reduced. For this reason, while being able to improve the convenience of the wearer who wears a joint exercise assistance device, a joint exercise assistance device which can perform joint exercise appropriately can be produced.
  • the duplicate image is displayed on the display unit, but the duplicate image may be displayed on a paper medium such as a photographic paper.
  • a transparent cover sheet may be placed on the paper medium displaying the duplicate image, and a shape may be created by molding silicone clay on the cover sheet.
  • the photographing apparatus has photographed the hand twice and created a duplicate image based on the first photographed image and the second photographed image.
  • the first photographing apparatus and the second photographed image described above may be derived by analyzing the photographing result of one hand, and a duplicate image may be created.
  • the hand part is photographed in the photographing direction in which all fingers are photographed when the four fingers and the thumb are extended and the fingertip of the thumb is turned away from the index finger.
  • a clay-shaped silicone is molded to create a plastically deformable shape, and the plastically deformable shape is subjected to a heat treatment to produce a flexible silicone mounting portion.
  • other material may be used as long as it is a plastically deformable solid material, and a predetermined treatment can be performed on the fixing material to produce a flexible mounting portion.
  • thermoplastic material such as polyethylene resin.
  • the creator When polyethylene resin is used as a solid material, the creator first makes a solid resin of polyethylene resin that does not plastically deform at room temperature, such as heating with a hot water bath, heating with an iron or a bowl, like clay. Change to a state of plastic deformation.
  • the creator refers to the duplicate image of the hand to be assisted, molds a polyethylene resin in a plastically deformable state, and creates a plastically deformable shape in the shape of the duplicate image.
  • the creator attaches the prepared transmission member, transmission member fixing member, palm part fixing member, and wrist part fixing member to the plastically deformable shape, and attaches these members. Cover with clay-like polyethylene resin.
  • the creator forms the cloth member into the shape of a plastically deformable shape, and the transmission member in the plastically deformable shape is attached to the formed cloth member (hereinafter also referred to as “cloth material”).
  • cloth material Affixed to the surface opposite to the formed surface (hereinafter also referred to as “back surface”).
  • the creator applies a cloth material molded on the back surface of the plastically deformable shape.
  • the creator places an iron or scissors on the cloth material, dissolves the plastic deformable shape by heat treatment using the iron or scissors, and immerses the melted plastic deformable shape in the gap between the cloth materials.
  • the cloth material is affixed to the back surface of the plastically deformable shape by being inserted.
  • the plastically deformable shape to which the cloth material is attached is placed in a room temperature environment. What is necessary is just to carry out natural leaving processing and to produce the mounting part which has flexibility.
  • attachment of the cloth material to the plastically deformable shape is not limited to the above-described method, and it is needless to say that other methods such as attachment with an adhesive may be used.
  • the cloth material is attached to the plastically deformable shape.
  • the cloth material may not be attached to the plastically deformable shape.
  • the cloth member is attached to the surface opposite to the surface to which the transmission member is attached in the plastically deformable shape.
  • a cloth member may be affixed to the surface of the plastic deformable shape to which the transmission member is attached. In this case, it is possible to improve the durability of the mounting portion against continuous flexible deformation of the mounting portion when assisting joint motion.
  • the joint motion assist device has been described that assists the movement of the right hand finger of the human body assuming that the right hand finger of the human body is contracted and the left hand is healthy.
  • a joint motion assist device that assists the movement of the finger of the left hand may be manufactured.
  • the joint motion assistance is made using the joint symmetry between the hand of the person being assisted and the hand of the other person. You may make it produce an apparatus.
  • a resin bellows is employed in the joint motion assist device employed in the present embodiment.
  • the material is stretchable and does not impose a burden such as the weight of the device attached to the human body.
  • Other materials may be used.
  • the finger joint motion assisting unit is attached to each of the thumb, index finger, middle finger, ring finger, and little finger to assist the joint motion of the thumb, index finger, middle finger, ring finger, and little finger.
  • a joint motion assist unit may be attached to an arbitrary finger to assist the joint motion of the arbitrary finger.
  • worn was produced.
  • joint motion assist devices 100B 1 , 100B 2 , 100B 3 , 100B 4 , and 100B 5 to be attached to fingers including the metacarpal region covering the metacarpal bone are produced. It may be.
  • the four fingers and the thumb are extended and the thumb is abducted as in the above-described embodiment.
  • the hand part including the four fingers is photographed in the direction from the back side of the four fingers to the ventral side in the first photographing step, and the direction from the back side of the thumb to the ventral side in the second photographing step.
  • the hand part including the thumb may be photographed.
  • the hand including the four fingers is photographed in the direction from the dorsal side to the ventral side of the four fingers without extending the four fingers and the thumbs and causing the palms to be abducted.
  • the hand part including the thumb may be shot in a direction from the back side of the thumb toward the ventral side.
  • the hand part including the four fingers may be photographed once in the direction from the dorsal side to the ventral side of the four fingers. Further, when only the joint motion assist device to be attached to the thumb is produced, the finger including the thumb may be photographed once in the direction from the back to the stomach.
  • the material of the mounting portion may be made of silicone or polyethylene resin.
  • a cloth-made hand mounting portion is manufactured, first, the hand mounting portion is mounted on the hand portion.
  • the joint motion assisting device 100B 1 is mounted on the thumb finger (terminal segment site, proximal segment site) and the middle hand site with the hand mounting unit mounted on the hand. Then, the joint motion assist device 100B 1 assists the joint motion of the thumb. Moreover, the articulation assist device 100B 2, in a state where the hand portion attachment portion is attached to the hand, fingers forefinger (end joint portions, the middle node sites, Motobushi site) is attached to and on metacarpal site. The articulation assist device 100B 2 may assist the articulation of the index finger.
  • the articulation assist device 100B 3 in a state where the hand portion attachment portion is attached to the hand, the middle finger of the finger (distal segment part, the middle node sites, Motobushi site) is attached to and on metacarpal site.
  • the joint motion assist device 100B 3 assists the joint motion of the middle finger.
  • the joint motion assist device 100B 4 is mounted on the finger of the ring finger (the distal segment site, the middle segment site, the proximal segment site) and the middle hand site in a state where the hand mounting unit is mounted on the hand unit. Then, the joint motion assist device 100B 4 assists the joint motion of the ring finger. Moreover, the articulation assist device 100B 5, in a state where the hand portion attachment portion is attached to the hand, the little finger of the finger (distal segment part, the middle node sites, Motobushi site) is attached to and on metacarpal site. The joint motion assist device 100B 5 assists the joint motion of the little finger.
  • the method for producing a joint motion assist device of the present invention is not only used when using a joint motion assist device for rehabilitation, but also used by a person with weak power when used in the field of care or welfare. It can also be used when using a joint motion assist device for use.
  • the joint motion assist device manufacturing method of the present invention can also be used in the case of manufacturing a power assist joint motion assist device such as grasping an object outside the fields of nursing care and welfare.
  • the present invention is applied to a method for manufacturing a joint motion assist device that assists joint motion of a human finger.
  • a joint motion assist device that assists joint motion of a finger of a human body may be applied to the manufacturing method.
  • the present invention is applied to a method for manufacturing a joint motion assist device for assisting joint motion of a human body.
  • the present invention is applied to a method for manufacturing a joint motion assist device for a predetermined object such as an endoskeleton robot.
  • the present invention can also be applied.
  • the joint motion assist device manufacturing method of the present invention can be applied to a joint motion assist device manufacturing method for assisting joint motion of a predetermined object.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)
  • Prostheses (AREA)

