JP2019000963A - Movement assist device - Google Patents

Abstract

An object of the present invention is to assist the operation of stretching the waist without using a pneumatic actuator or an electric actuator, while preventing the movement of the waist and hip joints. A cord-like body provided on a lumbar first arm and a thigh second arm, wherein a lumbar arm and a thigh arm are connected to each other so as to be rotatable along a surface of the thigh arm. Is pulled along the extending direction by the elastic member, the cord-like body and the elastic member extend the waist arm and the thigh arm. The waist first arm and the waist second arm provided on the lower side of the waist first arm are connected by waist hinges provided along end surfaces of the waist first arm and the waist second arm, The thigh second arm provided below the thigh first arm and the thigh first arm are connected by a thigh hinge provided substantially along a first direction substantially parallel to the waist hinge. The [Selection] Figure 1

Description

  The present invention relates to a motion assist device.

  Japanese Patent Laid-Open No. 2004-133867 discloses a back mounting portion that is mounted on the user's back and can move following the user's forward tilt, and the user's left and right with the mounting portion in the back mounting portion via the mounting portion. A front support portion that is mounted so as to be pivotable in the direction and extends to the front side of the user's trunk and supports the front side of the user's trunk; One end is connected to the lower limb attachment part, and the other end is connected to the back attachment part by a joint part so as to allow relative movement of the back attachment part, and maintains an unbent shape during relative movement. A waist assist device is disclosed that includes a possible connecting portion and an actuator that, in an operating state, acts on the back-mounted portion against a user's forward tilt.

JP 2012-100903 A

  In the invention described in Patent Document 1, since a pneumatic actuator is used as an actuator, a compressor for operating the pneumatic actuator must be used, and there is a problem that the apparatus becomes large or heavy. is there.

  The present invention has been made in view of such circumstances, and is an operation capable of assisting the operation of stretching the waist without using a pneumatic actuator or an electric actuator, while preventing the operation of the waist and the hip joint from being hindered. An object is to provide an auxiliary device.

  In order to solve the above-described problem, the motion assisting device according to the present invention is, for example, a motion assisting device that is mounted on a side surface of a user, and is provided on a substantially plate-like waist arm and below the waist arm. A generally plate-shaped thigh first arm, a substantially plate-shaped thigh second arm provided below the first thigh first arm, and the large thigh arm. A large thigh hinge provided substantially along a first direction substantially orthogonal to the longitudinal direction of the thigh second arm and connecting the first thigh first arm and the second thigh second arm; A thigh arm, a cord having a first end on the waist arm and a second end on the thigh arm, and between the first end and the waist arm or the second end And an elastic member that is provided between the thigh arm and pulls the cord along the extending direction of the cord. A lumbar rotation shaft that connects the lumbar arm and the thigh arm to each other along the surface of the thigh arm, and a central axis that protrudes from the lumbar arm; and the lumbar portion A waist pulley provided at a position different from the rotation axis, wherein the waist pulley is wound around the cord.

  According to the motion assisting device of the present invention, the waist arm and the thigh arm are connected to each other so as to be rotatable along the surface of the thigh arm, and are provided on the waist arm and the second thigh arm. When the formed cord-like body is pulled by the elastic member along the extending direction, the cord-like body and the elastic member extend the waist arm and the thigh arm, that is, the waist of the user wearing the motion assisting device. Assist the stretching action. Thereby, the operation | movement which stretches down without using a pneumatic actuator or an electric actuator can be assisted. The thigh first arm and the thigh second arm provided on the lower side of the thigh first arm are the thigh provided substantially along the first direction substantially parallel to the waist hinge. Connected by hinges. Thereby, it is possible to prevent the operation of the waist and hip joint of the user wearing the motion assisting device from being hindered.

  In order to solve the above-described problem, the motion assisting device according to the present invention is, for example, a motion assisting device that is mounted on a side surface of a user, and is provided on a substantially plate-like waist arm and below the waist arm. A generally plate-shaped thigh first arm, a substantially plate-shaped thigh second arm provided below the first thigh first arm, and the large thigh arm. A large thigh hinge provided substantially along a first direction substantially orthogonal to the longitudinal direction of the thigh second arm and connecting the first thigh first arm and the second thigh second arm; A thigh arm, a substantially plate-like lower limb arm provided on the lower side of the thigh arm, a cord provided with a first end on the lower arm and a second end on the lower limb arm Elastic body provided between the first end and the waist arm or between the second end and the lower limb arm An elastic member that pulls the cord-like body along the extending direction of the cord-like body, and the waist arm and the thigh arm are mutually rotated along the surface of the thigh arm. A lumbar rotation shaft that is movably connected, and a lumbar pulley provided so that a central axis protrudes from the lumbar arm and at a position different from the lumbar rotation shaft, wherein the cord is wound around A hip pulley that connects the thigh arm and the lower limb arm to each other along the surface of the thigh arm, and a central axis that is connected to the thigh A knee pulley that protrudes from two arms and is provided at a position different from the knee rotation axis, wherein the knee pulley is wound around the cord-like body. To do.

  According to the motion assisting device of the present invention, the lumbar arm and the thigh arm are connected to each other so as to be rotatable along the surface of the thigh arm, and the thigh arm and the lower limb arm are connected to each other. When the cords connected to the first arm and the lower limb arm are pulled along the extending direction by the elastic member, the cords and The elastic member extends the lumbar arm and the thigh arm, i.e., assists the operation of extending the waist of the user wearing the operation assisting device, and extends the thigh arm and the lower limb arm, i.e., the operation assisting device. Assisting the user who is wearing the knee to extend the knee. Thereby, the operation | movement which extends a waist | hip | lumbar and a knee without using a pneumatic actuator or an electric actuator can be assisted. The thigh first arm and the thigh second arm provided on the lower side of the thigh first arm are the thigh provided substantially along the first direction substantially parallel to the waist hinge. Connected by hinges. Thereby, it is possible to prevent the operation of the waist and hip joint of the user wearing the motion assisting device from being hindered.

  Here, the waist arm is provided substantially along the first direction, a substantially plate-like waist first arm, a substantially plate-like waist second arm provided below the waist first arm. A waist hinge connecting the waist first arm and the waist second arm, and the cord-like body is provided with the first end on the waist first arm, and the waist pulley has a center A waist part first guide roller and a waist part second guide roller provided so that a shaft protrudes from the waist part second arm, a central axis is substantially along the first direction, and are respectively provided above and below the waist part hinge. In addition, the cord-like body may be wound around and a waist first guide roller and a waist second guide roller provided at a position sandwiching the cord-like body may be provided. As a result, even if the lumbar first arm rotates relative to the lumbar second arm around the lumbar hinge, the movement of the cord-like body is not hindered, and the lumbar arm and the thigh arm are They can be rotated with respect to each other along the plane.

