WO2009081710A1 - Wearable motion assist device - Google Patents

Wearable motion assist device Download PDF

Info

Publication number
WO2009081710A1
WO2009081710A1 PCT/JP2008/072081 JP2008072081W WO2009081710A1 WO 2009081710 A1 WO2009081710 A1 WO 2009081710A1 JP 2008072081 W JP2008072081 W JP 2008072081W WO 2009081710 A1 WO2009081710 A1 WO 2009081710A1
Authority
WO
WIPO (PCT)
Prior art keywords
wearer
fitting
pressure
fastening member
frame
Prior art date
Application number
PCT/JP2008/072081
Other languages
French (fr)
Japanese (ja)
Inventor
Yoshiyuki Sankai
Original Assignee
University Of Tsukuba
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University Of Tsukuba filed Critical University Of Tsukuba
Priority to JP2009547013A priority Critical patent/JP5002655B2/en
Publication of WO2009081710A1 publication Critical patent/WO2009081710A1/en

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628—Pelvis
    • A61H2201/163—Pelvis holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1645—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support contoured to fit the user
    • A61H2201/1647—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support contoured to fit the user the anatomy of a particular individual
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/60—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
    • A61H2230/605—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG] used as a control parameter for the apparatus

Definitions

  • the present invention relates to a wearable motion assist device, and more particularly to a wearable motion assist device configured to transmit a driving force that assists the wearer's motion to the wearer.
  • a wearable movement assist device that assists the movement of the joint by attaching a movement assist tool to the arm or leg is available. It is being developed (see Patent Document 1).
  • the wearable movement assist device is configured to detect a bioelectric potential generated based on the wearer's intention, and to generate a control signal for controlling the motor (drive unit) from the detected bioelectric potential signal. It becomes possible to transmit the driving force of the motor to the arms and legs in the same way as their muscle strength.
  • the wearable movement assist device includes a frame member for transmitting the driving force of the drive unit to the wearer when worn on the wearer, and a predetermined position (for example, waist, thigh) of the wearer. Fastened by a fastening member.
  • a fastening member for example, a belt having elasticity that can be stretched is wound and fastened so that a predetermined position of the wearer and the frame member are integrated, so that the driving force of the driving unit is interposed between the frame member and the fastening member. Is transmitted to the wearer.
  • the belt-like fastening member is fastened in a state of being in close contact with the wearer's body. desirable.
  • the fastening member of the wearable movement assist device is usually attached so as to be wound around the outer surface of the wearer's waist, thigh, shin, etc. so as to bite into the skin surface.
  • the conventional one is configured such that a shock-absorbing member such as felt or sponge is brought into contact with a predetermined portion of the mounting on the fastening member formed in a belt shape.
  • the muscle expands or contracts when the wearer performs an operation such as walking, or the wearer's skin or subcutaneous fat changes to a depressed state due to the pressing force of the fastening member. Therefore, the fastening by the fastening member gradually weakens, and there is a problem that the fastening force by the fastening member has to be adjusted again and again.
  • an object of the present invention is to provide a wearable movement assist device that solves the above problems.
  • the present invention includes a drive unit that generates a drive force according to the wearer's intention; A frame member for transmitting a driving force by the driving unit to the wearer; A fastening member for fastening the frame member to a predetermined location of the wearer; A fitting portion interposed between the fastening member and the wearer and abutting on a predetermined location of the wearer; A wearable motion assist device comprising: The fitting portion is in a flowable state that can be deformed until being worn by the wearer, and is configured to change into a shape corresponding to a body shape of a portion that contacts the wearer after being worn by the wearer.
  • the present invention is the wearable movement assist device according to (1),
  • the fitting portion is filled with a filler whose hardness changes in accordance with supply and discharge of gas, and a portion of the fitting portion that comes into contact with the wearer when the gas is discharged while being worn by the wearer.
  • the filler is solidified into a shape corresponding to the body shape and the gas is supplied, the filler is returned to a fluidized state, thereby solving the above problem.
  • the present invention is the wearable movement assist device according to (1),
  • the fitting part is A bag-like member having a shape corresponding to the contact portion of the wearer;
  • a plurality of granular members filled in the bag-shaped member The bag-shaped member solves the above problems by introducing a negative pressure in a state where the bag-shaped member is in contact with the wearer and changing the numerous granular members into a solidified state.
  • the present invention is the wearable movement assist device according to (3), The bag-shaped member solves the above problems by having a plurality of filling chambers filled with the granular member.
  • the present invention is the wearable movement assist device according to (4), The plurality of filling chambers solve the above problems by being filled with different types of granular members.
