WO2019198268A1

WO2019198268A1 - Walking assist device

Info

Publication number: WO2019198268A1
Application number: PCT/JP2018/042857
Authority: WO
Inventors: 友也甘利; 豊日木; 竹中　透
Original assignee: 本田技研工業株式会社
Priority date: 2018-04-13
Filing date: 2018-11-20
Publication date: 2019-10-17
Also published as: JP7027528B2; JPWO2019198268A1

Abstract

This walking assist device A has a waist brace 1 having a front frame 10 and a back frame 11 that respectively cover the front and back of the waist of a wearer P. The torsional stiffness of the front frame 10 and the back frame 11 against twisting about a first pivoting axis a1 is greater than the bending stiffness of the front frame 10 and the back frame 11 against deformation in the radial direction about a first reference axis b1 extending in the vertical direction.

Description

Walking assist device

The present invention relates to a walking assist device that assists walking by transmitting an assist force to a wearer's leg.

2. Description of the Related Art Conventionally, a walking assistance device is known that is attached to a person who has difficulty walking due to a decrease in muscle strength (hereinafter referred to as “wearer”) and assists the wearer in walking.

This type of walking assistance device includes a waist brace that is worn on the wearer's waist, a leg brace that is worn on the wearer's leg, and a leg brace that is moved relative to the waist brace. There are those provided with an operation assisting mechanism for applying an assisting force to assist the wearer's walking to the leg portion (for example, see Patent Document 1).

In the walking assist device of Patent Document 1, the waist orthosis is a pair of left and right waist attachments that are attached to the side of the wearer's waist when worn, and a belt that covers the front and the back of the wearer's waist. It is constituted by. In this walking assist device, the configuration including such a belt enables the waist brace to be worn while adjusting it in accordance with the wearer's abdominal circumference.

JP 2012-165821 A

By the way, in general, the assist force applied to the wearer's leg through the leg brace by the motion assist mechanism rotates the leg brace in the front-rear direction with respect to the waist brace around the axis extending in the left-right direction. It is the force of direction. Therefore, in the state where the assist force is applied, a reaction force in the torsional direction centering on the axis extending in the left-right direction is applied to the waist orthosis.

However, in the walking assist device described in Patent Document 1, since the belt is used as a part of the waist orthosis, the rigidity is insufficient and the reaction force may not be sufficiently received. As a result, the assist force is not sufficiently transmitted, and the necessary driving force may increase, or the wearer may feel the reaction force and give the wearer a sense of incongruity.

The present invention has been made in view of the above points, and an object of the present invention is to provide a walking assist device that is highly flexible and can sufficiently receive a reaction force generated when an assist force is applied.

The walking assist device of the present invention comprises:
A lumbar orthosis worn on the wearer's lumbar region, a leg brace attached to the wearer's leg, and the leg brace is moved relative to the lumbar orthosis, and the leg brace is inserted through the leg brace. An operation assisting mechanism for generating an assist force for assisting the wearer in walking in the front-rear direction on the leg of the wearer;
The movement assist mechanism includes an arm that connects the waist orthosis and the leg orthosis, and the leg orthosis with respect to the waist orthosis with respect to the leg orthosis extending about a rotation axis extending in the left-right direction via the arm. A drive source that rotates in a direction,
The waist orthosis has a flexible frame that covers at least one of the front and back of the waist of the wearer,
The torsional rigidity of the flexible frame with respect to torsion around the rotation axis is greater than the bending rigidity of the flexible frame with respect to deformation in a radial direction around a reference axis extending in the vertical direction. .

Thus, in the walking assist device of the present invention, the torsional rigidity with respect to torsion around the rotation axis extending in the left-right direction as a flexible frame of the waist orthosis is in the radial direction centered on the reference axis extending in the up-down direction. A material that is larger than the bending rigidity against deformation is adopted.

Here, the assist force applied to the wearer's leg through the leg brace by the motion assist mechanism is about the direction in which the leg brace rotates with respect to the lumbar brace about the pivot axis extending in the left-right direction. It is power. When the assist force is generated and applied, a reaction force that twists the waist orthosis (hereinafter referred to as “assist”) is applied to the waist orthosis around the rotation axis in the horizontal direction. "Reaction force of power") will be added.

Therefore, the torsional rigidity against “deformation in the circumferential direction around the rotation axis” (that is, torsion around the rotation axis) in the flexible frame (and thus the waist orthosis) is the reaction force of the assist force. This parameter indicates how much is accepted.

Also, here, the “diameter centered on the reference axis” in the flexible frame (and thus the waist orthosis) corresponds to the diameter (abdominal circumference) of the wearer's waist. That is, the “radial bending rigidity” refers to a parameter indicating how flexibly deformable according to the diameter (abdominal circumference) of the waist of the wearer.

As a result of earnest research, the present inventor has determined the torsional rigidity with respect to torsion around the rotation axis generated when the leg orthosis is rotated with respect to the lumbar orthosis to the deformation in the radial direction around the reference axis. It has been discovered that by making the flexural frame larger than the flexural rigidity of the flexible frame, it is possible to obtain an appropriate balance capable of sufficiently securing the flexibility and sufficiently receiving the reaction force of the assist force.

That is, in the walking assist device of the present invention in which the waist orthosis is configured using the flexible frame having the rigidity as described above, the waist orthosis is the diameter of the wearer's waist (abdominal circumference) as in the conventional walking assist device. Accordingly, unlike the conventional walking assist device, the reaction force of the assist force can be sufficiently received by the waist orthosis.

In the walking assist device of the present invention,
The flexible frame is preferably a belt obtained by bending a flat plate around the reference axis.

The shape of the flexible frame is not limited to a belt-like shape such as a rod shape or a string shape. However, when the shape of the flexible frame is a belt shape, the flexible frame can be easily manufactured as compared with other shapes. In addition, compared to other shapes, the pressure applied to the wearer via the flexible frame when the reaction force of the assist force is applied to the waist orthosis can be dispersed. Can reduce the sense of incongruity.

In the walking assist device of the present invention,
The waist orthosis has a flexible frame that covers at least one of the front and back surfaces of the wearer's waist, and a rigid frame that covers at least one of the left and right side surfaces of the wearer's waist,
The operation assisting mechanism is preferably attached to the rigid frame.