  Here, the central axis is substantially along the first direction, and includes a thigh first guide roller provided on the lower side of the thigh hinge, and the cord-like body has the second end at the second end. The thigh first arm is provided on the thigh first guide roller, and the cord-like body is wound around the thigh first guide roller, and the thigh first guide roller is connected to the thigh second arm side. The state body may contact. As a result, even if the second thigh arm rotates outwardly about the thigh hinge, the winding angle of the cord on the thigh first guide roller only changes, and the cord Are not hindered, and the lumbar arm and the thigh arm can be rotated with each other along the surface of the thigh arm.

  Here, a thigh second guide roller is provided in parallel to the waist pulley and below the thigh hinge, and the thigh second guide roller includes the waist pulley and the large pulley. The thigh second guide roller is provided between the thigh first guide roller, the cord-like body is wound around the thigh second guide roller, and the thigh first arm and the thigh second arm are straight. The waist pulley and the thigh second guide roller are provided at a position sandwiching the cord-like body, and between the waist pulley and the thigh first guide roller. In the above, the cord-like body may be extended linearly. That is, even if the lumbar arm pivots around the lumbar pivot axis, only the angle at which the cord-like body wraps around the thigh second guide roller changes, and the thigh first guide roller and large The thigh second guide roller and the cord-like body remain in a parallel state. As a result, even if the lumbar arm rotates about the lumbar rotation axis, the lumbar arm and the thigh arm can rotate along the surface of the thigh arm.

  Here, the waist pulley may be provided at a position closer to the lower end of the waist arm than the waist rotation axis. Thereby, the auxiliary | assistant force by an elastic member and a cord-like body can be enlarged, so that the rotation angle of a waist | hip | lumbar part arm becomes large.

  Here, the knee pulley may be provided at a position closer to the lower end of the thigh second arm than the knee rotation axis. Thereby, the auxiliary | assistant force by an elastic member and a cord-like body can be enlarged, so that the rotation angle of a leg part arm becomes large.

  According to the present invention, it is possible to assist the operation of stretching the waist without using a pneumatic actuator or an electric actuator, while preventing the operation of the waist and hip joints from being hindered.

It is a front view showing the outline of operation auxiliary device 1 concerning a 1st embodiment. It is a figure which shows the state in which the user mounted | wore the movement assistance apparatus 1, (A) shows the state which the user stood, (B) shows the state in which the user fell the upper body sideways, (C) Indicates a state in which the user operates to spread the legs outward. 2 is a rear view showing an outline of an auxiliary unit 10. FIG. 2 is a side view showing an outline of an auxiliary unit 10. FIG. FIG. 4 is a partially enlarged view of FIG. 3. It is a perspective view which shows the outline of the auxiliary | assistant unit 10, and is the figure which expanded and displayed one part. It is a side view which shows the state of the auxiliary | assistant unit 10 when the user with which the operation | movement auxiliary | assistance apparatus 1 was mounted | hung fell the upper body forward. It is the perspective view which shows the state of the auxiliary | assistant unit 10 when the user who mounted | wore the operation | movement assistance apparatus 1 fell the upper body forward, It is the figure which expanded and displayed one part. It is a rear view which shows the state of the auxiliary | assistant unit 10 when the user who mounted | wore the movement assistance apparatus 1 fell the upper body sideways. FIG. 10 is a rear view showing a state of the auxiliary unit 10 when the lower back first arm 11a rotates on the opposite side to the state shown in FIG. 9, and is a partially enlarged view. It is a perspective view which shows the state of the auxiliary | assistant unit 10 when the user with which the operation | movement auxiliary | assistance apparatus 1 was mounted | worn spread a leg outside. It is a side view which shows the outline of 10 A of auxiliary units concerning a modification. It is a side view which shows the outline of the auxiliary | assistant unit 10B concerning a modification. It is a side view which shows the state which the user mounted | wore with the operation assistance apparatus 2, (A) shows the state which the user stood, (B) shows the state which the user bent down. It is a side view (partially enlarged view) showing the state of the auxiliary unit 10C when the user wearing the movement assisting device 2 bends the knee, and (A) shows the thigh second arm 12b and the lower limb arm 41. Is the case where the angle between the thigh second arm 12b and the lower limb arm 41 is θ2 (θ2> θ1). It is a side view which shows the state in which the user mounted | wore the movement assistance apparatus 3, (A) shows the state which the user stood, (B) shows the state in which the user bent down. It is a side view (partially enlarged view) showing the state of the auxiliary unit 10D when the user wearing the movement assisting device 3 bends the knee, and (A) shows the thigh second arm 12b and the lower limb arm 41. (B) is a case where the angle formed between the thigh second arm 12b and the lower limb arm 41 is θ4 (θ4> θ3). It is a side view which shows the state in which the user mounted | wore the operation assistance apparatus 4, (A) shows the state which the user stood, (B) shows the state in which the user bent down.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The motion assisting device of the present invention assists the motion of rotating the waist in the direction of stretching the body using a cord-like body.

<First Embodiment>
FIG. 1 is a front view showing an outline of the motion assisting device 1 according to the first embodiment. 2A and 2B are diagrams illustrating a state in which the user wears the motion assisting device 1, in which FIG. 2A illustrates a state in which the user stands and FIG. 2B illustrates a state in which the user lays the upper body sideways. , (C) shows a state in which the user has performed an action of spreading the legs outward. The motion assisting device 1 enables the user to perform the operation of lying down the upper body or spreading the legs outward while assisting the user in rotating his / her waist in the direction of stretching the body.

  1 and 2 show a situation when the user faces the front side of the page. For the sake of explanation, the vertical and horizontal directions are based on the direction when viewed from the user. Hereinafter, the direction from the rear to the front of the user is the + x direction, the direction from the left to the right of the user is the + y direction, and the direction from the bottom to the top of the user is the + z direction.

  The motion assisting device 1 mainly includes an auxiliary unit 10 that is mounted on the right side of the user, an auxiliary unit 20 that is mounted on the left side of the user, and a member that allows the user to mount the auxiliary units 10 and 20. A backrest portion 31, a shoulder strap portion 32, a waist strap portion 33, and a pad 34.

  The backrest 31 includes a right plate 31a provided near the upper end of the auxiliary unit 10, a left plate 31b provided near the upper end of the auxiliary unit 20, a connecting portion 31c that connects the right plate 31a and the left plate 31b, Have The shoulder strap portion 32 is provided on each of the right plate 31a and the left plate 31b. When the user puts the shoulder strap portion 32 on the shoulder, the back rest portion 31 is mounted on the back portion of the user.

