JP2006075198A - Walking assist mounting device - Google Patents

Walking assist mounting device Download PDF

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JP2006075198A
JP2006075198A JP2004259670A JP2004259670A JP2006075198A JP 2006075198 A JP2006075198 A JP 2006075198A JP 2004259670 A JP2004259670 A JP 2004259670A JP 2004259670 A JP2004259670 A JP 2004259670A JP 2006075198 A JP2006075198 A JP 2006075198A
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user
support
opening
waist
walking
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JP4112541B2 (en
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Kei Shimada
圭 島田
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Honda Motor Co Ltd
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Honda Motor Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a walking assist mounting device capable of attaining both of a support rigidity and mounting easiness of an actuator in a further higher order. <P>SOLUTION: This walking assist mounting device (a waist supporting device 1) with openings detachably attached to the waist part of a user for mounting torque generating means (a torque actuator TA1) in positions corresponding to, at least, the hip joints of the user is provided with a plurality of rigid bodies (a left part 21L, a right part 21R and a center part 21C) having relatively slidable parts at least in its one parts and connecting/separating means (lock mechanisms R) provided in the relatively slidable parts and increases/decreases the dimension of the opening by elastically moving the relatively slidable parts. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は、歩行補助装置用装着具に関し、より詳しく言うと、下肢機能が低下した人に筋力補助動力を加えるための歩行補助装置を腰部に装着するための装着具に関するものである。   More particularly, the present invention relates to a mounting tool for mounting a walking assist device for applying muscle strength assisting power to a person with reduced lower limb function on the waist.

外傷や疾病、あるいは加齢による筋力低下で自力歩行が困難となった人のために、股関節や膝関節にトルクアクチュエータを装着し、トルクアクチュエータが発生する回転力で下肢の運動を補助するようにした歩行補助装置が種々提案されている。   For people who have difficulty walking on their own due to trauma, illness, or muscular weakness due to aging, attach a torque actuator to the hip or knee joint, and assist the lower limb movement with the rotational force generated by the torque actuator. Various walking assistance devices have been proposed.

このような歩行補助装置の装着具として、軟質合成樹脂材で形成したコルセット様の腹帯をベルトで腹部に固定するようにしたものが知られている（特許文献１を参照されたい）。
特開２００２−３０１１２４号公報 As a wearing tool for such a walking assist device, a device in which a corset-like abdominal band formed of a soft synthetic resin material is fixed to an abdomen with a belt is known (see Patent Document 1).
JP 2002-301124 A

上記文献１に開示されたものは、複数箇所のバックルの締め／弛め作業を着脱の都度行わねばならず、着脱作業が厄介である上、骨格のない腹部に装着するものであるため、強く締め付けると腹部の圧迫感が強くなって日常生活に支障を来たし、緩いと股関節の側方に位置させたアクチュエータのトルクを受け止めることができずに大腿部に加える補助力が逃げてしまうといった欠点がある。   In the above-mentioned document 1, the tightening / loosening operation of the buckles at a plurality of positions must be performed every time the attachment / detachment is performed, and the attachment / detachment operation is troublesome. When tightened, the abdominal pressure becomes stronger and it interferes with daily life, and if it is loose, the torque applied to the side of the hip joint cannot be received and the auxiliary force applied to the thigh will escape There is.

股関節アクチュエータから大腿部への動力伝達効率を高めるには、腰部に対するアクチュエータの支持剛性を高くすれば良いが、装着具の剛性を高くすると、体形差に対する適合性が低くなってしまうため、製作費用が嵩みがちとなることが避けられない。   In order to increase the power transmission efficiency from the hip joint actuator to the thigh, it is sufficient to increase the support rigidity of the actuator to the lumbar region. However, if the rigidity of the wearing device is increased, the compatibility with the body shape difference will be reduced. It is inevitable that the cost tends to increase.

しかも、従来のものは、アクチュエータが組み込まれた状態の装置一式の重量を使用者自身が支えつつ下肢に装着しなければならず、この種の補助装置を必要とする身体機能が衰えている人にとって、少なからぬ肉体的負担を強いられるものであった。   In addition, the conventional device has to be worn on the lower limb while supporting the weight of the device set with the actuator built in, and the body function requiring this kind of auxiliary device has declined. For him, he was forced to bear a considerable physical burden.

