HK1232185B - Joint movement assistance device - Google Patents

Description

Joint motion assist device

Technical Field

The present invention relates to a joint movement assisting device, and more particularly, to an exoskeleton-type joint movement assisting device for assisting joint movement of a predetermined object.

Background Art

In the past, various devices have been proposed for providing care to a caregiver, providing care for a caregiver, and providing care for a caregiver. Among these devices, there is an exoskeleton-type muscle-strength assisting device for a caregiver to lift or lower a caregiver, such as a bedridden elderly person, or to move the caregiver.

As one of the muscle strength assisting devices, there is a device that uses a bag body (hereinafter, the bag body is also referred to as an "airbag") that is inflated by means of air supplied to the inside as an actuator (refer to Patent Document 1: hereinafter referred to as a "conventional example"). Since the muscle strength assisting device using such an actuator that can expand and contract, such as an airbag, is lighter than a device using a pneumatic cylinder actuator or a Mckibben-type pneumatic actuator, it has high practicality. In addition, since an actuator that can expand and contract, such as an airbag, can be driven at low pressure, a low-vibration, low-noise pump such as a diaphragm pump or a vane pump can be used. From this point of view, it can also be said that the muscle strength assisting device using an actuator that can expand and contract, such as an airbag, has high practicality.

In this prior art, a pneumatic actuator, comprised of two plates pivotally connected around one end and an actuator element consisting of a bag inflated by air, placed between the plates, is mounted on a wearable device at a predetermined location on the human body. The bag in the pneumatic actuator inflates to assist in the movement of the elbow, waist, hip, and knee joints.

Prior art literature

Patent Literature

Patent Document 1: Japanese Patent Application Laid-Open No. 2000-051289

Summary of the Invention

Problems to be solved by the invention

In the above-mentioned prior art, a pneumatic actuator is worn around the waist, including the lumbar joint and hip joint. Furthermore, a linkage mechanism converts the expansion of a bag body caused by the air supply to the pneumatic actuator into a stretching force for the joints, thereby assisting the movement of the lumbar joint and hip joint around the waist.

In the structure of such a conventional example, the movement of the waist joint and the hip joint is assisted by a pneumatic actuator. Therefore, when the pneumatic actuator is used to maintain the state of generating the extension auxiliary force of the waist joint, it sometimes hinders the forward walking or backward walking performed by moving the left and right feet alternately, and forces an unnatural walking action. Therefore, when the wearer of the joint movement auxiliary device walks, there is a situation where it is impossible to perform smooth movements without a sense of disharmony. In addition, in the structure of the conventional example, due to the use of the above-mentioned connecting rod mechanism, the efficiency of transmitting the force generated by the pneumatic actuator to the joint part around the waist sometimes decreases. Furthermore, in the structure of the conventional example, due to the above-mentioned connecting rod mechanism protruding significantly to the back, it is necessary to ensure a working space at the rear.

Therefore, there is a need for a technology that enables smooth walking when using an exoskeleton-type joint motion-assisting device, reduces discomfort for the wearer, and efficiently transmits the force generated by the pneumatic actuator to the joint being assisted. Furthermore, there is a need for a technology that prevents the waist-worn unit from protruding significantly behind the back when using an exoskeleton-type joint motion-assisting device. Technologies that address these needs are listed as one of the issues to be addressed by the present invention.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide a joint movement assisting device that can appropriately assist joint movement and realize smooth joint movement.

Means for solving problems

The present invention is a joint motion assisting device, which is an exoskeleton-type joint motion assisting device, which is worn on a predetermined object having a skeletal structure, and assists joint motion using a joint mechanism between a connection portion, wherein the connection portion connects a first portion of the predetermined object with at least one second portion, and the joint motion assisting device is characterized in that it comprises: a first exoskeleton component, which is worn on the first portion along a direction in which the first portion extends from the connection portion; a second exoskeleton component having the same number as the second portion, which is worn on the second portion along a direction in which the second portion extends from the connection portion; a first expansion and contraction component and a second expansion and contraction component having the same number as the second portion, which generate a force to assist the joint motion; a first connection component, which is fixedly connected to the first exoskeleton component, and and connected to one end of the first expansion and contraction component; a second connection component having the same number as the second portion, fixedly connected to the second exoskeleton component and connected to one end of the second expansion and contraction component; and a mounting component arranged between the first connection component and the second connection component, mounting the end of the first exoskeleton component on the connection portion side and the end of the second exoskeleton component on the connection portion side so as to be rotatable in the rotational movement direction of the joint, and connected to the other end of the first expansion and contraction component and the other end of the second expansion and contraction component, so that the angle at which the first exoskeleton component and the second exoskeleton component, which are rotatably mounted on the mounting component, crosses each other by a change in the expansion stroke or contraction stroke of at least one of the first expansion and contraction component and the second expansion and contraction component, thereby assisting the movement of the joint.

In this joint movement assisting device, when the device is worn on a predetermined subject, one end of the first expansion/contractivity component is connected to a first connecting component fixed to a first exoskeleton component, and the other end of the first expansion/contractivity component is connected to a mounting component that rotatably mounts the first exoskeleton component in the direction of rotational movement of the joint. Furthermore, in this joint movement assisting device, one end of the second expansion/contractivity component, which is the same number as the second portion, is connected to a second connecting component fixed to a second exoskeleton component, and the other end of the second expansion/contractivity component is connected to a mounting component that rotatably mounts the second exoskeleton component in the direction of rotational movement of the joint.

Furthermore, the first exoskeleton component rotates relative to the mounting component through the expansion or contraction stroke of the first expansion/contraction component. Furthermore, the second exoskeleton component rotates relative to the mounting component through the expansion or contraction stroke of the second expansion/contraction component. As a result, the angle at which the first exoskeleton component, which secures a first portion of a predetermined object, and the second exoskeleton component, which secures a second portion of the predetermined object, intersect changes due to the expansion or contraction stroke of at least one of the first and second expansion/contraction components, passively assisting the movement of the joint connecting the first portion and the connection portion, and the joint connecting the second portion and the connection portion.

Therefore, according to the joint movement assisting device of the present invention, it is possible to appropriately assist joint movement and realize smooth joint movement.

Here, the "predetermined object" may be a human body or an object other than a human body having a skeletal structure.

In the joint motion assisting device of the present invention, the first connecting member can be arranged on the first exoskeleton member side, and the second connecting member can be arranged on the second exoskeleton member side, the other end of the first expansion and contraction member is connected to the joint extension side of the mounting member on the first exoskeleton member side, and the other end of the second expansion and contraction member is connected to the joint extension side of the mounting member on the second exoskeleton member side.

When the first connecting member and the second connecting member, and the first expansion-contract member and the second expansion-contract member are arranged as described above, it is possible to configure such that the joint is changed from a bent state to an extended state by the contraction stroke of the first expansion-contract member and the second expansion-contract member. In this case, the joint can be changed to an extended state by contracting at least one of the first expansion-contract member and the second expansion-contract member. In addition, when such a configuration is adopted, it is possible to configure such that the joint is changed from an extended state to a bent state by the expansion stroke of the first expansion-contract member and the second expansion-contract member. In this case, the joint can be changed to a bent state by expanding at least one of the first expansion-contract member and the second expansion-contract member.

Furthermore, the joint motion assisting device of the present invention may further include an adjustment unit for adjusting the pressure of the working fluid within the first expansion/contraction member and the second expansion/contraction member. In this case, since the adjustment unit adjusts the pressure of the working fluid within the first expansion/contraction member and the second expansion/contraction member, the first expansion/contraction member and the second expansion/contraction member can generate a force that assists the joint motion adjusted by the adjustment unit.

