WO2022195946A1 - Combinaison d'assistance - Google Patents

Combinaison d'assistance Download PDF

Info

Publication number
WO2022195946A1
WO2022195946A1 PCT/JP2021/039714 JP2021039714W WO2022195946A1 WO 2022195946 A1 WO2022195946 A1 WO 2022195946A1 JP 2021039714 W JP2021039714 W JP 2021039714W WO 2022195946 A1 WO2022195946 A1 WO 2022195946A1
Authority
WO
WIPO (PCT)
Prior art keywords
assist
guide member
belt
tube
wearer
Prior art date
Application number
PCT/JP2021/039714
Other languages
English (en)
Japanese (ja)
Inventor
武志 山内
泰彦 村本
真帆子 佐野
Original Assignee
株式会社コガネイ
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 株式会社コガネイ filed Critical 株式会社コガネイ
Publication of WO2022195946A1 publication Critical patent/WO2022195946A1/fr

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A41—WEARING APPAREL
    • A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
    • A41D13/00—Professional, industrial or sporting protective garments, e.g. surgeons' gowns or garments protecting against blows or punches
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

Definitions

  • the present invention relates to an assist suit that a worker wears on the body to reduce the physical burden on the user's lower back when in a forward leaning posture or half-assed posture.
  • the assist device described in Patent Document 1 has a shoulder strap worn on the left and right shoulders of a worker, that is, a wearer, and a knee strap worn on the left and right knees.
  • a power transmission member consisting of a belt is connected, and the other end is wound around a motor pulley attached to the shoulder belt.
  • Both knee connecting members made up of knee belts are fixed to the left and right knee attachment belts, and the power transmission member and both knee connecting members are connected to pulley support portions, and are powered by a power supply unit provided in the waist attachment belt. By supplying electric power to the motor, an action force is applied to raise the upper body of the wearer who is leaning forward.
  • Patent Literature 2 discloses a motion support device that supports the movement of lifting a load with the arm and a motion support device that supports the motion of extending the hip joint. and two arm braces worn on both left and right arms, and the left and right arm braces are wound by wires by an electric motor provided on the torso brace.
  • the thigh-raising support device described in Patent Document 3 includes a waist belt attached to the waist of the user and an upper-body frame attached to the back of the user, and a support arm that supports the raising of the user's thighs. are provided on the left and right sides of the waist belt.
  • the upper body frame is provided with a pair of left and right artificial muscle housing portions, and the end portions of the artificial muscles housed therein are connected to the support arms via wires. pushes up the user's thighs from behind.
  • the belt or wire is wound up by an electric motor to give the wearer an assisting force to raise the upper body, lift the arm, or stretch the hip joint. ing.
  • an electric motor is used to apply an assisting force to the wearer, it is necessary to provide the electric motor and the power supply to the device, which inevitably increases the weight of the assisting device and the motion assisting device.
  • An object of the present invention is to provide a compact and lightweight assist suit for applying an assist force to reduce the burden on the wearer's lower back when the wearer is in a forward leaning posture or half-hugged posture.
  • the assist suit is an assist suit that reduces the physical burden on the wearer, and is provided with an upper guide member, a shoulder belt placed over the shoulders of the wearer, and a first lower guide member. , a right lower leg belt wrapped around the lower right leg of the wearer, a left lower leg belt attached with a second lower guide member and wrapped around the left lower leg of the wearer, and an air supply device and an air discharge device provided at the ends.
  • an extendable assist tube that is meanderingly supported between the first lower guide member and the upper guide member and between the upper guide member and the second lower guide member; , supplying compressed air to the assist tube to apply an assisting force in the direction of reducing the burden on the waist of the wearer when the wearer is in a forward leaning posture or half-crouching posture.
  • the assist tube is provided so as to meander between an upper guide member provided on the shoulder belt and a lower guide member provided on each of the left and right lower leg belts.
  • the assist tube has a dimension longer than the distance between As a result, it is possible to provide an assisting force to the wearer without using an electric motor or a battery, and to obtain a compact and lightweight assist suit.
  • FIG. 1 is a front view showing the outer surface of an assist suit that is an embodiment