本発明は、このような従来技術の問題点を解消すべく案出されたものであり、その主な目的は、アクチュエータの支持剛性と装着容易性とを、より一層高次元に両立し得る歩行補助装置用装着具を提供することにある。   The present invention has been devised to solve such problems of the prior art, and its main purpose is a walking that can achieve both higher support rigidity and easier mounting of the actuator at a higher level. It is in providing the mounting tool for auxiliary devices.

このような課題を解決するために、本発明の請求項１は、使用者の少なくとも股関節に対応する位置にトルク発生手段（トルクアクチュエータＴＡ１）を装着すべく使用者の腰部に着脱自在ならしめる開口を備えた歩行補助装置用装着具（腰部支持具１）を、少なくともその一部に相対摺動可能部分が設けられた複数の剛体部（左部２１Ｌ・右部２１Ｒ・中央部２１Ｃ）と、前記相対摺動可能部分に設けられた結合・離脱手段（ロック機構Ｒ）とを有し、前記相対摺動可能部分を伸縮移動させて前記開口の寸法を増減させることを特徴とするものとした。特に前記複数の剛体部を、脊柱を中心にして左右方向に分割されたものとすると良い（請求項２）。   In order to solve such a problem, claim 1 of the present invention provides an opening that can be detachably attached to a user's waist to attach a torque generating means (torque actuator TA1) at a position corresponding to at least a hip joint of the user. A plurality of rigid body parts (left part 21L, right part 21R, central part 21C) provided with a relatively slidable part at least in part thereof, It has coupling / detaching means (lock mechanism R) provided in the relative slidable part, and the relative slidable part is expanded and contracted to increase or decrease the size of the opening. . In particular, the plurality of rigid body portions may be divided in the left-right direction around the spinal column (claim 2).

また本発明の請求項３は、使用者の少なくとも股関節に対応する位置にトルク発生手段を装着すべく使用者の腰部に着脱自在ならしめる開口を備えた歩行補助装置用装着具を、上方から手でつかむ取っ手を有することを特徴とするものとした。   According to a third aspect of the present invention, there is provided an attachment device for walking assist device having an opening that can be detachably attached to the user's waist to attach the torque generating means at a position corresponding to at least the hip joint of the user. It is characterized by having a handle to grab with.

このような本発明の請求項１の構成によれば、装着具を剛体で構成するので、トルク発生手段の力の身体への伝達効率を高めることができる。しかも剛体で形成したにも拘わらず、腰部を通過させる開口の寸法を自由に増減し得るので、着脱容易性と体形差に対する適合性とを共に高める上に多大な効果を奏することができる。特に請求項２によれば、股関節アクチュエータの取付部の剛性を損なうことがないので、トルク発生手段の力の伝達効率を高める上に寄与し得る。   According to such a configuration of claim 1 of the present invention, since the wearing tool is formed of a rigid body, the transmission efficiency of the force of the torque generating means to the body can be increased. Moreover, despite the fact that it is formed of a rigid body, it is possible to freely increase or decrease the size of the opening through which the lumbar region passes, so that a great effect can be achieved in improving both ease of attachment / detachment and adaptability to body shape differences. In particular, according to the second aspect, since the rigidity of the mounting portion of the hip joint actuator is not impaired, it is possible to contribute to increasing the force transmission efficiency of the torque generating means.

また請求項３の構成によれば、装着時に装置の自重を容易に支持することができるので、装着容易性をより一層高める上に効果的である。   According to the third aspect of the present invention, the weight of the apparatus can be easily supported at the time of mounting, which is effective in further improving the mounting ease.

