JP4387996B2 - Walking assist device - Google Patents

Walking assist device Download PDF

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JP4387996B2
JP4387996B2 JP2005220856A JP2005220856A JP4387996B2 JP 4387996 B2 JP4387996 B2 JP 4387996B2 JP 2005220856 A JP2005220856 A JP 2005220856A JP 2005220856 A JP2005220856 A JP 2005220856A JP 4387996 B2 JP4387996 B2 JP 4387996B2
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leg
link
joint portion
joint
user
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JP2007029633A (en
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淳 芦原
豊 日木
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Honda Motor Co Ltd
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Honda Motor Co Ltd
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Priority to JP2005220856A priority Critical patent/JP4387996B2/en
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Priority to RU2007148517/14A priority patent/RU2389469C2/en
Priority to AT06746934T priority patent/ATE474543T1/en
Priority to KR1020077020248A priority patent/KR100856847B1/en
Priority to CN200680007074.1A priority patent/CN101132755B/en
Priority to BRPI0607422-7A priority patent/BRPI0607422A2/en
Priority to CA2598091A priority patent/CA2598091C/en
Priority to PCT/JP2006/310656 priority patent/WO2006126709A1/en
Priority to DE602006015649T priority patent/DE602006015649D1/en
Priority to EP06746934A priority patent/EP1905407B1/en
Priority to US11/908,571 priority patent/US8002719B2/en
Publication of JP2007029633A publication Critical patent/JP2007029633A/en
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Publication of JP4387996B2 publication Critical patent/JP4387996B2/en
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Description

本発明は、利用者の脚に作用する荷重を軽減して歩行を補助する歩行補助装置に関する。   The present invention relates to a walking assist device that assists walking by reducing a load acting on a user's leg.

従来、この種の歩行補助装置として、荷重伝達部と、この荷重伝達部に連結される脚リンクとを備え、利用者の体重の少なくとも一部を荷重伝達部を介して脚リンクで支え、利用者の脚に作用する荷重を軽減して、利用者の歩行を補助するものが知られている(例えば、特許文献１参照)。このもので荷重伝達部は、利用者の腰回りに装着される腰支持ベルトで構成され、腰支持ベルトの横方向両側に人の股関節に相当する第１関節部を介して左右の一対の脚リンクを連結している。尚、脚リンクは、上下方向中間に人の膝関節に相当する第２関節部を有する屈伸自在なリンクで構成され、各脚リンクの下端には、利用者の足平に装着される足平装着部が第３関節部を介して連結されている。そして、脚リンクに第２関節部と同軸上の駆動源を搭載し、該駆動源による第２関節部の回転駆動で使用者の体重の一部を支える体重免荷アシスト力を発生させるようにしている。   Conventionally, as this type of walking assist device, a load transmission unit and a leg link connected to the load transmission unit are provided, and at least a part of the user's weight is supported by the leg link via the load transmission unit. There is known one that reduces a load acting on a person's leg and assists the user's walking (see, for example, Patent Document 1). In this structure, the load transmission unit is composed of a waist support belt that is worn around the waist of the user, and a pair of left and right legs via a first joint corresponding to a human hip joint on both lateral sides of the waist support belt. Link is linked. The leg link is composed of a flexible link having a second joint portion corresponding to a human knee joint in the middle in the vertical direction, and a foot attached to the user's foot at the lower end of each leg link. The mounting part is connected via the third joint part. Then, a drive source coaxial with the second joint is mounted on the leg link, and a weight unloading assist force that supports a part of the weight of the user is generated by rotational driving of the second joint by the drive source. ing.

ところで、脚リンクは、一般的に、利用者の直立状態で伸張状態になるように、利用者の脚の長さに合わせた長さに形成されるが、これでは、個人毎に専用の装置を製作することが必要になって、コストが高くなる。この場合、第１関節部における脚リンクの前後方向の揺動支点と第３関節部とを結ぶ線を基準線として、脚リンクを、利用者の直立状態においても、第２関節部が基準線よりも前方または後方に張り出す屈曲状態になるような長さに形成し、駆動源の制御で荷重伝達部の高さを利用者に合わせて自動調節すれば、個人毎に専用の装置を製作する必要がなく、汎用性があってコストダウンを図ることができる。   By the way, the leg link is generally formed in a length corresponding to the length of the user's leg so that the leg link is in an extended state in the upright state of the user. It will be necessary to produce this, which will increase the cost. In this case, using the line connecting the oscillating fulcrum of the leg link in the first joint portion in the front-rear direction and the third joint portion as the reference line, the second joint portion is the reference line even in the user's upright state. If it is formed in a length that will be bent forward or rearward and the height of the load transmission part is automatically adjusted according to the user by controlling the drive source, a dedicated device will be produced for each individual There is no need to do so, and there is versatility, and cost can be reduced.

然し、利用者の直立状態で脚リンクが屈曲状態になっていると、以下の不具合を生ずる。即ち、利用者の直立状態では上記基準線がほぼ鉛直になり、第２関節部が基準線より前方に張り出している場合は、第２関節部と同軸上の駆動源を含む脚リンクの重量により脚リンクに第３関節部を中心にした前傾方向の揺動モーメントが発生して、荷重支持部に前方への押し力が作用し、また、第２関節部が基準線より後方に張り出している場合は、脚リンクに第３関節部を中心にした後傾方向の揺動モーメントが発生し、荷重伝達部に後方への押し力が作用してしまう。
特開２００３−２２０１０２号公報(０１４３〜０１４９、図１) However, if the leg link is bent in the upright state of the user, the following problems occur. That is, when the user is in an upright state, the reference line is almost vertical, and the second joint part projects forward from the reference line, the weight of the leg link including the drive source coaxial with the second joint part. A swinging moment in the forward tilt direction around the third joint portion is generated in the leg link, a forward pushing force acts on the load support portion, and the second joint portion projects rearward from the reference line. In this case, a swinging moment in the backward tilting direction around the third joint portion is generated in the leg link, and a backward pushing force acts on the load transmitting portion.
JP2003-220102A (0143 to 0149, FIG. 1)

本発明は、以上の点に鑑み、利用者の直立状態においても屈曲状態になるような長さの脚リンクを用いるにも拘らず、荷重伝達部に前後方向の押し力が作用することを防止して安定性を向上できるようにした歩行補助装置を提供することをその課題としている。   In view of the above points, the present invention prevents a longitudinal force from acting on the load transmitting portion despite the use of a leg link having a length that can be bent even when the user is upright. It is an object of the present invention to provide a walking assistance device that can improve stability.