  • the present invention is the wearable movement assist device according to (4),
  • the plurality of filling chambers solve the above problems by filling the granular members with different filling rates.
  • the present invention is the wearable movement assist device according to (4),
  • the plurality of filling chambers are formed in a shape corresponding to the body shape of the abutting portion of the wearer that abuts in advance, thereby solving the above problem.
  • the present invention is the wearable movement assist device according to (4), The above-described problems are solved by including a pressure adjusting unit that is provided in each of the plurality of filling chambers and individually adjusts the pressure of the plurality of filling chambers.
  • the present invention is the wearable movement assist device according to (8),
  • the pressure adjusting unit is Pressure detecting means for individually detecting the pressure of each of the plurality of filling chambers; Pressure introducing means for pressurizing or depressurizing the pressure in the plurality of chambers to a preset target value based on the pressure value detected by the pressure detecting means;
  • the present invention is the wearable movement assist device according to (1),
  • the fitting portion is provided so as to be separable from the fastening member, thereby solving the above-described problem.
  • the present invention is the wearable movement assist device according to (10), The fitting part is attached to inner wear worn by the wearer, and solves the above problem by being fastened to the fastening member at the time of wearing.
  • the present invention is the wearable movement assist device according to (3), A plurality of the fitting portions are provided so as to contact a plurality of locations of the wearer, Each of the plurality of fittings includes a pressure adjusting unit that is connected to each other by a negative pressure introduction path, and collectively switches to a negative pressure state by sucking gas through the negative pressure introduction path. It solves the problem.
  • the present invention is the wearable movement assist device according to (1), The above-mentioned problem is solved by interposing a support member having stretchability and high friction between the fitting portion and the wearer.
  • the present invention is a first fastening member that is worn on the waist of the wearer and fastened to the back side of the wearer; A first fitting part attached to the inner surface of the first fastening member and abutting on the waist back side of the wearer; A right leg auxiliary part provided downward from the right side part of the first fastening member; A left leg auxiliary portion provided below from the left side of the first fastening member, The right leg auxiliary part and the left leg auxiliary part are A bracket extending downward to support the first fastening member; A first frame extending in parallel with the wearer's thigh from the bracket; A second fastening member provided on the first frame and fastened to an outer periphery of the wearer's thigh; A second fitting portion attached to the inner surface of the second fastening member and contacting the
  • the fastening member is in a deformable flow state until the fitting portion is attached to the wearer, and changes to a shape corresponding to the body shape of the portion that comes into contact with the wearer after being attached to the wearer. For example, even when the wearer's body shape changes or when the wearer wears a different wearer, the fitting portion is shaped according to the wearer's body shape. By deforming, the effect that adjustment work of the fitting part for the wearer can be made unnecessary can be obtained.
  • the fitting part when attached to the wearer, it is solidified to a shape corresponding to the shape of the part that comes into contact with the wearer, thereby assisting the wearer with the driving force of the drive part without rattling. It can be transmitted as a force to the wearer.
  • FIG. 6 is a cross-sectional view showing a mounted state of the waist fastening member 30.
  • FIG. 4 is a perspective view showing a state in which a fitting part 31 is fixed to an inner peripheral surface of a reinforcing part 100. It is a longitudinal cross-sectional view which expands and shows the closed state of the valve part 150.
  • FIG. 10 is a perspective view showing a modification of the fitting part 31. It is a perspective view which shows the operation
  • FIG. 6 is a cross-sectional view showing a mounting state of Example 2.
  • FIG. It is a perspective view which shows the state by which the fitting part 31 of Example 2 was fixed to the internal peripheral surface of the reinforcement part 100.
  • FIG. It is a figure which shows the method at the time of reducing the internal pressure of the fitting part 31 of Example 2.
  • FIG. 10 is a perspective view showing a modification of the second embodiment. It is a figure which shows the method of decompressing fitting part 300,310,320 at the time of mounting
  • FIG. FIG. 3 is a diagram schematically showing a schematic configuration of a pressure adjustment unit 400.
  • 10 is a flowchart of a control process executed when the motion assisting mounting frame 18C is mounted on the wearer 12.
  • 7 is a flowchart of a control process 1 executed when the motion auxiliary mounting frame 18C is mounted on the wearer 12.
  • 12 is a flowchart of a control process 2 executed when the motion auxiliary mounting frame 18C is mounted on the wearer 12.
  • FIG. 6 is a cross-sectional view showing another modification of the first embodiment.
  • FIG. 10 is a transverse cross-sectional view showing another modified example of the second embodiment.