  The waist strap 33 allows the auxiliary units 10 and 20 to be attached to the user's waist. When the user winds the waist cord portion 33 around the waist, the auxiliary units 10 and 20 are mounted on the side surface of the user.

  The pad 34 has a curved shape covering the front side of the user's thigh. The pad 34 is provided in each of the auxiliary units 10 and 20. When the user hooks the pad 34 on the front side of the thigh of the user, the auxiliary units 10 and 20 are mounted on the side of the thigh of the user. Instead of the pad 34, the auxiliary units 10 and 20 may be attached to the user's thigh side using a string or the like.

  In this way, by fixing the auxiliary units 10 and 20 to the side surface of the user using the back pad portion 31, the shoulder strap portion 32, the waist strap portion 33 and the pad 34, the motion auxiliary device 1, that is, the auxiliary units 10 and 20. Can assist the user's actions. In addition, the form which fixes the auxiliary units 10 and 20 to a user's side surface is not restricted to this.

  Hereinafter, a detailed configuration of the auxiliary units 10 and 20 will be described. Since the auxiliary unit 10 and the auxiliary unit 20 are symmetrical, the auxiliary units 10 and 20 will be described below using the auxiliary unit 10.

  FIG. 3 is a rear view schematically showing the auxiliary unit 10. FIG. 4 is a side view illustrating the outline of the auxiliary unit 10.

  The auxiliary unit 10 mainly includes a waist arm 11, a thigh arm 12, a cord-like body 13, an elastic member 14, a waist rotation shaft 15, a waist pulley 16, a waist guide roller 17, and a thigh. Part guide roller 18.

  The waist arm 11 mainly includes a substantially plate-like waist first arm 11a, a substantially plate-like waist second arm 11b provided on the lower side (−z side) of the waist first arm 11a, and a waist first arm. 11a and a waist hinge 11c that connects the waist second arm 11b. The waist hinge 11c is substantially along the x direction, and is provided along the end surfaces of the waist first arm 11a and the waist second arm 11b. The waist part hinge 11c connects the lower end of the waist part first arm 11a and the upper end of the waist part second arm 11b, so that the waist part first arm 11a and the waist part second arm 11b can rotate relative to each other.

  A waist strap portion 33 (not shown in FIGS. 3 and 4; see FIG. 1) is provided on the waist second arm 11b. The waist second arm 11b is provided with a plurality of rollers 11d, 11e, 11f, and 11g for guiding the cord-like body 13. Note that the positions and number of the rollers 11d, 11e, 11f, and 11g are not limited to this. Further, the rollers 11d, 11e, 11f, and 11g are not essential.

  The thigh arm 12 is provided below the waist arm 11. The thigh arm 12 mainly includes a substantially plate-like thigh first arm 12a, a substantially plate-like thigh second arm 12b provided on the lower side of the thigh first arm 12a, and a large thigh arm 12. It has a thigh hinge 12c that connects the thigh first arm 12a and the thigh second arm 12b. The thigh hinge 12c is substantially along the x direction, and the thigh hinge 12c connects the lower end of the thigh first arm 12a and the upper end of the thigh second arm 12b, so that the thigh The first arm 12a and the thigh second arm 12b are rotatable with respect to each other.

  A pad 34 is provided on the thigh second arm 12b (here, near the lower end of the thigh second arm 12b). As a result, the thigh arm 12 can be fixed to the side surface of the user. The pad 34 is provided on the thigh second arm 12b via the rotation shaft 35, and the pad 34 and the thigh second arm 12b are rotatable relative to each other.

  The waist second arm 11b and the thigh first arm 12a are connected to each other by a waist rotation shaft 15 so as to be rotatable with respect to each other. Therefore, with respect to the thigh first arm 12a fixed to the user, the waist second arm 11b rotates about the waist rotation shaft 15 along the surface of the thigh first arm 12a.

  The cord-like body 13 is a wire rope, for example, and functions as a drive rope that drives the waist arm 11 and the thigh arm 12. In the present embodiment, the wire rope is used as the cord-like body 13, but a string, a steel wire, or the like may be used as the cord-like body 13. One end of the cord-like body 13 is provided on the waist first arm 11 a via the elastic member 14, and the other end of the cord-like body 13 is provided on the thigh second arm 12 b via the attachment member 36.

  The elastic member 14 is, for example, a mainspring spring, and pulls the cord-like body 13 along the extending direction of the cord-like body 13. The elastic member 14 is provided inside the case 14a. In addition, the elastic member 14 is not limited to a mainspring spring, For example, a tension spring may be sufficient.

  The elastic member 14 is provided between the waist first arm 11 a and the end of the cord-like body 13. Specifically, the inner end of the elastic member 14 is fixed, and a bar (not shown) around which the elastic member 14 is wound and the case 14a are fixed to the waist first arm 11a and formed on the case 14a. The end of the cord-like body 13 enters the inside of the case 14a through the hole 14b, and the end of the cord-like body 13 is fixed to the outer end of the elastic member 14.

  In the present embodiment, the elastic member 14 is provided between the waist first arm 11a and the end of the cord-like body 13, but between the thigh second arm 12b and the end of the cord-like body 13. The elastic member 14 may be provided.

  The waist pulley 16 mainly has a waist first pulley 16a and a waist second pulley 16b (corresponding to the waist pulley of the present invention). Grooves 16c and 16d are formed in the waist first pulley 16a and the waist second pulley 16b, respectively, and the cord-like body 13 is wound around the grooves 16c and 16d.

  Center axes 16e and 16f of the waist first pulley 16a and the waist second pulley 16b are provided substantially along the x direction so as to protrude from the waist second arm 11b. The waist first pulley 16a and the waist second pulley 16b are rotatable with respect to the central shafts 16e and 16f, respectively. The waist first pulley 16 a and the waist second pulley 16 b are provided at positions different from the waist rotation shaft 15. Further, the waist first pulley 16a and the waist second pulley 16b are provided at positions sandwiching the cord-like body 13.

  In the present embodiment, the waist first pulley 16a and the waist second pulley 16b are provided closer to the lower end of the waist second arm 11b than the waist rotating shaft 15, but the waist first pulley 16a and waist first The two pulleys 16b may be provided at a position other than the vicinity of the lower end of the waist second arm 11b. Further, the waist first pulley 16a is not essential.

  The waist guide roller 17 mainly includes a waist first guide roller 17a and a waist second guide roller 17b provided above and below the waist hinge 11c, and a waist first guide roller 17a and a waist second guide roller 17b. And an attachment member 17c attached to the arm 11b. A groove (not shown) is formed in each of the waist first guide roller 17a and the waist second guide roller 17b, and the cord-like body 13 is wound around each of the grooves.