上記課題を解決するために、本発明は、荷重伝達部と、この荷重伝達部に第１関節部を介して前後方向に揺動自在に連結される脚リンクとを備え、利用者の体重の少なくとも一部を前記荷重伝達部を介して前記脚リンクで支えるようにした歩行補助装置であって、
前記脚リンクは、第２関節部を介して上下に連結された第１リンク部と第２リンク部とで屈伸自在に構成されたリンクからなり、前記第２リンク部の下端に、利用者の足平に装着される足平装着部が第３関節部を介して連結され、且つ、前記第１関節部における前記脚リンクの前後方向の揺動支点と前記第３関節部とを結ぶ線を基準線として、前記脚リンクは、利用者の直立状態においても、前記第２関節部が前記基準線の前方または後方に張り出す屈曲状態になるような長さに形成され、前記第１リンク部に、前記基準線に対し前記第２関節部とは前後方向反対側に張り出す張出し部が設けられ、該張出し部にウェイト部材が搭載されることを特徴とする。 In order to solve the above-mentioned problems, the present invention includes a load transmitting portion and a leg link that is swingably connected to the load transmitting portion in the front-rear direction via a first joint portion. a walking assist apparatus that support by the leg link via the at least a portion the load transfer portion,
The leg link is composed of a link configured to be able to bend and stretch freely by a first link portion and a second link portion that are connected up and down via a second joint portion, and at the lower end of the second link portion , a user's A foot mounting portion to be mounted on the foot is connected via a third joint portion, and a line connecting the pivot support point in the front-rear direction of the leg link in the first joint portion and the third joint portion. as a baseline, the leg link, even in an upright state of the user, the second joint portion is formed on the front or such that the flexion projecting rearward length of the reference line, the first link portion In addition, an overhanging portion that protrudes in the front-rear direction opposite to the second joint portion with respect to the reference line is provided, and a weight member is mounted on the overhanging portion.

利用者の直立時には、脚リンクの重量(ウェイト部材を除く)により脚リンクに第３関節部を中心にした前傾方向(第２関節部が基準線の前方に張り出す場合)または後傾方向(第２関節部が基準線の後方に張り出す場合)への揺動モーメントが発生する。然し、本発明によれば、ウェイト部材が基準線を挟んで第２関節部とは前後方向反対側に位置することになり、そのため、脚リンクの重量による揺動モーメントとは逆向きの揺動モーメントがウェイト部材の重量により発生する。即ち、ウェイト部材がカウンタウェイトとして機能して、ウェイト部材を含む脚リンク全体の揺動モーメントは小さくなる。その結果、この揺動モーメントによって荷重伝達部に作用する前後方向の押し力も小さくなり、安定性が向上する。   When the user stands upright, the weight of the leg link (excluding the weight member) causes the leg link to tilt forward with the third joint as the center (when the second joint projects over the reference line) or backward tilt Oscillation moment is generated (when the second joint part protrudes behind the reference line). However, according to the present invention, the weight member is positioned on the opposite side of the second joint portion across the reference line, and therefore the swinging motion is opposite to the swinging moment due to the weight of the leg link. A moment is generated by the weight of the weight member. That is, the weight member functions as a counterweight, and the swinging moment of the entire leg link including the weight member is reduced. As a result, the pushing force in the front-rear direction acting on the load transmitting portion by this swinging moment is also reduced, and the stability is improved.

尚、第２関節部が基準線の前方に張出すように脚リンクが屈曲している場合、利用者の脚を前方に振り出す際に、脚リンクに第１関節部における前後方向の揺動支点を中心にした後方への揺動モーメントが発生して、脚の前方への振り出しに対する抵抗力になる。ここで、本発明によれば、第２関節部が基準線の前方に張出す場合、張出し部が基準線の後方に張り出すから、張出し部に搭載するウェイト部材の重量により第１関節部における前後方向の揺動支点を中心にした前方への揺動モーメントが発生し、このモーメントで脚の前方への振り出しがアシストされる。従って、第２関節部が基準線の前方に張出すように脚リンクが屈曲している場合でも、脚の前方への振り出しに抵抗感を与えることはない。   In addition, when the leg link is bent so that the second joint portion projects forward of the reference line, when the user's leg is swung forward, the leg link swings in the front-rear direction at the first joint portion. A backward swinging moment about the fulcrum is generated, which becomes a resistance against swinging the leg forward. Here, according to the present invention, when the second joint portion projects forward of the reference line, the overhanging portion projects rearward of the reference line, so the weight of the weight member mounted on the overhanging portion causes the first joint portion to A forward swinging moment about the swinging fulcrum in the front-rear direction is generated, and this moment assists in swinging the leg forward. Therefore, even when the leg link is bent so that the second joint portion projects forward of the reference line, no resistance is given to swinging the leg forward.

ところで、第１関節部回りの脚リンクの慣性モーメントが大きくなると、歩行時に利用者の脚が脚リンクの慣性モーメントを受けて重く感じる。この場合、第１関節部の近傍に張出し部を設ければ、これに搭載するウェイト部材と第１関節部との間の距離が短くなり、第１関節部回りの脚リンクの慣性モーメントを小さくすることができ、歩行しやすくなる。   By the way, when the moment of inertia of the leg link around the first joint is increased, the user's leg feels heavy due to the moment of inertia of the leg link during walking. In this case, if the overhanging portion is provided in the vicinity of the first joint portion, the distance between the weight member mounted on the first joint portion and the first joint portion is shortened, and the moment of inertia of the leg link around the first joint portion is reduced. Can be easy to walk.

ここで、ウェイト部材は、第２関節部用の駆動源で構成されることが望ましい。即ち、第２関節部用の駆動源は元々脚リンクに搭載されているものであり、この駆動源をウェイト部材に兼用することにより、脚リンクの重量アップを回避することができ、合理的である。この場合、駆動源により発生する駆動力が駆動力伝達手段を介して第２関節部に伝達されるようにする。   Here, it is desirable that the weight member is constituted by a drive source for the second joint. That is, the drive source for the second joint portion is originally mounted on the leg link. By using this drive source also as the weight member, it is possible to avoid an increase in the weight of the leg link. is there. In this case, the driving force generated by the driving source is transmitted to the second joint portion via the driving force transmitting means.

尚、駆動力伝達手段としては、平行リンクを用いたリンク機構や、油圧シリンダを用いた油圧伝達機構も使用できるが、軽量化及びコストダウンのためには、第２関節部と駆動源とを結ぶワイヤを用いたワイヤ式伝達機構で駆動力伝達手段を構成することが望ましい。   As the driving force transmission means, a link mechanism using a parallel link and a hydraulic transmission mechanism using a hydraulic cylinder can be used. However, for weight reduction and cost reduction, the second joint portion and the drive source are connected. It is desirable to configure the driving force transmission means with a wire-type transmission mechanism using a connecting wire.

以下、本発明の実施形態の歩行補助装置について説明する。歩行補助装置は、図１乃至図３に示す如く、利用者Ｐが跨ぐようにして着座する荷重伝達部たる着座部材１と、着座部材１の下側に配置される左右一対の脚リンク２Ｌ，２Ｒとを備えている。   Hereinafter, a walking assistance device according to an embodiment of the present invention will be described. As shown in FIGS. 1 to 3, the walking assist device includes a seating member 1 that is a load transmitting portion on which a user P sits, and a pair of left and right leg links 2 </ b> L disposed below the seating member 1. 2R.

