CN101119695B

CN101119695B - Walking assisting device

Info

Publication number: CN101119695B
Application number: CN200680004679.5A
Authority: CN
Inventors: 池内康; 野田达哉; 芦原淳; 日木丰
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 2005-05-27
Filing date: 2006-05-29
Publication date: 2011-06-15
Anticipated expiration: 2026-05-29
Also published as: CN101184462B; CN101184462A; CN101119696A; CN101119695A; CN101132755B; CN1868434A; CN101119696B; CN101132755A; CN1868434B

Abstract

A walking assistance device (1) has a receiving section (2) for receiving part of the weight of a user (A) applied from the above, and also has a pair of left and right leg links (3R, 3L) connected to the receiving section (2) via first joints (10R, 10L). Foot sole installation sections (15R, 15L) at lower ends of the leg links (3R, 3L) are each installed on the foot sole of each leg of the user (A). When the legs of the user (A) are standing legs, supporting force out of the supporting force acting on the leg links (3R, 3L) from the floor side is transmitted from third joints (14R, 14L) of the leg links (3R, 3L) to lower thigh frames (13R, 13L). The leg links (3R, 3L) are individually connected to the receiving section (2) such that, in a sagittal plane, the line of action of the transmitted supporting force passes from each of the third joint (14R, 14L) to a specific point (P) positioned above the receiving section (2), the specific point (P) being located within the width in the front-rear direction of a contact surface between the receiving section (2) and the user (A). Desired lifting force that reduces weight to be born by the user's legs can be stably applied to the user.

Description

Walk supporting device

Technical field

The present invention relates to a kind of walk supporting device of auxiliary user walking.

Background technology

In the past, as this walk supporting device, known have a following apparatus, this device has the waist supporting strap of dress in user waistline portion, and the 1st joint portion of the hip joint through being equivalent to the people links the foot support of pair of right and left and constitutes (for example with reference to TOHKEMY 2003-220102 communique) in the both lateral sides of waist supporting strap.In this device, each foot support is bent being configured to freely by stretching, and the lower end of each foot support links the earthing component that is installed in the user foot.Described support place in the middle of above-below direction has the 2nd joint portion that is equivalent to human knee joint.And, be provided with the drive source that the 2nd joint portion is used, order about the 2nd joint portion by drive source and rotate and the supporting force of generation supporting user part body weight.

The device of described conventional example, for supporting force being passed to reliably the health of user, be necessary with the waist supporting strap tightly dress in the waistline place, and make the user susceptible to constraint, and, because the 1st joint portion of the left and right sides leg support at user waist both sides places gives prominence to, so when in walking, waving arm, hands contacts with the leg support top that is linked to the 1st joint portion with the 1st joint portion easily, and ease of use is poor.

In addition, always, known have a following walk supporting device, this device is on the framework that user is impaled from rear side along both lateral sides, the lower end vertically is set 4 leg supports of wheel, and the saddle that the person of installing and using rides on the framework member of taking a seat detects by user and is applied to the power on the member of taking a seat and drives wheel so that this power becomes the desired value (for example with reference to No. 3156367 communique of Japan's special permission) of regulation.

Though this device can alleviate the constraint sense of user, device is maximization, can't use at narrow and small place, and when waving arm in walking, hands contacts with framework easily, and ease of use is not good.

Summary of the invention

As mentioned above, existing walk supporting device has variety of problems.Thereby the application's inventors have reached following conception: promptly, below the member of taking a seat that user rides on linking part is set, and leg support is linked on this linking part.Thus, the supporting force that leg support produces can be passed to health reliably under the user hip through the member of taking a seat.And user only need striden to take a seat member and sit and got final product thereon, has alleviated the constraint sense of user.Simultaneously, owing to be provided with linking part below the member of taking a seat, linking part and the top that is linked to the leg support of this linking part are positioned under the user thigh, and when waving arm in walking, hands can not contact with the top of linking part and leg support, can freely wave arm.And different with the device with framework that user is fenced up in the conventional example, the device miniaturization that becomes even also can use at narrow and small place, except that the alleviating and wave the guaranteeing of arm degree of freedom of above-mentioned constraint sense, has also improved its ease of use significantly.

Here, the linking part below the member of taking a seat most preferably is, and leg support and is put outward for the lower limb that can make user in the fore-and-aft direction swing freely, and leg support also can be swung freely in the horizontal.At this moment, general what consider is that linking part constitutes the transverse axis with axis of pitch and has the longitudinal axis of fore-and-aft direction axis, and with the transverse axis be fulcrum make leg support in front and back upwards swing be that fulcrum is swung freely leg support in the horizontal with the longitudinal axis freely.

