WO2018235574A1 - Motion auxiliary device - Google Patents

Abstract

The present invention can prevent the motion of the lumber or hip joints from being hindered while assisting a motion for stretching the lumber without using a pneumatic actuator or an electric actuator. In the present invention, lumber-part arms and thigh-part arms are coupled to each other in a revolvable manner along the plane of the thigh-part arms. When rope-like bodies provided to a lumber-part first arm and a thigh-part second arm are pulled in the extension direction by elastic members, the rope-like bodies and the elastic members stretch the lumber-part arms and the thigh-part arms. Further, the lumber-part first arm and a lumber-part second arm provided below the lumber-part first arm are coupled together with a lumber-part hinge provided so as to extend along end surfaces of the lumber-part first arm and the lumber-part second arm, and a thigh-part first arm and the thigh-part second arm provided below the thigh-part first arm are coupled together with a thigh-part hinge provided so as to substantially extend along a first direction substantially parallel with the lumber-part hinge.

Description

Motion auxiliary device

The present invention relates to an operation support device.

According to Patent Document 1, the back mounting portion is mounted on the back of the user and can move following the tilting of the user, and the back mounting portion to the left and right of the user centering on the mounting portion via the mounting portion. A front support portion which is rotatably mounted in a direction and is extended to the user's trunk front side to support the user's trunk front side, and attached to at least the front of the user's leg. The part and one end are connected to the lower limb mounting part, and the other end is connected to the back mounting part so as to be movable relative to the back mounting part so as to allow the following movement of the back mounting part. A lumbar aiding device is disclosed that includes a possible connection and an actuator that, in the actuated state, exerts a force on the back mount against the user's forward tilt.

Unexamined-Japanese-Patent No. 2012-100983

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

The present invention has been made in view of such circumstances, and it is an operation capable of assisting the operation of stretching the hip without using the pneumatic actuator or the electric actuator, and not disturbing the motion of the hip or the hip joint. It aims at providing an auxiliary device.

In order to solve the above problems, an operation assisting device according to the present invention is, for example, an operation assisting device attached to a side surface of a user, and is provided below a substantially plate-like waist arm and the waist arm Thigh arm, a substantially plate-like thigh first arm, a substantially plate-like thigh second arm provided on the lower side of the thigh first arm, and A thigh hinge which is provided substantially along a first direction substantially orthogonal to the longitudinal direction of the thigh second arm, and which connects the thigh first arm and the thigh second arm; A thigh arm, a cord-like body having a first end provided on the waist arm, and a second end provided on the thigh arm, or between the first end and the waist arm or the second end An elastic member provided between the arm and the thigh arm and pulling the cord-like body along the extension direction of the cord-like body; A waist pivot shaft for pivotally connecting the waist arm and the thigh arm with each other along the face of the thigh arm, and a central axis projecting from the waist arm, and A waist pulley provided at a position different from the waist rotation shaft, the waist pulley being wound around the cord-like body.

According to the motion assisting device of the present invention, the waist arm and the thigh arm are rotatably connected to each other along the plane of the thigh arm, and provided on the waist arm and the thigh second arm. When the cord-like body is pulled along the extending direction by the elastic member, the cord-like body and the elastic member extend the waist arm and the thigh arm, that is, the waist of the user wearing the motion assist device. Assist in the stretching operation. As a result, it is possible to assist the operation of stretching the waist without using a pneumatic actuator or an electric actuator. Further, the thigh first arm and the thigh second arm provided on the lower side of the thigh first arm are provided along the first direction substantially parallel to the waist hinge. It is connected by a hinge. As a result, it is possible to prevent the motion of the hips and hips of the user wearing the motion assist device.

In order to solve the above problems, an operation assisting device according to the present invention is, for example, an operation assisting device attached to a side surface of a user, and is provided below a substantially plate-like waist arm and the waist arm Thigh arm, a substantially plate-like thigh first arm, a substantially plate-like thigh second arm provided on the lower side of the thigh first arm, and A thigh hinge which is provided substantially along a first direction substantially orthogonal to the longitudinal direction of the thigh second arm, and which connects the thigh first arm and the thigh second arm; A thigh arm, a substantially plate-like lower leg arm provided below the thigh arm, and a cord having a first end provided on the lumbar arm and a second end provided on the lower arm And an elastic member provided between the first end and the lumbar arm or between the second end and the lower arm A resilient member for pulling the cord-like body along the extending direction of the cord-like body, the waist arm and the thigh arm along the plane of the thigh arm. A lumbar pulley having a pelvis pivot shaft connected in a movable manner and a lumbar pulley provided at a position different from the lumbar pivot shaft such that a central axis projects from the lumbar arm, wherein the cord-like body is wound Hip joint pulley, a knee pivot shaft for pivotally connecting the thigh arm and the lower limb arm along a plane of the thigh arm, and a central axis of the thigh A knee pulley provided at a position different from the knee rotation axis so as to protrude from the two arms, the knee pulley around which the cord-like body is wound; Do.