  • FIG. 10 is a perspective view showing a modified example of the fourth embodiment.
  • FIG. 10 is a transverse cross-sectional view showing a modified example of the fourth embodiment.
  • FIG. 1 is a perspective view of a wearing type movement assisting device according to an embodiment of the present invention as seen from the front side when worn by a wearer.
  • FIG. 2 is a rear perspective view of a state in which the wearable movement assisting device according to the embodiment of the present invention is worn by a wearer.
  • the wearable movement assist device 10 is, for example, a lower limb motor function disabled person who is unable to walk due to a decrease in muscle strength of skeletal muscles, or It is a device that assists (assides) the walking motion of a person who is difficult to walk on their own, such as a patient who performs rehabilitation of walking motion. Further, the motion assisting device 10 operates so as to detect a biological signal (surface myoelectric potential) generated when a muscle force is generated by a signal from the brain and to apply a driving force from the actuator based on the biological signal.
  • a biological signal surface myoelectric potential
  • the wearer 12 wearing the motion assisting device 10 is given a driving torque according to a biological signal generated when performing a walking motion on his / her own intention as an assisting force, and is necessary for normal walking, for example. It becomes possible to walk with half the strength of the muscle strength. Therefore, the wearer 12 can walk while supporting the overall weight by the resultant force of his / her muscle strength and the driving torque from the actuator (in this embodiment, an electric driving motor is used).
  • the motion assisting device 10 controls the assist force (motor torque) applied in accordance with the movement of the center of gravity accompanying the walking motion of the wearer 12 to reflect the intention of the wearer 12. Therefore, the actuator of the motion assisting device 10 is controlled so as not to apply a load that is against the intention of the wearer 12 and is controlled so as not to hinder the operation of the wearer 12.
  • the motion assisting device 10 can also assist, for example, the motion when the wearer 12 stands up from the sitting state or the motion when sitting on the chair from the standing state. Furthermore, power assist can be performed even when the wearer 12 goes up or down the stairs. In particular, when the muscular strength is weak, it is difficult to move up the stairs or move up from the chair, but the wearer 12 wearing the movement assisting device 10 is given drive torque according to his / her intention. This makes it possible to operate without worrying about muscular weakness.
  • the motion assisting device 10 is provided with a drive unit on a motion assisting mounting frame 18 ⁇ / b> A that is worn by the wearer 12.
  • the drive unit includes a right thigh drive motor 20 located at the right hip joint of the wearer 12, a left thigh drive motor 22 located at the left hip joint of the wearer 12, and a right knee drive located at the right knee joint of the wearer 12.
  • the motor 24 and the left knee drive motor 26 located at the left knee joint of the wearer 12 are included.
  • These drive motors 20, 22, 24, and 26 are electric motors such as a DC motor or an AC motor whose drive torque is controlled by a control signal from a control device.
  • Each of the drive motors 20, 22, 24, and 26 has a speed reduction mechanism (built in the drive unit) that reduces the motor rotation at a predetermined speed reduction ratio, and provides a small but sufficient driving force. Can do. Further, as a drive motor, it is needless to say that an ultrasonic motor thinned so that the installation space can be reduced may be used.
  • batteries 32 and 34 functioning as power sources for driving the drive motors 20, 22, 24, and 26 are attached to the waist fastening member (first fastening member) 30 that is worn around the waist of the wearer 12. It has been.
  • the batteries 32 and 34 are rechargeable batteries, and are distributed on the left and right so as not to hinder the walking motion of the wearer 12.
  • control unit 36 is attached to the rear side of the waist fastening member 30 which is the back side of the wearer 12.
  • the motion assisting device 10 detects the bioelectric potential associated with the movement of the right thigh of the wearer 12 and the biosignal detection of detecting the biopotential associated with the movement of the left thigh of the wearer 12.
  • Sensors 40a and 40b, biosignal detection sensors 42a and 42b that detect biopotentials associated with the movement of the right knee, and biosignal detection sensors 44a and 44b that detect biopotentials associated with the movement of the left knee are examples of the motion assisting device 10 that detect bioelectric potential associated with the movement of the right thigh of the wearer 12 and the biosignal detection of detecting the biopotential associated with the movement of the left thigh of the wearer 12.
  • Each of these biosignal detection sensors 38a, 38b, 40a, 40b, 42a, 42b, 44a, 44b is a biosignal detection means for detecting biopotential signals such as myopotential signals and nerve transmission signals through the skin, It has an electrode (not shown) for detecting a weak potential.
