WO2012070244A1 - Wearable motion assistance device - Google Patents

Abstract

This wearable motion assistance device (10) is provided with: a hip frame (30) that has an base section (31) elongated in the left-right direction of a wearer; a left-right pair of lower limb frames (50, 50) that are connected to the bottom of the hip frame (30); a back frame (40) that is connected to the top of the base section (31) of the hip frame (30); and a connection section (70) that connects the back frame (40) to the base section (31) of the hip frame (30). The connection section (70) is a rotating mechanism having one degree of freedom in the coronal plane, and, for example, is configured from a four-bar linkage mechanism.

Description

Wearable motion support device

The present invention relates to a device that is attached to a human body and assists or substitutes for the muscular strength of the human body.

In recent years, wearable motion support devices that have been put on the body of elderly people or physically handicapped and assisting with walking or transferring (moving between a wheelchair and a bed, etc.) by assisting or acting on muscle strength have been put into practical use. It is going This technology is also applied to the development of a wearable motion support device that assists the heavy work of a healthy person. In order to drive the wearable motion support device for a long time, a long-life battery is required. Such a battery is generally large and heavy. In view of this, Patent Documents 1 and 2 describe a wearable motion support device having a structure that does not place a load on a device including a battery and a wearing tool on a wearer.

As shown in FIG. 14A, the wearable movement assist device disclosed in Patent Document 1 includes a wearer 101 including an actuator, a biosignal sensor 102 that detects a wearer's biosignal, and a wearer's biosignal. And a control device 103 for operating the actuator based on the controller. The wearing tool 101 includes a waist part 104 wound around the body of the wearer, a backpack 105 inserted into the waist part 104 from above, and a leg part 106 fixed to the leg part of the wearer. The backpack 105 accommodates a battery and a control device 103. The leg portion 106 includes a hip joint actuator 111, a thigh brace 112, a knee joint actuator 113, a leg thigh brace 114, and a foot frame 115 fixed to the lower portion of the waist 104, and are connected in this order. Since the wearing tool 101 having the above configuration includes the foot frame 115 on which the wearer's foot is placed, all loads of the backpack and the wearing tool are supported by the foot frame and are not applied to the wearing person.

In Patent Document 2, a lower extremity exoskeleton device is shown. FIG. As shown in FIG. 15, the lower limb exoskeleton device described in 9 includes a pelvis frame 120, a back frame 121 connected to the upper part of the pelvis frame 120, and a lower limb frame 123 connected to the lower part of the pelvis frame 120. It has. Also in the lower limb exoskeleton, a foot frame 124 for placing the wearer's foot on the lower limb frame 123 is provided.

JP 2005-95561 A US Patent Publication US2006 / 0260620

It is known that when a human walks, the human pelvis swings up to 5-8 degrees from the horizontal on the front face. Here, the “frontal plane” means a plane that cuts the human body back and forth, and “swing on the frontal plane” means swinging in parallel with the frontal plane about an axis perpendicular to the frontal plane. . The frontal plane is also called the coronal plane or the frontal plane. In the wearable movement assist device described in Patent Document 1, as shown in FIG. 14B, when the waist portion 104 swings from the horizontal as the wearer's pelvis swings, the backpack 105 attached to the waist portion 104. Oscillation propagates to Even if the waist 104 is slightly swayed, the sway is enlarged at the upper end of the backpack 105 away from the waist 104. When the backpack 105 is shaken, a portion where the backpack 105 is moored on the body (shoulder, chest, or side) of the wearer is rubbed with the body to give a discomfort to the wearer. Furthermore, since the backpack 105 is heavy, the wearer consumes extra muscular activity to maintain balance and stabilize walking.

As shown in FIG. 15, in the lower limb exoskeleton device described in Patent Document 2, the pelvic frame 120 is divided into two left and right members and connected by one pivot, and the pelvic frame 120 is on the frontal plane. And has two degrees of freedom of rotation. The back frame 121 is pivotally supported by a pivot to which two members constituting the pelvis frame 120 are pivoted. In such a structure, when the load loaded on the back frame 121 becomes heavy, the back frame 121 tends to sink downward due to its own weight, so from the shoulder belt mooring the back frame 121 to the wearer's body, A burden is placed on the shoulder of the wearer.

Therefore, in the present invention, a wearable motion support device comprising a waist frame, a back frame connected to the upper portion of the waist frame, and a lower limb frame connected to the lower portion of the waist frame, when the wearer walks An object of the present invention is to suppress the back frame shaking caused by the swing of the wearer's pelvis and to suppress the rubbing between the body and the locking tool mooring the back frame to the body.

A wearable movement support apparatus according to the present invention is a wearable movement support apparatus that assists or substitutes for a wearer's muscular strength, and has a base that is long in the left-right direction of the wearer, and the waist circumference of the wearer Connected to the lower part of the waist frame, a pair of left and right leg frames to be attached to the lower limbs of the wearer, and connected to the upper part of the waist frame to be attached to the shoulders of the wearer A back frame having a locking tool for mooring, and a one-degree-of-freedom rotation mechanism on the frontal face connecting the back frame and the base of the waist frame. Here, the “rotation mechanism with one degree of freedom on the front face” refers to a mechanism that outputs a rotation action with one degree of freedom on the front face to the other with respect to one input action of the waist frame and the back frame.

In the wearable movement support device, the rotation mechanism includes a lower link provided on the waist frame and substantially parallel to the base, an upper link provided on the back frame, the lower link, and the upper link. The left link and the right link joined to each other, and a four-bar link mechanism that is line symmetric with respect to the left and right center of the waist frame as a symmetry axis can be obtained.

According to the above-described wearable motion support device, when the wearer who wears the device walks, the waist frame swings from the horizontal along with the swing of the wearer's pelvis. Does not propagate to the back frame. As described above, since the roll of the back frame is suppressed, it is possible to prevent rubbing between the body and the part mooring the back frame to the wearer's body.

In the wearable motion support device, it is preferable that the four-bar linkage mechanism has a vertically inverted trapezoidal shape in which the four bars are sequentially connected by a line. In the four-bar link mechanism, the four bars correspond to the joints of the links. Here, the “upside down trapezoid” means a trapezoid whose upper side is longer than the lower side and whose left side and right side are equal in length. According to the above-described configuration, the center of gravity of the back frame moves toward the stance side in accordance with the inclination of the lumbar frame, and the load of the device is applied to the lower limb frame on the stance side.

In the wearable motion support device, it is preferable that a joining position of at least one of the lower link and the upper link with the right link and the left link is variable in the left-right direction. With this configuration, the length of at least one of the upper side (between the right link and left link of the upper link) and the lower side (between the right link and left link of the lower link) is variable. Become. Then, by changing the length of at least one of the upper side and the lower side of the four-bar linkage mechanism, the size of the four-bar linkage mechanism is adjusted to the wearer's physique, or when the lower link swings, It is possible to adjust the maximum displacement amount at the center of the left and right of the upper link.

In the wearable motion support device, the rotation mechanism is an axis perpendicular to a frontal face inserted into a joint hole provided in each of a substantially horizontal center of the base portion of the waist frame and a substantially horizontal center of the back frame. It may be configured. With such a configuration, the waist frame and the back frame become an even number having one degree of freedom of rotation on the front face.

In the wearable motion support device, it is preferable that the pair of left and right lower limb frames and the waist frame have a rotational degree of freedom on the frontal plane of 4 in total and a rotational degree of freedom on the sagittal plane of 4 or more. In such a wearable movement support device, for example, the pair of left and right lower limb frames includes a thigh arm that is worn on the thigh of the wearer, and a lower arm that is worn on the lower leg of the wearer, A leg arm to be attached to the wearer's foot, and the thigh arm and the lower leg arm are rotatably connected on a sagittal plane; the waist frame, the thigh arm, and the lower leg arm; And the foot arm are connected so as to be rotatable on the sagittal plane and the frontal plane.

In the wearable motion support device, it is preferable that the lower limb frame has a restricting member that restricts a rotation range on a frontal face of the lower leg arm with respect to the lower arm. With such a configuration, even when the center of gravity of the back frame moves to the standing leg side or the free leg side when the one leg is in a standing leg state, the lower leg arm can be prevented from falling outward relative to the leg arm.

In the wearable movement support device, the lower limb frame includes a thigh arm to be worn on the wearer's thigh, a lower leg arm to be worn on the wearer's lower leg, and the thigh arm as a reference length. And a first translational degree-of-freedom mechanism that can extend in the translational direction. Furthermore, in the wearable motion support device, the first translational degree-of-freedom mechanism may have one degree of freedom of rotation. With this configuration, the wearer can move the leg without a sense of incongruity while being assisted by the wearable movement support device.

In the wearable motion support device, the lower limb frame includes a thigh arm to be worn on the wearer's thigh, a lower leg arm to be worn on the wearer's lower leg, and a reference length of the lower leg arm. And a second translational degree-of-freedom mechanism that can extend in the translational direction. With this configuration, the wearer can move the leg without a sense of incongruity while being assisted by the wearable movement support device.

In the wearable motion support device, the lower limb frame may include a sole plate on which the wearer's foot is placed. With this configuration, the load of the wearable movement support device is supported by the sole plate and is not loaded on the wearer.

According to the present invention, when the waist frame swings from the horizontal when the wearer walks, the swing of the waist frame does not propagate to the back frame. As described above, since the roll of the back frame is suppressed, it is possible to prevent rubbing between the body and the part mooring the back frame to the wearer's body.