Furthermore, the joint motion assisting device of the present invention can be configured such that the connection site of the predetermined object is the human pelvis, the first exoskeleton component is worn at a position corresponding to the lumbar vertebrae, and two second exoskeleton components are provided, one for the left thigh and the other for the right thigh. In this case, the movement of the joint connecting the pelvis to the lumbar vertebrae, the joint connecting the pelvis to the left thigh, and the joint connecting the pelvis to the right thigh can be independently assisted. Furthermore, in this case, the joint motion assisting device does not protrude significantly backward, allowing for a compact structure.

Furthermore, in assisting the joint movement of the lumbar spine relative to the pelvis and the joint movement of the left and right thighs relative to the pelvis, a structure can be configured such that the end of the first exoskeleton component on the side of the connection portion is mounted to the mounting component at a position corresponding to the lumbosacral joint so as to be rotatable in the rotational direction of the lumbosacral joint, the end of the second exoskeleton component on the side of the connection portion is mounted to the mounting component at a position corresponding to the left hip joint so as to be rotatable in the rotational direction of the left hip joint, and the end of the other second exoskeleton component on the side of the connection portion is mounted to the mounting component at a position corresponding to the right hip joint so as to be rotatable in the rotational direction of the right hip joint.

In this case, the first exoskeleton component rotates relative to the mounting component at a position corresponding to the lumbosacral joint in the direction of rotation of the lumbosacral joint. Furthermore, a second exoskeleton component rotates relative to the mounting component at a position corresponding to the left hip joint in the direction of rotation of the left hip joint. Furthermore, another second exoskeleton component rotates relative to the mounting component at a position corresponding to the right hip joint in the direction of rotation of the right hip joint. Thus, smooth joint movement corresponding to the movement of the lumbosacral joint can be assisted, as well as smooth joint movement corresponding to the movement of both the left and right hip joints.

In addition, as another structure for assisting the joint movement of the lumbar spine relative to the pelvis and the joint movement of the left and right thighs relative to the pelvis, the end of the first exoskeleton component on the side of the connection part can be mounted on the mounting component in the following manner: it can rotate around a position corresponding to the sacroiliac joint and rotate in the rotation direction of the lumbosacral joint with the rotation axis of the lumbosacral joint as the rotation center axis; the end of the second exoskeleton component on the side of the connection part is mounted on the mounting component at a position corresponding to the left hip joint in a manner that allows rotation in the rotation direction of the left hip joint; and the end of the other second exoskeleton component on the side of the connection part is mounted on the mounting component at a position corresponding to the right hip joint in a manner that allows rotation in the rotation direction of the right hip joint.

In this case, the first exoskeleton component rotates relative to the mounting component about a position corresponding to the sacroiliac joint while rotating in the rotational direction of the lumbosacral joint with the rotation axis of the lumbosacral joint as the central axis. Furthermore, a second exoskeleton component rotates relative to the mounting component at a position corresponding to the left hip joint in the rotational direction of the left hip joint. Furthermore, another second exoskeleton component rotates relative to the mounting component at a position corresponding to the right hip joint in the rotational direction of the right hip joint. Thus, it is possible to assist smooth joint movement corresponding to the movements of the lumbosacral joint and the sacroiliac joint, and it is possible to assist smooth joint movement corresponding to the movements of the left and right hip joints.

Here, in the case of a structure in which the end portion of the first exoskeleton component on the connection side is mounted on the mounting component in such a manner that it can rotate about the sacroiliac joint and in the rotational direction of the lumbosacral joint with the lumbosacral joint as the center, it is possible that a gear component having teeth formed along the rotational movement direction of the lumbosacral joint is fixed at a position corresponding to the lumbosacral joint at the end portion of the first exoskeleton component on the connection side, and a gear component meshing with the gear component fixed to the first exoskeleton component is fixed at a position corresponding to the sacroiliac joint on the mounting component. The first exoskeleton component ensures meshing between the gear component fixed to the first exoskeleton component and the gear component fixed to the mounting component, and the first exoskeleton component is mounted on the mounting component.

In this case, in a system where the mounting component is relatively stationary, the gear component attached to the first exoskeleton component rotates while orbiting around the gear component attached to the mounting component, as the first expansion/contraction component expands or contracts. As a result, the first exoskeleton component orbits around the central axis of the gear component attached to the sacroiliac joint, while simultaneously rotating around the central axis of the gear component attached to the lumbosacral joint. Thus, this simple structure, utilizing the gear component, can assist smooth joint movement corresponding to the movements of the lumbosacral and sacroiliac joints.

In addition, when assisting the movement of the lumbar-sacral joint, the left hip joint, and the right hip joint of the human body, the first expansion-contract component can be configured on the extension side of the lumbar-sacral joint, a second expansion-contract component can be configured on the extension side of the left hip joint, and another second expansion-contract component can be configured on the extension side of the right hip joint. In this case, the first expansion-contract component efficiently generates a force to assist the movement of the lumbar-sacral joint. In addition, a second expansion-contract component efficiently generates a force to assist the movement of the left hip joint, and another second expansion-contract component efficiently generates a force to assist the movement of the right hip joint. Therefore, it is possible to efficiently assist joint movement.

Furthermore, to assist in the movement of the lumbosacral joint and the left and right hip joints, the mounting member can be a wearable member shaped along the ridgelines of the left and right iliac ridges, the sacrum, and the coccyx of the pelvic region. The wearable member is secured to the rear and left and right lateral surfaces of the pelvic region along the ridgelines of the left and right iliac ridges, the sacrum, and the coccyx. In this case, because the wearable member fits snugly and securely to the pelvic region along the ridgelines of the left and right iliac ridges, the sacrum, and the coccyx, the mounting member is securely secured to the pelvic region. As a result, even when the first expansion/contraction member and the two second expansion/contraction members expand or contract, the mounting member remains securely secured to the pelvic region without shaking.

As a result, the force generated by the first expansion/contraction component can be efficiently transmitted to the lumbosacral joint. Furthermore, the force generated by one second expansion/contraction component can be efficiently transmitted to the left hip joint, and the force generated by the other second expansion/contraction component can be efficiently transmitted to the right hip joint. Therefore, when the lumbosacral joint, left hip joint, and right hip joint are independently moved, the first exoskeleton component and the two second exoskeleton components can perform smooth and stable joint movements.

Effects of the Invention

As described above, according to the joint movement assisting device of the present invention, it is possible to appropriately assist joint movement and achieve smooth joint movement.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a diagram for explaining the skeletal structure around the waist of a human body.

FIG. 2 is an external view (left side view) of a joint movement assisting device according to an embodiment of the present invention.

FIG. 3 is an external view (front view) of the joint movement assisting device of FIG. 2 .

FIG. 4 is an external view (rear view) of the joint movement assisting device of FIG. 2 .

FIG. 5 is a diagram (top view and bottom view) for explaining the structure of the waist exoskeleton component of FIG. 2 .

FIG. 6 is a diagram (top view) for explaining the structure of the second connecting member in FIG. 4 .

FIG. 7 is a diagram for explaining the structure of the mounting member of FIG. 2 to FIG. 4 (left side view, top view, bottom view).

FIG. 8 is a diagram (front view and rear view) for explaining the structure of the wearing member of FIG. 7(B) and FIG. 7(C) .

FIG. 9 is a diagram for explaining the configuration of the adjustment unit in FIG. 2 .

FIG. 10 is a diagram for explaining the state of the joint movement assisting device of FIG. 2 when the bellows is expanded.

FIG. 11 is a diagram for explaining a modified example (No. 1) of the joint movement assisting device.

FIG. 12 is a diagram for explaining the state of the joint movement assisting device of FIG. 11 when the bellows is contracted.

FIG. 13 is a diagram for explaining a modified example (part 2) of the joint movement assisting device.