Yet, when actions such as user lean forward above the waist, and when making user body weight above the waist act on the place ahead of the swing fulcrum of application point skew on the leg support fore-and-aft direction of the member of taking a seat, can make the rotating torque of following direction act on the member of taking a seat, this direction is that making the member of taking a seat is the direction that the center tilts to the front lower place with the swing fulcrum on the fore-and-aft direction of leg support.Here, as mentioned above, be that fulcrum is when making leg support upwards swing freely in front and back with the transverse axis that is installed in the coupling member below the member of taking a seat, because the swing fulcrum (transverse axis) of leg support fore-and-aft direction is positioned at the member below of taking a seat, front lower place inclination because of the member of taking a seat, cause the body weight application point with respect to the leg support fore-and-aft direction shake fulcrum displacement forwards, the distance on the fore-and-aft direction between this fulcrum and the body weight application point increases, the rotating torque that acts on the member of taking a seat also increases.Its result, the member of taking a seat more and more tilts to the front lower place, and is offset backward with respect to user, and at this moment, the member of taking a seat rearward skids off under the hip of user sometimes.In addition, as mentioned above, be that fulcrum is swung under freely the situation leg support in the horizontal with the transverse axis that is installed in the coupling member below the member of taking a seat equally, because the teeter fulcrum (longitudinal axis) of leg support is positioned at the member below of taking a seat, therefore in case a little to horizontal skew, the member of taking a seat just can be to bigger inclination is laterally arranged with respect to the teeter fulcrum of leg support for the body weight application point.

The present invention has used for reference above-mentioned situation, even its purpose is to provide a kind of leg support is linked on the linking part below the member of taking a seat, also can improve the stability of the member of taking a seat and miniaturization, walk supporting device that ease of use is good.

The present invention relates to the walk supporting device that a kind of member and being attached at of taking a seat that has that user rides on is arranged at the leg support of the linking part below the member of taking a seat, for reaching described purpose, it is characterized by, at described leg support through the described relatively member of taking a seat of described linking part when upwards swing is bonded freely in front and back, the swing fulcrum that described linking part constitutes on the described leg support fore-and-aft direction is positioned at the described member top of taking a seat, in addition, swing in the horizontal when being bonded freely through the described relatively member of taking a seat of described linking part at described leg support, described linking part constitutes described leg support swing fulcrum transversely and is positioned at the described member top of taking a seat, in addition, at described leg support through the described relatively member of taking a seat of described linking part at fore-and-aft direction and transversely swing is when being bonded freely, swing fulcrum and teeter fulcrum that described linking part constitutes described leg support fore-and-aft direction lay respectively at the described member top of taking a seat.

As mentioned above, the swing fulcrum of leg support fore-and-aft direction be positioned at the member of taking a seat above the time, the application point that user body weight above the waist acts on the member of taking a seat can be offset to the place ahead of the swing fulcrum on the leg support fore-and-aft direction, taking a seat member when the front lower place tilts, and the body weight application point is in the downside displacement rearward of the swing fulcrum of leg support fore-and-aft direction.Therefore, the distance on the fore-and-aft direction between this fulcrum and body weight application point reduces, and the rotating torque that acts on the member of taking a seat also reduces.And, under being moved to the swing fulcrum of leg support fore-and-aft direction, the body weight application point during position, acts on the rotating torque vanishing of the member of taking a seat, and the member of taking a seat is stable under this state.Like this, because the member of taking a seat can converge on steady statue automatically, the skew of member on the fore-and-aft direction under the user hip can suppress to take a seat.

In addition, as mentioned above, the horizontal swing fulcrum of leg support be positioned at the member of taking a seat above the time, the body weight application point can be to the lateral outer side skew of the horizontal swing fulcrum of leg support, at the member of taking a seat during to horizontal inclination, the body weight application point is to the horizontal inboard displacement of the horizontal swing fulcrum downside of leg support, and the lateral separation between this fulcrum and body weight application point reduces.Therefore, the lateral rotation moment that acts on the member of taking a seat also reduces.And, under being moved to the horizontal swing fulcrum of leg support, the body weight application point during position, acts on the lateral rotation moment vanishing of the member of taking a seat, and the member of taking a seat is stable under this state.

So, according to the present invention,, also can obtain a kind ofly can improving take a seat component stability and the walk supporting device small-sized, that ease of use is good even leg support is linked to linking part below the member of taking a seat.

In addition, the simplest method that makes the fore-and-aft direction swing fulcrum of leg support member be positioned at the member top of taking a seat is, to be installed on the linking part for the guide rail of oval arcuation on the fore-and-aft direction, and the center of curvature of this guide rail is positioned at the member top of taking a seat, and the upper end of leg support moved is sticked in this guide rail freely.Thus, leg support will be along guide rail upwards swing in front and back, and the center of curvature of guide rail becomes the swing fulcrum of leg support fore-and-aft direction.

Here, if leg support is configured to by having rotary type joint portion or Direct Action Type joint portion and retractile therebetween, and the force application mechanism that this joint portion is carried out the application of force on direction of extension (direction that pushes away on the member of taking a seat carried out) is set, then can produce the supporting force that supports user part body weight at least.Yet, but be preferably the drive source of the middle joint portion of setting driving leg support.Thus, the control by drive source produces and acts on the corresponding supporting force of load on the user foot, can carry out suitable auxiliary to walking.