  • FIG. Fig. 10 is a perspective view showing the back side of the wearer wearing the assist suit on the body
  • 3 is a perspective view showing the front side of the wearer of FIG. 2
  • FIG. FIG. 4 is a side view showing a wearer in an upright posture wearing the assist suit in a state where compressed air is not injected into the assist tube.
  • FIG. 11 is a side view showing a wearer in an upright posture wearing the assist suit with compressed air being injected into the assist tube.
  • FIG. 4 is a side view showing a state in which a person wearing an assist suit is lifting a load while compressed air is being injected into the assist tube.
  • FIG. 1 is a side view showing an example of a portable air pump;
  • FIG. (A1) is a schematic diagram showing a state in which the assist tube of the assist suit described above is stretched,
  • A2) is a schematic diagram showing a state in which the assist tube is contracted, and
  • B1) is a schematic diagram showing a modified assist suit.
  • FIG. 4B is a schematic diagram showing a state in which the assist tube is stretched;
  • FIG. 4B is a schematic diagram showing a state in which the assist tube is contracted;
  • FIG. 12C is a schematic diagram showing a state in which the assist tube is contracted;
  • the assist suit 10 has a waist belt 11 wrapped around the wearer's waist.
  • the waist belt 11 includes a body portion 12 that is wrapped around the back side of the wearer, and connection belts 13 a and 13 b attached to both ends of the body portion 12 .
  • Each connecting belt 13a, 13b has fixed end portions 14a, 14b fixed to the lower portion of the main body portion 12 and delivery ends passing through length adjusters 15a, 15b attached to the upper portion of the main body portion 12. and portions 16a and 16b.
  • the length adjusters 15a and 15b have a quadrilateral frame 17 and a folding guide piece 18 provided at the center of the frame 17.
  • One end of the body 17 is attached to the main body 12 by a fixture 19, and the extended end 16a of the connecting belt 13a is bent by a folding guide piece 18 and passed inside the other end of the frame 17 to reach the adjuster 15a. is drawn out from The length adjuster 15b also has the same configuration.
  • connection belt 13a is provided with a one-touch type buckle 21 on the insertion side
  • connection belt 13b is provided with a one-touch type buckle 22 on the insertion side.
  • the waist belt 11 is worn by the wearer.
  • the loop shape of the waist belt 11 can be adjusted according to the waist size of the wearer. length is set.
  • the assist suit 10 has shoulder belts 23 extending from the wearer's back over both shoulders and around the chest.
  • the shoulder belt 23 has a longitudinal central portion 24 arranged on the back side of the wearer, and shoulder mounting portions 25a and 25b extending from the respective central portions 24 and arranged around the shoulders of the wearer, A right end portion 26a and a left end portion 26b are provided at the ends of the shoulder mounting portions 25a and 25b, respectively, and extend to the chest area of the wearer.
  • At the center of each of the shoulder mounting portions 25a and 25b there are provided a folded portion 26c and a folded portion 26d that are placed on the shoulders of the wearer.
  • a first cross belt 27a is attached to the main body portion 12 of the waist belt 11 to the left side thereof, and a second cross belt 27b is attached to the right side portion of the main body portion 12 thereof.
  • One-touch type buckles 28a and 28b on the insertion side are attached to the tips of the respective cross belts 27a and 27b, and one-touch type buckles 29a and 29b on the inserted side to which the buckles 28a and 28b are detachably connected are shoulder belts. 23 are attached to the tips 26a and 26b.
  • the respective cross belts 27a, 27b are connected in a direction crossing the wearer.
  • the tip portions 25a and 25a of the waist belt 11 and the shoulder belt 23 can be adjusted according to the wearer's body. Lengths up to 25b can be adjusted.
  • the distance from the folded portions 26c and 26d to the central portion 24 can be adjusted.
  • a front connection belt 31a is attached to the shoulder attachment portion 25a of the shoulder belt 23 so as to be positioned around the wearer's chest, and a front connection belt 31b is attached to the shoulder attachment portion 25b.
  • An insertion side one-touch type buckle 32 is attached to the tip of one connecting belt 31a, and an insertion side one-touch type buckle 33 is attached to the tip of the other connecting belt 31b.
  • the leading end of the connecting belt 31a is extended from the buckle 32 on the insertion side, and the length of the connecting belts 31a and 31b can be adjusted according to the wearer's body by adjusting the amount of extension. Further, the attachment positions of the connecting belts 31a and 31b with respect to the shoulder attachment portions 25a and 25b may be changed according to the wearer's body.