各脚リンク２Ｌ，２Ｒは、着座部材１の下面に第１関節部３を介して前後方向に揺動自在に連結される第１リンク部４と、第１リンク部４の下端に第２関節部５を介して連結される第２リンク部６とを備える屈伸自在なリンクで構成される。また、第２リンク部６の下端には、第３関節部７を介して、利用者の左右の各足平に装着される足平装着部８が連結されている。各脚リンク２Ｌ，２Ｒには、更に、第２関節部５用の駆動源９が搭載されており、駆動源９による第２関節部５の回転駆動で各脚リンク２Ｌ，２Ｒに展伸方向の力を加え、利用者の体重の少なくとも一部を支持する支持力（以下、体重免荷アシスト力という）を発生させる。各脚リンク２Ｌ，２Ｒで発生された体重免荷アシスト力は着座部材１を介して利用者Ｐの胴体に伝達され、利用者Ｐの脚に作用する荷重が軽減される。尚、図示しないが、駆動源９用の電源及びコントローラは利用者が背負うバックパックに収納される。   The leg links 2L and 2R are connected to the lower surface of the seating member 1 via the first joint portion 3 so as to be swingable in the front-rear direction, and to the lower end of the first link portion 4 the second joint. The second link part 6 connected via the part 5 is configured as a flexible link. In addition, a foot attachment portion 8 attached to each of the left and right feet of the user is connected to the lower end of the second link portion 6 via a third joint portion 7. Each leg link 2L, 2R is further equipped with a drive source 9 for the second joint part 5, and the leg link 2L, 2R is extended in the extending direction by the rotational drive of the second joint part 5 by the drive source 9. To generate a support force that supports at least a part of the weight of the user (hereinafter referred to as a weight-relief assist force). The weight unloading assist force generated at each leg link 2L, 2R is transmitted to the torso of the user P via the seating member 1, and the load acting on the leg of the user P is reduced. Although not shown, the power source and controller for the drive source 9 are housed in a backpack carried by the user.

本実施形態の歩行補助装置は、利用者Ｐが足平に足平装着部８を装着して着座部材１に着座するだけで使用することができ、殆ど束縛感を受けない。また、脚リンク２Ｌ，２Ｒの第１関節部３及び第１リンク部４は利用者Ｐの股下に位置するため、歩行時の腕振りに際し手が第１関節部３や第１リンク部４に当たることがなく、自由な腕振りが可能になる。更に、装置が小型になって、狭い場所でも使用でき、束縛感の軽減及び腕振りの自由さの確保と相俟って、使い勝手が著しく向上する。   The walking assistance device of this embodiment can be used simply by the user P wearing the foot mounting portion 8 on the foot and sitting on the seating member 1, and hardly receives a sense of restraint. Further, since the first joint portion 3 and the first link portion 4 of the leg links 2L and 2R are located in the crotch of the user P, the hand hits the first joint portion 3 and the first link portion 4 when swinging the arm during walking. It is possible to swing freely. Furthermore, the device becomes smaller and can be used even in a narrow place, and the ease of use is remarkably improved in combination with the reduction in binding feeling and the securing of freedom of arm swinging.

各脚リンク２Ｌ，２Ｒ用の各第１関節部３は、図４、図５に明示する如く、前後方向に長手の円弧状の案内軌道３２と、案内軌道３２を支持する支持板３３とから成る関節部材３１で構成されている。尚、本実施形態では、案内軌道３２を円弧状のレールで構成しているが、支持板３３に形成する円弧状の溝で案内軌道３２を構成することも可能である。各脚リンク２Ｌ，２Ｒの第１リンク部４の上端部には、案内軌道３２を上下から挟む上下各一対のローラ４１ａを有するスライダ４１が取付けられており、案内軌道３２にスライダ４１がローラ４１を介して移動自在に係合する。かくして、各脚リンク２Ｌ，２Ｒは案内軌道３２の曲率中心を中心にして前後方向に揺動することになり、各脚リンク２Ｌ，２Ｒの前後方向の揺動支点は案内軌道３２の曲率中心になる。   Each of the first joints 3 for the leg links 2L and 2R includes an arcuate guide track 32 that is long in the front-rear direction and a support plate 33 that supports the guide track 32, as clearly shown in FIGS. The joint member 31 is constituted. In the present embodiment, the guide track 32 is configured by an arc-shaped rail, but the guide track 32 may be configured by an arc-shaped groove formed in the support plate 33. A slider 41 having a pair of upper and lower rollers 41a sandwiching the guide track 32 from above and below is attached to the upper end portion of the first link portion 4 of each leg link 2L, 2R. It engages so that movement is possible via. Thus, each leg link 2L, 2R swings in the front-rear direction around the center of curvature of the guide track 32, and the swing support point in the front-rear direction of each leg link 2L, 2R is in the center of curvature of the guide track 32. Become.

図２に示す如く、案内軌道３２の曲率中心、即ち、各第１関節部３における各脚リンク２Ｌ，２Ｒの前後方向の揺動支点３ａは着座部材１の上方に位置する。ここで、利用者Ｐが上半身を前傾する等して着座部材１に対する利用者Ｐの上半身の体重の作用点が各脚リンク２Ｌ，２Ｒの前後方向の揺動支点３ａの前方にずれると、着座部材１が前下がりに傾斜する。そして、着座部材１がこのまま傾斜し続けると、着座部材１が利用者Ｐに対し後方にずれてしまう。然し、本実施形態では、着座部材１の前下がりの傾斜に伴い体重作用点は揺動支点３ａの下側で後方に変位し、該支点３ａと体重作用点との間の前後方向距離が減少して、着座部材１に作用する回転モーメントも減少する。そして、体重作用点が揺動支点３ａの真下の位置まで変位したところで、着座部材１に作用する回転モーメントが零になり、この状態で着座部材１が安定する。このようにして着座部材１が自動的に安定状態に収束するため、着座部材１が利用者Ｐの股下で前後方向にずれることを抑制できる。   As shown in FIG. 2, the center of curvature of the guide track 32, that is, the swing fulcrum 3 a of each leg link 2 </ b> L, 2 </ b> R in each first joint portion 3 is located above the seating member 1. Here, when the action point of the weight of the upper body of the user P with respect to the seating member 1 is shifted forward of the swinging fulcrum 3a in the front-rear direction of each leg link 2L, 2R, such as when the user P tilts the upper body forward, The seating member 1 is inclined forward and downward. And if the seating member 1 continues inclining as it is, the seating member 1 will shift | deviate back with respect to the user P. FIG. However, in this embodiment, as the seating member 1 tilts forward and downward, the weight action point is displaced rearward below the swinging fulcrum 3a, and the longitudinal distance between the fulcrum 3a and the weight action point decreases. Thus, the rotational moment acting on the seating member 1 is also reduced. When the weight action point is displaced to a position just below the swing fulcrum 3a, the rotational moment acting on the seating member 1 becomes zero, and the seating member 1 is stabilized in this state. Thus, since the seating member 1 automatically converges to a stable state, the seating member 1 can be prevented from shifting in the front-rear direction at the crotch of the user P.

