WO2020110533A1 - Knee brace and assist suit - Google Patents

Knee brace and assist suit Download PDF

Info

Publication number
WO2020110533A1
WO2020110533A1 PCT/JP2019/041704 JP2019041704W WO2020110533A1 WO 2020110533 A1 WO2020110533 A1 WO 2020110533A1 JP 2019041704 W JP2019041704 W JP 2019041704W WO 2020110533 A1 WO2020110533 A1 WO 2020110533A1
Authority
WO
WIPO (PCT)
Prior art keywords
knee
belt portion
user
brace
wire
Prior art date
Application number
PCT/JP2019/041704
Other languages
French (fr)
Japanese (ja)
Inventor
健太 村上
史崇 森川
一昭 岸本
由朗 小山
信夫 足立
Original Assignee
パナソニックＩｐマネジメント株式会社
株式会社Ａｔｏｕｎ
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 パナソニックＩｐマネジメント株式会社, 株式会社Ａｔｏｕｎ filed Critical パナソニックＩｐマネジメント株式会社
Publication of WO2020110533A1 publication Critical patent/WO2020110533A1/en

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about

Definitions

  • the present disclosure relates to an assist suit that supports a person's motion, and a knee brace used for the assist suit.
  • Patent Document 1 discloses a knee supporter that is easier to wear and has a more stable walking motion compared to a conventional structure.
  • the present disclosure provides a knee brace capable of suppressing positional displacement, and an assist suit including such a knee brace.
  • a knee brace is a knee brace for a user to receive a motion assistance by an assist device, and is a knee-top knee having a three-dimensional shape of an inverted truncated cone attached to the upper part of the user's knee.
  • the belt portion, the below-the-knee belt portion worn on the lower part of the knee of the user, the above-the-knee belt portion, and the below-the-knee belt portion are connected to each other, and an opening is provided in a portion corresponding to the back of the knee of the user. And a connecting portion.
  • An assist suit is an assist suit that assists a user's motion, and includes a knee brace, an assist device, the knee brace, and a wire connecting the assist device.
  • the device has a motor for controlling the tension applied to the wire
  • the knee brace is mounted on the upper part of the user's knee, and the knee-belt part having an inverted frustoconical three-dimensional shape, and the user.
  • a knee brace capable of suppressing positional displacement, and an assist suit including such a knee brace are realized.
  • FIG. 1 is a view of a user wearing the assist suit according to the embodiment as seen from the front.
  • FIG. 2 is a diagram of a user wearing the assist suit according to the embodiment, as viewed from the rear.
  • FIG. 3 is an external view of the assist suit according to the embodiment.
  • FIG. 4 is a block diagram showing the functional configuration of the assist device.
  • FIG. 5 is a diagram showing an example of the output signal of the pressure sensor.
  • FIG. 6 is a diagram showing an example of the output signal of the acceleration sensor.
  • FIG. 7 is a diagram showing definitions of directions of flexion and extension.
  • FIG. 8 is an enlarged view of a knee brace for the left knee.
  • FIG. 9 is a development view of a knee brace for the left knee.
  • FIG. 1 is a view of a user wearing the assist suit according to the embodiment as seen from the front.
  • FIG. 2 is a diagram of a user wearing the assist suit according to the embodiment, as viewed from the rear.
  • FIG. 10 is a diagram for explaining the positional deviation of the knee brace for the left knee.
  • FIG. 11 is a figure for demonstrating the effect which the position shift of the knee brace for left knees is suppressed.
  • FIG. 12 is an external view of a knee brace in which the opening is closed with a member having a rigidity lower than that of the connecting portion.
  • FIG. 13 is a first diagram showing the position of the cushion material.
  • FIG. 14 is a second diagram showing the position of the cushion material.
  • FIG. 15 is a third diagram showing the position of the cushion material.
  • FIG. 16 is a figure which shows the position of an attachment structure in case the knee brace for right knees has the same structure as the knee brace for left knees.
  • FIG. 16 is a figure which shows the position of an attachment structure in case the knee brace for right knees has the same structure as the knee brace for left knees.
  • FIG. 17 is a diagram showing the position of the attachment structure when the knee brace for the right knee has a bilaterally symmetrical structure with the knee brace for the left knee.
  • FIG. 18 is an external view of a knee brace according to the first modification of the embodiment.
  • FIG. 19 is an external view of a knee brace according to the modified example 3 of the embodiment.
  • FIG. 20 is an external view of a knee brace according to the modified example 4 of the embodiment.
  • a knee brace is a knee brace for a user to receive a motion assistance by an assist device, and has a three-dimensional shape of an inverted frustoconical shape that is attached to the upper part of the user's knee.
  • the above-knee belt portion, the below-knee belt portion that is worn on the lower part of the user's knee, the above-knee belt portion, and the below-knee belt portion are connected to each other, and an opening is formed in a portion corresponding to the back of the knee of the user. And a connecting portion provided.
  • the above-the-knee belt part has a three-dimensional inverted frusto-conical shape in this way, when the knee brace is pulled by the wire, the effect that the knee brace does not easily come off the user's knee is obtained. That is, displacement of the knee brace can be suppressed. Further, if the opening is provided at the back of the knee, it is difficult to apply a force for contracting the knee brace to the knee brace, and thus the displacement of the knee brace is suppressed. Further, if the opening is provided, it is possible to prevent the knee brace from obstructing the bending and stretching of the user's knee.
  • the below-the-knee belt portion has a three-dimensional shape of a truncated cone.
  • the below-knee belt can be fitted to the lower part of the user's knee. That is, the fit of the knee brace can be improved.
  • the rigidity of the below-the-knee belt portion is larger than the rigidity of the above-the-knee belt portion, and the rigidity of the above-the-knee belt portion is the same as the rigidity of the connecting portion or is larger than the rigidity of the connecting portion. ..
  • the knee brace further includes a cushion material provided in the connecting portion, and the cushion material is located in front of a side right next to the user's knee.
  • the opening is closed by a member having a rigidity lower than that of the connecting portion.
  • the knee brace further includes an auxiliary belt for tightening the below-knee belt portion.
  • the above-the-knee belt portion is provided with a mounting structure for mounting a wire connecting the above-the-knee belt portion and the assist device.
  • An assist suit is an assist suit that assists a user's motion, and includes a knee brace, an assist device, the knee brace, and a wire connecting the assist device.
  • the device has a motor for controlling the tension applied to the wire
  • the knee brace is mounted on the upper part of the user's knee, and the knee-belt part having an inverted frustoconical three-dimensional shape, and the user.
  • the above-the-knee belt part has a three-dimensional inverted frusto-conical shape in this way, when the knee brace is pulled by the wire, the effect that the knee brace does not easily come off the user's knee is obtained. That is, displacement of the knee brace can be suppressed. Further, if the opening is provided at the back of the knee, it is difficult to apply a force for contracting the knee brace to the knee brace, and thus the displacement of the knee brace is suppressed. Further, if the opening is provided, it is possible to prevent the knee brace from obstructing the bending and stretching of the user's knee.
  • a mounting structure for mounting the wire is provided on the above-the-knee belt portion, and the assist suit includes two knee braces for the right knee and the left knee.
  • the above-the-knee belt portion of the knee brace and the above-the-knee belt portion of the knee brace for the right knee have a bilaterally symmetrical three-dimensional shape.
  • the walking motion in this specification includes a running motion.
  • each figure is a schematic diagram and is not necessarily strictly illustrated. Further, in each drawing, the same reference numerals are given to substantially the same configurations, and overlapping description may be omitted or simplified.
  • FIG. 1 is a view of a user wearing the assist suit according to the embodiment as seen from the front.
  • FIG. 2 is a diagram of a user wearing the assist suit according to the embodiment, as viewed from the rear.
  • FIG. 3 is an external view of the assist suit according to the embodiment.
  • the assist suit 10 includes an assist device 20, a plurality of wires (specifically, the wire 30FR, the wire 30FL, the wire 30RR, and the wire 30RL), and a waist belt 40. , A knee brace 50R for the right knee and a knee brace 50L for the left knee.
  • the assist device 20 is connected to the knee brace 50R by the wire 30FR and the wire 30RR, and is connected to the knee brace 50L by the wire 30FL and the wire 30RL.
  • the assist device 20 detects the walking timing of the user 80 and increases the tension of the wire 30FR, the wire 30RR, the wire 30FL, and the wire 30RL in accordance with the walking timing to support the walking motion of the user 80.
  • the assist device 20 assists the walking motion of the user 80 by pulling the wire 30FR, the wire 30RR, the wire 30FL, and the wire 30RL.
  • FIG. 4 is a block diagram showing a functional configuration of the assist device 20.
  • the assist device 20 includes a housing 21F, a housing 21R, a motor 22FR, a motor 22FL, a motor 22RR, a motor 22RL, a control unit 23, and a storage unit 24.
  • the housing 21F houses the motor 22FR and the motor 22FL.
  • the housing 21F is attached to the front of the waist belt 40, for example.
  • the motor 22FR and the motor 22FL are electrically connected to the control unit 23 housed in the housing 21R.
  • the control unit 23 may be housed in the housing 21F.
  • the housing 21R accommodates the motor 22RR, the motor 22RL, the control unit 23, and the storage unit 24.
  • the housing 21R is attached to the rear of the waist belt 40, for example.
  • the motor 22FR is a drive device for controlling the tension applied to the wire 30FR. More specifically, the motor 22FR includes a pulley around which the wire 30FR is wound, a drive shaft for rotating the pulley, and an electric motor for rotationally driving the drive shaft.
  • the motor 22FL is a drive device for controlling the tension applied to the wire 30FL. More specifically, the motor 22FL includes a pulley around which the wire 30FL is wound, a drive shaft for rotating the pulley, and an electric motor for rotationally driving the drive shaft.
  • the motor 22RR is a drive device for controlling the tension applied to the wire 30RR. More specifically, the motor 22RR includes a pulley around which the wire 30RR is wound, a drive shaft for rotating the pulley, and an electric motor for rotationally driving the drive shaft.
  • the motor 22RL is a drive device for controlling the tension applied to the wire 30RL. More specifically, the motor 22RL includes a pulley around which the wire 30RL is wound, a drive shaft for rotating the pulley, and an electric motor for rotationally driving the drive shaft.
  • the control unit 23 estimates the walking cycle of the user 80 of the assist suit 10 and drives the motor 22FR, the motor 22RR, the motor 22FL, and the motor 22RL based on the estimation result.
  • the control unit 23 is realized by, for example, a processor.
  • the control unit 23 may be realized by a microcomputer or the like.
  • the control unit 23 drives the motor 22FR, the motor 22FL, the motor 22RR, and the motor 22RL based on the estimation result of the walking cycle, for example, by executing the control program stored in the storage unit 24.
  • the storage unit 24 is realized by a semiconductor memory or the like.
  • the control unit 23 includes an output value of an acceleration sensor of a mobile terminal (not shown) owned by the user 80, an output value of a gyro sensor of the mobile terminal, an inertial measurement sensor, and an output value of an inertial measurement sensor. At least one of the output values of the pressure sensor (not shown) provided near the heel of the user 80 can be acquired, and the timing at which the heel of the user 80 touches the ground can be detected based on the acquired output value. That is, the control unit 23 can estimate the walking cycle of the user 80.
  • the control unit 23 determines the timing at which the heel of the user 80 touches the ground based on the output value when the thigh angle is maximized (when the knee is most forward). To detect.
  • the assist device 20 may include an acceleration sensor, a gyro sensor, or an inertial measurement sensor.
  • the acceleration sensor, the gyro sensor, or the inertial measurement sensor may be located on the waist belt 40, the knee brace 50R for the right knee, or the knee brace 50L for the left knee.
  • FIG. 5 is a diagram showing an example of the output signal of the pressure sensor.
  • the control unit 23 determines the timing at which the foot of the user 80 touches the ground based on the output value of the acceleration sensor.
  • a method for determining the ground contact timing of the foot based on the output value of the acceleration sensor is, for example, IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, VOL. 52, NO. 3, 2005, p. 488, FIG. 1, p. 489, FIG. 2 (Non-Patent Document 1).
  • the control unit 23 may estimate the walking cycle from the signal waveforms of the acceleration sensor and the gyro sensor.
  • FIG. 6 is a diagram showing an example of the output signal of the acceleration sensor.
  • the walking cycle can be estimated from the signal waveform of the acceleration sensor as shown in FIG.
  • the ground contact timing of the foot of the user 80 can be estimated from the signal waveform of the acceleration sensor, and thus the walking cycle can be estimated.
  • the control unit 23 winds the wire 30FR by driving the motor 22FR at the timing when the user 80 is estimated to bend the right leg. Then, as shown in (a) of FIG. 3, the tension of the wire 30FR increases and the knee brace 50R is pulled from the front side, so that the motion of the user 80 to bend the right leg is assisted. Further, the wire 30FL is wound by driving the motor 22FL at the timing when the user 80 is estimated to bend the left leg. Then, as shown in FIG. 3B, the tension of the wire 30FL is increased and the knee brace 50L is pulled forward, so that the user 80 is supported to bend the left leg.
  • the control unit 23 winds the wire 30RR by driving the motor 22RR at the timing when the user 80 is estimated to extend the right leg. Then, as shown in (c) of FIG. 3, the tension of the wire 30RR increases and the knee brace 50R is pulled from the rear side, so that the user 80 assists the motion of extending the right leg.
  • the controller 23 winds the wire 30RL by driving the motor 22RL at the timing when the user 80 is estimated to extend the left leg. Then, as shown in (d) of FIG. 3, the tension of the wire 30RL increases and the knee brace 50L is pulled from the rear side, so that the operation of the user 80 to extend the left leg is supported. In this way, the assist device 20 can assist the walking motion of the user 80.
  • the directions of flexion and extension are shown in FIG.
  • FIG. 7 is a diagram showing definitions of directions of flexion and extension.
  • At least one wire may be connected to one knee brace and the tension of the wire may be controlled.
  • the wire 30RR and the wire 30RL may have a tension controlled by the assist device 20
  • the wire 30FR and the wire 30FL may not have a tension controlled by the assist device 20.
  • the assist device 20 does not have to include the housing 21F, the motor 22FR, and the motor 22FL.
  • the wire 30FR is a wire that connects the waist belt 40 and the front side of the knee brace 50R
  • the wire 30RR is a wire that connects the assist device 20 and the rear side of the knee brace 50R
  • the wire 30FL is a wire that connects the waist belt 40 and the front side of the knee brace 50L
  • the wire 30RL is a wire that connects the assist device 20 and the rear side of the knee brace 50L.
  • Each of the wire 30FR, the wire 30FL, the wire 30RR, and the wire 30RL is, for example, a metal wire, but may be a non-metal wire.
  • non-metal wires are fiber wires or fiber belts.
  • the material of the fiber wire or fiber belt are polyester fiber, nylon fiber, acrylic fiber, para-aramid fiber, ultra high molecular weight polyethylene fiber, PBO (poly-paraphenylene benzobisoxazole) fiber, polyarylate fiber, or carbon. Fibers, etc.
  • the wire material is preferably strong in the pulling direction (strength of 200 N or more) and resistant to friction.
  • the waist belt 40 is a belt worn on the waist of the user 80.
  • the assist device 20 is attached to the waist belt 40.
  • the housing 21F is attached to the front side of the waist belt 40
  • the housing 21R is attached to the rear side of the waist belt 40.
  • the knee brace 50R is a brace worn on the right knee of the user 80. Specifically, the knee brace 50R is wrapped around the right knee of the user 80.
  • the knee brace 50L is a brace worn on the left knee of the user 80. Specifically, the knee brace 50L is wrapped around the left knee of the user 80.
  • the knee brace 50R and the knee brace 50L are formed of a fabric such as polyester. Other examples of fabrics are Neoprene®, Double Russell, and the like.
  • FIG. 8 is an enlarged view of the knee brace 50L.
  • FIG. 9 is a development view of the knee brace 50L.
  • the knee brace 50R has the same configuration as the knee brace 50R except that the knee brace 50L has a three-dimensional shape that is symmetrical with the knee brace 50L, and thus detailed description thereof will be omitted.
  • the knee brace 50L in the following description may be appropriately read as the knee brace 50R.
  • the knee brace 50L includes an above-knee belt portion 51, a below-knee belt portion 52, and a connecting portion 53. First, the above-knee belt portion 51 will be described.
  • the above-the-knee belt portion 51 is attached to the upper part of the knee of the user 80. Specifically, the above-the-knee belt portion 51 is wrapped around the upper part of the knee of the user 80 and is fixed by a fixing tool 51a (shown by a broken line in FIG. 9).
  • the fixture 51a is specifically a fastener such as Velcro (registered trademark), but is a fastener such as a hook or buckle, or a tape (hook and loop fastener, velcro (registered trademark) tape). Good.
  • the above-knee belt portion 51 has a three-dimensional shape of an inverted truncated cone.
  • the inverted truncated cone shape here means a substantially inverted truncated cone shape, and is not an inverted truncated cone shape in a strict sense.
  • the three-dimensional shape of the knee brace 50L is a tubular shape in which the diameter on the side far from the knee is larger than the diameter on the side close to the knee.
  • the above-knee belt portion 51 has a three-dimensional shape of an inverted truncated cone, when the knee brace 50L is pulled by the wire 30FL or the wire 30RL, it is possible to obtain an effect that the knee brace 50L does not easily come off the knee of the user 80. ..
  • the inverted frustoconical shape of the above-knee belt portion 51 is larger than the frustoconical shape of the below-knee belt portion 52 described later. This is because the amplification factor of the circumference in the shape from the knee to the thigh is larger than the amplification factor of the circumference in the shape from the knee to the calf.
  • the length of the above-the-knee belt portion 51 is a
  • the length of the connecting portion is c
  • the margin of the above-the-knee belt portion 51 that is, the above-the-knee belt when worn on the knee. If the length of the portion (overlapping with the other portion of the portion 51) is d and the designed width of the patella is f, in order to make the three-dimensional shape of the above-knee belt portion 51 into an inverted truncated cone shape, a ⁇ d>c+f Should be satisfied.
  • the above-knee belt portion 51 is provided with a mounting structure 51b (shown by a broken line in FIG. 9) for mounting the wire 30RL that connects the above-knee belt portion 51 and the assist device 20. That is, the above-knee belt portion 51 is pulled by the wire 30RL.
  • the mounting structure 51b is specifically a metal fitting such as an eggplant or a ring to which the eggplant is attached, but is not particularly limited.
  • the above-knee belt portion 51 is also provided with a mounting structure 51c (shown in FIG. 8 and the like) for mounting the wire 30FL.
  • the above-knee belt portion 51 has a higher elasticity than the below-knee belt portion 52 described later. Further, for the same reason, the above-knee belt portion 51 does not need to tighten the upper part of the knee. According to the configuration in which the above-the-knee belt portion 51 does not overtighten the knee of the user 80, the knee is not pressed, so that it is possible to prevent the user 80 from feeling uncomfortable when the knee expands and contracts.
  • FIG. 10 is a diagram for explaining the positional displacement of the knee brace 50L.
  • FIG. 11 is a diagram for explaining the effect of suppressing the displacement of the knee brace 50L.
  • the vertical width (in other words, thickness) of the above-knee belt portion 51 is, for example, 5 cm or more and 10 cm or less. As described above, if the above-knee belt portion 51 having a relatively wide width is adopted, the above-knee belt portion 51 bites into the knee portion of the user 80 when the above-knee belt portion 51 is pulled by the wire 30RL. Is suppressed. That is, it is possible to prevent the user 80 from feeling pain. Further, in the knee brace 50L, the vertical width of the above-the-knee belt portion 51 is wider than the vertical width of the below-the-knee belt portion 52. As a result, the above-knee belt portion 51 is in contact with the upper part of the knee of the user 80 over a wide area, and thus it is possible to suppress the displacement of the above-knee belt portion 51 due to frictional force.
  • the knee brace 50L is prevented from rising to the thigh side of the user 80 when pulled by the wire 30RL. That is, since the above-knee belt portion 51 has the inverted frusto-conical three-dimensional shape, the upper part of the above-knee belt portion 51 is likely to be wrinkled, but when pulled by the wire 30RL, the above-knee belt portion 51 is not wrinkled. It is improved, and the knee brace 50L is prevented from rising to the thigh side of the user 80.
  • the below-knee belt portion 52 is attached to the lower part of the knee of the user 80. Specifically, the below-the-knee belt portion 52 is wrapped around the lower part of the knee of the user 80, and is fixed by a fixing tool 52a (illustrated by a broken line in FIG. 9).
  • the fixture 52a is specifically a surface fastener such as Velcro (registered trademark), but is a fastener such as a hook or buckle, or a tape (hook and loop fastener, velcro (registered trademark) tape). Good.
  • the below-knee belt portion 52 has a three-dimensional shape of a truncated cone.
  • the frustoconical shape here means a substantially frustoconical shape, and is not a frustoconical shape in a strict sense.
  • the three-dimensional shape of the knee brace 50L is a tubular shape in which the diameter on the side far from the knee is smaller than the diameter on the side close to the knee.
  • the below-knee belt part 52 has a three-dimensional shape of a truncated cone, the below-knee belt part 52 can be fitted to the lower part of the knee of the user 80. That is, the fit of the knee brace 50L can be improved.
  • the length of the below-the-knee belt portion 52 is b
  • the length of the connecting portion is c
  • the margin of the below-the-knee belt portion 52 that is, when the knee-lower belt portion 52 is worn on the knee. If the length of the portion (overlapping with the other portion) is e and the width of the designed patella is f, in order to make the three-dimensional shape of the below-knee belt portion 52 an inverted frustoconical shape, if b ⁇ e>c+f is satisfied. Good.
  • b 370 mm
  • c 240 mm
  • e 50 mm
  • f 55 mm
  • 320 mm ⁇ b ⁇ 420 mm 210 ⁇ c ⁇ 270
  • 40 ⁇ e ⁇ 60 within a range where ad>c+f is satisfied. It may be 40 ⁇ f ⁇ 70.
  • the below-knee belt portion 52 has a stretchability lower than that of the above-knee belt portion 51. Further, the below-knee belt portion 52 is firmly fixed so as to tighten the lower part of the knee. This prevents the position of the knee brace 50L from being displaced when the user 80 bends and extends the knee.
  • the length a of the above-knee belt portion 51 and the length b of the below-knee belt portion 52 are a>b, Alternatively, the relationship of ad>be may be satisfied.
  • the vertical width (in other words, thickness) of the below-knee belt portion 52 is, for example, 3 cm or more and 6 cm or less. As described above, if the below-the-knee belt portion 52 having a relatively wide width is adopted, the below-the-knee belt portion 52 may bite into the knee portion of the user 80 when the above-the-knee belt portion 51 is pulled by the wire 30RL. Suppressed. That is, it is possible to prevent the user 80 from feeling pain.
  • the vertical width of the below-knee belt portion 52 is smaller than the vertical width of the above-knee belt portion 51. As a result, it is possible to prevent the below-knee belt portion 52 from hanging on the calf of the user 80. That is, it is possible to prevent the user 80 from feeling uncomfortable with the below-knee belt portion 52.
  • the trapezoidal inclination of the back side of the below-knee belt portion 52 is preferably larger than the trapezoidal inclination of the front side of the below-knee belt portion 52. This is because there is an upper part of the calf at the portion of the below-the-knee belt portion 52 that contacts the rear side of the human, and the change is large during the walking motion of the human compared to the portion of the below-the-knee belt portion 52 that contacts the front side of the human. .. That is, the trapezoidal inclination of the below-knee belt portion 52 may be changed according to the degree to which the shape changes in response to the movement of the muscles of a human during walking.
  • the below-knee belt portion 52 has a bilaterally symmetrical shape in the developed view, but may have a bilaterally asymmetrical shape.
  • the above-the-knee belt portion 51 and the below-the-knee belt portion 52 is attached to the molten knee using the fixture, the above-the-knee belt portion 51 is loosely tightened, and the below-the-knee belt portion is provided. It is possible to tighten 52 tightly. That is, according to such a configuration, the displacement of the knee brace 50L can be suppressed while improving the comfort of the user 80.
  • the connecting portion 53 connects the above-knee belt portion 51 and the below-knee belt portion 52.
  • An opening 53a is provided in a portion of the connecting portion 53 corresponding to the back of the knee of the user 80.
  • a force is applied to the part behind the knee of the knee brace 50L to shrink the part.
  • a force causes displacement of the knee brace 50L, but if the opening 53a is provided on the back of the knee, such a force is less likely to be applied to the knee brace 50L, and the knee brace 50L is not affected.
  • the displacement is suppressed. Further, if the opening 53a is provided, it is possible to prevent the knee brace 50L from interfering with the bending of the knee of the user 80.
  • the opening 53a may be closed with a member having a rigidity lower than that of the connecting portion 53.
  • the opening 53a may be closed by a member that is softer than the connecting portion 53 or a member that has higher elasticity than the connecting portion 53.
  • FIG. 12 is an external view of such a knee brace 50L. As shown in FIG. 12, the opening 53a is closed by a member 54.
  • the member 54 is formed of a fabric such as polyester.
  • the knee brace 50L is prevented from obstructing the bending of the knee of the user 80.
  • the effect of suppressing the displacement of the knee brace 50L can be obtained.
  • the opening 53b (illustrated in FIG. 8 and the like) is also provided in the portion of the connecting portion 53 corresponding to the patella of the user 80. Such an opening 53b is not essential, and the connecting portion 53 may not be provided with the opening 53b. Further, as shown in FIG. 12, the opening 53b may be closed by a member 54.
  • a cushion material is provided on the surface of the connecting portion 53 on the user 80 side.
  • 13 to 15 are views showing the position of the cushion material.
  • 13 is a diagram of the knee brace 50L viewed from the front
  • FIG. 14 is a diagram of the knee brace 50L viewed from the left front
  • FIG. 15 is a diagram of the knee brace 50L viewed from the left.
  • the cushion material 55 is located in front of the side of the knee of the user 80.
  • the cushion material 55 is located at a position where the cushion material 55 fills a hollow in the patella of the user 80.
  • the size and shape of this indentation greatly varies from person to person, and may cause displacement of the knee brace 50L in the horizontal direction (in other words, the rotation direction). If the cushion material 55 is arranged in a place that fills this recess, the displacement of the knee brace 50L in the horizontal direction is suppressed.
  • FIG. 16 is a diagram showing the position of the attachment structure 51c when the knee brace 50R has the same structure as the knee brace 50L.
  • the mounting structure 51b may be similarly biased to the left or right. Then, the effect of supporting the walking motion by the assist device 20 may be reduced.
  • FIG. 17 is a diagram showing the position of the attachment structure 51c when the knee brace 50R has a structure symmetrical to the knee brace 50L.
  • the knee brace 50L may further include an auxiliary belt for tightening the below-knee belt portion 52.
  • FIG. 18 is an external view of a knee brace according to the first modification.
  • the knee brace 150L shown in FIG. 18 includes an above-knee belt portion 51, a below-knee belt portion 52, a connecting portion 53, and an auxiliary belt 56.
  • the auxiliary belt 56 is another belt for tightening the below-knee belt portion 52.
  • the auxiliary belt 56 includes a fastener such as a one-touch buckle, a French can, or a cam buckle, and the user 80 uses the fastener to support the below-knee belt portion 52 from above the auxiliary belt 56. Can be tightened.
  • the below-the-knee belt portion 52 needs to be firmly fixed to the lower part of the knee, but if the below-the-knee belt portion 52 is fixed more firmly by the auxiliary belt 56, the displacement of the knee brace 150L is further suppressed. To be done.
  • the above-the-knee belt portion 51, the below-the-knee belt portion 52, and the connecting portion 53 are integrally formed of the same member (in other words, cloth).
  • the above-knee belt portion 51, the below-knee belt portion 52, and the connecting portion 53 may be formed of different members.
  • the rigidity of the below-the-knee belt portion 52 is higher than that of the above-the-knee belt portion 51 by selecting members, a configuration in which the below-the-knee belt portion 52 is firmly tightened and the above-knee belt portion 51 is not too tight can be easily realized.
  • the rigidity of the above-knee belt portion 51 may be the same as the rigidity of the connecting portion 53, or may be higher than the rigidity of the connecting portion 53, for example.
  • FIG. 19 is an external view of a knee brace according to the third modification.
  • the knee brace 250L shown in FIG. 19 includes an above-knee belt portion 251, a below-knee belt portion 252, and a connecting portion 253.
  • the above-the-knee belt portion 251 is attached to the upper part of the knee of the user 80 and has a three-dimensional shape of an inverted truncated cone.
  • the below-knee belt portion 252 is attached to the lower part of the knee of the user 80.
  • An opening 253a is provided in a portion corresponding to the back of the knee of the user 80, connecting the above-the-knee belt portion 251 and the below-the-knee belt portion 252.
  • the knee brace 250L has a configuration in which the user 80 passes the knee. Therefore, the fixing tool 51a is not provided on the above-the-knee belt portion 251. Similarly, the below-knee belt portion 252 is not provided with the fixture 52a.
  • FIG. 20 is an external view of a knee brace according to the fourth modification.
  • the above-knee belt portion 51 included in the knee brace 350L shown in FIG. 20 is provided with attachment structures 351c at two locations.
  • the wire 330FL is, for example, branched into two and attached to the attachment structures 351c at two locations.
  • the wire 330FL itself may not be branched, and the wire 330FL may be hooked on a string-shaped member bridging the attachment structure at two locations.
  • the wire attached to the rear side of the knee brace 350L that is, the wire corresponding to the wire 30RL.
  • each component such as the control unit may be realized by executing a software program suitable for each component.
  • Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded in a recording medium such as a hard disk or a semiconductor memory.
  • Each component such as the control unit may be realized by hardware.
  • Each component may be a circuit (or integrated circuit). These circuits may form one circuit as a whole or may be separate circuits. Further, each of these circuits may be a general-purpose circuit or a dedicated circuit.