In addition, the upper end of leg support move be fastened on freely have the center of curvature above the member of taking a seat, on the fore-and-aft direction for long circular-arc guide rail on, and, at leg support by the joint portion that has rotary type therebetween and stretch under the situation about being configured to of Qu Ziru, be preferably the part that the leg support upper end is sticked in the following line of being positioned at of described guide rail rear, described line is the line of the center of curvature (the swing fulcrum on the leg support fore-and-aft direction) of joint portion in the middle of linking and guide rail.In view of the above, needn't make the stroke of swing forward of the leg support that guide rail shoots forward to the very long lower limb that just can guarantee to follow user that protracts.Thereby, can realize the miniaturization of linking part, be favourable.

Description of drawings

Fig. 1 is the axonometric chart of the walk supporting device of expression the present invention the 1st embodiment.

Fig. 2 is the side view of the walk supporting device of expression the 1st embodiment.

Fig. 3 is the front view of the walk supporting device of expression the 1st embodiment.

Fig. 4 is the 1st joint portion axonometric chart partly of the walk supporting device of expression the 1st embodiment.

Fig. 5 is the 1st joint portion side view partly of the walk supporting device of expression the 1st embodiment.

Fig. 6 is the axonometric chart of leg support end portion of the walk supporting device of expression the 1st embodiment.

Fig. 7 (a) is the oblique view of the member of taking a seat of the walk supporting device of expression the 1st embodiment; (b) be the take a seat axonometric chart of core of member of expression.

Fig. 8 is the axonometric chart of the 1st joint portion part of expression the 2nd embodiment.

Fig. 9 is the side view of the 1st joint portion part of expression the 3rd embodiment.

Figure 10 is the axonometric chart of the 1st joint component part of expression the 4th embodiment.

Symbol description

1 is the member of taking a seat; 2L, 2R are leg support; 3 is the 1st joint portion (linking part below the member of taking a seat); 3a is the swing fulcrum of leg support fore-and-aft direction; 3b is the horizontal swing fulcrum of leg support; 32 is guide rail; 41 is slide block (upper end of leg support); 5 is the 2nd joint portion (the middle joint portion of leg support); 9 is drive source.

The specific embodiment

Below, the walk supporting device in the embodiments of the present invention is described.As shown in Figure 1 to Figure 3, walk supporting device has: the member 1 and be configured in leg support 2L, the 2R of the pair of right and left below the member 1 of taking a seat of taking a seat of conduct that user P rides on load transfer part.

Each leg support 2L, 2R be by having the 1st cradle portion 4 and the 2nd cradle portion 6 and stretch and bend being configured to freely, and the 1st cradle portion 4 is attached on the 1st joint portion 3 as linking part that is arranged at below the member 1 of taking a seat; The 2nd cradle portion 6 is linked to the lower end of the 1st cradle portion 4 through revolving the 2nd joint portion 5.And, in the lower end of the 2nd cradle portion 6, through the 3rd joint portion 7 link have be loaded on user about the earthing component 8 of each foot.On each

foot support

2L, 2R, also carried the drive source 9 of the 2nd joint portion 5 usefulness.And, rotate by drive the 2nd joint portion 5 by drive source 9, to each

leg support

2L, 2R apply make earthing component 8 and the direction of the distance elongation between the member 1 of taking a seat on power, make it to produce the supporting force (hereinafter referred to as body weight Reduction of Students' Study Load auxiliary force) that can support user at least a portion body weight.The body weight that produced on each

leg support

2L, 2R Reduction of Students' Study Load auxiliary force is passed to the health of user P via the member 1 of taking a seat, and has alleviated the load that acts on the user P foot.

The walk supporting device of present embodiment, user only need earthing component 8 is installed on the foot and are seated at and just can use on the member 1 of taking a seat, and can experience constraint hardly.And because the 1st joint portion 3 and the 1st cradle portion 4 of

leg support

2L, 2R are positioned under the hip of user P, when waving arm in walking, hands can not contact with the 1st cradle portion 4 with the 1st joint portion 3, can freely wave arm.In addition, device becomes small-sized, even also can use in narrow and small place, alleviating of constraint sense adds guaranteeing of Back stroke arm degree of freedom, improved ease of use significantly.

Just as shown in Figure 4 and Figure 5, each the 1st joint portion 3 that each leg support 2L, 2R use is made of joint component 31, and this joint component 31 is to be made of the support plate 33 for long circular-arc guide rail 32 and supporting guide rail 32 on the fore-and-aft direction.In addition, in the present embodiment,, also can on support plate 33, form circular-arc groove and constitute guide rail 32 though be to constitute guide rail 32 by circular-arc track.In the upper end of the 1st cradle portion 4 of each

leg support

2L, 2R, the slide block 41 that has clamping guide rail 32 up and down and pair of rolls 41a is respectively arranged up and down is installed, and slide block 41 moves through roller 41a and is sticked in guide rail 32 freely.Like this, each leg support 2L, 2R are center upwards swing in front and back with the center of curvature of guide rail 32 just, and the swing fulcrum on the fore-and-aft direction of each

leg support

2L, 2R becomes the center of curvature of guide rail 32.