  FIG. 5 is a partially enlarged view of FIG. In the waist first guide roller 17a and the waist second guide roller 17b, the center axes 17d and 17e are substantially parallel to the waist hinge 11c, that is, substantially along the x direction, and rotate with respect to the center axes 17d and 17e, respectively. Is possible.

  The waist first guide roller 17a is provided on the upper side (+ z side) of the waist hinge 11c, and the waist second guide roller 17b is provided on the lower side of the waist hinge 11c. Further, the waist first guide roller 17a and the waist second guide roller 17b are provided at positions where the cord-like body 13 is sandwiched. Although the waist first guide roller 17a and the waist hinge 11c partially overlap, the center shaft 17d is located above the waist hinge 11c, and such a case is also included in the case where it is provided above.

  Returning to the description of FIGS. The thigh guide roller 18 mainly includes a thigh first guide roller 18a and a thigh second guide roller 18b provided on the lower side of the waist rotation shaft 15, and a thigh first guide roller 18a and And an attachment member 18c for attaching the thigh second guide roller 18b to the thigh first arm 12a.

  FIG. 6 is a perspective view showing an outline of the auxiliary unit 10 and is a partially enlarged view. Grooves 18d and 18e are formed in the first thigh first guide roller 18a and the second thigh second guide roller 18b, respectively, and the cord-like body 13 is wound around each of the grooves 18d and 18e.

  The center axis 18f of the thigh first guide roller 18a is substantially parallel to the thigh hinge 12c, that is, substantially along the x direction, and the thigh first guide roller 18a is rotatable with respect to the center axis 18f. is there. The thigh first guide roller 18a is provided so that the cord-like body 13 abuts on the thigh second arm 12b side of the thigh first guide roller 18a.

  The thigh second guide roller 18b is provided between the thigh hinge 12c and the thigh first guide roller 18a. The center axis 18g of the thigh second guide roller 18b is substantially orthogonal to the thigh hinge 12c, that is, along the y direction, and the thigh second guide roller 18b is rotatable with respect to the center axis 18g. .

  When the thigh first arm 12a and the thigh second arm 12b are arranged linearly, the waist second pulley 16b and the thigh second guide roller 18b are provided at a position sandwiching the cord-like body 13. It is done. In other words, the cord 13 comes into contact with the rear side of the waist second pulley 16b, and the cord 13 comes into contact with the front side of the thigh second guide roller 18b.

  Further, when the thigh first arm 12a and the thigh second arm 12b are linearly arranged, the cord-like body 13 is disposed between the waist second pulley 16b and the thigh first guide roller 18a. Is extended in a straight line.

  Returning to the description of FIGS. As shown in FIGS. 3 and 4, when the user stands up, that is, when the waist first arm 11a, thigh first arm 12a and thigh second arm 12b are arranged in a straight line, The body 13 extends linearly between the waist guide roller 17 and the attachment member 36.

  FIG. 7 is a side view showing a state of the auxiliary unit 10 when the user wearing the movement assisting device 1 tilts the upper body forward. In FIG. 4, the waist arm 11 and the thigh arm 12 are arranged linearly, whereas in FIG. 7, the waist arm 11 is inclined with respect to the thigh arm 12.

  The waist arm 11 rotates about the waist rotation shaft 15 with respect to the thigh arm 12. Since the cord-like body 13 is wound around the waist second pulley 16b, the length of the cord-like body 13 existing between the waist guide roller 17 and the mounting member 36 is increased by the inclination of the waist arm 11. The cord-like body 13 pulls the elastic member 14.

  As a result, the elastic member 14 pulls the cord-like body 13 along the extending direction of the cord-like body 13. When the cord-like body 13 is pulled by the elastic member 14, this force acts on the waist second pulley 16b and tries to turn the thigh arm 12 clockwise in FIG. 7 (see the arrow in FIG. 7). An attempt is made to rotate the arm 11 counterclockwise in FIG. As a result, the motion assisting device 1 assists the operation of stretching the waist of the user wearing the motion assisting device 1.

  Since the waist second pulley 16b is provided at a position closer to the lower end of the waist second arm 11b than the waist rotation shaft 15, the larger the rotation angle of the waist arm 11, the greater the elastic member 14 and the cord-like body 13. Auxiliary power increases. Hereinafter, this point will be described.

  For example, in the state shown in FIG. 4, the waist second pulley 16 b is located in a line connecting the fixing position of the cord-like body 13 by the attachment member 36 and the waist rotation shaft 15. Therefore, in this case, almost no force is generated by the elastic member 14 and the cord-like body 13 to rotate the waist arm 11.

  As shown in FIG. 7, when the lumbar arm 11 rotates approximately 30 degrees, the straight line perpendicular to the line A <b> 1 that connects the fixing position of the cord-like body 13 by the attachment member 36 and the lumbar rotation shaft 15. The distance between the line A1 and the center of the waist second pulley 16b is a distance D1. On the other hand, as shown by a two-dot chain line in FIG. 7, when the waist arm 11 rotates approximately 15 degrees, a line A2 connecting the fixing position of the cord-like body 13 by the mounting member 36 and the waist rotation shaft 15. The distance connecting the line A2 and the center of the waist second pulley 16b on a straight line perpendicular to the distance D2 is a distance D2, and the distance D2 is smaller than the distance D1. Accordingly, the force when the elastic member 14 and the cord-like body 13 rotate the waist arm 11 when the waist arm 11 rotates approximately 30 degrees is greater than when the waist arm 11 rotates approximately 15 degrees. Will grow.

  FIG. 8 is a perspective view showing a state of the auxiliary unit 10 when the user wearing the motion assisting device 1 tilts the upper body forward, and is a partially enlarged view. Since the thigh first guide roller 18a is provided in a line connecting the groove 18e of the thigh second guide roller 18b and the fixing position of the cord-like body 13 by the mounting member 36 (see FIG. 4), the waist Even if the lumbar arm 11 rotates around the rotation shaft 15, the cord 13 remains parallel to the grooves 18d and 18e of the first thigh first guide roller 18a and the second thigh second guide roller 18b. I keep it.

  That is, the cord-like body 13 abuts on the rear side of the waist second pulley 16b and the cord-like body 13 abuts on the front side of the thigh second guide roller 18b. Even if the arm rotates forward (see the arrow in FIG. 8) (the lumbar arm 11 rotates clockwise in FIG. 8), the wrapping angle of the cord 13 around the thigh second guide roller 18b changes. However, the positional relationship between the thigh first guide roller 18a and the cord-like body 13 does not change. Therefore, even if the lumbar arm 11 rotates about the lumbar rotation shaft 15, the lumbar arm 11 and the thigh arm 12 can rotate along the surface of the thigh arm 12.