Landscapes

  • 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)

Abstract

This knee brace (50L) is for allowing a user to receive assistance of motion by an assist device. The knee brace (50L) is provided with: an above-the-knee belt portion (51) which is to be worn on the upper part of the knee of the user and which has a three-dimensional shape of an inverted circular truncated cone; a below-the-knee belt portion (52) which is to be worn on the lower part of the knee of the user; and a coupling portion (53) which couples the above-the-knee belt portion (51) and the below-the-knee belt portion (52) and which has an opening (53a) provided to a position corresponding to the back of the knee of the user.

Description

膝装具、及び、アシストスーツKnee brace and assist suit
　本開示は、人の動作を支援するアシストスーツ、及び、アシストスーツに用いられる膝装具に関する。 The present disclosure relates to an assist suit that supports a person's motion, and a knee brace used for the assist suit.
　特許文献１には、従来構造のものと比べて装着し易く、より安定した歩行動作が可能な膝用サポータが開示されている。 Patent Document 1 discloses a knee supporter that is easier to wear and has a more stable walking motion compared to a conventional structure.
特許第５８１４７４５号公報Japanese Patent No. 5814745
　ところで、ワイヤを用いて人の動作を支援するアシストスーツにおいては、ワイヤが取り付けられる膝装具の位置ずれを抑制することが課題である。 By the way, in assist suits that use wires to support human movements, it is a challenge to prevent displacement of the knee brace to which the wires are attached.
　本開示は、位置ずれを抑制することができる膝装具、及び、このような膝装具を備えるアシストスーツを提供する。 The present disclosure provides a knee brace capable of suppressing positional displacement, and an assist suit including such a knee brace.
　本開示の一態様に係る膝装具は、ユーザがアシスト装置による動作の支援を受けるための膝装具であって、前記ユーザの膝の上部に装着される、逆円錐台形の立体形状を有する膝上ベルト部と、前記ユーザの膝の下部に装着される膝下ベルト部と、前記膝上ベルト部、及び、前記膝下ベルト部を連結し、前記ユーザの膝裏に対応する部分に開口部が設けられた連結部とを備える。 A knee brace according to an aspect of the present disclosure is a knee brace for a user to receive a motion assistance by an assist device, and is a knee-top knee having a three-dimensional shape of an inverted truncated cone attached to the upper part of the user's knee. The belt portion, the below-the-knee belt portion worn on the lower part of the knee of the user, the above-the-knee belt portion, and the below-the-knee belt portion are connected to each other, and an opening is provided in a portion corresponding to the back of the knee of the user. And a connecting portion.
　本開示の一態様に係るアシストスーツは、ユーザの動作を支援するアシストスーツであって、膝装具と、アシスト装置と、前記膝装具、及び、前記アシスト装置を接続するワイヤとを備え、前記アシスト装置は、前記ワイヤに加わる張力を制御するためのモータを有し、前記膝装具は、前記ユーザの膝の上部に装着される、逆円錐台形の立体形状を有する膝上ベルト部と、前記ユーザの膝の下部に装着される膝下ベルト部と、前記膝上ベルト部、及び、前記膝下ベルト部を連結し、前記ユーザの膝裏に対応する部分に開口部が設けられた連結部とを有する。 An assist suit according to an aspect of the present disclosure is an assist suit that assists a user's motion, and includes a knee brace, an assist device, the knee brace, and a wire connecting the assist device. The device has a motor for controlling the tension applied to the wire, the knee brace is mounted on the upper part of the user's knee, and the knee-belt part having an inverted frustoconical three-dimensional shape, and the user. A below-the-knee belt portion to be attached to the lower part of the knee, the above-the-knee belt portion, and the below-the-knee belt portion, and a connecting portion provided with an opening at a portion corresponding to the back of the knee of the user. ..
　本開示の一態様によれば、位置ずれを抑制することができる膝装具、及び、このような膝装具を備えるアシストスーツが実現される。 According to one aspect of the present disclosure, a knee brace capable of suppressing positional displacement, and an assist suit including such a knee brace are realized.
図１は、実施の形態に係るアシストスーツを装着したユーザを前方から見た図である。FIG. 1 is a view of a user wearing the assist suit according to the embodiment as seen from the front. 図２は、実施の形態に係るアシストスーツを装着したユーザを後方から見た図である。FIG. 2 is a diagram of a user wearing the assist suit according to the embodiment, as viewed from the rear. 図３は、実施の形態に係るアシストスーツの外観図である。FIG. 3 is an external view of the assist suit according to the embodiment. 図４は、アシスト装置の機能構成を示すブロック図である。FIG. 4 is a block diagram showing the functional configuration of the assist device. 図５は、圧力センサの出力信号の一例を示す図である。FIG. 5 is a diagram showing an example of the output signal of the pressure sensor. 図６は、加速度センサの出力信号の一例を示す図である。FIG. 6 is a diagram showing an example of the output signal of the acceleration sensor. 図７は、屈曲及び伸展の方向の定義を示す図である。FIG. 7 is a diagram showing definitions of directions of flexion and extension. 図８は、左膝用の膝装具の拡大図である。FIG. 8 is an enlarged view of a knee brace for the left knee. 図９は、左膝用の膝装具の展開図である。FIG. 9 is a development view of a knee brace for the left knee. 図１０は、左膝用の膝装具の位置ずれを説明するための図である。FIG. 10 is a diagram for explaining the positional deviation of the knee brace for the left knee. 図１１は、左膝用の膝装具の位置ずれが抑制される効果を説明するための図である。FIG. 11: is a figure for demonstrating the effect which the position shift of the knee brace for left knees is suppressed. 図１２は、開口部が連結部よりも剛性の小さい部材で塞がれた膝装具の外観図である。FIG. 12 is an external view of a knee brace in which the opening is closed with a member having a rigidity lower than that of the connecting portion. 図１３は、クッション材の位置を示す第一の図である。FIG. 13 is a first diagram showing the position of the cushion material. 図１４は、クッション材の位置を示す第二の図である。FIG. 14 is a second diagram showing the position of the cushion material. 図１５は、クッション材の位置を示す第三の図である。FIG. 15 is a third diagram showing the position of the cushion material. 図１６は、右膝用の膝装具が左膝用の膝装具と同一の構造を有している場合の取り付け構造の位置を示す図である。FIG. 16: is a figure which shows the position of an attachment structure in case the knee brace for right knees has the same structure as the knee brace for left knees. 図１７は、右膝用の膝装具が左膝用の膝装具と左右対称の構造を有している場合の取り付け構造の位置を示す図である。FIG. 17 is a diagram showing the position of the attachment structure when the knee brace for the right knee has a bilaterally symmetrical structure with the knee brace for the left knee. 図１８は、実施の形態の変形例１に係る膝装具の外観図である。FIG. 18 is an external view of a knee brace according to the first modification of the embodiment. 図１９は、実施の形態の変形例３に係る膝装具の外観図である。FIG. 19 is an external view of a knee brace according to the modified example 3 of the embodiment. 図２０は、実施の形態の変形例４に係る膝装具の外観図である。FIG. 20 is an external view of a knee brace according to the modified example 4 of the embodiment.
　（本開示の基礎となった知見）
　上述のように、ワイヤを用いて人の動作を支援するアシストスーツにおいては、ワイヤが接続される膝装具の位置ずれを抑制することが課題である。例えば、膝装具の位置がずれることによってユーザの大腿部が圧迫されると、快適性が損なわれる。また、膝装具の位置がずれることにより、ワイヤの実質的な長さが短くなるとアシストスーツの動作支援効果が減少する。 (Findings that form the basis of this disclosure)
As described above, in an assist suit that uses a wire to assist a person's movement, it is a problem to suppress the positional deviation of the knee brace to which the wire is connected. For example, if the user's thigh is pressed due to displacement of the position of the knee brace, comfort is impaired. Further, when the position of the knee brace is displaced and the substantial length of the wire is shortened, the action support effect of the assist suit is reduced.
　そこで、本開示の一態様に係る膝装具は、ユーザがアシスト装置による動作の支援を受けるための膝装具であって、前記ユーザの膝の上部に装着される、逆円錐台形の立体形状を有する膝上ベルト部と、前記ユーザの膝の下部に装着される膝下ベルト部と、前記膝上ベルト部、及び、前記膝下ベルト部を連結し、前記ユーザの膝裏に対応する部分に開口部が設けられた連結部とを備える。 Therefore, a knee brace according to an aspect of the present disclosure is a knee brace for a user to receive a motion assistance by an assist device, and has a three-dimensional shape of an inverted frustoconical shape that is attached to the upper part of the user's knee. The above-knee belt portion, the below-knee belt portion that is worn on the lower part of the user's knee, the above-knee belt portion, and the below-knee belt portion are connected to each other, and an opening is formed in a portion corresponding to the back of the knee of the user. And a connecting portion provided.
　このように膝上ベルト部が逆円錐台形の立体形状を有していれば、膝装具がワイヤによって引っ張られたときに、膝装具がユーザの膝から抜けにくい効果が得られる。つまり、膝装具の位置ずれを抑制することができる。また、膝裏の部分に開口部が設けられていれば、膝装具に膝装具を縮ませる力が加わりにくくなるため、膝装具の位置ずれが抑制される。また、開口部が設けられていれば、膝装具がユーザの膝の屈伸を妨げてしまうことが抑制される。 If the above-the-knee belt part has a three-dimensional inverted frusto-conical shape in this way, when the knee brace is pulled by the wire, the effect that the knee brace does not easily come off the user's knee is obtained. That is, displacement of the knee brace can be suppressed. Further, if the opening is provided at the back of the knee, it is difficult to apply a force for contracting the knee brace to the knee brace, and thus the displacement of the knee brace is suppressed. Further, if the opening is provided, it is possible to prevent the knee brace from obstructing the bending and stretching of the user's knee.
　また、例えば、前記膝下ベルト部は、円錐台形の立体形状を有する。 Further, for example, the below-the-knee belt portion has a three-dimensional shape of a truncated cone.
　これにより、膝下ベルト部をユーザの膝の下部にフィットさせることができる。つまり、膝装具のフィット感を向上することができる。 With this, the below-knee belt can be fitted to the lower part of the user's knee. That is, the fit of the knee brace can be improved.
　また、例えば、前記膝下ベルト部の剛性は、前記膝上ベルト部の剛性よりも大きく、前記膝上ベルト部の剛性は、前記連結部の剛性と同一、または、前記連結部の剛性よりも大きい。 Further, for example, the rigidity of the below-the-knee belt portion is larger than the rigidity of the above-the-knee belt portion, and the rigidity of the above-the-knee belt portion is the same as the rigidity of the connecting portion or is larger than the rigidity of the connecting portion. ..
　これにより、膝下ベルト部をしっかり締め付け、膝上ベルト部を締め付け過ぎない構成が容易に実現できる。 This makes it possible to easily realize a configuration in which the belt below the knee is firmly tightened and the belt above the knee is not tightened too much.
　また、例えば、前記膝装具は、さらに、前記連結部に設けられたクッション材を備え、前記クッション材は、前記ユーザの膝の真横よりも前方に位置する。 Further, for example, the knee brace further includes a cushion material provided in the connecting portion, and the cushion material is located in front of a side right next to the user's knee.
　これにより、クッション材が膝蓋骨の横のくぼみを埋めるような場所に配置されれば、膝装具の水平方向の位置ずれが抑制される。 　Thus, if the cushioning material is placed in a place that fills the hollow in the side of the patella, horizontal displacement of the knee brace is suppressed.
　また、例えば、前記開口部は、前記連結部よりも剛性の小さい部材で塞がれる。 Further, for example, the opening is closed by a member having a rigidity lower than that of the connecting portion.
　これにより、膝装具がユーザの膝の屈伸を妨げてしまうことが抑制される。また、膝装具の位置ずれが抑制される効果が得られる。 This prevents the knee brace from hindering the user from bending and stretching the knee. Further, the effect of suppressing the displacement of the knee brace can be obtained.
　また、例えば、前記膝装具は、さらに、前記膝下ベルト部を締め付けるための補助ベルトを備える。 Further, for example, the knee brace further includes an auxiliary belt for tightening the below-knee belt portion.
　これにより、補助ベルトによって膝下ベルト部がさらにしっかりと固定されれば、膝装具の位置ずれがさらに抑制される。 By doing this, if the below-the-knee belt part is more firmly fixed by the auxiliary belt, the displacement of the knee brace is further suppressed.
　また、例えば、前記膝上ベルト部には、前記膝上ベルト部と前記アシスト装置とを接続するワイヤを取り付けるための取り付け構造が設けられる。 Also, for example, the above-the-knee belt portion is provided with a mounting structure for mounting a wire connecting the above-the-knee belt portion and the assist device.
　これにより、膝上ベルト部が取り付け部に取り付けられたワイヤによって引っ張られれば、ユーザが膝を屈伸したときに膝上ベルト部が縮むことによって生じる位置ずれが抑制される。 By this, if the above-the-knee belt part is pulled by the wire attached to the attachment part, the positional deviation caused by the above-the-knee belt part contracting when the user bends and stretches the knee is suppressed.
　本開示の一態様に係るアシストスーツは、ユーザの動作を支援するアシストスーツであって、膝装具と、アシスト装置と、前記膝装具、及び、前記アシスト装置を接続するワイヤとを備え、前記アシスト装置は、前記ワイヤに加わる張力を制御するためのモータを有し、前記膝装具は、前記ユーザの膝の上部に装着される、逆円錐台形の立体形状を有する膝上ベルト部と、前記ユーザの膝の下部に装着される膝下ベルト部と、前記膝上ベルト部、及び、前記膝下ベルト部を連結し、前記ユーザの膝裏に対応する部分に開口部が設けられた連結部とを有する。 An assist suit according to an aspect of the present disclosure is an assist suit that assists a user's motion, and includes a knee brace, an assist device, the knee brace, and a wire connecting the assist device. The device has a motor for controlling the tension applied to the wire, the knee brace is mounted on the upper part of the user's knee, and the knee-belt part having an inverted frustoconical three-dimensional shape, and the user. A below-the-knee belt portion to be attached to the lower part of the knee, the above-the-knee belt portion, and the below-the-knee belt portion, and a connecting portion provided with an opening at a portion corresponding to the back of the knee of the user. ..