As shown in Figure 2, the center of curvature of guide rail 32, promptly the swing fulcrum 3a on each leg support 2L, the 2R fore-and-aft direction is positioned at the top of the member 1 of taking a seat.Here, when actions such as the upper part of the body of user P leans forward, when user P body weight above the waist acted on the place ahead of the swing fulcrum 3a on the fore-and-aft direction that application point on the member 1 of taking a seat is offset to each

leg support

2L, 2R, 1 of the member of taking a seat tilted to the front lower place.And when the member 1 of taking a seat kept this state continuance to tilt, the member 1 of taking a seat can rearward be offset with respect to user P.Yet, in the present embodiment, be accompanied by the member 1 of taking a seat and tilt to the front lower place, the body weight application point is then in the downside displacement rearward of swinging fulcrum 3a, reduced the distance on the fore-and-aft direction between this fulcrum 3a and the body weight application point like this, the rotating torque that acts on the member 1 of taking a seat also just reduces.And, the body weight application point be moved to swing fulcrum 3a under the time, act on the rotating torque vanishing of the member 1 of taking a seat, the member 1 of taking a seat under this state is stable.So, because the member 1 of taking a seat can be converged in steady statue automatically, the skew of member 1 on the fore-and-aft direction under the user P hip therefore can suppress to take a seat.

In addition, the slide block 41 of each

leg support

2L, 2R upper end is sticked in the part at the following line of being positioned at of described guide rail 32 rear, and described line is the line between the swing fulcrum 3a (center of curvature of guide rail 32) of the 2nd joint portion 5 that links each leg support 2L, 2R and each leg support 2L, 2R.Thus, needn't make the very long the place ahead that just can guarantee that each leg support 2L, 2R follow each lower limb of user P of the length of guide rail 32 show and forward swing stroke.In addition, each place, end is equipped with block piece 32a to prevent coming off of the 1st cradle portion 4 in the front and back of guide rail 32.

In addition, the

hinge member

36,36 of the upper end of described each joint component 31 through being installed in support plate 33 front and back of the 1st joint portion 3 that each leg support 2L, 2R use about formation, teeter is supported on the

bolster

35,35 on the fore-and-aft direction by axle freely, and the

bolster

35,35 on the described fore-and-aft direction has supported a pair of

rest pad

34,34 in front and back that is installed in lateral center position below the member 1 of taking a seat respectively.Therefore, add allow each

leg support

2L, 2R in front and back the degree of freedom of swing upwards, each the 1st joint portion 3 is also held and is allowed each

leg support

2L, 2R degree of freedom to horizontal swing, and the lower limb of user P can be put outward.

In addition, the joint portion 31 used of the joint portion 31 used of left side leg support 2L and right side leg support 2R is by common bolster 35 supportings.That is, the teeter fulcrum of the teeter fulcrum of left side leg support 2L and right side leg support 2R is positioned on the same axis on the fore-and-aft direction.Here, under the state of single lower limb supporting, the leg support weight of free lower limb (lower limb of foot built on stilts) side (as described later, when producing following auxiliary force, then be this auxiliary force, this auxiliary force is meant the power on the direction of leg support bending that makes is applied to the power that the auxiliary free lower limb on this leg support lifts) through the teeter fulcrum of this leg support and act on the member 1 of taking a seat.And, the teeter fulcrum of left side leg support 2L and the teeter fulcrum of right side leg support 2R are when separating, under the state of single lower limb supporting, because the weight of the leg support of free lower limb side, with the teeter fulcrum of the leg support of supporting leg (lower limb of foot kiss the earth) side is that the lateral rotation moment at center can act on member 1 place of taking a seat, and the member 1 of taking a seat can rotate.

To this, in the present embodiment, under the state of single lower limb supporting, because the teeter fulcrum of free lower limb side leg support and the teeter fulcrum of supporting leg side are positioned on the same axis (bolster 35), thereby be that the lateral rotation moment at center can not affact on the member 1 of taking a seat with the teeter fulcrum of supporting leg side leg support, the teeter fulcrum of wherein free lower limb side leg support becomes the application point of free lower limb side leg support weight.Therefore, can prevent the rotation of the member 1 of taking a seat under single lower limb bearing state.Also have, the weight of free lower limb side leg support reaches ground by the leg support of supporting leg side, and the weight of free lower limb side leg support can not act on the member 1 of taking a seat.

In addition, to link the line of the swing fulcrum 3a of fore-and-aft direction of each

leg support

2L, 2R at the 1st joint portion 3 places and the 3rd joint portion 7 as datum line L2 (with reference to Fig. 2), be in erectility even each leg support 2L, 2R form user P, the 2nd joint portion 5 also can protrude in datum line L2 the place ahead and sweeping length.And, by the control of drive source 9, the member 1 of taking a seat can be adjusted to the height that conforms to user P automatically.Thus, need not to make the length of special-purpose device and adjusting leg support, can reduce cost because of it has versatility according to the individual.

Here, be under the erectility at user P, datum line L2 is almost vertically, comprises that nearly all part of leg support 2L, the 2R of the 2nd joint portion 5 all is in the place ahead of the 3rd joint portion 7.Therefore, when being disposed at drive source 9 with the 2nd joint portion 5 coaxial going up, when user P is in erectility, under the effect of the weight of each leg support 2L, the 2R that comprise drive source 9, be bigger shaking moment on the direction that leans forward at center producing with the 3rd joint portion 7 on each leg support 2L, 2R.And, because this shaking moment, the member 1 of taking a seat is made thrust in order to forward.And when the lower limb of user P forwards stretched out, can produce with the swing fulcrum 3a on the fore-and-aft direction at the 1st joint portion 3 places at

leg support

2L, 2R place was the shaking moment backward at center, and the forward swing of giving lower limb is with the opposing sense.In addition, when going up with the 2nd joint portion 5 is coaxial as drive source 9 is configured in, then the moment of inertia around leg support 2L, the 2R of the 1st joint portion 3 increases, and the lower limb of user P can bear the moment of inertia of

leg support

2L, 2R and feel heavy during walking.

