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WO2019198269A1 - Dispositif d'aide à la marche - Google Patents

Dispositif d'aide à la marche Download PDF

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Publication number
WO2019198269A1
WO2019198269A1 PCT/JP2018/042886 JP2018042886W WO2019198269A1 WO 2019198269 A1 WO2019198269 A1 WO 2019198269A1 JP 2018042886 W JP2018042886 W JP 2018042886W WO 2019198269 A1 WO2019198269 A1 WO 2019198269A1
Authority
WO
WIPO (PCT)
Prior art keywords
leg
arm
wearer
orthosis
walking
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2018/042886
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English (en)
Japanese (ja)
Inventor
友也 甘利
竹中　透
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Priority to JP2020513061A priority Critical patent/JP6985503B2/ja
Publication of WO2019198269A1 publication Critical patent/WO2019198269A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

Definitions

  • the present invention relates to a walking assist device that assists walking by transmitting an assist force to a wearer's leg.
  • a walking assistance device is known that is attached to a person who has difficulty walking due to a decrease in muscle strength (hereinafter referred to as “wearer”) and assists the wearer in walking.
  • This type of walking assistance device includes a waist brace that is worn on the wearer's waist, a leg brace that is worn on the wearer's leg, and a leg brace that is moved relative to the waist brace.
  • an operation assisting mechanism for applying an assisting force to assist the wearer's walking to the leg portion for example, see Patent Document 1.
  • a human leg not only rotates in the front-rear direction about the axis extending in the left-right direction, but also rotates in the left-right direction about the axis extending in the front-rear direction. Specifically, the leg moves inward (inner rotation) or moves outward (abduction) so that the leg approaches or moves away from the body axis.
  • the walking assist device of Patent Document 1 the arm that connects the waist orthosis and the leg orthosis is connected to the drive source fixed to the waist orthosis so as to be rotatable around an axis extending in the front-rear direction. Yes.
  • the walk auxiliary device of patent documents 1 has secured the degree of freedom of the leg in the case of abduction and adduction to some extent.
  • the present invention has been made in view of the above points, and an object of the present invention is to provide a walking assist device that can reduce the uncomfortable feeling given to the wearer during abduction and adduction.
  • the walking assist device of the present invention comprises: A lumbar orthosis worn on the wearer's lumbar region, a leg brace attached to the wearer's leg, and the leg brace is moved relative to the lumbar orthosis, and the leg brace is inserted through the leg brace.
  • the movement assist mechanism is provided on the side surface of the waist orthosis, and is arranged to extend from the drive source toward the leg orthosis, and is disposed on a first rotation axis extending in the left-right direction.
  • An arm for connecting the waist orthosis and the leg orthosis via the drive source The drive source rotates the arm and the leg brace connected to the arm in the front-rear direction with respect to the waist brace around the first rotation axis,
  • the arm is connected to the drive source so as to be rotatable in the left-right direction around a second rotation axis extending in the front-rear direction,
  • the first rotation axis is located above a reference axis that extends in the left-right direction through the hip joint center of the wearer.
  • the drive source is disposed on the side surface of the waist orthosis, and the arm is rotatable about the second rotation axis extending in the front-rear direction to the drive source. It is connected.
  • the weight of the drive source to be supported by the waist orthosis, so that the weight is not added to the legs via the arms. Further, since the movement of the arm is not hindered by the weight of the driving source, the movement of the arm is smooth. As a result, in the walking assistance device of the present invention, the influence of the weight of the drive source and the mobility of the arm is suppressed, and the movement of the leg portion during abduction and adduction is less likely to be hindered.
  • the drive source is disposed on the first rotation axis that is the rotation center in the front-rear direction of the arm, and the first rotation axis passes through the center of the wearer's hip joint. It is located above the axis.
  • the part above the center of the hip joint in the leg part is a part that does not rotate greatly when the leg part is abducted and adductioned.
  • the drive source since the drive source is configured to be positioned above the hip joint center, the leg and the drive source Is difficult to touch.
  • the walking assist device of the present invention the influence of the weight of the driving source and the mobility of the arm on the movement of the leg during the abduction and adduction of the leg is suppressed. Since contact with the drive source is prevented, a sense of discomfort given to the wearer during abduction and adduction can be reduced.
  • the height of the second rotation axis coincides with the height of the reference axis.
  • the amount of change in the angle of the leg with respect to the vertical direction on the front face is substantially the same as the amount of change in the angle of the arm during abduction and adduction.
  • the force applied from the arm to the leg due to the deviation of the fluctuation amount of the angle is reduced.
  • the influence of the force applied from the arm to the leg during abduction and adduction can be suppressed, and the uncomfortable feeling given to the wearer during abduction and adduction can be reduced.
  • the first rotation axis is located behind the reference axis.
  • the first rotation axis serving as the rotation center in the front-rear direction of the arm (that is, the leg brace) is positioned above the reference axis passing through the wearer's hip joint center. I am letting.