また、各脚リンク２Ｌ，２Ｒの上端部であるスライダ４１は、各脚リンク２Ｌ，２Ｒの第２関節部５と各脚リンク２Ｌ，２Ｒの前後方向の揺動支点３ａ(案内軌道３２の曲率中心)とを結ぶ線Ｌ１よりも後方に位置する案内軌道３２の部分に係合している。これにより、利用者Ｐの各脚の前方への振り出しに追従する各脚リンク２Ｌ，２Ｒの前方への揺動ストロークを案内軌道３２の長さを左程長くせずに確保できる。尚、案内軌道３２の前後の各端部には、第１リンク部４の離脱防止のためのストッパ３２ａが取付けられている。   Further, the slider 41 which is the upper end of each leg link 2L, 2R has a second joint part 5 of each leg link 2L, 2R and a swing fulcrum 3a in the front-rear direction of each leg link 2L, 2R (the curvature of the guide track 32). Is engaged with the portion of the guide track 32 located behind the line L1 connecting the center). As a result, it is possible to secure a swing stroke forward of each leg link 2L, 2R following the swinging forward of each leg of the user P without increasing the length of the guide track 32 to the left. A stopper 32 a for preventing the first link portion 4 from being detached is attached to each of the front and rear ends of the guide track 32.

また、左右の各脚リンク２Ｌ，２Ｒ用の各第１関節部３を構成する上記各関節部材３１は、着座部材１の下面の横方向中央に取付けられる前後一対の支持ブロック３４，３４に夫々支持させた前後方向の支軸３５，３５に、支持板３３の前後の上端部に取り付けたヒンジ部材３６，３６を介して軸支される。従って、各関節部材３１(第１関節部３)は、着座部材１の下面に横方向に揺動自在に連結されることになり、各脚リンク２Ｌ，２Ｒの横方向への揺動が許容されて、利用者Ｐの脚を外転できるようになる。   The joint members 31 constituting the first joint portions 3 for the left and right leg links 2L and 2R are respectively attached to a pair of front and rear support blocks 34 and 34 attached to the center in the lateral direction of the lower surface of the seating member 1. The support shafts 35 and 35 supported in the front-rear direction are pivotally supported via hinge members 36 and 36 attached to front and rear upper ends of the support plate 33. Accordingly, each joint member 31 (first joint portion 3) is connected to the lower surface of the seating member 1 so as to be swingable in the lateral direction, and the leg links 2L and 2R are allowed to swing in the lateral direction. Thus, the leg of the user P can be abducted.

また、左側の脚リンク２Ｌ用の関節部材３１と右側の脚リンク２Ｒ用の関節部材３１とは共通の支軸３５で軸支されている。即ち、左側の脚リンク２Ｌ用の第１関節部３の横方向の揺動支点と右側の脚リンク２Ｒ用の第１関節部３の横方向の揺動支点とが前後方向の同一軸線上に位置する。ここで、片脚支持状態では、遊脚(足平が床面から離れている脚)側の脚リンクの重量(後述するように脚リンクにこれを屈曲させる方向の力を加えて遊脚の持ち上げを補助するアシスト力を発生させる場合にはこのアシスト力)が、当該脚リンク用の第１関節部３の横方向の揺動支点を介して着座部材１に作用する。そして、左側の脚リンク２Ｌ用の第１関節部３の横方向の揺動支点と右側の脚リンク２Ｒ用の第１関節部３の横方向の揺動支点とが離れていると、片脚支持状態では、着座部材１に、遊脚側の脚リンクの重量により、支持脚(足平が床面に接地している脚)側の脚リンク用の第１関節部３の横方向の揺動支点を中心にした横転モーメントが作用し、着座部材１がローリングする。   The joint member 31 for the left leg link 2L and the joint member 31 for the right leg link 2R are pivotally supported by a common spindle 35. That is, the lateral swing fulcrum of the first joint 3 for the left leg link 2L and the lateral swing fulcrum of the first joint 3 for the right leg link 2R are on the same axis in the front-rear direction. To position. Here, in the one-leg support state, the weight of the leg link on the free leg (the leg where the foot is far from the floor) (additional force in the direction to bend the leg link as described later) In the case of generating an assist force that assists lifting, this assist force) acts on the seating member 1 via the lateral swing fulcrum of the first joint portion 3 for the leg link. When the lateral swing fulcrum of the first joint 3 for the left leg link 2L and the lateral swing fulcrum of the first joint 3 for the right leg link 2R are separated, one leg In the support state, the lateral swing of the first joint portion 3 for the leg link on the support leg (the leg whose foot is in contact with the floor surface) is caused on the seating member 1 by the weight of the leg link on the free leg side. A rollover moment about the dynamic fulcrum acts, and the seating member 1 rolls.

これに対し、本実施形態では、片脚支持状態において、遊脚側脚リンクの重量の作用箇所である遊脚側脚リンク用の第１関節部３の横方向の揺動支点が支持脚側脚リンク用の第１関節部３の横方向の揺動支点と同一軸線(支軸３５)上に位置するから、着座部材１に支持脚側脚リンク用の第１関節部３の横方向の揺動支点を中心にした横転モーメントは作用しない。従って、片脚支持状態での着座部材１のローリングを防止できる。尚、遊脚側の脚リンクの重量は支持脚側の脚リンクを介して床面に伝達され、着座部材１には、遊脚側の脚リンクの重量は作用しない。   On the other hand, in this embodiment, in the one-leg support state, the lateral swing fulcrum of the first joint portion 3 for the free leg-side leg link, which is the position of the weight of the free leg-side leg link, is the support leg side. Since it is located on the same axis line (support shaft 35) as the lateral swing fulcrum of the first joint part 3 for the leg link, the lateral direction of the first joint part 3 for the supporting leg side leg link is fixed to the seating member 1. The rollover moment around the swing fulcrum does not work. Accordingly, it is possible to prevent the seating member 1 from rolling in the single leg support state. The weight of the leg link on the free leg side is transmitted to the floor via the leg link on the support leg side, and the weight of the leg link on the free leg side does not act on the seating member 1.

また、第１関節部３における各脚リンク２Ｌ，２Ｒの前後方向の揺動支点３ａと第３関節部７とを結ぶ線を基準線Ｌ２(図２参照)として、各脚リンク２Ｌ，２Ｒは、利用者Ｐの直立状態においても、第２関節部５が基準線Ｌ２の前方に張り出す屈曲状態になるような長さに形成されている。そして、駆動源９の制御で着座部材１の高さを利用者Ｐに合わせて自動的に調節できるようにしている。そのため、個人毎に専用の装置を製作したり、脚リンクの長さを調節する必要がなく、汎用性があってコストダウンを図ることができる。   In addition, each leg link 2L, 2R is defined as a reference line L2 (see FIG. 2), which is a line connecting the pivot point 3a in the front-rear direction of each leg link 2L, 2R in the first joint part 3 and the third joint part 7. Even in the upright state of the user P, the second joint portion 5 is formed in such a length as to be bent to protrude forward of the reference line L2. The height of the seating member 1 can be automatically adjusted according to the user P by the control of the drive source 9. Therefore, there is no need to manufacture a dedicated device for each individual or to adjust the length of the leg link, and the versatility can be achieved and the cost can be reduced.