Generally, the reaction force of the assist force is most applied to the portion of the lower back orthosis that fixes the operation assist mechanism for generating the assist force. Therefore, if a waist frame is provided with a rigid body frame and the motion assist mechanism is fixed to the rigid body frame, the reaction force can be received by the rigid body frame. The required rigidity can be made low.

As a result, the rigidity of the lumbar orthosis as a whole can be efficiently increased without taking up the rigidity of the flexible frame (that is, without reducing the flexibility of the lumbar orthosis as a whole). be able to.

Moreover, in the walking assistance device of the present invention, in the case of a configuration including a rigid frame,
The rigid frame has a first plate member extending in a direction along the reference axis, and a second plate member extending from the side of the first plate member in the circumferential direction around the reference axis. And
The operation assisting mechanism is fixed to the first plate member,
The flexible frame is preferably fixed to the second plate member.

The reaction force of the assist force is a force in a direction in which the leg orthosis is rotated with respect to the lumbar orthosis (that is, a direction in which the lumbar orthosis is twisted) around the rotation axis extending in the left-right direction. Therefore, when the waist orthosis is configured in this way, the reaction force is applied to the waist orthosis via the first plate member to which the movement assist mechanism is fixed or the second plate member to which the flexible frame is fixed. Communicated. Then, due to the reaction force, the waist orthosis (and hence the rigid frame) rotates around the rotation axis, and the second plate member of the rigid frame comes into contact with the front surface or the back surface of the wearer's waist.

That is, a part of the reaction force of the assist force is received by the wearer's body through the second plate member. Thereby, even if the torsional rigidity of the flexible frame is reduced to some extent, the reaction force can be sufficiently received. As a result, since it becomes easy to select a lightweight material as the material of the flexible frame, the weight of the entire waist orthosis can be suppressed.

Moreover, in the walking assistance device of the present invention, in the case of a configuration including a rigid frame,
The flexible frame is a belt obtained by bending a flat plate around the reference axis.
It is preferable that the vertical width of the flexible frame at the connecting portion between the flexible frame and the rigid frame is smaller than the vertical width of the rigid frame.

With this configuration, when the flexible frame is twisted by the reaction force of the assist force, the rigid frame receives the entire connecting portion of the twisted flexible frame at the connecting portion. That is, a force that twists the flexible frame (that is, a reaction force applied to the flexible frame) is received by the rigid frame.

This makes it possible to receive a larger reaction force as a whole of the lower back orthosis, so that a larger assist force can be applied to the wearer's legs.

Moreover, in the walking assistance device of the present invention, in the case of a configuration including a rigid frame,
It is preferable that an abdominal orthosis extending upward from the rigid frame and covering a side surface of the wearer's abdomen is provided.

The reaction force of the assist force is a force in a direction in which the leg orthosis is rotated with respect to the lumbar orthosis (that is, a direction in which the lumbar orthosis is twisted) around the rotation axis extending in the left-right direction. Therefore, when the waist orthosis is configured in this way, when the reaction force is applied, the waist orthosis (and thus the rigid frame to which the lucky orthosis is fixed) rotates around the rotation axis, and the abdominal orthosis Comes into contact with the front surface or the back surface of the wearer's abdomen. That is, a part of the reaction force is received by the wearer's body through the abdominal orthosis.

Therefore, even if the torsional rigidity of the flexible frame is reduced to some extent, the reaction force can be sufficiently received. As a result, since it becomes easy to select a lightweight material as the material of the flexible frame, the weight of the entire walking assist device can be suppressed.

In the walking assist device of the present invention,
It is preferable that a corset is provided on the inner peripheral side of the waist orthosis and covers the abdomen from the waist of the wearer.

With this configuration, when the reaction force of the assist force is applied to the waist orthosis, even if the flexible frame that is a part of the waist orthosis is twisted, the flexible frame is received by the corset. Become. As a result, the twisted flexible frame is prevented from coming into direct contact with the wearer's body, so that the discomfort felt by the wearer due to the twist of the flexible frame can be reduced.

In the walking assist device of the present invention,
The flexible frame includes a right frame member positioned on the right half of the wearer, a left frame member positioned on the left half of the wearer, and the right frame member and the left frame member. It is preferable to have a fixing member that is detachably fixed so as to contact at least two points that are separated in the direction.

Or in the walking assistance device of the present invention,
The flexible frame includes a right frame member positioned on the right half of the wearer, a left frame member positioned on the left half of the wearer, and the right frame member and the left frame member. It is preferable to have a fixing member that is detachably fixed so as to be in line contact along an axis extending in the direction.

With such a configuration, the flexible frame can be divided without lowering the torsional rigidity at the fixing portion between the frame members constituting the flexible frame. This facilitates the attachment / detachment of the walking assistance device to the wearer. Further, the dimensions of the flexible frame can be easily adjusted according to the body shape of the wearer.

The perspective view of the walking assistance apparatus which concerns on embodiment. The perspective view which expands and shows the side frame of the waist orthosis of the walking assistance apparatus of FIG. The perspective view of the operation assistance mechanism of the waist apparatus of the left side of the walking assistance apparatus of FIG. The perspective view which expands and shows the actuator of the operation assistance mechanism of the walking assistance apparatus of FIG. It is a front view which shows typically the relationship between the conventional walking assistance apparatus and the position of a wearer's hip joint center, and is a figure which shows an upright state. It is a front view which shows typically the relationship between the conventional walking assistance apparatus and the position of a wearer's hip joint center, and is a figure which shows an abduction state. It is a front view which shows typically the relationship between the conventional walking assistance apparatus and the position of a wearer's hip joint center, and is a figure which shows an adduction state. It is a front view which shows typically the relationship between the walking assistance apparatus of FIG. 1, and the position of a wearer's hip joint center, and is a figure which shows an upright state. It is a front view which shows typically the relationship between the walking assistance apparatus of FIG. 1, and the position of a wearer's hip joint center, and is a figure which shows an abduction state. It is a front view which shows typically the relationship between the walking assistance apparatus of FIG. 1, and the position of a wearer's hip joint center, and is a figure which shows an adduction state. Explanatory drawing which shows the track | orbit of the front-end | tip part of an arm when the position of a 1st rotation axis line is made to correspond with a hip joint center, and the track | orbit of the front-end | tip part of an arm when it is made higher than a hip joint center. Explanatory drawing which shows the track | orbit of the front-end | tip part of an arm when the position of a 1st rotation axis line is made to correspond with the hip joint center, and the track | orbit of the front-end | tip part of an arm when it is above and behind a hip joint center. The perspective view of the walking assistance apparatus which concerns on a modification.