  • each of the biological signal detection sensors 38a, 38b, 40a, 40b, 42a, 42b, 44a, 44b is attached so as to be attached to the skin surface of the wearer 12 with an adhesive seal covering the periphery of the electrodes. It is done.
  • acetylcholine a synaptic transmitter
  • acetylcholine a synaptic transmitter
  • the ionic permeability of muscle fiber membranes changes and action potentials are generated.
  • the action potential causes contraction of muscle fibers and generates muscle force. Therefore, by detecting the potential of the skeletal muscle, it is possible to estimate the muscle strength that occurs during the walking motion, and it is possible to determine the assist force required for the walking motion from the virtual torque based on the estimated muscle strength Become.
  • the four drive motors 20, 22, 24, and 26 are based on the biological signals detected by the biological signal detection sensors 38a, 38b, 40a, 40b, 42a, 42b, 44a, and 44b.
  • the driving current to be supplied to the vehicle is obtained, and the driving motors 20, 22, 24, and 26 are driven with the driving current, whereby an assist force is applied to assist the walking motion of the wearer 12.
  • floor reaction force sensors 50a, 50b, 52a, 52b are provided on the backs of the left and right legs of the wearer 12.
  • the floor reaction force sensor 50a detects a reaction force with respect to the load on the right leg front side
  • the floor reaction force sensor 50b detects a reaction force with respect to the load on the rear side of the right leg.
  • the floor reaction force sensor 52a detects a reaction force against the load on the left leg front side
  • the floor reaction force sensor 52b detects a reaction force against the load on the left leg rear side.
  • Each of the floor reaction force sensors 50a, 50b, 52a, and 52b includes, for example, a piezoelectric element that outputs a voltage corresponding to an applied load, and changes in load due to weight shift and between the legs of the wearer 12 and the ground. The presence or absence of grounding can be detected.
  • FIG. 3 is a perspective view showing a state before the operation auxiliary mounting frame 18A is mounted.
  • the motion assisting mounting frame 18 ⁇ / b> A includes a waist fastening member 30 attached to the waist of the wearer 12, a right leg auxiliary portion 54 provided below from the right side of the waist fastening member 30, A left leg auxiliary portion 55 provided below the left side portion of the waist fastening member 30.
  • a fitting part 31 that is in close contact with the back of the waist 12 of the wearer 12 is attached.
  • the right leg auxiliary part 54 and the left leg auxiliary part 55 are disposed symmetrically, and are provided with a bracket 56 fixed to the waist fastening member 30 and extending downward from the bracket 56 along the outer side of the thigh of the wearer 12.
  • a first frame 58 formed as described above, a second frame 60 formed so as to extend below the first frame 58 and along the outside of the shin of the wearer 12, When wearing it, it has the 3rd frame 62 in which a shoe sole) is mounted.
  • a first joint 64 having a bearing structure is interposed between the lower end of the bracket 56 and the upper end of the first frame 58, and the bracket 56 and the first frame 58 are rotatably connected.
  • the first joint 64 is provided at a height position that coincides with the hip joint of the wearer 12, the bracket 56 is fastened to the support side of the first joint 64, and the first frame 58 is the rotation side of the first joint 64. It is concluded to. Further, the first joint 64 incorporates drive motors 20 and 22, and the first joint 64 and the drive motors 20 and 22 are integrated in appearance.
  • a second joint 66 having a bearing structure is interposed between the lower end of the first frame 58 and the upper end of the second frame 60, and the first frame 58 and the third frame 62 can be rotated. It is linked to.
  • the second joint 66 is provided at a height position that coincides with the knee joint, the first frame 58 is fastened to the support side of the second joint 66, and the second frame 60 is on the rotation side of the second joint 66. It is concluded.
  • the second joint 66 incorporates drive motors 24 and 26, and the second joint 66 and the drive motors 24 and 26 are integrated in appearance.
  • a third joint 68 having a bearing structure is interposed between the lower end of the second frame 60 and the upper end of the third frame 62, and the second frame 60 and the third frame 62 can be rotated. It is linked to.
  • a shoe 84 on which the foot of the wearer 12 is to be worn is fixed inside the third frame 62.
  • the first frame 58 and the second frame 60 are attached to the bracket 56 fixed to the waist fastening member 30 so as to be able to perform a walking motion with the first joint 64 and the second joint 66 as pivot points.
  • the first frame 58 and the second frame 60 are configured to perform the same operation as the leg of the wearer 12.
  • the third joint 68 is provided so as to be located on the side of the ankle of the wearer 12. Therefore, the angle of the shoe 84 with respect to the floor surface (or the ground surface) is changed in the same manner as the ankle of the wearer 12 according to the walking operation by the rotation operation of the third joint 68.
