WO2019187030A1 - Dispositif d'assistance au mouvement d'une articulation - Google Patents

Dispositif d'assistance au mouvement d'une articulation Download PDF

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Publication number
WO2019187030A1
WO2019187030A1 PCT/JP2018/013698 JP2018013698W WO2019187030A1 WO 2019187030 A1 WO2019187030 A1 WO 2019187030A1 JP 2018013698 W JP2018013698 W JP 2018013698W WO 2019187030 A1 WO2019187030 A1 WO 2019187030A1
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WO
WIPO (PCT)
Prior art keywords
joint
exoskeleton
bellows
foot
attached
Prior art date
Application number
PCT/JP2018/013698
Other languages
English (en)
Japanese (ja)
Inventor
圭治郎 山本
知江 茂垣
崇之 手塚
Original Assignee
圭治郎 山本
桑原　俊幸
知江 茂垣
崇之 手塚
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, 崇之 手塚 filed Critical 圭治郎 山本
Priority to JP2020508809A priority Critical patent/JP6860743B2/ja
Priority to PCT/JP2018/013698 priority patent/WO2019187030A1/fr
Priority to CN201880091976.0A priority patent/CN111936100B/zh
Publication of WO2019187030A1 publication Critical patent/WO2019187030A1/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 joint motion assist device, and more particularly to 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.
  • the joint motion assist device using the bellows is lighter than the device using the actuator driven by the motor and the wire, and thus has high practicality.
  • 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 arranged 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 other side transmission member connected to the other side edge part of the said bellows is mounted
  • the force for assisting the joint motion generated by the bellows is directly transmitted only by the one-side transmission member only to the one-side connection portion attached to the one-side transmission member.
  • the force generated by the bellows is directly transmitted only to the other side connection portion attached to the other side transmission member by the other side transmission member.
  • the present invention has been made in view of the above circumstances, and provides a new joint motion assist device capable of appropriately assisting joint motion in a mode of reducing a load applied to a joint to be assisted. Objective.
  • the present invention is an exoskeleton-type joint motion that is attached to a predetermined object having a skeletal structure and assists a joint movement that uses a joint mechanism that connects one side portion and the other side portion of the predetermined object.
  • An assist device which is prepared in a joint to assist the joint motion and is arranged at a joint portion perpendicular to the rotational axis of the joint rotational motion, and assists the joint motion.
  • a telescopic bellows that generates the pressure; an adjustment portion that adjusts the working fluid pressure in the bellows; a one-side transmission member that is connected to one end of the bellows and is attached to the one-side portion; The other side transmission member connected to the other side end portion of the bellows and attached to the other side portion; and disposed on the side portion of the one side portion along the direction in which the one side portion extends from the joint.
  • An articulating mechanism that articulates so as to be rotatable, and the one-side transmission member transmits a force for assisting flexion-extension joint movement caused by expansion and contraction of the bellows to the one-side exoskeleton member
  • the other side transmission member is a joint motion assisting device that transmits a force for assisting a flexion-extension joint movement caused by expansion and contraction of the bellows to the other side exoskeleton member.
  • the one-side exoskeleton member when the device is mounted on a predetermined object, the one-side exoskeleton member is disposed on the side of the one-side portion along the direction in which the one-side portion extends, and the other-side outer portion The skeletal member is disposed on the side portion of the other side portion along the direction in which the other side portion extends. Then, the one end portion on the joint side of the one side exoskeleton member and the one end portion on the joint side of the other side exoskeleton member can be rotated in the rotation direction of the joint at a position corresponding to the joint. Are connected by a connecting mechanism.
  • the force generated by the bellows is transmitted to the one side exoskeleton member by the one side transmission member and is transmitted to the other side exoskeleton member by the other side transmission member.
  • the force generated by the bellows is transmitted to a joint mechanism that connects the joint end of the one side exoskeleton member and the joint side one end of the other side exoskeleton member.
  • the angle at which the member and the other exoskeleton member intersect changes. As a result, the movement of the joint connecting the one side part and the other side part is assisted.
  • the joint motion assist device of the present invention it is possible to assist joint motion appropriately in a manner that reduces the load on the joint to be assisted.
  • the predetermined object may be a part of a human body or an object other than a human body having a skeleton structure.
  • a lightweight soft resin bellows is used as a component, it is possible to reduce the weight of the joint motion assist wearing, and to reduce the physical burden of the person wearing the joint exercise assist wearing. .
  • the articulation mechanism is fixed to the one end portion of the one-side exoskeleton member, and when the one-side exoskeleton member is attached to the one-side portion, A one-side gear member having a tooth portion formed on an outer peripheral portion along a rotational movement direction; fixed to the one end portion of the other-side exoskeleton member, and the other-side exoskeleton member is attached to the other-side portion A tooth portion meshing with the one-side gear member is formed on the outer peripheral portion along the rotational movement direction of the joint; and the one-side gear member and the other side An arm member that ensures engagement with the gear member.
  • the rotational movement of the one side exoskeleton member and the other side exoskeleton member is compared with the rotational movement of the exoskeleton member when the exoskeleton member is rotated about one axis. It is possible to approximate the actual movement of the extension movement and the flexion extension movement of the ankle joint. For this reason, more appropriate joint movement can be assisted.
  • the one-side exoskeleton member includes a one-side inner exoskeleton member that is attached to the inside of the one-side portion; and a one-side outside that is attached to the outside of the one-side portion.
  • An exoskeleton member; and the other side exoskeleton member is mounted on the inside of the other side portion; and the other side outer exoskeleton member is mounted on the outer side of the other side portion.
  • It can be set as the structure provided with; In this case, the load applied to the joint to be assisted can be further reduced as compared with the case where the exoskeleton member is disposed on either the inside or the outside of the one side portion and the other side portion. For this reason, it is possible to assist the joint motion appropriately in a manner that further reduces the load applied to the joint to be assisted.
  • the bellows can be arranged on at least one of the bending side and the extension side of the joint to assist the joint motion.
  • a bellows is arranged at an arrangement position desired by a person wearing the articulation assist device.
  • the joint that should assist the joint motion is an ankle joint
  • the one side exoskeleton member is attached to the lower leg of the lower limb
  • the other side exoskeleton member is The bellows that is attached to the foot portion of the lower limb and is arranged at the ankle joint portion assists the bending and extension movement of the ankle joint.
  • effective rehabilitation can be performed for the movement of the ankle joint in a manner that reduces the load on the ankle joint.
  • the joint to be assisted is an ankle joint
  • it is configured to further include a foot mounting portion including a sole member on which a sole of the foot is disposed, and the other exoskeleton member is the other
  • the other end of the side exoskeleton member opposite to the one end can be attached to the sole member.
  • it is possible to assist the movement of the ankle joint by attaching the foot mounting portion to the foot.
  • leg part mounting part is employ
  • the movable range of the ankle joint to assist can be expanded.
  • the center portion of the sole member can be formed to be raised higher than the peripheral portion of the sole member. In this case, it can be set as the sole member fitted to the shape of the sole which has an arch. For this reason, joint movement can be assisted in a state where blood flow in the foot is promoted and blood circulation in the foot is improved.
  • the foot mounting portion is rotatable at a position corresponding to the center of the heel portion of the foot portion, with the crus extending direction as an axis.
  • the footrest member to which the head is attached can be further provided. In this case, by rotating the foot mounting portion with respect to the footrest member, the abduction motion and the adduction motion of the foot can be performed.
  • the foot portion in the footrest member is configured to further include a side portion arrangement bellows disposed on a toe side of at least one side portion of the foot portion.
  • a wall portion standing from the bottom portion of the footrest member is formed on at least one side portion of the footrest member, and one end portion of the side portion arrangement bellows is connected to the wall portion of the footrest member, The other side end of the side arrangement bellows is connected to the foot mounting portion on the side facing the wall, and the ankle joint abduction and adduction are assisted by extension and contraction of the side arrangement bellows.
  • positioning bellows can be adjusted, and the abduction motion and adduction motion of an ankle joint can be assisted.
  • the other side transmission member attached to the foot is an ankle side transmission member attached to a bellows that assists in bending and extending movement of the ankle joint; And a toe side transmission member connected to the other side end of the varus correction bellows, wherein the one side end is connected to the ankle side transmission member;
  • the other exoskeleton member attached to the foot comprises: a foot inner exoskeleton member attached to the inside of the foot; and a foot outer exoskeleton member attached to the outside of the foot.
  • An ankle-side transmission member is attached to the foot inner exoskeleton member, and the toe side transmission member is attached to the foot outer exoskeleton member, and the foot inner exoskeleton member and the foot outer exoskeleton.
  • the member is a fixing part for fixing the foot part. To, mounted movably, by the contraction of the varus correction bellows, assists the foot inner contrary was to correct position, it can be so.
  • the distance between the ankle-side transmission member and the toe-side transmission member is wider and attached to the ankle-side transmission member than when the foot is in the normal state.
  • the foot inner exoskeleton member and the foot outer exoskeleton member attached to the toe side transmission member are not parallel.
  • the varus correction bellows contracts in such a varus state, the distance between the ankle-side transmission member and the toe-side transmission member is reduced, and the foot-inner exoskeleton member attached to the ankle-side transmission member And the foot inner exoskeleton member and the foot outer exoskeleton member move so that the foot outer exoskeleton member attached to the toe side transmission member is parallel to the foot outer exoskeleton member.
  • the distorted foot can be corrected and the foot can be in a normal state.