ここで、利用者Ｐの直立状態において、基準線Ｌ２はほぼ鉛直になり、第２関節部５を含めて脚リンク２Ｌ，２Ｒの殆どの部分が第３関節部７より前方に位置してしまう。従って、駆動源９を第２関節部５と同軸上に配置した場合には、利用者Ｐの直立状態において、駆動源９を含む各脚リンク２Ｌ，２Ｒの重量により、各脚リンク２Ｌ，２Ｒに第３関節部７を中心にした前傾方向の大きな揺動モーメントが発生する。そして、この揺動モーメントで着座部材１に前方への押し力が作用してしまう。更に、利用者Ｐの脚を前方に振り出す際に、脚リンク２Ｌ，２Ｒに第１関節部３における前後方向の揺動支点３ａを中心にした後方への揺動モーメントが発生し、脚の前方への振り出しに対する抵抗感を与えてしまう。また、駆動源９を第２関節部５と同軸上に配置すると、第１関節部３回りの脚リンク２Ｌ，２Ｒの慣性モーメントが大きくなり、歩行時に利用者Ｐの脚が脚リンク２Ｌ，２Ｒの慣性モーメントを受けて重く感じる。   Here, in the upright state of the user P, the reference line L2 is substantially vertical, and most of the leg links 2L and 2R including the second joint portion 5 are located in front of the third joint portion 7. . Accordingly, when the drive source 9 is arranged coaxially with the second joint portion 5, each leg link 2L, 2R is caused by the weight of each leg link 2L, 2R including the drive source 9 in the upright state of the user P. In addition, a large swinging moment in the forward tilt direction around the third joint portion 7 is generated. Then, a forward pushing force acts on the seating member 1 by this swinging moment. Further, when the user P's leg is swung forward, a swinging moment is generated in the leg links 2L and 2R around the swinging fulcrum 3a in the front-rear direction in the first joint portion 3 so that the leg It gives a sense of resistance to swinging forward. If the drive source 9 is arranged coaxially with the second joint portion 5, the moment of inertia of the leg links 2L and 2R around the first joint portion 3 is increased, and the leg of the user P is leg links 2L and 2R during walking. I feel heavy under the moment of inertia.

そこで、本実施形態では、各脚リンク２Ｌ，２Ｒの第１関節部３の近傍部分、即ち、第１リンク部４の上端のスライダ４１に、基準線Ｌ２に対し第２関節部５とは前後方向反対側である後方に張り出す板部材から成る張出し部４２を取付け、この張出し部４２にウェイト部材として第２関節部５用の駆動源９を搭載している。これによれば、利用者Ｐの直立時に、駆動源９を除く各脚リンク２Ｌ，２Ｒの重量によって各脚リンク２Ｌ，２Ｒに発生する第３関節部７を中心にした前傾方向の揺動モーメントが、駆動源９の重量により発生する逆向きの揺動モーメントにより減殺される。即ち、駆動源９がカウンタウェイトとして機能して、駆動源９を含む脚リンク２Ｌ，２Ｒ全体の揺動モーメントは小さくなる。その結果、着座部材１に作用する前方への押し力も小さくなり、安定性が向上する。   Therefore, in the present embodiment, the vicinity of the first joint portion 3 of each leg link 2L, 2R, that is, the slider 41 at the upper end of the first link portion 4, the second joint portion 5 is front and rear with respect to the reference line L2. A projecting portion 42 made of a plate member projecting backward on the opposite side of the direction is attached, and a driving source 9 for the second joint portion 5 is mounted on the projecting portion 42 as a weight member. According to this, when the user P stands upright, the swinging in the forward tilt direction around the third joint portion 7 generated in each leg link 2L, 2R due to the weight of each leg link 2L, 2R excluding the drive source 9 is achieved. The moment is reduced by the reverse swing moment generated by the weight of the drive source 9. That is, the drive source 9 functions as a counterweight, and the swing moment of the entire leg links 2L and 2R including the drive source 9 is reduced. As a result, the forward pushing force acting on the seating member 1 is also reduced, and the stability is improved.

更に、利用者Ｐの脚を前方に振り出す際には、駆動源９の重量により前後方向の揺動支点３ａを中心にした前方への揺動モーメントが発生し、このモーメントで脚の前方への振り出しがアシストされる。従って、第２関節部５が基準線Ｌ２の前方に張出すように脚リンク２Ｌ，２Ｒが屈曲している場合に問題になる脚の前方への振り出しに対する抵抗感を解消できる。また、重量物たる駆動源９と揺動支点３ａとの間の距離が短くなり、そのため、第１関節部３回りの脚リンク２Ｌ，２Ｒの慣性モーメントが小さくなる。従って、歩行時に利用者Ｐの脚が脚リンク２Ｌ，２Ｒの慣性モーメントを受けて重く感じることを防止できる。   Further, when the user P's leg is swung forward, a forward swinging moment about the swinging fulcrum 3a in the front-rear direction is generated due to the weight of the drive source 9, and this moment moves forward of the leg. Assists in starting out. Accordingly, it is possible to eliminate the sense of resistance to the forward swinging of the leg, which is a problem when the leg links 2L and 2R are bent so that the second joint portion 5 projects forward of the reference line L2. Further, the distance between the driving source 9 which is a heavy object and the swinging fulcrum 3a is shortened, so that the moment of inertia of the leg links 2L and 2R around the first joint portion 3 is reduced. Accordingly, it is possible to prevent the user P's leg from feeling heavy due to the moment of inertia of the leg links 2L and 2R during walking.