  • first joint 64 and the second joint 66 transmit the drive torque to the first frame 58 and the second frame 60 on which the rotation shafts of the drive motors 20, 22, 24, and 26 are driven via gears. Is configured to do.
  • the drive motors 20, 22, 24, and 26 have angle sensors that detect joint angles.
  • the angle sensor includes, for example, a rotary encoder that counts the number of pulses proportional to the joint angles of the first joint 64 and the second joint 66, and outputs an electrical signal corresponding to the number of pulses corresponding to the joint angle as a sensor output. .
  • the angle sensor of the first joint 64 detects a rotation angle between the bracket 56 and the first frame 58 corresponding to the joint angle of the hip joint of the wearer 12. Further, the angle sensor of the second joint 66 detects a rotation angle between the lower end of the first frame 58 and the second frame 60 corresponding to the joint angle of the knee joint of the wearer 12.
  • a belt-like thigh fastening member (second fastening member) 78 fastened to the thigh of the wearer 12 is attached to an intermediate position in the longitudinal direction of the first frame 58.
  • a fitting portion 79 that is in close contact with the thigh of the wearer 12 is attached.
  • a belt-like shin fastening member (third fastening member) 80 that is fastened to the shin below the knee of the wearer 12 is attached to an intermediate position in the longitudinal direction of the second frame 60.
  • a fitting portion 81 that is in close contact with the wearer 12 with no gap is attached.
  • the drive torque generated by the drive motors 20, 22, 24, 26 is transmitted to the first frame 58 and the second frame 60 via gears, and is further attached via the thigh fastening member 78 and the shin fastening member 80. It is transmitted to the leg of the person 12 as assist force.
  • a shoe 84 is rotatably connected to the lower end of the second frame 60 via a third joint 68.
  • the first frame 58 and the second frame 60 are adjusted to a length corresponding to the length of the leg of the wearer 12.
  • Each frame 58, 60, 62 is configured to cover the periphery of a metal material reduced in weight such as duralumin with a resin material having elasticity, and the batteries 32, 34 attached to the waist fastening member 30, the control
  • the weight of the operation assisting mounting frame 18A such as the unit 36 can be supported. That is, the motion assisting device 10 is configured such that the weight of the motion assisting mounting frame 18A or the like does not act on the wearer 12, and is attached so as not to apply an extra load to the wearer 12.
  • the waist fastening member 30 includes belts 120 and 130 connected via a hinge 110, a buckle 140 attached to an end portion of one belt 120, and a locking metal fitting attached to an end portion of the other belt 130. 142 (see FIG. 4).
  • the locking metal fitting 142 is inserted into the insertion port of the buckle 140 and locked with the reinforcing portion 100 in contact with the back side of the waist. Then, the lengths of the belts 120 and 130 are adjusted to a length corresponding to the degree of protrusion of the wearer 12. As a result, the waist fastening member 30 is in close contact with the outer circumference of the wearer 12 around the waist.
  • the buckle 140 has a configuration similar to that of a seat belt of an automobile, and is configured so that the locking of the locking metal fitting 142 can be released by operating the locking release portion.
  • fitting parts 31, 79, 81 provided inside the waist fastening member 30, the thigh fastening member 78, and the shin fastening member 80 will be described.
  • each fitting part 31,79,81 has the respectively same structure, the structure of the fitting part 31 is demonstrated in the following description.
  • FIG. 4 is a cross-sectional view showing a mounted state of the waist fastening member 30.
  • the waist fastening member 30 is provided along the reinforcement portion 100 formed in a C shape as viewed from above so as to cover the back side of the waist of the wearer 12, and along the inside of the reinforcement portion 100.
  • the fitted fitting portion 31 is formed of a rigid resin material, a metal material, or a high-strength material configured to cover the surface of the metal material with a resin material.
  • the fitting part 31 is filled with many granular members (filler) 182 inside, for example. The large number of granular members 182 change from a fluidized state to a solidified state due to an increase in friction between the granular members 182 due to a pressure (negative pressure) adjusted by supplying and discharging air.
  • the waist fastening member 30 when the waist fastening member 30 is attached to the wearer 12, a large number of granular members 182 filled in the fitting portion 31 are in a fluid state, and the surface is in a soft state. Therefore, the waist fastening member 30 can be mounted relatively easily without excessive tightening force acting on the wearer 12 until the large number of granular members 182 filled in the fitting portion 31 change to a solidified state. Can do.
  • examples of the filler other than the granular member 182 include foamed urethane (rigid urethane foam) that solidifies after filling the bag-like member by spraying.