  • the joint that should assist the joint motion may be a toe joint.
  • effective rehabilitation can be performed for the movement of the toe joint in a manner that reduces the load on the toe joint.
  • the joint to assist the joint motion is a knee joint
  • the one side exoskeleton member is attached to the thigh
  • the other side exoskeleton member is It can be attached to the thigh.
  • effective rehabilitation can be performed for the motion of the knee joint in a manner that reduces the load on the knee joint.
  • the joint motion assist device of the present invention there is an effect that the joint motion can be assisted appropriately in a mode of reducing the load applied to the joint to be assisted.
  • FIG. (1) for demonstrating the example of the state of the joint exercise assistance apparatus which concerns on 1st Embodiment. It is FIG. (2) for demonstrating the example of the state of the joint exercise assistance apparatus which concerns on 1st Embodiment. It is FIG. (3) for demonstrating the example of the state of the joint exercise assistance apparatus which concerns on 1st Embodiment.
  • FIG. (1) for demonstrating the assist of the varus correction of the foot by the foot joint movement assistance part which concerns on 3rd Embodiment.
  • FIG. (2) for demonstrating the assist of the varus correction of the foot by the foot joint motion assistance part which concerns on 3rd Embodiment.
  • FIG. (3) for demonstrating the assist of the varus correction of the foot part by the foot joint motion assistance part which concerns on 3rd Embodiment.
  • second bellows 533 ... third bellows 543 ... third transmission member, 544 ... fourth transmission member, 545 ... fifth transmission member 562 1, 562 2 ... second mounting member, 563 1, 563 2 ... first 3 mounting member, 564 ... fourth mounting member (fixing member), 565 ... fifth mounting member, 611 ... ankle side transfer member, 612 ... toe side transfer member, 613 ... varus orthodontic bellows, 621 1 , 621 2 ... Bar-shaped member insertion portion, 644 ... Sole member, 645 ... Fifth transmission member, FTL ... Left lower limb, CH ... Chair, CS ... Stand
  • FIGS. 1 and 2 are external views of the joint motion assist device 100A according to the first embodiment.
  • the coordinate system (X, Y, Z) in FIGS. 1 and 2 is defined as shown.
  • FIG. 1 shows the joint motion assist device 100A attached to the left lower limb (FTL) of the human body in the ⁇ X direction side (outside which is the left side of the left lower limb) with the human body sitting on the chair CH.
  • FIG. 3 is an external view (YZ plan view) viewed from above.
  • FIG. 2 is an external view (YZ plan view) of the joint motion assisting device 100A shown in FIG. 1 as viewed from the + X direction side (the inner side that is the right side of the left lower limb).
  • the joint motion assist device 100A includes first exoskeleton members 211 1 and 211 2 , second exoskeleton members 212 1 and 212 2, and third exoskeleton member 213. 1 and 213 2 and fourth exoskeleton members 214 1 and 214 2 .
  • the joint motion assisting apparatus 100A includes first connecting members 221 1 and 221 2 , second connecting members 222 1 and 222 2 , and shaft members 223 1 and 223 2 .
  • the joint motion assisting device 100A includes a first bellows 231, a second bellows 232, and a third bellows 233.
  • the joint motion assisting device 100A includes a first transmission member 241, a second transmission member 242, a third transmission member 243, a fourth transmission member 244, and a fifth transmission member 245.
  • the joint motion assist device 100A includes a foot mounting portion 270A and an adjustment portion 280A.
  • the first exoskeleton members 211 1 , 211 2 and the second exoskeleton members 212 1 , 212 2 A portion including the first connecting members 221 1 , 221 2 , the first bellows 231, the first transmission member 241, and the second transmission member 242 is referred to as a knee joint motion assist unit 120 A.
  • the knee joint motion assist unit 120A assists joint motion performed using the knee joint mechanism of the “human left leg” as the predetermined object.
  • the second exoskeleton members 212 1 and 212 2 and the third exoskeleton members 213 1 and 213 are used.
  • a portion including the member 243, the fourth transmission member 244, the fifth transmission member 245, and the foot mounting portion 270A is referred to as a foot joint motion assisting portion 130A.
  • FIG. 5 is a conceptual diagram when the portion of the square frame shown in FIG. 4 is viewed from the + Z direction side.
  • FIG. 5 illustration of a foot portion to which the foot joint motion assisting portion 130A is attached is omitted.
  • the foot joint motion assisting unit 130A assists joint motion performed using the ankle joint (heel joint) and toe joint mechanisms of the “left foot of the human body” as the predetermined object.
  • the first exoskeleton members 211 1 and 211 2 are, for example, steel members, and are fixed to a long plate-like exoskeleton member and one end portion in the longitudinal direction of the long plate-like exoskeleton member. It is comprised from an external gear.
  • the first exoskeleton member 211 1 is disposed outside the left thigh ( ⁇ X direction side) along the direction extending from the hip joint to the knee joint. Further, the first exoskeleton member 211 2 is disposed on the inner side (+ X direction side) of the left thigh along the direction extending from the hip joint to the knee joint.
  • the first exoskeleton members 211 1 and 211 2 are attached to the first transmission member 241 via, for example, a hard resin attachment member 261 and are attached to the left thigh together with the first transmission member 241. Is done.
  • the left thigh corresponds to one side portion
  • the first exoskeleton members 211 1 and 211 2 correspond to the one side exoskeleton member.
  • the first exoskeleton member 211 1 corresponds to the one-side outer exoskeleton member
  • the first exoskeleton member 211 2 corresponds to the one-side inner exoskeleton member.
  • the second outer frame member 212 1, 212 2 above for example, a steel member, and a long plate-like outer frame member, which is fixed to the end portion in the longitudinal direction both of the long plate outer frame member It is comprised from an external gear.
  • the second outer frame member 212 1, along a direction extending from the knee joint to the ankle joint, is disposed outside of the left lower leg (-X direction).
  • the second exoskeleton member 212 2 is disposed on the inner side (+ X direction side) of the left lower leg along the direction extending from the knee joint to the ankle joint.
  • the second exoskeleton members 212 1 and 212 2 are attached to the second transmission member 242 via an attachment member 262 made of hard resin or the like, and are attached to the left lower leg part together with the second transmission member 242. .
  • the second exoskeleton members 212 1 and 212 2 are attached to the third transmission member 243 via an attachment member 263 made of hard resin or the like, and are attached to the left lower leg part together with the third transmission member 243. .
  • the external gear at the end of the second exoskeleton member 212 1 on the knee joint side meshes with the external gear at the end of the first exoskeleton member 211 1 on the knee joint side, at a position corresponding to the knee joint,
  • the meshing is ensured by the first connecting member (arm member) 221 1 .
  • the external gear at the end of the second exoskeleton member 212 2 on the knee joint side meshes with the external gear at the end of the first exoskeleton member 211 2 on the knee joint side. and, the mesh is secured by a first connecting member (arm member) 221 2.
  • the first exoskeleton members 211 1 , 211 2 and the second exoskeleton members 212 1 , 212 2 can rotate in the rotation direction of the knee joints at positions corresponding to the knee joints. ing.
  • the external gear at the end of the second exoskeleton member 212 1 on the knee joint side, the external gear at the end of the first exoskeleton member 211 1 on the knee joint side, and the first connecting member 221 1 are Corresponds to the articulation mechanism outside the joint. Further, the external gear of the end of the knee joint side of the second outer frame member 212 2, the external gears and the first link member 221 and second end portion of the knee joint side of the first outer frame member 211 2, the knee joint It corresponds to the connecting mechanism inside.
  • the left lower leg corresponds to the other side portion
  • the second exoskeleton members 212 1 and 212 2 correspond to the other exoskeleton member.
  • the second exoskeleton member 212 1 corresponds to the other side outer exoskeleton member
  • the second exoskeleton member 212 2 corresponds to the other side inner exoskeleton member.
  • the left lower leg corresponds to one side part
  • the second exoskeleton members 212 1 and 212 2 correspond to one side exoskeleton member.
  • the second exoskeleton member 212 1 corresponds to the one-side outer exoskeleton member
  • the second exoskeleton member 212 2 corresponds to the one-side inner exoskeleton member.
  • Third outer frame member 213 1, 213 2 above for example, a steel member, and a long plate-like outer frame member, which is fixed to one end portion in the longitudinal direction of the long plate outer frame member It is comprised from an external gear.
  • the third exoskeleton member 213 1 is disposed outside the left foot ( ⁇ X direction side) along the direction extending from the ankle joint to the toe joint.
  • the third exoskeleton member 213 2 is disposed on the inner side (+ X direction side) of the left foot portion along the direction extending from the ankle joint to the toe joint.
  • the third exoskeleton members 213 1 and 213 2 are attached to the fourth transmission member 244 via a hard resin attachment member 264 and attached to the left foot together with the fourth transmission member 244.
  • the external gear at the end of the third exoskeleton member 213 1 on the ankle joint side meshes with the external gear at the end of the second exoskeleton member 212 1 on the ankle joint side at a position corresponding to the ankle joint, the engagement is ensured by the second connecting member 222 1.
  • the external gear at the end of the third exoskeleton member 213 2 on the ankle joint side meshes with the external gear at the end of the second exoskeleton member 212 2 on the ankle joint side at a position corresponding to the ankle joint. and, the mesh is secured by the second connecting member 222 2.