駆動源９により発生する駆動力は駆動力伝達手段９１を介して第２関節部５に伝達される。駆動力伝達手段９１としては、第２リンク部６の第２関節部５から離れた部分に第１リンク部４と平行に連結されるリンクを用いた平行リンク機構や、油圧シリンダを用いた油圧伝達機構も使用できるが、本実施形態では、軽量化とコストダウンとを図るため、第２関節部５と駆動源９とを結ぶワイヤ９１ａを用いたワイヤ式伝達機構で駆動力伝達手段９１を構成している。駆動源９からは２本のワイヤ９１ａが導出されており、駆動源９から一方のワイヤ９１ａが繰り出されるとき他方のワイヤ９１ａが駆動源９に引き込まれる。尚、駆動源９は、電動モータと該モータにより駆動されるワイヤ９１ａ用の駆動プーリとで構成される。両ワイヤ９１ａ，９１ａは、第１リンク部４の第２関節部５の近傍部分に形成したフランジ４３と駆動源９との間に配設した２本のガイドチューブ９１ｂ，９１ｂに挿通されている。また、第２リンク部６に第２関節部５の軸５１と同軸上のプーリ５２を固定し、このプーリ５２に２本のワイヤ９１ａ，９１ａを互いに逆方向から巻きつけ、各ワイヤ９１ａの端末をプーリ５２に固定している。かくして、駆動源９によるワイヤ９１ａ，９１ａの繰り出しと引き込みとにより、プーリ５２が回転され、この回転で第２リンク部６が第１リンク部４に対し第２関節部５の軸５１を中心にして揺動し、脚リンク２Ｌ，２Ｒが屈伸される。尚、図示しないが、プーリ５２の側面に円弧状の溝を形成すると共に、第１リンク部４にこの溝に係合する突起部を形成し、第１リンク部４に対する第２リンク部６の揺動ストロークを所定範囲に規制している。   The driving force generated by the driving source 9 is transmitted to the second joint portion 5 via the driving force transmitting means 91. As the driving force transmission means 91, a parallel link mechanism using a link connected in parallel to the first link portion 4 at a portion away from the second joint portion 5 of the second link portion 6 or a hydraulic pressure using a hydraulic cylinder. Although a transmission mechanism can also be used, in this embodiment, in order to reduce the weight and reduce the cost, the driving force transmission means 91 is replaced by a wire type transmission mechanism using a wire 91a that connects the second joint portion 5 and the drive source 9. It is composed. Two wires 91 a are led out from the drive source 9, and when one wire 91 a is drawn out from the drive source 9, the other wire 91 a is drawn into the drive source 9. The drive source 9 includes an electric motor and a drive pulley for the wire 91a driven by the motor. Both wires 91a and 91a are inserted into two guide tubes 91b and 91b disposed between the flange 43 formed in the vicinity of the second joint portion 5 of the first link portion 4 and the drive source 9. . Further, a pulley 52 coaxial with the shaft 51 of the second joint portion 5 is fixed to the second link portion 6, and two wires 91 a and 91 a are wound around the pulley 52 from opposite directions, and the end of each wire 91 a is wound. Is fixed to the pulley 52. Thus, the pulley 52 is rotated by the drawing and pulling of the wires 91a and 91a by the drive source 9, and the second link portion 6 is centered on the shaft 51 of the second joint portion 5 with respect to the first link portion 4 by this rotation. The leg links 2L and 2R are bent and stretched. Although not shown in the drawing, an arc-shaped groove is formed on the side surface of the pulley 52, and a projecting portion that engages with the groove is formed on the first link portion 4, so The swing stroke is restricted to a predetermined range.

第３関節部７は、図６に示す如く、第２リンク部６の下端に、２軸の力センサ１０を介して連結されるヨーク７１と、ヨーク７１の下端部に横設した軸７２に回転自在に且つ軸方向に傾動自在に連結した可動子７３とから成るフリージョイントで構成される。ここで、上記した体重免荷アシスト力は、横方向から見て、第１関節部３における脚リンク２Ｌ，２Ｒの前後方向の揺動支点３ａと第３関節部７とを結ぶ上記基準線Ｌ２上に作用する。そして、基準線Ｌ２上に作用する実際の体重免荷アシスト力(正確には体重免荷アシスト力と着座部材１及び各脚リンク２Ｌ，２Ｒの重量による力との合力)を力センサ１０で検出される２軸方向の力の検出値に基づいて算出している。   As shown in FIG. 6, the third joint portion 7 includes a yoke 71 connected to the lower end of the second link portion 6 via a biaxial force sensor 10, and a shaft 72 horizontally provided at the lower end portion of the yoke 71. It is comprised with the free joint which consists of the needle | mover 73 connected so that rotation and tilting were possible in the axial direction. Here, the weight unloading assist force described above is the reference line L2 connecting the swing support 3a in the front-rear direction of the leg links 2L and 2R in the first joint portion 3 and the third joint portion 7 when viewed from the lateral direction. Acts on. Then, the force sensor 10 detects the actual body weight assist force acting on the reference line L2 (more precisely, the resultant force of the body weight assist force and the force due to the weight of the seating member 1 and the leg links 2L and 2R). It is calculated based on the detected value of the biaxial force.

足平装着部８は、靴８１と、靴８１に組み込まれた図６に示す高剛性の鐙状連結リング８２とを備えている。連結リング８２の上面にはカラー８３が立設され、このカラー８３に第３関節部７の可動子７３の下端が連結されている。また、図２に示すように、連結リング８２の下辺部には靴８１の中敷となる弾性板８４が載っており、弾性板８４の下面に、利用者の足平の中趾節関節(ＭＰ関節)部分と踵部分とに作用する荷重を検出する前後一対の圧力センサ８５，８５が取付けられている。そして、各足平装着部８の両圧力センサ８５，８５の検出値に基づいて、利用者の両足平に作用する全荷重に対する各足平の作用荷重の割合を算出し、予め設定される体重免荷アシスト力の設定値に各足平の荷重割合を乗算した値を各脚リンクで発生すべき体重免荷アシスト力の制御目標値とし、上記力センサ１０の検出値に基づいて算出される実際の体重免荷アシスト力が制御目標値になるように駆動源９を制御している。尚、片脚支持状態では、支持脚側の脚リンクのみで設定値の体重免荷アシスト力を発生させる。この場合、遊脚側の脚リンクの駆動源の駆動を停止して、第２関節部５を自由回転状態にしても良いが、遊脚側の脚リンクに駆動源により屈曲方向の力を加え、遊脚の足平の持ち上げをアシストすることも可能である。   The foot mounting portion 8 includes a shoe 81 and a high-rigid heel-shaped connecting ring 82 shown in FIG. A collar 83 is erected on the upper surface of the connecting ring 82, and the lower end of the movable element 73 of the third joint portion 7 is connected to the collar 83. As shown in FIG. 2, an elastic plate 84 serving as an insole for the shoe 81 is placed on the lower side portion of the connecting ring 82, and the middle joint joint ( A pair of front and rear pressure sensors 85, 85 for detecting a load acting on the (MP joint) portion and the heel portion are attached. Based on the detected values of both pressure sensors 85, 85 of each foot mounting portion 8, the ratio of the applied load of each foot to the total load acting on both feet of the user is calculated, and a preset weight A value obtained by multiplying the set value of the unloading assist force by the load ratio of each foot is set as a control target value of the weight unloading assist force to be generated at each leg link, and is calculated based on the detection value of the force sensor 10. The drive source 9 is controlled so that the actual weight-free assist force becomes the control target value. In the one-leg support state, the weight-relief assist force of the set value is generated only by the leg link on the support leg side. In this case, the drive of the drive source of the leg link on the free leg side may be stopped and the second joint portion 5 may be freely rotated, but a bending force is applied to the leg link on the free leg side by the drive source. It is also possible to assist lifting of the foot of the free leg.