Hereinafter, the walking assistance device A according to the embodiment will be described with reference to the drawings.

In the following description, the “front-rear direction” refers to the front-rear direction of the wearer P in the state where the wearer P wearing the walking assist device A stands upright (the walking direction assisted by the walking assist device A). The “left-right direction” refers to the left-right direction of the wearer P. In addition, the “axis extending in the front-rear direction” and the “axis extending in the left-right direction” are axes extending in the front-rear direction and inclined in the left-right or up-down direction in addition to the axis extending along the front-rear direction and the left-right direction. In addition, an axis extending in the left-right direction and tilting back and forth or up and down is also included.

As shown in FIG. 1, the walking assist device A has a leg device attached to each of the waist orthosis 1 attached to the waist of the wearer P and the thighs of the left and right legs of the wearer P at the time of wearing. The assisting mechanism 3 that generates an assist force for assisting the walking of the wearer P on each of the left and right legs of the wearer P via the brace 2 and the leg brace 2 and applies the assist force to the wearer P. And.

In the walking assist device A, the operation assisting mechanism 3 rotates the left and right leg orthotics 2 relative to the waist orthosis 1 around the first rotation axis a1 extending in the left-right direction, so that the wearer P Assist force is applied to the legs. That is, the assist force in the walking assist device A is a force in a direction in which the leg orthosis 2 is rotated with respect to the waist orthosis 1 around the first rotation axis a1.

When the assist force is applied, the reaction force that twists the waist orthosis 1 around the first rotation axis a1 (hereinafter, this reaction force is simply referred to as “assist force of the assist force”). (Refer to the directions of a pair of left and right arrows about the first rotation axis a1 in FIG. 1).

In addition, the walking assistance apparatus of this invention provides assistance force from the leg brace 2 with respect to each thigh of the left and right leg of the wearer P like the walking assistance apparatus A of this embodiment. By this, it is not limited to what assists the wearer's P, and what should just apply reaction force which twists to a waist orthosis centering on the rotation axis of the left-right direction.

For example, an operation assisting mechanism may be provided only on one side and an assist force may be applied only to one of the left and right leg portions. Further, the portion to which the assist force is applied may be a portion other than the thigh of the wearer's leg, such as the lower leg or the foot.

Further, in the walking assist device A, the movement of the wearer P so that the leg portion approaches or moves away from the center axis in the vertical direction of the body (in this embodiment, the axis that coincides with the first reference axis b1) (inversion and outside). The leg device 2 is configured to be rotatable in the left-right direction with respect to the waist device 1 around the second rotation axis a2 extending in the front-rear direction.

The waist orthosis 1 is a pair of a front frame 10 (flexible frame) that covers the front of the waist of the wearer P, a back frame 11 (flexible frame) that covers the back of the waist, and a side surface of the waist when worn. Side frame 12 (rigid body frame).

The front frame 10 and the back frame 11 are belt-shaped members made of flexible resin. The front frame 10 and the back frame 11 are curved around a first reference axis b1 that is an axis extending in the vertical direction through the center of the body of the wearer P so as to be along the circumferential surface of the waist of the wearer P. Yes.

The shape of the flexible frame of the walking assistance device of the present invention is not limited to a belt-like shape such as a rod shape or a string shape, but a front portion or a rear portion of a waist orthosis such as a rod shape or a string shape. Any other shape may be used as long as it can be configured.

However, when the shape of the flexible frame is a belt shape as in the walking assist device A of the present embodiment, the flexible frame can be easily manufactured as compared to other shapes. . Also, compared to other shapes, the pressure applied to the wearer when the reaction force of the assist force is applied to the waist orthosis can be dispersed, so the discomfort given to the wearer by the reaction force can be reduced. Can do.

Also, the flexible frame of the walking assistance device of the present invention may be formed using a material other than resin as long as it has torsional rigidity and bending rigidity described later. For example, you may form using a thin metal plate etc.

The front frame 10 has a first front frame member 10a (right frame member) located on the front side of the right half of the wearer P and a second front frame member located on the front side of the left half of the wearer P when worn. 10b (left frame member) is detachably fixed to each other by a front side surface fastener 10c (fixing member).

Similarly, the back frame 11 has a first back frame member 11a (right frame member) located on the front side of the right half of the wearer P and a second side located on the back side of the left half of the wearer P when worn. The rear frame member 11b (left frame member) is configured to be detachably fixed to each other by a rear side fastener 11c (fixing member).

The front frame 10 can adjust the fixing position of the first front frame member 10a and the second front frame member 10b within a predetermined range in the circumferential direction of the first reference axis b1 by the front side surface fastener 10c. Similarly, the back frame 11 can adjust the fixing position of the first back frame member 11a and the second back frame member 11b within a predetermined range in the circumferential direction of the first reference axis line b1 by the back side fastener 11c. ing.

Thus, the dimensions of the front frame 10 and the back frame 11 (and consequently the waist orthosis 1) can be adjusted according to the body shape of the wearer P.

Further, the front side surface fastener 10c fixes the first front frame member 10a and the second front frame member 10b so as to be in line contact with each other along the first reference axis line b1 extending in the vertical direction. Similarly, the back side surface fastener 11c fixes the first back frame member 11a and the second back frame member 11b so as to be in line contact with each other along the first reference axis b1 extending in the vertical direction.

Thus, the front frame 10 and the back frame 11 can be divided without reducing the torsional rigidity at the fixing portions between the frame members constituting them. As a result, attachment / detachment of the walking assist device A to the wearer P is facilitated.

In addition, the walking assistance apparatus of this invention is not limited to such a structure, The flexible frame does not necessarily need to be set as the structure which can be divided | segmented, and conversely, three or more frame members May be fixed to each other.