　このように膝上ベルト部が逆円錐台形の立体形状を有していれば、膝装具がワイヤによって引っ張られたときに、膝装具がユーザの膝から抜けにくい効果が得られる。つまり、膝装具の位置ずれを抑制することができる。また、膝裏の部分に開口部が設けられていれば、膝装具に膝装具を縮ませる力が加わりにくくなるため、膝装具の位置ずれが抑制される。また、開口部が設けられていれば、膝装具がユーザの膝の屈伸を妨げてしまうことが抑制される。 If the above-the-knee belt part has a three-dimensional inverted frusto-conical shape in this way, when the knee brace is pulled by the wire, the effect that the knee brace does not easily come off the user's knee is obtained. That is, displacement of the knee brace can be suppressed. Further, if the opening is provided at the back of the knee, it is difficult to apply a force for contracting the knee brace to the knee brace, and thus the displacement of the knee brace is suppressed. Further, if the opening is provided, it is possible to prevent the knee brace from obstructing the bending and stretching of the user's knee.
　また、例えば、前記膝上ベルト部には、前記ワイヤを取り付けるための取り付け構造が設けられ、前記アシストスーツは、右膝用及び左膝用の２つの前記膝装具を備え、前記左膝用の前記膝装具が有する前記膝上ベルト部、及び、前記右膝用の前記膝装具が有する前記膝上ベルト部は左右対称の立体形状を有する。 Further, for example, a mounting structure for mounting the wire is provided on the above-the-knee belt portion, and the assist suit includes two knee braces for the right knee and the left knee. The above-the-knee belt portion of the knee brace and the above-the-knee belt portion of the knee brace for the right knee have a bilaterally symmetrical three-dimensional shape.
　これにより、取り付け構造の位置が偏りにくく、取り付け構造の位置のバランスがとりやすくなる。したがって、アシスト装置による歩行動作の支援を効果的に行うことができる。なお、本明細書における歩行動作は、走行動作も含む。 This will make it easier to balance the position of the mounting structure and balance the position of the mounting structure. Therefore, it is possible to effectively support the walking motion by the assist device. In addition, the walking motion in this specification includes a running motion.
　以下、実施の形態について、図面を参照しながら具体的に説明する。なお、以下で説明する実施の形態は、いずれも本開示の一具体例を示すものである。以下の実施の形態で示される数値、形状、材料、構成要素、構成要素の配置位置及び接続形態、ステップ、ステップの順序などは、一例であり、本開示を限定する主旨ではない。また、以下の実施の形態における構成要素のうち、独立請求項に記載されていない構成要素については、任意の構成要素として説明される。 Hereinafter, embodiments will be specifically described with reference to the drawings. It should be noted that each of the embodiments described below shows a specific example of the present disclosure. Numerical values, shapes, materials, components, arrangement positions and connection forms of components, steps, order of steps, and the like shown in the following embodiments are examples, and are not intended to limit the present disclosure. Further, among the constituent elements in the following embodiments, constituent elements not described in the independent claims are described as arbitrary constituent elements.
　また、各図は模式図であり、必ずしも厳密に図示されたものではない。また、各図において、実質的に同一の構成に対しては同一の符号を付し、重複する説明は省略または簡略化される場合がある。 Also, each figure is a schematic diagram and is not necessarily strictly illustrated. Further, in each drawing, the same reference numerals are given to substantially the same configurations, and overlapping description may be omitted or simplified.
　（実施の形態）
　［アシストスーツの構成］
　以下、実施の形態に係るアシストスーツの構成について説明する。図１は、実施の形態に係るアシストスーツを装着したユーザを前方から見た図である。図２は、実施の形態に係るアシストスーツを装着したユーザを後方から見た図である。図３は、実施の形態に係るアシストスーツの外観図である。 (Embodiment)
[Structure of assist suit]
Hereinafter, the configuration of the assist suit according to the embodiment will be described. FIG. 1 is a view of a user wearing the assist suit according to the embodiment as seen from the front. FIG. 2 is a diagram of a user wearing the assist suit according to the embodiment, as viewed from the rear. FIG. 3 is an external view of the assist suit according to the embodiment.
　図１～図３に示されるように、アシストスーツ１０は、アシスト装置２０と、複数のワイヤ（具体的には、ワイヤ３０ＦＲ、ワイヤ３０ＦＬ、ワイヤ３０ＲＲ、及び、ワイヤ３０ＲＬ）と、腰ベルト４０と、右膝用の膝装具５０Ｒと、左膝用の膝装具５０Ｌとを備える。 As shown in FIGS. 1 to 3, the assist suit 10 includes an assist device 20, a plurality of wires (specifically, the wire 30FR, the wire 30FL, the wire 30RR, and the wire 30RL), and a waist belt 40. , A knee brace 50R for the right knee and a knee brace 50L for the left knee.
　アシスト装置２０は、ワイヤ３０ＦＲ及びワイヤ３０ＲＲによって膝装具５０Ｒと接続され、ワイヤ３０ＦＬ及びワイヤ３０ＲＬによって膝装具５０Ｌと接続される。アシスト装置２０は、ユーザ８０の歩行タイミングを検出し、歩行タイミングに合わせてワイヤ３０ＦＲ、ワイヤ３０ＲＲ、ワイヤ３０ＦＬ、及び、ワイヤ３０ＲＬの張力を増加させることにより、ユーザ８０の歩行動作を支援する。言い換えれば、アシスト装置２０は、ワイヤ３０ＦＲ、ワイヤ３０ＲＲ、ワイヤ３０ＦＬ、及び、ワイヤ３０ＲＬを引っ張ることにより、ユーザ８０の歩行動作を支援する。図４は、アシスト装置２０の機能構成を示すブロック図である。 The assist device 20 is connected to the knee brace 50R by the wire 30FR and the wire 30RR, and is connected to the knee brace 50L by the wire 30FL and the wire 30RL. The assist device 20 detects the walking timing of the user 80 and increases the tension of the wire 30FR, the wire 30RR, the wire 30FL, and the wire 30RL in accordance with the walking timing to support the walking motion of the user 80. In other words, the assist device 20 assists the walking motion of the user 80 by pulling the wire 30FR, the wire 30RR, the wire 30FL, and the wire 30RL. FIG. 4 is a block diagram showing a functional configuration of the assist device 20.
　図１～図４に示されるように、アシスト装置２０は、筐体２１Ｆと、筐体２１Ｒと、モータ２２ＦＲと、モータ２２ＦＬと、モータ２２ＲＲと、モータ２２ＲＬと、制御部２３と、記憶部２４とを備える。 As shown in FIGS. 1 to 4, the assist device 20 includes a housing 21F, a housing 21R, a motor 22FR, a motor 22FL, a motor 22RR, a motor 22RL, a control unit 23, and a storage unit 24. With.
　筐体２１Ｆは、モータ２２ＦＲ、及び、モータ２２ＦＬを収容する。筐体２１Ｆは、例えば、腰ベルト４０の前方に取り付けられる。なお、図示されないが、モータ２２ＦＲ、及び、モータ２２ＦＬは、筐体２１Ｒに収容された制御部２３と電気的に接続されている。制御部２３は、筐体２１Ｆに収容されていてもよい。 The housing 21F houses the motor 22FR and the motor 22FL. The housing 21F is attached to the front of the waist belt 40, for example. Although not shown, the motor 22FR and the motor 22FL are electrically connected to the control unit 23 housed in the housing 21R. The control unit 23 may be housed in the housing 21F.
　筐体２１Ｒは、モータ２２ＲＲ、モータ２２ＲＬ、制御部２３、及び、記憶部２４を収容する。筐体２１Ｒは、例えば、腰ベルト４０の後方に取り付けられる。 The housing 21R accommodates the motor 22RR, the motor 22RL, the control unit 23, and the storage unit 24. The housing 21R is attached to the rear of the waist belt 40, for example.
　モータ２２ＦＲは、ワイヤ３０ＦＲに加わる張力を制御するための駆動装置である。モータ２２ＦＲは、より具体的には、ワイヤ３０ＦＲが巻き付けられるプーリと、プーリを回転させるための駆動軸と、駆動軸を回転駆動する電動モータとを備える。 The motor 22FR is a drive device for controlling the tension applied to the wire 30FR. More specifically, the motor 22FR includes a pulley around which the wire 30FR is wound, a drive shaft for rotating the pulley, and an electric motor for rotationally driving the drive shaft.
　モータ２２ＦＬは、ワイヤ３０ＦＬに加わる張力を制御するための駆動装置である。モータ２２ＦＬは、より具体的には、ワイヤ３０ＦＬが巻き付けられるプーリと、プーリを回転させるための駆動軸と、駆動軸を回転駆動する電動モータとを備える。 The motor 22FL is a drive device for controlling the tension applied to the wire 30FL. More specifically, the motor 22FL includes a pulley around which the wire 30FL is wound, a drive shaft for rotating the pulley, and an electric motor for rotationally driving the drive shaft.
　モータ２２ＲＲは、ワイヤ３０ＲＲに加わる張力を制御するための駆動装置である。モータ２２ＲＲは、より具体的には、ワイヤ３０ＲＲが巻き付けられるプーリと、プーリを回転させるための駆動軸と、駆動軸を回転駆動する電動モータとを備える。 The motor 22RR is a drive device for controlling the tension applied to the wire 30RR. More specifically, the motor 22RR includes a pulley around which the wire 30RR is wound, a drive shaft for rotating the pulley, and an electric motor for rotationally driving the drive shaft.
　モータ２２ＲＬは、ワイヤ３０ＲＬに加わる張力を制御するための駆動装置である。モータ２２ＲＬは、より具体的には、ワイヤ３０ＲＬが巻き付けられるプーリと、プーリを回転させるための駆動軸と、駆動軸を回転駆動する電動モータとを備える。 The motor 22RL is a drive device for controlling the tension applied to the wire 30RL. More specifically, the motor 22RL includes a pulley around which the wire 30RL is wound, a drive shaft for rotating the pulley, and an electric motor for rotationally driving the drive shaft.
　制御部２３は、アシストスーツ１０のユーザ８０の歩行周期を推定し、推定結果に基づきモータ２２ＦＲ、モータ２２ＲＲ、モータ２２ＦＬ、及び、モータ２２ＲＬを駆動する。制御部２３は、例えば、プロセッサによって実現される。制御部２３は、マイクロコンピュータなどによって実現されてもよい。制御部２３は、例えば、記憶部２４に記憶された制御プログラムを実行することにより、歩行周期の推定結果に基づいてモータ２２ＦＲ、モータ２２ＦＬ、モータ２２ＲＲ、及び、モータ２２ＲＬを駆動する。記憶部２４は、半導体メモリなどによって実現される。 The control unit 23 estimates the walking cycle of the user 80 of the assist suit 10 and drives the motor 22FR, the motor 22RR, the motor 22FL, and the motor 22RL based on the estimation result. The control unit 23 is realized by, for example, a processor. The control unit 23 may be realized by a microcomputer or the like. The control unit 23 drives the motor 22FR, the motor 22FL, the motor 22RR, and the motor 22RL based on the estimation result of the walking cycle, for example, by executing the control program stored in the storage unit 24. The storage unit 24 is realized by a semiconductor memory or the like.
　制御部２３は、具体的には、ユーザ８０の所持する携帯端末（図示せず）の加速度センサの出力値、当該携帯端末のジャイロセンサの出力値、慣性計測センサ（ｉｎｅｒｔｉａｌ　ｍｅａｓｕｒｅｍｅｎｔ　ｓｅｎｓｏｒ）、及び、ユーザ８０のかかと付近に設けられた圧力センサ（図示せず）の出力値の少なくとも１つを取得し、取得した出力値に基づいて、ユーザ８０のかかとが接地するタイミングを検出することができる。つまり、制御部２３は、ユーザ８０の歩行周期を推定することができる。 Specifically, the control unit 23 includes an output value of an acceleration sensor of a mobile terminal (not shown) owned by the user 80, an output value of a gyro sensor of the mobile terminal, an inertial measurement sensor, and an output value of an inertial measurement sensor. At least one of the output values of the pressure sensor (not shown) provided near the heel of the user 80 can be acquired, and the timing at which the heel of the user 80 touches the ground can be detected based on the acquired output value. That is, the control unit 23 can estimate the walking cycle of the user 80.
　例えば、慣性計測センサを利用した場合、制御部２３は、大腿部角度が最大になった時（膝が最も前方に出た時）の出力値に基づいて、ユーザ８０のかかとが接地するタイミングを検出する。なお、アシスト装置２０が、加速度センサ、ジャイロセンサ、または、慣性計測センサを有していてもよい。例えば、腰ベルト４０、右膝用の膝装具５０Ｒ、または、左膝用の膝装具５０Ｌに、加速度センサ、ジャイロセンサ、または慣性計測センサが位置してもよい。 For example, when the inertial measurement sensor is used, the control unit 23 determines the timing at which the heel of the user 80 touches the ground based on the output value when the thigh angle is maximized (when the knee is most forward). To detect. The assist device 20 may include an acceleration sensor, a gyro sensor, or an inertial measurement sensor. For example, the acceleration sensor, the gyro sensor, or the inertial measurement sensor may be located on the waist belt 40, the knee brace 50R for the right knee, or the knee brace 50L for the left knee.
　以下、より具体的な、ユーザ８０の歩行周期の推定方法について説明する。制御部２３は、ユーザ８０の両かかと付近のそれぞれに設けられた圧力センサの出力値に基づいてユーザ８０の歩行周期を推定する場合、例えば、図５に示されるように、圧力センサの出力値（電圧値）が、所定値ＶＢ未満になるタイミングをかかとが接地しているタイミングとして推定する。図５は、圧力センサの出力信号の一例を示す図である。 Hereinafter, a more specific method of estimating the walking cycle of the user 80 will be described. When the control unit 23 estimates the walking cycle of the user 80 based on the output values of the pressure sensors provided on both the heels of the user 80, for example, as shown in FIG. The timing when the (voltage value) becomes less than the predetermined value VB is estimated as the timing when the heel is grounded. FIG. 5 is a diagram showing an example of the output signal of the pressure sensor.
　また、制御部２３は、慣性計測センサを用いてユーザ８０の歩行周期を推定する場合、加速度センサの出力値に基づいてユーザ８０の足が接地したタイミングを決定する。加速度センサの出力値に基づく足の接地タイミングの決定方法は、例えば、ＩＥＥＥ　ＴＲＡＮＳＡＣＴＩＯＮＳ　ＯＮ　ＢＩＯＭＥＤＩＣＡＬ　ＥＮＧＩＮＥＥＲＩＮＧ，ＶＯＬ．５２，ＮＯ．３，２００５年，ｐ．４８８，Ｆｉｇ．１，ｐ．４８９，Ｆｉｇ．２（非特許文献１）を参照されたい。なお、制御部２３は、慣性計測センサの出力値に基づいてユーザ８０の歩行周期を推定する場合、加速度センサ及びジャイロセンサの信号波形から、歩行周期を推定してもよい。図６は、加速度センサの出力信号の一例を示す図である。 Further, when estimating the walking cycle of the user 80 using the inertial measurement sensor, the control unit 23 determines the timing at which the foot of the user 80 touches the ground based on the output value of the acceleration sensor. A method for determining the ground contact timing of the foot based on the output value of the acceleration sensor is, for example, IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, VOL. 52, NO. 3, 2005, p. 488, FIG. 1, p. 489, FIG. 2 (Non-Patent Document 1). When estimating the walking cycle of the user 80 based on the output value of the inertial measurement sensor, the control unit 23 may estimate the walking cycle from the signal waveforms of the acceleration sensor and the gyro sensor. FIG. 6 is a diagram showing an example of the output signal of the acceleration sensor.