According to the motion assisting device of the present invention, the lumbar arm and the thigh arm are rotatably connected to each other along the surface of the thigh arm, and the thigh arm and the lower arm are thighs. When the cord-like body, which is rotatably connected to each other along the surface of the partial arm and provided on the first lower arm and the lower leg arm, is pulled along the extending direction by the elastic member, The elastic member extends the lumbar arm and the thigh arm, that is, assists the motion of extending the waist of the user equipped with the motion assist device, and extends the thigh arm and the lower arm, that is, the motion assist device Assists in stretching the knee of the user wearing the This can assist the operation of stretching the hips and knees without using a pneumatic actuator or an electric actuator. Further, the thigh first arm and the thigh second arm provided on the lower side of the thigh first arm are provided along the first direction substantially parallel to the waist hinge. It is connected by a hinge. As a result, it is possible to prevent the motion of the hips and hips of the user wearing the motion assist device.

Here, the waist arm is provided substantially along the first direction, and includes a substantially plate-shaped first waist arm, and a substantially plate-shaped second waist arm provided below the first waist arm. A lumbar hinge connecting the lumbar first arm and the lumbar second arm, wherein the cord-like body has the first end provided to the lumbar first arm, and the lumbar pulley has a center A shaft is provided so as to project from the second waist arm, a central shaft is substantially along the first direction, and a first waist guide roller and a second waist guide roller respectively provided on the upper and lower sides of the lower hinge. The cord-like body may be wound and provided with a waist first guide roller and a waist second guide roller provided at positions sandwiching the cord-like body. As a result, even if the first hip arm pivots relative to the second hip arm about the lower hip hinge, the movement of the cord-like body is not impeded, and the lower arm and the upper arm are the thigh arm. They are mutually pivotable along the plane.

Here, a thigh first guide roller is provided, the center axis being substantially along the first direction and provided below the thigh hinge, and the cord-like body has the second end as the second end. The cord-like body is provided on the second thigh arm and the first thigh guide roller is wound around the second thigh arm side of the first thigh guide roller. The body may abut. As a result, even when the thigh second arm pivots outward about the thigh hinge, only the winding angle of the cord-like body on the thigh first guide roller changes, and the cord-like body Motion of the lower arm and the lower arm can rotate relative to each other along the plane of the upper arm.

Here, a thigh second guide roller provided parallel to the waist pulley and below the thigh hinge, the thigh second guide roller comprising the waist pulley and the It is provided between the thigh first guide roller, and the cord-like body is wound around the thigh second guide roller, and the thigh first arm and the thigh second arm are straight. , The waist pulley and the thigh second guide roller are provided at a position sandwiching the cord-like body, and between the waist pulley and the thigh first guide roller In the above, the cord-like body may be extended linearly. In other words, even if the lumbar arm pivots about the lumbar pivoting axis, the winding angle of the cord-like body on the second femoral guide roller only changes, and the femoral first guide roller and the large The thigh second guide roller and the cord-like body remain in parallel. Thus, even if the lumbar arm pivots about the lumbar pivot axis, the lumbar arm and the thigh arm can rotate relative to each other along the surface of the thigh arm.

Here, the waist pulley may be provided at a position closer to the lower end of the waist arm than the waist pivot axis. Thereby, the larger the rotation angle of the lumbar arm, the larger the assisting force by the elastic member and the cord-like body can be.

Here, the knee pulley may be provided at a position closer to the lower end of the second thigh arm than the knee pivot axis. As a result, as the rotation angle of the lower limb arm increases, the assisting force by the elastic member and the cord-like body can be increased.

According to the present invention, it is possible to prevent the motion of the hip or the hip joint while preventing the motion of the hip or the hip joint while assisting the motion of stretching the hip without using the pneumatic actuator or the electric actuator.