1 is a schematic front view of a wearable motion support apparatus according to an embodiment of the present invention. It is a front view which shows the lower left part of a mounting | wearing type | mold movement assistance apparatus. It is a side view which shows the lower left part of a mounting | wearing type | mold movement assistance apparatus. It is a block diagram of the actuator for hip joints. It is a block diagram of the actuator for knee joints. It is an enlarged side view of a 1st translational freedom degree mechanism. It is an enlarged side view of a 2nd translational freedom degree mechanism. It is a front view which shows the connection part of a waist | hip | lumbar part frame and a back part frame. It is a figure explaining the variation of the left-right symmetrical four-bar linkage mechanism. It is a figure explaining the variation of the left-right symmetrical four-bar linkage mechanism. It is a figure explaining the variation of the left-right symmetrical four-bar linkage mechanism. It is a schematic front view of the wearing-type operation support device in a single standing leg state. It is a figure which shows an example of a four-bar linkage mechanism, Comprising: The compatible leg state is shown. It is a figure which shows an example of a four-bar linkage mechanism, Comprising: The one-leg stand state is shown. It is a figure which shows the modification of a four-bar linkage mechanism, Comprising: The compatible leg state is shown. It is a figure which shows the modification of a four-bar linkage mechanism, Comprising: The one-leg stand state is shown. It is a schematic front view of the wearing type movement support device showing a modification of a connection part of a waist frame and a back frame, and shows a compatible leg state. FIG. 6 is a schematic front view of a wearable motion support device showing a modification of the connection portion between the waist frame and the back frame, and shows a single-legged state. It is a schematic front view of the mounting | wearing type movement assistance apparatus which shows the modification of a back part frame. It is a front view of the conventional mounting | wearing type movement assistance apparatus, Comprising: The compatible leg state is shown. It is a front view of the conventional mounting | wearing type movement assistance apparatus, Comprising: The one-leg stand state is shown. It is a front view of the conventional leg exoskeleton apparatus. It is a figure which shows schematic structure of the drive device which concerns on another form. It is a figure which shows the state which increased the output link angle of the drive device of FIG. It is a front view which shows the lower left part of a mounting | wearing type | mold movement assistance apparatus. It is a side view which shows the lower left part of a mounting | wearing type | mold movement assistance apparatus. It is a side view which shows the lower left part of the mounting | wearing type | mold movement assistance apparatus of the attitude | position which bent the knee. It is a figure explaining the link length ratio and torque transmission ratio of the five-bar link mechanism with which an operation support device is provided. It is a figure which shows the state which increased the output link angle of the five-bar linkage mechanism shown in FIG. It is an enlarged view in the waist vicinity of the wearable motion support device according to another embodiment. FIG. 24 is a left side view of the wearable motion support device shown in FIG. 23. FIG. 24 is a rear view of the wearable motion support device shown in FIG. 23. FIG. 25 is a perspective view of the wearable movement support device shown in FIG. 24. It is a left view of the mounting | wearing type | mold movement assistance apparatus which concerns on another form 2, Comprising: The right figure shows the state which the user crouched and the left figure has shown the state stood | started up. FIG. 25 is an enlarged left side view in the vicinity of the waist of a wearable motion support apparatus according to a modified example of another form 2 and corresponding to FIG. 24. FIG. 29 is a left side view of the wearable motion support apparatus shown in FIG. 28, in which the right figure shows a state where the user is squatting, and the left figure shows a state where the user has stood up. It is a side view which shows the lower left part of the mounting | wearing type | mold movement assistance apparatus which concerns on another form 3. It is a front view which shows the lower left part of the mounting | wearing type movement assistance apparatus which concerns on another form 3. It is a plane partial cross section which shows the structure of a hip joint power transmission mechanism. It is a side view which shows the lower left part of the mounting | wearing type | mold movement assistance apparatus of the state which rotationally displaced the hip joint part and the knee joint part. It is VI-VI sectional drawing in FIG. It is VII-VII sectional drawing in FIG. It is VIII-VIII sectional drawing in FIG. It is a figure explaining the relationship between a wearer's thigh, a thigh rod, and a knee joint actuator when a wearer is seated.

Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings. In the following description, the same or corresponding elements are denoted by the same reference symbols throughout the drawings, and redundant description thereof is omitted.

A wearable motion support apparatus 10 according to an embodiment of the present invention is worn on a human body regardless of an elderly person, a physically handicapped person, or a healthy person, and assists or substitutes the muscle strength of the lower limb mainly of the wearer. This supports the operation of the wearer. As shown in FIG. 1, the wearable motion support apparatus 10 includes a wearing tool 11, a battery 13 and a controller 14 housed in a backpack 12. The wearing tool 11 includes a waist frame 30 that is worn around the waist (pelvis) of the wearer, a back frame 40 that is worn on the back of the wearer, and left and right lower limb frames 50 that are worn on the lower limbs of the wearer. 50. The backpack 12 is detachably mounted on the back frame 40 of the wearing tool 11. Next, the configuration of the wearing tool 11 will be described in detail with reference to FIGS. In the following, “left-right direction” refers to the shoulder width direction of the wearer, “front-rear direction” refers to the front-rear direction of the wearer, and “sagittal plane” refers to a plane that cuts the wearer's body symmetrically. A plane parallel to this is referred to as “frontal plane”, which is a plane that cuts the wearer's body back and forth and is perpendicular to the sagittal plane.

[Lumbar frame 30]
The waist frame 30 is substantially U-shaped in plan view so as to cover the back side and the left and right sides of the wearer's waist (pelvis). Specifically, the lumbar frame 30 is long in the left-right direction and is located on the back side of the wearer's waist (pelvis), and side portions 32, 32 projecting forward from the left and right ends of the base 31. And. The base portion 31 and the side portions 32 and 32 are formed integrally or are formed separately and fastened by fasteners such as bolts and nuts, and the waist frame 30 behaves integrally. In addition, the waist | hip | lumbar part frame 30 which concerns on this Embodiment is comprised by the several member (base part 31, side part 32, 32) fastened, The fastening position can be adjusted. And the effective dimension of the waist | hip | lumbar part frame 30 can be adjusted so that it may adapt to a wearer's physique by adjusting the fastening position of the base 31 and the side part 32 suitably. The waist frame 30 includes a locking tool (not shown) such as a belt or a hook for mooring around the waist of the wearer, and the waist frame 30 is anchored to the waist of the wearer.

[Lower limb frame 50]
The left and right lower limb frames 50 and 50 have substantially the same configuration, and are provided symmetrically about the left and right lines with the left and right center of the waist frame 30 as the symmetry axis. Therefore, only the structure of one (left side) lower limb frame 50 will be described in detail. The lower limb frame 50 includes a thigh arm 51, a crus arm 52, and a foot arm 53. The thigh arm 51 is moored to the wearer's thigh, the lower leg arm 52 is moored to the wearer's lower leg, and the lower arm 53 is moored from the wearer's ankle to the lower part. Each arm is provided with a locking tool (not shown) such as a belt or a hook for mooring to the wearer's body.

The thigh arm 51 is connected to the front end portion of the side portion 32 of the waist frame 30 via a hip joint actuator 61 and a hip joint 62. The front end portion of the side portion 32 of the lumbar frame 30 is adjusted so as to be located on the side of the upper end of the wearer's femur. The hip joint actuator 61 is provided so as to protrude outward from the front end portion of the side portion 32 of the waist frame 30. As shown in FIG. 4A, the hip joint actuator 61 is supported substantially parallel to the frontal face by a gear case 61a fixed to the waist frame 30, a first motor 61b, and a bearing provided in the gear case 61a. The first transmission shaft 61c and a first reduction gear 61e provided on the first transmission shaft 61c are provided. The first reduction gear 61e meshes with the output gear 61d of the motor 61b. The first transmission shaft 61 c is fixed to a first joint 62 a that is a component of the hip joint 62. Further, the hip joint 62 connects the first joint 62a, the second joint 62b connected to the upper portion of the thigh arm 51, and the first joint 62a and the second joint 62b so as to be rotatable on the front face. And a pivot 62c. Note that “rotate on the front frame” means to rotate while maintaining parallel to the front frame about an axis perpendicular to the front frame. With the above configuration, the output of the first motor 61b is transmitted to the first transmission shaft 61c through the output gear 61d and the first reduction gear 61e, and the first transmission shaft 61c is rotated to the first relative to the waist frame 30. The joint 62a rotates on the sagittal plane. Note that “rotate on the sagittal plane” means that the axis rotates around the axis perpendicular to the sagittal plane while maintaining parallelism with the sagittal plane.

The thigh arm 51 is composed of a plurality of shaft-like members or long flat plate-like members, and these members are connected in the long-axis direction. The joining positions of the respective members constituting the thigh arm 51 are variable, and the length of the thigh arm 51 (dimension in the long axis direction) can be set to be equal to that of the wearer's thigh by appropriately selecting these joining positions. It is adjusted to fit the length. The length of the thigh arm 51 adjusted in this way is referred to as the “reference length of the thigh arm”. The reference length of the thigh arm is also the minimum length of the thigh arm 51.

The thigh arm 51 includes a first translational degree-of-freedom mechanism 55 that enables the thigh arm 51 to extend in the translational direction (long axis direction) by 1-30 mm from the reference length. FIG. 5 is a schematic view of the first translational degree of freedom mechanism. As shown in FIG. 5, in the connecting portion between the thigh arm 51 and the second joint 62b of the hip joint 62, one of the thigh arm 51 and the second joint 62b is provided with a connecting pin 55a extending in the translational direction. The connection pin 55a is slidably inserted into the connection hole 55b. These connection pins 55a and connection holes 55b constitute a first translational degree-of-freedom mechanism 55. The connection pin 55a and the thigh arm 51 are a sliding pair, and the thigh arm 51 extends in the translational direction when a slip occurs between the connection pin 55a and the connection hole 55b. Further, the connection pin 55a can be rotated in the radial direction (around the axis of the connection pin 55a) in the connection hole 55b, and thereby, the thigh arm 51 is given a degree of freedom of rotation (one degree of freedom of rotation around the axis). ing. In the present embodiment, a connection pin 55a protrudes downward from the lower end of the second joint 62b, and a connection hole 55b extending in the translation direction is provided at the upper end of the thigh arm 51. The connection pin 55a is longer than the connection hole 55b, and the lower end of the connection pin 55a projects downward from the connection hole 55b. A flange 55c having a diameter larger than that of the connection hole 55b is provided at the lower end of the connection pin 55a, and the flange 55c functions as a retaining pin for the connection pin 55a from the connection hole 55b. The opening edge of the connection hole 55b and the flange part 55c are spaced apart in the translational direction, and a compression spring as an urging member 55d is externally fitted between the opening edge of the connection hole 55b of the connection pin 55a and the flange part 55c. . In the above configuration, the extension allowance L1 in the translational direction of the thigh arm 51 is the length of the connection pin 55a that appears between the lower end of the second joint 62b and the upper end of the thigh arm 51. The extension allowance L1 is 0 when the lower end of the second joint 62b and the upper end of the thigh arm 51 are in contact with each other, and the urging member 55d urges the connection pin 55a so that the extension allowance L1 becomes 0. ing. When a tensile load is applied to the thigh arm 51, the extension pin L1 increases as the connection pin 55a moves in the connection hole 55b against the urging force of the urging member 55d. The dimensions of the components of the first translational freedom degree mechanism 55 are determined so that the extension allowance L1 is allowed in the range of 1-30 mm.

The lower leg arm 52 is connected to the lower part of the thigh arm 51 via the knee joint actuator 63. As shown in FIG. 4B, the knee joint actuator 63 includes a gear case 63b fixed to the upper portion of the lower leg arm 52, and a second bearing that is supported substantially parallel to the frontal face by a bearing provided in the gear case 63b. A transmission shaft 63a, a second reduction gear 63e provided on the second transmission shaft 63a, a second motor 63c, and an output gear 63d provided on the output shaft of the second motor 63c are provided. The output gear 63d and the second reduction gear 63e are meshed. The second transmission shaft 63 a is fixed to the lower end portion of the thigh arm 51. With the above configuration, the output of the second motor 63c is transmitted to the second transmission shaft 63a via the output gear 63d and the second gear 63e, and the lower arm 52 is moved relative to the thigh arm 51 by the rotation of the second transmission shaft 63a. Rotate on the sagittal plane.