  • the assist suit 10 has a right lower leg belt 34a wrapped around the wearer's right thigh and a left lower leg belt 34b wrapped around the wearer's left thigh.
  • the lower right leg belt 34a includes a body portion 35 and two upper and lower connecting portions 36 and 37 protruding from one end in the longitudinal direction of the body portion 35.
  • a surface fastener 38 is provided on the outer surface of the body portion 35 for connection.
  • a hook-and-loop fastener 39 detachably joined to the hook-and-loop fastener 38 is provided on the inner surfaces of the portions 36 and 37 .
  • the left lower leg belt 34b has a body portion 35 and two upper and lower connecting portions 36 and 37 protruding from one longitudinal end of the body portion 35, and a hook-and-loop fastener 38 is provided on the outer surface of the body portion 35.
  • a hook-and-loop fastener 39 detachably joined to the hook-and-loop fastener 38 is provided on the inner surfaces of the connecting portions 36 and 37 .
  • the connecting portions 36 and 37 of the right lower leg belt 34a are shown in a twisted state, the hook-and-loop fasteners 39 on the inner surface of the connecting portions 36 and 37 of the left lower leg belt 34b are not shown.
  • the lower leg belts 34a and 34b are attached to the left and right thighs of the wearer, but the lower leg belts 34a and 34b may be attached to portions other than the thighs, such as the left and right knees.
  • An upper guide member 40 is attached to the central portion 24 of the shoulder belt 23, a first lower guide member 41 is attached to the body portion 35 of the right lower leg belt 34a, and a second lower guide member 42 is attached to the left lower leg belt 34b. is attached to the main body portion 35 of the
  • the upper guide member 40 has a guide pulley 44 which is a rotating body having a groove 43 formed on its outer peripheral surface.
  • the guide pulley 44 is supported by support plates 45 on both front and rear sides. It is rotatably supported by shaft 46 . Both support plates 45 are attached by belts 48 to hangers 47 .
  • a hook 49 that can be detachably attached to a hanging device 47 is attached to the central portion 24 of the shoulder belt 23, and the hook 49 has an engaging shaft 52 with a head portion 51 provided thereon.
  • the hanging tool 47 is provided with a large-diameter hole 53 through which the head 51 passes and a small-diameter hole 54 with which the engaging shaft 52 engages.
  • a large-diameter hole 53 through which the head 51 passes
  • a small-diameter hole 54 with which the engaging shaft 52 engages.
  • the first lower guide member 41 and the second lower guide member 42 have the same structure and, like the upper guide member 40, have a guide pulley 44 with a groove 43 formed on the outer peripheral surface,
  • the guide pulley 44 is rotatably supported by support shafts 46 on both front and rear support plates 45 .
  • the second lower guide member 42 has both support plates 45 connected to a quadrilateral frame 56 by a belt 55, and the frame 56 is connected to the left lower leg by a connecting belt 57. It is attached to the belt 34b.
  • One end of the connecting belt 57 is attached to the inner surface of the left leg belt 34b, and the other end of the connecting belt 57 is provided with a hook-and-loop fastener 58 detachably joined to the hook-and-loop fastener 38 of the left leg belt 34b. .
  • the space between the lower guide member 42 and the left leg belt 34b can be adjusted by changing the position where the hook-and-loop fastener 58 is joined to the left leg belt 34b.
  • the first lower guide member 41 also has the same structure as the second lower guide member 42 shown in FIG. 7(B).
  • the distance between the lower guide member 41 and the right lower leg belt 34a is adjusted by changing the attachment position of the hook-and-loop fastener 58 and adjusting the length of the connecting belt 57 as the first connecting belt. You are free.
  • the distance between the lower guide member 42 and the left leg belt 34b can also be adjusted by changing the attachment position of the hook-and-loop fastener 58 and adjusting the length of the connecting belt 57 as the second connecting belt. is.
  • a reinforcing plate 60 made of a material having higher rigidity than the body portion 12 of the waist belt 11 is attached to the outer surface of the body portion 12 of the waist belt 11, and the first intermediate guide member 61 and the second intermediate guide member 62 are attached to the reinforcing plate. 60.
  • the reinforcing plate 60 metal, resin, or fabric having higher rigidity than that of the body portion 12 can be used.
  • Each of the intermediate guide members 61 and 62 has a concave groove 43 formed in the same manner as the upper guide member 40 shown in FIG. 7(A) and the lower guide members 41 and 42 shown in FIG. 7(B). It has a guide pulley 44 and a support plate 45 that rotatably supports the guide pulley 44 .