  • the distance between the waist orthosis and the leg orthosis varies according to the movement of the leg in the front-rear direction (see FIG. 7). Then, due to the variation in the distance, a force that extends or contracts is applied to the leg by the arm that connects the waist orthosis and the leg orthosis.
  • the force to extend the leg from the arm to the leg when the leg is further swung up Will be added.
  • the arm when the arm is in the upright state (when the leg is in a straightened state), a force that contracts the leg is applied from the arm to the leg. And when such a force is added, there exists a possibility of giving a wearer an uncomfortable feeling by the force.
  • the first rotation axis that is the center of rotation in the front-rear direction of the arm ie, leg device
  • the reference axis Since the variation in the distance between the waist orthosis and the leg orthosis is suppressed, the force applied from the arm to the leg can be suppressed. As a result, it is possible to reduce the uncomfortable feeling given to the wearer during abduction and adduction by suppressing the influence of the force applied from the arm to the leg.
  • an angle formed by a vertical line passing through the reference axis and a line passing through the reference axis and the first rotation axis in a side view is a leg portion of the wearer. It is particularly preferable that the amount is within an angle range that can be swung forward.
  • the arm is configured so that a space between the waist orthosis and the leg orthosis can be expanded and contracted.
  • the first rotation axis that is the rotation center in the front-rear direction of the arm is positioned above the reference axis that passes through the center of the hip joint of the wearer. Therefore, the distance between the waist orthosis and the leg orthosis varies according to the movement of the leg. Then, due to the variation in the distance, a force for extending or contracting is applied from the arm to the leg. When such a force is applied, the wearer may feel uncomfortable with the force.
  • the arm is configured to be extendable, the force applied from the arm to the leg portion can be absorbed by the extension. As a result, it is possible to reduce the uncomfortable feeling given to the wearer during abduction and adduction by suppressing the influence of the force applied from the arm to the leg.
  • connection position of the drive source and the arm is laterally separated from the thigh side end of the wearer of the drive source.
  • This configuration makes it possible to increase the distance between the wearer's thigh and the arm, so that the arm is less likely to contact the wearer's thigh.
  • the movement assist mechanism has a bracket between the drive source and the arm,
  • the bracket includes a main body portion that rotates about the first rotation axis together with the arm, and a pair of extending portions that extend downward from the main body portion so as to have an interval in the front-rear direction.
  • a connecting portion disposed between the pair of extending portions and connected to the arm, and the extending portion and the connecting portion are connected to be rotatable about a second rotation axis extending in the front-rear direction.
  • Such a configuration makes it possible to increase the size of the constituent member of the connecting portion compared to the case where the arm is connected to the drive source without using the bracket, so that it is easy to ensure the rigidity in the vicinity of the second rotation axis.
  • the perspective view of the walking assistance apparatus which concerns on embodiment.
  • the perspective view which expands and shows the actuator of the operation assistance mechanism of the walking assistance apparatus of FIG. It is a front view which shows typically the relationship between the conventional walking assistance apparatus and the position of a wearer's hip joint center, and is a figure which shows an upright state.
  • FIG. 7A is a leg at the time of centering on the locus
  • FIG. 7B shows a comparison between the trajectory centered on the hip joint center and the trajectory of the leg equipment when centered on a position above and behind the hip joint center.
  • the side view which shows typically the relationship between the walking assistance apparatus of FIG. 1, and the position of a wearer's hip joint center.
  • the “front-rear direction” refers to the front-rear direction of the wearer P in the state where the wearer P wearing the walking assist device A stands upright (the walking direction assisted by the walking assist device A).
  • the “left-right direction” refers to the left-right direction of the wearer P.
  • the “axis extending in the front-rear direction” and the “axis extending in the left-right direction” are axes extending in the front-rear direction and inclined in the left-right or up-down direction in addition to the axis extending along the front-rear direction and the left-right direction.
  • an axis extending in the left-right direction and tilting back and forth or up and down is also included.
  • the walking assist device A has a leg device attached to each of the waist orthosis 1 attached to the waist of the wearer P and the thighs of the left and right legs of the wearer P at the time of wearing.
  • the assisting mechanism 3 that generates an assist force for assisting the walking of the wearer P on each of the left and right legs of the wearer P via the brace 2 and the leg brace 2 and applies the assist force to the wearer P. And.
  • the operation assisting mechanism 3 rotates the left and right leg orthotics 2 relative to the waist orthosis 1 around the first rotation axis a1 extending in the left-right direction, so that the wearer P Assist force is applied to the legs. That is, the assist force in the walking assist device A is a force in a direction in which the leg orthosis 2 is rotated with respect to the waist orthosis 1 around the first rotation axis a1.
  • the reaction force that twists the waist orthosis 1 around the first rotation axis a1 (hereinafter, this reaction force is simply referred to as “assist force of the assist force”). (Refer to the directions of a pair of left and right arrows about the first rotation axis a1 in FIG. 1).
  • the walking assistance apparatus of this invention provides assistance force from the leg brace 2 with respect to each thigh of the left and right leg of the wearer P like the walking assistance apparatus A of this embodiment. By this, it is not limited to what assists the wearer P's walk.