　図６に示されるような加速度センサの信号波形から、歩行周期の推定が可能である。図６の例では、加速度センサの信号波形から、ユーザ８０の足の接地タイミングを推定することができ、それにより、歩行周期の推定が可能である。 The walking cycle can be estimated from the signal waveform of the acceleration sensor as shown in FIG. In the example of FIG. 6, the ground contact timing of the foot of the user 80 can be estimated from the signal waveform of the acceleration sensor, and thus the walking cycle can be estimated.
　制御部２３は、このようなユーザ８０の歩行周期の推定結果に基づいて、例えば、ユーザ８０が右脚を屈曲すると推定されるタイミングでモータ２２ＦＲを駆動することによりワイヤ３０ＦＲを巻き取る。そうすると、図３の（ａ）に示されるように、ワイヤ３０ＦＲの張力が増加し、膝装具５０Ｒが前方側から引っ張られるため、ユーザ８０が右脚を屈曲する動作が支援される。また、ユーザ８０が左脚を屈曲すると推定されるタイミングでモータ２２ＦＬを駆動することによりワイヤ３０ＦＬを巻き取る。そうすると、図３の（ｂ）に示されるように、ワイヤ３０ＦＬの張力が増加し、膝装具５０Ｌが前方に引っ張られるため、ユーザ８０が左脚を屈曲する動作が支援される。 Based on such an estimation result of the walking cycle of the user 80, the control unit 23 winds the wire 30FR by driving the motor 22FR at the timing when the user 80 is estimated to bend the right leg. Then, as shown in (a) of FIG. 3, the tension of the wire 30FR increases and the knee brace 50R is pulled from the front side, so that the motion of the user 80 to bend the right leg is assisted. Further, the wire 30FL is wound by driving the motor 22FL at the timing when the user 80 is estimated to bend the left leg. Then, as shown in FIG. 3B, the tension of the wire 30FL is increased and the knee brace 50L is pulled forward, so that the user 80 is supported to bend the left leg.
　同様に、制御部２３は、ユーザ８０が右脚を伸展すると推定されるタイミングでモータ２２ＲＲを駆動することにより、ワイヤ３０ＲＲを巻き取る。そうすると、図３の（ｃ）に示されるように、ワイヤ３０ＲＲの張力が増加し、膝装具５０Ｒが後方側から引っ張られるため、ユーザ８０が右脚を伸展する動作が支援される。制御部２３は、ユーザ８０が左脚を伸展すると推定されるタイミングでモータ２２ＲＬを駆動することにより、ワイヤ３０ＲＬを巻き取る。そうすると、図３の（ｄ）に示されるように、ワイヤ３０ＲＬの張力が増加し、膝装具５０Ｌが後方側から引っ張られるため、ユーザ８０が左脚を伸展する動作が支援される。このように、アシスト装置２０は、ユーザ８０の歩行動作を支援することができる。なお、屈曲及び伸展の方向は、図７に示される。図７は、屈曲及び伸展の方向の定義を示す図である。 Similarly, the control unit 23 winds the wire 30RR by driving the motor 22RR at the timing when the user 80 is estimated to extend the right leg. Then, as shown in (c) of FIG. 3, the tension of the wire 30RR increases and the knee brace 50R is pulled from the rear side, so that the user 80 assists the motion of extending the right leg. The controller 23 winds the wire 30RL by driving the motor 22RL at the timing when the user 80 is estimated to extend the left leg. Then, as shown in (d) of FIG. 3, the tension of the wire 30RL increases and the knee brace 50L is pulled from the rear side, so that the operation of the user 80 to extend the left leg is supported. In this way, the assist device 20 can assist the walking motion of the user 80. The directions of flexion and extension are shown in FIG. FIG. 7 is a diagram showing definitions of directions of flexion and extension.
　なお、アシストスーツ１０では、１つの膝装具に対して少なくとも１つのワイヤが接続され、当該ワイヤの張力が制御されればよい。例えば、ワイヤ３０ＲＲ、及び、ワイヤ３０ＲＬは、アシスト装置２０によって張力が制御され、かつ、ワイヤ３０ＦＲ、及び、ワイヤ３０ＦＬは、アシスト装置２０によって張力が制御されない構成であってもよい。この場合、アシスト装置２０は、筐体２１Ｆ、モータ２２ＦＲ、及び、モータ２２ＦＬを備えなくてもよい。 In the assist suit 10, at least one wire may be connected to one knee brace and the tension of the wire may be controlled. For example, the wire 30RR and the wire 30RL may have a tension controlled by the assist device 20, and the wire 30FR and the wire 30FL may not have a tension controlled by the assist device 20. In this case, the assist device 20 does not have to include the housing 21F, the motor 22FR, and the motor 22FL.
　ワイヤ３０ＦＲは、腰ベルト４０と膝装具５０Ｒの前側とを接続するワイヤであり、ワイヤ３０ＲＲは、アシスト装置２０と膝装具５０Ｒの後側とを接続するワイヤである。ワイヤ３０ＦＬは、腰ベルト４０と膝装具５０Ｌの前側とを接続するワイヤであり、ワイヤ３０ＲＬは、アシスト装置２０と膝装具５０Ｌの後側とを接続するワイヤである。 The wire 30FR is a wire that connects the waist belt 40 and the front side of the knee brace 50R, and the wire 30RR is a wire that connects the assist device 20 and the rear side of the knee brace 50R. The wire 30FL is a wire that connects the waist belt 40 and the front side of the knee brace 50L, and the wire 30RL is a wire that connects the assist device 20 and the rear side of the knee brace 50L.
　ワイヤ３０ＦＲ、ワイヤ３０ＦＬ、ワイヤ３０ＲＲ、及び、ワイヤ３０ＲＬのそれぞれは、例えば、金属製のワイヤであるが、非金属ワイヤであってもよい。非金属ワイヤの例は、繊維ワイヤまたは繊維ベルトである。繊維ワイヤまたは繊維ベルトの材料の例は、ポリエステル繊維、ナイロン繊維、アクリル繊維、パラ型アラミド繊維、超高分子量ポリエチレン繊維、ＰＢＯ（ポリ－パラフェニレンベンゾビスオキサゾール）繊維、ポリアリレート繊維、または、炭素繊維等である。ワイヤの材料は、引っ張り方向に強く（強度２００Ｎ以上）、摩擦に強い材料が望ましい。 Each of the wire 30FR, the wire 30FL, the wire 30RR, and the wire 30RL is, for example, a metal wire, but may be a non-metal wire. Examples of non-metal wires are fiber wires or fiber belts. Examples of the material of the fiber wire or fiber belt are polyester fiber, nylon fiber, acrylic fiber, para-aramid fiber, ultra high molecular weight polyethylene fiber, PBO (poly-paraphenylene benzobisoxazole) fiber, polyarylate fiber, or carbon. Fibers, etc. The wire material is preferably strong in the pulling direction (strength of 200 N or more) and resistant to friction.
　腰ベルト４０は、ユーザ８０の腰に装着されるベルトである。腰ベルト４０には、アシスト装置２０が取り付けられる。具体的には、腰ベルト４０の前側には筐体２１Ｆが取り付けられ、腰ベルト４０の後側には筐体２１Ｒが取り付けられる。 The waist belt 40 is a belt worn on the waist of the user 80. The assist device 20 is attached to the waist belt 40. Specifically, the housing 21F is attached to the front side of the waist belt 40, and the housing 21R is attached to the rear side of the waist belt 40.
　［膝装具の構成］
　次に、膝装具５０Ｒ、及び、膝装具５０Ｌについて説明する。膝装具５０Ｒは、ユーザ８０の右膝に装着される装具である。膝装具５０Ｒは、具体的には、ユーザ８０の右膝に巻きつけられる。膝装具５０Ｌは、ユーザ８０の左膝に装着される装具である。膝装具５０Ｌは、具体的には、ユーザ８０の左膝に巻きつけられる。膝装具５０Ｒ及び膝装具５０Ｌは、例えば、ポリエステルなどの生地によって形成される。生地の他の例は、ネオプレン（登録商標）、ダブルラッセルなどである。 [Structure of knee brace]
Next, the knee brace 50R and the knee brace 50L will be described. The knee brace 50R is a brace worn on the right knee of the user 80. Specifically, the knee brace 50R is wrapped around the right knee of the user 80. The knee brace 50L is a brace worn on the left knee of the user 80. Specifically, the knee brace 50L is wrapped around the left knee of the user 80. The knee brace 50R and the knee brace 50L are formed of a fabric such as polyester. Other examples of fabrics are Neoprene®, Double Russell, and the like.
　以下、膝装具５０Ｌの詳細な構成について図１～図３に加えて、図８及び図９を用いて説明する。図８は、膝装具５０Ｌの拡大図である。図９は、膝装具５０Ｌの展開図である。なお、膝装具５０Ｒは、膝装具５０Ｌと左右対称の立体形状を有する点を除けば、膝装具５０Ｒと同様の構成であるため詳細な説明が省略される。下記の説明における膝装具５０Ｌは、適宜、膝装具５０Ｒと読み替えられてよい。 Hereinafter, a detailed configuration of the knee brace 50L will be described with reference to FIGS. 1 to 3 and FIGS. 8 and 9. FIG. 8 is an enlarged view of the knee brace 50L. FIG. 9 is a development view of the knee brace 50L. The knee brace 50R has the same configuration as the knee brace 50R except that the knee brace 50L has a three-dimensional shape that is symmetrical with the knee brace 50L, and thus detailed description thereof will be omitted. The knee brace 50L in the following description may be appropriately read as the knee brace 50R.
　膝装具５０Ｌは、膝上ベルト部５１と、膝下ベルト部５２と、連結部５３とを備える。まず、膝上ベルト部５１について説明する。 The knee brace 50L includes an above-knee belt portion 51, a below-knee belt portion 52, and a connecting portion 53. First, the above-knee belt portion 51 will be described.
　膝上ベルト部５１は、ユーザ８０の膝の上部に装着される。膝上ベルト部５１は、具体的には、ユーザ８０の膝の上部に巻きつけられ、固定具５１ａ（図９で破線で図示）によって固定される。固定具５１ａは、具体的には、ベルクロ（登録商標）などの面ファスナであるが、フック、バックルなどの留め具、または、テープ（ｈｏｏｋ　ａｎｄ　ｌｏｏｐ　ｆａｓｔｅｎｅｒ、ｖｅｌｃｒｏ（登録商標）　ｔａｐｅ）であってもよい。 The above-the-knee belt portion 51 is attached to the upper part of the knee of the user 80. Specifically, the above-the-knee belt portion 51 is wrapped around the upper part of the knee of the user 80 and is fixed by a fixing tool 51a (shown by a broken line in FIG. 9). The fixture 51a is specifically a fastener such as Velcro (registered trademark), but is a fastener such as a hook or buckle, or a tape (hook and loop fastener, velcro (registered trademark) tape). Good.
　膝上ベルト部５１は、逆円錐台形の立体形状を有する。ここでの逆円錐台形とは、実質的に逆円錐台形であることを意味し、厳密な意味での逆円錐台形ではない。膝装具５０Ｌの立体形状は、言い換えれば、膝から遠い側の径が、膝に近い側の径よりも大きい筒状である。 The above-knee belt portion 51 has a three-dimensional shape of an inverted truncated cone. The inverted truncated cone shape here means a substantially inverted truncated cone shape, and is not an inverted truncated cone shape in a strict sense. In other words, the three-dimensional shape of the knee brace 50L is a tubular shape in which the diameter on the side far from the knee is larger than the diameter on the side close to the knee.
　膝上ベルト部５１が逆円錐台形の立体形状を有していれば、膝装具５０Ｌがワイヤ３０ＦＬまたはワイヤ３０ＲＬによって引っ張られたときに、膝装具５０Ｌがユーザ８０の膝から抜けにくい効果が得られる。 If the above-knee belt portion 51 has a three-dimensional shape of an inverted truncated cone, when the knee brace 50L is pulled by the wire 30FL or the wire 30RL, it is possible to obtain an effect that the knee brace 50L does not easily come off the knee of the user 80. ..
　また、膝上ベルト部５１の逆円錐台形は、後述する膝下ベルト部５２の円錐台形より、大きいことが望ましい。膝から脹脛までの形状における円周の増幅率に対して、膝から大腿部までの形状における円周の増幅率が大きいためである。 Also, it is desirable that the inverted frustoconical shape of the above-knee belt portion 51 is larger than the frustoconical shape of the below-knee belt portion 52 described later. This is because the amplification factor of the circumference in the shape from the knee to the thigh is larger than the amplification factor of the circumference in the shape from the knee to the calf.
　なお、図９に示されるように、膝上ベルト部５１の長さをａ、連結部の長さをｃ、膝上ベルト部５１ののりしろ部（つまり、膝に装着されるときに膝上ベルト部５１の他の部分と重なる部分）の長さをｄ、設計上の膝蓋骨の幅をｆとすると、膝上ベルト部５１の立体形状を逆円錐台形にするためには、ａ－ｄ＞ｃ＋ｆが満たされればよい。例えば、ａ＝４００ｍｍ、ｃ＝２４０ｍｍ、ｄ＝５０ｍｍ、ｆ＝５５ｍｍであるが、ａ－ｄ＞ｃ＋ｆが満たされる範囲で、３５０ｍｍ≦ａ≦４５０ｍｍ、２１０≦ｃ≦２７０、４０≦ｄ≦６０、４０≦ｆ≦７０であってもよい。 As shown in FIG. 9, the length of the above-the-knee belt portion 51 is a, the length of the connecting portion is c, the margin of the above-the-knee belt portion 51 (that is, the above-the-knee belt when worn on the knee. If the length of the portion (overlapping with the other portion of the portion 51) is d and the designed width of the patella is f, in order to make the three-dimensional shape of the above-knee belt portion 51 into an inverted truncated cone shape, a−d>c+f Should be satisfied. For example, a=400 mm, c=240 mm, d=50 mm, f=55 mm, but 350 mm≦a≦450 mm, 210≦c≦270, 40≦d≦60 within a range where a−d>c+f is satisfied. It may be 40≦f≦70.
　また、膝上ベルト部５１には、膝上ベルト部５１とアシスト装置２０とを接続するワイヤ３０ＲＬを取り付けるための取り付け構造５１ｂ（図９で破線で図示）が設けられる。つまり、膝上ベルト部５１は、ワイヤ３０ＲＬによって引っ張られる。取り付け構造５１ｂは、具体的には、ナスカンまたはナスカンが取り付けられるリングなどの金具であるが、特に限定されない。なお、膝上ベルト部５１には、ワイヤ３０ＦＬを取り付けるための取り付け構造５１ｃ（図８などに図示）も設けられる。 Also, the above-knee belt portion 51 is provided with a mounting structure 51b (shown by a broken line in FIG. 9) for mounting the wire 30RL that connects the above-knee belt portion 51 and the assist device 20. That is, the above-knee belt portion 51 is pulled by the wire 30RL. The mounting structure 51b is specifically a metal fitting such as an eggplant or a ring to which the eggplant is attached, but is not particularly limited. The above-knee belt portion 51 is also provided with a mounting structure 51c (shown in FIG. 8 and the like) for mounting the wire 30FL.
　ところで、ユーザ８０が膝を屈伸すると、膝上ベルト部５１には、膝上ベルト部５１を伸縮させるような力が加わる。そこで、膝上ベルト部５１は、後述の膝下ベルト部５２よりも高い伸縮性を有しているほうがよい。また、同様の理由で、膝上ベルト部５１は、膝の上部を締め付ける必要はない。膝上ベルト部５１がユーザ８０の膝を締め付け過ぎない構成によれば、膝が圧迫されないため、ユーザ８０が膝を伸縮したときに不快に感じてしまうことが抑制される。 By the way, when the user 80 bends and stretches his/her knee, a force is applied to the above-the-knee belt portion 51 so as to expand and contract the above-the-knee belt portion 51. Therefore, it is preferable that the above-knee belt portion 51 has a higher elasticity than the below-knee belt portion 52 described later. Further, for the same reason, the above-knee belt portion 51 does not need to tighten the upper part of the knee. According to the configuration in which the above-the-knee belt portion 51 does not overtighten the knee of the user 80, the knee is not pressed, so that it is possible to prevent the user 80 from feeling uncomfortable when the knee expands and contracts.