  For example, when the thigh second guide roller 18b is not provided, the cord-like body 13 wound around the waist second pulley 16b is inclined with respect to the groove 18d of the thigh first guide roller 18a. (Refer to the long broken line in FIG. 8). Therefore, friction is generated between the cord-like body 13 and the groove 18d, and the force for the elastic member 14 and the cord-like body 13 to rotate the waist arm 11 is reduced. However, the grooves 18d and 18e of the thigh first guide roller 18a and the thigh second guide roller 18b and the cord-like body 13 are kept in parallel, so that the elastic member 14 and the cord-like body 13 become the waist arm. Thus, it is possible to prevent the force to turn 11 from being reduced.

  FIG. 9 is a rear view showing the state of the auxiliary unit 10 when the user wearing the movement assisting device 1 lays the upper body sideways. The waist first arm 11a rotates with respect to the waist second arm 11b around the waist hinge 11c. 8, the waist first arm 11a is rotated clockwise from the state shown in FIG. Since the waist second guide roller 17b is provided below the waist hinge 11c, the cord-like body 13 is deeply wound around the waist second guide roller 17b, and the movement of the cord-like body 13 is not hindered.

  FIG. 10 is a rear view showing a state of the auxiliary unit 10 when the lower back first arm 11a rotates on the opposite side to the state shown in FIG. 9, and is a partially enlarged view. Since the waist first guide roller 17a is provided on the upper side (+ z side) of the waist hinge 11c, the cord-like body 13 is deeply wound around the waist first guide roller 17a, and the movement of the cord-like body 13 is not hindered.

  In this way, the waist first guide roller 17a and the waist second guide roller 17b are provided above and below the waist hinge 11c, and the cord-like body 13 is provided between the waist first guide roller 17a and the waist second guide roller 17b. Thus, even if the lumbar first arm 11a rotates relative to the lumbar second arm 11b around the lumbar hinge 11c, the movement of the cord-like body 13 is not hindered, and the lumbar arm 11 and the thigh arm 12 The thigh arms 12 can be rotated together along the surface of the thigh arm 12.

  FIG. 11 is a perspective view showing a state of the auxiliary unit 10 when the user wearing the motion assisting device 1 spreads the legs outward. The thigh second arm 12b rotates outwardly with respect to the thigh first arm 12a around the thigh hinge 12c. In FIG. 11, the thigh second arm 12b is rotated counterclockwise in FIG. 11 from the state shown in FIG. The thigh first guide roller 18a is provided below the thigh hinge 12c, and the cord-like body 13 contacts the thigh second arm 12b side of the thigh first guide roller 18a. Even if the part second arm 12b rotates, only the wrapping angle of the cord 13 around the first thigh guide roller 18a changes, and the movement of the cord 13 is not hindered.

  According to the present embodiment, by using the cord-like body 13 and the elastic member 14, the user who wears the motion assisting device 1 sits in the direction of stretching the body without using the pneumatic actuator or the electric actuator. The rotating operation can be assisted.

  For example, a battery or the like is required when using an electric actuator, and a compressor or the like is required when using a pneumatic actuator. Is possible. In the present embodiment, since no electric power is required, it can be used in an environment without electricity or at the time of a disaster.

  Further, according to the present embodiment, even if the lumbar arm 11 rotates about the lumbar rotation shaft 15, the grooves 18d and 18e of the thigh first guide roller 18a and the thigh second guide roller 18b. And the cord 13 are kept parallel to each other, so that unnecessary friction does not occur between the cord 13 and the groove 18d, and the elastic member 14 and the cord 13 try to rotate the waist arm 11. It is possible to prevent the power to be reduced.

  Further, according to the present embodiment, the user wearing the motion assisting device 1 is provided by providing the waist hinge 11c and the waist first guide roller 17a and the waist second guide roller 17b above and below the waist hinge 11c. However, even if the upper body is tilted sideways, the cord-like body 13 can be placed along the waist first guide roller 17a and the waist second guide roller 17b. Thereby, it is possible to prevent the movement of the user's waist wearing the movement assisting device 1 from being hindered. Further, the thigh hinge 12c is provided, and the thigh first guide roller 18a is provided on the lower side of the thigh hinge 12c, so that the user wearing the motion assisting device 1 can tilt the upper body forward, The cord-like body 13 can be placed along the first thigh first guide roller 18a and the second thigh second guide roller 18b. Thereby, it is possible to prevent the operation of the hip joint of the user wearing the motion assisting device 1 from being hindered. Further, even if the user wearing the motion assisting device 1 moves the waist or hip joint, the movement of the cord-like body 13 is not hindered, so that the motion assisting device 1 can always assist the motion of stretching the waist.

  Further, according to the present embodiment, since the waist pulley 16 is provided on the lower side of the waist rotation shaft 15, the elastic member 14 and the cord-like body 13 are connected to the waist arm 11 as the rotation angle of the waist arm 11 increases. It is possible to increase the force for rotating the. Therefore, even if the user wearing the motion assisting device 1 bends the waist deeply, the user can easily stretch the waist. Further, when the user wearing the motion assisting device 1 tries to bend his / her waist, the biasing force of the elastic member 14 is applied to the cord-like body 13, so that the motion assisting device 1 can serve as a cushion.

  In the present embodiment, the cord-like body 13 is provided in the vicinity of the lower end of the thigh second arm 12b, but the attachment position of the cord-like body 13 is not limited to this. FIG. 12 is a side view illustrating an outline of an auxiliary unit 10A according to a modification.

  The auxiliary unit 10 </ b> A mainly includes a waist arm 11, a thigh arm 12, a cord-like body 13, an elastic member 14, a waist rotation shaft 15, a waist pulley 16, and a waist guide roller 17. .

  The auxiliary unit 10A eliminates the thigh guide roller 18 with respect to the auxiliary unit 10, and fixes one end of the cord-like body 13 to the position of the thigh second guide roller 18b in the auxiliary unit 10 via the attachment member 36. . Therefore, it is possible to assist the operation of rotating the waist using the cord-like body 13 and the elastic member 14 while reducing the number of parts.

  In the present embodiment, the waist arm 11 has the waist hinge 11c, but the waist hinge 11c is not essential. FIG. 13 is a side view showing an outline of an auxiliary unit 10B according to a modification.

  The auxiliary unit 10 </ b> B mainly includes a waist arm 11 </ b> A, a thigh arm 12, a cord-like body 13, an elastic member 14, a waist rotation shaft 15, and a waist pulley 16.