Further, even in the case of a structure that can be divided, the fixing method of the frame members constituting the flexible frame is not limited to the hook-and-loop fastener, and various fixing methods may be used.

However, like the front side surface fastener 10c and the back side surface fastener 11c of the walking assist device A of the present embodiment, the frame members are fixed in line contact with each other along the axis extending in the vertical direction or separated in the vertical direction. It is preferable to fix at least two points so as to prevent a decrease in torsional rigidity of the flexible frame at the fixed portion.

As shown in FIG. 2, each of the pair of side frames 12 includes a first plate member 12a extending in a direction along the first reference axis b1 (see FIG. 1), and a first plate member 12a from the side of the first plate member 12a. A front-side second plate member 12b that extends in the circumferential direction around the reference axis b1 toward the front side of the wearer P, and a wearer P around the first reference axis b1 from the side of the first plate member 12a. And a back side second plate member 12c extending in the circumferential direction toward the back side of the back side.

The first plate member 12a, the front side second plate member 12b, and the back side second plate member 12c constituting the side frame 12 are formed by bending a single metal plate. That is, the side frame 12 has higher rigidity than the front frame 10 and the back frame 11 formed of flexible resin, and is difficult to be deformed even when the reaction force of the assist force is applied. It has become.

In the walking assist device A, the reaction force of the assist force is applied most to the portion of the lower back orthosis 1 where the actuator 30 (drive source) of the motion assist mechanism 3 that generates the assist force is fixed. Therefore, as shown in FIG. 1, in the walking assistance device A, the actuator 30 is fixed to the side surface of the metal side frame 12 opposite to the wearer P of the first plate member 12a.

Thus, in the walking assist device A, the reaction force of the assist force is received by the side frame 12, and accordingly, the rigidity required for the front frame 10 and the back frame 11 is low. As a result, the rigidity of the front frame 10 and the rear frame 11 is not increased so much (that is, the flexibility of the entire waist orthosis 1 is not significantly reduced), and the reaction force of the entire waist orthosis 1 is received. Stiffness can be obtained.

A front-side second plate member 12b and a back-side second plate member 12c are extended from both sides of the first plate member 12a. The front frame 10 is fixed to the front side second plate member 12b, and the back frame 11 is fixed to the back side second plate member 12c.

Thereby, when a reaction force of the assist force is applied to the waist orthosis 1, the reaction force is applied to the first plate member 12 a to which the actuator 30 is fixed and the front side first member to which the front frame 10 is fixed. It is transmitted to the waist orthosis 1 via the back side second plate member 12c to which the two plate members 12b and the back frame 11 are fixed.

Since the reaction force of the assist force is a force that twists the waist orthosis 1, the reaction force causes the waist orthosis 1 (and thus the side frame 12) to rotate about the first rotation axis a 1, so that the front side The two-plate member 12b and the back-side second plate member 12c are in contact with the front and back of the waist of the wearer P.

That is, by providing the front-side second plate member 12b and the back-side second plate member 12c, a part of the reaction force of the assist force is passed through the front-side second plate member 12b and the back-side second plate member 12c. And is received by the body of the wearer P.

The vertical width of the fixed part of the front frame 10 of the front side second plate member 12b is configured to be equal to or greater than the vertical width of the fixed part of the front frame 10. Further, the vertical width of the fixed portion of the back frame 11 of the back side second plate member 12 c is configured to be equal to or greater than the vertical width of the fixed portion of the back frame 11.

Thus, when the front frame 10 or the rear frame 11 is twisted by the reaction force of the assist force, the entire fixed portion of the twisted front frame 10 or the rear frame 11 is fixed to the front second plate member 12b. Alternatively, the rear side second plate member 12c can be received.

That is, a part of the force that twists the front frame 10 or the back frame 11 (that is, the reaction force of the assist force applied to the front frame 10 or the back frame 11) is also received by the side frame 12 itself.

As described above, in the walking assistance device A, by providing the waist frame 1 with the side frame 12 which is a rigid body frame, the side frame 12 itself or the body of the wearer P receives a part of the reaction force of the assist force. The reaction force of the assist force that can be received as the entire lower back orthosis 1 is increased.

However, the walking assistance device of the present invention is not limited to such a configuration, and the configuration may be changed as appropriate according to the magnitude of the reaction force of the assist force that should be received by the waist orthosis.

For example, when the rigidity of the flexible frame is sufficient, either or both of the rigid frames provided as a pair of left and right may be omitted in this embodiment. Further, the shape of the rigid frame is not limited to the shape as shown in FIG. 2, and may be a simple flat plate or a shape other than the shape defined by the width of the flexible frame. Good.

As shown in FIG. 3, the leg orthosis 2 is a pad-shaped member that transmits assist force to the leg by pressing the front surface of the thigh of the leg of the wearer P. The leg equipment 2 is rotatable about the fourth rotation axis a4 extending in the front-rear direction via the arm 31 of the movement assist mechanism 3 (see FIG. 6).

Note that the leg brace of the walking assist device of the present invention is not limited to such a configuration, and can be moved with respect to the hip brace and can apply assist force to the wearer's leg. That's fine. For example, when the assist force includes a force in the direction of pulling the leg, a member that is fixed to the leg may be used instead of the pad-shaped member.

Also, the position of contact with the leg may be changed as appropriate according to the site to which the assist force is applied. For example, when the assist force is applied to the crus, the leg orthosis may be configured to contact the front or back of the crus.

The motion assist mechanism 3 includes an actuator 30 fixed to the side surface of the side frame 12 of the waist orthosis 1, an arm 31 that connects the waist orthosis 1 and the leg orthosis 2 via the actuator 30, an actuator 30 and an arm 31. And a bracket 32 for connecting the two.

The actuator 30 is a disk-shaped member, and its central axis is located on the first rotation axis a1 extending in the left-right direction (see FIG. 1). The actuator 30 transmits the generated driving force to the arm 31 via the bracket 32, thereby causing the arm 31 and the leg device 2 connected to the arm 31 to have a first rotation axis a2 extending in the left-right direction. As a center, it is rotated in the front-rear direction with respect to the waist orthosis 1 (see FIG. 1).