　なお、膝上ベルト部５１が高い伸縮性を有している場合、及び、膝の上部に余裕をもって装着されている場合には、ユーザ８０が膝を屈伸したときの膝上ベルト部５１の位置ずれが懸念される。仮に、膝上ベルト部５１がワイヤ３０ＲＬによって引っ張られないとした場合、ユーザ８０が歩行などにより膝を屈伸すると、膝装具５０Ｌの位置がずれてしまう。図１０は、膝装具５０Ｌの位置ずれを説明するための図である。 The position of the above-the-knee belt portion 51 when the user 80 bends and extends the knee when the above-the-knee belt portion 51 has high elasticity and when the above-the-knee belt portion 51 is attached to the upper part of the knee with a margin. There is concern about deviation. If it is assumed that the above-the-knee belt portion 51 is not pulled by the wire 30RL, the position of the knee brace 50L will shift if the user 80 bends or stretches the knee by walking or the like. FIG. 10 is a diagram for explaining the positional displacement of the knee brace 50L.
　これに対し、図１１に示されるように、膝上ベルト部５１がワイヤ３０ＲＬによって引っ張られれば、膝上ベルト部５１が高い伸縮性を有している場合、及び、膝の上部に余裕をもって装着されている場合であっても、膝上ベルト部５１の位置ずれを抑制することができる。図１１は、膝装具５０Ｌの位置ずれが抑制される効果を説明するための図である。 On the other hand, as shown in FIG. 11, if the above-the-knee belt portion 51 is pulled by the wire 30RL, the above-the-knee belt portion 51 has high elasticity, and the above-the-knee belt portion 51 can be attached to the upper part of the knee with a margin. Even in the case where the above-mentioned knee-belt portion 51 is displaced, the position shift of the above-knee belt portion 51 can be suppressed. FIG. 11 is a diagram for explaining the effect of suppressing the displacement of the knee brace 50L.
　膝上ベルト部５１の上下方向の幅（言い換えれば、太さ）は、例えば、５ｃｍ以上１０ｃｍ以下である。このように、比較的幅の広い膝上ベルト部５１が採用されれば、膝上ベルト部５１がワイヤ３０ＲＬによって引っ張られたときに膝上ベルト部５１がユーザ８０の膝の部分に食い込んでしまうことが抑制される。つまり、ユーザ８０が痛みを感じてしまうことが抑制される。また、膝装具５０Ｌにおいては、膝上ベルト部５１の上下方向の幅は、膝下ベルト部５２の上下方向の幅よりも広い。これにより、膝上ベルト部５１が広い面積でユーザ８０の膝の上部に接するため、摩擦力によって膝上ベルト部５１の位置ずれを抑制することができる。 The vertical width (in other words, thickness) of the above-knee belt portion 51 is, for example, 5 cm or more and 10 cm or less. As described above, if the above-knee belt portion 51 having a relatively wide width is adopted, the above-knee belt portion 51 bites into the knee portion of the user 80 when the above-knee belt portion 51 is pulled by the wire 30RL. Is suppressed. That is, it is possible to prevent the user 80 from feeling pain. Further, in the knee brace 50L, the vertical width of the above-the-knee belt portion 51 is wider than the vertical width of the below-the-knee belt portion 52. As a result, the above-knee belt portion 51 is in contact with the upper part of the knee of the user 80 over a wide area, and thus it is possible to suppress the displacement of the above-knee belt portion 51 due to frictional force.
　また、膝上ベルト部５１が逆円錐台形の立体形状を有していれば、ワイヤ３０ＲＬによって引っ張られた場合に膝装具５０Ｌがユーザ８０の腿側へのずり上がることが低減される。つまり、膝上ベルト部５１は逆円錐台形の立体形状を有することにより、膝上ベルト部５１の上部は皺になりやすくなるが、ワイヤ３０ＲＬによって引っ張られることにより、膝上ベルト部５１の皺は改善し、かつ、膝装具５０Ｌがユーザ８０の腿側へのずり上がることが低減される。 Further, if the above-knee belt portion 51 has a three-dimensional shape of an inverted truncated cone, the knee brace 50L is prevented from rising to the thigh side of the user 80 when pulled by the wire 30RL. That is, since the above-knee belt portion 51 has the inverted frusto-conical three-dimensional shape, the upper part of the above-knee belt portion 51 is likely to be wrinkled, but when pulled by the wire 30RL, the above-knee belt portion 51 is not wrinkled. It is improved, and the knee brace 50L is prevented from rising to the thigh side of the user 80.
　次に、膝下ベルト部５２について説明する。膝下ベルト部５２は、ユーザ８０の膝の下部に装着される。膝下ベルト部５２は、具体的には、ユーザ８０の膝の下部に巻きつけられ、固定具５２ａ（図９で破線で図示）によって固定される。固定具５２ａは、具体的には、ベルクロ（登録商標）などの面ファスナであるが、フック、バックルなどの留め具、または、テープ（ｈｏｏｋ　ａｎｄ　ｌｏｏｐ　ｆａｓｔｅｎｅｒ、ｖｅｌｃｒｏ（登録商標）　ｔａｐｅ）であってもよい。 Next, the below-knee belt portion 52 will be described. The below-knee belt portion 52 is attached to the lower part of the knee of the user 80. Specifically, the below-the-knee belt portion 52 is wrapped around the lower part of the knee of the user 80, and is fixed by a fixing tool 52a (illustrated by a broken line in FIG. 9). The fixture 52a is specifically a surface fastener such as Velcro (registered trademark), but is a fastener such as a hook or buckle, or a tape (hook and loop fastener, velcro (registered trademark) tape). Good.
　膝下ベルト部５２は、円錐台形の立体形状を有する。ここでの円錐台形とは、実質的に円錐台形であることを意味し、厳密な意味での円錐台形ではない。膝装具５０Ｌの立体形状は、言い換えれば、膝から遠い側の径が、膝に近い側の径よりも小さい筒状である。 The below-knee belt portion 52 has a three-dimensional shape of a truncated cone. The frustoconical shape here means a substantially frustoconical shape, and is not a frustoconical shape in a strict sense. In other words, the three-dimensional shape of the knee brace 50L is a tubular shape in which the diameter on the side far from the knee is smaller than the diameter on the side close to the knee.
　膝下ベルト部５２が円錐台形の立体形状を有していれば、膝下ベルト部５２をユーザ８０の膝の下部にフィットさせることができる。つまり、膝装具５０Ｌのフィット感を向上することができる。 If the below-knee belt part 52 has a three-dimensional shape of a truncated cone, the below-knee belt part 52 can be fitted to the lower part of the knee of the user 80. That is, the fit of the knee brace 50L can be improved.
　なお、図９に示されるように、膝下ベルト部５２の長さをｂ、連結部の長さをｃ、膝下ベルト部５２ののりしろ部（つまり、膝に装着されるときに膝下ベルト部５２の他の部分と重なる部分）の長さをｅ、設計上の膝蓋骨の幅をｆとすると、膝下ベルト部５２の立体形状を逆円錐台形にするためには、ｂ－ｅ＞ｃ＋ｆが満たされればよい。例えば、ｂ＝３７０ｍｍ、ｃ＝２４０ｍｍ、ｅ＝５０ｍｍ、ｆ＝５５ｍｍであるが、ａ－ｄ＞ｃ＋ｆが満たされる範囲で、３２０ｍｍ≦ｂ≦４２０ｍｍ、２１０≦ｃ≦２７０、４０≦ｅ≦６０、４０≦ｆ≦７０であってもよい。 As shown in FIG. 9, the length of the below-the-knee belt portion 52 is b, the length of the connecting portion is c, and the margin of the below-the-knee belt portion 52 (that is, when the knee-lower belt portion 52 is worn on the knee, If the length of the portion (overlapping with the other portion) is e and the width of the designed patella is f, in order to make the three-dimensional shape of the below-knee belt portion 52 an inverted frustoconical shape, if b−e>c+f is satisfied. Good. For example, b=370 mm, c=240 mm, e=50 mm, f=55 mm, but 320 mm≦b≦420 mm, 210≦c≦270, 40≦e≦60 within a range where ad>c+f is satisfied. It may be 40≦f≦70.
　ところで、ユーザ８０が膝を屈伸したとしても、膝下ベルト部５２には力が加わりにくい。そこで、膝下ベルト部５２は、膝上ベルト部５１よりも低い伸縮性を有しているほうがよい。また、膝下ベルト部５２は、膝の下部を締め付けるようにしっかりと固定される。これにより、ユーザ８０が膝を屈伸したときに膝装具５０Ｌの位置がずれてしまうことが抑制される。なお、膝上ベルト部５１に比べて膝下ベルト部５２をしっかりと固定するために、例えば、膝上ベルト部５１の長さａ、及び、膝下ベルト部５２の長さｂは、ａ＞ｂ、または、ａ－ｄ＞ｂ－ｅの関係を満たせばよい。 By the way, even if the user 80 bends and extends the knee, it is difficult to apply force to the below-knee belt portion 52. Therefore, it is preferable that the below-knee belt portion 52 has a stretchability lower than that of the above-knee belt portion 51. Further, the below-knee belt portion 52 is firmly fixed so as to tighten the lower part of the knee. This prevents the position of the knee brace 50L from being displaced when the user 80 bends and extends the knee. In order to fix the below-knee belt portion 52 more firmly than the above-knee belt portion 51, for example, the length a of the above-knee belt portion 51 and the length b of the below-knee belt portion 52 are a>b, Alternatively, the relationship of ad>be may be satisfied.
　膝下ベルト部５２の上下方向の幅（言い換えれば、太さ）は、例えば、３ｃｍ以上６ｃｍ以下である。このように、比較的幅の広い膝下ベルト部５２が採用されれば、膝上ベルト部５１がワイヤ３０ＲＬによって引っ張られたときに膝下ベルト部５２がユーザ８０の膝の部分に食い込んでしまうことが抑制される。つまり、ユーザ８０が痛みを感じてしまうことが抑制される。また、膝装具５０Ｌにおいては、膝下ベルト部５２の上下方向の幅は、膝上ベルト部５１の上下方向の幅よりも狭い。これにより、膝下ベルト部５２がユーザ８０のふくらはぎにかかってしまうことが抑制される。つまり、ユーザ８０が膝下ベルト部５２を不快に感じてしまうことが抑制される。 The vertical width (in other words, thickness) of the below-knee belt portion 52 is, for example, 3 cm or more and 6 cm or less. As described above, if the below-the-knee belt portion 52 having a relatively wide width is adopted, the below-the-knee belt portion 52 may bite into the knee portion of the user 80 when the above-the-knee belt portion 51 is pulled by the wire 30RL. Suppressed. That is, it is possible to prevent the user 80 from feeling pain. In the knee brace 50L, the vertical width of the below-knee belt portion 52 is smaller than the vertical width of the above-knee belt portion 51. As a result, it is possible to prevent the below-knee belt portion 52 from hanging on the calf of the user 80. That is, it is possible to prevent the user 80 from feeling uncomfortable with the below-knee belt portion 52.
　また、膝下ベルト部５２の後ろ側の台形の傾きは、膝下ベルト部５２の前側の台形の傾きより、大きいことが望ましい。膝下ベルト部５２の人間の後方側に接する部分には、脹脛の上部があり、膝下ベルト部５２と人間の前方側と接する部分と比較して、人間の歩行動作時に、変化が大きいためである。すなわち、膝下ベルト部５２の台形の傾きは、人間の歩行動作時の筋肉の動きに対応して形状が変化する度合いに応じて変更されてもよい。 Also, the trapezoidal inclination of the back side of the below-knee belt portion 52 is preferably larger than the trapezoidal inclination of the front side of the below-knee belt portion 52. This is because there is an upper part of the calf at the portion of the below-the-knee belt portion 52 that contacts the rear side of the human, and the change is large during the walking motion of the human compared to the portion of the below-the-knee belt portion 52 that contacts the front side of the human. .. That is, the trapezoidal inclination of the below-knee belt portion 52 may be changed according to the degree to which the shape changes in response to the movement of the muscles of a human during walking.
　なお、図９に示されるように、膝下ベルト部５２は、展開図において左右対称な形状を有しているが、左右非対称な形状であってもよい。 Note that, as shown in FIG. 9, the below-knee belt portion 52 has a bilaterally symmetrical shape in the developed view, but may have a bilaterally asymmetrical shape.
　以上説明したように、膝上ベルト部５１及び膝下ベルト部５２の各々が固定具を用いて湯膝に装着される構成によれば、膝上ベルト部５１を緩めに締め付け、かつ、膝下ベルト部５２をしっかりと締め付けることが可能である。つまり、このような構成によれば、ユーザ８０の快適性を向上しつつ、膝装具５０Ｌの位置ずれを抑制することができる。 As described above, according to the configuration in which each of the above-the-knee belt portion 51 and the below-the-knee belt portion 52 is attached to the molten knee using the fixture, the above-the-knee belt portion 51 is loosely tightened, and the below-the-knee belt portion is provided. It is possible to tighten 52 tightly. That is, according to such a configuration, the displacement of the knee brace 50L can be suppressed while improving the comfort of the user 80.
　次に、連結部５３について説明する。連結部５３は、膝上ベルト部５１、及び、膝下ベルト部５２を連結する。連結部５３のユーザ８０の膝裏に対応する部分には、開口部５３ａが設けられる。 Next, the connecting portion 53 will be described. The connecting portion 53 connects the above-knee belt portion 51 and the below-knee belt portion 52. An opening 53a is provided in a portion of the connecting portion 53 corresponding to the back of the knee of the user 80.
　ユーザ８０が膝を屈伸すると、膝装具５０Ｌの膝裏の部分には当該部分を縮ませる力が加わる。このような力は、膝装具５０Ｌの位置ずれの原因となるが、膝裏の部分に開口部５３ａが設けられていれば、膝装具５０Ｌにこのような力が加わりにくくなり、膝装具５０Ｌの位置ずれが抑制される。また、開口部５３ａが設けられていれば、膝装具５０Ｌがユーザ８０の膝の屈伸を妨げてしまうことが抑制される。 When the user 80 bends and stretches his/her knee, a force is applied to the part behind the knee of the knee brace 50L to shrink the part. Such a force causes displacement of the knee brace 50L, but if the opening 53a is provided on the back of the knee, such a force is less likely to be applied to the knee brace 50L, and the knee brace 50L is not affected. The displacement is suppressed. Further, if the opening 53a is provided, it is possible to prevent the knee brace 50L from interfering with the bending of the knee of the user 80.
　また、開口部５３ａは、連結部５３よりも剛性の小さい部材で塞がれていてもよい。言い換えれば、開口部５３ａは、連結部５３よりもやわらかい部材、または、連結部５３よりも伸縮性の高い部材で塞がれていてもよい。図１２は、このような膝装具５０Ｌの外観図である。図１２に示されるように、開口部５３ａは、部材５４で塞がれている。部材５４は、例えば、ポリエステルなどの生地によって形成される。 The opening 53a may be closed with a member having a rigidity lower than that of the connecting portion 53. In other words, the opening 53a may be closed by a member that is softer than the connecting portion 53 or a member that has higher elasticity than the connecting portion 53. FIG. 12 is an external view of such a knee brace 50L. As shown in FIG. 12, the opening 53a is closed by a member 54. The member 54 is formed of a fabric such as polyester.