  • the second exoskeleton members 212 1 and 212 2 and the third exoskeleton members 213 1 and 213 2 can rotate in the rotation direction of the ankle joints at positions corresponding to the ankle joints. ing.
  • the external gear at the end of the third exoskeleton member 213 1 on the ankle joint side, the external gear at the end of the second exoskeleton member 212 1 on the ankle joint side, and the second connecting member 222 1 are the ankle.
  • the external gear at the end of the third exoskeleton member 213 2 on the ankle joint side, the external gear at the end of the second exoskeleton member 212 2 on the ankle joint side, and the second connecting member 222 2 are included in the ankle joint. It corresponds to the connecting mechanism inside.
  • the left foot portion corresponds to the other side portion
  • the third exoskeleton members 213 1 and 213 2 correspond to the other side exoskeleton member.
  • the third exoskeleton member 213 1 corresponds to the other side outer exoskeleton member
  • the third exoskeleton member 213 2 corresponds to the other side inner exoskeleton member.
  • the joint to assist the joint motion is a toe joint
  • the heel side of the left foot corresponds to one side part
  • the third exoskeleton members 213 1 and 213 2 correspond to one side exoskeleton member.
  • the third exoskeleton member 213 1 corresponds to the one-side outer exoskeleton member
  • the third exoskeleton member 213 2 corresponds to the one-side inner exoskeleton member.
  • the fourth exoskeleton members 214 1 and 214 2 are, for example, steel members and are long plate-like exoskeleton members. Fourth outer frame member 214 1, along a direction extending from the toe joint to the fingertip, is placed the little finger side of the left leg portion (-X direction). The fourth outer frame member 214 2, along a direction extending from the toe joint to the fingertip, is placed thumb side of the left leg portion (+ X direction side). Then, the fourth exoskeleton members 214 1 and 214 2 are attached to the fifth transmission member 245 by being attached to the hard resin finger attachment member 265 attached to the five toes of the toes, and the toes of the left foot It is attached to.
  • the end of the fourth exoskeleton member 214 1 on the toe joint side is a position corresponding to the toe joint, and the end of the third exoskeleton member 213 1 on the toe joint side is the shaft member 223 1 as an axis. And is pivotally attached. Further, the end of the fourth exoskeleton member 214 2 on the toe joint side is a position corresponding to the toe joint, and the shaft member 223 2 is attached to the end of the third exoskeleton member 213 2 on the toe joint side. A shaft is pivotally attached.
  • the joint to assist the joint movement is a toe joint
  • the toe side of the left foot corresponds to the other side portion
  • the fourth exoskeleton members 214 1 and 214 2 are the other side exoskeleton members. It corresponds.
  • the fourth outer frame member 214 1 corresponds to the other side outer exoskeleton member
  • the fourth outer frame member 214 2 corresponds to the other side inside exoskeleton member.
  • the first bellows 231 is a stretchable resin member having annular grooves with equal intervals, and is arranged on the front side (extension side) of the knee along the joint axis of the knee joint.
  • One end of the first bellows 231 is connected to a connecting portion formed on the other end of the first transmission member 241, and the other end of the first bellows 231 is connected to the second transmission member 242. It is connected to a connecting portion formed on one end side.
  • a flexible resin pipe 251 is attached to the first bellows 231, and the first bellows 231 communicates with the adjustment unit 280 ⁇ / b> A via the pipe 251.
  • the first bellows 231 expands and contracts.
  • the first bellows 231 generates a force that assists the joint motion of the knee joint.
  • the second bellows 232 is a stretchable resin member having annular grooves that are equally spaced, and is arranged on the instep side of the ankle along the joint axis of the ankle joint. Is done. One end portion of the second bellows 232 is connected to a connection portion formed on the other end portion side of the third transmission member 243, and the other end portion of the second bellows 232 is connected to the fourth transmission member 244. It is connected to a connecting portion formed on one end side.
  • a flexible resin pipe 252 is attached to the second bellows 232, and the second bellows 232 communicates with the adjustment unit 280 ⁇ / b> A via the pipe 252.
  • the third bellows 233 is a stretchable resin member having annular grooves that are equally spaced along the joint axis of the toe joint. It is arranged on the finger back side. One end of the third bellows 233 is connected to a connecting portion formed on the other end of the fourth transmission member 244, and the other end of the third bellows 233 is connected to the fifth transmission member 245. It is connected to a connecting portion formed on one end side.
  • a flexible resin pipe 253 is attached to the third bellows 233, and the third bellows 233 communicates with the adjusting portion 280A via the pipe 253.
  • the third bellows 233 expands and contracts. As a result, the third bellows 233 generates a force that assists the joint motion of the five toe joints.
  • the first transmission member 241 is, for example, a steel member and has a long plate portion. And the connection part bent by the edge part of the other side is formed in the said long plate part. Here, a hole through which the pipe 251 passes is formed in the connection portion.
  • a second transmission member 242 is connected to the other end of the long plate portion of the first transmission member 241 via a first bellows 231.
  • the connecting portion on the other end side of the first transmission member 241 is connected to one end portion of the first bellows 231.
  • the second transmission member 242 is a steel member, for example, and has a long plate portion. And the connection part bent by the edge part of one side is formed in the said long plate part.
  • a first transmission member 241 is connected to one end of the long plate portion of the second transmission member 242 via a first bellows 231.
  • a connection portion on one end side of the second transmission member 242 is connected to the other end portion of the first bellows 231.
  • Long plate portion of the second transmission member 242, hard through a resin of the mounting member 262, attached to the second outer frame member 212 1, 212 2, 1, 212 with two second outer frame member 212, Mounted on the left lower leg.
  • the third transmission member 243 is a steel member, for example, and has a long plate portion. And the connection part bent by the edge part of the other side is formed in the said long plate part.
  • a fourth transmission member 244 is connected to the other end of the long plate portion of the third transmission member 243 via a second bellows 232.
  • the connecting portion on the other end side of the third transmission member 243 is connected to one end portion of the second bellows 232.
  • Long plate portion of the third transmission member 243 hard through a resin of the mounting member 263, attached to the second outer frame member 212 1, 212 2, 1, 212 with two second outer frame member 212, Mounted on the left lower leg.
  • the fourth transmission member 244 is a steel member, for example, and has a long plate portion. And the bent connection part is formed in the both ends of the said long-plate part. Here, a hole through which the pipe 252 is passed is formed in the connection portion formed on the one end side of the fourth transmission member 244.
  • a third transmission member 243 is connected to one end of the long plate portion of the fourth transmission member 244 via a second bellows 232.
  • a connection portion on one end side of the fourth transmission member 244 is connected to the other end portion of the second bellows 232.
  • a fifth transmission member 245 is connected to the other end of the long plate portion of the fourth transmission member 244 via a third bellows 233.
  • the connecting portion on the other end side of the fourth transmission member 244 is connected to one end portion of the third bellows 233.
  • the fifth transmission member 245 is a steel member, for example, and has a long plate portion. And the connection part bent by the edge part of one side is formed in the said long plate part. Here, a hole through which the pipe 253 passes is formed in the connection portion.
  • a fourth transmission member 244 is connected to one end of the long plate portion of the fifth transmission member 245 via a third bellows 233.
  • a connection portion on one end side of the fifth transmission member 245 is connected to the other end portion of the third bellows 233.
  • the long plate portion of the fifth transmission member 245 is attached to the fourth exoskeleton members 214 1 , 214 2 via the hard resin finger attachment member 265 attached to the five toes of the toes, and the left foot portion Put on the finger.
  • FIGS. 6 (A) and 6 (B) the foot mounting portion 270A includes a sole member 271A, a heel stop member 272, and attachment members 273 1 and 273 2 .
  • FIG. 6A is a view of the foot mounting portion 270A viewed from the ⁇ X direction side
  • FIG. 5B is a view of the foot mounting portion 270A on the back side of the foot (+ Z direction side). It is the figure seen from.
  • the above sole member 271A is, for example, a steel member, and is formed into a rectangular flat plate. On the sole member 271A, the soles of the foot portions are disposed, and hard resin mounting members 264 and 266 (see FIGS. 1, 2 and 4, not shown in FIGS. 6A and 6B). Thus, the foot is attached.
  • the above-mentioned barb member 272 is, for example, a steel member, and is fixed to the end portion on the ⁇ Y direction side of the sole member 271A.
  • the heel stop member 272 supports the heel portion of the foot portion disposed on the sole member 271A.
  • the mounting members 273 1 and 273 2 are, for example, steel members.
  • the mounting member 273 1 is formed on the -X direction side of the end portion of the + Y direction side of the sole member 271A.
  • the attachment member 273 1 includes an end on the toe joint side of the third exoskeleton member 213 1 and an end on the toe joint side of the fourth exoskeleton member 214 1 with the shaft member 223 1 as an axis. , Can be pivotally attached.
  • the mounting member 273 2 is formed on the + X direction side at the end portion on the + Y direction side of the sole member 271A.
  • the attachment member 273 2 has an end on the toe joint side of the third exoskeleton member 213 2 and an end on the toe joint side of the fourth exoskeleton member 214 2 with the shaft member 223 2 as an axis. , Can be pivotally attached.
  • the configuration of the adjustment unit 280A will be described.
  • the adjustment unit 280A communicates with the first bellows 231 of the knee joint motion assist unit 120A via the pipe 251. Further, the adjustment unit 280A communicates with the second bellows 232 of the foot joint motion assist unit 130A via the pipe 252. Further, the adjustment unit 280A communicates with the third bellows 233 of the foot joint motion assist unit 130A via the pipe 253. In the following description, these bellows are collectively referred to simply as “bellows”.