It is a front view showing an outline of operation auxiliary device 1 concerning a 1st embodiment. It is a figure which shows the state which the user mounted | wore with the movement assistance apparatus 1, (A) shows the state which the user stood, (B) shows the state which the user rolled over the upper body, (C) Indicates that the user has moved the leg outward. It is a rear view which shows the outline of auxiliary unit 10. FIG. FIG. 2 is a side view showing an outline of an auxiliary unit 10; It is the elements on larger scale of FIG. It is a perspective view which shows the outline of auxiliary unit 10, and is a figure which expanded and displayed a part. It is a side view which shows the state of the assistance unit 10 when the user equipped with the operation | movement assistance apparatus 1 rolls over an upper body forward. It is a perspective view which shows the state of the auxiliary unit 10 when the user equipped with the operation | movement assistance apparatus 1 tilts the upper body forward, and is the figure which carried out the one part enlarged display. It is a rear view which shows the state of the auxiliary | assistant unit 10 when the user equipped with the operation | movement assistance apparatus 1 falls an upper body sideways. It is a rear view which shows the state of the auxiliary | assistant unit 10 when the waist 1st arm 11a rotates in the opposite side to the state shown in FIG. 9, It is the figure which expanded and displayed one part. It is a perspective view which shows the state of the auxiliary | assistant unit 10 when the user equipped with the movement assistance apparatus 1 spreads a leg outward. It is a side view showing an outline of auxiliary unit 10A concerning a modification. It is a side view showing an outline of auxiliary unit 10B concerning a modification. It is a side view showing the state where the user equipped the movement auxiliary device 2, and (A) shows the state where the user stood up, and (B) shows the state where the user bent. It is a side view (partially enlarged view) showing a state of auxiliary unit 10C when a user wearing movement auxiliary device 2 bends a knee, (A) is thigh second arm 12b and leg arm 41 and (B) is the case where the angle between the thigh second arm 12 b and the lower limb arm 41 is θ 2 (θ 2> θ 1). It is a side view showing the state where a user equipped operation auxiliary device 3, (A) shows the state where the user stood, and (B) shows the state where the user bent. It is a side view (partially enlarged view) showing a state of auxiliary unit 10D when a user wearing movement auxiliary device 3 bends a knee, and (A) shows thigh second arm 12b and leg arm 41 (B) is the case where the angle between the second thigh arm 12b and the lower limb arm 41 is θ4 (θ4> θ3). It is a side view showing the state where a user equipped operation auxiliary device 4, (A) shows the state where the user stood, and (B) shows the state where the user bent.

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

First Embodiment
FIG. 1 is a front view showing an outline of an operation assisting apparatus 1 according to the first embodiment. FIG. 2 is a view showing a state in which the user wears the motion auxiliary device 1, (A) shows a state in which the user stands up, and (B) shows a state in which the user leans over the upper body , (C) shows a state in which the user operates to extend the leg outward. The motion assist device 1 enables the user to tilt the upper body side or extend the leg outward while assisting the motion of rotating the waist in the direction in which the user stretches the body.

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

The operation assisting apparatus 1 mainly includes an assisting unit 10 attached to the right side of the user, an assisting unit 20 attached to the left side of the user, and a member for attaching the assisting units 10 and 20 to the user And the back strap portion 32, the waist strap portion 33, and the pad 34.

The back rest portion 31 includes a right plate 31a provided near the upper end of the auxiliary unit 10, a left plate 31b provided near the upper end of the auxiliary unit 20, and a connecting portion 31c connecting the right plate 31a and the left plate 31b. Have. The shoulder straps 32 are provided on the right plate 31a and the left plate 31b, respectively. The user puts the shoulder strap 32 on the shoulder, and the backrest 31 is attached to the back of the user.

The waist strap portion 33 mounts the auxiliary units 10 and 20 on the waist of the user. The auxiliary units 10 and 20 are attached to the side of the user by the user winding the waist strap portion 33 around the waist.

The pad 34 has a curved shape that covers the front side of the user's thigh. The pads 34 are provided to the auxiliary units 10 and 20, respectively. When the user hooks the pad 34 on the front side of the user's thigh, the auxiliary units 10, 20 are attached to the side of the user's thigh. In place of the pad 34, the auxiliary units 10 and 20 may be attached to the side of the user's thigh using a cord or the like.

As described above, by fixing the auxiliary units 10 and 20 to the side surface of the user using the backrest 31, the shoulder strap 32, the waist strap 33 and the pad 34, the operation assisting apparatus 1, ie, the auxiliary units 10 and 20. Can assist the user's actions. In addition, the form which fixes the auxiliary | assistant units 10 and 20 to the side of a user is not restricted to this.

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

FIG. 3 is a rear view showing an outline of the auxiliary unit 10. As shown in FIG. FIG. 4 is a side view showing the outline of the auxiliary unit 10.

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

The waist arm 11 mainly includes a substantially plate-shaped first waist arm 11 a, a substantially plate-like second waist arm 11 b provided on the lower side (−z side) of the first waist arm 11 a, and a first waist arm And a waist hinge 11c connecting the second arm 11b with the second arm 11b. The waist hinge 11c is substantially along the x direction, and is provided along the end faces of the first waist arm 11a and the second waist arm 11b. The waist first arm 11a and the waist second arm 11b can rotate relative to each other by connecting the lower end of the first waist arm 11a to the upper end of the second waist arm 11b.