ところで、体重免荷アシスト力は、前方から見て、第１関節部３の横方向の揺動支点たる支軸３５と第３関節部７とを結ぶ線上に作用する。そのため、支軸３５と第３関節部７との間の横方向距離が長くなると、体重免荷アシスト力の横方向成分が大きくなり、足平装着部８及び着座部材１に作用する横力が増加する。そこで、本実施形態では、図３に示す如く、第３関節部７が足平装着部８の横幅中央より横方向内方に位置するように、連結リング８２の上面のカラー８３を横方向内側にずらして配置している。これによれば、支軸３５と第３関節部７との間の横方向距離が短くなり、足平装着部８及び着座部材１に作用する横力が小さくなって、足平装着部８と着座部材１の安定性が向上する。   By the way, the weight unloading assist force acts on a line connecting the support shaft 35 and the third joint portion 7, which is a lateral fulcrum of the first joint portion 3 when viewed from the front. Therefore, when the lateral distance between the support shaft 35 and the third joint portion 7 is increased, the lateral component of the weight-unloading assist force is increased, and the lateral force acting on the foot mounting portion 8 and the seating member 1 is increased. To increase. Therefore, in the present embodiment, as shown in FIG. 3, the collar 83 on the upper surface of the connecting ring 82 is disposed inward in the lateral direction so that the third joint portion 7 is located laterally inward from the lateral width center of the foot mounting portion 8. It is arranged to shift to. According to this, the lateral distance between the support shaft 35 and the third joint portion 7 is shortened, the lateral force acting on the foot mounting portion 8 and the seating member 1 is reduced, and the foot mounting portion 8 The stability of the seating member 1 is improved.

以上の如く着座部材１の安定化のための種々の工夫を施しているが、本実施形態では、着座部材１そのものにも工夫を施している。以下、これについて詳述する。着座部材１は、図７(ａ)に示す如く、前後方向中間に後部１ａと前部１ｂに比し横幅を狭めたくびれ部１ｃを有する形状に形成されている。また、前部１ｂは、上方に湾曲し(図２参照)、且つ、横方向中間部が切欠かれた二股形状に形成されている。利用者は左右の脚をくびれ部１ｃの横方向両側に位置させて着座部材１に着座する。これによれば、幅広の後部１ａと前部１ｂとにより利用者に対する着座部材１の前後方向の位置ずれを抑制でき、且つ、前部１ｂが上方に湾曲しているため、歩行時に前方に振り出される脚が前部１ｂに当りにくくなり、歩行時の脚の動きの自由度が確保される。更に、前部１ｂを二股形状に形成することで、前部１ｂが横方向に撓み易くなる。そのため、前方に振り出される脚が前部１ｂに当接しても、この当接力を前部１ｂの撓みで吸収し、脚の当接で着座部材１がヨーイングすることを抑制できる。また、利用者の股間部等が前部１ｂに当たらなくなり、座り心地が良くなる。後部１ａは、利用者の左右の坐骨を受けるのに十分な横幅を持っている。そのため、利用者に対し坐骨接触により体重免荷アシスト力を確実に伝達することができる。   As described above, various contrivances are made for stabilizing the seating member 1, but in the present embodiment, the seating member 1 itself is also devised. This will be described in detail below. As shown in FIG. 7A, the seating member 1 is formed in a shape having a constricted portion 1c having a narrower lateral width than the rear portion 1a and the front portion 1b in the middle in the front-rear direction. Further, the front portion 1b is formed in a bifurcated shape that is curved upward (see FIG. 2) and has a laterally intermediate portion cut away. The user sits on the seating member 1 with the left and right legs positioned on both lateral sides of the constricted portion 1c. According to this, the wide rear part 1a and the front part 1b can suppress the displacement of the seating member 1 in the front-rear direction with respect to the user, and the front part 1b is curved upward, so that it swings forward during walking. The leg that comes out does not easily hit the front part 1b, and the freedom of movement of the leg during walking is ensured. Furthermore, by forming the front portion 1b in a bifurcated shape, the front portion 1b is easily bent in the lateral direction. Therefore, even if the leg swung forward is brought into contact with the front portion 1b, the contact force is absorbed by the bending of the front portion 1b, and the seating member 1 can be prevented from yawing due to the contact of the leg. In addition, the user's crotch or the like does not hit the front portion 1b, and the sitting comfort is improved. The rear part 1a has a sufficient width to receive the left and right sciatic bones of the user. Therefore, it is possible to reliably transmit the weight relief assist force to the user by the sciatic contact.

尚、着座部材１は、カーボンファイバー等で形成される芯材１０１と、芯材１０１の上面に取付けたクッション材１０２と、これら芯材１０１とクッション材１０２とを覆うカバー１０３とで構成されている。芯材１０１には、図７(ｂ)に示す如く、生体組織の圧迫を避けるために、前後方向にのびる横方向中央の窪み１０４が形成されており、窪み１０４の両側にクッション材１０２を取付けている。また、芯材１０１の周縁部の肉厚を薄くし、側方からの脚の当接力を柔軟に吸収できるようにしている。   The seating member 1 includes a core material 101 formed of carbon fiber or the like, a cushion material 102 attached to the upper surface of the core material 101, and a cover 103 that covers the core material 101 and the cushion material 102. Yes. As shown in FIG. 7 (b), the core material 101 is formed with a central recess 104 extending in the front-rear direction so as to avoid compression of living tissue, and cushion materials 102 are attached to both sides of the recess 104. ing. Moreover, the thickness of the peripheral part of the core material 101 is made thin so that the contact force of the legs from the side can be absorbed flexibly.

以上、本発明の実施形態について図面を参照して説明したが、本発明は上記実施形態に限定されるものではない。例えば、第２関節部５と同軸上に駆動源９を設け、張出し部４２にバッテリ等の重量物をウェイト部材として搭載することも可能である。また、各脚リンクは、利用者の直立状態において、基準線の後方に第２関節部が張り出す屈曲状態になっていても良く、この場合は、各脚リンクに基準線の前方に張り出す張出し部を設けて、これに駆動源やバッテリ等をウェイト部材として搭載する。また、上記実施形態では、第１関節部３を円弧状の案内軌道３２を有するものに構成して、第１関節部３における各脚リンク２Ｌ，２Ｒの前後方向の揺動支点３ａが着座部材１の上方に位置するようにしているが、各脚リンク２Ｌ，２Ｒの上端部を前後方向に揺動自在に軸支する横方向の軸を有する単純な構造の関節部で第１関節部３を構成することも可能である。更に、荷重伝達部を従来例のような腰支持ベルトで構成することも可能である。また、片方の脚が骨折等で不自由な利用者の歩行を補助するため、上記実施形態の左右の脚リンク２Ｌ，２Ｒのうち利用者の不自由な脚側の脚リンクのみを残して他方の脚リンクを省略することも可能である。   As mentioned above, although embodiment of this invention was described with reference to drawings, this invention is not limited to the said embodiment. For example, it is possible to provide the drive source 9 coaxially with the second joint portion 5 and mount a heavy object such as a battery as a weight member on the overhang portion 42. In addition, each leg link may be in a bent state in which the second joint part protrudes behind the reference line in the upright state of the user. In this case, the leg link protrudes forward of the reference line to each leg link. An overhang portion is provided, and a drive source, a battery, and the like are mounted thereon as a weight member. Moreover, in the said embodiment, the 1st joint part 3 is comprised in what has the circular arc-shaped guide track 32, and the rocking | fluctuation fulcrum 3a of the front-back direction of each leg link 2L, 2R in the 1st joint part 3 is a seating member. The first joint portion 3 is a simple joint portion having a lateral shaft that pivotally supports the upper ends of the leg links 2L and 2R so as to be swingable in the front-rear direction. It is also possible to configure. Furthermore, it is possible to configure the load transmitting portion with a waist support belt as in the conventional example. Further, in order to assist a user who is inconvenient due to a broken leg or the like, one of the left and right leg links 2L and 2R of the above embodiment leaves only the leg link on the leg that is not user-friendly. It is also possible to omit the leg link.