The arm 31 extends from the side of the waist brace 1 toward the leg brace 2 from the first arm member 31a extending downward along the side surface of the thigh of the wearer P and the first arm member 31a. A second arm member 31b extending in a row, a first hinge 31c rotatably connecting the first arm member 31a and the second arm member 31b, and the second arm member 31b and the leg device 2 are rotated. It has the 2nd hinge 31d connected so that a movement is possible.

The second arm member 31b extends from the lower end of the first arm member 31a so as to bend toward the front surface of the thigh along the circumferential surface of the thigh of the wearer P. An end of the second arm member 31b opposite to the first arm member 31a is a surface opposite to a surface that contacts the thigh of the wearer P of the leg device 2 via the second hinge 31d. Is pivotably connected to the central portion of the.

The first hinge 31c is a third rotation axis a3 that extends in the front-rear direction with respect to the first arm member 31a in a state where the wearer P stands upright (that is, in a state where the legs of the wearer P extend straight). The second arm member 31b is connected so as to be able to rotate in the left-right direction around the center (see FIG. 6).

The second hinge 31d connects the leg device 2 so as to be turnable in the left-right direction around the fourth turning axis a4 extending in the front-rear direction with respect to the second arm member 31b (see FIG. 5).

As shown in FIG. 4, the bracket 32 includes a substantially disc-shaped main body portion 32a fixed to a surface of the actuator 30 opposite to the side frame 12 of the waist brace 1, and extends downward from both side portions of the main body portion 32a. A pair of extended portions 32b provided, a connecting portion 32c that is a U-shaped member disposed between the pair of extended portions 32b, and one of the extended portions 32b and one of the extended portions 32b. It is comprised by the two hinge pins 32d which connect the one end part of the corresponding connection part 32c so that rotation is possible.

The connecting portion 32c is connected to the extending portion 32b so as to be rotatable in the left-right direction about the second rotation axis a2. The upper end of the 1st arm member 31a is being fixed to the lower surface of the center part of the connection part 32c. Accordingly, the first arm member 31a is connected to the waist orthosis 1 via the actuator 30 and the bracket 32 so as to be rotatable in the left-right direction around the second rotation axis a2.

Further, the interval between the opposing surfaces of the pair of extending portions 32b is configured to substantially coincide with the front-rear direction of the main body portion 32a or to be larger than the width thereof. In the bracket 32, by increasing the size of the connecting portion between the extending portion 32b and the connecting portion 32c in this way, the rigidity of the connecting portion that becomes the rotating portion around the second rotating axis a2 is increased. Yes.

Further, by connecting the waist orthosis 1 and the arm 31 via the actuator 30 and the bracket 32, the distance in the left-right direction between the thigh of the wearer P and the arm 31 is widened at the time of wearing. That is, the arm 31 is positioned at a position laterally separated from the thigh side end of the wearer P of the actuator 30. Thereby, when the wearer P moves a leg part, it becomes difficult to contact the arm 31 and a thigh.

By the way, as shown in FIG. 1, in the walking assistance device A, the left and right leg appliances 2 are mutually connected to the waist orthosis 1 around the first rotation axis a 1 extending in the left-right direction by the operation assistance mechanism 3. The assisting force is applied to the legs of the wearer P by rotating. That is, the assist force is a force in a direction in which the leg orthosis 2 is rotated with respect to the waist orthosis 1 around the first rotation axis a1.

When the assist force is applied, a reaction force of the assist force is applied to the waist orthosis 1 in the direction of twisting the waist orthosis 1 around the first rotation axis a1 (FIG. 1). In the direction of a pair of left and right arrows centered on the first rotation axis a1).

Therefore, in the motion assisting device A, the front surface with respect to the torsion around the first rotation axis a 1 (that is, the reaction force of the assist force to the waist orthosis 1) that occurs when the leg orthosis 2 rotates with respect to the waist orthosis 1. The torsional rigidity of the frame 10 and the back frame 11 is configured to be larger than the bending rigidity of the front frame 10 and the back frame 11 with respect to the deformation in the radial direction around the first reference axis line b1 extending in the vertical direction. .

Here, “torsional rigidity against torsion around the first rotation axis a 1” in the front frame 10 and the back frame 11 (and thus the waist orthosis 1) is a parameter indicating how much reaction force of the assist force can be received. Point to.

Here, the “diameter around the first reference axis b1” in the front frame 10 and the rear frame 11 (and hence the waist orthosis 1) corresponds to the diameter (abdominal circumference) of the waist of the wearer P. is there. That is, the “diameter bending stiffness” refers to a parameter indicating how flexibly deformable according to the diameter (abdominal circumference) of the waist of the wearer P.

As a result of earnest research, the present inventor has determined that the torsional rigidity with respect to torsion around the first rotation axis a1 is greater than the bending rigidity of the flexible frame with respect to deformation in the radial direction around the first reference axis b1. It has been discovered that by increasing the size, an appropriate balance can be obtained which can sufficiently secure flexibility and can sufficiently receive the reaction force of the assist force.

That is, the walking assist device A is configured by using the front frame 10 and the rear frame 11 having the rigidity described above for the waist orthosis 1, so that the waist orthosis 1 is worn by the wearer in the same manner as the conventional walking assist device. It can be flexibly deformed according to the diameter (abdominal circumference) of the waist of P, and unlike the conventional walking assistance device, the reaction force of the assist force can be sufficiently received by the waist orthosis 1.

In the walking assistance device A, the front frame 10 that covers the front of the waist of the wearer P and the back frame 11 that covers the back are flexible frames having the above-described rigidity. This is because by making both the front frame 10 and the back frame 11 flexible frames, it becomes easier to obtain good rigidity compared to a configuration in which only one of them is a flexible frame.

However, the walking assist device of the present invention is not limited to such a configuration, and only one of the front and back of the wearer's waist is covered with a flexible frame depending on the shape of the waist brace and the like. You may comprise as follows.

Specifically, when the waist orthosis has a semicircular frame extending from one side surface of the wearer's waist to the other side so as to cover the back of the waist, the frame Only the portion on the back side may be formed of a flexible frame.

In addition, as shown in FIG. 5, in general, in the walking assistance device, the first rotation axis a 1 that is the center of rotation of the leg device 2 in the front-rear direction is the center of the leg portion of the wearer P. It is set to coincide with an axis (specifically, a second reference axis b2 that is an axis that passes through the hip joint center C and extends in the left-right direction).