以下に添付の図面を参照して本発明について詳細に説明する。   Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

図１は、本発明が適用された外骨格型歩行補助装置の全体を示す斜視図であり、図２は、使用者への装着状態を示す側面図である。図１に示すように、この歩行補助装置は、使用者の腰部に装着される腰部支持具１と、使用者の左右の大腿部に装着される上下に長い棒状をなす大腿部支持具２と、使用者の左右の下腿部に装着される上下に長い棒状をなす下腿部支持具３と、使用者が履いた靴に装着される足部支持具４とからなっている。   FIG. 1 is a perspective view showing an entire exoskeleton walking aid apparatus to which the present invention is applied, and FIG. 2 is a side view showing a wearing state for a user. As shown in FIG. 1, this walking assist device includes a waist support 1 attached to the user's waist and a thigh support that is vertically long and is attached to the left and right thighs of the user. 2, a crus support 3 having a vertically long bar shape mounted on the left and right crus of the user, and a foot support 4 mounted on the shoes worn by the user.

腰部支持具１は、図３に示すように、比較的剛性の高い部材で上面視略Ｕ字形（コの字形）に形成された基部１ａと、基部１ａの前端部に結合した左右一対の開閉部１ｂとからなり、全体として前方中央部が開放されたＣ字形をなしている。   As shown in FIG. 3, the lower back support 1 includes a base 1a formed of a relatively rigid member in a substantially U shape (U-shape) when viewed from above, and a pair of left and right open / close coupled to the front end of the base 1a. It consists of the part 1b, and has comprised the C-shape by which the front center part was open | released as a whole.

腰部支持具１の側部前端および大腿部支持具２の上端には、左右の股関節にトルクを付与するトルクアクチュエータＴＡ１（図２）を取り付けるための左右一対の股関節アクチュエータベース５が設けられている。また大腿部支持具２の下端および下腿部支持具３の上端には、左右の膝関節にトルクを付与するトルクアクチュエータＴＡ２（図２）を取り付けるための左右一対の膝関節アクチュエータベース６が設けられている。   A pair of left and right hip joint actuator bases 5 for attaching torque actuators TA1 (FIG. 2) for applying torque to the left and right hip joints are provided on the front side end of the waist support 1 and the upper end of the thigh support 2. Yes. A pair of left and right knee joint actuator bases 6 for attaching a torque actuator TA2 (FIG. 2) for applying torque to the left and right knee joints are provided at the lower end of the thigh support 2 and the upper end of the crus support 3. Is provided.

大腿部支持具２の股関節アクチュエータベース５並びに膝関節アクチュエータベース６との連結部は、回動軸が前後方向に延在するヒンジ７ａ・７ｂを介して屈曲自在に連結されている。また下腿部支持具３の膝関節アクチュエータベース６並びに足部支持具４との連結部も、回動軸が前後方向に延在するヒンジ８ａ・８ｂを介して屈曲自在に連結されている。そして大腿部支持具２及び下腿部支持具３は、上下に伸縮可能にされると共に、使用者の体格に応じた適正寸法に設定した上で、例えばねじ手段などをもってその長さが固定されるようになっている。   The connecting portions of the thigh support 2 with the hip joint actuator base 5 and the knee joint actuator base 6 are connected flexibly via hinges 7a and 7b whose rotation axes extend in the front-rear direction. Further, the joint portion of the lower leg support 3 with the knee joint actuator base 6 and the foot support 4 is also connected to bend freely via hinges 8a and 8b whose rotation axes extend in the front-rear direction. The thigh support 2 and the crus support 3 can be extended and contracted vertically and set to appropriate dimensions according to the user's physique, and the length is fixed by, for example, screw means. It has come to be.

各アクチュエータベース５・６に個々に取り付けられるトルクアクチュエータＴＡ１・ＴＡ２は、クラッチ及び減速機付き電動モータからなり、腰部支持具１並びに大腿部支持具２の下端のそれぞれにモータハウジングが固定され、大腿部支持具２並びに下腿部支持具３の各上端のそれぞれにロータが固定される。これにより、股関節並びに膝関節の運動に対応した補助的なトルクが、腰部支持具１の側部前端と大腿部支持具２の上端との連結部および大腿部支持具２の下端と下腿部支持具３の上端との連結部に与えられる。なお、両トルクアクチュエータＴＡ１・ＴＡ２は、それぞれが対応する各アクチュエータベース５・６に対して反復着脱可能なねじ手段などを介して取り付けられており、保守・整備の簡略化が図られている。   The torque actuators TA1 and TA2 that are individually attached to the actuator bases 5 and 6 include an electric motor with a clutch and a speed reducer, and a motor housing is fixed to each of the lower ends of the waist support 1 and the thigh support 2; A rotor is fixed to each upper end of the thigh support 2 and the crus support 3. As a result, the auxiliary torque corresponding to the movement of the hip joint and the knee joint is applied to the connecting portion between the front side end of the lumbar support 1 and the upper end of the thigh support 2 and the lower and lower ends of the thigh support 2. It is given to the connecting portion with the upper end of the thigh support 3. Both torque actuators TA1 and TA2 are attached to the corresponding actuator bases 5 and 6 through screw means that can be repeatedly attached and detached, so that maintenance and maintenance are simplified.