The lower leg arm 52 is composed of a plurality of shaft-like members or long flat plate-like members fastened with fasteners such as bolts and nuts. The fastening position of these members is variable, and by adjusting the fastening position as appropriate, the length of the lower leg arm 52 (dimension in the longitudinal direction) is adjusted to match the length of the wearer's lower leg. Has been. The length of the lower leg arm 52 adjusted in this way is referred to as a “reference length of the lower leg arm”. The reference length of the lower leg arm is also the minimum length of the lower leg arm 52.

The lower leg arm 52 includes a second translational degree-of-freedom mechanism 57 that allows the lower leg arm 52 to extend in the translational direction (long axis direction) by 1-30 mm from the reference length. FIG. 6 is a schematic view of the second translational degree of freedom mechanism. As shown in FIG. 6, in a connecting portion between the lower end of the crus arm 52 and a first joint 64 a of an ankle joint 64 described later, a prismatic part extending in the translation direction to one of the crus arm 52 and the first joint 64 a. 57a is provided, and on the other side, a rectangular tube portion 57b into which the prism portion 57a is slidably inserted is provided. A second translational degree-of-freedom mechanism 57 is configured by the rectangular column portion 57a and the rectangular tube portion 57b. The rectangular column part 57a and the crus arm 52 are sliding pairs, and the crus arm 52 extends in the translational direction when the prismatic part 57a slides in the translational direction in the rectangular tube part 57b. In the present embodiment, a rectangular tube portion 57b is provided at the lower end portion of the crus arm 52, and a rectangular column portion 57a is provided at the upper end portion of the first joint 64a. Further, the rectangular tube portion 57b is provided with a tension spring as an urging member 57c that urges the prism portion 57a in a direction in which the rectangular column portion 57a is accommodated in the rectangular tube portion 57b. In the above configuration, the extension L2 in the translational direction of the crus arm 52 is the length of the prism portion 57a that appears between the lower end of the crus arm 52 and the upper end of the first joint 64a. The extension allowance L2 is 0 when the lower end of the crus arm 52 is in contact with the upper end of the first joint 64a, and the urging member 57c urges the prism 57a so that the extension allowance L2 becomes zero. ing. When a tensile load is applied to the crus arm 52, the extension allowance L2 increases as the prism 57a moves in the rectangular tube 57b against the urging force of the urging member 57c. The dimensions of the constituent elements of the second translational freedom degree mechanism 57 are determined so that the extension allowance L2 is allowed in the range of 1-30 mm.

The lower leg arm 52 and the lower arm 53 are connected via an ankle joint 64. The ankle joint 64 includes a first joint 64a connected to the lower end of the crus arm 52, a second joint 64b pivotally connected to the first joint 64a on the front face, and a second joint 64b. On the other hand, a third joint 64c pivotably connected on the sagittal plane is provided. A sole plate 53a constituting the foot arm 53 is connected to the lower portion of the third joint 64c. The sole plate 53a has an integral shape that covers at least the wearer's heel.

The pair of left and right lower limb frames 50 and the lumbar frame 30 having the above-described configuration generally have four degrees of freedom of rotation on the frontal plane and four or more (6 in this embodiment) degrees of freedom of rotation on the sagittal plane. ing. The degree of freedom of rotation on the forehead surface is provided at the connection portion between the waist frame 30 and the thigh arm 51 and at the connection portion between the crus arm 52 and the foot arm 53, respectively. Further, the degree of freedom of rotation on the sagittal plane is provided at the connection portion between the waist frame 30 and the thigh arm 51, the connection portion between the thigh arm 51 and the lower leg arm 52, and the connection portion between the lower leg arm 52 and the lower leg arm 53, respectively. Yes. By setting the degree of freedom of movement in the waist frame 30 and the pair of left and right lower limb frames 50 and 50 as described above, the wearing tool 11 can provide the movement of the lower limb with less discomfort for the wearer.

[Back frame 40]
The back frame 40 is a so-called backpack. The back frame 40 includes a side belt for anchoring to the shoulder and chest of the wearer, a locking tool 44 such as a shoulder strap and a hook. The backpack 12 is loaded on the back frame 40. The battery 13 stored in the backpack 12 supplies electricity to the hip joint actuator 61, the knee joint actuator 63, and the controller 14. Further, the controller 14 stored in the backpack 12 receives a detection signal from a sensor (not shown) provided in each part of the wearing device 11 so that the wearing device 11 assists or substitutes for the operation of the wearer. The hip joint actuator 61 and the knee joint actuator 63 are controlled. The sensor is a sensor that detects a physical quantity such as a change in the center of gravity of the member or a load applied to the member. Instead of or in addition to these, a biosignal sensor that detects a wearer's biosignal is used. It may be used. If the biological signal sensor is used, the actuators 61 and 63 can generate power according to the wearer's intention.

The connecting portion 70 that connects the back frame 40 and the waist frame 30 is composed of a rotating mechanism with one degree of freedom on the front face. Here, the “rotating mechanism with one degree of freedom on the front face” refers to a mechanism that outputs a rotating action with one degree of freedom on the front face to the other with respect to one input action of the waist frame 30 and the back frame 40. . FIG. 7 is a front view showing a connection portion between the waist frame and the back frame. As shown in FIG. 7, an upper link 71 is provided at the lower portion of the back frame 40. The upper link 71 is a member extending in a substantially horizontal direction, and the left and right center C <b> 1 of the upper link 71 coincides with the left and right center of the back frame 40. The upper link 71 is provided with a plurality of joint holes 71a symmetrically about the left and right center C1 of the upper link 71 as a symmetry axis. On the other hand, a lower link 72 is provided on the base 31 of the waist frame 30. In the waist frame 30 according to the present embodiment, a part of the base 31 functions as the lower link 72. It should be noted that the base 31 of the waist frame 30 may have a function as the lower link 72, or the lower link 72 may be provided separately from the base 31. The lower link 72 is substantially parallel to the base 31, and the left and right center C <b> 2 of the lower link 72 coincides with the left and right center of the waist frame 30. The lower link 72 is provided with a plurality of joint holes 72a symmetrically about the left and right center C2 of the lower link 72. Then, one joining hole 71a of the upper link 71 and the upper part of the right link 73 are joined by a joining pin 75 so as to be rotatable, and one joining hole 72a of the lower link 72 and a lower part of the right link 73 are joined. It is joined so that rotation is possible. Similarly, one joining hole 71a of the upper link 71 and the upper part of the left link 74 are pivotally joined by a joining pin 75, and one joining hole 72a of the lower link 72 and a lower part of the left link 74 are joined pins. 75 is joined so that rotation is possible. The joining position of the right link 73 and the left link 74 to the upper link 71 is symmetric with respect to the left and right center C1 of the upper link 71 as a symmetry axis. Similarly, the joining position of the right link 73 and the left link 74 to the lower link 72 is symmetric with respect to the left and right center C2 of the lower link 72 as a symmetry axis. The upper link 71, the lower link 72, the right link 73, and the left link 74 configured as described above form a plane four-bar link mechanism that is symmetrical with respect to the left and right center C2 of the lower link 72.

FIG. 8A to FIG. 8C are diagrams for explaining variations of the symmetric four-bar linkage mechanism. The left-right symmetric planar four-joint link mechanism has a shape in which four nodes (joint pins 75, 75, 75, 75) are connected in order, such that the upper side is upside down as shown in FIG. Those that form a trapezoidal trapezoid (hereinafter also referred to as “upside down trapezoid”), those that form an isosceles trapezoid whose upper side and lower side have the same length as shown in FIG. 8B, and those whose upper side as shown in FIG. Some have a short isosceles trapezoid. Any of the three types of left and right symmetrical four-bar linkage mechanisms may be adopted, but it is desirable to adopt a four-bar linkage mechanism in which the four bars form an inverted trapezoid. In the four-bar linkage mechanism in which the four bars form an upside down trapezoid, the left and right links 73 and 74 have a “V” shape spaced apart.

Subsequently, the state of the wearing tool 11 when the wearer who wears the wearable movement support device 10 having the above-described configuration walks will be described. FIG. 1 shows a compatible leg state of the wearable motion support apparatus 10, and FIG. 9 shows a single-legged body of the wearable motion support apparatus 10. The compatible leg state refers to a state where the wearer stands upright and both sole plates 53a are in contact with the ground, and the single-leg stand state refers to the wearer's one foot being separated from the ground and one sole plate 53a being grounded. And the other sole plate is in a floating state. As shown in FIG. 1, in the compatible leg state, the wearing tool 11 is in a state of left-right line symmetry with the left-right center C2 of the waist frame 30 as the symmetry axis. Therefore, the lower link 72 (that is, the base 31) provided on the waist frame 30 and the upper link 71 provided on the back frame 40 are substantially horizontal. In the compatible leg state, the loads of the backpack 12 loaded on the wearing tool 11 and the back frame 40 are supported by the sole plates 53a and 53a, and these loads are not applied to the wearer.

Then, from the balance leg state, the thigh arm 51 rotates forward on the sagittal plane with respect to the lumbar frame 30 by the operation of the hip joint actuator 61 in one lower limb frame 50, and the thigh arm 51 by the operation of the knee joint actuator 63. On the other hand, when the lower leg arm 52 rotates backward on the sagittal plane, as shown in FIG. 9, the sole plate 53a of one lower limb frame 50 is separated from the ground and the knee joint is raised forward (one-legged state). ) When transitioning from the compatible leg state to the one-legged leg state, one lower limb frame 50 transitions from a standing leg (a leg that is grounded) to a free leg (a leg that is not grounded). When the lower limb frame 50 shifts from the standing leg to the free leg, the first translational degree-of-freedom mechanism 55 extends the thigh arm 51 in the translational direction from the reference length, so that the wearer can move the leg without feeling uncomfortable. . Further, when the lower limb frame 50 moves from the free leg to the standing leg or ascends or descends, the lower arm 52 follows the movement of the wearer's lower limb by the second translational freedom degree mechanism 57 and translates from the reference length to the translational direction. By extending to, the wearer can move the leg without feeling uncomfortable.

When the wearer walks, the pelvis of the wearer swings on the front face, so the waist frame 30 also swings on the front face. In the unilateral standing state, the wearer's pelvis is inclined from the horizontal, and as a result, the lower link 72 (that is, the base 31) provided on the waist frame 30 is inclined so that the standing leg side is high and the free leg side is low. When the lower link 72 is tilted, the connecting portion 70 changes the tilt of the right link 73 and the left link 74 to maintain the upper link 71 substantially horizontal. As described above, when the back frame 40 and the waist frame 30 are connected by the rotation mechanism having one degree of freedom on the front frame, even if the waist frame 30 swings on the front frame when the wearer walks. This swing does not propagate to the back frame 40. That is, the rolling of the back frame 40 is suppressed, and it is possible to prevent rubbing between the locking tool 44 that anchors the back frame 40 to the wearer and the wearer's body.