Description of labels

100, 100B, 100C: Joint motion assisting device; 110, 110C: Waist exoskeleton component (first exoskeleton component); 111 _L , 111 _R , 111C _L : Waist side wearing component; 112: Back wearing component; 113: Lumbar exoskeleton component; 118, 119: Belt component; 120 _L , 120 _R : Thigh exoskeleton component (second exoskeleton component); 121 _L , 121 _R : Outer thigh exoskeleton component; 122 _L , 122 _R : Inner thigh exoskeleton component; 127 _L , 127 _R : Thigh holding component; 129 _L , 129 _R : Belt component; 131, 131B: First connecting component; 141 _L , 141 _R , 141B _L , 141B _R : Second connecting component; 150, 150C: Mounting component; 151 _L , 151 _R : Waist side mounting component; 152: Back mounting component; 153: Fixing component; 160: Wearing component; 161: Waist belt; 162: Rear covering portion; 163: Front covering portion; AX1 _L , AX1 _R , AX2 _L , AX2 _R : Axis component; 171: First bellows (first expansion and contraction component); 172L, 172R: Second bellows (second expansion and contraction component); 180: Adjustment portion; 181: Pressure pump; 182: Pressure reducing pump; 183: Electric-pneumatic control valve; 184: Control portion; 185, 186: Piping; 191, 192 _L , 192 _R : Piping; 210 _L , 250 _L : External gear (gear component); CB _L : Connecting component

DETAILED DESCRIPTION

An embodiment of the present invention is described below with reference to Figures 1 to 10. In this embodiment, a joint motion assisting device that assists joint motion performed using the mechanisms of the waist joint and left and right hip joints of a human body as predetermined objects is illustrated for description. In the following description and drawings, identical or equivalent elements are denoted by the same reference numerals, and duplicate descriptions are omitted.

【Bone structure】

Before describing the joint movement assisting device according to this embodiment, the bone structure around the waist of the human body will be described.

As shown in Figure 1, the bones near the human waist are connected to the sacrum at the lumbar vertebrae, and the coccyx at the sacrum, forming the lower part of the spine. Furthermore, the sacrum is connected to a pair of left and right hip bones via the sacroiliac joints. The hip bones are formed by the ilium, ischium, and pubic bone. Furthermore, the left hip bone is connected to the left femur via the left femoral joint, and the right hip bone is connected to the right femur via the right femoral joint.

Here, the lumbar vertebrae and sacrum are connected by the lumbar-sacral joint. Furthermore, the left and right hip bones, sacrum, and coccyx form the pelvis.

In addition, the term "lumbar joint" is sometimes used as a synonym for "sacroiliac joint" and "lumbar joint".

【structure】

Figures 2 to 4 illustrate the appearance of a joint motion assisting device 100 according to one embodiment. The coordinate system (X, Y, Z) in Figures 2 to 4 is a coordinate system in which the front direction of the human body is the +X direction, the direction from the right side to the left side of the human body is the +Y direction, and the vertically upward direction is the +Z direction when the joint motion assisting device 100 is worn on the human body. Therefore, in this coordinate system (X, Y, Z), the Y axis is roughly parallel to the rotation axis of the front-to-back rotational movement of the waist joint, and the Y axis is roughly parallel to the rotation axis of the front-to-back rotational movement of the left and right hip joints.

Here, FIG2 is a left side view (XZ plane view) of the joint motion assisting device 100 worn on the waist and left and right thighs of a human body when the waist joint and the left and right hip joints are in an extended state, as viewed from the left side of the human body. In addition, FIG3 is a front view (YZ plane view) of the joint motion assisting device 100 observed from the front of the human body. In addition, FIG4 is a rear view (YZ plane view) of the joint motion assisting device 100 observed from the back of the human body.

As shown generally in Figures 2 to 4 , the joint movement assisting device 100 includes a waist exoskeleton component 110 as a first exoskeleton component, belt components 118 and 119, a thigh exoskeleton component 120 _L as one second exoskeleton component, a thigh exoskeleton component 120 _R as another second exoskeleton component, thigh holding components 127 _L and 127 _R , and belt components 129 _L and 129 _R. Furthermore, the joint movement assisting device 100 includes a first connecting component 131, two second connecting components 141 _L and 141 _R , a mounting component 150, and axis components AX1 _L and AX1 _R , and axis components AX2 _L and AX2 _R.

Furthermore, the joint motion assisting device 100 includes a first bellows 171 as a first expansion/contraction member and two second bellows 172 _L and 172 _R as second expansion/contraction members. Furthermore, the joint motion assisting device 100 includes an adjustment unit 180, a pipe 191, and pipes 192 _L and 192 _R (the pipe 192 _R is not shown in FIG. 2 to FIG. 4 ).

2 shows not only the appearance of the adjustment unit 180 and the pipes 191 and _192L , but also schematically illustrates the relationship between the adjustment unit 180 and the pipes 191 and _192L and the joint movement assisting device 100. Furthermore, in the joint movement assisting device shown in FIGS. 3 and 4 , the adjustment unit 180 and the pipes 191 and _192L are omitted from illustration.

<Structure of Waist Exoskeleton Component 110>

The structure of the waist exoskeleton 110 has been described. The waist exoskeleton 110 is worn around the waist and back. As shown in Figures 2 to 4 and 5(A) and (B), the waist exoskeleton 110 includes waist side wearing components 111 _L and 111 _R , a back wearing component 112, and a lumbar exoskeleton component 113. Furthermore, these waist side wearing components 111 _L and 111 _R , the back wearing component 112, and the lumbar exoskeleton component 113 are integrated to form the waist exoskeleton 110.

FIG5(A) is a top view of the waist exoskeleton component 110 as viewed from the +Z direction. FIG5(B) is a bottom view of the waist exoskeleton component 110 as viewed from the -Z direction. The two-dot chain line in the figures indicates components other than the waist exoskeleton component 110.

The waist side wearing parts 111 _L and 111 _R are, for example, plate-shaped parts made of steel and are formed into an L-shape in the XZ plane view (see FIG2 for the waist side wearing part 111 _L ). The waist side wearing part 111 _L is arranged on the left side of the waist so that the normal direction of the plate surface is parallel to the Y axis. In addition, the waist side wearing part 111 _R is symmetrical with the waist side wearing part 111 _L and is arranged on the right side of the waist so that the normal direction of the plate surface is parallel to the Y axis. Moreover, the waist side wearing parts 111 _L and the waist side wearing parts 111 _R are worn on the human body _, for example, via a cloth belt part 118 that covers the abdomen.

An axial hole for inserting an axial component AX1 _L , whose axis is parallel to the Y axis, is formed at the -Z end of the waist side wearing component 111 _L. Furthermore, an axial hole for inserting an axial component AX1 _R , whose axis is parallel to the Y axis, is formed at the -Z end of the waist side wearing component 111 _R. When the joint movement assisting device 100 is worn on a human body, the axial holes of the waist side wearing components 111 _L and 111 _R are formed at positions corresponding to the lumbar-sacral joints.

The back wearing member 112 is made of, for example, steel and has a rectangular parallelepiped portion and two plate-shaped extensions connected to the rectangular parallelepiped portion and extending in the +X direction from the +Y and -Y ends of the rectangular parallelepiped portion (see Figures 5(A) and (B)). Furthermore, the waist side wearing member 111 _L is fixedly connected to the extension extending from the +Y end of the rectangular parallelepiped portion, and the waist side wearing member 111 _R is fixedly connected to the extension extending from the -Y end of the rectangular parallelepiped portion.

The lumbar exoskeleton component 113 is, for example, a steel component formed into a rod shape. The -Z-direction end of the lumbar exoskeleton component 113 is fixedly connected to the rectangular parallelepiped portion of the back-worn component 112. The lumbar exoskeleton component 113 is positioned at a position corresponding to the lumbar vertebrae, extending from the lumbar joint toward the back. The lumbar exoskeleton component 113 is worn on the body, for example, via a cloth belt 119 that covers the chest.

<Structure of the thigh exoskeleton components 120 _L and 120 _R >

Next, the structure of the thigh exoskeleton components 120 _L and 120 _R will be described.