The waist second arm 11 b is provided with a waist strap 33 (not shown in FIGS. 3 and 4, see FIG. 1). Moreover, in order to guide the cord-like body 13, a plurality of rollers 11 d, 11 e, 11 f, and 11 g are provided on the lower back second arm 11 b. The positions and the number of the rollers 11 d, 11 e, 11 f and 11 g are not limited to this. In addition, the rollers 11d, 11e, 11f, and 11g are not essential.

The thigh arm 12 is provided below the lumbar arm 11. The thigh arm 12 mainly includes a substantially plate-shaped thigh first arm 12a, a substantially plate-shaped thigh second arm 12b provided below the thigh first arm 12a, and the like. A thigh hinge 12c connecting the thigh first arm 12a and the thigh second arm 12b is provided. The thigh hinge 12c is substantially along the x direction, and the thigh hinge 12c connects the lower end of the first thigh arm 12a and the upper end of the second thigh arm 12b, thereby forming the thigh The first arm 12a and the thigh second arm 12b can rotate relative to each other.

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

The waist second arm 11 b and the thigh first arm 12 a are pivotably connected to each other by the waist pivot shaft 15. Therefore, the waist second arm 11b pivots about the waist pivot shaft 15 along the surface of the thigh first arm 12a with respect to the thigh first arm 12a fixed to the user.

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

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

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

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

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

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

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

The waist guide rollers 17 mainly include a waist first guide roller 17a and a waist second guide roller 17b provided respectively above and below the waist hinge 11c, and a waist first guide roller 17a and a waist second guide roller 17b. And a mounting member 17c attached to the arm 11b. Grooves (not shown) are formed in the first and second waist guide rollers 17a and 17b, respectively, and the cord-like body 13 is wound around the grooves.

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

The waist first guide roller 17a is provided on the upper side (+ z side) of the waist hinge 11c, and the waist second guide roller 17b is provided below the waist hinge 11c. In addition, the first waist portion guide roller 17 a and the second waist portion guide roller 17 b are provided at positions sandwiching the cord-like body 13. Although the waist first guide roller 17a and the waist hinge 11c overlap with each other, the center shaft 17d is on the upper side of the waist hinge 11c and such case is also included on the upper side.

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

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

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

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

When the thigh first arm 12a and the thigh second arm 12b are linearly arranged, the waist second pulley 16b and the thigh second guide roller 18b are provided at positions sandwiching the cord-like body 13 Be In other words, the cord-like body 13 abuts on the rear side of the waist second pulley 16 b, and the cord-like body 13 abuts on the front side of the thigh second guide roller 18 b.

In addition, when the thigh first arm 12a and the thigh second arm 12b are linearly arranged, the cord-like body 13 is provided between the waist second pulley 16b and the thigh first guide roller 18a. Extend in a straight line.

It returns to the explanation of FIGS. As shown in FIGS. 3 and 4, when the user stands up, that is, when the first waist arm 11a, the first thigh arm 12a and the second thigh arm 12b are linearly arranged, The body 13 is linearly extended between the waist guide roller 17 and the mounting member 36.

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

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

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

Since the second waist pulley 16b is provided closer to the lower end of the second waist arm 11b than the lower pivot shaft 15, the larger the pivot angle of the lower waist arm 11, the more the elastic member 14 and the cord 13 Auxiliary power increases. Hereinafter, this point will be described.

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

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

FIG. 8 is a perspective view showing the state of the auxiliary unit 10 when the user wearing the operation auxiliary device 1 tilts the upper body forward, and is a partially enlarged view. Since the thigh first guide roller 18a is provided in a linear shape connecting the groove 18e of the thigh second guide roller 18b and the fixing position of the cord-like body 13 by the attachment member 36 (see FIG. 4) Even when the lumbar arm 11 pivots about the pivot shaft 15, the cord-like body 13 is parallel to the grooves 18d and 18e of the thigh first guide roller 18a and the thigh second guide roller 18b. I keep it.

That is, the cord-like body 13 abuts on the rear side of the waist second pulley 16 b and the cord-like body 13 abuts on the front side of the thigh second guide roller 18 b. Is turned forward (see the arrow in FIG. 8) (the waist arm 11 pivots clockwise in FIG. 8), the winding angle of the cord-like body 13 on the second thigh guide roller 18b changes. However, the positional relationship between the thigh first guide roller 18a and the cord-like body 13 does not change. Therefore, even if the waist arm 11 pivots about the waist pivot shaft 15, the waist arm 11 and the thigh arm 12 can pivot relative to each other along the surface of the thigh arm 12.