So, in the present embodiment, end in the 1st joint portion 3 sides of each

leg support

2L, 2R, promptly on the slide block 41 of the 1st cradle portion 4 upper ends the protuberance 42 that is made of board member is housed, and on this protuberance 42, having carried drive source 9, described protuberance 42 is that reciprocal rear is outstanding with respect to datum line L2 to making progress in front and back with the 2nd joint portion 5.Thus, when user P is upright, on each leg support 2L, 2R,, cut down by the backswing moment that the weight because of drive source 9 produces by except the weight of each

leg support

2L, 2R of drive source 9 and what produce is the shaking moment of the direction that leans forward at center with the 3rd joint portion 7.That is, drive source 9 plays the effect of static organ, makes to have comprised that the leg support 2L of drive source 9, the shaking moment of 2R integral body diminish.Its result, the thrust forward that acts on the member 1 of taking a seat also reduces, and has improved stability.

In addition, when the lower limb of user P is shown forward, be the shaking moment forward at center, by the forward swing of the auxiliary lower limb of this moment because the weight of drive source 9 can produce the swing fulcrum 3a that makes progress with front and back.Thereby, can separate disappear when the 2nd joint portion 5 to the outstanding and opposing sense existing forward swing with respect to lower limb when making

leg support

2L, 2R in the place ahead of datum line L2 in bending.In addition, the distance between weight drive source 9 and the swing fulcrum 3a shortens.Thereby, diminish around the leg support 2L of the 1st joint portion 3, the moment of inertia of 2R.So the lower limb of user P feels heavy because of the moment of inertia of bearing

leg support

2L, 2R in can preventing to walk.

In addition, body weight Reduction of Students' Study Load auxiliary force is from laterally it seems, act on the almost consistent line of described datum line L2 on.Here, when the slide block 41 of each

leg support

2L, 2R upper end engages with the part consistent with line L1 of guide rail 32, the snap portions of the slide block of guide rail 32 is with respect to the skew significantly forwards of the auxiliary line of action of force of body weight Reduction of Students' Study Load, also become greatly by the body weight Reduction of Students' Study Load that acts on guide rail 32 through slide block 41 moment that auxiliary force produced, described line L1 is the line of the swing fulcrum 3a of the 2nd joint portion 5 of binding each

leg support

2L, 2R and each

leg support

2L, 2R fore-and-aft direction.Therefore, be necessary to improve the rigidity of guide rail 32, the miniaturization and of the 1st joint portion 3 becomes difficulty.To this, in the present embodiment, as mentioned above, the slide block 41 of each

leg support

2L, 2R upper end is sticked in the part at the described line L1 of being positioned at of guide rail 32 rear.Therefore, the slide block snap portions on the guide rail 32 reduces with respect to the side-play amount of body weight Reduction of Students' Study Load auxiliary force position, is also reduced by the body weight Reduction of Students' Study Load moment that auxiliary force produced that acts on guide rail 32 through slide block 41.So, can realize the miniaturization and of the 1st joint portion 3.

The driving force that is produced by drive source 9 is passed to the 2nd joint portion 5 through driving force transmission mechanism 91.As driving force transmission mechanism 91, can use parallel bracket mechanism or oil pressure transmission mechanism, and this parallel bracket mechanism or oil pressure transmission mechanism are in the part use of the 2nd joint portion 5 that leaves the 2nd cradle portion 6 and the mechanism of the 1st cradle portion 4 parallel banded supports or use oil cylinder.But, in the present embodiment,, constitute driving force transmission mechanism 91 by the line formula transmission mechanism that has used the metal wire 91a that links the 2nd joint portion 5 and drive source 9 for realizing the reduction of lightweight and cost.

Specific as follows described.That is, derive 2 wires 91a from drive source 9, when a side metal wire 91a when drive source 9 is derived successively, the opposing party's metal wire 91a then is introduced in the drive source 9.In addition, drive source 9 is made of electro-motor and the drive pulley used by the metal wire 91a that this motor drives.In 2

conduit

91b, 91b, described 2

conduit

91b, 91b are configured between flange 43 and the drive source 9 by break-through for two

metal wire

91a, 91a, this flange 43 be formed at the 1st cradle portion 4 the 2nd joint portion 5 near.In addition, will be fixed on the 2nd cradle portion 6 with the axle 51 co-axial pulleys 52 of the 2nd joint portion 5,2

wires

91a, 91a are around on this pulley 52 with opposite direction, the end of each metal wire 91a is fixed on the pulley 52.Thus, by derivation and the introducing of drive source 9 couples of

metal wire

91a, 91a, pulley 52 rotates, and rotates by this, and making the 2nd cradle portion 6 is that swing at the center with respect to the 1st cradle portion 4 with the axle 51 of the 2nd joint portion 5, makes leg support 2L, 2R stretch song.Simultaneously, though not shown, the side of pulley 52 forms circular-arc groove, and, form the jut engage with this groove at the 1st cradle portion 4 places, be defined in the scope of regulation with respect to the swing stroke of the 2nd cradle portion 6 of the 1st cradle portion 4.