大腿部支持具２の上下方向中間位置には、一対の弾性Ｃ字形部材を適宜な上下間隔をおいて連結してなる大腿部結合クリップ９が、所定範囲を上下に摺動可能に結合している。また下腿部支持具３の上下方向中間位置にも、一対の弾性Ｃ字形部材を適宜な上下間隔をおいて連結してなる下腿部結合クリップ１０が、所定範囲を上下に摺動可能に結合している。   A thigh coupling clip 9 formed by connecting a pair of elastic C-shaped members at an appropriate vertical interval is coupled to a middle position in the vertical direction of the thigh support 2 so as to be slidable within a predetermined range. is doing. In addition, a crus coupling clip 10 formed by connecting a pair of elastic C-shaped members at an appropriate vertical interval at an intermediate position in the vertical direction of the crus support 3 is slidable up and down within a predetermined range. Are connected.

下腿部支持具３と足部支持具４との連結部１１は、左右方向に延在する軸上で回動可能になっており、足首の運動に追従可能になっている。   The connecting portion 11 between the crus support 3 and the foot support 4 is rotatable on an axis extending in the left-right direction, and can follow the movement of the ankle.

腰部支持具１の中央部には、図示されない上肢との結合部が設けられる背当て板１２が取り付けられている。なお、制御回路やバッテリー等の補機類は、背当て板１２に取り付けられる。   At the center of the lumbar support 1, a back plate 12 provided with a joint with an upper limb (not shown) is attached. Auxiliary devices such as a control circuit and a battery are attached to the back plate 12.

一方、腰部支持具１の基部１ａの左右両側部の上面には、上方から手でつかむグリップ１３が設けられている。そして基部１ａは、Ｌ字形をなす左部２１Ｌ並びに右部２１Ｒと、背当て板１２に一体結合されたＩ字形をなす中央部２１Ｃとの３つの部分からなり、左部２１Ｌ並びに右部２１Ｒの対向端同士が、中央部２１Ｃに対して左右方向へ摺動可能に係合している。また左右の開閉部１ｂも、基部１ａを構成する左部２１Ｌ並びに右部２１Ｒの各前端部に対し、前後方向への摺動ガイド２２を介して連結されている。これにより、着脱時には、左右の開閉部１ｂの内端間の寸法（前方中央の開放部の幅寸法）を増大させ、かつ左右の開閉部１ｂを前方へ移動させることができ、装着時には、基部１ａの幅寸法及び開閉部１ｂの前後位置を使用者の体格に応じて適正に設定した上で、次に詳述するロック機構をもって固定し得るようになっている。   On the other hand, grips 13 that are grasped by hand from above are provided on the upper surfaces of the left and right sides of the base 1a of the waist support 1. The base 1a is composed of three parts, a left part 21L and a right part 21R that are L-shaped, and a central part 21C that is an I-shape that is integrally coupled to the back plate 12, and includes a left part 21L and a right part 21R. Opposing ends are engaged with the central portion 21C so as to be slidable in the left-right direction. The left and right opening / closing parts 1b are also connected to the front end parts of the left part 21L and the right part 21R constituting the base part 1a via sliding guides 22 in the front-rear direction. Thereby, when attaching and detaching, the dimension between the inner ends of the left and right opening / closing parts 1b (the width dimension of the opening part at the front center) can be increased, and the left and right opening / closing parts 1b can be moved forward. After appropriately setting the width dimension of 1a and the front and rear positions of the opening / closing part 1b in accordance with the user's physique, it can be fixed with a lock mechanism described in detail below.