  • the urethane foam (filler) is a substance that can be filled into the fitting part 31 in a fluidized state and solidifies by discharging a volatile substance together with the gas in the fitting part 31. Therefore, when the fitting part 31 has a shape corresponding to the body shape of the contact part of the wearer 12, the foamed urethane filled in the fitting part 31 is discharged by the gas inside the fitting part 31, so that the wearer 12 It is solidified with the shape corresponding to the body shape of the contact part. Thereby, the fitting part 31 can couple
  • FIG. 5 is a perspective view showing a state where the fitting portion 31 is fixed to the inner peripheral surface of the reinforcing portion 100.
  • the fitting portion 31 has substantially the same height as the reinforcing portion 100 formed in a band shape, and is formed in a curved shape so as to cover the back side of the waist of the wearer 12.
  • the bag-shaped member made of resin is filled with a number of granular members 182 (see FIG. 4).
  • valve part 150 for intake and exhaust of air is provided.
  • the valve portion 150 is normally closed to close the air flow, and is opened when adjusting the fitting pressure.
  • fitting part 31 is not decompressed until it is attached to the wearer 12, and a large number of granular members 182 are in a flow state, and after being attached to the wearer 12, the fitting part 31 is decompressed by exhaust from the valve part 150 and attached.
  • a large number of granular members 182 are solidified into a shape corresponding to the body shape of the portion that contacts the waist back side of the person 12.
  • FIG. 6A is an enlarged longitudinal sectional view showing the closed state of the valve portion 150.
  • the valve portion (negative pressure holding means) 150 is formed of an elastic resin material such as urethane resin, and has a cylindrical portion 152 that connects the inside and the outside, and a cylindrical portion.
  • An outer closing portion 154 that closes the outer opening 152a of 152 from the outside, and an inner closing portion 156 that closes the inner opening 152b of the cylindrical portion 152 from the inside.
  • the valve portion 150 is closed by fitting the outer closing portion 154 to the outer opening 152 a of the cylindrical portion 152.
  • the inner closing portion 156 is a so-called leaf valve having one end coupled to the inner wall of the bag-like member and the other end being displaceable, and closes the inner opening 152b of the cylindrical portion 152 by internal pressure.
  • FIG. 6B is an enlarged longitudinal sectional view showing the pressure adjustment state of the valve unit 150.
  • the needle portion 160 is inserted into the tubular portion 152.
  • the inner closing portion 156 of the valve portion 150 is pressed by the tip of the needle portion 160 inserted into the cylindrical portion 152 and displaced inward to be in a valve open state. Therefore, when a negative pressure is introduced from the upper end of the needle part 160, the internal pressure of the fitting part 31 can be reduced.
  • the fitting part 31 can adjust the internal pressure of the fitting part 31 by inserting the needle part 160 into the cylindrical part 152 of the valve part 150, and can introduce a large number of granular members together with the introduction of negative pressure. 182 changes to a solidified state while deforming into a shape corresponding to the body shape of the wearer. After the negative pressure is introduced, the needle portion 160 is pulled out from the cylindrical portion 152, and then the outer closing portion 154 of the valve portion 150 is fitted into the cylindrical portion 152 to switch to the valve closed state. Thus, the fitting unit 31 maintains a solidified state corresponding to the wearer's body shape by closing the valve unit 150.
  • a closing clip that presses the cylindrical portion 152 of the valve unit 150 from the side to close the internal passage may be attached.
  • FIG. 7 is a diagram showing a method for reducing the internal pressure of the fitting part 31.
  • the bag-like member 180 constituting the fitting portion 31 is in a fluid state that can be deformed until it is worn by the wearer 12, and is attached to the wearer after being worn by the wearer 12.
  • a filler that changes to a shape corresponding to the body shape of the abutting portion is filled.
  • a large number (for example, about 10,000 to 100,000 pieces) of granular members 182 made of minute (for example, a diameter of about 1 mm to 2 mm) spheres are filled.
  • the granular member 182 is not limited to a sphere, and may be a hexahedron or a polyhedron of higher than that, or may be provided with minute irregularities on the surface to increase intergranular friction during decompression.
  • the granular member 182 can be adjusted in hardness during decompression by mixing a plurality of members having different diameters. Further, by preparing in advance the fitting part 31 having a different filling rate of the granular member 182 with respect to the volume of the bag-like member 180, it is possible to adjust without changing the waist fastening member 30 according to the body shape of the wearer 12, for example. become. For example, when the waist of the wearer 12 is equal to or greater than a specified value, the fitting portion 31 in which the filling rate of the granular member 182 with respect to the volume of the bag-like member 180 is reduced by 20% may be used. Conversely, when the waist of the wearer 12 is equal to or less than the specified value, the fitting portion 31 in which the filling rate of the granular member 182 with respect to the volume of the bag-like member 180 is increased by 20% may be used.