  • an operation assisting mechanism may be provided only on one side and an assist force may be applied only to one of the left and right leg portions.
  • the portion to which the assist force is applied may be a portion other than the thigh of the wearer's leg, such as the lower leg or the foot.
  • the movement of the wearer P so that the leg portion approaches or moves away from the center axis in the vertical direction of the body in this embodiment, the axis that coincides with the first reference axis b1) (inversion and outside).
  • the leg device 2 is configured to be rotatable in the left-right direction with respect to the waist device 1 around the second rotation axis a2 extending in the front-rear direction.
  • the waist orthosis 1 has a front frame 10 that covers the front of the waist of the wearer P, a back frame 11 that covers the back of the waist, and a pair of side frames 12 that cover the sides of the waist when worn.
  • the front frame 10 and the back frame 11 are belt-shaped members made of flexible resin.
  • the front frame 10 and the back frame 11 are curved around a first reference axis b1 that is an axis extending in the vertical direction through the center of the body of the wearer P so as to be along the circumferential surface of the waist of the wearer P. Yes.
  • the shape of the flexible frame of the walking assistance device of the present invention is not limited to a belt-like shape such as a rod shape or a string shape, but a front portion or a rear portion of a waist orthosis such as a rod shape or a string shape. Any other shape may be used as long as it can be configured.
  • the flexible frame when the shape of the flexible frame is a belt shape as in the walking assist device A of the present embodiment, the flexible frame can be easily manufactured as compared to other shapes. . Also, compared to other shapes, the pressure applied to the wearer when the reaction force of the assist force is applied to the waist orthosis can be dispersed, so the discomfort given to the wearer by the reaction force can be reduced. Can do.
  • the flexible frame of the walking assistance device of the present invention may be formed using a material other than resin as long as it has torsional rigidity and bending rigidity described later. For example, you may form using a thin metal plate etc.
  • the first front frame member 10a located on the front side of the right half of the wearer P and the second front frame member 10b located on the front side of the left half of the wearer P
  • the side fasteners 10c are detachably fixed to each other.
  • the back frame 11 is, when worn, a first back frame member 11a located on the front side of the right half of the wearer P, and a second back frame member 11b located on the back side of the left half of the wearer P. Are detachably fixed to each other by the rear side surface fastener 11c.
  • the front frame 10 can adjust the fixing position of the first front frame member 10a and the second front frame member 10b within a predetermined range in the circumferential direction of the first reference axis b1 by the front side surface fastener 10c.
  • the back frame 11 can adjust the fixing position of the first back frame member 11a and the second back frame member 11b within a predetermined range in the circumferential direction of the first reference axis line b1 by the back side fastener 11c. ing.
  • the dimensions of the front frame 10 and the back frame 11 can be adjusted according to the body shape of the wearer P.
  • the front side surface fastener 10c fixes the first front frame member 10a and the second front frame member 10b so as to be in line contact with each other along the first reference axis line b1 extending in the vertical direction.
  • the back side surface fastener 11c fixes the first back frame member 11a and the second back frame member 11b so as to be in line contact with each other along the first reference axis b1 extending in the vertical direction.
  • the front frame 10 and the back frame 11 can be divided without reducing the torsional rigidity at the fixing portions between the frame members constituting them. As a result, attachment / detachment of the walking assist device A to the wearer P is facilitated.
  • the walking assistance apparatus of this invention is not limited to such a structure,
  • the flexible frame does not necessarily need to be set as the structure which can be divided
  • the fixing method of the frame members constituting the flexible frame is not limited to the hook-and-loop fastener, and various fixing methods may be used.
  • the frame members are fixed in line contact with each other along the axis extending in the vertical direction or separated in the vertical direction. It is preferable to fix at least two points so as to prevent a decrease in torsional rigidity of the flexible frame at the fixed portion.
  • each of the pair of side frames 12 includes a first plate member 12a extending in a direction along the first reference axis b1 (see FIG. 1), and a first plate member 12a from the side of the first plate member 12a.
  • a front-side second plate member 12b that extends in the circumferential direction around the reference axis b1 toward the front side of the wearer P, and a wearer P around the first reference axis b1 from the side of the first plate member 12a.
  • a back side second plate member 12c extending in the circumferential direction toward the back side of the back side.
  • the first plate member 12a, the front side second plate member 12b, and the back side second plate member 12c constituting the side frame 12 are formed by bending a single metal plate. That is, the side frame 12 has higher rigidity than the front frame 10 and the back frame 11 formed of flexible resin, and is difficult to be deformed even when the reaction force of the assist force is applied. It has become.
  • the reaction force of the assist force is applied most to the portion of the lower back orthosis 1 where the actuator 30 (drive source) of the motion assist mechanism 3 that generates the assist force is fixed. Therefore, as shown in FIG. 1, in the walking assistance device A, the actuator 30 is fixed to the side surface of the metal side frame 12 opposite to the wearer P of the first plate member 12a.
  • the reaction force of the assist force is received by the side frame 12, and accordingly, the rigidity required for the front frame 10 and the back frame 11 is low.