For example, when the second thigh guide roller 18b is not provided, the rope-like body 13 wound around the second waist pulley 16b is inclined with respect to the groove 18d of the first thigh guide roller 18a. It arrange | positions (refer FIG. 8 long dashed line). Therefore, friction occurs between the cord 13 and the groove 18 d, and the force of the elastic member 14 and the cord 13 to pivot the waist arm 11 is reduced. However, the elastic members 14 and the cord-like body 13 can be used as the waist arm by keeping the grooves 18 d and 18 e of the thigh first guide roller 18 a and the thigh second guide roller 18 b parallel to the cord-like body 13. It is possible not to reduce the force to turn 11.

FIG. 9 is a rear view showing the state of the auxiliary unit 10 when the user wearing the operation auxiliary device 1 turns the upper body sideways. The waist first arm 11a is pivoted relative to the waist second arm 11b about the waist hinge 11c. In FIG. 8, from the state shown in FIG. 3, the waist first arm 11 a pivots clockwise in FIG. 8. Since the waist second guide roller 17b is provided below the waist hinge 11c, the cord 13 is deeply wound around the waist second guide roller 17b, and the movement of the cord 13 is not inhibited.

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

Thus, providing the waist first guide roller 17a and the waist second guide roller 17b above and below the waist hinge 11c, and providing the cord 13 between the waist first guide roller 17a and the waist second guide roller 17b. Thus, even if the first hip arm 11a pivots relative to the second hip arm 11b about the lower hip hinge 11c, the movement of the cord 13 is not impeded, and the lower arm 11 and the upper arm 12 They are mutually pivotable along the plane of the thigh arm 12.

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

According to the present embodiment, by using the cord-like body 13 and the elastic member 14, the user wearing the motion auxiliary device 1 does not use the pneumatic actuator or the electric actuator, and in the direction in which the user stretches the body It is possible to assist the operation of rotating.

For example, when using an electric actuator, a battery or the like is required, and when using a pneumatic actuator, a compressor or the like is required. However, in the present embodiment, the battery, the compressor, and the like are unnecessary. Is possible. Further, in the present embodiment, since power is unnecessary, it can be used even in an environment without electricity or at the time of disaster.

Further, according to the present embodiment, even if the waist arm 11 pivots about the waist pivot shaft 15, the grooves 18d and 18e of the thigh first guide roller 18a and the thigh second guide roller 18b. In order to maintain the parallel state of the cord 13 and the cord 13, unnecessary friction does not occur between the cord 13 and the groove 18 d, so that the elastic member 14 and the cord 13 may rotate the lumbar arm 11. Not to reduce the

Further, according to the present embodiment, the user who wears the operation assisting device 1 by providing the waist hinge 11c and providing the first waist guide roller 17a and the second waist guide roller 17b above and below the waist hinge 11c. Even when the upper body is turned to the side, the cord-like body 13 can be made to run along the first lower waist guide roller 17a and the second lower waist guide roller 17b. Thereby, it is possible to prevent the motion of the waist of the user wearing the motion assist device 1 from being disturbed. In addition, by providing the thigh hinge 12c and providing the thigh first guide roller 18a under the thigh hinge 12c, the user wearing the motion assist device 1 can tilt the upper body forward, or the leg Can be made to run along the thigh first guide roller 18a and the thigh second guide roller 18b. Thereby, it is possible to prevent the motion of the hip joint of the user wearing the motion assist device 1 from being disturbed. In addition, even if the user wearing the motion assist device 1 moves the hips and hips, the motion of the cord 13 is not impeded, so that the motion assist device 1 can always assist the motion of stretching the waist.

Further, according to the present embodiment, since the waist pulley 16 is provided on the lower side of the waist pivot shaft 15, the elastic member 14 and the cord-like body 13 are the waist arm 11 as the pivot angle of the waist arm 11 increases. Can increase the force to turn the Therefore, even if the user wearing the motion assist device 1 bends the waist deeply, the user can easily extend the waist. Further, when the user wearing the motion assisting device 1 tries to bend the waist, the biasing force of the elastic member 14 is applied to the cord-like body 13, so that the motion assisting device 1 can play a role of a cushion.

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

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

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

Moreover, although the waist arm 11 has the waist hinge 11c in this embodiment, the waist hinge 11c is not essential. FIG. 13 is a side view schematically showing an auxiliary unit 10B according to a modification.