Structure of the Thigh Exoskeleton Component _120L

The thigh exoskeleton _120L is worn on the left thigh. As shown in Figures 2 to 4 (especially see Figures 3 and 4), the thigh exoskeleton _120L includes an outer thigh exoskeleton _121L and an inner thigh exoskeleton _122L .

The outer thigh exoskeleton _121L and inner thigh exoskeleton _122L are, for example, steel components formed into long, plate-like shapes. The outer thigh exoskeleton _121L is positioned on the outer side of the left thigh, extending from the hip joint. Furthermore, the inner thigh exoskeleton _122L is positioned on the inner side of the left thigh, extending from the hip joint. The outer thigh exoskeleton _121L and inner thigh exoskeleton _122L are worn on the left thigh via a metal strap _129L . In this embodiment, a metal thigh retaining member _127L (see FIG. 4 ) is attached to the strap _129L to retain the left thigh from the inside.

Furthermore, an axial hole for inserting an axial member AX2 _L having an axis parallel to the Y axis is formed at the +Z-side end of the outer thigh exoskeleton member 121 _L. Here, when the joint movement assisting device 100 is worn on the human body, the axial hole of the outer thigh exoskeleton member 121 _L is formed at a position corresponding to the left hip joint.

Structure of the thigh exoskeleton component 120 _R

The thigh exoskeleton 120 _R is worn on the right thigh. As shown in Figures 2 to 4 (especially see Figures 3 and 4 ), the thigh exoskeleton 120 _R includes an outer thigh exoskeleton 121 _R and an inner thigh exoskeleton 122 _R .

The outer thigh exoskeleton _121R and inner thigh exoskeleton _122R are, for example, steel components formed into long, plate-like shapes. The outer thigh exoskeleton _121R is positioned on the outer side of the right thigh, extending from the hip joint. Furthermore, the inner thigh exoskeleton _122R is positioned on the inner side of the right thigh, extending from the hip joint. The outer thigh exoskeleton _121R and inner thigh exoskeleton _122R are worn on the right thigh via a metal strap _129R . In this embodiment, a metal thigh support _127R (see FIG. 4 ) is attached to the strap _129R to support the right thigh from the inside.

Furthermore, an axial hole for inserting an axial member AX2 _R having an axis parallel to the Y axis is formed at the +Z-side end of the outer thigh exoskeleton member 121 _R. Here, when the joint movement assisting device 100 is worn on a human body, the axial hole of the outer thigh exoskeleton member 121 _R is formed at a position corresponding to the right hip joint.

<Structure of the First Connecting Member 131>

The first connecting member 131 is, for example, a member made of steel and formed into a rectangular parallelepiped shape (see Figures 2 and 4). The +Z-direction end surface of the first connecting member 131 is fixedly connected to the back wearing member 112 of the waist exoskeleton 110. Furthermore, the -Z-direction end surface of the first connecting member 131 is connected to one end of the first bellows 171.

<Structure of Second Connecting Members 141 _L and 141 _R >

The second connecting member _141L is, for example, made of steel. As shown in Figures 2, 4, and 6, the second connecting member _141L comprises a rectangular parallelepiped portion and a long, plate-shaped extension connected to the rectangular parallelepiped portion and extending from the +Y-direction end of the rectangular parallelepiped portion in the + _X direction. The +X-direction end of the extension of the second connecting member 141L is fixedly connected to the outer thigh exoskeleton member _121L . Furthermore, the +Z-direction end surface of the rectangular parallelepiped portion of the second connecting member _141L is connected to one end of the second bellows _172L . Figure 6 is a top view of the second connecting members _141L and _141R as viewed from the +Z-direction side. The two-dot chain lines in the figures indicate components other than the second connecting members _141L and _141R .

The second connecting member _141R is made of, for example, steel. As shown in Figures 2, 4, and 6, the second connecting member _141R comprises a rectangular parallelepiped portion and a long, plate-shaped extension portion connected to the rectangular parallelepiped portion and extending from the -Y-direction end of the rectangular parallelepiped portion in the +X direction. The +X-direction end of the extension portion of the second connecting member _141R is fixedly connected to the thigh outer exoskeleton member _121R . Furthermore, the +Z-direction end surface of the rectangular parallelepiped portion of the second connecting member _141R is connected to one end of the second bellows _172R .

<Structure of Mounting Member 150>

Next, the structure of the mounting component 150 will be described. The mounting component 150 is worn around the waist, conforming to the shape of the pelvis, and is securely fixed to the pelvic region without shaking. Furthermore, the mounting component 150 attaches the waist exoskeleton component 110 and the thigh exoskeleton components 120 _L and 120 _R. As shown in Figures 2 to 4 and Figures 7(A) to (C), the mounting component 150 includes waist side mounting components 151 _L and 151 _R , a back mounting component 152, a fixing component 153, and a wearing component 160. Furthermore, these waist side mounting components 151 _L and 151 _R , the back mounting component 152, the fixing component 153, and the wearing component 160 are integrated to form the mounting component 150.

Here, FIG7(A) is a left side view of the mounting component 150 as viewed from the +Y direction side. In addition, FIG7(B) is a top view of the mounting component 150 as viewed from the +Z direction side. In addition, FIG7(C) is a bottom view of the mounting component 150 as viewed from the -Z direction side. In addition, the double-dashed lines shown in the figures represent structural elements other than the mounting component 150. In addition, for the mounting component 150 in FIG7(B) and (C), the solid lines represent the parts that are not visible to the human body wearing the joint movement assisting device 100, and the dotted lines represent the parts that are not visible to the component itself.

The waist side mounting members 151 _L and 151 _R are, for example, made of steel and are formed into a generally flat plate shape with a protrusion on the -Z side in an XZ plane view (see FIG. 7A for waist side mounting member 151 _L ). The waist side mounting member 151 _L is positioned on the left side of the waist with the normal to the flat surface parallel to the Y axis, while the waist side mounting member 151 _R is positioned on the right side of the waist with the normal to the flat surface parallel to the Y axis. Furthermore, the back mounting member 152 is fixedly connected to the -X-side ends of the waist side mounting members 151 _L and 151 _R.

The waist side mounting member _151L has an axial hole formed in the approximately center portion for inserting the axial member AX1 _L , and an axial hole formed in the protruding portion for inserting the axial member AX2 _L. When the joint movement assisting device 100 is worn on the human body, the approximately center axial hole is formed at a position corresponding to the lumbar-sacral joint. Furthermore, the axial hole in the protruding portion is formed at a position corresponding to the left hip joint.

The waist side mounting member 151 _L is disposed on the -Y side of the waist side wearing member 111 _L , and is mounted so as to be rotatable in the front-back rotational direction of the waist joint _via the axis member AX1 _L. Furthermore, the waist side mounting member _{151 L is} disposed on the -Y side of the thigh outer exoskeleton member 121 _{L , and} is mounted so as to be rotatable in the front-back rotational direction of the left hip joint via the axis member AX2 _L.

The waist side mounting member _151R has an axial hole formed in the approximate center for inserting the axial member AX1 _R , and an axial hole formed in the protruding portion for inserting the axial member AX2 _R. When the joint movement assisting device 100 is worn on the human body, the approximately central axial hole is formed at a position corresponding to the lumbar-sacral joint. Furthermore, the axial hole in the protruding portion is formed at a position corresponding to the right hip joint.

The waist side mounting member 151 _R is disposed on the +Y direction side of _the waist side wearing member 111 _R , and is mounted so as to be rotatable in the front-back rotational movement direction of the waist joint via the axis member _{AX1 R.} Furthermore, the waist side mounting member 151 _R is disposed on the +Y direction side of the thigh outer exoskeleton member 121 _{R ,} and is mounted so as to be rotatable in the front-back rotational movement direction of the right hip joint via the axis member _{AX2 R.}

The back mounting member 152 is, for example, a member made of steel and molded into a rectangular parallelepiped shape (see FIG7(A) ). The +Z-direction end surface of the back mounting member 152 is connected to the other end of the first bellows 171. Furthermore, the +Y-direction side of the -Z-direction end surface of the back mounting member 152 is connected to the other end of the second bellows _172L , and the -Y-direction side of the -Z-direction end surface of the back mounting member 152 is connected to the other end of the second bellows _172R .