  • the rigidity of the front frame 10 and the rear frame 11 is not increased so much (that is, the flexibility of the entire waist orthosis 1 is not significantly reduced), and the reaction force of the entire waist orthosis 1 is received. Stiffness can be obtained.
  • a front-side second plate member 12b and a back-side second plate member 12c are extended from both sides of the first plate member 12a.
  • the front frame 10 is fixed to the front side second plate member 12b, and the back frame 11 is fixed to the back side second plate member 12c.
  • the reaction force of the assist force is a force that twists the waist orthosis 1
  • the reaction force causes the waist orthosis 1 (and thus the side frame 12) to rotate about the first rotation axis a ⁇ b> 1, so that the front side
  • the two-plate member 12b and the back-side second plate member 12c are in contact with the front and back of the waist of the wearer P.
  • the vertical width of the fixed part of the front frame 10 of the front side second plate member 12b is configured to be equal to or greater than the vertical width of the fixed part of the front frame 10. Further, the vertical width of the fixed portion of the back frame 11 of the back side second plate member 12 c is configured to be equal to or greater than the vertical width of the fixed portion of the back frame 11.
  • the entire fixed portion of the twisted front frame 10 or the rear frame 11 is fixed to the front second plate member 12b.
  • the rear side second plate member 12c can be received.
  • a part of the force that twists the front frame 10 or the back frame 11 (that is, the reaction force of the assist force applied to the front frame 10 or the back frame 11) is also received by the side frame 12 itself.
  • the side frame 12 As described above, in the walking assistance device A, by providing the waist frame 1 with the side frame 12 which is a rigid body frame, the side frame 12 itself or the body of the wearer P receives a part of the reaction force of the assist force.
  • the reaction force of the assist force that can be received as the entire lower back orthosis 1 is increased.
  • the walking assistance device of the present invention is not limited to such a configuration, and the configuration may be changed as appropriate according to the magnitude of the reaction force of the assist force that should be received by the waist orthosis.
  • the rigidity of the flexible frame is sufficient, either or both of the rigid frames provided as a pair of left and right may be omitted in this embodiment.
  • the shape of the rigid frame is not limited to the shape as shown in FIG. 2, and may be a simple flat plate or a shape other than the shape defined by the width of the flexible frame. Good.
  • the leg orthosis 2 is a pad-shaped member that transmits assist force to the leg by pressing the front surface of the thigh of the leg of the wearer P.
  • the leg equipment 2 is rotatable about the fourth rotation axis a4 extending in the front-rear direction via the arm 31 of the movement assist mechanism 3 (see FIG. 6).
  • leg brace of the walking assist device of the present invention is not limited to such a configuration, and can be moved with respect to the hip brace and can apply assist force to the wearer's leg. That's fine.
  • the assist force includes a force in the direction of pulling the leg
  • a member that is fixed to the leg may be used instead of the pad-shaped member.
  • the position of contact with the leg may be changed as appropriate according to the site to which the assist force is applied.
  • the leg orthosis may be configured to contact the front or back of the crus.
  • the motion assist mechanism 3 includes an actuator 30 fixed to the side surface of the side frame 12 of the waist orthosis 1, an arm 31 that connects the waist orthosis 1 and the leg orthosis 2 via the actuator 30, an actuator 30 and an arm 31. And a bracket 32 for connecting the two.
  • the actuator 30 is a disk-shaped member, and its central axis is located on the first rotation axis a1 extending in the left-right direction (see FIG. 1).
  • the actuator 30 transmits the generated driving force to the arm 31 via the bracket 32, thereby causing the arm 31 and the leg device 2 connected to the arm 31 to have a first rotation axis a2 extending in the left-right direction. As a center, it is rotated in the front-rear direction with respect to the waist orthosis 1 (see FIG. 1).
  • the arm 31 extends from the side of the waist brace 1 toward the leg brace 2 from the first arm member 31a extending downward along the side surface of the thigh of the wearer P and the first arm member 31a.
  • a second arm member 31b extending in a row, a first hinge 31c rotatably connecting the first arm member 31a and the second arm member 31b, and the second arm member 31b and the leg device 2 are rotated. It has the 2nd hinge 31d connected so that a movement is possible.
  • the second arm member 31b extends from the lower end of the first arm member 31a so as to bend toward the front surface of the thigh along the circumferential surface of the thigh of the wearer P.
  • An end of the second arm member 31b opposite to the first arm member 31a is a surface opposite to a surface that contacts the thigh of the wearer P of the leg device 2 via the second hinge 31d. Is pivotably connected to the central portion of the.
  • the first hinge 31c is a third rotation axis a3 that extends in the front-rear direction with respect to the first arm member 31a in a state where the wearer P stands upright (that is, in a state where the legs of the wearer P extend straight).
  • the second arm member 31b is connected so as to be able to rotate in the left-right direction around the center (see FIG. 6).
  • the second hinge 31d connects the leg device 2 so as to be turnable in the left-right direction around the fourth turning axis a4 extending in the front-rear direction with respect to the second arm member 31b (see FIG. 5).