　このように、開口部５３ａが連結部５３よりも剛性の小さい部材５４で塞がれている場合も、膝装具５０Ｌがユーザ８０の膝の屈伸を妨げてしまうことが抑制される。また、膝装具５０Ｌの位置ずれが抑制される効果も得られる。 As described above, even when the opening portion 53a is closed by the member 54 having a rigidity lower than that of the connecting portion 53, the knee brace 50L is prevented from obstructing the bending of the knee of the user 80. In addition, the effect of suppressing the displacement of the knee brace 50L can be obtained.
　なお、膝装具５０Ｌでは、連結部５３のユーザ８０の膝蓋骨に対応する部分にも開口部５３ｂ（図８などに図示）が設けられている。このような開口部５３ｂは必須ではなく、連結部５３には、開口部５３ｂが設けられなくてもよい。また、図１２に示されるように、開口部５３ｂは、部材５４で塞がれていてもよい。 In the knee brace 50L, the opening 53b (illustrated in FIG. 8 and the like) is also provided in the portion of the connecting portion 53 corresponding to the patella of the user 80. Such an opening 53b is not essential, and the connecting portion 53 may not be provided with the opening 53b. Further, as shown in FIG. 12, the opening 53b may be closed by a member 54.
　また、連結部５３のユーザ８０側の面には、クッション材が設けられる。図１３～図１５は、クッション材の位置を示す図である。図１３は、膝装具５０Ｌを前方から見た図であり、図１４は、膝装具５０Ｌを左側の前方から見た図であり、図１５は、膝装具５０Ｌを左側から見た図である。 A cushion material is provided on the surface of the connecting portion 53 on the user 80 side. 13 to 15 are views showing the position of the cushion material. 13 is a diagram of the knee brace 50L viewed from the front, FIG. 14 is a diagram of the knee brace 50L viewed from the left front, and FIG. 15 is a diagram of the knee brace 50L viewed from the left.
　図１３～図１５に示されるように、クッション材５５は、ユーザ８０の膝の真横よりも前方に位置する。クッション材５５は、ユーザ８０の膝蓋骨の横のくぼみを埋めるような場所に位置する。一般に、このくぼみの大きさ及び形状は個人差が大きく、膝装具５０Ｌの水平方向（言い換えれば、回動方向）の位置ずれの原因となる可能性がある。クッション材５５がこのくぼみを埋めるような場所に配置されれば、膝装具５０Ｌの水平方向の位置ずれが抑制される。 As shown in FIGS. 13 to 15, the cushion material 55 is located in front of the side of the knee of the user 80. The cushion material 55 is located at a position where the cushion material 55 fills a hollow in the patella of the user 80. In general, the size and shape of this indentation greatly varies from person to person, and may cause displacement of the knee brace 50L in the horizontal direction (in other words, the rotation direction). If the cushion material 55 is arranged in a place that fills this recess, the displacement of the knee brace 50L in the horizontal direction is suppressed.
　［左右対称の構造］
　以上、膝装具５０Ｌについて説明したが、膝装具５０Ｒは、膝装具５０Ｌと左右対称の構造を有している。仮に、膝装具５０Ｒが膝装具５０Ｌと同一の構成である場合、図１６に示されるように、２つの取り付け構造５１ｃの位置が左右のどちらか（図１６では、右脚側）に偏ってしまい、２つの取り付け構造５１ｃの位置のバランスが悪くなってしまう場合がある。図１６は、膝装具５０Ｒが膝装具５０Ｌと同一の構造を有している場合の取り付け構造５１ｃの位置を示す図である。図示されないが、取り付け構造５１ｂについても同様に、左右のどちらかに偏ってしまう場合がある。そうすると、アシスト装置２０による歩行動作の支援の効果が低下してしまう可能性がある。 [Symmetrical structure]
Although the knee brace 50L has been described above, the knee brace 50R has a structure symmetrical to the knee brace 50L. If the knee brace 50R has the same configuration as the knee brace 50L, the positions of the two attachment structures 51c are biased to either the left or the right (the right leg side in FIG. 16) as shown in FIG. In some cases, the positions of the two mounting structures 51c are unbalanced. FIG. 16 is a diagram showing the position of the attachment structure 51c when the knee brace 50R has the same structure as the knee brace 50L. Although not shown, the mounting structure 51b may be similarly biased to the left or right. Then, the effect of supporting the walking motion by the assist device 20 may be reduced.
　これに対し、膝装具５０Ｒが膝装具５０Ｌと左右対称の構造を有していれば、図１７に示されるように、取り付け構造５１ｃの位置が偏りにくく、取り付け構造５１ｃの位置のバランスがとりやすくなる。図１７は、膝装具５０Ｒが膝装具５０Ｌと左右対称の構造を有している場合の取り付け構造５１ｃの位置を示す図である。図示されないが、取り付け構造５１ｂについても同様である。このため、膝装具５０Ｒが膝装具５０Ｌと左右対称の構造を有していれば、アシスト装置２０による歩行動作の支援を効果的に行うことができる効果が得られる。 On the other hand, if the knee brace 50R has a bilaterally symmetrical structure with the knee brace 50L, as shown in FIG. 17, the position of the mounting structure 51c is less likely to be biased, and the position of the mounting structure 51c is easily balanced. Become. FIG. 17 is a diagram showing the position of the attachment structure 51c when the knee brace 50R has a structure symmetrical to the knee brace 50L. Although not shown, the same applies to the mounting structure 51b. For this reason, if the knee brace 50R has a bilaterally symmetrical structure with the knee brace 50L, the effect that the assisting device 20 can effectively support the walking motion is obtained.
　［変形例１］
　膝装具５０Ｌは、さらに、膝下ベルト部５２を締め付けるための補助ベルトを備えてもよい。図１８は、このような変形例１に係る膝装具の外観図である。 [Modification 1]
The knee brace 50L may further include an auxiliary belt for tightening the below-knee belt portion 52. FIG. 18 is an external view of a knee brace according to the first modification.
　図１８に示される膝装具１５０Ｌは、膝上ベルト部５１と、膝下ベルト部５２と、連結部５３と、補助ベルト５６とを備える。 The knee brace 150L shown in FIG. 18 includes an above-knee belt portion 51, a below-knee belt portion 52, a connecting portion 53, and an auxiliary belt 56.
　補助ベルト５６は、膝下ベルト部５２を締め付けるためのもう一つのベルトである。図示されないが、補助ベルト５６は、ワンタッチバックル、フランスカン、または、カムバックルなどの留め具を備え、ユーザ８０は、このような留め具を利用して膝下ベルト部５２を補助ベルト５６で上から締め付けることができる。上述のように、膝下ベルト部５２は膝の下部にしっかりと固定される必要があるが、補助ベルト５６によって膝下ベルト部５２がさらにしっかりと固定されれば、膝装具１５０Ｌの位置ずれがさらに抑制される。 The auxiliary belt 56 is another belt for tightening the below-knee belt portion 52. Although not shown, the auxiliary belt 56 includes a fastener such as a one-touch buckle, a French can, or a cam buckle, and the user 80 uses the fastener to support the below-knee belt portion 52 from above the auxiliary belt 56. Can be tightened. As described above, the below-the-knee belt portion 52 needs to be firmly fixed to the lower part of the knee, but if the below-the-knee belt portion 52 is fixed more firmly by the auxiliary belt 56, the displacement of the knee brace 150L is further suppressed. To be done.
　［変形例２］
　膝装具５０Ｌでは、膝上ベルト部５１、膝下ベルト部５２、及び、連結部５３は、同一の部材（言い換えれば、生地）によって一体的に形成された。しかしながら、膝上ベルト部５１、膝下ベルト部５２、及び、連結部５３は、互いに異なる部材によって形成されてもよい。例えば、部材の選定により、膝下ベルト部５２の剛性が膝上ベルト部５１の剛性よりも大きければ、膝下ベルト部５２をしっかり締め付け、膝上ベルト部５１を締め付け過ぎない構成が容易に実現できる。なお、膝上ベルト部５１の剛性は、例えば、連結部５３の剛性と同一、または、連結部５３の剛性よりも大きければよい。 [Modification 2]
In the knee brace 50L, the above-the-knee belt portion 51, the below-the-knee belt portion 52, and the connecting portion 53 are integrally formed of the same member (in other words, cloth). However, the above-knee belt portion 51, the below-knee belt portion 52, and the connecting portion 53 may be formed of different members. For example, if the rigidity of the below-the-knee belt portion 52 is higher than that of the above-the-knee belt portion 51 by selecting members, a configuration in which the below-the-knee belt portion 52 is firmly tightened and the above-knee belt portion 51 is not too tight can be easily realized. The rigidity of the above-knee belt portion 51 may be the same as the rigidity of the connecting portion 53, or may be higher than the rigidity of the connecting portion 53, for example.
　［変形例３］
　膝装具５０Ｌは、ユーザ８０の膝に巻きつけられる構成であったが、膝装具５０Ｌは、ユーザ８０が膝を通す構成であってもよい。言い換えれば、膝装具５０Ｌは、ユーザ８０が履く構成であってもよい。図１９は、このような変形例３に係る膝装具の外観図である。 [Modification 3]
The knee brace 50L has been configured to be wrapped around the knee of the user 80, but the knee brace 50L may be configured to allow the user 80 to pass the knee. In other words, the knee brace 50L may be configured to be worn by the user 80. FIG. 19 is an external view of a knee brace according to the third modification.
　図１９に示される膝装具２５０Ｌは、膝上ベルト部２５１と、膝下ベルト部２５２と、連結部２５３とを備える。膝上ベルト部２５１は、ユーザ８０の膝の上部に装着され、逆円錐台形の立体形状を有する。膝下ベルト部２５２は、ユーザ８０の膝の下部に装着される。膝上ベルト部２５１、及び、膝下ベルト部２５２を連結し、ユーザ８０の膝裏に対応する部分に開口部２５３ａが設けられている。 The knee brace 250L shown in FIG. 19 includes an above-knee belt portion 251, a below-knee belt portion 252, and a connecting portion 253. The above-the-knee belt portion 251 is attached to the upper part of the knee of the user 80 and has a three-dimensional shape of an inverted truncated cone. The below-knee belt portion 252 is attached to the lower part of the knee of the user 80. An opening 253a is provided in a portion corresponding to the back of the knee of the user 80, connecting the above-the-knee belt portion 251 and the below-the-knee belt portion 252.
　膝装具２５０Ｌは、ユーザ８０が膝を通す構成である。このため、膝上ベルト部２５１に固定具５１ａは設けられていない。同様に、膝下ベルト部２５２に固定具５２ａは設けられていない。 The knee brace 250L has a configuration in which the user 80 passes the knee. Therefore, the fixing tool 51a is not provided on the above-the-knee belt portion 251. Similarly, the below-knee belt portion 252 is not provided with the fixture 52a.
　［変形例４］
　膝装具５０Ｌにおいては、１つのワイヤ３０ＦＬが２か所で膝装具５０Ｌに取り付けられていてもよい。図２０は、このような変形例４に係る膝装具の外観図である。図２０に示される膝装具３５０Ｌが備える膝上ベルト部５１には、２か所に取り付け構造３５１ｃが設けられている。ワイヤ３３０ＦＬは、例えば、２つに分岐して２か所の取り付け構造３５１ｃに取り付けられる。ワイヤ３３０ＦＬ自体は分岐せずに、ワイヤ３３０ＦＬが２か所の取り付け構造に橋渡しされる紐状の部材に引っ掛けられてもよい。また、図示されないが、膝装具３５０Ｌの後側に取り付けられるワイヤ（つまり、ワイヤ３０ＲＬに相当するワイヤ）についても同様である。 [Modification 4]
In the knee brace 50L, one wire 30FL may be attached to the knee brace 50L at two locations. FIG. 20 is an external view of a knee brace according to the fourth modification. The above-knee belt portion 51 included in the knee brace 350L shown in FIG. 20 is provided with attachment structures 351c at two locations. The wire 330FL is, for example, branched into two and attached to the attachment structures 351c at two locations. The wire 330FL itself may not be branched, and the wire 330FL may be hooked on a string-shaped member bridging the attachment structure at two locations. Although not shown, the same applies to the wire attached to the rear side of the knee brace 350L (that is, the wire corresponding to the wire 30RL).
　（その他の実施の形態）
　以上、実施の形態について説明したが、本開示は、上記実施の形態に限定されるものではない。 (Other embodiments)
Although the embodiments have been described above, the present disclosure is not limited to the above embodiments.
　また、上記実施の形態において、制御部などの各構成要素は、各構成要素に適したソフトウェアプログラムを実行することによって実現されてもよい。各構成要素は、ＣＰＵまたはプロセッサなどのプログラム実行部が、ハードディスクまたは半導体メモリなどの記録媒体に記録されたソフトウェアプログラムを読み出して実行することによって実現されてもよい。 Also, in the above embodiment, each component such as the control unit may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded in a recording medium such as a hard disk or a semiconductor memory.
　また、制御部などの各構成要素は、ハードウェアによって実現されてもよい。各構成要素は、回路（または集積回路）でもよい。これらの回路は、全体として１つの回路を構成してもよいし、それぞれ別々の回路でもよい。また、これらの回路は、それぞれ、汎用的な回路でもよいし、専用の回路でもよい。 Each component such as the control unit may be realized by hardware. Each component may be a circuit (or integrated circuit). These circuits may form one circuit as a whole or may be separate circuits. Further, each of these circuits may be a general-purpose circuit or a dedicated circuit.
　その他、各実施の形態に対して当業者が思いつく各種変形を施して得られる形態、または、本開示の趣旨を逸脱しない範囲で各実施の形態における構成要素及び機能を任意に組み合わせることで実現される形態も本開示に含まれる。 In addition, it is realized by making various modifications to those skilled in the art by those skilled in the art, or by arbitrarily combining the components and functions of each embodiment without departing from the spirit of the present disclosure. The present disclosure also includes the forms.
　例えば、上記実施の形態において説明された複数種類の膝装具の技術的特徴は、任意に組み合わされてよい。 For example, the technical features of the plurality of types of knee braces described in the above embodiments may be arbitrarily combined.
　１０　アシストスーツ
　２０　アシスト装置
　２１Ｆ、２１Ｒ　筐体
　２２ＦＬ、２２ＦＲ、２２ＲＬ、２２ＲＲ　モータ
　２３　制御部
　２４　記憶部
　３０ＦＬ、３０ＦＲ、３０ＲＬ、３０ＲＲ　ワイヤ
　４０　腰ベルト
　５０Ｌ、５０Ｒ、１５０Ｌ、２５０Ｌ、３５０Ｌ　膝装具
　５１、２５１　膝上ベルト部
　５１ａ、５２ａ　固定具
　５１ｂ、５１ｃ、３５１ｃ　取り付け構造
　５２、２５２　膝下ベルト部
　５３、２５３　連結部
　５３ａ、５３ｂ、２５３ａ　開口部
　５４　部材
　５５　クッション材
　５６　補助ベルト
　８０　ユーザ 10 Assist Suit 20 Assist Device 21F, 21R Housing 22FL, 22FR, 22RL, 22RR Motor 23 Controller 24 Memory 30FL, 30FR, 30RL, 30RR Wire 40 Waist Belt 50L, 50R, 150L, 250L, 350L Knee Orthosis 51, 251 Above-the- knee belt portion 51a, 52a Fixtures 51b, 51c, 351c Attachment structure 52, 252 Below-the- knee belt portion 53, 253 Connection portion 53a, 53b, 253a Opening portion 54 Member 55 Cushion material 56 Auxiliary belt 80 User