  • the adjusting unit 280A having such a communication relationship includes a pressurizing pump 281, a depressurizing pump 282, an electro-pneumatic control valve 283, and a control unit 284.
  • the adjustment unit 280A includes pipes 285 and 286.
  • the pressurizing pump 281 is connected to one side of the pump side connection port of the electro-pneumatic control valve 283 through the pipe 285.
  • the pressurizing pump 281 is used when forcibly supplying air to the bellows.
  • the decompression pump 282 is connected to the other side of the pump side connection port of the electro-pneumatic control valve 283 through a pipe 286.
  • the decompression pump 282 is used when forcibly discharging air from the bellows.
  • the electro-pneumatic control valve 283 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 281 and the other side of the inlet side is connected to the pressure reducing pump 282.
  • the flow path switching valve communicates with the designated bellows with the pipe 285 connected to the pressurizing pump 281 when the air is forcibly supplied to the bellows under the control of the control unit 284.
  • a flow path is formed by connecting the pipes.
  • the flow path switching valve communicates with the designated bellows with the pipe 286 connected to the pressure reducing pump 282 when forcibly discharging the air from the bellows under the control of the control unit 284.
  • the pipe is connected to form a flow path.
  • the flow path switching valve when air is forcibly supplied to the first bellows 231, the flow path switching valve connects the pipe 285 and the pipe 251 to form a flow path. Further, when forcibly discharging air from the first bellows 231, the flow path switching valve connects the pipe 286 and the pipe 251 to form a flow path.
  • the flow path switching valve connects the pipe 285 and the pipe 252 to form a flow path. Further, when forcibly discharging the air from the second bellows 232, the flow path switching valve connects the pipe 286 and the pipe 252 to form a flow path. Furthermore, when forcibly supplying air to the third bellows 233, the flow path switching valve connects the pipe 285 and the pipe 253 to form a flow path. Further, when forcibly discharging the air from the third bellows 233, the flow path switching valve connects the pipe 286 and the pipe 253 to form a flow path.
  • the pressure control valve changes the air pressure in the bellows by controlling the air pressure under the control of the control unit 284.
  • the control unit 284 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 284 forms a flow path for connecting the pressurizing pump 281 and the bellows where the electro-pneumatic control valve 283 performs articulation, Control to adjust the air pressure in the bellows.
  • the control unit 284 forms a flow path for connecting the decompression pump 282 and the bellows for articulation to the electro-pneumatic control valve 283, and in the bellows 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).
  • the air pressure in the first bellows 231, the second bellows 232, and the third bellows 233 is not adjusted by the adjusting unit 280A. Then, it is assumed that the human body sits on the chair CH and the legs are placed on the table CS with the lower limbs shown in FIG.
  • the first bellows 231 contracts, the first bellows 231 generates a rotational force that causes the knee joint to extend. With this force, the second transmission member 242 rotates with respect to the first transmission member 241 with the joint axis of the knee joint as a rotation axis.
  • the rotational force is transmitted to the thigh to which the first transmission member 241 is attached and the first exoskeleton members 211 1 and 211 2 disposed on both sides of the thigh, and the second transmission member. It is transmitted to the second exoskeleton members 212 1 , 212 2 disposed on the lower leg part to which the 242 is to be worn and both sides of the lower leg part.
  • the external gear at the knee joint side end of the second exoskeleton member 212 1 is the position corresponding to the knee joint
  • the external gear at the knee joint side end of the first exoskeleton member 211 1 meshes
  • the mesh is secured by the first connecting member 221 1.
  • the external gear at the end of the second exoskeleton member 212 2 on the knee joint side meshes with the external gear at the end of the first exoskeleton member 211 2 on the knee joint side. and, the mesh is secured by the first connecting member 221 2.
  • the second exoskeleton member 212 1 is rotated with respect to the first exoskeleton member 211 1 using the connection mechanism including the first connection member 221 1 , and the second exoskeleton member 212 2 is by utilizing the articulation mechanism comprising a connecting member 221 2 rotates relative to the first outer frame member 211 2.
  • the lower leg rotates with respect to the thigh without imposing a burden on the knee joint, and the knee joint is in an extended state.
  • the adjustment unit 280A performs control for forcibly discharging the air from the second bellows 232
  • the air pressure in the second bellows 232 decreases and the second bellows 232 contracts.
  • the second bellows 232 contracts, the second bellows 232 generates a rotational force that causes the ankle joint to be in the extended state.
  • the fourth transmission member 244 rotates with respect to the third transmission member 243 with the joint axis of the ankle joint as a rotation axis.
  • the rotational force is transmitted to the crus to which the third transmission member 243 is attached and the second exoskeleton members 212 1 and 212 2 disposed on both sides of the crus, and the fourth transmission member. It is transmitted to the third exoskeleton members 213 1 and 213 2 disposed on the foot portion to which the 244 is mounted and on both sides of the foot portion.
  • the external gear at the end of the third exoskeleton member 213 1 on the ankle joint side is the position corresponding to the ankle joint and the external gear at the end of the second exoskeleton member 212 1 on the ankle joint side. meshes, the mesh is secured by the second connecting member 222 1.
  • the external gear at the end of the third exoskeleton member 213 2 on the ankle joint side meshes with the external gear at the end of the second exoskeleton member 212 2 on the ankle joint side at a position corresponding to the ankle joint. and, the mesh is secured by the second connecting member 222 2.
  • the third exoskeleton member 213 1 is rotated with respect to the second exoskeleton member 212 1 using the connection mechanism including the second connection member 222 1
  • the third exoskeleton member 213 2 is The second exoskeleton member 212 2 is rotated using a connection mechanism including the two connection members 222 2 .
  • the foot rotates relative to the crus without imposing a burden on the ankle joint, and the ankle joint is in an extended (dorsiflexion) state.
  • the adjustment unit 280A performs control for forcibly discharging the air from the third bellows 233
  • the air pressure in the third bellows 233 is lowered and the third bellows 233 contracts.
  • the third bellows 233 contracts in this way, the third bellows 233 generates a rotational force that causes the toe joint to extend.
  • the fifth transmission member 245 rotates with respect to the fourth transmission member 244 with the joint axis of the toe joint as a rotation axis.
  • the fifth transmission member 245 is transmitted to the toes of the toe and the fourth exoskeleton members 214 1 and 214 2 disposed on both sides of the toes.
  • the end of the fourth exoskeleton member 214 1 on the toe joint side is a position corresponding to the toe joint
  • the end of the third exoskeleton member 213 1 on the toe joint side is the shaft member 223 1. It is attached so that it can rotate around the axis.
  • the end of the fourth exoskeleton member 214 2 on the toe joint side is a position corresponding to the toe joint, and the shaft member 223 2 is attached to the end of the third exoskeleton member 213 2 on the toe joint side.
  • a shaft is pivotally attached.
  • the fourth exoskeleton member 214 1 rotates about the shaft member 223 1 with respect to the third exoskeleton member 213 1
  • the fourth exoskeleton member 214 2 uses the shaft member 223 2 as an axis. Then, it rotates relative to the third exoskeleton member 213 2 .
  • the toe of the foot rotates relative to the heel on the heel without imposing a burden on the toe joint, and the toe joint is in an extended state.
  • the adjustment unit 280A performs control for forcibly supplying air to the first bellows 231 from the state illustrated in FIG. 9, the air pressure in the first bellows 231 increases. And if the air pressure in the 1st bellows 231 rises, the 1st bellows 231 will expand.
  • the first bellows 231 expands, the first bellows 231 generates a rotational force that causes the knee joint to bend.
  • the second transmission member 242 rotates with respect to the first transmission member 241 with the joint axis of the knee joint as a rotation axis.
  • the rotational force is transmitted to the thigh to which the first transmission member 241 is attached and the first exoskeleton members 211 1 and 211 2 disposed on both sides of the thigh, and the second transmission member. It is transmitted to the second exoskeleton members 212 1 , 212 2 disposed on the lower leg part to which the 242 is to be worn and both sides of the lower leg part.
  • the external gears at the ends of the second exoskeleton members 212 1 , 212 2 on the knee joint side are outside the knee joint side ends of the first exoskeleton members 211 1 , 211 2 . It meshes with the toothed gear, and the meshing is ensured.
  • the second exoskeleton member 212 1 is rotated with respect to the first exoskeleton member 211 1 using the connection mechanism including the first connection member 221 1 , and the second exoskeleton member 212 2 is by utilizing the articulation mechanism comprising a connecting member 221 2 rotates relative to the first outer frame member 211 2.
  • the lower leg rotates with respect to the thigh without imposing a burden on the knee joint, and the knee joint is in a bent state.
  • the adjustment unit 280A performs control for forcibly supplying air to the second bellows 232
  • the air pressure in the second bellows 232 increases and the second bellows 232 expands.
  • the second bellows 232 When the second bellows 232 is thus expanded, the second bellows 232 generates a rotational force that causes the ankle joint to bend.
  • the fourth transmission member 244 rotates with respect to the third transmission member 243 with the joint axis of the ankle joint as a rotation axis.
  • the rotational force is transmitted to the crus to which the third transmission member 243 is attached and the second exoskeleton members 212 1 and 212 2 disposed on both sides of the crus, and the fourth transmission member. It is transmitted to the third exoskeleton members 213 1 and 213 2 disposed on the foot portion to which the 244 is mounted and on both sides of the foot portion.