As shown in Figure 6, the 3rd joint portion 7 is made of universal joint, and this universal joint is linked to the yoke 71 of the 2nd cradle portion 6 lower ends and is attached at movable piece 73 formations on the axle 72 that is horizontally set at yoke 71 bottoms, that rotate freely and can freely carry out in the axial direction banking motion via 2 force transducer 10.Here, described body weight Reduction of Students' Study Load auxiliary force, roughly consistent with described datum line L2 and act on from laterally, described datum line L2 is the swing fulcrum 3a of the fore-and-aft direction of the leg support 2L, the 2R that link the 1st joint portion 3 places and the line of the 3rd joint portion 7.And the body weight Reduction of Students' Study Load auxiliary force (body weight of correctly saying so Reduction of Students' Study Load auxiliary force and making a concerted effort from the power of the weight of take a seat member 1 and each

leg support

2L, 2R) that acts on the reality on the datum line L2 is according to being calculated by the detected value of the axial power of supporting force sensor 10 detected 2.

Earthing component 8 has footwear 81 and is placed in high inflexible stirrup shape shackle 82 in the footwear 81 as shown in Figure 6.The lower end that vertically is provided with the movable piece 73 of the axle collar 83, the 3 joint portions 7 on shackle 82 is linked to this axle collar 83.In addition, as shown in Figure 2, the elastic plate 84 of pad in the bottom of shackle 82 is lined with as footwear 81.Below elastic plate 84, a pair of

pressure transducer

85,85 in front and back is installed, this a pair of

pressure transducer

85,85 can detect middle toe joint (MP joint) part of the foot that acts on user and the load of heel portions.

To each leg support 2R, when 2L controls,, calculate the service load that acts on each foot with respect to the ratio that acts on the total load on the user bipod according to the value of measuring of two

pressure inductors

85,85 of each earthing component 8.Then, calculate the target control value of following numerical value as the body weight Reduction of Students' Study Load auxiliary force that should on each leg support 5, produce; Described numerical value is the numerical value behind the load proportion that multiply by each foot on the body weight Reduction of Students' Study Load auxiliary force setting value that presets.And, control drive source 9 so that the body weight of the reality of calculating according to the value of measuring of described force transducer 10 lighten the burden auxiliary force can be consistent with the controlled target value.In addition, under the state of single lower limb supporting, only produce the body weight Reduction of Students' Study Load auxiliary force of setting value at the leg support place of supporting leg side.In this case, stop drive source drives, and make the 2nd joint portion 5 be in the state that freely rotates the leg support of free lower limb side.In addition, also can add so that the power on its crooked direction the lifting of the foot of auxiliary free lower limb by drive source to the leg support of free lower limb side.

But when the place ahead was seen, body weight Reduction of Students' Study Load auxiliary force was roughly consistent with the line that links bolster 35 and the 3rd joint portion 7 and act on, and described bolster 35 is the horizontal fulcrum of the 1st joint portion 3.Therefore, if the lateral separation between bolster 35 and the 3rd joint portion 7 is elongated, then the power of the horizontal composition of body weight Reduction of Students' Study Load auxiliary force becomes big, and the cross force that acts on the earthing component 8 and the member 1 of taking a seat increases.So, in the present embodiment, as shown in Figure 3, the axle collar 83 above the shackle 82 is offset to the inside sidelong and is provided with, so that the 3rd joint portion 7 is positioned at the transverse width central authorities inboard position of deflection of earthing component 8.Thus, the lateral separation between bolster 35 and the 3rd joint portion 7 shortens, and acts on earthing component 8 and the cross force at member 1 place of taking a seat diminishes, and has improved the stability of the earthing component 8 and the member 1 of taking a seat.

As mentioned above, adopted various means for the stabilisation of the member 1 of taking a seat, and in the present embodiment, member 1 itself a lot of researchs have been carried out to taking a seat.Below this is elaborated.Shown in Fig. 7 (a), the member 1 of taking a seat form make progress in front and back in the middle of the place have the shape of the transverse width necking part 1c narrower than rear face 1a and front face 1b.Front face 1b is bending (with reference to Fig. 2) upward, and, form two bursts of shapes that the horizontal pars intermedia of excision forms.User places the both lateral sides of necking part 1c with left and right sides lower limb and is seated on the member 1 of taking a seat.Thus, by width big rear face 1a and front face 1b, the position skew that the member 1 that can suppress to take a seat makes progress in front and back with respect to user, and, because front face 1b bends up upward, lower limb is not easy to meet front face 1b in the walking when stretching out forward, has guaranteed the degree of freedom of motion of the lower limb in the walking.And, forming two bursts of shapes by making front face 1b, front face 1b is easily to horizontal deflection.Therefore, even the lower limb that forwards stretches out touches front face 1b, the deflection by front face 1b absorbs this touching power, can suppress to make the member 1 of taking a seat produce skew owing to the touching of lower limb.And part is difficult for meeting front face 1b between the hip of user, takes a seat and feels good.Rear face 1a has enough horizontal wide left and right sides ischiums that bears user.Therefore, by contact, can transmit body weight Reduction of Students' Study Load auxiliary force reliably to the ischium of user.