  The waist arm 11A mainly includes a substantially plate-like waist arm 11i and rollers 11j and 11k. The waist arm 11i has an upper end protruding rearward (−x direction) as compared with the waist first arm 11a (see FIG. 4). That is, in the waist arm 11, the upper part 11u (see FIG. 4) of the waist first arm 11a is close to the user's back, and in the waist arm 11A, the upper part 11v of the waist arm 11i is separated from the user's back. .

  In the lumbar arm 11, when the user falls the upper body sideways, the lumbar first arm 11a and the upper body of the user interfere with each other. Therefore, the lumbar first arm 11a is moved by using the lumbar hinge 11c. It was made to change with. On the other hand, in the waist arm 11A, the upper arm 11v of the waist arm 11i is separated from the upper body of the user so that the waist arm 11A and the upper body do not interfere even if the user lays the upper body sideways. Can do.

  However, in the waist arm 11A, since the upper portion 11v of the waist arm 11i and the upper body of the user are separated, the posture of the user is difficult to stabilize. Accordingly, it is desirable that the waist first arm 11a and the user's back are in close contact like the waist arm 11, and the waist first arm 11a is deformed along with the movement of the upper body using the waist hinge 11c.

<Second Embodiment>
In the second embodiment, knee motion assistance is performed in addition to waist motion assistance. Hereinafter, the operation assisting device 2 according to the second embodiment will be described. In addition, about the part same as the movement assistance apparatus 1 which concerns on 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  FIG. 14 is a side view showing a state in which the user wears the motion assisting device 2. FIG. 14A shows a state where the user is standing, and FIG. 14B shows a state where the user is bent. The motion assisting device 2 mainly includes an auxiliary unit 10C that is mounted on the right side of the user, an auxiliary unit 20C that is mounted on the left side of the user, and a member that allows the user to mount the auxiliary units 10C and 20C. A backrest portion 31, a shoulder strap portion 32, a waist strap portion 33, and a pad 34. In FIG. 14, only the auxiliary unit 10 </ b> C is illustrated, and illustration of other members is omitted.

  Hereinafter, the detailed configuration of the auxiliary units 10C and 20C will be described. Since the auxiliary unit 10C and the auxiliary unit 20C are symmetrical, the auxiliary units 10C and 20C will be described below using the auxiliary unit 10C.

  The auxiliary unit 10C mainly includes a waist arm 11, a thigh arm 12, a cord-like body 13, an elastic member 14, a waist rotation shaft 15, a waist pulley 16A, and a waist guide roller 17 (not shown). And a thigh guide roller 18 (not shown), a lower limb arm 41, a knee rotation shaft 42, and a knee pulley 43.

  The lower limb arm 41 is substantially plate-shaped, and the knee rotation shaft 42 is formed by connecting the thigh arm 12 (here, the thigh second arm 12b) and the lower limb arm 41 to the surface of the thigh arm 12. Are connected to each other so as to be rotatable.

  One end of the cord-like body 13 is provided on the lower first arm 11 a via the elastic member 14, and the other end of the cord-like body 13 is provided on the lower limb arm 41 via the attachment member 36. In the present embodiment, the elastic member 14 is provided between the waist first arm 11 a and the end of the cord 13, but the elastic member 14 is provided between the lower limb arm 41 and the end of the cord 13. It may be provided.

  A knee rotation shaft 42 is provided on the thigh second arm 12b. The thigh second arm 12b and the lower limb arm 41 are connected to each other by a knee rotation shaft 42 so as to be rotatable with respect to each other. Therefore, the lower limb arm 41 rotates about the knee rotation shaft 42 along the surface of the thigh second arm 12b with respect to the thigh second arm 12b.

  A central axis 16g of the waist pulley 16A protrudes from the waist second arm 11b and is provided substantially along the x direction. The waist pulley 16A is rotatable with respect to the central shaft 16g. A groove (not shown) is formed in the waist pulley 16A, and the cord-like body 13 is wound around the groove.

  The waist pulley 16 </ b> A is provided at a position different from the waist rotation shaft 15. In the present embodiment, the waist pulley 16A is provided at a position closer to the lower end of the waist second arm 11b than the waist rotation shaft 15, but the waist pulley 16A is provided at a position other than the vicinity of the lower end of the waist second arm 11b. May be.

  A central axis 43a of the knee pulley 43 protrudes from the thigh second arm 12b and is provided substantially along the x direction. The knee pulley 43 is rotatable with respect to the central axis 43a. A groove (not shown) is formed in the knee pulley 43, and the cord-like body 13 is wound around the groove.

  The knee pulley 43 is provided at a position different from the knee rotation shaft 42. In the present embodiment, the knee pulley 43 is provided at a position closer to the lower end of the thigh second arm 12b than the knee rotation shaft 42, but the knee pulley 43 is provided at the lower end of the thigh second arm 12b. It may be provided at a position other than the vicinity.

  Since the cord-like body 13 is wound around the knee pulley 43, the length of the cord-like body 13 existing between the waist pulley 16A and the attachment member 36 is increased by the rotation of the lower limb arm 41. Thus, the cord-like body 13 pulls the elastic member 14. As a result, the elastic member 14 pulls the cord-like body 13 along the extending direction of the cord-like body 13. When the cord-like body 13 is pulled by the elastic member 14, this force acts on the knee pulley 43 and tries to rotate the lower limb arm 41 counterclockwise in FIG. As a result, the motion assisting device 2 assists the operation of extending the knee of the user wearing the motion assisting device 2.

  FIG. 15 is a side view (partially enlarged view) showing a state of the auxiliary unit 10C when the user wearing the movement assisting device 2 bends the knee, and (A) shows the thigh second arm 12b and the lower limb. The angle formed with the upper arm 41 is θ1, and (B) is the case where the angle formed between the thigh second arm 12b and the lower limb arm 41 is θ2 (θ2> θ1).

  As shown in FIG. 15A, when the lower limb arm 41 is rotated by an angle θ1, the line A3 connecting the fixed position of the cord-like body 13 by the attachment member 36 and the knee rotation shaft 42 is used. A distance connecting the line A3 and the center of the knee pulley 43 on a straight line is a distance D3. On the other hand, as shown in FIG. 15B, when the lower limb arm 41 is rotated by an angle θ2, a line A4 connecting the fixed position of the cord-like body 13 by the attachment member 36 and the knee rotation shaft 42 is connected. The distance connecting the line A4 and the center of the knee pulley 43 on the straight line perpendicular to the distance is the distance D4, and the distance D3 is smaller than the distance D4. Therefore, the elastic member 14 and the cord-like body 13 will rotate the lower limb arm 41 when the lower limb arm 41 is rotated by the angle θ2 than when the lower limb arm 41 is rotated by the angle θ1. The power to increase.