  • the external gears at the ankle joint side ends of the third exoskeleton members 213 1 and 213 2 are outside the ankle joint side ends of the second exoskeleton members 212 1 and 212 2 . It meshes with the toothed gear, and the meshing is ensured.
  • the third exoskeleton member 213 1 is rotated with respect to the second exoskeleton member 212 1 using the connection mechanism including the second connection member 222 1
  • the third exoskeleton member 213 2 is The second exoskeleton member 212 2 is rotated using a connection mechanism including the two connection members 222 2 .
  • the foot rotates relative to the lower leg without imposing a burden on the ankle joint, and the ankle joint is in a bent (bottom flexion) state.
  • the adjustment unit 280A performs control for forcibly supplying air to the third bellows 233
  • the air pressure in the third bellows 233 increases and the third bellows 233 expands.
  • the third bellows 233 generates a rotational force that causes the toe joint to bend.
  • the fifth transmission member 245 rotates with respect to the fourth transmission member 244 with the joint axis of the toe joint as a rotation axis.
  • the rotational force is transmitted to the foot portion on which the fourth transmission member 244 is mounted and the third exoskeleton members 213 1 and 213 2 disposed on both sides of the foot portion, and the fifth transmission member 245 is It is transmitted to the toes of the toe to be worn and the fourth exoskeleton members 214 1 and 214 2 arranged on both sides of the toes.
  • the end portions on the toe joint side of the fourth exoskeleton members 214 1 and 214 2 are connected to the end portions on the toe joint side of the third exoskeleton members 213 1 and 213 2, respectively . 223 1 and 223 2 are pivotally attached.
  • the fourth exoskeleton member 214 1 rotates about the shaft member 223 1 with respect to the third exoskeleton member 213 1 , and the fourth exoskeleton member 214 2 uses the shaft member 223 2 as an axis. Then, it rotates relative to the third exoskeleton member 213 2 .
  • the toes of the foot rotate relative to the heel on the heel without imposing a burden on the toe joint, and the toe joint becomes bent.
  • FIG. 10 shows the state of the joint motion assisting device 100A when the knee joint, the ankle joint, and the toe joint are in a bent state.
  • the second transmission member 242 uses the joint axis of the knee joint as the rotation axis to perform the first transmission. Rotates relative to member 241. The rotational force is transmitted to the thigh to which the first transmission member 241 is attached and the first exoskeleton members 211 1 and 211 2 disposed on both sides of the thigh, and the second transmission member. It is transmitted to the second exoskeleton members 212 1 , 212 2 disposed on the lower leg part to which the 242 is to be worn and both sides of the lower leg part.
  • the second transmission member 242 rotates with respect to the first transmission member 241 with the joint axis of the knee joint as a rotation axis.
  • the rotational force is transmitted to the thigh to which the first transmission member 241 is attached and the first exoskeleton members 211 1 and 211 2 disposed on both sides of the thigh, and the second transmission member. It is transmitted to the second exoskeleton members 212 1 , 212 2 disposed on the lower leg part to which the 242 is to be worn and both sides of the lower leg part.
  • the joint motion can be appropriately assisted in a manner of reducing the load applied to the knee joint.
  • the fourth transmission member 244 when the second bellows 232 contracts when assisting the extension movement of the ankle joint, the fourth transmission member 244 makes the joint axis of the ankle joint as a rotation axis and the third transmission member 243 Rotate. Then, the rotational force is transmitted to the crus to which the third transmission member 243 is attached and the second exoskeleton members 212 1 and 212 2 disposed on both sides of the crus, and the fourth transmission member. It is transmitted to the third exoskeleton members 213 1 and 213 2 disposed on the foot portion to which the 244 is mounted and on both sides of the foot portion.
  • the fourth transmission member 244 rotates with respect to the third transmission member 243 with the joint axis of the ankle joint as the rotation axis. Then, the rotational force is transmitted to the crus to which the third transmission member 243 is attached and the second exoskeleton members 212 1 and 212 2 disposed on both sides of the crus, and the fourth transmission member. It is transmitted to the third exoskeleton members 213 1 and 213 2 disposed on the foot portion to which the 244 is mounted and on both sides of the foot portion.
  • the joint movement can be appropriately assisted in a manner of reducing the load applied to the ankle joint.
  • the fifth transmission member 245 uses the joint axis of the toe joint as the rotation axis, and the fourth transmission member 244. Rotate against. And the said rotational force is transmitted to the 3rd exoskeleton members 213 1 and 213 2 arrange
  • the fifth transmission member 245 rotates relative to the fourth transmission member 244 with the joint axis of the toe joint as the rotation axis. And the said rotational force is transmitted to the 3rd exoskeleton members 213 1 and 213 2 arrange
  • the joint motion can be appropriately assisted in a manner of reducing the load applied to the toe joint.
  • FIG. 11 shows an external view of a joint motion assist device 100B according to the second embodiment.
  • FIG. 11 shows the joint motion assisting device 100B attached to the left lower limb (FTL) of the human body in the ⁇ X direction side (outside which is the left side of the left lower limb) with the human body sitting on the chair CH.
  • FIG. 3 is an external view (YZ plan view) viewed from above.
  • the joint motion assist device 100B includes an ankle joint motion assist unit 130B instead of the foot joint motion assist unit 130A, as compared to the joint motion assist device 100A of the first embodiment described above.
  • the difference is that an adjustment unit 280B is provided instead of the adjustment unit 280A.
  • description will be made mainly focusing on these differences.
  • the foot joint motion assisting unit 130B includes a foot mounting unit 270B instead of the foot mounting unit 270A, as compared with the foot joint motion assisting unit 130A of the first embodiment described above. The difference is that an abduction / inversion assisting part 350 is further provided.
  • FIG. 12A shows a view of the foot mounting portion 270B viewed from the ⁇ X direction side
  • FIG. 12B shows the foot mounting portion 270B viewed from the back side (+ Z direction side) of the foot.
  • a view is shown.
  • the foot mounting portion 270B is in place of the sole member 271A as compared with the foot mounting portion 270A of the first embodiment described above. The difference is that the material 271B is provided and the bellows attachment members 275 1 and 275 2 are further provided.
  • the above-described sole member 271B is different from the above-described sole member 271A of the first embodiment in that the shaft hole HL is molded on the ⁇ Y direction side of the sole member 271B.
  • the shaft hole HL is molded at a position corresponding to the center of the heel of the foot when the sole of the foot is disposed on the sole member 271B.
  • the bellows mounting members 275 1 and 275 2 are, for example, resin members.
  • the bellows attachment member 275 1 is fixed to the ⁇ X direction side end portion of the sole member 271B on the + Y direction side. Then, the bellows attachment member 275 1, is mounted laterally displaced bellows 355 1 to be described later. Further, the bellows attachment member 275 2 is fixed to the end of the + X direction side in the + Y direction side of the sole part 271B. Then, the bellows mounting member 275 2, is mounted laterally displaced bellows laterally displaced bellows 355 2 to be described later.
  • the abduction / inversion assisting part 350 includes a footrest member 351 and side part arranged bellows 355 1 and 355 2 .
  • the footrest member 351 is, for example, a resin member, and is a member including a rectangular flat plate portion parallel to the XY plane.
  • a wall portion 352 1 is formed at an end portion on the ⁇ X direction side of the flat plate portion on the + Y direction side, and a wall portion 352 2 is formed on an end portion of the flat plate portion on the + X direction side on the + Y direction side. ing.
  • positioning bellows 355 1 and 355 2 are the members made from an elastic resin which has the annular groove of equal intervals.
  • One side end of the side portion arranged bellows 355 1 is connected to the wall portion 352 1 of the footrest member 351, and the other side end portion of the side portion arranged bellows 355 1 is connected to the bellows mounting member 275 1 of the foot portion mounting portion 270 B.
  • one side end of the side portion arrangement bellows 355 2 is connected to the wall portion 352 2 of the footrest member 351, and the other side end portion of the side portion arrangement bellows 355 2 is a bellows attachment member of the foot portion mounting portion 270B. 275 2 is connected.
  • the foot mounting portion 270B is rotatably attached to the outer rotation / inversion assisting portion 350 thus configured with the shaft member AX extending along the normal direction of the flat plate portion of the footrest member 351 as the central axis. It is done.
  • Adjustment unit 280B corresponds to the foot joint motion assisting unit 130B of the second embodiment further including the side arrangement bellows 355 1 and 355 2 as compared with the adjustment unit 280A of the first embodiment described above. forced supply of air to the laterally displaced bellows 355 1, 355 2, and, further that performs a different forced discharge of air from the side arranged bellows 355 1, 355 2.
  • the air pressure adjustment in the first bellows 231, the second bellows 232, the third bellows 233, and the side arrangement bellows 355 1 and 355 2 is not performed by the adjustment unit 280B. Shall.
  • the adjusting section 280B When the foot to the outer rolling state, the adjusting section 280B is, it performs control for performing the forced discharge of air from the side arranged bellows 355 1, forcing air into the laterally displaced bellows 355 2 Control to perform the general supply.
  • the foot mounting portion 270B uses the shaft member AX as the rotation axis to It rotates relative to the abduction / inversion assisting part 350 so that the part is in the abduction state.
  • illustration of the foot portion to be mounted on the foot mounting portion 270B is omitted.