If the shape in which the four nodes of the four-bar link mechanism constituting the connecting portion 70 are connected by a line in order is a vertically inverted trapezoid, when the lower link 72 tilts in the one-stand stand state, the left and right center C1 of the upper link 71 Moves from the left and right center C2 of the lower link 72 to the stance side. Since the center of gravity of the back frame 40 is located on the extension line of the left and right center C1 of the upper link 71, the center of gravity of the back frame 40 moves to the stance side when the center C1 of the upper link 71 moves to the stance side. It is synonymous with that. As described above, when the center of gravity of the back frame 40 moves to the stance side in the standing leg state, the weight of the back frame 40 and the backpack 12 loaded thereon is supported by the limb frame 50 on the stance side. , Not burdened by the wearer. For the above reasons, it is desirable that the four-bar linkage mechanism constituting the connecting portion 70 has a vertically inverted trapezoidal shape in which the four nodes are sequentially connected by a line.

In addition, when the center of gravity of the back frame 40 moves to the stance side in the stance state as described above, the limb frame 50 of the stance side is slightly bent outward. Therefore, in order to prevent the lower limb frame 50 from falling outside even when the lower limb frame 50 is bent outward as described above, as shown in FIG. A stopper 64f (regulating member) is provided that regulates the rotation range of the first joint 64a toward the outside on the front face of the first joint 64b. By restricting the rotation range of the first joint 64a to the outer side of the frontal face relative to the second joint 64b of the joint for ankle joint 64, the lower leg arm 52 is prevented from falling outward with respect to the sole plate 53a. it can.

Also, in the single-legged state, the left and right center C1 of the upper link 71 is displaced in the horizontal direction from the left and right center C2 of the lower link 72 as described above. The horizontal displacement amount between the left and right center C1 of the upper link 71 and the left and right center C2 of the lower link 72 is referred to as a “left and right center displacement amount ΔC”. If the left-right center displacement amount ΔC is within an appropriate range, the upper link 71 is kept horizontal even when the waist frame 30 is tilted from the horizontal as described above, and the load of the wearing tool 11 and the backpack 12 is applied to the wearer. Not. However, if the left-right center displacement amount ΔC is excessive, that is, if the amount of deviation from the left-right center C2 of the lower link 72 of the center of gravity of the back frame 40 is excessive, the center of gravity of the back frame 40 moves excessively to the stance side. Thus, the balance is lost, and the wearer needs extra muscular activity to maintain the balance. Therefore, at the connecting portion 70 between the waist frame 30 and the back frame 40, the left-right center displacement amount ΔC is adjusted to be within an appropriate range. Specifically, it is known that the human pelvis during walking swings up to 5-8 degrees from the horizontal on the front face. When the waist frame 30 is tilted from the horizontal to the maximum swing angle of the pelvis (here, 5 degrees), the connecting portion 70 is adjusted so that the maximum value of the left / right central displacement amount ΔC is less than or equal to the upper limit of the appropriate range. ing. For reference, according to "Human Walking Original Book 3rd Edition" (author: Jessica Rose, James G. Gamble ed., Publisher: Doctors Publishing Co., Ltd.) The movement of the center of mass is a slightly distorted lateral figure of 8, and the displacement of the pelvis drawn on the frontal plane is also a slightly distorted lateral figure of 8. In the example shown in this document, the lateral displacement of the center of mass when the pelvis is inclined about 5 degrees from the horizontal is about 25 mm. According to this example, the appropriate range of the left-right central displacement amount ΔC is 0-25 mm to the left and right, and if the appropriate range is exceeded, the displacement in the left-right direction of the back frame 40 with respect to the waist frame 30 greatly deviates from the movement of the body. As a result, a load is applied to the wearer. Since the lateral displacement of the center of mass with respect to the swing angle of the pelvis varies depending on the stride, walking speed, pedestrian's physique, etc., the appropriate range of the left / right central displacement amount ΔC is also the stride, walking speed, pedestrian's physique etc It depends on.

The maximum value of the left-right center displacement amount ΔC is determined by the shape of the four-bar linkage mechanism that constitutes the connecting portion 70. 10A and 10B are diagrams showing an example of a four-bar link mechanism, and FIGS. 11A and 11B are diagrams showing a modification of the four-bar link mechanism. 10A and 11A both have a right link 73 and a left link 74 having the same length, but the upper side (between the joining pins 75 and 75 of the upper link 71) and the lower side (lower link). The length of the 72 connecting pins 75 and 75) is different, and the upper and lower sides of the four-bar linkage mechanism shown in FIG. 10A are longer. FIGS. 10B and 11B show a state in which each lower link 72 of the four-bar linkage mechanism shown in FIGS. 10A and 11A is inclined from the horizontal by the same angle (here, 8 degrees). As is apparent from a comparison between FIG. 10B and FIG. 11B, the four-bar linkage mechanism (FIGS. 10A and 10B) having a longer upper side and lower side has a larger left-right center displacement amount ΔC. As described above, the maximum value of the left-right center displacement amount ΔC varies depending on the lengths of the upper side and the lower side in the four-bar linkage mechanism. In the connecting portion 70 according to the present embodiment, the upper link 71 and the lower link 72 have a plurality of joint holes 71a and 72a, respectively, so that the upper side of the four-link mechanism (between the joint pins 75 and 75 of the upper link 71) and The length of the lower side (between the joining pins 75 and 75 of the lower link 72) is variable. Then, by selecting an optimal combination from among the plurality of joint holes 71a of the upper link 71 and the plurality of joint holes 72a of the lower link 72, the left-right center displacement amount ΔC can be kept below the upper limit of the appropriate range. In the connection portion 70 according to the present embodiment, the upper link 71 and the lower link 72 are provided with a plurality of joint holes 71 a and 72 a, respectively, but the right link 73 is provided in at least one of the upper link 71 and the lower link 72. The joining position of the left link 74 may be variable in the left-right direction. With this configuration, the length of at least one of the upper side (between the joining pins 75 and 75 of the upper link 71) and the lower side (between the joining pins 75 and 75 of the lower link 72) is variable. And by changing the length of at least one of the upper side and the lower side of the four-bar linkage mechanism, the size of the four-bar linkage mechanism can be adjusted to the wearer's physique, or the left and right center displacement when the lower link swings The maximum value of the amount ΔC can be adjusted.

The preferred embodiment of the present invention has been described above. However, the present invention is not limited to the above-described embodiment, and various design changes can be made as long as they are described in the claims. is there.

For example, in the above embodiment, the connecting portion 70 between the back frame 40 and the waist frame 30 is configured by a four-bar link mechanism, but the configuration of the connecting portion 70 is not limited to the above. The connection part 70 may be a rotation mechanism with one degree of freedom on the frontal face connecting the back frame 40 and the waist frame 30. For example, an auxiliary member may be added in addition to the connection portion 70 described in the above embodiment. Further, for example, the connection unit 70 can be configured without using the four-bar linkage mechanism. 12A and 12B are schematic front views of a wearable motion support device showing a modification of the connection portion between the waist frame and the back frame, in which FIG. 12A is a compatible leg state and FIG. 12B is a one-leg stand state. In the example shown in FIG. 12A, a protrusion 35 having a joint hole 34 formed in the upper left and right center of the waist frame 30 is provided integrally with the waist frame 30. On the other hand, a joining hole 42 is provided in the lower left and right center of the back frame 40. The connecting portion 70 is configured by the joining hole 34 of the waist frame 30, the joining hole 42 of the back frame 40, and the shaft 43 inserted through these joining holes 34 and 42 and extending perpendicularly to the frontal surface. With this configuration, the waist frame 30 and the back frame 40 are rotating pairs having one degree of freedom on the front face. Therefore, as shown in FIG. 12B, even if the waist frame 30 swings from the horizontal on the front face when the wearer walks, the back frame 40 rotates with respect to the waist frame 30 so that the waist frame 30 swings. The motion does not propagate to the back frame 40. That is, the swinging of the back frame 40 is suppressed, and rubbing between the locking tool 44 mooring the back frame 40 to the wearer and the wearer's body can be prevented.

Further, for example, in the embodiment described above, the wearable motion support device 10 includes the back frame 40, and loads (backpacks 12) are loaded on the back frame 40. However, the back frame 40 is omitted from the configuration. May be. In this case, as shown in FIG. 13, the casing of the backpack 12 itself is configured to have a function as the back frame 40. Specifically, a locking tool 44 such as a shoulder strap or a hook for mooring on the back of the wearer, and an upper link 71 for connecting to the waist frame 30 are provided on the housing of the backpack 12.

Further, for example, in the above-described embodiment, the lower limb frame 50 of the wearable movement support device 10 includes the sole plate 53a, and the wearer 11 and the backpack are provided by the sole plate 53a.
However, the sole plate 53a may be omitted from the configuration. In this case, the lower limb frame 50, the hip joint actuator 61, the hip joint 62, the thigh arm 51, the knee joint actuator 63, and the crus arm 52 are configured. In such a wearable motion support apparatus 10, the wearer bears the loads on the wearing tool 11 and the backpack 12.
<< Alternative 1 >>
The wearable motion support apparatus described above may be configured as follows. In other words, the wearable motion support device according to another embodiment is a wearable motion support device that assists or substitutes for the wearer's muscular strength, and includes a thigh wearing portion to be worn on the wearer's thigh and the wearer's lower leg. A lower limb frame having at least a crus mounting portion to be attached to the lower limb frame, and a drive device provided on the lower limb frame, the drive device having five links: an input link, a fixed link, an intermediate link, an output link, and an intermediate link A five-joint link mechanism in which the fixed link and the intermediate link are relatively coupled to each other and the relative displacement between the intermediate link and the output link is constrained to a predetermined ratio. A degree-of-freedom limiting mechanism for limiting the degree of freedom to 1 and an actuator for applying a rotational driving force around the connecting portion of the input link to the fixed link. , The fixed link is provided in the thigh attachment portion, the output link is provided in the lower leg portion, said actuator is provided in the thigh attachment portion. This will be specifically described below.
[Driver]
First, a driving apparatus according to this embodiment will be described with reference to FIGS. 16 and 17. FIG. 16 is a diagram showing a schematic configuration of a drive device according to this embodiment, and FIG. 17 is a diagram showing a state in which the output link angle of the drive device of FIG. 16 is increased. As shown in FIG. 16, the drive device 208 includes a five-bar link mechanism 210 and an actuator 209 that supplies power to the five-bar link mechanism 210.