The fixing member 153 secures the wearing member 160 to the waist side mounting members _151L and _151R and the back mounting member 152. In this embodiment, the fixing member 153 is composed of a flat metal member that secures the waist side mounting members _151L and _151R and the back mounting member 152 to the waist belt portion 161 (described later) on the +Z direction side, and an elastic member, the elastic member being a bag into which air can be injected. Furthermore, by injecting air into the bag, the fixing member 153 securely secures the wearing member 160 to the waist side mounting members _151L and _151R and the back mounting member 152 without shaking.

<Structure of the wearing component 160>

Next, the structure of the wearing component 160 will be described. The wearing component 160 is fixed to the waist side mounting components _151L and _151R and the back mounting component 152 via the fixing component 153. It is worn directly on the human body and is securely fixed to the left and right outer surfaces of the pelvic region and the rear of the pelvic region along the ridgelines of the left and right iliac ridges, the sacrum, and the coccyx that form the pelvis.

As shown in Figures 7(B) and 8(A) and 8(B), the wearing member 160 includes a waistband portion 161, a rear cover portion 162, and a front cover portion 163. Figure 8(A) is a front view of the wearing member 160 as viewed from the +X direction, and Figure 8(B) is a rear view of the wearing member 160 as viewed from the -X direction. The two-dot chain lines shown in the figures indicate components other than the wearing member 160.

The waist belt 161 is, for example, a metal member having a predetermined thickness, molded to a shape that follows the ridgelines of the left and right iliac ridges (see FIG. 1 ) that form the pelvic region. The waist belt 161 is connected to a rear covering portion 162 at the rear and to a front covering portion 163 at the front. Furthermore, the waist belt 161 is secured to the left and right outer surfaces of the pelvic region, covering the waist from behind along the ridgelines of the left and right iliac ridges.

The rear cover 162 is formed, for example, by shaping a linear metal member into a substantially T-shaped frame and covering the interior of the frame with cloth (see FIG8(B)). The rear cover 162 is molded to conform to the shape of the sacrum and coccyx (see FIG1 ), which form the pelvic region. Furthermore, the rear cover 162 is secured to the rear of the pelvic region so as to cover the rear portion of the waist corresponding to the sacrum and coccyx.

The front cover 163 is made of cloth, covers the lower abdomen, and is fixed to the left and right front outer sides of the pelvic region. The front cover 163 is connected to the waistband 161 near the navel and to the back cover 162 at the crotch.

As a result, the mounting member 150 is securely fixed to the pelvis.

<First Bellows 171, Second Bellows _172L , _172R >

Next, the first bellows 171 and the second bellows 172 _L and 172 _R will be described.

The first bellows 171 is a resin component that is freely expandable and contractible and has annular grooves at equal intervals. It is arranged on the extension side (-X direction side) of the lumbar-sacral joint (refer to Figures 2 and 4). One end of the first bellows 171 is connected to the first connecting component 131, and the other end of the first bellows 171 is connected to the +Z direction side end face of the back mounting component 152 in the mounting component 150. Moreover, when the air pressure in the first bellows 171 is changed by connecting the first bellows 171 to the adjustment part 180 through a flexible resin piping 191, the first bellows 171 expands and contracts. As a result, the first bellows 171 generates a force that assists the joint movement of the lumbar joint.

The second bellows 172 _L is a resin component that can expand and contract freely and has annular grooves at equal intervals. It is arranged on the extension side (-X direction side) of the left hip joint (refer to Figures 2 and 4). One end of the second bellows 172 _L is connected to the second connecting part 141 _L , and the other end of the second bellows 172 _L is connected to the +Y direction side of the -Z direction side end face of the back mounting part 152 in the mounting part 150. Moreover, when the air pressure in the second bellows 172 _L is changed by connecting the flexible resin piping 192 _L between the second bellows 172 _L and the adjustment part 180, the second bellows 172 _L expands and contracts. As a result, the second bellows 172 _L generates a force that assists the joint movement of the left hip joint.

The second bellows 172 _R is a resin component that can expand and contract freely and has annular grooves at equal intervals, similar to the second bellows 172 _L. The second bellows 172 _R is arranged on the extension side (-X direction side) of the right hip joint (see Figure 4). One end of the second bellows 172 _R is connected to the second connecting part 141 _R , and the other end of the second bellows 172 _R is connected to the -Y direction side of the -Z direction side end face of the back mounting part 152 in the mounting part 150. Moreover, when the air pressure in the second bellows 172 _R is changed by connecting the flexible resin piping 192 _R between the second bellows 172 _R and the adjustment part 180, the second bellows 172 _R expands and contracts. As a result, the second bellows 172 _R generates a force that assists the joint movement of the right hip joint.

As described above, in this embodiment, the first link member 131 is disposed on the side of the waist exoskeleton component 110, and the second link members 141 _L and 141 _R are disposed on the side of the thigh exoskeleton components 120 _L and 120 _R. Furthermore, in this embodiment, the other end of the first bellows 171 is connected to the waist joint extension side (on the +Z direction side) of the back mounting component 152 constituting the mounting component 150. Furthermore, in this embodiment, the other end of the second bellows 172 _L and 172 _R is connected to the hip joint extension side (on the -Z direction side) of the back mounting component 152 constituting the mounting component 150.

<Configuration of Adjustment Unit 180>

Next, the structure of the adjustment unit 180 will be described. The adjustment unit 180 communicates with the first bellows 171 via the pipe 191. Furthermore, the adjustment unit 180 communicates with the second bellows 172 _L via the pipe 192 _L , and with the second bellows 172 _R via the pipe 192 _R. Furthermore, the adjustment unit 180 forcibly exhausts air from the first bellows 171, the second bellows 172 _L , and the second bellows 172 _R (hereinafter, all bellows will be collectively referred to as the "bellows") and forcibly supplies air to the bellows via the pipes 191, 192 _L , and 192 _R , thereby adjusting the air pressure within the bellows.

As shown in FIG. 9 , the adjustment unit 180 having such a function includes a pressure pump 181 , a pressure reducing pump 182 , an electric-air pressure control valve 183 , a control unit 184 , and pipes 185 and 186 .

The pressure pump 181 is connected to one side of the pump-side connection port of the electric-air pressure control valve 183 via a pipe 185. This pressure pump 181 is used when forcibly supplying air to the bellows. The pressure-reducing pump 182 is connected to the other side of the pump-side connection port of the electric-air pressure control valve 183 via a pipe 186. This pressure-reducing pump 182 is used when forcibly exhausting air from the bellows.

The electric-air pressure control valve 183 includes a flow path switching valve and a pressure control valve (proportional solenoid valve). One inlet side of the flow path switching valve is connected to the pressure pump 181 , and the other inlet side is connected to the pressure reducing pump 182 .

Furthermore, when air is forcibly supplied to the bellows under the control of the control unit 184, the flow path switching valve connects the pipe 185 connected to the pressure pump 181 and the pipe connected to the designated bellows to form a flow path. Furthermore, when air is forcibly discharged from the bellows under the control of the control unit 184, the flow path switching valve connects the pipe 186 connected to the pressure reducing pump 182 and the pipe connected to the designated bellows to form a flow path.

For example, when forced air is supplied to first bellows 171, the flow path switching valve connects pipe 185 and pipe 191 to form a flow path.