  • the adjustment unit 280B When the foot portion is in the inversion state, the adjustment unit 280B performs control for forcibly supplying air to the side portion arranged bellows 355 1 and forces air from the side portion arranged bellows 355 2. Control to perform a general discharge. The control for the laterally displaced bellows 355 1, and increases air pressure in laterally displaced bellows 355 1, laterally displaced bellows 355 1 is expanded. Further, the control for laterally displaced bellows 355 2, air pressure sides arranged bellows 355 in 2 descends, the side arranged bellows 355 2 contracts.
  • the foot mounting portion 270B uses the shaft member AX as the rotation axis to Rotate with respect to the abduction / inversion assisting part 350 so that the part is in the inward rotation state.
  • the illustration of the foot portion to be attached to the foot attachment portion 270B is omitted.
  • laterally displaced bellows 355 2 when assisting the abduction movement of the foot, along with contracting the laterally displaced bellows 355 1 provided in the abduction-adduction assisting section 350, laterally displaced bellows 355 2 is inflated.
  • the foot mounting portion 270B when the side-arranged bellows 355 1 contracts and the side-arranged bellows 355 2 expands, the foot mounting portion 270B is placed so that the foot is in an abduction state with the shaft member AX as the rotation axis. It rotates with respect to the rolling / inversion assisting part 350.
  • the side portion arranged bellows 355 1 provided in the abduction / inversion assisting portion 350 is expanded and the side portion arranged bellows 355 2 is contracted.
  • the foot mounting portion 270B is placed so that the foot is in an inversion state with the shaft member AX as the rotation axis. It rotates with respect to the rolling / inversion assisting part 350.
  • the flexion / extension movement of the ankle joint and the toe joint can be appropriately assisted in a manner of reducing the load applied to the joint.
  • the knee joint flexion / extension motion can be appropriately assisted in a manner of reducing the load applied to the joint.
  • FIGS. 15A and 15B and FIGS. 16A and 16B are external views of a foot joint motion assist unit 530C according to the third embodiment.
  • a foot joint motion assisting unit 530C shown in each of FIGS. 15A and 15B and FIGS. 16A and 16B is attached to the left lower limb of the human body. In FIGS. 15A and 15B and FIGS. 16A and 16B, the left lower limb of the human body is not shown.
  • FIG. 15 (A) is a perspective view showing the foot joint motion assisting unit 530C in the coordinate system shown in FIG. 15 (A).
  • FIG. 15B is an external view (XZ plan view) of the foot joint motion assisting unit 530C viewed from the + Y direction side (the fingertip side of the left foot).
  • FIG. 16A is an external view (YZ plan view) of the foot joint motion assist unit 530C viewed from the ⁇ X direction side (the outer side that is the left side of the left foot).
  • FIG. 16B is an external view (YZ plan view) of the foot joint motion assisting unit 530C viewed from the + X direction side (the inner side that is the right side of the left foot).
  • the foot joint motion assist unit 530C includes the second exoskeleton members 512 1 and 512 2 , 3 exoskeleton members 513 1 , 513 2 and fourth exoskeleton members 514 1 , 514 2 are provided.
  • the foot joint motion assisting unit 530C includes second connecting members 522 1, O , 522 1, I , 522 2, O , 522 2, I and shaft members 523 1 , 523 2 .
  • the foot joint motion assisting unit 530C includes a second bellows 532 and a third bellows 533.
  • the foot joint motion assist unit 530C includes a third transmission member 543, a fourth transmission member 544, and a fifth transmission member 545.
  • the foot joint motion assisting unit 530C includes second mounting members 562 1 and 562 2 , third mounting members 563 1 and 563 2 , fourth mounting member 564, and fifth mounting member 565. It has.
  • the foot joint motion assist unit 530C includes an adjustment unit (not shown).
  • the third exoskeleton member 513 1 corresponds to the foot outer exoskeleton member
  • the third exoskeleton member 513 2 corresponds to the foot inner exoskeleton member
  • the fourth mounting member 564 corresponds to a fixing member.
  • the second exoskeleton members 512 1 and 512 2 are, for example, hard resin members, and are fixed to the long plate-like exoskeleton member and the other end in the longitudinal direction of the long plate-like exoskeleton member. And external gears.
  • the second exoskeleton member 512 1 is disposed outside the left lower leg ( ⁇ X direction side) along the direction extending from the knee joint to the ankle joint.
  • the second exoskeleton member 512 2 is disposed on the inner side (+ X direction side) of the left lower leg along the direction extending from the knee joint to the ankle joint.
  • the second outer one end of the frame member 512 1 is attached a second mounting member 562 1 of hard plastic or the like, the second outer frame member 512 1, through the second mounting member 562 2
  • the third transmission member 543 is attached.
  • the one end portion of the second outer frame member 512 2 is attached the second mounting member 562 and second hard resin or the like, 2 second outer frame member 512, through the second mounting member 562 2
  • the third transmission member 543 is attached.
  • Third outer frame member 513 1, 513 2 above is, for example, a hard resin member having flexibility, distraction member and outer teeth fixed to one end portion in the longitudinal direction of the distractor member It consists of gears.
  • the substantially central portion of the distraction member has a rod shape, and a plate-like portion is formed in a portion other than the rod shape.
  • the third exoskeleton member 513 1 is disposed outside the left foot ( ⁇ X direction side) along the direction extending from the ankle joint to the toe joint. Further, the third exoskeleton member 513 2 is disposed on the inner side (+ X direction side) of the left foot portion along the direction extending from the ankle joint to the toe joint.
  • the third outer frame member 513 1 is attached to the third mounting member 563 1 of hard plastic or the like, through the third mounting member 563 1 is attached to the fourth transmission member 544.
  • the third outer frame member 513 2 is attached to the third attachment member 563 and second hard resin or the like, through the third mounting member 563 2 is attached to the fourth transmission member 544.
  • the rod-like portion of the third exoskeleton member 513 1 is inserted into the rod-like member insertion portion 621 1 molded into the fourth attachment member 564, and is attached to the fourth attachment member 564 so as to be movable and rotatable. Yes.
  • the inner diameter of the rod-shaped member insertion portion 621 1 is larger than the diameter of the rod-shaped portion of the third exoskeleton member 513 1 .
  • the third exoskeleton member 513 1 is movable in the Y-axis direction with respect to the fourth mounting member 564.
  • the rod-like portion of the third exoskeleton member 513 1 can move in the gap between the rod-like member insertion portion 621 1 and the inner wall of the insertion hole in the Z-axis direction, the X-axis direction, or an axial direction extending along an arbitrary direction.
  • the rod-shaped member insertion portion 621 1 as a fulcrum, it can rotate around an axis parallel to the X axis, an axis parallel to the Z axis, and an axis extending along an arbitrary direction.
  • the rod-like portion of the third exoskeleton member 513 2 is inserted into the rod-like member insertion portion 621 2 molded into the fourth attachment member 564, and is attached to the fourth attachment member 564 so as to be movable and rotatable. Yes.
  • the inner diameter of the rod-shaped member insertion portion 621 2 is larger than the diameter of the rod-shaped portion of the third exoskeleton member 513 2 .
  • the third exoskeleton member 513 2 is movable in the Y-axis direction with respect to the fourth mounting member 564.
  • the rod-shaped portion of the third exoskeleton member 513 2 can move in the gap between the rod-shaped member insertion portion 621 2 and the inner wall of the insertion hole in the Z-axis direction, the X-axis direction, or an axial direction extending along any direction.
  • the rod-shaped member insertion portion 621 2 as a fulcrum, it can rotate about an axis parallel to the X axis, an axis parallel to the Z axis, and an axis extending along an arbitrary direction.
  • the external gear at the end on the ankle joint side of the third exoskeleton member 513 1 meshes with the external gear at the end on the ankle joint side of the second exoskeleton member 512 1 at a position corresponding to the ankle joint,
  • the meshing is ensured by the second connecting members 522 1, O and 522 1, I.
  • the external gear at the end of the third exoskeleton member 513 2 on the ankle joint side meshes with the external gear at the end of the second exoskeleton member 512 2 on the ankle joint side.
  • the meshing is ensured by the second connecting members 5222 , O and 5222 , I.
  • the second exoskeleton members 512 1 , 512 2 and the third exoskeleton members 513 1 , 513 2 can rotate in the rotation direction of the ankle joints at positions corresponding to the ankle joints. ing.
  • the fourth exoskeleton members 514 1 and 514 2 are, for example, hard resin members and are long plate-like exoskeleton members.
  • Fourth outer frame member 514 1 along a direction extending from the toe joint to the fingertip, is placed the little finger side of the left leg portion (-X direction).
  • a portion of the fourth outer frame member 514 1 of the fingertip side is attached to the -X direction side of the portion of the fifth mounting member 565, through the fifth mounting member 565, attached to the fifth transmission member 545 It is done.
  • the portion of the fourth outer frame member 514 and second finger tip side is attached to the + X direction side of the portion of the fifth mounting member 565, through the fifth mounting member 565 is attached to the fifth transmission member 545 .
  • the end of the fourth exoskeleton member 514 1 on the toe joint side is a position corresponding to the toe joint, and the end of the third exoskeleton member 513 1 on the toe joint side is centered on the shaft member 523 1. And is pivotally attached. Further, the end of the fourth exoskeleton member 514 2 on the toe joint side is a position corresponding to the toe joint, and the shaft member 523 2 is attached to the end of the third exoskeleton member 513 2 on the toe joint side. A shaft is pivotally attached.