The five-bar link mechanism 210 is a closed link mechanism in which five links of an input link 211, a fixed link 212, an intermediate link 213, an output link 214, and an intermediate link 215 are connected so as to be sequentially rotatable. Specifically, the input link 211 and the fixed link 212 are rotatably connected by an input shaft 216, and the fixed link 212 and the intermediate link 213 are rotatably connected by a connecting shaft 217, and the intermediate link 213 is connected. And the output link 214 are rotatably connected by a connecting shaft 218, the output link 214 and the intermediate link 215 are rotatably connected by a connecting shaft 19, and the intermediate link 215 and the input link 211 are connected to each other. The shaft 220 is rotatably connected. 16 and 17, the input shaft 216 and the connecting shafts 217, 218, 219, and 220 are parallel. Hereinafter, the inclination of the long axis direction H ₁₄ of the output link 214 with respect to the long axis direction H ₁₂ of the fixed link 212 is referred to as “output link angle Q”. Output link angle Q, when the long axis direction H ₁₄ of the output link 214 and the long axis direction H ₁₂ of the fixed link 212 is aligned (Figure 16) to 0 °. The virtual straight line connecting the centers of the input shaft 216 and the connecting shaft 217 is referred to as “fixed link line H _L2 ”. In the example shown in FIGS. 16 and 17, the long axis direction H ₁₂ of the fixed link 212 and the fixed link line HL 2 overlap, but depending on the mode of the fixed link 212, they may not overlap. Furthermore, a virtual straight line connecting between the centers of the connecting shaft 217 and the connecting shaft 218 is referred to as “intermediate link line H _L3 ”, and a virtual curve connecting between the connecting shaft 218 and the center of the connecting shaft 219 is referred to as “output link line H _L4 ”. . In the example shown in FIGS. 16 and 17, the long axis direction H ₁₄ of the output link 214 and the output link line H _L4 do not overlap, but they may overlap depending on the form of the output link 214.

The five-bar linkage mechanism 210 includes a degree-of-freedom limiting mechanism 223 for setting the relative displacement between the fixed link 212 and the intermediate link 213 and the relative displacement between the intermediate link 213 and the output link 214 to a predetermined ratio. Here, the relative displacement between the fixed link 212 and the intermediate link 213 means a change in the angle formed by the fixed link line H _L2 and the intermediate link line H _L3 . The relative displacement between the intermediate link 213 and the output link 214 means a change in the angle formed by the intermediate link line H _L3 and the output link line H _L4 . The operations of the fixed link 212, the intermediate link 213, and the output link 214 are mutually restrained by the degree-of-freedom limiting mechanism 223, and the degree of freedom of the five-bar linkage mechanism 210 is 1.

The degree-of-freedom limiting mechanism 223 according to this alternative embodiment is composed of a pair of meshing gears, one provided on the fixed link 212 and the other provided on the output link 214. Specifically, a first gear 221 is provided at the end of the fixed link 212 that is connected to the intermediate link 213, and the first link 221 of the output link 214 is connected to the end of the output link 214 that is connected to the intermediate link 213. Two gears 222 are provided, and the first gear 221 and the second gear 222 mesh with each other. The gear ratio between the first gear 221 and the second gear 222 is not limited to 1: 1, and gears having different numbers of teeth may be used for the first gear 221 and the second gear 222. Further, the gear ratio of the first gear 221 and the second gear 222 is not limited to a constant value, and may change while rotating. Further, it is not necessary to provide a tooth row on the entire circumference of the first gear 221 and the second gear 222, and the tooth row so that the gears 221 and 222 mesh at least within the movable range of the output link 214 relative to the fixed link 212. Is sufficient, and the others may be smooth. The degree-of-freedom limiting mechanism 223 is not limited to one composed of a pair of gears. For example, a cam can be used in place of one or both of the first gear 221 and the second gear 222.

In the five-link mechanism 210 having the above-described configuration, the fixed link 212 and the output link 214 are each fixed to an appropriate support structure (not shown) or constitute a part of the support structure. When the input link 211 receives a rotational driving force around the input shaft 216 from the actuator 209, the rotational driving force is output from the output link 214 through the intermediate link 215 at a predetermined reduction ratio. When the input link 211 rotates counterclockwise around the input shaft 216 from the state shown in FIG. 16 in the five-bar linkage mechanism 210, the output is output via the intermediate link 215 connected to the input link 211 as shown in FIG. The link 214 rotates counterclockwise about the connecting shaft 218, and the intermediate link 213 rotates counterclockwise about the connecting shaft 217. Here, the relative displacement between the fixed link 212 and the intermediate link 213 and the relative displacement between the intermediate link 213 and the output link 214 are restricted to a predetermined ratio (for example, 1) by the action of the degree-of-freedom limiting mechanism 223. As the input link 211 operates, not only the output link 214 but also the intermediate link 213 operates.

The five-bar linkage mechanism 210 of the drive device 208 having the above configuration has a larger operating range than the four-bar parallel link mechanism. Specifically, the intermediate link 213 is interposed between the fixed link 212 and the output link 214 when the output link angle Q of the five-bar linkage 210 changes from 0 ° to a large angle (for example, 140 °). Even if the fixed link 212 and the output link 214 are arranged in the same plane, the links 212 and 214 can be configured not to interfere with each other. Furthermore, when the output link angle Q of the five-bar linkage mechanism 210 changes from 0 ° to a large angle (for example, 140 °), the operation range can be configured not to include a thought point. In other words, the five-bar link mechanism 210, from the input link 211 to the output link 214 over the wide operating range of the output link 214 (for example, the range where the output link angle Q is 0 ° to 140 °) due to the presence of the intermediate link 213. The torque transmission of is not unstable.

In the five-bar linkage mechanism 210 of the drive device 208, as described above, the presence of the intermediate link 213 makes it possible to arrange the fixed link 212 and the output link 214 in the same plane. In addition, as shown in FIG. 16, when the fixed link 212, the intermediate link 213, and the output link 214 are arranged in a straight line, the input link 211 and the intermediate link 215 may be formed along the straight line. Is possible. In this way, the five-bar linkage mechanism 210 can be further downsized, that is, can have an elongated shape along the fixed link 212. Further, in this five-bar linkage mechanism 210, when the output link 214 moves from the state in which the fixed link 212, the intermediate link 213, and the output link 214 are arranged in a straight line (FIG. 16) to the direction in which the output link angle Q increases. The input link 211 and the intermediate link 215 can be formed along these links 212, 213, and 214 (FIG. 17), and the drive device 208 can be downsized.
[Wearable motion support device]
Next, with reference to FIG. 18 to FIG. 20, the main part of a wearable motion support device (hereinafter simply referred to as motion support device) provided with the drive device 208 will be described.

As shown in FIGS. 18 and 19, the upper end of the intermediate arm 252 is rotatably connected to the lower end of the thigh arm 251 via a connecting shaft 217. The lower end of the intermediate arm 252 is rotatably connected to the upper end of the lower leg arm 253 via a connecting shaft 218. A first gear 221 is provided at the lower end of the thigh arm 251, a second gear 222 is provided at the upper end of the lower leg arm 253, and the meshing gears 221 and 222 constitute a degree-of-freedom limiting mechanism 223. The thigh arm 251, the intermediate arm 252 and the lower leg arm 253 connected in this way constitute a part of the five-bar linkage mechanism 210. The thigh arm 251 corresponds to the fixed link 212, the intermediate arm 252 corresponds to the intermediate link 213, and the lower leg arm 253 corresponds to the output link 214. The knee joint actuator 263 for applying rotational power to the five-bar linkage mechanism 210 is fixed to the thigh arm 251 via a bracket 263a and the like. The knee joint actuator 263 includes, for example, a motor and a reduction gear. As described above, the knee joint actuator 263 is disposed on the waist side away from the wearer's knee joint, so that the knee joint actuator 263 is disposed in the vicinity of the wearer's knee joint. The moment of inertia applied to the wearer due to the weight of the knee joint actuator 263 during walking can be reduced.

One end of the input link 211 is fixed to the output shaft of the knee joint actuator 263, that is, the input shaft 216 to the five-bar linkage mechanism 210. The other end of the input link 211 is rotatably connected to one end of the intermediate link 215 via the connecting shaft 220. The other end of the intermediate link 215 is connected to the lower leg arm 253 via a connecting shaft 219 so as to be rotatable. As described above, the drive device 208 including the five-joint link mechanism 210 and the knee joint actuator 263 (actuator 209) is provided around the knee joint portion of the lower limb frame 242. When the input link 211 receives a rotational driving force around the input shaft 216 from the knee joint actuator 263, the lower leg arm 253 is connected to the connecting shaft via the intermediate link 215 connected to the input link 211 as shown in FIG. The intermediate arm 252 rotates about the connecting shaft 217. Here, due to the action of the degree-of-freedom limiting mechanism 223, the relative displacement between the thigh arm 251 and the intermediate arm 252 and the relative displacement between the intermediate arm 252 and the crus arm 253 are constrained to a predetermined ratio (for example, 1), and the input link 211 Along with the movement, not only the lower leg arm 253 but also the intermediate arm 252 operates.

In the operation support device 230 configured as described above, the link length ratio of the five links of the five-bar linkage mechanism 210 is set so as to exhibit an optimum torque transmission ratio as the operation support device 230. In other words, the link length ratio is adjusted to a torque transmission ratio that provides a powerful assist force in the heel posture and ensures agile backdrive in the upright posture even when the knee joint actuator 263 has a constant output. Yes. Such a torque transmission ratio has a characteristic that the output link angle Q increases as the output link angle Q increases when the output link angle Q is in the range of 0 to 140 °. Further, such a torque transmission ratio is less than 1 when the output link angle Q is 0 ° in the range of the output link angle Q of 0 to 140 °, and is less than 1 when the output link angle Q is 90 ° or more. It is preferable to have a characteristic of increasing. In particular, it is desirable that the torque transmission ratio be a small value close to 0 when the output link angle Q is near 0 °. Thus, power is effectively transmitted from the knee joint actuator 263 to the crus arm 253 that is the output link in a heel posture that requires particularly strong assistance.

21 is a diagram for explaining the link length ratio and the torque transmission ratio of the five-bar link mechanism provided in the operation support device, and FIG. 22 is a diagram showing a state in which the output link angle of the five-bar link mechanism shown in FIG. 21 is increased. It is. 21 and 22, the center-to-center distance between the input shaft 216 and the connecting shaft 220 is the link length L1 of the input link 211. Similarly, the center-to-center distance between the input shaft 216 and the connecting shaft 217 is the link length L2 of the fixed link 212. The distance between the centers of the connecting shaft 217 and the connecting shaft 218 is the link length L3 of the intermediate link 213. The distance between the centers of the connecting shaft 218 and the connecting shaft 219 is the link length L4 of the output link 214. The distance between the centers of the connecting shaft 219 and the connecting shaft 220 is the link length L5 of the intermediate link 215. Further, L _in is the length of the perpendicular dropped from the center of the input shaft 216 to the intermediary link line H _L5, and input perpendicular distance Lin. Here, the intermediate link line H _L5 is an imaginary straight line connecting between the centers of the connecting shaft 219 and the connecting shaft 220. L _out is the length of a perpendicular line dropped from the meshing point P3 between the first gear 221 and the second gear 222 to the intermediate link line H _L5 , and is defined as an output perpendicular distance L _out . The input perpendicular distance L _in and the output perpendicular distance L _out are values that depend on the five link lengths L1, L2, L3, L4, and L5. A value obtained by dividing the output perpendicular distance L _out by the input perpendicular distance L _in is the torque transmission ratio (= L _out / L _in ).