This is because the leg trajectory and the leg equipment 2 are made to coincide with the center of rotation of the leg body in the front-rear direction during walking and the center of rotation of the leg equipment 2 of the walking assist device in the front-back direction. This is to prevent unnecessary force from being applied to the leg from the leg orthosis 2 by matching the track.

However, when walking, a human leg not only rotates in the front-rear direction about the axis extending in the left-right direction, but also rotates in the left-right direction about the axis extending in the front-rear direction. Specifically, as shown in FIG. 5B, the legs move outward (abduction), as shown in FIG. 5C, or move inwards, as shown in FIG. (Addition).

Therefore, in the conventional walking assist device, the arm 31 that connects the waist device 1 and the leg device 2 (and thus the leg device 2 that is connected to the arm 31) has a second rotation axis a2 that extends in the front-rear direction. Around it, it is pivotably connected. Thereby, the conventional walking assistance device has ensured the freedom degree of the leg part in the case of abduction and adduction.

However, if the arm 31 is only rotatable in the left-right direction, the actuator 30 and the leg connected to the wearer P are connected to the leg 30 of the wearer P when the leg of the wearer P rotates in the left-right direction. There is a possibility that the arm 31 and the like that are in contact with each other.

Specifically, as shown in FIG. 5A, in a state where the wearer P stands upright, the first reference axis a1 (that is, the center of the actuator 30), which is the center of rotation of the leg device 2 in the front-rear direction, Suppose that it is configured to coincide with the second reference axis b2 passing through the hip joint center C of the wearer P.

In such a configuration, as shown in FIG. 5B, when the leg of the wearer P is abducted, depending on the thickness of the thigh of the wearer P, the side of the thigh of the wearer P There is a possibility that the lower part of the actuator 30 may come into contact. On the other hand, as shown in FIG. 5C, when the leg portion of the wearer P is added, depending on the shape of the arm 31, the arm 31 may come into contact with the middle of the thigh.

Therefore, as shown in FIG. 6, in the walking assist device A, the leg rotation device 2 passes the first rotation axis a 1 that is the center of rotation in the front-rear direction with respect to the waist device 1 through the hip joint center C of the wearer P. The axis extends in the left-right direction, and is positioned above the second reference axis b2 that is the center of rotation of the leg portion in the front-rear direction.

The portion of the leg above the hip joint center C is a portion that does not rotate greatly when the leg is abducted and adductioned (see FIGS. 5A to 5C). In the walking assist device A, the actuator 30 is configured to be positioned above the hip joint center C, so that even when the leg is largely abducted or added, the leg is connected to the actuator 30 and the same. This makes it difficult for the arm 31 to come into contact.

In addition, in the walking assist device A, the actuator 30 is disposed on the side surface of the waist orthosis 1, and the arm 31 rotates below the actuator 30 around the second rotation axis a2 extending in the front-rear direction. It is linked movably.

Thereby, since the weight of the actuator 30 is supported by the waist orthosis 1, the weight is not added to the leg portion via the arm 31. In addition, since the movement of the arm 31 is not hindered by the weight of the actuator 30, the movement of the arm 31 is smooth. As a result, in the walking assist device A, the influence of the weight of the actuator 30 and the movability of the arm 31 is suppressed, and the movement of the leg during abduction and adduction is less likely to be hindered.

However, as described above, the first rotation axis a1 serving as the rotation center in the front-rear direction of the arm 31 (that is, the leg brace 2) is set to be more than the second reference axis b2 passing through the hip joint center C of the wearer P. When positioned above, the distance between the waist orthosis 1 and the leg orthosis 2 varies according to the movement of the leg in the front-rear direction.

Specifically, as shown in FIG. 7, it is assumed that the length of the arm 31 is set on the basis of a state where the leg portion of the wearer P is slightly swung forward.

In this case, when the trajectory of the leg brace 2 around the hip joint center C and the trajectory of the leg brace 2 around the position above the hip joint center C are compared, In a state where the part is further swung forward, the distance between the waist orthosis 1 and the leg orthosis 2 becomes longer than the set length of the arm 31. On the other hand, in a state where the leg portion is straightened (that is, a state where the wearer P is upright), the distance between the waist orthosis 1 and the leg orthosis 2 is shorter than the set length of the arm 31.

When the distance between the waist orthosis 1 and the leg orthosis 2 varies in this way, the arm 31 that connects the waist orthosis 1 and the leg orthosis 2 is caused by the variation in the distance. A force that extends or contracts the leg is applied to the leg.

For example, as described above, when the length of the arm 31 is set on the basis of the state where the leg of the wearer P is slightly swung up, when the leg is further swung up, the arm 31 moves toward the leg. A force that stretches the leg is applied. On the other hand, when the arm is in an upright state (when the leg is straightened), a force that contracts the leg is applied from the arm 31 to the leg. And when such a force is added, there exists a possibility of giving the wearer P a sense of incongruity by the force.

Therefore, as shown in FIG. 8, in the walking assist device A, the first rotation axis a 1 serving as the rotation center in the front-rear direction of the arm 31 (i.e., the leg equipment 2) is higher than the second reference axis b 2. And located rearward.

As a result, as shown in FIG. 7, the variation in the distance between the waist orthosis 1 and the leg orthosis 2 is suppressed as compared with the case where it is positioned only upward. Specifically, the amount of displacement of the locus shown in FIG. 8 is smaller than the amount of displacement of the locus shown in FIG. As a result, the force applied from the arm 31 to the leg can be suppressed.

The amount by which the first rotation axis a1 is moved backward is, as viewed from the side, a vertical line passing through the second reference axis b2 and a line passing through the second reference axis b2 and the first rotation axis a1. It is particularly preferable that the angle is an amount that is within a range of angles that can be swung up forward of the legs of the wearer P.

Further, in the walking assist device A, the height of the second rotation axis a2 (the height of the center axis of the hinge pin 32d) serving as the center of rotation of the leg device 2 (that is, the arm 31) in the left-right direction, and the hip joint The second reference axis b2 that is an axis passing through the center C is configured to coincide with the height.