Furthermore, when air is forcibly supplied to the second bellows _172L , the flow path switching valve connects the pipe 185 and the pipe _192L to form a flow path. Furthermore, when air is forcibly exhausted from the second bellows _172L , the flow path switching valve connects the pipe 186 and the pipe _192L to form a flow path. Furthermore, when air is forcibly supplied to the second bellows _172R , the flow path switching valve connects the pipe 185 and the pipe _192R to form a flow path. Furthermore, when air is forcibly exhausted from the second bellows _172R , the flow path switching valve connects the pipe 186 and the pipe _192R to form a flow path.

In addition, the pressure control valve controls the air pressure under the control of the control unit 184 to change the air pressure in the bellows.

The control unit 184 switches between forcibly exhausting air from the bellows and forcibly supplying air to the bellows, and controls the air pressure within the bellows. When performing the aforementioned control, when forcibly supplying air to the bellows, the control unit 184 controls so that a flow path is formed between the electric-air pressure control valve 183 and the pressure pump 181 and the bellows that assists joint movement, and adjusts the air pressure within the bellows. Furthermore, when forcibly exhausting air from the bellows, the control unit 184 controls so that a flow path is formed between the electric-air pressure control valve 183 and the pressure reducing pump 182 and the bellows that assists joint movement, and adjusts the air pressure within the bellows.

Such control is performed based on biological information related to the muscle strength that drives the joints, which is obtained by taking into account experiments, simulations, experience, etc. Here, the biological information related to the muscle strength that drives the joints can be obtained by detecting electromyogram, muscle hardness, etc. using a detection unit (not shown).

【action】

The operation of the joint movement assisting device 100 configured as described above, that is, the assisting operation of the joint movement using the mechanisms of the waist joint and the left and right hip joints, will be described.

In the joint movement assisting device 100 , the adjustment unit 180 is initially set to not adjust the air pressure in the bellows, and the internal pressure of the bellows is atmospheric pressure.

<Assisting movement from joint extension to flexion>

Regarding the auxiliary action of this joint movement, when the waist joint and the left and right hip joints are moved from an extended state to a flexed state, the adjustment unit 180 controls the forced supply of air to the first bellows 171 and the second bellows 172 _L and 172 _R. When the adjustment unit 180 forcibly supplies air to the first bellows 171 and the second bellows 172 _L and 172 _R , the air pressure within each bellows increases. As the air pressure within the bellows increases, the bellows expand.

FIG10 shows the state of the joint movement assisting device 100 during the expansion process of the first bellows 171 and the second bellows 172 _L and 172 _R. As the first bellows 171 expands, transitioning from the state shown in FIG2 to the state shown in FIG10, the first connecting member 131 connected to one end of the first bellows 171 rotates axially in the +X direction about the axis members AX1 _L and AX1 _R relative to the mounting member 150 connected to the other end of the first bellows 171. As a result, the angle formed between the waist exoskeleton member 110 and the mounting member 150 with respect to the front of the human body when the assisting device is worn decreases, and the waist joint transitions from an extended state to a flexed state.

Furthermore, due to the expansion stroke of the second bellows _172L , the second connecting member _141L connected to one end of the second bellows _172L rotates axially toward the +X direction about the axis member _AX2L relative to the mounting member 150 connected to the other end of the second bellows _172L . As a result, the angle formed by the thigh exoskeleton member _120L and the mounting member 150 with respect to the front of the human body when the assistive device is worn decreases, and the left hip joint transitions from an extended state to a flexed state.

Furthermore, due to the expansion stroke of the second bellows 172 _R , the second connecting member 141 _R connected to one end of the second bellows 172 _R rotates axially toward the +X direction about the axis member AX2 _R relative to the mounting member 150 connected to the other end of the second bellows 172 _R. As a result, the angle formed by the thigh exoskeleton component 120 _R and the mounting member 150 with respect to the front of the human body when the assistive device is worn decreases, and the right hip joint transitions from an extended state to a flexed state.

<Assisting movement from flexion to extension of joints>

When the waist joint and the left and right hip joints are in a flexed state (see FIG10 ), and when each joint is extended from the flexed state, the adjustment unit 180 controls the forced discharge of air from the first bellows 171 and the second bellows 172 _L and 172 _R. When the adjustment unit 180 forcibly discharges air from the first bellows 171 and the second bellows 172 _L and 172 _R , the air pressure within each bellows decreases. Thus, when the air pressure within the bellows decreases, the bellows contracts.

FIG2 shows the state of the joint movement assisting device 100 during the contraction stroke of the first bellows 171 and the second bellows 172 _L and 172 _R. As the first bellows 171 contracts, transitioning from the state of FIG10 to the state of FIG2 , the first connecting member 131 connected to one end of the first bellows 171 rotates in the −X direction about the axis members AX1 _L and AX1 _R relative to the mounting member 150 connected to the other end of the first bellows 171. As a result, the angle formed between the waist exoskeleton member 110 and the mounting member 150, when the assisting device is worn, increases, and the waist joint transitions from a flexed state to an extended state.

Furthermore, due to the contraction stroke of the second bellows _172L , the second connecting member _141L connected to one end of the second bellows _172L rotates toward the −X direction about the axis member _AX2L relative to the mounting member 150 connected to the other end of the second bellows 172L. As a result, the angle formed by the thigh exoskeleton member _120L and the mounting member 150 with respect to the front of the human body when the assistive device is worn increases, and the left hip joint moves from a flexed state to an extended state.

Furthermore, due to the contraction stroke of the second bellows 172 _R , the second connecting member 141 _R connected to one end of the second bellows 172 _R rotates toward the −X direction about the axis member AX2 _R relative to the mounting member 150 connected to the other end of the second bellows 172 _R. As a result, the angle formed by the thigh exoskeleton member 120 _R and the mounting member 150 with respect to the front of the human body when the assistive device is worn increases, and the right hip joint moves from a flexed state to an extended state.

<Assistive Movements While Walking>

Regarding the auxiliary movement during walking, the adjustment unit 180 first controls the forced exhaust of air from the first bellows 171, thereby extending the waist joint. Furthermore, when moving the left foot forward, the adjustment unit 180 controls the left foot to bend and the right foot to extend. Specifically, the adjustment unit 180 controls the forced supply of air to the second bellows _172L and the forced exhaust of air from the second bellows _172R .

Furthermore, when the right foot is moved forward, the adjustment unit 180 controls the right foot to bend and the left foot to extend. Specifically, the adjustment unit 180 controls the forced supply of air to the second bellows _172R and the forced exhaust of air from the second bellows _172L . As a result, a smooth walking motion is achieved.

As described above, in this embodiment, when air is forcibly supplied to the first bellows 171 and the second bellows 172 _L and 172 _R by the adjustment unit 180, each bellows expands. Furthermore, due to the expansion of the first bellows 171, the first connecting member 131 connected to one end of the first bellows 171 rotates about the axis members AX1 _L and AX1 _R relative to the mounting member 150 connected to the other end of the first bellows 171. As a result, the lumbar joint moves from an extended state to a flexed state.

Furthermore, due to the expansion stroke of the second bellows 172 _L , the second connecting member 141 _L connected to one end of the second bellows 172 _L rotates with respect to the mounting member 150 connected to the other end of the second bellows 172 _L about the shaft member AX2 _L as the central axis. As a result, the left hip joint changes from an extended state to a flexed state. Furthermore, due to the expansion stroke of the second bellows 172 _R , the second connecting member 141 _R connected to one end of the second bellows 172 _R rotates with respect to the mounting member 150 connected to the other end of the second bellows 172 _R about the shaft member AX2 _R as the central axis. As a result, the right hip joint changes from an extended state to a flexed state.

Therefore, by controlling the expansion stroke of the first bellows 171 and the second bellows 172 _L , 172 _R as the expansion and contraction members, it is possible to assist the movement of the waist joint and the left and right hip joints from the extended state to the flexed state.