In addition, take a seat core 101 that member 1 made by carbon fibre etc. and the cover 103 that is placed in the elasticity material 102 above the core 101 and wraps up these cores 101 and elasticity material 102 constitutes.Shown in Fig. 7 (b), be formed with the recess that is positioned at lateral center 104 of direction extension forwards, backwards at core 101 places, at the flexible material 102 of the both sides of recess 104 device.In addition, the thickness of the peripheral edge portion of core 101 is established thin, made it can absorb touching power neatly from lateral lower limb.

But, in the above-described embodiment, under the state of single lower limb supporting, for prevent to take a seat member 1 since the weight of the leg support of free lower limb side to horizontal rotation, the joint component 31 of the 1st joint portion 3 that the joint component 31 of the 1st joint portion 3 that left side leg support 2L uses and right side leg support 2R use by common bolster 35 with teeter mode axle supporting freely.But in this case, when the state of two lower limbs supporting, the member 1 of taking a seat might be that the center is to horizontal rotation with bolster 35.

Thereby, in the 2nd embodiment as shown in Figure 8, followingly constituted the 1st joint portion 3, can also improve the lateral stability of the member 1 of taking a seat.Promptly, same with described the 1st embodiment, the slide block 41 that is arranged on each

leg support

2L, 2R upper end moved be sticked in freely on each the 1st guide rail 32, and, the 2nd guide rail 38 front and back one are installed on the bearing support 37 that the member of taking a seat that is arranged on member 1 downside of taking a seat uses over the ground, and described the 1st guide rail 32 is long circular-arc guide rail for having on center of curvature 3a, the fore-and-aft direction above the member 1 of taking a seat; Described the 2nd guide rail 38 is for having center of curvature 3b, being long circular-arc guide rail transversely above the member 1 of taking a seat.And, each the 1st guide rail 32 is moved at

slide block

39,39 places at its two ends be fastened on freely on two the

2nd guide rails

38,38.

Thus, each

leg support

2L, 2R can be along 38 teeters of the 2nd guide rail, and the center of curvature 3b of the 2nd guide rail 38 becomes the teeter fulcrum of each leg support 2L, 2R.So the teeter fulcrum 3b of each

leg support

2L, 2R is positioned at the top of the member 1 of taking a seat.And, the application point that user body weight above the waist acts on the member 1 of taking a seat is offset, takes a seat member 1 under the situation of horizontal inclination to the lateral outer side of the teeter fulcrum of

leg support

2L, 2R, and the body weight application point is in the downside displacement to the inside sidelong of the teeter fulcrum 3b of leg support 2L, 2R.Therefore, the lateral separation between this fulcrum 3b and body weight application point reduces, and the lateral rotation moment that acts on the member 1 of taking a seat also reduces.And, when the body weight application point be displaced to

leg support

2L, 2R teeter fulcrum 3b under the time, act on the lateral rotation moment vanishing of the member 1 of taking a seat, the member of taking a seat is stable under this state.Therefore, the member 1 of taking a seat has improved the lateral stability of the member 1 of taking a seat to laterally not having big inclination.

In addition, in the structure of the described member 1 of taking a seat, if improve the stability of member 1 fore-and-aft direction of taking a seat, also can constitute the 1st joint portion 3 by following manner, this mode is: joint component be equipped with bolster to each

leg support

2L, 2R in front and back upwards swing carry out axle freely and support, and this joint component is moved be sticked in the 2nd guide rail 38 freely, making only has the teeter of

leg support

2L, 2R fulcrum above the member 1 of taking a seat.

In addition, make the teeter fulcrum 3b of

leg support

2L, 2R be positioned at the top of the member 1 of taking a seat, also can constitute the 1st joint portion 3 like that with the 3rd embodiment shown in Figure 9.In the 3rd embodiment, identical with described embodiment, have and make the slide block 41 of each

leg support

2L, 2R upper end move each guide rail that engages freely; It is the circular-arc of length that the center of curvature 3a of this each guide rail is positioned on take a seat member 1 top and the fore-and-aft direction.Different with described embodiment is: be formed with the rising portions 37a that extends to above the member 1 of taking a seat in the end of the bearing support 37 that the member of taking a seat is used, on the bolster 35 that is installed on rising portions 37a upper end, each guide rail is supported by axle freely through hinge member 36 teeters.Like this, then be positioned at the top of the member 1 of taking a seat as the axis 3b of the bolster 35 of the teeter fulcrum of

leg support

2L, 2R.

Yet, though in the 3rd embodiment, in the front and back of bearing support 37 wherein an end, for example only rearward end forms rising portions 37a, wherein end folk prescription supporting guide rail 32 by front and back, also can use at the rear and front end of bearing support 37 place and form rising portions 37a, guide rail 32 be carried out the mode of two supports by rear and front end portion.But, by a wherein end folk prescription supporting guide rail 32 of front and back, can realize the reduction of lightweight and cost, be favourable.