ロック機構Ｒは、左部２１Ｌ並びに右部２１Ｒのそれぞれと中央部２１Ｃとの摺合部、および左右の各開閉部１ｂとこれに対応する摺動ガイド２２との間に設けられており、その構造は、図４、５に概念的に示したように、互いに相対摺動可能に組み合わされた第１の部材３１及び第２の部材３２と、第１の部材３１に固定されたブラケット３３にピン軸３４をもって枢支されたラチェットポール３５と、長軸が傾斜した長孔３６をもってピン軸３４に係合したラチェットレバー３７と、第２の部材３２に形成された鋸刃状をなすラチェットギア３８とからなっている。   The locking mechanism R is provided between the sliding portion between the left portion 21L and the right portion 21R and the central portion 21C, and between the left and right opening / closing portions 1b and the corresponding sliding guides 22, and its structure. As conceptually shown in FIGS. 4 and 5, the first member 31 and the second member 32 which are combined to be slidable relative to each other, and the bracket 33 fixed to the first member 31 are pinned. A ratchet pole 35 pivotally supported by the shaft 34, a ratchet lever 37 engaged with the pin shaft 34 by a long hole 36 whose major axis is inclined, and a saw-toothed ratchet gear 38 formed in the second member 32. It is made up of.

ラチェットレバー３７は、長孔３６の範囲を遊動可能になっている。そして、ラチェットポール３５は、ラチェットギア３８との噛み合い状態を維持するように、捩りコイルばねなどで図における時計回り方向へ弾発付勢されている。   The ratchet lever 37 is movable in the range of the long hole 36. The ratchet pole 35 is elastically biased in the clockwise direction in the figure by a torsion coil spring or the like so as to maintain the meshed state with the ratchet gear 38.

図４に示す噛み合い初期状態で、第１、第２両部材３１・３２を互いに伸長させる向き（図４において左右方向）に引っ張ると、ラチェットギア３８の歯の１つにラチェットポール３５が噛み込んで伸長方向への相対摺動が阻止される。この状態から、ラチェットレバー３７を僅かに左動させてラチェットレバー３７の先端のラチェット爪３７ａをラチェットギア３８の歯の１つに噛み合わせた上でラチェットレバー３７を反時計回りに回動させると、ラチェット爪３７ａが回動して第２の部材３２を右向きに引き込む。この時、ラチェットポール３５の遊端がラチェットギア３８の歯先で押し上げられ、ラチェットギア３８との噛み合いが外れる。   In the initial meshing state shown in FIG. 4, when the first and second members 31 and 32 are pulled in the direction in which they are extended to each other (in the left-right direction in FIG. 4), the ratchet pole 35 is engaged with one of the teeth of the ratchet gear 38. This prevents relative sliding in the extending direction. From this state, when the ratchet lever 37 is slightly moved to the left to engage the ratchet pawl 37a at the tip of the ratchet lever 37 with one of the teeth of the ratchet gear 38, the ratchet lever 37 is rotated counterclockwise. The ratchet pawl 37a rotates and pulls the second member 32 rightward. At this time, the free end of the ratchet pole 35 is pushed up by the tooth tip of the ratchet gear 38 and the meshing with the ratchet gear 38 is released.

図５に示したように、ラチェットレバー３７を反時計回りに一杯回動させると、ラチェットギア３８の歯の１つ分だけ第２の部材３２が右方へ進み、捩りコイルばねなどの弾発力でラチェットポール３５の遊端が１つだけ進んだラチェットギア３８の歯に噛み込み、第２の部材３２の戻りを阻止する。   As shown in FIG. 5, when the ratchet lever 37 is fully rotated counterclockwise, the second member 32 moves to the right by one tooth of the ratchet gear 38, and an elastic force such as a torsion coil spring is generated. By force, the free end of the ratchet pole 35 is engaged with the teeth of the ratchet gear 38 which is advanced by one, and the return of the second member 32 is prevented.