Furthermore, in this embodiment, when air is forcibly exhausted from the first bellows 171 and the second bellows 172L and 172R by the adjustment unit 180, each bellows contracts. Furthermore, the contraction of the first bellows 171 causes the first connecting member 131 to rotate relative to the mounting member 150 about the axis members AX1 _L and AX1 _R. As a result, the lumbar joint moves from a flexed state to an extended state.

Furthermore, due to the contraction stroke of the second bellows _172L , the second connecting member _141L rotates relative to the mounting member 150 about the shaft member _AX2L as the central axis. As a result, the left hip joint transitions from a flexed state to an extended state. Furthermore, due to the contraction stroke of the second bellows _172R , the second connecting member _141R rotates relative to the mounting member 150 about the shaft member _AX2R as the central axis. As a result, the right hip joint transitions from a flexed state to an extended state.

Therefore, by controlling the contraction stroke of the first bellows 171 and the second bellows 172 _L , 172 _R as the expansion and contraction members, it is possible to assist the movement of the waist joint and the left and right hip joints from the flexed state to the extended state.

Furthermore, in this embodiment, the adjustment unit 180 is configured to control the movement of the left foot forward, thereby extending the waist joint, flexing the left foot, and extending the right foot. Furthermore, the adjustment unit 180 is configured to control the movement of the right foot forward, thereby extending the waist joint, flexing the right foot, and extending the left foot. This maintains the generation of an extension-assisting force at the waist joint and enables a smooth walking motion.

Furthermore, in this embodiment, the waist exoskeleton component 110 is mounted on the mounting member 150 at a position corresponding to the waist joint so as to be rotatable in the rotational direction of the waist joint. Furthermore, the thigh exoskeleton component _120L is mounted on the mounting member 150 at a position corresponding to the left hip joint so as to be rotatable in the rotational direction of the left hip joint, and the thigh exoskeleton component _120R is mounted on the mounting member 150 at a position corresponding to the right hip joint so as to be rotatable in the rotational direction of the right hip joint. Therefore, smooth joint movement corresponding to the movement of the waist joint can be assisted, as well as smooth joint movement corresponding to the movement of the left and right hip joints.

Furthermore, in this embodiment, the first bellows 171 is disposed on the extended side of the waist joint, the second bellows _172L is disposed on the extended side of the left hip joint, and the second bellows _172R is disposed on the extended side of the right hip joint. Therefore, it is possible to efficiently generate forces that assist the movement of the waist joint, the force that assists the movement of the left hip joint, and the force that assists the movement of the right hip joint.

In addition, in the present embodiment, because the wearable component 160 fits and is reliably fixed to the pelvic area along the shape of the ridge line of the iliac ridges, the sacrum, and the coccyx that form the left and right sides of the pelvic area, the mounting component 150 is reliably fixed to the pelvic area. As a result, even when the first bellows 171 and the second bellows 172 _L and 172 _R expand or contract, the mounting component 150 does not shake and is reliably fixed to the pelvic area. Thus, the force that the first bellows 171 produces can be efficiently transmitted to the lumbar-sacral joint. In addition, the force that the second bellows 172 _L produces can be efficiently transmitted to the left hip joint, and the force that the second bellows 172 _R produces can be efficiently transmitted to the right hip joint. Therefore, when the independent joint motions of the waist joint, the left hip joint, and the right hip joint are independently performed, smooth joint motion can be performed, and stable joint motion can be achieved.

Therefore, according to this embodiment, joint movement can be appropriately assisted and smooth joint movement can be achieved.

[Variations of the Embodiments]

The present invention is not limited to the above-described embodiment, and various modifications are possible.

For example, in the above-described embodiment, the first link member 131 is disposed on the side of the waist exoskeleton member 110, and the second link members 141 _L and 141 _R are disposed on the sides of the thigh exoskeleton members 121 _L and 121 _R. Furthermore, in this embodiment, the other end of the first bellows 171 is connected to the +Z direction side of the back mounting member constituting the mounting member 150, and the other end of the second bellows 172 _L and 172 _R is connected to the -Z direction side of the back mounting member constituting the mounting member 150.

In contrast, in the joint movement assisting device 100B shown in Figures 11 and 12 , the first connecting member 131B can be positioned on the thigh exoskeleton components 121 _L and 121 _R side, and the second connecting members 141 _BL and 141 _BR can be positioned on the waist exoskeleton component 110 side. Furthermore, in such a configuration, the other end of the first bellows 171 is connected to the -Z direction side of the back mounting component constituting the mounting member 150, and the other end of the second bellows 172 _L and 172 _R is connected to the +Z direction side of the back mounting component constituting the mounting member 150. In addition, in the joint movement assisting device 100B shown in Figure 12 , the adjustment unit 180 and the pipes 191, 192 _L , and 192 _R are omitted from illustration.

FIG11 shows the joint motion assisting device 100B when the bellows are expanded, and FIG12 shows the joint motion assisting device 100B when the bellows are contracted. Thus, in the joint motion assisting device 100B, by expanding the first bellows and the two second bellows, the lumbar joint and the hip joint can be moved from a flexed state to an extended state, and by contracting the first bellows and the two second bellows, the lumbar joint and the hip joint can be moved from an extended state to a flexed state.

Furthermore, in the above-described embodiment, the lumbar exoskeleton component 110 is attached to the mounting member 150 via the axis components AX1 _L and AX1 _R at a position corresponding to the lumbar-sacral joint. Alternatively, for example, a joint motion assisting device 100C having the structure shown in FIG13 may be employed. The joint motion assisting device 100C differs from the joint motion assisting device 100 of the above-described embodiment in that it includes a lumbar exoskeleton component 110C in place of the lumbar exoskeleton component 110, an attachment component 150C in place of the mounting member 150, and connecting components CB _L and CB _R (connecting component CB _R not shown) in place of the axis components AX1 _L and AX1 _R.

The waist exoskeleton component 110C differs from the waist exoskeleton component 110 of the above-described embodiment in that it includes waist side wearing components _{111CL and 111CR (} waist side wearing components _111CR are not shown) instead of the waist side wearing components _111L and 111R, and in that it further includes externally toothed gears (gear components) _{210L and 210R} (externally toothed gears _210R are not shown) fixed to the waist side wearing components 111CL and _111CR .

The externally toothed gear _210L is located at the -Z end of the waist side wearing component 111C _L and is fixed to a position corresponding to the lumbosacral joint. This externally toothed gear _210L has teeth formed along the rotational direction of the lumbosacral joint. Furthermore, the externally toothed gear _210R is located at the -Z end of the waist side wearing component 111C _R and is fixed to a position corresponding to the lumbosacral joint. This externally toothed gear _210R has teeth formed along the rotational direction of the lumbosacral joint.

The mounting member 150C differs from the mounting member 150 of the above embodiment in that it further includes externally toothed gears (gear members) 250 _L and 250 _R (the externally toothed gear 250 _R is not shown) fixed to the waist side mounting members 151 _L and 151 _R.

Externally toothed gear _250L is fixed to a position on the lumbar side mounting component _151L corresponding to the sacroiliac joint. Externally toothed gear _250L is formed with teeth that mesh with externally toothed gear _210L . Externally toothed gear _250L meshes with externally toothed gear _210L , and this meshing is ensured by connecting component CB _L. Furthermore, externally toothed gear _250R is fixed to a position on the lumbar side mounting component _151R corresponding to the sacroiliac joint. Externally toothed gear _250R is formed with teeth that mesh with externally toothed gear _210R . Externally toothed gear 250R meshes with externally toothed gear _210R , and this meshing is ensured by connecting component _{CB R. Thus} , in the joint movement assisting device 100C, the lumbar exoskeleton component 110C is mounted to the mounting component 150C via connecting components CB _L and CB _R.