Mathematical formula 1 and mathematical formula 2 shown below are conditional expressions for which the five-bar link mechanism 210 provided in the motion support device 230 is a ponder. By designing the five-bar linkage mechanism 210 within a range that does not satisfy Formula 1 and Formula 2, it is possible to avoid the five-bar link mechanism 210 included in the operation support device 230 from becoming a wonder point.

 

 

 

 

In Equations 1 and 2, Q _L0 and Q _Lf are angles formed by the fixed link line H _L2 and the output link line H _L4 . Q _L0 is an angle formed by the fixed link line H _L2 and the output link line H _L4 when the wearer's knee joint is most extended (upright posture), and Q _Lf is when the wearer's knee joint is bent most (蹲踞Angle) formed by the fixed link line H _L2 and the output link line H _L4 . R is 1 / (1 + ny). Here, ny is the ratio of the relative displacement between the fixed link 212 and the intermediate link 213. When gears 221 and 222 that mesh with each other are used as the degree-of-freedom limiting mechanism 223 as in this embodiment, and the gear ratio is 1: 1, ny = 1.

A method for obtaining the link length ratio using Equations 1 and 2 will be described below with reference to a specific example (not shown) in the case of determining the intermediate link length L5. First, link lengths (L1, L2, L3, L4) other than the intermediate link length L5 are determined in accordance with the wearer's body dimensions. For example, the input link length L1 = 60 mm, the fixed link length L2 = 210 mm, the intermediate link length L3 = 40 mm, and the output link length L4 = 50 mm. Then, the values of ny, Q _L0 , and Q _Lf are determined according to the configuration of the operation support device 230. For example, ny = 1, Q _L0 = 0 °, and Q _Lf = 140 °. By substituting these numerical conditions into Equation 1 and Equation 2, the intermediate link length L5 is obtained. Then, in Formula 1, the mediation link length L5 = 240 mm is calculated, and in Formula 2, the mediation link length L5 = 258 mm. As described above, a value that is the intermediate link length L5 is selected from the values that are larger than the lower limit and smaller than the upper limit of the intermediate link length L5 calculated by using Equations 1 and 2. Here, for example, the intermediate link length L5 = 250 mm is selected between the solution of Equation 1 and the solution of Equation 2. Torque transmission with the link length ratio (input link length L1 = 60 mm, fixed link length L2 = 210 mm, intermediate link length L3 = 40 mm, output link length L4 = 50 mm, intermediate link length L5 = 250 mm) obtained as described above. The ratio is as shown in Table 1.

 

 

In the change of the torque transmission ratio with respect to the output link angle shown in Table 1, the torque transmission ratio is a sufficiently small value close to 0 when the output link angle is 0 °, and when the output link angle is 90 ° or more, the torque transmission ratio is Greater than 1. The torque transmission ratio increases with an increase in the output link angle, and has a maximum value at the maximum output link angle (140 °) shown in Table 1. As described above, the torque transmission ratio of the five-bar linkage mechanism 210 included in the motion support device 230 is a suitable setting for the motion support device 230 based on the link length ratio determined by the above method.

The motion support device 230 according to the present embodiment described above includes the drive device 208 including the five-bar linkage mechanism 210, so that the wide motion range of the crus arm 253 (output link 214) (for example, the output link angle Q is Even if the thigh arm 251 and the crus arm 253 are arranged in the same plane over a range of 0 to 140 °, these arms 251 and 253 do not interfere with each other and do not become a thought point. Therefore, torque is stably transmitted to the lower leg arm 253 over the wide operating range of the lower leg arm 253. Thereby, the motion support device 230 can cope with a wide motion range of 0-140 ° of the human knee joint.

Furthermore, the operation support apparatus 230 according to the present embodiment can be further reduced in size while ensuring the wide operation range by including the drive device 208. Specifically, the increase in the thickness in the left-right direction of the lower limb frame 242 is suppressed by arranging the lower leg arm 253 and the upper leg 251 on substantially the same sagittal plane. In addition, the upper end P1 of the thigh arm 251, the lower end P2 of the lower leg arm 253, the connecting shaft 217 of the thigh arm 251, and the intermediate arm 252 in a sagittal view (FIG. 19) when the wearer is in an upright posture. Are arranged on substantially the same straight line, an increase in the thickness of the lower limb frame 242 in the front-rear direction is suppressed. In FIG. 19, the upper end P <b> 1 of the thigh arm 251 indicates a connection portion between the waist frame 240 and the lower limb frame 242.

19, the upper end P1 of the thigh arm 251 is located on the side of the wearer's hip joint, and the lower end P2 of the lower leg arm 253 is located on the side of the wearer's heel. In the sagittal view, a straight line connecting these points (P1 and P2) passes through the back side of the wearer's knee joint, and the connecting shaft 217 and the connecting shaft 218 are approximately located on this straight line. By arranging the connecting shafts 217 and 218 in this way, the basic portion of the lower limb frame 242 formed by the thigh arm 251, the intermediate arm 252 and the lower leg arm 253 has a substantially linear shape. In this way, the basic portion of the lower limb frame 242 has a substantially linear shape, so that the load positioned above the knee joint portion (intermediate arm 252) of the lower limb frame 242 is passively supported by the basic portion of the lower limb frame 242. be able to. As described above, the input link 211 and the intermediate link 215 can be formed along the thigh arm 251, the intermediate arm 252, and the lower leg arm 253 that are arranged in a straight line. Furthermore, the input link 211 and the intermediate link 215 can be formed along the thigh arm 251 in a state where the output link angle is increased. As a result of forming the five-bar linkage mechanism 210 in this way, the lower limb frame 242 and a part thereof do not protrude greatly forward or backward of the wearer in both the upright posture and the heel posture, and the lower limb frame 242 It becomes compact along the wearer's lower limbs.

In addition, in a conventional motion support device in which a thigh arm and a lower leg arm are connected by a knee joint axis, when the knee joint axis is arranged on the back side of the wearer's knee joint, the wearer bends the knee. The distance from the body part of the wearer where the knee joint axis is arranged to the wearer's heel decreases. This change in distance causes problems such as a deviation between the wearer's body and the wearing tool. On the other hand, the above problem is avoided or reduced in the operation support apparatus 230 according to this embodiment. As shown in FIG. 19, when the wearer is in an upright posture, the connecting shaft 218, the meshing point P <b> 3 of the gears 221 and 222, and the lower end P <b> 2 of the crus arm 253 are aligned substantially in a straight line. Then, as shown in FIG. 20, as the wearer flexes the knee, the connecting shaft 218 moves away from the straight line connecting the meshing point P3 of the gears 221 and 222 and the lower end P2 of the lower leg arm 253. The length of the line segment connecting the meshing point P3 and the lower end P2 of the lower leg arm 253 decreases. That is, when the wearer bends the knee, the meshing of the gears 221 and 222 is accompanied by a decrease in the distance from the body part of the wearer where the meshing point P3 of the gears 221 and 222 is arranged to the wearer's heel. Since the length of the line segment connecting the point P3 and the lower end P2 of the lower leg arm 253 is also reduced, the displacement between the wearer's body and the wearing tool is avoided or reduced.
<< Alternative 2 >>
Further, the above-described wearable motion support apparatus may be configured as follows. In other words, the wearable motion support device according to another embodiment 2 includes a lower limb attachment portion that is attached to at least one of the left and right lower limb portions of the user, and the lower limb attachment portion is positioned below the knee portion of the user. The lower knee frame part, the upper knee frame part positioned above the knee part of the user, and the upper knee frame part rotationally driven with respect to the lower knee frame part around the knee part of the user as an axis The knee drive device is attached to the above-knee frame portion, and in a state where the user is crouched, the knee drive device is rotationally driven in a direction to raise the above-knee frame portion. A buttock support member that pushes up the user's buttock in contact with the boundary between the thigh and buttock, and is attached to the above-knee frame, and passes through the front surface and the crotch near the base of the user's thigh. The buttocks support part Linked to that, having a member hanging hanging the buttocks supporting member. This will be specifically described below.

(Hut support member)
First, the collar support member 350 will be described with reference to FIGS. 25 and 26. The buttocks support member 350 according to the present embodiment is a member that supports the vicinity of the buttocks of the user H. As shown in FIG. 26, the flange support member 350 according to this embodiment has an L-shape, and is mainly configured by the flange contact portion 351 and the frame connecting portion 352. Each configuration is as follows.

The buttocks contact portion 351 is a portion that contacts the boundary between the thigh and the buttocks. At the boundary between the thigh and the buttocks, the subcutaneous fat is thin, and the force from the buttocks contact portion 351 is easily transmitted to the vicinity of the buttocks. The collar contact portion 351 has both flexibility and rigidity, and can be formed of, for example, a metal thin plate or a resin plate. As shown in FIG. 26, the buttock contact portion 351 extends in the left-right direction. Strictly speaking, the front surface faces obliquely upward, and the whole is curved along the shape of the buttock. Thereby, when the buttock contact part 351 touches said boundary part, a contact pressure disperse | distributes and the user H can obtain a favorable fit. Moreover, as shown in FIG. 25, the buttocks contact portion 351 is formed to such an extent that the inner tip thereof does not reach the crotch of the user H. Note that a cushion material such as sponge or urethane may be attached to the front surface of the buttocks contact portion 351.

The frame connecting portion 352 is a portion that connects the above-described buttocks contact portion 351 and the thigh frame 340. As shown in FIG. 26, the frame connecting portion 352 is formed of a thick metal plate and has higher rigidity than the flange contact portion 351. The frame connecting portion 352 and the collar contact portion 351 are connected so as to be orthogonal to each other. In the frame connecting portion 352, elongated holes 358 extending in the front-rear direction are formed at two locations, upper and lower, and a bolt 356 penetrating the elongated hole 358 is inserted into the bolt hole 357 of the second adjustment member 355 described above. . When the bolt 356 is loosened, the frame connecting portion 352 can slide in the front-rear direction with respect to the thigh frame 340. When the bolt 356 is tightened, the position of the frame connecting portion 352 is fixed. With this configuration, the front-rear direction position of the buttocks support member 350 can be adjusted according to the body shape of the user H. Note that the flange contact portion 351 and the frame connecting portion 352 may be integrally formed of a metal material or a resin material.