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

The waist arm 11A mainly has a substantially plate-shaped waist arm 11i and rollers 11j and 11k. The upper end of the lumbar arm 11i protrudes rearward (in the −x direction) as compared to the first arm 11a (see FIG. 4). That is, in the lumbar arm 11, the upper portion 11u (see FIG. 4) of the first waist arm 11a (see FIG. 4) is close to the user's back, and in the lumbar arm 11A, the upper portion 11v of the lumbar arm 11i is far from the user's .

In the lumbar arm 11, when the user turns the upper body sideways, the lumbar first arm 11a and the upper body of the user interfere with each other, so the lumbar first arm 11a moves the upper body using the lumbar hinge 11c. It was made to deform with. On the other hand, in the lumbar arm 11A, by separating the upper portion 11v of the lumbar arm 11i from the upper body of the user, the upper arm does not interfere with the upper arm 11A even if the user folds the upper body horizontally. Can.

However, in the lumbar arm 11A, since the upper portion 11v of the lumbar arm 11i is separated from the upper body of the user, it is difficult for the posture of the user to be stable. Therefore, it is desirable to closely contact the waist first arm 11a with the back of the user like the waist arm 11, and deform the waist first arm 11a with the movement of the upper body using the waist hinge 11c.

Second Embodiment
In the second embodiment, in addition to motion assistance for the lower back, motion assistance for the knee is performed. Hereinafter, the operation assisting device 2 according to the second embodiment will be described. The same parts as those of the operation assisting device 1 according to the first embodiment are designated by the same reference numerals, and the description thereof is omitted.

FIG. 14 is a side view showing a state in which the user wears the operation assisting device 2, (A) shows a state in which the user stands up, and (B) shows a state in which the user bends. The operation assisting device 2 mainly includes an assisting unit 10C attached to the right side of the user, an assisting unit 20C attached to the left side of the user, and members for attaching the assisting units 10C and 20C to the user And the back strap portion 32, the waist strap portion 33, and the pad 34. In FIG. 14, only the auxiliary unit 10C is illustrated, and the other members are not illustrated.

Hereinafter, the detailed configuration of the auxiliary units 10C and 20C will be described. Since the auxiliary unit 10C and the auxiliary unit 20C have a left-right symmetrical shape, the auxiliary units 10C and 20C will be described below using the auxiliary unit 10C.

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

The lower leg arm 41 is substantially plate-like, and the knee rotation shaft 42 is a surface of the thigh arm 12 with the thigh arm 12 (here, the second thigh arm 12 b) and the lower arm 41.連結 可能 可能 可能 可能 す る.

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

A knee rotation shaft 42 is provided on the thigh second arm 12 b. The second thigh arm 12 b and the lower limb arm 41 are pivotally connected to each other by the knee pivot shaft 42. Therefore, with respect to the thigh second arm 12 b, the lower limb arm 41 pivots about the knee pivot shaft 42 along the surface of the second thigh arm 12 b.

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

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

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

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

Since the cord-like body 13 is wound around the knee pulley 43, the length of the cord-like body 13 existing between the waist pulley 16A and the attachment member 36 is long when the lower arm arm 41 is pivoted. And the cord 13 pulls the elastic member 14. As a result, the elastic member 14 pulls the cord-like body 13 along the extension direction of the cord-like body 13. When the cord-like body 13 is pulled by the elastic member 14, this force acts on the knee pulley 43, and tries to turn the lower limb arm 41 counterclockwise in FIG. 14 (B). Thus, the motion assist device 2 assists the motion of stretching the knee of the user wearing the motion assist device 2.

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

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

Thus, by providing the knee pulley 43 at a position closer to the lower end of the second thigh arm 12b than the knee pivot shaft 42, the greater the pivot angle of the lower limb arm 41, the more resilient it is. The assisting force by the member 14 and the cord 13 increases.

According to the present embodiment, using the cord-like body 13 and the elastic member 14, it is possible to assist the operation of rotating the hips and knees in the direction in which the user wearing the motion assist device 2 stretches the body. In other words, the motion assist device 2 can assist the motion of stretching the hips and knees without using a pneumatic actuator or a motorized actuator.

Further, according to the present embodiment, it is possible to increase the force with which the elastic member 14 and the cord-like body 13 rotate the lower leg arm 41 as the rotation angle of the lower arm 41 increases. Therefore, even if the user wearing the motion assist device 2 bends the knee deeply, the user can easily extend the knee.

Although one cord 13 is used in this embodiment, two cords may be used. For example, a cord-like body in which the first end is provided to the lower back first arm 11a and the second end is provided to the second thigh arm 12b, and the first end is provided to the second thigh arm 12b, A cord having a second end provided to the lower arm 41 may be used. When two cords are used, the elastic member 14 may be provided for each cord, and the position of the elastic member 14 is arbitrary.