  • the bracket 32 includes a substantially disc-shaped main body portion 32a fixed to a surface of the actuator 30 opposite to the side frame 12 of the waist brace 1, and extends downward from both side portions of the main body portion 32a.
  • a pair of extended portions 32b provided, a connecting portion 32c that is a U-shaped member disposed between the pair of extended portions 32b, and one of the extended portions 32b and one of the extended portions 32b. It is comprised by the two hinge pins 32d which connect the one end part of the corresponding connection part 32c so that rotation is possible.
  • the connecting portion 32c is connected to the extending portion 32b so as to be rotatable in the left-right direction about the second rotation axis a2.
  • the upper end of the 1st arm member 31a is being fixed to the lower surface of the center part of the connection part 32c. Accordingly, the first arm member 31a is connected to the waist orthosis 1 via the actuator 30 and the bracket 32 so as to be rotatable in the left-right direction around the second rotation axis a2.
  • the first arm member 31 a may be connected to a portion other than the lower part of the actuator 30.
  • the interval between the opposing surfaces of the pair of extending portions 32b is configured to substantially coincide with the front-rear direction of the main body portion 32a or to be larger than the width thereof.
  • the bracket 32 by increasing the size of the connecting portion between the extending portion 32b and the connecting portion 32c in this way, the rigidity of the connecting portion that becomes the rotating portion around the second rotating axis a2 is increased. Yes.
  • the distance in the left-right direction between the thigh of the wearer P and the arm 31 is widened at the time of wearing. That is, the arm 31 is positioned at a position laterally separated from the thigh side end of the wearer P of the actuator 30. Thereby, when the wearer P moves a leg part, it becomes difficult to contact the arm 31 and a thigh.
  • the left and right leg appliances 2 are mutually connected to the waist orthosis 1 around the first rotation axis a ⁇ b> 1 extending in the left-right direction by the operation assistance mechanism 3.
  • the assisting force is applied to the legs of the wearer P by rotating. That is, the assist force is a force in a direction in which the leg orthosis 2 is rotated with respect to the waist orthosis 1 around the first rotation axis a1.
  • a reaction force of the assist force is applied to the waist orthosis 1 in the direction of twisting the waist orthosis 1 around the first rotation axis a1 (FIG. 1). In the direction of a pair of left and right arrows centered on the first rotation axis a1).
  • the front surface with respect to the torsion around the first rotation axis a ⁇ b> 1 that is, the reaction force of the assist force to the waist orthosis 1 that occurs when the leg orthosis 2 rotates with respect to the waist orthosis 1.
  • the torsional rigidity of the frame 10 and the back frame 11 is configured to be larger than the bending rigidity of the front frame 10 and the back frame 11 with respect to the deformation in the radial direction around the first reference axis line b1 extending in the vertical direction. .
  • torsional rigidity against torsion around the first rotation axis a ⁇ b> 1 in the front frame 10 and the back frame 11 (and thus the waist orthosis 1) is a parameter indicating how much reaction force of the assist force can be received. Point to.
  • the “diameter around the first reference axis b1” in the front frame 10 and the rear frame 11 (and hence the waist orthosis 1) corresponds to the diameter (abdominal circumference) of the waist of the wearer P. is there. That is, the “diameter bending stiffness” refers to a parameter indicating how flexibly deformable according to the diameter (abdominal circumference) of the waist of the wearer P.
  • the present inventor has determined that the torsional rigidity with respect to torsion around the first rotation axis a1 is greater than the bending rigidity of the flexible frame with respect to deformation in the radial direction around the first reference axis b1. It has been discovered that by increasing the size, an appropriate balance can be obtained which can sufficiently secure flexibility and can sufficiently receive the reaction force of the assist force.
  • the walking assist device A is configured by using the front frame 10 and the rear frame 11 having the rigidity described above for the waist orthosis 1, so that the waist orthosis 1 is worn by the wearer in the same manner as the conventional walking assist device. It can be flexibly deformed according to the diameter (abdominal circumference) of the waist of P, and unlike the conventional walking assistance device, the reaction force of the assist force can be sufficiently received by the waist orthosis 1.
  • the front frame 10 that covers the front of the waist of the wearer P and the back frame 11 that covers the back are flexible frames having the above-described rigidity. This is because by making both the front frame 10 and the back frame 11 flexible frames, it becomes easier to obtain good rigidity compared to a configuration in which only one of them is a flexible frame.
  • the walking assist device of the present invention is not limited to such a configuration, and only one of the front and back of the wearer's waist is covered with a flexible frame depending on the shape of the waist brace and the like. You may comprise as follows.
  • the waist orthosis has a semicircular frame extending from one side surface of the wearer's waist to the other side so as to cover the back of the waist
  • the frame Only the portion on the back side may be formed of a flexible frame.
  • the frame constituting the waist orthosis of the walking assist device of the present invention is not limited to such a configuration, and various frames used for configuring the waist orthosis in the conventional walking assist device are adopted. Also good.