(Suspension member)
Next, the suspension member 380 will be described with reference to FIGS. The suspension member 380 of this different form is a member for suspending the heel support member 350. As shown in FIG. 24, the suspension member 380 has an upper end portion attached to the pelvic frame 370, and passes from there to the front side of the base of the thigh of the user H and the crotch, and the lower end portion of the heel support member 350. Attached to the inner part. As a result, the buttock support member 350 is attached to the thigh frame 340 on the outer side in the left-right direction, and is hung on the hung member 380 on the inner side in the left-right direction (see FIG. 26). That is, the buttocks support member 350 is in a “both-end” state in which both ends are supported.

Further, since the suspension member 380 is attached to the pelvis frame 370 as described above, the suspension member 380 includes the above-knee frame portion 303 (the thigh frame 340, the pelvis driving device 360, and the pelvis frame 370 above the buttocks support member 350. Part). Thereby, the buttocks support member 350 and the suspension member 380 extend spirally as a whole, and the suspension member 380 is mounted along the boundary (so-called V line) between the waist and thigh from the crotch of the user H. It will be. Therefore, the suspension member 380 can firmly pull up the buttocks support member 350 and reduce the friction of the suspension member 380 with the waist and thighs when the user H performs operations such as walking, squatting, and standing up. Can do. Note that, as shown in FIG. 24, in this embodiment, the suspension member 380 is attached to the pelvis frame 370 above the pelvis driving device 360.

Further, the suspension member 380 is formed with lower rigidity than the heel support member 350, and can be formed of, for example, a nylon belt, a leather belt, a string, or the like. Since the suspension member 380 has such low rigidity, in other words, high flexibility, it is possible to reduce the uncomfortable feeling experienced by the user H. Moreover, as shown in FIG. 26, the suspension member 380 has an adjustment member 81 that adjusts the overall length in order to improve the fit. Furthermore, as shown in FIG. 23, the left and right suspension members 380 are connected to each other at the crotch. More specifically, the left and right suspension members 380 may be connected to form a knot 382, or the left and right suspension members 380 may be passed through a tubular member. By connecting the left and right suspension members 380 in this manner, the suspension members 380 are less likely to bite into the thighs, and the fit is further improved.

[Operation of wearable motion support device]
Next, with reference to FIG. 27, operation | movement of the mounting | wearing type | mold movement assistance apparatus 300 which concerns on this another form is demonstrated. Here, the operation of the wearable motion support apparatus 300 until the user stands up from the squatting state will be described. As shown in the right diagram of FIG. 27, when the user H squats down, the lower leg frame 320 is tilted forward and the thigh frame 340 is tilted backward with respect to the ground. Further, the pelvic frame 370 is inclined so that the rear portion is slightly higher than the horizontal. When the user H rises from this state, the knee drive device 330 rotates and drives the thigh frame 340 in the direction of raising the thigh frame 320 with respect to the lower leg frame 320 (counterclockwise in the right view of FIG. 27). Thereby, the buttocks support member 350 pushes up the user's buttocks (see black arrow F in the figure), and the user can easily stand up (see the left figure in FIG. 27). In synchronism with this operation, the pelvis driving device 360 moves the pelvis frame 370 with respect to the thigh frame 340 in a direction opposite to the rotation direction of the thigh frame 340 (clockwise in the right diagram of FIG. 27). It is rotated and adjusted so that the pelvis frame 370 (back frame 390) does not largely tilt with respect to the ground.

As described above, according to the wearable motion support apparatus 300 according to the present embodiment, it is possible to assist at least the motion of rising from the squatting state. Moreover, since the heel support member 350 that pushes up the vicinity of the buttock of the user H has a very simple structure, it can be easily attached to the user H. Moreover, in spite of such a simple structure, since the buttocks support member 350 is hung on the suspension member 380 passing through the crotch from the base front side of the thigh of the user H, the buttocks of the user H Can be firmly supported. Moreover, in this different form, since the collar support member 350 and the suspension member 380 are configured to extend spirally as a whole, the suspension member 380 pulls the collar support member 350 firmly when the user H stands up. Can do.

Note that the suspension member 380 may have elasticity, and the buttocks support member 350 may be configured to be pulled up by the elastic force of the suspension member 380. That is, the entire suspension member 380 may be formed of an elastic member such as rubber, or a part of the upper end portion may be formed of a tension spring or the like, or may have a configuration other than this.

Here, when the user H stands up, the buttocks support member 350 is located on the buttocks side of the boundary between the thigh and the buttocks. However, when the user H changes his / her posture, the buttocks support The position of the member 350 moves relatively to the thigh side. That is, when the user H squats down, the buttocks support member 350 moves relatively from the buttocks side to the thigh side. Since the thigh is less swelled than the buttocks, a gap is generated between the buttocks support member 350 and the boundary portion when the user H squats down (hereinafter, this gap is referred to as a “buttock gap”). ). Further, in the case of the above-described another form, when the user H squats down, the pelvis frame 370 rotates, and the pelvis frame 370 pushes the suspension member 380 forward, so that the hip gap tends to be further increased. If the buttocks gap becomes large in the squatting state, the user cannot be quickly assisted when the user H stands up.

On the other hand, when the suspension member 380 has elasticity, the collar support member 350 is pulled up by the suspension member 380 even when the user H squats down, so that an increase in the collar clearance can be suppressed. . Therefore, when the user H stands up, the user can be assisted relatively quickly.

28 and 29, the attachment position of the suspension member 380 on the pelvis frame 370 may be located obliquely downward and rearward when viewed from the pelvis driving device 360. According to this configuration, when the user squats down and the pelvic frame 370 rotates with respect to the thigh frame 340 (rotates counterclockwise in the right view of FIG. 29), the attachment position of the suspension member 380 moves backward. Therefore, the suspension member 380 is pulled backward. Thereby, the suspending member 380 acts to pull up the buttock support member 350, and the buttock clearance can be reduced. Here, the suspension member 380 is attached to the inner surface of the pelvis frame 370. As a result, the suspension member 380 is unlikely to interfere with other configurations, and the heel support member 350 can be pulled up stably.

In addition, if the attachment position in the pelvis frame 370 of the suspending member 380 exists in the predetermined area | region demonstrated below and it is comprised so that it may move within the area | region, there can exist said effect | action. The “predetermined region” here refers to a point X (hereinafter referred to as “contact point”) closest to the pelvic frame 370 among the portions where the suspension member 380 contacts the solid (here, the user H), and the pelvic frame. When an imaginary line L passing through the rotation axis Y is drawn, it is an area located below the imaginary line L when viewed from the side. In FIG. 28, the contact point X is located in front of the user H. For example, if the suspension member 380 is configured to pass through a certain point of the member immediately before the pelvic frame 370, the point that passes through becomes the contact point X, and the above "predetermined region" can be changed. .

It should be noted that depending on the rotation angle of the pelvis frame 370, depending on the rotation angle of the pelvis frame 370, the suspension member 380 may be used even when the attachment position enters or exits the predetermined area while the user H is squatting. May be raised. In some cases, the contact point X itself may move while the user H is squatting. Therefore, if the suspension member 380 is configured to directly connect the vicinity of the user H's crotch and the pelvis frame, for example, the following configuration may be used. That is, in a state where the user H stands up, a line (corresponding to the imaginary line described above) that passes through the rotation axis Y of the pelvic frame 370 and is inclined backward 30 degrees to 60 degrees with respect to the vertical direction is virtually assumed. The suspending member 380 may be attached to the pelvis frame 370 on the lower side (rear side) than the line in view. According to such a configuration, the above-described action can be substantially achieved. Here, the attachment position of the suspension member 380 has been described while changing the viewpoint. In short, it is only necessary that the suspension member 380 is attached at a position where the suspension member is pulled when the user H is squatting.
<< Another Form 3 >>
Further, the above-described wearable motion support apparatus may be configured as follows. That is, the wearable movement support device according to another embodiment 3 is a wearable movement support device that assists or substitutes for the wearer's muscular strength, and includes a thigh wear portion that is worn on the wearer's thigh side, and the wearer To displace the crus attachment part relative to the thigh attachment part, the knee joint part connecting the thigh attachment part and the crus attachment part; A knee joint actuator for operating the knee joint portion, wherein the knee joint actuator is located on the front side or the rear side of the front and rear center of the thigh mounting portion and on the inner side in the left and right direction of the thigh mounting portion. The actuator is arranged so that the longitudinal direction of the actuator and the longitudinal direction of the thigh mounting portion are substantially parallel. This will be specifically described below.

[Hip joint actuator]
The hip joint actuator 461 will be described with reference to FIGS. 30 to 32. The hip joint actuator 461 is an electric motor in this embodiment, and the longitudinal direction of the motor and the axial direction of the output shaft of the motor are parallel to each other. The hip joint actuator 461 is supported by the waist frame 421 and is disposed on the left and right center sides of the waist frame 421 so that the longitudinal direction and the front-rear direction of the hip joint actuator 461 are substantially parallel. In the example shown in FIG. 30, the hip joint actuator 461 is attached to the waist frame 421 in a posture in which the longitudinal direction is substantially parallel to the front-rear direction and the front is lowered. The hip joint actuator 461 arranged in this way is positioned in a dent on the body side of the wearer on the body side of the wearer 402 on the outside of the wearer's waist in the left-right direction and just above the pelvis and greater gluteal muscle.

FIG. 32 is a partial cross-sectional plan view showing the configuration of the hip joint power transmission mechanism. As shown in detail in FIG. 32, the hip joint power transmission mechanism 462 includes a rotation axis orthogonal device 462a and a link mechanism 462b. The rotation axis orthogonal device 462a according to the present embodiment includes a pair of meshing bevel gears 471a and 471b. One bevel gear 471a is fitted to the output shaft 461a of the hip joint actuator 461 and the other bevel gear 471b. Is fitted to a drive shaft 472 substantially orthogonal to the output shaft 461a. An output link 473 is fixed to the drive shaft 472. The output link 473 is connected to the input link 475 via the intermediate link 474. The input link 475 is supported by the hip joint shaft 41 and rotates integrally with the first joint 442. The output link 473, the intermediate link 474, the input link 475, and the side portion 446 of the waist frame 421 constitute a link mechanism 462b (four-bar link mechanism).

[Knee joint actuator]
The knee joint actuator 463 will be described with reference to FIG. 30, FIG. 31, and FIG. In this embodiment, the knee joint actuator 463 is an electric motor, and this electric motor is long in the axial direction of the output shaft of the motor. The knee joint actuator 463 is supported by the thigh rod 431. As described above, the knee joint actuator 463 is disposed on the waist side away from the wearer's knee joint, so that the wearer's walking is compared with the configuration in which the knee joint actuator 463 is disposed in the vicinity of the wearer's knee joint. Sometimes, inertia (moment of inertia) applied to the wearer due to the weight of the knee joint actuator 463 can be reduced.