  • the second bellows 532 is a stretchable resin member having annular grooves with equal intervals, and is disposed on the back side of the ankle along the joint axis of the ankle joint.
  • One end of the second bellows 532 is connected to the third transmission member 543, and the other end of the second bellows 532 is connected to one surface of the fourth transmission member 544.
  • a flexible resin-made piping (not shown) is attached to the second bellows 532, and the second bellows 532 communicates with the adjusting portion via the piping.
  • the third bellows 533 is a stretchable resin member having annular grooves that are equally spaced, and is arranged on the dorsal side along the joint axis of the toe joint. Is done. One end portion of the third bellows 533 is connected to the other surface portion of the fourth transmission member 544, and the other end portion of the third bellows 533 is connected to the fifth transmission member 545.
  • a flexible resin-made piping (not shown) is attached to the third bellows 533, and the third bellows 533 communicates with the adjusting portion via the piping.
  • the third bellows 533 expands and contracts.
  • the third bellows 533 generates a force that assists the joint motion of the five-finger toe joint.
  • Said 3rd transmission member 543 is a member made from steel, for example, and has a plate-shaped surface part.
  • the third transmission member 543 is connected to the fourth transmission member 544 via the second bellows 532.
  • the surface portion of the third transmission member 543 is connected to one end portion of the second bellows 532.
  • the third transmission member 543 is attached to the second mounting member 562 1 of hard plastic or the like, via the second mounting member 562 1 is attached to the second outer frame member 512 1.
  • the third transmission member 543, hard mounted to the second mounting member 562 2 made of resin or the like, via the second mounting member 562 2 is attached to the 2 second outer frame member 512.
  • the fourth transmission member 544 has a varus that the back of the foot faces inward and only the little finger side touches the ground, as shown in FIG. 17 (A). Then, the entire sole of the foot is corrected to the ground (hereinafter also referred to as “varying correction state” or “normal state”).
  • the fourth transmission member 544 having such a function includes an ankle-side transmission member 611 and a varus rectifier as generally shown in FIGS. 15 (A), 15 (B) and FIGS. A bellows 613 and a toe side transmission member 612 are provided.
  • Said ankle side transmission member 611 is a steel member, for example, and has a plate-shaped surface part. One side surface portion of the ankle side transmission member 611 is connected to the other side end portion of the second bellows 532. Further, the other side surface portion of the ankle side transmission member 611 is connected to one side end portion of the varus correction bellows 613.
  • the ankle side transmission member 611 is attached to a third attachment member 563 2 made of hard resin or the like, and is attached to the third exoskeleton member 513 2 via the third attachment member 563 2 .
  • the above-mentioned bellows for varus correction 613 is a stretchable resin member having annular grooves with equal intervals.
  • One end of the varus correction bellows 613 is connected to the other surface of the ankle transmission member 611.
  • the other end portion of the varus correction bellows 613 is connected to one surface portion of the toe side transmission member 612.
  • varus-correcting bellows 613 communicates with an adjusting portion (not illustrated) via the piping. Yes.
  • the varus correction bellows 613 expands and contracts.
  • the varus correction bellows 613 generates a force for correcting the varus state of the foot.
  • Said toe side transmission member 612 is a steel member, for example, and has a plate-shaped surface part. One surface part of the toe side transmission member 612 is connected to the other side end part of the varus correction bellows 613. Further, the other surface portion of the toe side transmission member 612 is connected to one end portion of the third bellows 533.
  • the toe-side transmission member 612 is attached to a third attachment member 563 1 made of hard resin or the like, and attached to the third exoskeleton member 513 1 via the third attachment member 563 1 . .
  • Said 5th transmission member 545 is a member made from steel, for example, and has a plate-shaped surface part.
  • the fifth transmission member 545 is connected to the fourth transmission member 544 via the third bellows 533.
  • the surface portion of the fifth transmission member 545 is connected to the other end portion of the third bellows 533.
  • the fifth transmission member 545 is attached to a fifth attachment member 565 formed in a U shape, and is attached to the fourth exoskeleton members 514 1 and 514 2 via the fifth attachment member 565. Yes.
  • the second mounting members 562 1 and 562 2 are, for example, hard resin flat plates.
  • the second attachment member 562 1 is attached to the third transmission member 543 and attached to the second exoskeleton member 512 1 .
  • the second exoskeleton member 512 1 is attached to the third transmission member 543 via the second attachment member 562 1 .
  • the second attachment member 562 2 is attached to the third transmission member 543 and attached to the second exoskeleton member 512 2 .
  • the second exoskeleton member 512 2 is attached to the third transmission member 543 via the second attachment member 562 2 .
  • the third mounting members 563 1 and 563 2 are, for example, hard resin flat plates.
  • the third attachment member 563 1 is attached to the toe side transmission member 612 and attached to the third exoskeleton member 513 1 . Accordingly, the third exoskeleton member 513 1 is attached to the toe side transmission member 612 via the third attachment member 563 1 .
  • the third attachment member 563 2 is attached to the ankle side transmission member 611 and attached to the third exoskeleton member 513 2 . Accordingly, the third exoskeleton member 513 2 is attached to the ankle side transmission member 611 via the third attachment member 563 2 .
  • Said 4th attachment member 564 is a frame-shaped member which inserts the leg part made from hard resin, for example.
  • a rod-shaped member insertion portion 621 1 is molded on the surface of the frame-shaped member on the ⁇ X direction side, and the rod-shaped portion of the third exoskeleton member 513 1 is inserted into the rod-shaped member insertion portion 621 1 .
  • a rod-shaped member insertion portion 621 2 is molded on the surface on the + X direction side of the frame-shaped member, and the rod-shaped portion of the third exoskeleton member 513 2 is inserted into the rod-shaped member insertion portion 621 2 .
  • the fifth mounting member 565 is, for example, a hard resin member, and is formed in a U shape.
  • the fifth attachment member 565 is attached to the fifth transmission member 545 and attached to the toe of the left foot.
  • An annular member made of soft resin that expands by injecting air may be attached to the inside of the frame formed by the fifth attachment member 565 and the fifth transmission member 545. In such a case, by inserting the toes of the left foot into the annulus of the annular member and inflating the annular member, the toe portion of the left foot is stably placed in the fifth mounting member 565 and The fifth transmission member 545 can be attached.
  • the foot joint motion assist unit 530C does not adjust the air pressure in the second bellows 532, the third bellows 533, and the varus correction bellows 613 by the adjusting unit.
  • FIG. 18A is a view of the foot joint motion assisting unit 530C attached to the varus foot from the + Y direction side (left fingertip side)
  • FIG. 11 is a view of a foot joint motion assisting unit 530C attached to a varus foot when viewed from the ⁇ X direction side (the left side of the left foot).
  • FIG. 20A is a view of the foot joint motion assisting unit 530C attached to the varus foot from the + X direction side (the right side of the left foot). 18 to 20, illustration of the left lower limb of the human body is omitted.
  • the second portion disposed on the outer side ( ⁇ X direction side) of the foot.
  • the third exoskeleton member 513 1 is not parallel to the third exoskeleton member 513 2 disposed on the inner side (+ X direction side) of the foot, and the ankle joint to the toe joint of the third exoskeleton member 513 1
  • the direction extending to is inclined downward.
  • the ankle side transmission member 612 connected to the other end of the varus correction bellows 613 and the toes connected to one end of the varus correction bellows 613
  • the distance to the side transmission member 611 is reduced.
  • the ankle is connected via the third attachment member 563 1 and the third exoskeleton member 513 1 attached to the toe side transmission member 612 and the third attachment member 563 2.
  • the 3rd exoskeleton member 513 1 and the 3rd exoskeleton member 513 2 move so that the 3rd exoskeleton member 513 2 attached to the side transmission member 611 may become parallel.
  • the distorted foot is corrected, and the foot is in a normal state as shown in FIGS. 18 (B), 19 (B), and 20 (B).
  • the rod-shaped portion of the third exoskeleton member 513 1 is inserted into the rod-shaped member insertion portion 621 1 having an inner diameter larger than the diameter of the rod-shaped portion.
  • the rod-shaped portion of the third exoskeleton member 513 1 is movable in the Y-axis direction, and a gap between the rod-shaped member insertion portion 621 1 and the inner wall of the insertion hole is set in the Z-axis direction or the X-axis direction.
  • the fourth mounting member 564 is attached so as to be movable in the axial direction extending along an arbitrary direction.
  • the rod-like portion of the third exoskeleton member 513 1 is around the axis parallel to the X axis and parallel to the Z axis with respect to the fourth mounting member 564 with the rod-like member insertion portion 621 1 as a fulcrum. It can be rotated around an axis extending along an arbitrary direction and along an arbitrary direction.
  • the rod-shaped portion of the third exoskeleton member 513 2 is inserted into the rod-shaped member insertion portion 621 2 having an inner diameter larger than the diameter of the rod-shaped portion.
  • the rod-shaped portion of the third exoskeleton member 513 2 is movable in the Y-axis direction, and the gap between the rod-shaped member insertion portion 621 2 and the inner wall of the insertion hole is set in the Z-axis direction or the X-axis direction.
  • the fourth mounting member 564 is attached so as to be movable in the axial direction extending along an arbitrary direction.