With this configuration, the amount of change in the angle of the leg with respect to the vertical direction on the frontal plane and the amount of change in the angle of the arm 31 substantially coincide with each other during abduction and adduction. As a result, the force applied from the arm 31 to the leg due to the deviation of the fluctuation amount of the angles is reduced.

As described above, in the walking assist device A, the contact between the leg portion and the actuator 30 is prevented. Further, in the walking assist device A, the influence of the weight of the actuator 30 and the mobility of the arm 31 on the movement of the leg is suppressed during the abduction and adduction of the leg. Further, in the walking assist device A, the influence of the force applied from the arm to the leg during abduction and adduction is also suppressed. Thereby, in the walking assistance apparatus A, the discomfort given to the wearer P at the time of abduction and adduction can be reduced.

It should be noted that the walking assistance device of the present invention is not limited to such a configuration, and the first rotation axis a1 may only be positioned above the second reference axis b2.

Also, when the force applied from the arm to the leg is negligibly small, or when the drive source does not hinder the movement of the leg because the position of the drive source is located on the back of the waist orthosis The first rotation axis may be arranged so as to coincide with the first rotation axis, or may be positioned below the first rotation axis.

As described above, in the walking assist device A, the first rotation axis a1 that is the center of rotation of the leg device 2 relative to the waist device 1 in the front-rear direction is the center of rotation of the leg portion in the front-rear direction. The second rotation axis a2 that is not coincident with the second reference axis b2 and that is the center of rotation of the leg orthosis in the left-right direction with respect to the waist orthosis 1 is away from the hip joint center C. (That is, it does not coincide with the axis that is the center of rotation of the leg portion in the left-right direction).

Therefore, in the walking assist device A, the distance between the waist orthosis 1 and the leg orthosis 2 (more specifically, from the first rotation axis a1 or the second rotation axis a2 to the fourth time according to the movement of the leg. (The distance to the movement axis a4) varies (see FIG. 6), and due to the variation in the distance, a force that extends or contracts from the arm 31 to the leg is applied. Become.

Therefore, as shown in FIG. 3, in the walking assist device A, an arm 31 that connects the waist orthosis 1 and the leg orthosis 2 extends downward from the waist orthosis 1 along the thigh of the wearer P. The first arm member 31a provided and the second arm member 31b extending from the first arm member 31a toward the leg orthosis 2 are configured, and the second arm member 31b is configured as the first arm member. It can rotate with respect to 31a.

Accordingly, in the walking assist device A, the distance from the fixed position of the first arm member 31a to the waist brace 1 to the fixed position of the second arm member 31b to the leg brace 2 according to the rotation of the second arm member 31b. (That is, the distance from the waist orthosis 1 to the leg orthosis 2) is variable. That is, the distance from the waist brace 1 to the leg brace 2 can be changed only by a simple configuration in which the constituent members of the arm 31 are rotated.

Further, since the mechanism for rotating the members is less affected by friction between the members than the mechanism for sliding the members, the distance can be smoothly changed. Therefore, according to the walking assist device A, the distance between the waist orthosis 1 and the leg orthosis 2 can be smoothly changed while having a simple structure.

In addition, the walking assist device A applies assist force to the wearer P by rotating the leg device 2 in the front-rear direction with respect to the waist device 1 about the first rotation axis a1 extending in the left-right direction. It has a configuration.

Therefore, when the second arm member 31b rotates, the distance between the first arm member 31a and the second arm member 31b in the front-rear direction (that is, the distance from the waist device 1 to the leg device 2 in the front-rear direction). If it fluctuates, there is a risk that the assist force applied to the leg via the leg brace 2 may be reduced due to the fluctuation.

Therefore, in the walking assist device A, the second arm member 31b is configured to be rotatable with respect to the first arm member 31a about the third rotation axis a3 extending in the front-rear direction, and the second arm member 31b rotates. Even if it moves, the distance from the waist orthosis 1 to the leg orthosis 2 does not fluctuate. Thereby, in the walking assistance apparatus A, reduction of the assist force by rotation of the 2nd arm member 31b is prevented.

Further, in the walking assist device A, the first arm member 31a rotates in the left-right direction with respect to the waist orthosis 1 around the second rotation axis a2, and the first arm member around the third rotation axis a3. The second arm member 31b rotates in the left-right direction with respect to 31a. Therefore, when the leg equipment 2 is fixed to the second arm member 31b, the posture of the leg equipment 2 with respect to the legs changes, and the wearer P feels uncomfortable due to friction during the rotation. There was a risk of giving.

Therefore, as shown in FIG. 3, in the walking assist device A, the second arm member 31 b is moved along the circumferential surface of the thigh of the wearer P from the lower end of the first arm member 31 a. As shown in FIG. 6, the leg orthosis 2 can be rotated with respect to the second arm member 31b about a fourth rotation axis a4 extending in the front-rear direction. It is configured.

As a result, the posture of the leg brace 2 with respect to the leg portion is the second even when the distance from the lumbar brace 1 to the leg brace 2 changes (that is, when the second arm member 31b rotates). It is comprised so that it may become fixed by rotation of the leg | foot-piece orthosis 2 with respect to the arm member 31b. As a result, in the walking assist device A, it is possible to prevent the wearer P from feeling uncomfortable due to a change in the posture of the leg device 2.

Note that the walking assistance device of the present invention is not limited to such a configuration, and the arm expansion / contraction mechanism may have a different configuration.

For example, in the walking assistance device A of the present embodiment, in order to prevent a reduction in assist force during expansion and contraction, the third rotation axis a3 that is the center of rotation of the second arm member 31b relative to the first arm member 31a is provided. Unlike the first rotation axis that extends in the left-right direction, which is the center of rotation of the first arm member 31a relative to the waist orthosis 1, the rotation axis extends in the left-right direction.

However, depending on the shape of the members constituting the arm, the distance in the front-rear direction of these members during rotation may vary only to a negligible level. In such a case, you may change suitably the direction of those rotation axes.

Furthermore, depending on the shape of the lumbar orthosis, arm, etc., the distance between the lumbar orthosis and the leg orthosis will not vary greatly, and the force applied to the leg from the arm connecting the lumbar orthosis and the leg orthosis should be ignored. May be small enough. In such a case, the telescopic mechanism may be omitted and the arm may be configured with a single member.