Further, the knee joint actuator 463 is rearward of the front and rear center of the thigh rod 431 and inside the outermost left and right direction of the thigh rod 431, the longitudinal direction of the knee joint actuator 463 and the longitudinal direction of the thigh rod 431 are It arrange | positions so that it may become substantially parallel. The longitudinal direction of the femoral rod 431 is a direction connecting the hip joint portion 434 and the knee joint portion 435, and is substantially parallel to the direction in which the wearer's femur extends. As shown in FIG. 34, the knee joint actuator 463 arranged in this manner is located behind the front and rear center of the wearer's thigh 141L (141R) of the wearer 402 and on the wearer's thigh 141L (141R). It is located between the biceps femoris muscle 143 and the quadriceps fetus muscle 142 outside the center of the left and right. The outer shape of the cross section of the wearer's thigh is an ellipse, and the rear and left and right outer portions of the ellipse are non-interfering with various body movements (for example, walking movement, lifting / lowering movement, sitting movement, and heel movement). It is an area. In other words, the knee joint actuator 463 does not come into contact with an object (for example, a load, a chair, or a wearer's arm) that moves relative to the knee joint actuator 463 in various operations of the wearer. The knee joint actuator 463 contacts the wearer's thigh and may contact the wearer's lower leg depending on the movement, but the knee joint actuator 463 is disposed avoiding the wearer's lower leg and thigh muscles. Therefore, the discomfort of the wearer is reduced.

[Ankle joint actuator]
The ankle joint actuator 481 will be described with reference to FIGS. 30 and 31. The foot joint actuator 481 is an electric motor in this embodiment, and this electric motor is long in the axial direction of the output shaft of the motor. The ankle joint actuator 481 is supported by the crus rod 432. Thus, the ankle joint actuator 481 is disposed on the knee side away from the wearer's ankle joint, so that the wearer's walking is compared with a configuration in which the ankle joint actuator 481 is disposed in the vicinity of the wearer's ankle joint. Sometimes the moment of inertia applied to the wearer due to the weight of the foot joint actuator 481 can be reduced.

In addition, the ankle joint actuator 481 is located on the rear side of the front and rear center of the lower leg rod 432, and on the inner side of the outermost left and right direction of the lower leg rod 432, the longitudinal direction of the ankle joint actuator 481 and the longitudinal direction of the lower leg rod 432 are It arrange | positions so that it may become substantially parallel. The longitudinal direction of the lower leg rod 432 is a direction connecting the knee joint part 435 and the foot joint part 436, and is substantially parallel to the direction in which the wearer's lower leg bone (tibiae) extends. As shown in FIG. 35, the ankle joint actuator 481 arranged in this way is on the rear side of the front and rear center of the wearer's lower leg 142L (142R) of the wearer 402 and on the wearer's lower leg 142L (142R). It will be located between the anterior tibial muscle (or long finger extensor) 144 and the triceps surae 145 outside the center of the left and right. The outer shape of the cross section below the calf shin of the wearer's lower thigh is an ellipse, and the back and left and right outer sides of this ellipse are various body movements (for example, walking movements, lifting and lowering loads, and sitting movements). , And 干 渉 operation). In other words, the ankle joint actuator 481 does not come into contact with an object (for example, a load, a chair, or the wearer's arm) that moves relative to the ankle joint actuator 481 in various operations of the wearer. The ankle joint actuator 481 is in contact with the wearer's lower leg and may be in contact with the wearer's thigh depending on the movement, but the ankle joint actuator 481 is disposed avoiding the wearer's lower leg and thigh muscles. Therefore, the discomfort of the wearer is reduced.

[Effects of this form]
In the motion support device 401 according to the present embodiment, the actuators 461, 463, and 481 for driving the joints are all inward in the left-right direction of the wearer than the exoskeleton of the device formed by the waist frame 421 and the back frame 422. Is arranged. Therefore, it is possible to reduce the amount of protrusion of the entire apparatus in the left-right direction by the actuators 461, 463, 481 for driving the joints.

In the motion support device 401, the actuators 461, 463, and 481 for driving the joints are arranged so as not to hinder the wearer's walking operation, load lifting operation, seating operation, and saddle operation. Yes. For example, as shown in FIG. 5, at the time of a heel motion that bends the hip joint and knee joint of the wearer, as shown in FIG. 36, the knee joint actuator 463 and ankle joint actuator 481 are connected to the wearer's thigh 141L (141R) and lower leg. It is located between 142L (142R), but does not interfere with these movements. Here, the knee joint actuator 463 and the ankle joint actuator 481 are in contact with the wearer's thigh 141L (141R) and the lower leg 142L (142R), respectively. Since it is in contact with such a dent portion of the body that avoids the muscles, the wearer's discomfort can be reduced. In addition, if the actuators 461, 463, and 481 are chamfered, the uncomfortable feeling caused by the contact between these and the wearer is further reduced. Further, for example, as shown in FIG. 37, the knee joint actuator 463 is not in contact with the seat surface 146 in a state where the seat surface 146 of the chair and the lower legs 142L, 142R of the wearer are in contact with each other during the seating operation of the wearer. is there. Here, the knee joint actuator 463 and the wearer's thigh 141L (141R) are in contact with each other. However, the knee joint actuator 463 is a recessed portion of the body between the wearer's quadriceps 142 and biceps 143 and avoids the muscle. The subcutaneous fat present at the contact point with the knee joint actuator 463 of the wearer is deformed, so that the wearer's uncomfortable feeling can be reduced.

In the motion support device 401 according to this embodiment, the knee joint actuator 463 is disposed on the rear side from the center in the front-rear direction of the femoral rod 431, but may be disposed on the front side from the center in the front-rear direction of the thigh rod 431. Good. Even in this case, the knee joint actuator 463 is arranged so that the longitudinal direction of the knee joint actuator 463 and the longitudinal direction of the femoral rod 431 are substantially parallel to the inner side in the left-right direction from the femoral rod 431. The knee joint actuator 463 does not largely protrude from the lower limb frame 423 of the wearing tool 402 outward in the left-right direction, and does not interfere with various operations of the wearer.

In addition, for example, in the motion support device 401 according to this embodiment, the ankle joint actuator 481 is disposed on the rear side from the center in the front-rear direction of the crus rod 432, but is disposed on the front side from the center in the front-rear direction of the crus rod 432. May be. Even in this case, the ankle joint actuator 481 is disposed so that the longitudinal direction of the ankle joint actuator 481 and the longitudinal direction of the crus rod 432 are substantially parallel to each other on the inner side in the left-right direction than the crus rod 432. The ankle joint actuator 481 does not protrude from the lower limb frame 423 of the wearing tool 402 to the outside in the left-right direction, and does not interfere with various operations of the wearer. In the present embodiment, the case where the hip joint actuator 461, the knee joint actuator 463, and the ankle joint actuator 841 are electric motors has been described. However, these may be configured by an air cylinder, a hydraulic cylinder, or the like.

The present invention is a wearable motion support that is attached to a user's lower limb and assists or acts on behalf of the user's lower limb such as walking, running, standing, sitting, and stepping up and down with hip and knee joint flexion and extension. In a device comprising a back frame (backpack) moored on the shoulder or side of the wearer, it is useful for preventing the back frame from swinging.

DESCRIPTION OF SYMBOLS 10 Wearable movement support apparatus 11 Wearing tool 12 Backpack 13 Battery 14 Controller 30 Lumbar frame 31 Base part 32 Side part 40 Back frame 50 Lower limb frame 51 Thigh arm 52 Lower thigh arm 53 Lower leg arm 53a Sole plate 61 Hip joint actuator 62 Hip joint Joint 63 knee joint actuator 64 ankle joint 70 connection 71 upper link 72 lower link 73 right link 74 left link

Claims (12)

A wearable movement support device for assisting or acting on the wearer's muscle strength,
A waist frame that has a long base in the left-right direction of the wearer and is worn around the waist of the wearer;
A pair of left and right lower limb frames connected to the lower part of the waist frame and worn on the lower limbs of the wearer;
A back frame connected to an upper portion of the waist frame and having a locking tool for mooring to the shoulder of the wearer;
A wearable motion support apparatus, comprising: a one-degree-of-freedom rotation mechanism on a frontal face connecting the back frame and the base of the waist frame. The rotation mechanism includes a lower link provided on the waist frame and substantially parallel to the base, an upper link provided on the back frame, a left link and a right link joined to each of the lower link and the upper link. The wearable motion support device according to claim 1, wherein the wearable motion support device comprises a link and is a four-bar linkage mechanism that is line-symmetric with respect to a left-right center of the waist frame as a symmetry axis. The wearable movement support device according to claim 2, wherein the four-bar linkage mechanism is a vertically inverted trapezoidal shape in which the four bars are sequentially connected by a line. The wearable motion support device according to claim 2, wherein a joining position of at least one of the lower link and the upper link with the right link and the left link is variable in the left-right direction. The said rotation mechanism is comprised by the axis | shaft perpendicular | vertical to the frontal face inserted in the joint hole provided in each of the left-right substantially center of the said base part of the said waist | hip | lumbar frame, and the substantially right-and-left center of the said back frame. The wearable motion support device according to 1. 2. The wearable motion support device according to claim 1, wherein the pair of left and right lower limb frames and the lumbar part frame generally have four degrees of freedom of rotation on the frontal plane and generally four or more degrees of freedom of rotation on the sagittal plane. . The pair of left and right lower limb frames includes a thigh arm that is attached to the thigh of the wearer, a lower leg arm that is attached to the lower thigh of the wearer, and a foot arm that is attached to the foot of the wearer And each
The thigh arm and the lower leg arm are connected to be rotatable on a sagittal plane,
The wearable motion support device according to claim 6, wherein the waist frame, the thigh arm, the crus arm, and the foot arm are rotatably connected on a sagittal plane and a frontal plane. The wearable movement support device according to claim 7, wherein the lower limb frame includes a restricting member that restricts a rotation range on a forehead surface of the lower leg arm with respect to the lower arm. The lower limb frame enables a thigh arm to be worn on the wearer's thigh, a lower leg arm to be worn on the wearer's lower leg, and the thigh arm to extend in a translational direction from a reference length. The wearable motion support apparatus according to claim 1, further comprising a first translational degree-of-freedom mechanism. The wearable motion support device according to claim 9, wherein the first translational degree of freedom mechanism has both rotational degrees of freedom. The lower limb frame allows the thigh arm to be worn on the wearer's thigh, the lower leg arm to be worn on the wearer's lower leg, and the lower leg arm to extend in a translational direction from a reference length. The wearable motion support apparatus according to claim 1, further comprising a second translation degree of freedom mechanism. The wearable motion support device according to claim 1, wherein the lower limb frame has a sole plate on which the wearer's foot is placed.

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