  • a cross belt 27 b is fixed to the inner support plate 45 of the first intermediate guide member 61
  • a cross belt 27 a is fixed to the inner support plate 45 of the second intermediate guide member 62 .
  • One end portion 64 of the extendable assist tube 63 is fixed to the body portion 12 of the waist belt 11 by a fixing member 64a, and the other end portion 65 is fixed to the waist belt 11 by a fixing member 65a.
  • the assist tube 63 extends from one end 64 to the first intermediate guide member 61 and is telescopically supported, from which it extends to the first lower guide member 41 and is telescopically supported by the lower guide member 41 . It meanders and extends to the upper guide member 40 .
  • the assist tube 63 is telescopically supported by the upper guide member 40, extends from the upper guide member 40 to the second lower guide member 42, is telescopically supported by the lower guide member 42, and extends from the lower guide member 40 to the lower guide member 42. It extends meanderingly from the member 42 to the second intermediate guide member 62 .
  • the assist tube 63 as shown in FIG. 9, comprises an elastic tube 66 and a braid tube 67 provided outside thereof, and is elastically deformable in radial and longitudinal directions.
  • the elastic tube 66 is made of elastically deformable material such as synthetic rubber or synthetic resin.
  • Fig. 3 is a tube of network structure formed;
  • the assist tube 63 is a fluid tube, that is, an artificial muscle, which expands radially outward and contracts to shorten its overall length when compressed air is supplied to the internal air chamber 68 .
  • a tube guide plate 69 is attached to the reinforcing plate 60 of the waist belt 11, and the portion of the assist tube 63 between the upper guide member 40 and the first lower guide member 41 2 is guided in a space between the tube guide plate 69 and the reinforcing plate 60 so as to extend and contract.
  • the upper guide member 40, the lower guide members 41 and 42, and the intermediate guide members 61 and 62 described above are provided with a guide pulley 44, which is a rotating body provided rotatably on the support shaft 46, and the assist tube 63 expands and contracts. Since the guide pulley 44 rotates when deformed, the expansion/contraction deformation of the assist tube 63 can be smoothly guided.
  • One end 64 of the assist tube 63 is provided with an air supply device 71 and an air discharge device 72 , and the other end 65 is closed by a closure member 73 .
  • a manually operated portable air pump 74 as an air pressure source is detachably attached to an air supply tool 71, and an air supply tube 75 connected to an air discharge port of the portable air pump 74 has a , a connecting portion 76 detachably attached to the air supply device 71 is provided.
  • the portable air pump 74 is connected to the assist tube 63 by inserting the connecting end portion 77 provided on the air supply device 71 into the connecting portion 76 .
  • the lower leg belts 34a and 34b are wrapped around the left and right thighs. This winding operation is performed by fastening the hook-and-loop fastener 39 provided on the inner surface side of the connecting portions 36 and 37 to the hook-and-loop fastener 38 of the main body portion 35 . Depending on the fastening position of the hook-and-loop fastener 39 to the hook-and-loop fastener 38, the lower leg belts 34a, 34b can be tightly fastened to the thighs according to the thigh size of the wearer.
  • FIGS. 2 to 4 show the state in which the wearer wears the assist suit 10 on the body in this way.
  • compressed air can be injected into the air chamber 68 of the assist tube 63 by axially reciprocating the cylindrical portion 74a of the portable air pump 74 about ten times.
  • the assist tube 63 is expanded by the compressed air and is elastically deformed so as to become thicker in the radial direction, and an elastic force is applied to the assist tube 63 in the direction of contraction in the axial direction.
  • the length of the extended end portions of the cross belts 27a and 27b is adjusted to allow the shoulder belt 23 to be adjusted. length is adjusted.
  • FIG. 5 shows a state in which air is injected into the assist tube 63, and the assist tube 63 has a larger outer diameter than the state shown in FIG.
  • an elastic force in the direction of stretching the back muscles that is, in the direction of raising the wearer's upper body, is applied as an assist force between the wearer's back and the left and right thighs.
  • the assist force is applied in the direction to raise the wearer's upper body, the physical burden on the lower back of the wearer is reduced when the wearer takes a forward leaning posture or a half-crouching posture.
  • the assist tube 63 applies an elastic force in the direction of stretching the back muscles to the wearer P as an assist force.