Claims (9)

  1. 　ユーザがアシスト装置による動作の支援を受けるための膝装具であって、
    　前記ユーザの膝の上部に装着される、逆円錐台形の立体形状を有する膝上ベルト部と、
    　前記ユーザの膝の下部に装着される膝下ベルト部と、
    　前記膝上ベルト部、及び、前記膝下ベルト部を連結し、前記ユーザの膝裏に対応する部分に開口部が設けられた連結部とを備える
    　膝装具。     A knee brace for a user to receive motion assistance by an assist device,
    An above-the-knee belt portion having a three-dimensional shape of an inverted truncated cone, which is attached to the upper part of the user's knee,
    A below-the-knee belt portion that is worn under the user's knee,
    A knee brace comprising: the above-the-knee belt portion and the below-the-knee belt portion; and a connecting portion having an opening at a portion corresponding to the back of the knee of the user.
  2. 　前記膝下ベルト部は、円錐台形の立体形状を有する
    　請求項１に記載の膝装具。     The knee brace according to claim 1, wherein the below-knee belt portion has a three-dimensional shape of a truncated cone.
  3. 　前記膝下ベルト部の剛性は、前記膝上ベルト部の剛性よりも大きく、
    　前記膝上ベルト部の剛性は、前記連結部の剛性と同一、または、前記連結部の剛性よりも大きい
    　請求項１または２に記載の膝装具。     The rigidity of the below-knee belt portion is larger than the rigidity of the above-knee belt portion,
    The knee brace according to claim 1 or 2, wherein the rigidity of the above-the-knee belt portion is the same as the rigidity of the connecting portion or greater than the rigidity of the connecting portion.
  4. 　さらに、前記連結部に設けられたクッション材を備え、
    　前記クッション材は、前記ユーザの膝の真横よりも前方に位置する
    　請求項１～３のいずれか１項に記載の膝装具。     Furthermore, a cushion material provided in the connecting portion is provided,
    The knee brace according to any one of claims 1 to 3, wherein the cushion material is located in front of a side of the user's knee.
  5. 　前記開口部は、前記連結部よりも剛性の小さい部材で塞がれる
    　請求項１～４のいずれか１項に記載の膝装具。     The knee brace according to any one of claims 1 to 4, wherein the opening is closed by a member having a rigidity lower than that of the connecting portion.
  6. 　さらに、前記膝下ベルト部を締め付けるための補助ベルトを備える
    　請求項１～５のいずれか１項に記載の膝装具。     The knee brace according to any one of claims 1 to 5, further comprising an auxiliary belt for tightening the below-knee belt portion.
  7. 　前記膝上ベルト部には、前記膝上ベルト部と前記アシスト装置とを接続するワイヤを取り付けるための取り付け構造が設けられる
    　請求項１～６のいずれか１項に記載の膝装具。     The knee brace according to any one of claims 1 to 6, wherein the above-the-knee belt portion is provided with a mounting structure for mounting a wire connecting the above-the-knee belt portion and the assist device.
  8. 　ユーザの動作を支援するアシストスーツであって、
    　膝装具と、
    　アシスト装置と、
    　前記膝装具、及び、前記アシスト装置を接続するワイヤとを備え、
    　前記アシスト装置は、前記ワイヤに加わる張力を制御するためのモータを有し、
    　前記膝装具は、
    　前記ユーザの膝の上部に装着される、逆円錐台形の立体形状を有する膝上ベルト部と、
    　前記ユーザの膝の下部に装着される膝下ベルト部と、
    　前記膝上ベルト部、及び、前記膝下ベルト部を連結し、前記ユーザの膝裏に対応する部分に開口部が設けられた連結部とを有する
    　アシストスーツ。     An assist suit that supports the user's actions,
    Knee brace,
    An assist device,
    The knee brace, and a wire connecting the assist device,
    The assist device has a motor for controlling the tension applied to the wire,
    The knee brace is
    An above-the-knee belt portion having a three-dimensional shape of an inverted truncated cone, which is attached to the upper part of the user's knee,
    A below-the-knee belt portion that is worn under the user's knee,
    An assist suit comprising: the above-the-knee belt portion and the below-the-knee belt portion, and a connecting portion provided with an opening at a portion corresponding to the back of the knee of the user.
  9. 　前記膝上ベルト部には、前記ワイヤを取り付けるための取り付け構造が設けられ、
    　前記アシストスーツは、右膝用及び左膝用の２つの前記膝装具を備え、
    　前記左膝用の前記膝装具が有する前記膝上ベルト部、及び、前記右膝用の前記膝装具が有する前記膝上ベルト部は左右対称の立体形状を有する
    　請求項８に記載のアシストスーツ。     The above-the-knee belt portion is provided with a mounting structure for mounting the wire,
    The assist suit includes two knee braces for the right knee and the left knee,
    The assist suit according to claim 8, wherein the above-the-knee belt portion included in the knee brace for the left knee and the above-the-knee belt portion included in the knee brace for the right knee have a bilaterally symmetrical three-dimensional shape.
PCT/JP2019/041704 2018-11-30 2019-10-24 Knee brace and assist suit WO2020110533A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-224954 2018-11-30
JP2018224954A JP2020081716A (en) 2018-11-30 2018-11-30 Knee orthosis and assist suit