Third Embodiment
The third embodiment is a mode in which the disposition positions of the waist pulley 16A and the knee pulley 43 are changed with respect to the operation assisting device 2 of the second embodiment. The operation assisting device 3 according to the third embodiment will be described below. The same parts as those of the movement assisting device 1 according to the first embodiment and the movement assisting device 2 according to the second embodiment are denoted by the same reference numerals, and the description thereof is omitted.

FIG. 16 is a side view showing a state in which the user wears the operation assisting device 3, (A) shows a state in which the user stands, and (B) shows a state in which the user bends. The movement assisting device 3 mainly includes an assisting unit 10D attached to the right side of the user, an assisting unit 20D attached to the left side of the user, and members for attaching the assisting units 10D and 20D to the user And the back strap portion 32, the waist strap portion 33, and the pad 34. In FIG. 16, only the auxiliary unit 10D is illustrated, and the other members are not illustrated.

Hereinafter, detailed configurations of the auxiliary units 10D and 20D will be described. Since the auxiliary unit 10D and the auxiliary unit 20D have a symmetrical shape, the auxiliary units 10D and 20D will be described below using the auxiliary unit 10D.

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

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

The thigh arm 12A is mainly provided in the substantially plate-like thigh first arm 12a, the thigh second arm 12b, the thigh hinge 12c, and the thigh second arm 12b. And a plate-like protrusion 12d. The protrusion 12 d is provided to protrude to the front side (+ x side) of the thigh second arm 12 b. The + x side is a side where the upper end of the lower leg arm 41 protrudes when the lower arm 41 is pivoted with respect to the first thigh arm 12a. Further, the protrusion 12 d is provided on the upper side of the knee pivot shaft 42. A knee pulley 43 is provided on the protrusion 12 d.

FIG. 17 is a side view (partially enlarged view) showing the state of the assist unit 10D when the user wearing the motion assist device 3 bends the knee, and (A) shows the second thigh arm 12b and the lower leg The angle between the upper arm 41 and the lower arm 41 is θ3. The angle between the second thigh arm 12b and the lower arm 41 is θ4 (θ4> θ3).

As shown in FIG. 17A, when the leg arm 41 is rotated by the angle θ3, the fixing position of the cord-like body 13 by the attachment member 36 (not shown in FIG. 17) and the knee pivot shaft 42 The distance between the line A5 and the center of the knee pulley 43 on a straight line perpendicular to the line A5 is the distance D5. On the other hand, as shown in FIG. 17B, when the leg arm 41 is rotated by the angle θ4, the fixed position of the cord-like body 13 by the attachment member 36 (not shown in FIG. 17) The distance between the line A6 and the center of the knee pulley 43 on a straight line perpendicular to the line A6 connecting the axis 42 is a distance D6, which is smaller than the distance D5. Therefore, elastic member 14 and cord-like body 13 may rotate leg arm 41 when leg arm 41 is rotated by angle θ 3 than when leg arm 41 is rotated by angle θ 4. The power to be increased will be.

Thus, by providing the knee pulley 43 on the front side and upper side of the knee pivot shaft 42, as the pivot angle of the lower limb arm 41 becomes larger, the elastic member 14 and the cord-like body 13 become lower limb arms The force (assisting force) to turn 41 is reduced.

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

Further, according to the present embodiment, the assist force can be adjusted by changing the position in the height direction (z direction) of the protrusions 11h and 12d.

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

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

Further, in the present invention, “abbreviation” is a concept including not only the case of strictly identical but also an error and a deformation that do not lose the sameness. For example, substantially parallel and approximately orthogonal are not limited to strictly parallel and orthogonal cases. Further, for example, when expressing simply as parallel, orthogonal, etc., not only strictly parallel, orthogonal, etc., but also substantially parallel, substantially orthogonal, etc. shall be included. Further, in the present invention, the term “nearby” is a concept indicating that when near A, for example, it is near A and may or may not include A.