  As described above, the knee pulley 43 is provided at a position closer to the lower end of the second thigh second arm 12b than the knee rotation shaft 42, so that the larger the rotation angle of the lower limb arm 41 is, the more elastic it is. The auxiliary force by the member 14 and the cord-like body 13 is increased.

  According to the present embodiment, using the cord-like body 13 and the elastic member 14, the user wearing the motion assisting device 2 can assist the operation of rotating the waist and knees in the direction of stretching the body. In other words, the motion assisting device 2 can assist the operation of extending the waist and knees without using a pneumatic actuator or an electric actuator.

  Further, according to the present embodiment, as the rotation angle of the lower limb arm 41 increases, the force with which the elastic member 14 and the cord-like body 13 try to rotate the lower limb arm 41 can be increased. Therefore, even if the user wearing the motion assisting device 2 bends the knee deeply, the user can easily extend the knee.

  In the present embodiment, one cord 13 is used, but two cords may be used. For example, a cord-like body in which a first end is provided in the waist first arm 11a, a second end is provided in the thigh second arm 12b, and a first end is provided in the thigh second arm 12b, A cord-like body provided with a second end on the lower limb arm 41 may be used. When two cords are used, the elastic member 14 may be provided for each cord, and the position of the elastic member 14 is arbitrary.

<Third Embodiment>
In the third embodiment, the arrangement positions of the waist pulley 16A and the knee pulley 43 are changed with respect to the motion assisting device 2 of the second embodiment. Hereinafter, the motion assisting device 3 according to the third embodiment will be described. In addition, the same code | symbol is attached | subjected about the part same as the operation assistance apparatus 1 which concerns on 1st Embodiment, and the operation assistance apparatus 2 which concerns on 2nd Embodiment, and description is abbreviate | omitted.

  FIGS. 16A and 16B are side views showing a state in which the user wears the motion assisting device 3. FIG. 16A shows a state where the user is standing, and FIG. 16B shows a state where the user is bent. The motion assisting device 3 mainly includes an auxiliary unit 10D that is mounted on the right side of the user, an auxiliary unit 20D that is mounted on the left side of the user, and a member that allows the user to mount the auxiliary units 10D and 20D. A backrest portion 31, a shoulder strap portion 32, a waist strap portion 33, and a pad 34. In FIG. 16, only the auxiliary unit 10D is illustrated, and the other members are not shown.

  Hereinafter, the detailed configuration of the auxiliary units 10D and 20D will be described. Since the auxiliary unit 10D and the auxiliary unit 20D are symmetrical, the auxiliary units 10D and 20D will be described below using the auxiliary unit 10D.

  The auxiliary unit 10D mainly includes a waist arm 11B, a thigh arm 12A, a cord-like body 13, an elastic member 14, a waist rotation shaft 15, a waist pulley 16A, and a waist guide roller 17 (not shown). And a thigh guide roller 18 (not shown), a lower limb arm 41, a knee rotation shaft 42, and a knee pulley 43.

  The waist arm 11B mainly has a substantially plate-like waist first arm 11a, a waist second arm 11b, a waist hinge 11c, and a substantially plate-like protrusion 11h provided on the waist second arm 11b. . The protruding portion 11h is provided so as to protrude to the rear side (−x side) of the waist second arm 11b. The −x side is the side from which the lower end of the waist second arm 11b protrudes when the waist arm 11A rotates with respect to the first thigh arm 12a. The protrusion 11h is provided with a waist pulley 16A.

  The thigh arm 12A is a substantially plate-like thigh first arm 12a, thigh second arm 12b, thigh hinge 12c, and a thigh second arm 12b. A plate-like protrusion 12d. The protruding portion 12d is provided to protrude to the front side (+ x side) of the thigh second arm 12b. The + x side is a side on which the upper end of the lower limb arm 41 protrudes when the lower limb arm 41 rotates with respect to the first thigh first arm 12a. Further, the protruding portion 12d is provided above the knee rotation shaft 42. A knee pulley 43 is provided on the protruding portion 12d.

  FIG. 17 is a side view (partially enlarged view) showing a state of the auxiliary unit 10D when the user wearing the movement assisting device 3 bends the knee, and FIG. 17A shows the thigh second arm 12b and the lower limbs. The angle formed with the upper arm 41 is θ3, and (B) is the case where the angle formed between the thigh second arm 12b and the lower limb arm 41 is θ4 (θ4> θ3).

  As shown in FIG. 17A, when the lower limb arm 41 is rotated by an angle θ3, the fixed position of the cord-like body 13 by the attachment member 36 (not shown in FIG. 17), the knee rotation shaft 42, and The distance connecting the line A5 and the center of the knee pulley 43 on the straight line perpendicular to the line A5 connecting is the distance D5. On the other hand, as shown in FIG. 17B, when the lower limb arm 41 is rotated by an angle θ4, the fixing position of the cord-like body 13 by the attachment member 36 (not shown in FIG. 17) and the knee rotation. The distance connecting the line A6 and the center of the knee pulley 43 on the straight line perpendicular to the line A6 connecting the shaft 42 is the distance D6, and the distance D6 is smaller than the distance D5. Accordingly, the elastic member 14 and the cord-like body 13 rotate the lower limb arm 41 when the lower limb arm 41 rotates by the angle θ3 than when the lower limb arm 41 rotates by the angle θ4. The power to increase.

  As described above, the knee pulley 43 is provided on the front side and the upper side of the knee rotation shaft 42, so that the elastic member 14 and the cord-like body 13 become the lower limb arm as the rotation angle of the lower limb arm 41 increases. The force (auxiliary force) for turning 41 is reduced.

  According to the present embodiment, as the rotation angle of the lower limb arm 41 increases, the force with which the elastic member 14 and the cord-like body 13 rotate the lower limb arm 41 can be reduced. Therefore, it is possible to assist the user wearing the movement assisting device 3 in the leg-raising operation, that is, the user's walking.

  Moreover, according to this Embodiment, auxiliary | assistant force can be adjusted by changing the position of the height direction (z direction) of the protrusion parts 11h and 12d.