  • the needle part 160 When discharging the gas in the bag-like member 180, the needle part 160 is inserted into the valve part 150 of the fitting part 31, and the negative pressure generating means 170 for introducing a negative pressure is connected to the other end of the needle part 160.
  • the negative pressure generating means 170 is configured to suck a gas.
  • the negative pressure generating means 170 is configured to have a cylinder and a cylinder having an airtight structure such as a vacuum pump, a cylinder held in a vacuum state, or a syringe that can be easily performed.
  • a manual suction device having a sliding piston rod may be used.
  • FIG. 8 is a diagram showing a change in the internal state of the fitting unit 31.
  • the fitting part 31 has a soft surface because many granular members 182 are in a fluid state.
  • the inner shape of the bag-like member 180 of the fitting part 31 is reduced to the atmospheric pressure or lower by the negative pressure generating means 170 at the time of wearing, so that the outer shape of the bag-like member 180 of the fitting part 31 becomes the contact part of the wearer 12. It is deformed into a shape corresponding to the body shape (state (B) after decompression). As a result, the large number of granular members 182 filled in the fitting portion 31 come into contact with each other and change into a solidified state due to increased friction between the grains. Therefore, the fitting part 31 is changed to a solidified state in which a large number of granular members 182 are in contact with each other while the surface is in a shape corresponding to the body shape of the wearer 12. Therefore, the fitting part 31 is able to transmit the driving force from the motion assisting mounting frame 18A to the wearer 12 without loss by being solidified into a shape in close contact with the back side and the left and right sides of the waist of the wearer 12. become.
  • the inner closing portion 156 returns to the valve closing state in which the inner opening 152b of the cylindrical portion 152 is closed from the inner side by pulling out the needle portion 160 from the cylindrical portion 152.
  • the fitting part 31 can hold
  • the negative pressure introduced into the fitting part 31 returns to atmospheric pressure by fitting the outer closing part 154 to the outer opening 152a of the cylindrical part 152 and closing the outer opening 152 of the cylindrical part 152. To prevent that.
  • outside air atmospheric pressure
  • outside air atmospheric pressure
  • the fitting portion 31 enters a fluidized state with reduced friction between the large number of granular members 182 filled in the bag-like member 180. Therefore, the fitting part 31 returns to a soft state because the many granular members 182 can freely move inside the bag-shaped member 180.
  • FIG. 9 is a perspective view showing a modified example of the fitting portion 31.
  • the fitting portion 31 of the modified example is formed in a C shape as viewed from above along the inner periphery of the reinforcing portion 100 and is in contact with the back of the wearer 12. Is curved to the rear side.
  • the wearer 12 does not bite the upper edge of the fitting portion 31 into the back when the back is bent backwards even when the motion assisting mounting frame 18A is mounted. For this reason, the wearer 12 can easily operate even when the motion assisting mounting frame 18A is mounted, without hindering the movement of the upper body.
  • FIG. 10 is a perspective view showing the operation assisting mounting frame 18B of the second embodiment.
  • FIG. 11 is a cross-sectional view showing a mounting state of the second embodiment.
  • FIG. 12 is a perspective view showing a state in which the fitting part 31 of Example 2 is fixed to the inner peripheral surface of the reinforcing part 100.
  • FIG. 13 is a diagram illustrating a method for reducing the internal pressure of the fitting unit 31 according to the second embodiment. 10 to 13, the same parts as those of the first embodiment described above are denoted by the same reference numerals, and the description thereof is omitted. Moreover, since each fitting part 31,79,81 has the same structure, respectively, the structure of the fitting part 31 is demonstrated in the following description.
  • the bag-like member 180 of the fitting part 31 has a plurality of filling chambers 200 in the operation assisting mounting frame 18 ⁇ / b> B.
  • the plurality of filling chambers 200 are partitioned by partition walls 202 extending in the vertical direction.
  • a communication pipe 204 that communicates between adjacent filling chambers 200 is provided on the upper part of the partition wall 202.
  • Each filling chamber 200 is filled with the numerous granular members 182 described above. Since the granular member 182 is partitioned by the partition wall 202 extending in the vertical direction, the granular member 182 cannot move to another filling chamber 200 adjacent to the partition wall 202. Therefore, even when the inside of the bag-shaped member 180 is returned to atmospheric pressure when not attached, the granular member 182 does not concentrate on the biased portion, and the filling rate of the granular member 182 filled in the plurality of filling chambers 200 is increased. An averaged state can be maintained.