  • the rod-like portion of the third exoskeleton member 513 2 is around the axis parallel to the X axis and parallel to the Z axis with respect to the fourth mounting member 564 with the rod-like member insertion portion 621 2 as a fulcrum. It can be rotated around an axis extending along an arbitrary direction and along an arbitrary direction. For this reason, the smooth movement of the foot can be ensured when assisting the varus correction of the foot.
  • the third exoskeleton members 513 1 and 513 2 are, for example, flexible hard resin members.
  • ⁇ Assist motion for flexion and extension of the ankle joint The assist of ankle joint flexion and extension is performed after correcting the varus of the foot.
  • the assist of the ankle joint flexion and extension motion is performed in the same manner as the assist operation of the joint motion assist device 100A in the first embodiment described above.
  • Assisting flexion and extension of the toe joint is performed after correcting the varus of the foot.
  • the assisting of the flexion and extension motion of the toe joint is performed in the same manner as the assist operation of the joint motion assist device 100A in the first embodiment described above.
  • the plate-shaped fifth transmission member 545 to which the other end portion of the third bellows 533 is attached is formed in a U-shape so as to be rotatable about an axis parallel to the X axis.
  • the 5 attachment member 565 may be attached to the surface on the ⁇ X direction side and the surface on the + X direction side on the + Z direction side.
  • the varus correction bellows 613 when assisting the varus correction of the foot, the varus correction bellows 613 is contracted and the foot connected to the other end of the varus correction bellows 613 is used.
  • the distance between the finger-side transmission member 612 and the toe-side transmission member 611 connected to one end of the varus correction bellows 613 is reduced.
  • the ankle is connected via the third attachment member 563 1 and the third exoskeleton member 513 1 attached to the toe side transmission member 612 and the third attachment member 563 2.
  • the 3rd exoskeleton member 513 1 and the 3rd exoskeleton member 513 2 move so that the 3rd exoskeleton member 513 2 attached to the side transmission member 611 may become parallel. As a result, the distorted foot is corrected.
  • the crushed foot portion can be corrected and the foot portion can be brought into a normal state.
  • the ankle joint and the toe joint are flexibly extended in a manner that reduces the load applied to the joint. Can do.
  • the ankle joint and the toe joint are bent and extended.
  • the knee joint bends and extends in addition to the ankle joint and the toe joint.
  • any two of knee joints, ankle joints, and toe joints may be selected, and the selected two joints may bend and extend.
  • the first bellows that generates a force for assisting the joint motion of the knee joint and the force for assisting the joint motion of the ankle joint are generated.
  • produce the force which assists the joint movement of a toe joint were arrange
  • each of the first bellows 231, the second bellows 232, and the third bellows 233 may be arranged on the bending side of the assist joint as in the joint motion assist device 100D shown in FIG. Good.
  • the first transmission member 441 is arranged on the rear side ( ⁇ Y direction side) of the left thigh
  • the second transmission member 442 is on the rear side of the left lower leg. It is arranged on the ( ⁇ Y direction side).
  • the third transmission member 443D is disposed on the back side ( ⁇ Y direction side) of the left lower leg
  • the fourth transmission member 444D is disposed from the sole of the left foot to the heel
  • a transmission member 445 is arranged on the ventral side of the toes.
  • the joint motion assisting device 100D By inflating the first bellows 231, the second bellows 232, and the third bellows 233 arranged in this manner, the joint motion assisting device 100D causes the knee joint, the ankle joint, and the toe joint, as shown in FIG. Assist in the extended state. Further, by contracting the first bellows 231, the second bellows 232, and the third bellows 233 arranged in this manner, the joint motion assisting device 100D assists the knee joint, the ankle joint, and the toe joint to bend. Can do.
  • the foot joint motion assist unit 130E shown in FIG. 23 may be adopted for assisting the flexion and extension motion of the ankle joint and the toe joint.
  • the fourth transmission member 444E is arranged from the sole of the left foot to the heel, and the fifth transmission member 445 is arranged on the ventral side of the toe. It has become.
  • the third transmission member 443E is disposed on the ⁇ Z direction side of the fourth transmission member 444E, and the third transmission member 443E can be rotated in the rotation direction of the ankle joint with respect to the fourth transmission member 444E behind the buttocks. 4 is attached to the transmission member 444E.
  • the second bellows 232 is attached between the third transmission member 443E and the fourth transmission member 444E, and the third bellows 233 is attached between the fourth transmission member 444E and the fifth transmission member 445.
  • the ankle joint can be assisted in a bent state as shown in FIG.
  • the toe joint can be assisted to the extended state.
  • a joint movement assisting section 130F shown in FIG. 25 may be employed.
  • the joint motion assist unit 130F assists the ankle joint flexion and extension motion.
  • the center portion of the sole member of the foot mounting portion 270F has a shape that rises higher than the peripheral portion of the sole member.
  • the end of the ankle joint side of the second exoskeleton members 212F 1 and 212F 2 corresponds to the midfoot ankle joint, and the ankle joint is rotated on the sole member. It is attached so that it can rotate in the direction.
  • a foot portion having an arch can be attached to the sole member, and a smooth ankle joint flexion and extension motion can be assisted.
  • the shape of the sole member is not limited to the shape shown in FIG. 25 but may be, for example, a hemispherical shape.
  • the third bellows 533 is bent to the toe joint as in the foot joint motion assist unit 530D shown in FIGS. It may be arranged on the side.
  • the fifth transmission member 645 may be disposed on the ventral side of the foot, and the other end of the third bellows 533 may be attached to the sole member 644.
  • first to third embodiments they are arranged both outside and inside the portion where the exoskeleton member is mounted (see FIGS. 1 and 2).
  • the joint motion assist device that assists the joint motion in the left lower limb of the human body has been described.
  • the joint motion assist device that assists the joint motion in the right lower limb of the human body. Of course, it may be.
  • the joint motion assist device for assisting the joint motion of the ankle joint and the toe joint of the human body is described.
  • the ankle joint and the foot of the human body are described.
  • the joint motion assist device that assists the joint motion of the knee joint in addition to the finger joint has been described, but it is of course possible to be a joint motion assist device that assists the joint motion of other joints such as the elbow joint of the human body. It is.
  • the resin bellows is adopted.
  • any other material can be used as long as it is extendable and does not impose a burden such as the weight of the device attached to the human body. It may be a material.
  • the configuration of the adjusting unit may be a manual pump capable of discharging air and sucking air.
  • the working fluid is air, but it may be other gas or liquid such as water or oil.
  • the joint motion assist device of the present invention can assist the movement of the knee joint, ankle joint, and toe joint in the lower limbs, and can be used to eliminate economy syndrome and edema of the lower limbs.
  • the joint motion assist device of the present invention when used in the field of care or welfare, it can be used not only for rehabilitation but also as a power assist device for those with weak power. it can.
  • the joint motion assist device of the present invention can be used as a power assist device for lifting an object in fields other than nursing care and welfare.
  • the present invention is applied to a joint motion assist device that assists joint motion of a human body.
  • a joint motion assist device that assists joint motion of a human body.
  • an endoskeletal mammal other than a human body having a joint mechanism, an exoskeleton type, or The present invention can also be applied to a joint motion assist device for a predetermined object such as an endoskeleton robot.
  • the joint motion assist device of the present invention can be applied to a joint motion assist device that assists the 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)
  • Manipulator (AREA)

Abstract

Dans la présente invention, lorsqu'un premier soufflet (231) se contracte, un second élément de transmission (242) tourne par rapport à un premier élément de transmission (241) autour de l'axe d'articulation de l'articulation du genou. Une force de rotation est transmise à la cuisse sur laquelle est monté le premier élément de transmission (241) et à un premier élément d'exosquelette (2111) disposé d'un côté de la cuisse et, également, à la partie inférieure de la jambe sur laquelle est monté le second élément de transmission (242) et à un second élément d'exosquelette (2121) disposé sur le côté externe de la partie inférieure de la jambe. Lorsque la force de rotation nécessaire pour étendre l'articulation du genou est ainsi transmise au premier élément d'exosquelette (2111) et au second élément d'exosquelette (2121), le second élément d'exosquelette (2121) tourne, grâce à un premier mécanisme de liaison (2211), par rapport au premier élément d'exosquelette (2111. Par conséquent, la présente invention peut fournir une assistance appropriée au mouvement d'une articulation devant être assistée tout en réduisant les sollicitations sur l'articulation.
PCT/JP2018/013698 2018-03-30 2018-03-30 Dispositif d'assistance au mouvement d'une articulation WO2019187030A1 (fr)

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PCT/JP2018/013698 WO2019187030A1 (fr) 2018-03-30 2018-03-30 Dispositif d'assistance au mouvement d'une articulation
CN201880091976.0A CN111936100B (zh) 2018-03-30 2018-03-30 关节运动辅助装置

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CN113978771A (zh) * 2021-10-28 2022-01-28 哈尔滨工业大学 一种身体限位装置
US11259979B2 (en) 2017-02-03 2022-03-01 Roam Robotics Inc. System and method for user intent recognition
US11266561B2 (en) 2017-08-29 2022-03-08 Roam Robotics Inc. Exoskeleton fit evaluation system and method
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US11642857B2 (en) 2020-02-25 2023-05-09 Roam Robotics Inc. Fluidic actuator manufacturing method
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CN113978771A (zh) * 2021-10-28 2022-01-28 哈尔滨工业大学 一种身体限位装置

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JPWO2019187030A1 (ja) 2020-12-10
JP6860743B2 (ja) 2021-04-21
CN111936100A (zh) 2020-11-13

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