Although the illustrated embodiment has been described above, the present invention is not limited to such a form.

For example, a pair of abdominal appliances 4 extending upward from each of the pair of side frames 12 and covering the side of the abdomen of the wearer P may be provided as in the modification shown in FIG.

As described above, the reaction force of the assist force is a direction in which the leg orthosis 2 is rotated with respect to the waist orthosis 1 around the first rotation axis a1 extending in the left-right direction (that is, the direction in which the waist orthosis 1 is twisted). Is the power of

Therefore, when the waist orthosis 1 is configured in this way, when the reaction force is applied, the waist orthosis 1 (and thus the side frame 12 to which the abdominal orthosis 4 is fixed) rotates around the first rotation axis a1. The abdomen orthosis 4 comes into contact with the front or back of the abdomen of the wearer P by moving. That is, a part of the reaction force is received by the body of the wearer P through the abdominal appliance 4.

Thereby, even if the torsional rigidity of the front frame 10 and the back frame 11 is reduced to some extent, the reaction force can be sufficiently received. As a result, since it becomes easy to select a lightweight material as the material of the front frame 10 and the back frame 11, the weight of the walking assist device A as a whole can be suppressed.

Also, a corset 5 may be provided which is disposed on the inner peripheral side of the waist orthosis 1 and covers the abdomen from the waist of the wearer P.

When such a corset 5 is provided, when the reaction force of the assist force is applied to the waist orthosis 1, the front frame 10 and the back frame 11 that are a part of the waist orthosis 1 are twisted, the side frame 12, and the abdominal orthosis 4. The front frame 10, the back frame 11, the side frame 12, and the abdomen orthosis 4 are received by the corset 5 even if the frame rotates.

This prevents the front frame 10, the back frame 11, the side frame 12, and the abdominal brace 4 from coming into direct contact with the body of the wearer P, so that the front frame 10 and the back frame are twisted, the side frame 12, and the abdomen brace. The uncomfortable feeling that the wearer P learns due to the rotation of 4 can be reduced.

Note that only one of the abdominal orthosis 4 and the corset 5 may be provided.

DESCRIPTION OF SYMBOLS 1 ... Lumbar orthosis, 2 ... Leg orthosis, 3 ... Operation assistance mechanism, 4 ... Abdominal orthosis, 5 ... Corset, 10 ... Front frame (flexible frame), 10a ... 1st front frame member (right frame member), 10b: second front frame member (left frame member), 10c: front side fastener (fixing member), 11: back frame (flexible frame), 11a: first back frame member (right frame member), 11b: first 2 Back frame member (left frame member), 11c ... Back side fastener (fixing member), 12 ... Side frame (rigid frame), 12a ... First plate member, 12b ... Front side second plate member, 12c ... Back side first 2 plate members, 30 ... actuator (drive source), 31 ... arm, 31a ... first arm member, 31b ... second arm member, 31c ... first hinge, 31d ... second hinge 32 ... Bracket, 32a ... Main body part, 32b ... Extension part, 32c ... Connection part, 32d ... Hinge pin, A ... Walking assist device, C ... Hip joint center, P ... Wearer, a1 ... First rotation axis, a2 2nd rotation axis, a3 3rd rotation axis, a4 4th rotation axis, b1 1st reference axis, b2 2nd reference axis.

Claims

A lumbar orthosis worn on the wearer's lumbar region, a leg brace attached to the wearer's leg, and the leg brace is moved relative to the lumbar orthosis, and the leg brace is inserted through the leg brace. An operation assisting mechanism for generating an assist force for assisting the wearer in walking in the front-rear direction on the leg of the wearer;
The movement assist mechanism includes an arm that connects the waist orthosis and the leg orthosis, and the leg orthosis with respect to the waist orthosis with respect to the leg orthosis extending about a rotation axis extending in the left-right direction via the arm. A drive source that rotates in a direction,
The waist orthosis has a flexible frame that covers at least one of the front and back of the waist of the wearer,
The torsional rigidity of the flexible frame with respect to torsion around the rotation axis is greater than the bending rigidity of the flexible frame with respect to deformation in a radial direction around a reference axis extending in the vertical direction. Walking assistance device.
The walking assist device according to claim 1,
The walking assist device according to claim 1, wherein the flexible frame is a belt obtained by bending a flat plate around the reference axis.
In the walking auxiliary device according to claim 1 or 2,
The waist orthosis has a flexible frame that covers at least one of the front and back surfaces of the wearer's waist, and a rigid frame that covers at least one of the left and right side surfaces of the wearer's waist,
The walking assist device, wherein the movement assist mechanism is attached to the rigid frame.
The walking assist device according to claim 3,
The rigid frame includes a first plate member extending in a direction along the reference axis, and a second plate member extending in a circumferential direction around the reference axis from a side of the first plate member,
The operation assisting mechanism is fixed to the first plate member,
The walking assist device, wherein the flexible frame is fixed to the second plate member.
In the walking auxiliary device according to claim 3 or 4,
The flexible frame is a belt obtained by bending a flat plate around the reference axis.
The walking assist device according to claim 1, wherein a vertical width of the flexible frame at a connecting portion between the flexible frame and the rigid frame is smaller than a vertical width of the rigid frame.
The walking assist device according to any one of claims 3 to 5,
A walking assistance device comprising an abdomen orthosis extending upward from the rigid frame and covering a side surface of the abdomen of the wearer.
The walking assist device according to any one of claims 1 to 6,
A walking assist device comprising a corset disposed on an inner peripheral side of the waist orthosis and covering the waist from the wearer's waist.
The walking assist device according to any one of claims 1 to 7,
The flexible frame includes a right frame member positioned on the right half of the wearer, a left frame member positioned on the left half of the wearer, and the right frame member and the left frame member. A walking assist device comprising: a fixing member that is detachably fixed so as to come into contact with at least two points separated in a direction.
The walking assist device according to any one of claims 1 to 7,
The flexible frame includes a right frame member positioned on the right half of the wearer, a left frame member positioned on the left half of the wearer, and the right frame member and the left frame member. A walking assist device comprising: a fixing member that is detachably fixed so as to be in line contact along an axis extending in a direction.