このようにして、ラチェットレバー３７を所定角度だけ往復回動することにより、第２の部材３２が歩進的に第１の部材３１側へ引き込まれる。   Thus, by reciprocating the ratchet lever 37 by a predetermined angle, the second member 32 is gradually pulled into the first member 31 side.

両者の連結解除時は、ラチェットレバー３７を反時計方向へ回動させてラチェットポール３５の遊端をラチェットギア３８の歯先から逃がし、その噛み合いが外れた位置でラチェットポール３５を固定することにより、第２の部材３２の戻り移動（左動）がフリーになる。   When the two are released, the ratchet lever 37 is rotated counterclockwise so that the free end of the ratchet pole 35 is released from the tooth tip of the ratchet gear 38, and the ratchet pole 35 is fixed at a position where the mesh is released. The return movement (left movement) of the second member 32 becomes free.

このような構成のラチェット式ロック機構Ｒのラチェットレバー３７を中央部２１Ｃ（背板１２）の左右両側端に設け、基部１ａを構成する左部２１Ｌ並びに右部２１Ｒの対向端にラチェットギア３８を設けることにより、基部１ａを構成する左部２１Ｌ並びに右部２１Ｒを背板１２を中心に左右にスライド移動させ、且つ適宜な位置で固定することができる。   The ratchet lever 37 of the ratchet type locking mechanism R having such a configuration is provided at both left and right ends of the central portion 21C (back plate 12), and ratchet gears 38 are provided at the opposite ends of the left portion 21L and the right portion 21R constituting the base portion 1a. By providing, the left part 21L and the right part 21R constituting the base part 1a can be slid to the left and right with the back plate 12 as the center, and can be fixed at an appropriate position.

このロック機構Ｒを、基部１ａの摺動ガイド部２２と開閉部１ｂとの間に設け、基部１ａ側にラチェットレバー３７を設け、開閉部１ｂの摺動ガイド部２２との摺合部にラチエットギア３８を設けることにより、開閉部１ｂを前後移動可能に且つ適宜な位置で固定自在とすることができる。   This locking mechanism R is provided between the sliding guide portion 22 and the opening / closing portion 1b of the base portion 1a, a ratchet lever 37 is provided on the base portion 1a side, and a ratchet gear is provided at the sliding portion with the sliding guide portion 22 of the opening / closing portion 1b. By providing 38, the opening / closing part 1b can be moved back and forth and fixed at an appropriate position.

このような構成の歩行補助装置を使用者の下肢に装着するには、先ず、腰部支持具１の開閉部１ｂ同士間の間隔寸法および開閉部１ｂの前後方向位置を適宜に設定しておき、基部の側部上面に形成されたグリップ１３を把持して使用者の腰部Ｈに腰部支持具１を装着する。腰部Ｈの後背面に背当て板１２が当接したところで左右の基部の幅寸法及び両開閉部１ｂの位置を調節し、且つ上記したロック機構Ｒのラチェットを効かせて、図３に示したように、左右の腸骨陵部２３（骨盤側面端点）から仙腸関節２４（脊柱と骨盤の接合点）の後背面に対応する部位にＵ字形をなす基部１ａを当接させ、左右の腸骨棘部２５（骨盤前面端点）に対応する部位に左右一対の開閉部１ｂを当接させ、使用者の腰骨のところに腰部支持具１を位置決めする。   In order to wear the walking assist device having such a configuration on the user's lower limb, first, the interval dimension between the opening and closing parts 1b of the waist support 1 and the front-rear direction position of the opening and closing part 1b are set appropriately. The grip 13 formed on the upper surface of the side portion of the base is gripped and the waist support 1 is attached to the waist H of the user. When the back plate 12 is in contact with the back surface of the waist H, the width of the left and right bases and the positions of the two opening / closing portions 1b are adjusted, and the ratchet of the locking mechanism R described above is used, as shown in FIG. As described above, the U-shaped base 1a is brought into contact with the portion corresponding to the posterior rear surface of the sacroiliac joint 24 (joint point between the spinal column and the pelvis) from the left and right iliac crest portions 23 (pelvic side end points), A pair of left and right opening / closing parts 1b is brought into contact with a portion corresponding to the osteophyte 25 (the pelvic front end point), and the waist support 1 is positioned at the user's hipbone.