1, 2, 3, 4: motion auxiliary devices 10, 10A, 10B, 10C, 10D, 10E: auxiliary units 11, 11A, 11B, 11C: waist arm 11a: waist first arm 11b: waist second arm 11c: waist Hinges 11d, 11e, 11f, 11g: roller 11h: protrusion 11i: waist arm 12, 12A, 12B: thigh arm 12a: thigh first arm 12b: thigh second arm 12c: thigh hinge 12d: projection 13: cord 14: elastic member 14a: case 14b: hole 15: waist pivoting shaft 16, 16A: waist pulley 16a: waist first pulley 16b: waist second pulley 16c, 16 Grooves 16e, 16 and 16g: Center shaft 17: Lumbar guide roller 17a: Lumbar first guide roller 17b: Lumbar second guide roller 17c: Mounting member 17d, 17e: Central axis 18: Thigh guide roller 18a: Thigh Part first guide roller 18b: thigh second guide roller 18c: attachment member 18d, 18e: groove 18f, 18g: central shaft 20, 20A, 20B, 20C, 20D: auxiliary unit 31: backrest part 31a: right plate 31b: left plate 31c: connecting portion 32: shoulder strap portion 33: waist strap portion 34: pad 35: rotating shaft 36: mounting member 41: lower arm arm 42 : Knee rotation shaft 43: Knee pulley 43 a: Central shaft

Claims (7)

A motion assistance device mounted on the side of the user,
An approximately plate-like lumbar arm,
A thigh arm provided on the lower side of the waist arm, which is a substantially plate-like thigh first arm, and a substantially plate-like thigh provided on the lower side of the thigh first arm A second arm and a first direction substantially orthogonal to the longitudinal direction of the second thigh arm, and connecting the first thigh arm and the second thigh arm A thigh arm having a thigh hinge;
A cord-like body provided with a first end on the lumbar arm and a second end on the thigh arm;
An elastic member provided between the first end and the lumbar arm or between the second end and the thigh arm to pull the cord-like body along the extending direction of the cord-like body;
A lumbar pivot shaft pivotally connecting the lumbar arm and the thigh arm along the plane of the thigh arm;
A waist pulley provided at a position different from the waist pivoting axis such that a central axis projects from the waist arm, the waist pulley around which the cord-like body is wound;
An operation assisting device comprising: A motion assistance device mounted on the side of the user,
An approximately plate-like lumbar arm,
A thigh arm provided on the lower side of the waist arm, which is a substantially plate-like thigh first arm, and a substantially plate-like thigh provided on the lower side of the thigh first arm A second arm and a first direction substantially orthogonal to the longitudinal direction of the second thigh arm, and connecting the first thigh arm and the second thigh arm A thigh arm having a thigh hinge;
A substantially plate-like lower extremity arm provided on the lower side of the upper thigh arm;
A cord having a first end provided on the lumbar arm and a second end provided on the lower leg arm;
An elastic member provided between the first end and the lumbar arm or between the second end and the lower limb arm, and pulling the cord-like body along the extending direction of the cord-like body An elastic member,
A lumbar pivot shaft pivotally connecting the lumbar arm and the thigh arm along the plane of the thigh arm;
A waist pulley provided at a position different from the waist pivoting axis such that a central axis projects from the waist arm, the waist pulley around which the cord-like body is wound;
A knee rotation shaft that rotatably connects the thigh arm and the lower limb arm along a plane of the thigh arm;
A knee pulley provided at a position different from the knee pivoting axis such that a central axis projects from the thigh second arm, the knee pulley around which the cord-like body is wound ,
An operation assisting device comprising: The waist arm is provided substantially along the first direction, and includes a substantially plate-like first waist arm, a substantially plate-like second waist arm provided below the first waist arm, and the first waist A lumbar hinge connecting the first arm and the lumbar second arm;
The cord-like body is provided with the first end at the waist first arm,
The waist pulley is provided such that a central axis protrudes from the waist second arm,
A waist first guide roller and a waist second guide roller, each having a central axis substantially along the first direction and provided respectively above and below the waist hinge, wherein the cord-like body is wound and the cord The motion assisting device according to claim 1 or 2, further comprising: a waist first guide roller and a waist second guide roller which are provided at positions sandwiching the rod. A thigh first guide roller having a central axis substantially along the first direction and provided below the thigh hinge;
The cord-like body is provided with the second end on the thigh second arm,
The cord-like body is wound around the thigh first guide roller, and the cord-like body is in contact with the thigh second arm side of the thigh first guide roller. The motion auxiliary device according to any one of claims 1 to 3. A thigh second guide roller provided parallel to the waist pulley and below the thigh hinge;
The thigh second guide roller is provided between the waist pulley and the thigh first guide roller.
The cord-like body is wound around the second thigh guide roller.
When the thigh first arm and the thigh second arm are linearly arranged, the waist pulley and the thigh second guide roller are provided at positions sandwiching the cord-like body, The motion assisting device according to claim 4, wherein the cord-like body is linearly extended between the waist pulley and the thigh first guide roller. The motion assisting device according to any one of claims 1 to 5, wherein the waist pulley is provided at a position closer to a lower end of the waist arm than the waist pivot shaft. The motion assist device according to claim 2, wherein the knee pulley is provided at a position closer to the lower end of the second thigh arm than the knee pivot shaft.

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