Publications (1)

Publication Number Publication Date
WO2020110533A1 true WO2020110533A1 (en) 2020-06-04

Family

ID=70852279

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/041704 WO2020110533A1 (en) 2018-11-30 2019-10-24 Knee brace and assist suit

Country Status (2)

Country Link
JP (1) JP2020081716A (en)
WO (1) WO2020110533A1 (en)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09276322A (en) * 1996-04-10 1997-10-28 Arukea Kk Knee supporter and method for producing the same
JP2003235882A (en) * 2002-02-21 2003-08-26 Tomoyoshi Morita Walking promotion knee band utilizing rubber tube and pad
JP2007169861A (en) * 2005-12-26 2007-07-05 Kyoto Seni Kogyo:Kk Knee supporter, and auxiliary belt for the same
JP2008173179A (en) * 2007-01-16 2008-07-31 Marketing Concept House:Kk Supporter
JP2009519730A (en) * 2005-11-04 2009-05-21 ミューラー スポーツ メディシン インコーポレイテッド Knee brace
JP2011036367A (en) * 2009-08-10 2011-02-24 Fukuhara Imono Seisakusho:Kk Locomotion assisting outfit
JP2014019966A (en) * 2012-07-18 2014-02-03 Toyo Seni Kogyo Co Ltd Knee supporter
JP2016526945A (en) * 2013-05-16 2016-09-08 ミレー イノベーション Proprietary orthopedic device for supporting joints

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09276322A (en) * 1996-04-10 1997-10-28 Arukea Kk Knee supporter and method for producing the same
JP2003235882A (en) * 2002-02-21 2003-08-26 Tomoyoshi Morita Walking promotion knee band utilizing rubber tube and pad
JP2009519730A (en) * 2005-11-04 2009-05-21 ミューラー スポーツ メディシン インコーポレイテッド Knee brace
JP2007169861A (en) * 2005-12-26 2007-07-05 Kyoto Seni Kogyo:Kk Knee supporter, and auxiliary belt for the same
JP2008173179A (en) * 2007-01-16 2008-07-31 Marketing Concept House:Kk Supporter
JP2011036367A (en) * 2009-08-10 2011-02-24 Fukuhara Imono Seisakusho:Kk Locomotion assisting outfit
JP2014019966A (en) * 2012-07-18 2014-02-03 Toyo Seni Kogyo Co Ltd Knee supporter
JP2016526945A (en) * 2013-05-16 2016-09-08 ミレー イノベーション Proprietary orthopedic device for supporting joints

Also Published As

Publication number Publication date
JP2020081716A (en) 2020-06-04

Similar Documents

Publication Publication Date Title
JP5876550B1 (en) Joint motion assist device
WO2011030641A1 (en) Orthotic for human body
WO2004107896A1 (en) Footwere
JP2013070785A (en) Walking support device
JP2013070787A (en) Walking support device
JP2013070784A (en) Walking aid device
JP2011062245A (en) Posture correcting belt
EP0519724A1 (en) Dorsiflexion assisting device for hemiplegics
US10980699B2 (en) Walking assistance apparatus and control method
WO2020110533A1 (en) Knee brace and assist suit
JP6534321B2 (en) Knee support
JP6629555B2 (en) Walking aid
JP2001029372A (en) Joint twist preventive supporter
JP4981188B1 (en) Leg assist device
KR20210078920A (en) Articulation assistance apparatus of clothing type using the shape memory alloy wire
JP6751665B2 (en) Knee wear
JP2008245989A (en) Knee supporter
JP2005152218A (en) Hallux valgus orthotic
JP2005279153A (en) Walking corrector
JP2013111378A (en) Motion-assist device and program for motion assist control
JP6974288B2 (en) Auxiliary wear
JP3213219U (en) Ankle supporter
JP3197911U (en) Ankle orthodontic belt
JP3106238U (en) Equipment for prevention and correction of hallux valgus or varus little finger
JP2019141312A (en) Walking aid

Legal Events

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

Ref document number: 19891515

Country of ref document: EP

Kind code of ref document: A1

DPE1 Request for preliminary examination filed after expiration of 19th month from priority date (pct application filed from 20040101)
NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19891515

Country of ref document: EP

Kind code of ref document: A1