次に、大腿部結合クリップ９並びに下腿部結合クリップ１０の開放端側を拡開し、使用者の大腿部並びに下腿部の外側方から使用者の大腿部並びに下腿部に各クリップ９・１０を抱着させることにより、大腿部支持具２並びに下腿部支持具３が使用者の脚部に装着される。この時、クラッチを切って両トルクアクチュエータＴＡ１・ＴＡ２をフリーにしておけば、大腿部支持具２並びに下腿部支持具３の上下各端部がヒンジ７ａ・７ｂ・８ａ・８ｂから側方へ折れ曲がるので、椅子に腰掛ける等した体勢で歩行補助装置を脚部に容易に装着することができる。   Next, the open end side of the thigh coupling clip 9 and the crus coupling clip 10 is expanded, and the user's thigh and crus from outside the user's thigh and crus By tucking the clips 9 and 10, the thigh support 2 and the crus support 3 are attached to the legs of the user. At this time, if the clutch is disengaged and both the torque actuators TA1 and TA2 are free, the upper and lower ends of the thigh support 2 and the crus support 3 are laterally moved from the hinges 7a, 7b, 8a and 8b. Since it bends, the walking assistance device can be easily attached to the leg with a posture such as sitting on a chair.

各クリップ９・１０は、対応する各支持具２・３に対して上下方向に摺動可能に結合しているので、使用者の大腿部並びに下腿部と、これらに対応する各支持具２・３との間に運動時にずれが生じても、太もも並びにふくらはぎに対して各クリップ９・１０は位置ずれを起こさないので、装着時の違和感を低減することができる。   Since the clips 9 and 10 are slidably coupled to the corresponding support devices 2 and 3 in the vertical direction, the user's thighs and lower leg portions and the corresponding support devices corresponding thereto. Even if a deviation occurs between the two and the third during movement, the clips 9 and 10 do not cause a positional deviation with respect to the thigh and the calf, so that it is possible to reduce a sense of incongruity at the time of wearing.

腰部支持具１の分割態様は、図６に示したように、装着時に全閉する２分割（ａ）、装着時に一方が開放した２分割（ｂ）、あるいは前後方向についての２分割（ｃ）等々、種々の変形が可能である。また装着時に握るグリップも、上記のような別部材とせずに、基部１の側面に指先を差し込める凹所を設けるものであっても良い。   As shown in FIG. 6, the lumbar support 1 is divided into two parts (a) that are fully closed when worn, two parts (b) that are open when worn, or two parts (c) in the front-rear direction. Various modifications are possible. Moreover, the grip gripped at the time of mounting may not be a separate member as described above, but may be provided with a recess into which the fingertip can be inserted on the side surface of the base 1.

本発明が適用された歩行補助装置の装着具の全体斜視図である。It is a whole perspective view of the wearing tool of the walk auxiliary device to which the present invention was applied. 歩行補助装置の装着状態を示す側面図である。It is a side view which shows the mounting state of a walking assistance apparatus. 腰部支持具の装着状態を示す上面図である。It is a top view which shows the mounting state of the waist | hip | lumbar part support tool. ロック機構の初期状態を示す側面図である。It is a side view which shows the initial state of a locking mechanism. ロック機構の一歩締め込んだ状態を示す側面図である。It is a side view which shows the state which tightened one step of the locking mechanism. 腰部支持具の分割の別の態様を示す概略図である。It is the schematic which shows another aspect of the division | segmentation of a waist | hip | lumbar part support tool.