In addition, as mentioned above under the crooked upward situation of the front face 1b of the member 1 of taking a seat, as long as the fore-and-aft direction of

leg support

2L, 2R swing fulcrum 3a and teeter fulcrum 3b are positioned at the pars intermedia of the member 1 of taking a seat that the user body weight affacted and the top of rear face upper surface, its upper end than the front face 1b of the member 1 of taking a seat is low also passable.

In addition, variation as the 3rd embodiment, the 4th embodiment as shown in figure 10 is such, the axis of bolster 35 (as the axis of the teeter fulcrum of leg support) 3b also can tilt the supporting of described bolster 35 pairs of guide rail 32 teeters carrying out freely axle with respect to the horizontal line of fore-and-aft direction.In the 4th embodiment, axis 3b tilts to the front lower place, the field on the fore-and-aft direction consistent with the front face 1b of the member 1 of taking a seat, and axis 3b is positioned at the below of front face 1b.But, with the pars intermedia and the consistent fore-and-aft direction field of rear face of the member 1 of taking a seat, axis 3b is positioned at the top of the pars intermedia and the rear face upper surface of the member 1 of taking a seat.Thus, identical with the 2nd, the 3rd embodiment, improved the lateral stability of the member 1 of taking a seat.In other words, improve the lateral stability of the member 1 of taking a seat, as long as in the consistent fore-and-aft direction field of member 1 part of taking a seat that is affacted with the user body weight, the top that is positioned at the member 1 of taking a seat as the axis 3b of leg support teeter fulcrum gets final product.

More than, though with reference to the accompanying drawings embodiments of the present invention are illustrated, the present invention is not limited only to above-mentioned embodiment.For example, as

leg support

2L, 2R, also can not use centre in the embodiment as described to have rotary type joint portion 5 and stretch the support of Qu Ziru, and Direct Action Type joint portion and retractile support are arranged in the middle of using.In addition, also can omit earthing component 8, and the bottom of each

leg support

2L, 2R is fixed in the calf of each lower limb of user with suitable method.When this situation, make the shank lower bear counter-force than the part that is fixed with the leg support bottom, make it to produce body weight Reduction of Students' Study Load auxiliary force.And,, can also only stay the leg support of the handicapped lower limb side of user among left and right sides leg support 2L, the 2R of described embodiment and omit the opposing party's leg support because of single fracture of leg etc. causes handicapped user walking for auxiliary.In addition, can be not the drive source 9 of centre the 2nd joint portion 5 usefulness of

leg support

2L, 2R not be carried on

leg support

2L, 2R yet, and it is carried on the carriage that is installed on member 1 rear of taking a seat.Even, can also be provided with the 2nd joint portion 5 is carried out the force application mechanism of the application of force on its direction of extension (direction that pushes away on the member of taking a seat carried out), and omit drive source 9.

Claims

1. walk supporting device, it has that user rides on take a seat member and with the banded leg support of following linking part of being located at the member of taking a seat, it is characterized in that,

Described leg support is upwards swung freely in front and back with respect to the described member of taking a seat via described linking part and is linked,

Described linking part constitutes: the swing fulcrum of the fore-and-aft direction of described leg support is positioned at the top of the described member of taking a seat.

2. walk supporting device, it has that user rides on take a seat member and with the banded leg support of following linking part of being located at the member of taking a seat, it is characterized in that,

Described leg support is swung in the horizontal freely with respect to the described member of taking a seat via described linking part and is linked,

Described linking part constitutes: the horizontal swing fulcrum of described leg support is positioned at the top of the described member of taking a seat.

3. walk supporting device, it has that user rides on take a seat member and with the banded leg support of following linking part of being located at the member of taking a seat, it is characterized in that,

Described leg support via described linking part with respect to described take a seat member fore-and-aft direction and transversely swing link freely,

Described linking part constitutes: the swing fulcrum of the fore-and-aft direction of described leg support and horizontal swing fulcrum lay respectively at the top of the described member of taking a seat.

4. walk supporting device according to claim 1 is characterized in that,

Described linking part constitutes: have the center of curvature be positioned at the described member of taking a seat the top, long circular-arc guide rail on the fore-and-aft direction, the upper end of described leg support is moved freely and is engaged with this guide rail, thereby the described center of curvature becomes the swing fulcrum of the fore-and-aft direction of described leg support.

5. walk supporting device according to claim 4 is characterized in that,

Described leg support by have in the centre rotary type joint portion, being configured to of stretching Qu Ziru, described leg support upper end engages with the part of described guide rail, and the part of this guide rail is positioned at the line rear of the center of curvature that links described joint portion and described guide rail.

6. walk supporting device according to claim 3 is characterized in that,

7. walk supporting device according to claim 6 is characterized in that,

8. according to claim 5 or 7 described walk supporting devices, it is characterized in that having the drive source that drives described joint portion.

9. according to each described walk supporting device in the claim 1～4,6, it is characterized in that described leg support has joint portion in the centre, and possess the drive source that drives this joint portion.