Abstract

Dans la présente invention, dans un cas où la main droite d'un porteur est contracturée et que la main gauche est saine, un dispositif d'imagerie capture une image de l'état lorsque les articulations des doigts de la main gauche sont étendues, et génère une image dupliquée de la main droite dont les articulations sont étendues. Un dispositif de fabrication se réfère à l'image dupliquée et à des moules en argile de silicone pour créer un objet plastiquement déformable ayant la forme de l'image dupliquée. Le dispositif de fabrication se réfère ensuite à l'image dupliquée pour préparer des éléments de transmission adaptés à la forme des parties de raccordement raccordées aux articulations de chacun des cinq doigts. Le dispositif de fabrication fixe ensuite les éléments préparés à l'objet. Ensuite, l'objet est traité thermiquement, et une partie de montage flexible (110) est fabriquée. Lorsque la partie de montage (110) est ainsi fabriquée, le dispositif de fabrication raccorde un soufflet aux éléments de transmission fixés à la partie de montage (110). Un dispositif d'aide au mouvement d'articulation monté facilement peut ainsi être fabriqué facilement tout en ayant la forme optimale pour chaque utilisateur individuel.
PCT/JP2017/021098 2017-06-07 2017-06-07 Procédé de fabrication de dispositif d'aide au mouvement d'articulation WO2018225171A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2019523257A JP6786719B2 (ja) 2017-06-07 2017-06-07 関節運動アシスト装置の作製方法
PCT/JP2017/021098 WO2018225171A1 (fr) 2017-06-07 2017-06-07 Procédé de fabrication de dispositif d'aide au mouvement d'articulation

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111821144A (zh) * 2020-08-05 2020-10-27 深圳扶林科技发展有限公司 椭圆波纹管弯曲执行器及穿戴式手指屈伸康复装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS56116454A (en) * 1980-02-18 1981-09-12 Hisao Tauchi Fabrication of exterior of inner skeletal artificial leg
JPS63309260A (ja) * 1987-06-10 1988-12-16 Nitto Kohki Co Ltd 手指等の機能改善器
WO2011043095A1 (fr) * 2009-10-05 2011-04-14 Yamamoto Keijirou Dispositif d'aide au mouvement des articulations
WO2016135857A1 (fr) * 2015-02-24 2016-09-01 圭治郎 山本 Dispositif d'aide au mouvement des articulations et procédé de montage dudit dispositif d'aide au mouvement des articulations

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS56116454A (en) * 1980-02-18 1981-09-12 Hisao Tauchi Fabrication of exterior of inner skeletal artificial leg
JPS63309260A (ja) * 1987-06-10 1988-12-16 Nitto Kohki Co Ltd 手指等の機能改善器
WO2011043095A1 (fr) * 2009-10-05 2011-04-14 Yamamoto Keijirou Dispositif d'aide au mouvement des articulations
WO2016135857A1 (fr) * 2015-02-24 2016-09-01 圭治郎 山本 Dispositif d'aide au mouvement des articulations et procédé de montage dudit dispositif d'aide au mouvement des articulations

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111821144A (zh) * 2020-08-05 2020-10-27 深圳扶林科技发展有限公司 椭圆波纹管弯曲执行器及穿戴式手指屈伸康复装置

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