  • the burden on the waist of the wearer P is reduced. Since the elastic force is applied by the assist tube 63 when carrying the load W, the assist force is applied in the direction of stretching the back muscles, and the burden on the waist is reduced.
  • the elastic force of the assist tube 63 also functions as an assist force when raising the upper body to lift a load.
  • the portable air pump 74 When removing the portable air pump 74 from the assist tube 63, the portable air pump 74 can be easily removed by pushing the push button 78 for removal. Even if the portable air pump 74 is removed, the air in the assist tube 63 will not be discharged to the outside because the check valve is incorporated in the air supply device 71 . Even when the portable air pump 74 is connected to the assist tube 63, the wearer can lift and carry the load. On the other hand, the air in the assist tube 63 can be discharged by pushing the exhaust operation button 79 of the air discharging tool 72 shown in FIG.
  • the assist tube 63 can be inflated with a simple operation by manually operating the manually operated portable air pump 74 without using an electric motor. Moreover, since it is not necessary to install an electric motor or a battery as a power source for driving the motor, the assist suit 10 is lightened and the wearer P uses the assist suit 10 as if wearing clothes. be able to.
  • the assist tube 63 continues from one end 64 to the other end 65, and extends between the lower guide member 42 of the left lower leg belt 34b and the upper guide member 40 of the shoulder belt 23 and the lower side of the right lower leg belt 34a. It is provided to meander between the guide member 41 and the upper guide member 40 of the shoulder belt 23 . Therefore, the single assist tube 63 is longer than the vertical length of the back of the wearer P and meanders in the vertical direction so as to extend over a plurality of locations along the back of the wearer P. . As a result, the lightweight assist tube 63 can apply an assisting force to the wearer so as to increase the strength of the back muscles of the wearer.
  • FIG. 11(A1) is a schematic diagram showing a state in which the assist tube 63 is extended
  • FIG. 11(A2) is a schematic diagram showing a state in which the assist tube 63 is contracted.
  • L indicates the distance between the upper guide member 40 and the lower guide members 41 and 42 when compressed air is not supplied to the assist tube 63
  • L indicates the injection of compressed air into the assist tube 63. shows the distance between the upper guide member 40 and the lower guide members 41 and 42 in a state in which the assist tube 63 is inflated and contracted.
  • One end 64 of the assist tube 63 is provided with an air supply tool 71 and an air discharge tool 72.
  • the air supply tool 71 is provided at one end 64 of the assist tube 63 and the air discharge tool 72 is provided at the other end. may be provided.
  • the upper guide member 40, the lower guide members 41, 42, and the intermediate guide members 61, 62 are provided with a guide pulley 44, which is a rotating body rotatably provided on a support shaft 46, and have a circular support surface.
  • the assist tube 63 may be supported by a fixed member without using a rotating member.
  • FIG. 11(B1) is a schematic diagram showing a state in which the assist tube 63 of the assist suit 10 as a modification is extended
  • FIG. 11(B2) is a schematic diagram showing a state in which the assist tube 63 is contracted.
  • the assist suit 10 is provided with two upper guide members 40 on the shoulder belts 23 and one intermediate guide member 61 on the waist belt 11 . Even if the assist tube 63 meanders in this way, a large telescopic stroke can be obtained by the thin assist tube 63 .
  • FIG. 11(C1) is a schematic diagram showing a state in which the assist tube 63 of the assist suit 10 of another modified example is extended
  • FIG. 11(C2) is a schematic diagram showing a state in which the assist tube is contracted.
  • the shoulder belts 23 are provided with one upper guide member 40, and the waist belt 11 is not provided with an intermediate guide member. In this manner, a large telescopic stroke can be obtained by the thin assist tube 63 without supporting the assist tube 63 on the intermediate guide member.
  • the waist belt 11 is connected by the buckle 21 on the inserting side and the buckle 22 on the inserted side, but these may be connected by hook-and-loop fasteners.
  • both lower leg belts 34a and 34b may be connected by buckles instead of hook-and-loop fasteners.
  • members connected by a buckle may be connected by a hook-and-loop fastener, and members connected by a hook-and-loop fastener may be connected by a buckle.
  • This assist suit can be used as a movement support device that supports the wearer's movements and reduces the burden on the wearer's lower back.