本発明の実施形態の歩行補助装置の斜視図。The perspective view of the walk auxiliary device of the embodiment of the present invention. 実施形態の歩行補助装置の側面図。The side view of the walk auxiliary device of an embodiment. 実施形態の歩行補助装置の正面図。The front view of the walk auxiliary device of an embodiment. 実施形態の歩行補助装置の第１関節部の部分の斜視図。The perspective view of the part of the 1st joint part of the walking assistance apparatus of embodiment. 実施形態の歩行補助装置の第１関節部の部分の側面図。The side view of the part of the 1st joint part of the walk auxiliary device of an embodiment. 実施形態の歩行補助装置の脚リンクの下端部分の斜視図。The perspective view of the lower end part of the leg link of the walking assistance apparatus of embodiment. (ａ)実施形態の歩行補助装置の着座部材の斜視図、(ｂ)着座部材の芯材の斜視図。(a) The perspective view of the seating member of the walking assistance apparatus of embodiment, (b) The perspective view of the core material of a seating member.

符号の説明Explanation of symbols

１…着座部材(荷重伝達部)、２Ｌ，２Ｒ…脚リンク、３…第１関節部、４…第１リンク部、４２…張出し部、５…第２関節部、７…第３関節部、８…足平装着部、９…駆動源、９１…駆動力伝達手段、９１ａ…ワイヤ。   DESCRIPTION OF SYMBOLS 1 ... Seating member (load transmission part), 2L, 2R ... Leg link, 3 ... 1st joint part, 4 ... 1st link part, 42 ... Overhang | projection part, 5 ... 2nd joint part, 7 ... 3rd joint part, 8: Foot mounting portion, 9: Driving source, 91: Driving force transmitting means, 91a: Wire.

Claims (5)

荷重伝達部と、この荷重伝達部に第１関節部を介して前後方向に揺動自在に連結される脚リンクとを備え、利用者の体重の少なくとも一部を前記荷重伝達部を介して前記脚リンクで支えるようにした歩行補助装置であって、
前記脚リンクは、第２関節部を介して上下に連結された第１リンク部と第２リンク部とで屈伸自在に構成されたリンクからなり、前記第２リンク部の下端に、利用者の足平に装着される足平装着部が第３関節部を介して連結され、且つ、前記第１関節部における前記脚リンクの前後方向の揺動支点と前記第３関節部とを結ぶ線を基準線として、前記脚リンクは、利用者の直立状態においても、前記第２関節部が前記基準線の前方または後方に張り出す屈曲状態になるような長さに形成され、
前記第１リンク部に、前記基準線に対し前記第２関節部とは前後方向反対側に張り出す張出し部が設けられ、該張出し部にウェイト部材が搭載されることを特徴とする歩行補助装置。 A load transfer portion, and a leg link being pivotally connected to the front-rear direction via a first joint to the load transfer portion, wherein at least part of the weight of the user via the load transfer portion A walking assist device that is supported by leg links,
The leg link is composed of a link configured to be able to bend and stretch freely by a first link portion and a second link portion that are connected up and down via a second joint portion, and at the lower end of the second link portion , a user's A foot mounting portion to be mounted on the foot is connected via a third joint portion, and a line connecting the pivot support point in the front-rear direction of the leg link in the first joint portion and the third joint portion. as a baseline, the leg link, even in an upright state of the user, the second joint portion is formed on the front or such that the flexion projecting rearward length of the reference line,
The first link part is provided with a projecting part that projects in the front-rear direction opposite to the second joint part with respect to the reference line, and a weight member is mounted on the projecting part. . 前記第２関節部は前記基準線の前方に張出し、前記張出し部は前記基準線の後方に張り出すことを特徴とする請求項１記載の歩行補助装置。   The walking assistance device according to claim 1, wherein the second joint portion projects forward of the reference line, and the projecting portion projects rearward of the reference line. 前記張出し部は、前記第１関節部の近傍に設けられることを特徴とする請求項１または２記載の歩行補助装置。   The walking assistance device according to claim 1, wherein the overhang portion is provided in the vicinity of the first joint portion. 前記ウェイト部材は、前記第２関節部用の駆動源で構成され、この駆動源により発生する駆動力が駆動力伝達手段を介して前記第２関節部に伝達されるようにしたことを特徴とする請求項１〜３の何れか１項に記載の歩行補助装置。   The weight member is constituted by a driving source for the second joint portion, and a driving force generated by the driving source is transmitted to the second joint portion via a driving force transmitting means. The walking assist device according to any one of claims 1 to 3. 前記駆動力伝達手段は、前記第２関節部と前記駆動源とを結ぶワイヤを用いたワイヤ式伝達機構で構成されることを特徴とする請求項４記載の歩行補助装置。   The walking assist device according to claim 4, wherein the driving force transmission unit is configured by a wire-type transmission mechanism using a wire connecting the second joint portion and the driving source.
JP2005220856A 2005-05-27 2005-07-29 Walking assist device Expired - Fee Related JP4387996B2 (en)

Priority Applications (11)

Application Number Priority Date Filing Date Title
JP2005220856A JP4387996B2 (en) 2005-07-29 2005-07-29 Walking assist device
DE602006015649T DE602006015649D1 (en) 2005-05-27 2006-05-29 GEHHILFSVORRICHTUNG
KR1020077020248A KR100856847B1 (en) 2005-05-27 2006-05-29 Walking assistance device
CN200680007074.1A CN101132755B (en) 2005-05-27 2006-05-29 Walking assisting device
BRPI0607422-7A BRPI0607422A2 (en) 2005-05-27 2006-05-29 walking aid
CA2598091A CA2598091C (en) 2005-05-27 2006-05-29 Walking assistance device
RU2007148517/14A RU2389469C2 (en) 2005-05-27 2006-05-29 Walking facilitating device
AT06746934T ATE474543T1 (en) 2005-05-27 2006-05-29 WALKING AID DEVICE
EP06746934A EP1905407B1 (en) 2005-05-27 2006-05-29 Walking assistance device
US11/908,571 US8002719B2 (en) 2005-05-27 2006-05-29 Walking assistance device
PCT/JP2006/310656 WO2006126709A1 (en) 2005-05-27 2006-05-29 Walking assistance device

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JP5165535B2 (en) 2008-11-05 2013-03-21 本田技研工業株式会社 Walking assist device
JP4744589B2 (en) 2008-12-17 2011-08-10 本田技研工業株式会社 Walking assist device and its control device
JP6284878B2 (en) * 2014-12-26 2018-02-28 本田技研工業株式会社 Joint power control device

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