  • reaction force of the assist force applied to the lumbar orthosis may have the rigidity described above.
  • a flexible frame may not be employed.
  • the first rotation axis a ⁇ b> 1 that is the center of rotation of the leg device 2 in the front-rear direction is the center of the leg portion of the wearer P. It is set to coincide with an axis (specifically, a second reference axis b2 that is an axis that passes through the hip joint center C and extends in the left-right direction).
  • leg trajectory and the leg equipment 2 are made to coincide with the center of rotation of the leg body in the front-rear direction during walking and the center of rotation of the leg equipment 2 of the walking assist device in the front-back direction. This is to prevent unnecessary force from being applied to the leg from the leg orthosis 2 by matching the track.
  • a human leg when walking, a human leg not only rotates in the front-rear direction about the axis extending in the left-right direction, but also rotates in the left-right direction about the axis extending in the front-rear direction. Specifically, as shown in FIG. 5B, the legs move outward (abduction), as shown in FIG. 5C, or move inwards, as shown in FIG. (Addition).
  • the arm 31 that connects the waist device 1 and the leg device 2 (and thus the leg device 2 that is connected to the arm 31) has a second rotation axis a2 that extends in the front-rear direction. Around it, it is pivotably connected. Thereby, the conventional walking assistance device has ensured the freedom degree of the leg part in the case of abduction and adduction.
  • the actuator 30 and the leg connected to the wearer P are connected to the leg 30 of the wearer P when the leg of the wearer P rotates in the left-right direction.
  • the arm 31 and the like that are in contact with each other.
  • the first reference axis a1 that is, the center of the actuator 30
  • the second reference axis b2 passing through the hip joint center C of the wearer P.
  • the leg rotation device 2 passes the first rotation axis a ⁇ b> 1 that is the center of rotation in the front-rear direction with respect to the waist device 1 through the hip joint center C of the wearer P.
  • the axis extends in the left-right direction, and is positioned above the second reference axis b2 that is the center of rotation of the leg portion in the front-rear direction.
  • the portion of the leg above the hip joint center C is a portion that does not rotate greatly when the leg is abducted and adductioned (see FIGS. 5A to 5C).
  • the actuator 30 is configured to be positioned above the hip joint center C, so that even when the leg is largely abducted or added, the leg is connected to the actuator 30 and the same. This makes it difficult for the arm 31 to come into contact.
  • the actuator 30 is disposed on the side surface of the waist orthosis 1, and the arm 31 rotates below the actuator 30 around the second rotation axis a2 extending in the front-rear direction. It is linked movably.
  • the weight of the actuator 30 is supported by the waist orthosis 1, the weight is not added to the leg portion via the arm 31.
  • the movement of the arm 31 is not hindered by the weight of the actuator 30, the movement of the arm 31 is smooth.
  • the influence of the weight of the actuator 30 and the movability of the arm 31 is suppressed, and the movement of the leg during abduction and adduction is less likely to be hindered.
  • the first rotation axis a1 serving as the rotation center in the front-rear direction of the arm 31 (that is, the leg brace 2) is set to be more than the second reference axis b2 passing through the hip joint center C of the wearer P.
  • the distance between the waist orthosis 1 and the leg orthosis 2 varies according to the movement of the leg in the front-rear direction.
  • the length of the arm 31 is set on the basis of a state where the leg portion of the wearer P is slightly swung forward.
  • the arm 31 that connects the waist orthosis 1 and the leg orthosis 2 is caused by the variation in the distance. A force that extends or contracts the leg is applied to the leg.
  • the length of the arm 31 when the length of the arm 31 is set on the basis of the state where the leg of the wearer P is slightly swung up, when the leg is further swung up, the arm 31 moves toward the leg. A force that stretches the leg is applied.
  • the arm when the arm is in an upright state (when the leg is straightened), a force that contracts the leg is applied from the arm 31 to the leg. And when such a force is added, there exists a possibility of giving the wearer P a sense of incongruity by the force.
  • the first rotation axis a ⁇ b> 1 serving as the rotation center in the front-rear direction of the arm 31 (i.e., the leg equipment 2) is higher than the second reference axis b ⁇ b> 2. And located rearward.
  • the variation in the distance between the waist orthosis 1 and the leg orthosis 2 is suppressed as compared with the case where it is positioned only upward.
  • the amount of displacement of the locus shown in FIG. 8 is smaller than the amount of displacement of the locus shown in FIG. As a result, the force applied from the arm 31 to the leg can be suppressed.
  • the amount by which the first rotation axis a1 is moved backward is, as viewed from the side, a vertical line passing through the second reference axis b2 and a line passing through the second reference axis b2 and the first rotation axis a1. It is particularly preferable that the angle is an amount that is within a range of angles that can be swung up forward of the legs of the wearer P.
  • the height of the second rotation axis a2 (the height of the center axis of the hinge pin 32d) serving as the center of rotation of the leg device 2 (that is, the arm 31) in the left-right direction, and the hip joint
  • the second reference axis b2 that is an axis passing through the center C is configured to coincide with the height.