Abstract

L'invention concerne une combinaison d'assistance (10) équipée d'une sangle d'épaule (23) à laquelle un élément de guidage supérieur (40) est fixé, une sangle de jambe droite (34a) à laquelle un élément de guidage inférieur (41) est fixé, une sangle de jambe gauche (34b) à laquelle un élément de guidage inférieur (42) est fixé, et un tube d'assistance élastique (63), dont les extrémités ont une unité d'alimentation en air (71) et une unité d'évacuation d'air (72) situées sur celles-ci, le tube d'assistance (63) étant tissé de façon à s'étendre entre l'élément de guidage inférieur (41) et l'élément de guidage supérieur (40), et entre l'élément de guidage supérieur (40) et l'élément de guidage inférieur (42), et une force d'assistance dans la direction qui élève le corps supérieur étant appliquée au porteur lorsque de l'air comprimé est fourni au tube d'assistance (63).
PCT/JP2021/039714 2021-03-16 2021-10-27 Combinaison d'assistance WO2022195946A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021-042208 2021-03-16
JP2021042208 2021-03-16

Publications (1)

Publication Number Publication Date
WO2022195946A1 true WO2022195946A1 (fr) 2022-09-22

Family

ID=83320241

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2021/039714 WO2022195946A1 (fr) 2021-03-16 2021-10-27 Combinaison d'assistance

Country Status (1)

Country Link
WO (1) WO2022195946A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006087548A (ja) * 2004-09-22 2006-04-06 Masanori Sugisaka マッスルトラウザ
US20160139666A1 (en) * 2013-07-05 2016-05-19 Axon VR LLC Whole-body human-computer interface
JP2019513565A (ja) * 2016-04-07 2019-05-30 ソフト ロボティクス， インコーポレイテッド 位置付け、包装、組立のためのソフトロボットアクチュエータ
JP2019095051A (ja) * 2017-11-17 2019-06-20 Ｎｋｅ株式会社 人工筋肉及び動作補助具
WO2019193905A1 (fr) * 2018-04-04 2019-10-10 国立大学法人東京工業大学 Dispositif d'assistance au mouvement des doigts
JP2020056437A (ja) * 2018-10-01 2020-04-09 国立大学法人東京工業大学 複合型マッキベン人工筋
JP2020146761A (ja) * 2019-03-11 2020-09-17 株式会社ジェイテクト アシスト装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006087548A (ja) * 2004-09-22 2006-04-06 Masanori Sugisaka マッスルトラウザ
US20160139666A1 (en) * 2013-07-05 2016-05-19 Axon VR LLC Whole-body human-computer interface
JP2019513565A (ja) * 2016-04-07 2019-05-30 ソフト ロボティクス， インコーポレイテッド 位置付け、包装、組立のためのソフトロボットアクチュエータ
JP2019095051A (ja) * 2017-11-17 2019-06-20 Ｎｋｅ株式会社 人工筋肉及び動作補助具
WO2019193905A1 (fr) * 2018-04-04 2019-10-10 国立大学法人東京工業大学 Dispositif d'assistance au mouvement des doigts
JP2020056437A (ja) * 2018-10-01 2020-04-09 国立大学法人東京工業大学 複合型マッキベン人工筋
JP2020146761A (ja) * 2019-03-11 2020-09-17 株式会社ジェイテクト アシスト装置

Similar Documents

Publication Publication Date Title
JP4542036B2 (ja) 着用形関節駆動装置
CN110998104B (zh) 纺织物致动器
KR101652020B1 (ko) 허리부 보조장치
KR101988078B1 (ko) 착용식 근력 보조 장치
CN110744526B (zh) 一种被动式下肢运动助力外骨骼装置
EP3545917B1 (fr) Dispositif d'aide à la flexion/l'étirement du corps humain à l'aide d'un corps élastique
WO2021010129A1 (fr) Dispositif d'aide à la taille
WO2004085856A1 (fr) Actionneur a pression hydraulique et dispositif d'exercice manuel continu comprenant cet actionneur
KR101998919B1 (ko) 섀도우 레그를 가진 재활 장치
JP2011229704A (ja) 腰部筋力補助具
JP6760602B2 (ja) 動作補助装置
US20220023132A1 (en) Bending and stretching motion assist device
KR20170053461A (ko) 동력 전달 모듈 및 이를 포함하는 운동 보조 장치
JP4410920B2 (ja) 空気圧式ロボット及び空気圧式関節駆動装置
CN110861074B (zh) 一种绳驱动柔性外骨骼助力机器人
WO2022195946A1 (fr) Combinaison d'assistance
JP4979139B2 (ja) 腰部負担軽減用具
CN209850911U (zh) 一种可穿戴上肢助力外骨骼
JP2003319986A (ja) 腕用エアマッサージ機
JP2021098251A (ja) アシスト装置
CN219022102U (zh) 一种腕关节及踝关节康复器
CN115024947B (zh) 一种多功能下肢外骨骼
WO2024004612A1 (fr) Dispositif d'aide au mouvement
JP2008082554A (ja) 流体圧式アクチュエータ及びそれを用いたｃｐｍ装置
JP2023177258A (ja) 作業支援装置

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: 21931689

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21931689

Country of ref document: EP

Kind code of ref document: A1