In the joint movement assisting device 100C configured as described above, in a system where the mounting member 150C is relatively stationary, the externally toothed gears _210L and _210R fixed to the lumbar exoskeleton member 110C rotate due to the expansion or contraction of the first bellows 171, while simultaneously revolving around the externally toothed gears _250L and _250R fixed to the mounting member 150C. Consequently, the lumbar exoskeleton member 110C revolves around the central axes of the externally toothed gears _250L and _250R fixed to the corresponding sacroiliac joints, while simultaneously rotating around the central axes of the externally toothed gears _210L and _210R fixed to the corresponding lumbosacral joints. Furthermore, in the joint movement assisting device 100C, the connecting members _CBL and _CBR function as the sacrum (see FIG. 1 ) located between the lumbosacral and sacroiliac joints.

Therefore, the joint movement assisting device 100C can assist smooth joint movements corresponding to the movements of the lumbosacral joint and the sacroiliac joint, and can assist smooth joint movements corresponding to the movements of the left hip joint and the right hip joint.

In the joint movement assisting device 100C, externally toothed gears are fixed to the waist exoskeleton component 110C and the mounting component 150C. However, a rubber member capable of transmitting rotational force may be used instead of the externally toothed gears.

Furthermore, in the above embodiment, the lumbar exoskeleton component is mounted to the mounting member at a position corresponding to the lumbar-sacral joint. However, the lumbar exoskeleton component may also be mounted to the mounting member at a position corresponding to the sacroiliac joint so as to be rotatable in the rotational direction of the sacroiliac joint. Furthermore, the lumbar exoskeleton component may be mounted relative to the mounting member near a position corresponding to the lumbar-sacral joint, near a position corresponding to the sacroiliac joint, or near both the lumbar-sacral joint and the sacroiliac joint.

Furthermore, in the above-described embodiment, the thigh holding member for holding the thigh from the rear side is provided, but the thigh holding member may be omitted.

Furthermore, in the above-described embodiment, the biological information related to the muscles driving the joints is assumed to be biological signals such as electromyogram and muscle stiffness, but the user's brain waves may also be used as the biological information.

Furthermore, although a resin bellows is used in the embodiment, other materials may be used as long as the material is stretchable and contractible and does not impose a burden such as the weight of the device being worn on the human body.

In addition, although the joint movement assisting device of the present invention uses air as the working fluid, it may also be other gases, liquids such as water or oil.

When the joint motion assisting device of the present invention is used in the field of nursing care or welfare, it can not only be worn by the caregiver as a power assist device, but also can be used as a power assist or rehabilitation device even for a care receiver with less strength. In addition, the joint motion assisting device of the present invention can also be used as a power assist device in situations such as lifting heavy objects, in addition to the fields of nursing care and welfare.

In addition, in the above embodiment, although the present invention is applied to a joint movement assisting device for assisting the joint movement of the human body, the present invention can also be applied to joint movement assisting devices for specified objects such as exoskeleton-type mammals, exoskeleton-type robots, etc. other than the human body having a joint mechanism.

Industrial applicability

As described above, the joint movement assisting device of the present invention can be applied to a joint movement assisting device that assists the joint movement of a predetermined object.

Claims (10)

1. A joint movement assistive device, which is an exoskeleton-type joint movement assistive device, is worn on a defined object having a skeletal structure, the joint movement assistive device assisting joint movement using a joint mechanism connected to a connecting portion, the connecting portion connecting a first part of the defined object to at least one second part, characterized in that... This joint movement assist device has the following features: A first exoskeleton component is worn on the first part along the direction extending from the connecting part of the first part; The same number of second exoskeleton components as the second part are worn on the second part along the direction extending from the connection part of the second part; The first expansion and contraction component and the same number of second expansion and contraction components as the second part generate forces that assist the joint movement; The first connecting component is fixedly connected to the first exoskeleton component and connected to one end of the first expansion and contraction component; The same number of second connecting components as the second part are fixedly connected to the second exoskeleton component and connected to one end of the second expansion and contraction component; and A mounting component, disposed between the first connecting component and the second connecting component, mounts the ends of the first exoskeleton component and the second exoskeleton component near the connecting portion so that they are rotatable in the direction of joint rotation, and connects to the other ends of the first and second expansion/contraction components. The connection point of the specified object is the pelvic region of the human body. The first exoskeleton component is worn in the position corresponding to the lumbar spine. The second exoskeleton component consists of two parts: one part is worn on the left thigh, and the other part is worn on the right thigh. The joint movement is assisted by the change in the angle between the first exoskeleton component and the second exoskeleton component, which are rotatably mounted on the mounting component, through the expansion or contraction stroke of at least one of the first expansion and contraction components. 2. The joint movement assist device according to claim 1, characterized in that, The first connecting component is disposed on the side of the first exoskeleton component, and the second connecting component is disposed on the side of the second exoskeleton component. The other end of the first expansion and contraction component is connected to the joint extension side of the mounting component near the first exoskeleton component. The other end of the second expansion and contraction component is connected to the joint extension side of the mounting component on the side of the second exoskeleton component. 3. The joint movement assist device according to claim 2, characterized in that, The joint changes from a bent state to an extended state through the contraction stroke of the first expansion and contraction component and the second expansion and contraction component. 4. The joint movement assist device according to claim 2, characterized in that, The joint changes from an extended state to a bent state through the expansion stroke of the first expansion and contraction component and the second expansion and contraction component. 5. The joint movement assist device according to claim 1, characterized in that, The joint movement assist device also has an adjustment section for adjusting the working fluid pressure within the first expansion and contraction component and the second expansion and contraction component. 6. The joint movement assist device according to claim 1, characterized in that, The end of the first exoskeleton component near the connecting portion is mounted to the mounting component at a position corresponding to the lumbosacral joint, in a manner that allows it to rotate in the rotational direction of the lumbosacral joint. The end of the second exoskeleton component near the connecting portion is mounted to the mounting component at a position corresponding to the left hip joint, in a manner that allows it to rotate in the rotational direction of the left hip joint. The end of the other second exoskeleton component on the side of the connection point is mounted to the mounting component at a position corresponding to the right hip joint in a manner that allows it to rotate in the rotation direction of the right hip joint. 7. The joint movement assist device according to claim 1, characterized in that, The end of the first exoskeleton component near the connecting portion is mounted to the mounting component in such a way that it can rotate about a position corresponding to the sacroiliac joint, while simultaneously rotating about the rotation axis of the lumbosacral joint in the rotation direction of the lumbosacral joint. The end of the second exoskeleton component near the connecting portion is mounted to the mounting component at a position corresponding to the left hip joint, in a manner that allows it to rotate in the rotational direction of the left hip joint. The end of the other second exoskeleton component on the side of the connection point is mounted to the mounting component at a position corresponding to the right hip joint in a manner that allows it to rotate in the rotation direction of the right hip joint. 8. The joint movement assist device according to claim 7, characterized in that, At the end of the first exoskeleton component near the connection point, a gear component with teeth formed along the rotational direction of the lumbosacral joint is fixed at a position corresponding to the lumbosacral joint. At a position on the mounting component corresponding to the sacroiliac joint, a gear component is fixed that meshes with a gear component fixed to the first exoskeleton component. The first exoskeleton component ensures the meshing of gear components fixed to the first exoskeleton component and gear components fixed to the mounting component, the first exoskeleton component being mounted on the mounting component. 9. The joint movement assistive device according to any one of claims 6 to 8, characterized in that, The first expansion and contraction component is positioned on the extension side of the lumbosacral joint. A second expansion and contraction component is configured on the extension side of the left femoral joint, and another second expansion and contraction component is configured on the extension side of the right femoral joint. 10. The joint movement assist device according to claim 1, characterized in that, The mounting component has wearable parts that follow the ridges of the left and right iliac crests of the pelvic region, the shape of the sacrum, and the coccyx. The wearable component is fixed to the posterior and lateral sides of the pelvic region along the ridges of the left and right iliac crests, sacrum, and coccyx.