  • the contact between the leg portion and the actuator 30 is prevented. Further, in the walking assist device A, the influence of the weight of the actuator 30 and the mobility of the arm 31 on the movement of the leg is suppressed during the abduction and adduction of the leg. Further, in the walking assist device A, the influence of the force applied from the arm to the leg during abduction and adduction is also suppressed. Thereby, in the walking assistance apparatus A, the discomfort given to the wearer P at the time of abduction and adduction can be reduced.
  • the walking assistance device of the present invention is not limited to such a configuration, and the first rotation axis a1 may only be positioned above the second reference axis b2.
  • the first rotation axis may be arranged so as to coincide with the first rotation axis, or may be positioned below the first rotation axis.
  • the first rotation axis a1 that is the center of rotation of the leg device 2 relative to the waist device 1 in the front-rear direction is the center of rotation of the leg portion in the front-rear direction.
  • the second rotation axis a2 that is not coincident with the second reference axis b2 and that is the center of rotation of the leg orthosis in the left-right direction with respect to the waist orthosis 1 is away from the hip joint center C. (That is, it does not coincide with the axis that is the center of rotation of the leg portion in the left-right direction).
  • the distance between the waist orthosis 1 and the leg orthosis 2 (more specifically, from the first rotation axis a1 or the second rotation axis a2 to the fourth time according to the movement of the leg. (The distance to the movement axis a4) varies (see FIG. 6), and due to the variation in the distance, a force that extends or contracts from the arm 31 to the leg is applied. Become.
  • an arm 31 that connects the waist orthosis 1 and the leg orthosis 2 extends downward from the waist orthosis 1 along the thigh of the wearer P.
  • the first arm member 31a provided and the second arm member 31b extending from the first arm member 31a toward the leg orthosis 2 are configured, and the second arm member 31b is configured as the first arm member. It can rotate with respect to 31a.
  • the distance from the fixed position of the first arm member 31a to the waist brace 1 to the fixed position of the second arm member 31b to the leg brace 2 according to the rotation of the second arm member 31b. (That is, the distance from the waist orthosis 1 to the leg orthosis 2) is variable. That is, the distance from the waist brace 1 to the leg brace 2 can be changed only by a simple configuration in which the constituent members of the arm 31 are rotated.
  • the mechanism for rotating the members is less affected by friction between the members than the mechanism for sliding the members, the distance can be smoothly changed. Therefore, according to the walking assist device A, the distance between the waist orthosis 1 and the leg orthosis 2 can be smoothly changed while having a simple structure.
  • the walking assist device A applies assist force to the wearer P by rotating the leg device 2 in the front-rear direction with respect to the waist device 1 about the first rotation axis a1 extending in the left-right direction. It has a configuration.
  • the second arm member 31b rotates, the distance between the first arm member 31a and the second arm member 31b in the front-rear direction (that is, the distance from the waist device 1 to the leg device 2 in the front-rear direction). If it fluctuates, there is a risk that the assist force applied to the leg via the leg brace 2 may be reduced due to the fluctuation.
  • the second arm member 31b is configured to be rotatable with respect to the first arm member 31a about the third rotation axis a3 extending in the front-rear direction, and the second arm member 31b rotates. Even if it moves, the distance from the waist orthosis 1 to the leg orthosis 2 does not fluctuate. Thereby, in the walking assistance apparatus A, reduction of the assist force by rotation of the 2nd arm member 31b is prevented.
  • the first arm member 31a rotates in the left-right direction with respect to the waist orthosis 1 around the second rotation axis a2, and the first arm member around the third rotation axis a3.
  • the second arm member 31b rotates in the left-right direction with respect to 31a. Therefore, when the leg equipment 2 is fixed to the second arm member 31b, the posture of the leg equipment 2 with respect to the legs changes, and the wearer P feels uncomfortable due to friction during the rotation. There was a risk of giving.
  • the second arm member 31 b is moved along the circumferential surface of the thigh of the wearer P from the lower end of the first arm member 31 a.
  • the leg orthosis 2 can be rotated with respect to the second arm member 31b about a fourth rotation axis a4 extending in the front-rear direction. It is configured.
  • the posture of the leg brace 2 with respect to the leg portion is the second even when the distance from the lumbar brace 1 to the leg brace 2 changes (that is, when the second arm member 31b rotates). It is comprised so that it may become fixed by rotation of the leg
  • the walking assist device A it is possible to prevent the wearer P from feeling uncomfortable due to a change in the posture of the leg device 2.
  • the walking assistance device of the present invention is not limited to such a configuration, and the arm expansion / contraction mechanism may have a different configuration.
  • the third rotation axis a3 that is the center of rotation of the second arm member 31b relative to the first arm member 31a is provided.
  • the rotation axis extends in the left-right direction.
  • the distance in the front-rear direction of these members during rotation may vary only to a negligible level. In such a case, you may change suitably the direction of those rotation axes.
  • the first arm member 31a of the arm 31 is replaced with a cylindrical third arm member 31e, a rod-like fourth arm member 31f that can be inserted and removed therein, and a third arm.