  In this embodiment, the protrusion 11h and the waist pulley 16A are provided on the rear side of the waist second arm 11b, and the protrusion 12d and the knee pulley 43 are provided on the front side of the thigh second arm 12b. The positions of the protrusions 11h and 12d, the waist pulley 16A, and the knee pulley 43 are not limited to this. 18A and 18B are side views showing a state in which the user wears the motion assisting device 4, wherein FIG. 18A shows a state where the user is standing and FIG. 18B shows a state where the user is bent. In the auxiliary units 10E and 20E (the auxiliary unit 20E is not shown) of the movement assisting device 4, the protrusion 11h and the waist pulley 16A are provided on the front side of the waist second arm 11b in the waist arm 11C, and protrude in the thigh arm 12B. The portion 12d and the knee pulley 43 are provided on the rear side of the thigh second arm 12b. The movement assisting device 4 can assist the movement in the direction of bending the user's waist and the direction of bending the knee, that is, the user's walking.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and design changes and the like within a scope not departing from the gist of the present invention are included. .

  Further, in the present invention, “substantially” is a concept including not only a case where they are exactly the same but also errors and deformations that do not lose the identity. For example, “substantially parallel” and “substantially orthogonal” are not limited to strictly parallel and orthogonal. Further, for example, when simply expressing as parallel, orthogonal, etc., not only strictly parallel, orthogonal, etc., but also includes cases of substantially parallel, substantially orthogonal, etc. Further, in the present invention, the “neighborhood” is a concept indicating that when it is in the vicinity of A, for example, it is near A and may or may not include A.

1, 2, 3, 4: Motion assist device 10, 10A, 10B, 10C, 10D, 10E: Auxiliary unit 11, 11A, 11B, 11C: Lumbar arm 11a: Lumbar first arm 11b: Lumbar second arm 11c: Lumbar Hinge 11d, 11e, 11f, 11g: Roller 11h: Protruding part 11i: Lumbar arm 12, 12A, 12B: Thigh arm 12a: Thigh first arm 12b: Thigh second arm 12c: Thigh hinge 12d: Protruding portion 13: Cord-like body 14: Elastic member 14a: Case 14b: Hole 15: Lumbar rotation shaft 16, 16A: Lumbar pulley 16a: Lumbar first pulley 16b: Lumbar second pulley 16c, 16d: Groove 16e, 16, 16g: Center shaft 17: Lumbar guide roller 17a: Lumbar first guide roller 17b: Lumbar second guide roller 17c: Mounting member 7d, 17e: Center shaft 18: Thigh guide roller 18a: Thigh first guide roller 18b: Thigh second guide roller 18c: Mounting members 18d, 18e: Grooves 18f, 18g: Center shafts 20, 20A 20B, 20C, 20D: auxiliary unit 31: back pad 31a: right plate 31b: left plate 31c: connecting portion 32: shoulder strap portion 33: waist strap portion 34: pad 35: rotating shaft 36: attachment member 41: lower limb arm 42: Knee rotation shaft 43: Knee pulley 43a: Center axis

Claims (7)

A motion assisting device mounted on the side of the user,
A substantially plate-like waist arm;
A thigh arm provided on the lower side of the lumbar arm, the substantially plate-shaped thigh first arm and the substantially plate-shaped thigh provided on the lower side of the thigh first arm. A second arm and a first arm that is provided along a first direction substantially orthogonal to the longitudinal direction of the second thigh arm and connects the first thigh arm and the second thigh arm. A thigh arm having a thigh hinge; and
A cord having a first end on the lumbar arm and a second end on the thigh arm;
An elastic member provided between the first end and the waist arm or between the second end and the thigh arm and pulling the cord along the extending direction of the cord;
A waist rotation shaft for connecting the waist arm and the thigh arm to each other along the surface of the thigh arm so as to be able to rotate;
A waist pulley provided with a central axis protruding from the waist arm and at a position different from the waist rotation axis, the waist pulley around which the cord-like body is wound;
A motion assisting device characterized by comprising: A motion assisting device mounted on the side of the user,
A substantially plate-like waist arm;
A thigh arm provided on the lower side of the lumbar arm, the substantially plate-shaped thigh first arm and the substantially plate-shaped thigh provided on the lower side of the thigh first arm. A second arm and a first arm that is provided along a first direction substantially orthogonal to the longitudinal direction of the second thigh arm and connects the first thigh arm and the second thigh arm. A thigh arm having a thigh hinge; and
A substantially plate-like lower limb arm provided on the lower side of the thigh arm;
A cord having a first end on the lumbar arm and a second end on the lower limb arm;
An elastic member provided between the first end and the waist arm or between the second end and the lower limb arm, and pulls the cord along the extending direction of the cord An elastic member;
A waist rotation shaft for connecting the waist arm and the thigh arm to each other along the surface of the thigh arm so as to be able to rotate;
A waist pulley provided with a central axis protruding from the waist arm and at a position different from the waist rotation axis, the waist pulley around which the cord-like body is wound;
A knee rotation shaft for connecting the thigh arm and the lower limb arm so as to be rotatable along the surface of the thigh arm; and
A knee pulley provided with a central axis protruding from the thigh second arm and at a position different from the knee rotation axis, the knee pulley around which the cord is wound; ,
A motion assisting device characterized by comprising: The waist arm includes a substantially plate-like waist first arm, a substantially plate-like waist second arm provided below the waist first arm, and substantially along the first direction. A waist hinge connecting the first arm and the waist second arm;
The cord-like body is provided with the first end on the waist first arm,
The waist pulley is provided such that a central axis protrudes from the waist second arm,
A waist axis first guide roller and a waist part second guide roller, each having a central axis substantially along the first direction and provided respectively above and below the waist hinge, wherein the cord-like body is wound around the cord The motion assisting device according to claim 1, further comprising a waist first guide roller and a waist second guide roller provided at a position sandwiching the shaped body. A central axis substantially along the first direction, and includes a thigh first guide roller provided below the thigh hinge;
The cord-like body is provided with the second end on the thigh second arm,
The cord-like body is wound around the thigh first guide roller, and the cord-like body abuts on the thigh second arm side of the thigh first guide roller. The motion assisting device according to any one of claims 1 to 3. A thigh second guide roller provided parallel to the waist pulley and below the thigh hinge;
The thigh second guide roller is provided between the waist pulley and the thigh first guide roller,
The cord-like body is wound around the thigh second guide roller,
When the thigh first arm and the thigh second arm are arranged in a straight line, the waist pulley and the thigh second guide roller are provided at a position sandwiching the cord-like body, The motion assisting device according to claim 4, wherein the cord-like body extends linearly between the waist pulley and the first thigh first guide roller.   The said waist pulley is provided in the position close | similar to the lower end of the said waist arm rather than the said waist rotation axis | shaft, The movement assistance apparatus as described in any one of Claim 1 to 5 characterized by the above-mentioned.   The motion assisting device according to claim 2, wherein the knee pulley is provided at a position closer to a lower end of the second thigh second arm than the knee rotation shaft.

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