符号の説明Explanation of symbols

１ 腰部支持具（歩行補助装置用装着具）
１ａ 基部（剛体からなる部分）
１ｂ 開閉部
２１Ｌ 左部
２１Ｒ 右部
２１Ｃ 中央部
２２ 摺動ガイド
ＴＡ１ トルクアクチュエータ（トルク発生手段）
Ｒ ロック機構（結合・離脱手段） 1 Lumbar support device (equipment for walking assist device)
1a Base (part consisting of rigid body)
1b Opening / closing part 21L Left part 21R Right part 21C Center part 22 Sliding guide TA1 Torque actuator (torque generating means)
R lock mechanism (coupling / detaching means)

Claims (3)

使用者の少なくとも股関節に対応する位置にトルク発生手段を装着すべく使用者の腰部に着脱自在ならしめる開口を備えた歩行補助装置用装着具であって、
少なくともその一部に相対摺動可能部分が設けられた複数の剛体部と、前記相対摺動可能部分に設けられた結合・離脱手段とを有し、
前記相対摺動可能部分を伸縮移動させて前記開口の寸法を増減させることを特徴とする歩行補助装置用装着具。 A walking assist device wearing tool having an opening that can be detachably attached to a user's waist to attach a torque generating means to a position corresponding to at least a hip joint of the user,
A plurality of rigid body portions provided with a relatively slidable portion at least in a part thereof, and coupling / detaching means provided in the relative slidable portion;
A walking assisting device mounting tool, wherein the size of the opening is increased or decreased by expanding and contracting the relative slidable portion. 前記複数の剛体部は、脊柱を中心にして左右方向に分割されたものであることを特徴とする請求項１に記載の歩行補助装置用装着具。   The walking aid device wearing device according to claim 1, wherein the plurality of rigid body portions are divided in the left-right direction with the spinal column as a center. 使用者の少なくとも股関節に対応する位置にトルク発生手段を装着すべく使用者の腰部に着脱自在ならしめる開口を備えた歩行補助装置用装着具であって、
上方から手でつかむ取っ手を有することを特徴とする歩行補助装置用装着具。 A walking assist device wearing tool having an opening that can be detachably attached to a user's waist to attach a torque generating means to a position corresponding to at least a hip joint of the user,
A wearing tool for walking assistance device, characterized by having a handle that is grasped by hand from above.
JP2004259670A 2004-09-07 2004-09-07 Wearing device for walking assist device Expired - Fee Related JP4112541B2 (en)

Priority Applications (2)

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JP2004259670A JP4112541B2 (en) 2004-09-07 2004-09-07 Wearing device for walking assist device
US11/215,402 US7278979B2 (en) 2004-09-07 2005-08-30 Walking assistance device having a pelvis support member that is easy to wear

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Publication number Priority date Publication date Assignee Title
JP2006320351A (en) * 2005-05-17 2006-11-30 Wacoal Holdings Corp Lumbar orthosis
WO2008155944A1 (en) * 2007-06-20 2008-12-24 Honda Motor Co., Ltd. Walk assistance device
KR101222915B1 (en) 2010-12-29 2013-01-16 경북대학교 산학협력단 Robot suit for wearable robot for assisting the muscular strength of lower extremity using thereof
CN107928996A (en) * 2017-11-22 2018-04-20 上海理工大学 A kind of semi-passive light-type lower limb exoskeleton

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101797967B1 (en) 2016-03-30 2017-11-15 한양대학교 에리카산학협력단 Walking Assistance Apparatus for Lower Limb

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JP2005000634A (en) * 2003-05-21 2005-01-06 Wacoal Corp Walking assisting device

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JP2005000634A (en) * 2003-05-21 2005-01-06 Wacoal Corp Walking assisting device

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006320351A (en) * 2005-05-17 2006-11-30 Wacoal Holdings Corp Lumbar orthosis
WO2008155944A1 (en) * 2007-06-20 2008-12-24 Honda Motor Co., Ltd. Walk assistance device
JP2009000195A (en) * 2007-06-20 2009-01-08 Honda Motor Co Ltd Walking aid device
US8303525B2 (en) 2007-06-20 2012-11-06 Honda Motor Co., Ltd. Walking assist device
KR101222915B1 (en) 2010-12-29 2013-01-16 경북대학교 산학협력단 Robot suit for wearable robot for assisting the muscular strength of lower extremity using thereof
CN107928996A (en) * 2017-11-22 2018-04-20 上海理工大学 A kind of semi-passive light-type lower limb exoskeleton
CN107928996B (en) * 2017-11-22 2023-10-31 上海理工大学 Semi-passive light-weight lower limb exoskeleton

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