  • the third arm member 31e is configured by a spring 31g that biases the fourth arm member 31f with respect to the third arm member 31e so that the position of the fourth arm member 31f with respect to the member 31e becomes a predetermined position. You may use together the mechanism which can be expanded-contracted.
  • the mechanism for pivotally connecting the first arm member 31a and the second arm member 31b is omitted, and only a mechanism for allowing the third arm member 31e and the fourth arm member 31f to expand and contract is employed. May be.
  • the distance between the lumbar orthosis and the leg orthosis will not vary greatly, and the force applied to the leg from the arm connecting the lumbar orthosis and the leg orthosis should be ignored. May be small enough.
  • the telescopic mechanism may be omitted and the arm may be configured with a single member.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
  • Prostheses (AREA)

Abstract

La présente invention concerne un dispositif d'aide à la marche qui comporte un mécanisme d'aide au mouvement 3 comportant : un actionneur 30 qui est disposé sur un côté d'un support de taille 1 et positionné sur un premier axe de pivotement a1 s'étendant dans la direction gauche-droite ; et un bras 31 qui s'étend de l'actionneur 30 à un support de jambe 2 et relie le support de taille 1 et le support de jambe 2. L'actionneur 30 fait pivoter le bras 31 et le support de jambe 2 autour du premier axe de pivotement a1 dans la direction avant-arrière par rapport au support de taille 1. Le premier axe de pivotement a1 traverse les centres C des articulations de la hanche d'un porteur 1 et est situé au-dessus d'un deuxième axe de référence b2 s'étendant dans la direction gauche-droite.
PCT/JP2018/042886 2018-04-13 2018-11-20 Dispositif d'aide à la marche Ceased WO2019198269A1 (fr)

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Cited By (5)

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Publication number Priority date Publication date Assignee Title
JP2021049309A (ja) * 2019-09-24 2021-04-01 信幸 吉澤 歩行補助装置
JP2022123766A (ja) * 2021-02-12 2022-08-24 マツダ株式会社 アシストデバイス
JP2023518787A (ja) * 2020-03-20 2023-05-08 ユニバーシティ オブ ユタ リサーチ ファウンデーション 受動型および動力付き外骨格における自己整列機構
JP2025517112A (ja) * 2021-12-15 2025-06-03 ウィロボティクス インコーポレーテッド ウェアラブルロボット、状態軌跡メモリバッファを用いた動作補助方法及びシステム
US12379266B2 (en) 2018-08-22 2025-08-05 University Of Utah Research Foundation Force and torque sensor for prosthetic and orthopedic devices

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JP2004344306A (ja) * 2003-05-21 2004-12-09 Honda Motor Co Ltd 歩行補助装置
JP2006087478A (ja) * 2004-09-21 2006-04-06 Honda Motor Co Ltd 歩行補助装置
US20150336265A1 (en) * 2014-05-23 2015-11-26 Samsung Electronics Co., Ltd. Supporting modules and motion assistance apparatuses including the same
JP2016150420A (ja) * 2015-02-18 2016-08-22 国立大学法人 和歌山大学 パワーアシストロボット装置

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Publication number Priority date Publication date Assignee Title
JP2004344306A (ja) * 2003-05-21 2004-12-09 Honda Motor Co Ltd 歩行補助装置
JP2006087478A (ja) * 2004-09-21 2006-04-06 Honda Motor Co Ltd 歩行補助装置
US20150336265A1 (en) * 2014-05-23 2015-11-26 Samsung Electronics Co., Ltd. Supporting modules and motion assistance apparatuses including the same
JP2016150420A (ja) * 2015-02-18 2016-08-22 国立大学法人 和歌山大学 パワーアシストロボット装置

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12379266B2 (en) 2018-08-22 2025-08-05 University Of Utah Research Foundation Force and torque sensor for prosthetic and orthopedic devices
JP2021049309A (ja) * 2019-09-24 2021-04-01 信幸 吉澤 歩行補助装置
JP7024940B2 (ja) 2019-09-24 2022-02-24 信幸 吉澤 歩行補助装置
JP2023518787A (ja) * 2020-03-20 2023-05-08 ユニバーシティ オブ ユタ リサーチ ファウンデーション 受動型および動力付き外骨格における自己整列機構
JP7716113B2 (ja) 2020-03-20 2025-07-31 ユニバーシティ オブ ユタ リサーチ ファウンデーション 受動型および動力付き外骨格における自己整列機構
US12419801B2 (en) 2020-03-20 2025-09-23 University Of Utah Research Foundation Self-aligning mechanisms in passive and powered exoskeletons
JP2022123766A (ja) * 2021-02-12 2022-08-24 マツダ株式会社 アシストデバイス
JP7596836B2 (ja) 2021-02-12 2024-12-10 マツダ株式会社 アシストデバイス
JP2025517112A (ja) * 2021-12-15 2025-06-03 ウィロボティクス インコーポレーテッド ウェアラブルロボット、状態軌跡メモリバッファを用いた動作補助方法及びシステム

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