  • each filling chamber 200 it is possible to adjust the hardness during decompression for each filling chamber 200 by mixing a plurality of types of granular members 182 having different diameters. Moreover, it is also possible to change the hardness in each site
  • FIG. it is possible to harden the part that contacts the back side of the waist of the wearer 12 and soften the part that contacts the left and right sides of the waist of the wearer 12.
  • valve portion 150 is only one place. Therefore, by connecting the negative pressure generating means 170 to the valve unit 150, the pressures of the plurality of filling chambers 200 can be collectively reduced at the time of mounting. Moreover, at the time of desorption
  • FIG. 14 is a perspective view showing a modification of the second embodiment. As shown in FIG. 14, a plurality (three in this embodiment) of fitting portions 300, 310, and 320 are fixed to the reinforcing portion 100 of the waist fastening member 30.
  • the first fitting unit 300 includes a bag-like member 302 that is formed into a shape having a curved surface 301 that roughly corresponds to the shape of the back side of the waist of the wearer 12. Further, the interior of the bag-like member 302 is partitioned into a plurality of (three in this embodiment) filling chambers 306 by partition walls 304 extending in the vertical direction. Each filling chamber 306 is filled with a number of granular members 182. A communication pipe 308 that communicates between the adjacent filling chambers 200 is provided above the partition wall 304.
  • the second and third fitting parts 310 and 320 have bag-like members 312 and 322 formed into shapes having curved surfaces 311 and 321 corresponding to body shapes on the left and right sides of the waist of the wearer 12.
  • the bag-shaped members 312 and 322 are partitioned into a plurality of (two in this embodiment) filling chambers 316 and 326 by partition walls 314 and 324 extending in the vertical direction.
  • Each of the filling chambers 316 and 326 is filled with a number of granular members 182.
  • communication pipes 318 and 328 communicating between adjacent filling chambers 200 are provided above the partition walls 314 and 324.
  • the fitting portions 300, 310, and 320 are formed into shapes in which the bag-shaped members 302, 312, and 322 have curved surfaces 301, 311, and 321 corresponding to the body shape of the contact portion of the wearer 12, respectively.
  • the amount of deformation due to reduced pressure during mounting can be small. Thereby, in the fitting parts 300, 310, and 320, the amount of air sucked also decreases, and the solidification time due to decompression can be shortened.
  • an elastic body 340 such as a sponge is attached between the fitting parts 300, 310, and 320.
  • the elastic body 340 is also formed in a curved surface shape corresponding to the contact portion of the wearer 12.
  • the elastic body 340 is a spacer that fills the valley between the fitting portions 300, 310, and 320 and does not affect the fitting pressure on the wearer 12.
  • Each of the filling chambers 306, 316, 326 is filled with the above-described many granular members 182. Since each of the filling chambers 306, 316, 326 is partitioned by partition walls 304, 314, 324 extending in the vertical direction, the granular member 182 is separated from the other filling chambers adjacent by the partition walls 304, 314, 324. Cannot move to 306, 316, 326. Therefore, even if the inside of the bag-shaped member 180 is returned to atmospheric pressure when not attached, the granular member 182 does not concentrate on the biased portion, and the granular member 182 filled in the plurality of filling chambers 306, 316, 326. It is possible to maintain a state in which the filling rate is averaged.
  • FIG. 15 is a diagram showing a method of depressurizing the fitting parts 300, 310, and 320 when being mounted. As shown in FIG. 15, branch pipes 361 to 363 of the pressure introduction pipe 360 connected to the vacuum generating means 170 are connected to the valve parts 150 of the fitting parts 300, 310, and 320.
  • valve devices 371 to 373 are arranged in the branch pipes 361 to 363.
  • the valve devices 371 to 373 are normally closed valve devices that maintain a normally closed state, and are switched to an open state by, for example, pressing an operation unit. Further, when the negative pressure generated by the negative pressure generating means 170 is introduced into the fitting units 300, 310, and 320 via the valve devices 371 to 373, the internal pressures of the fitting units 300, 310, and 320 are individually reduced. The Therefore, it is possible to appropriately adjust the fitting pressure for the contact portion of the wearer 12 by individually adjusting the pressures of the fitting portions 300, 310, and 320 using the negative pressure generating means 170.
  • FIG. 16 is a perspective view showing an operation assisting mounting frame of the third embodiment.
  • the same parts as those in the first and second embodiments are denoted by the same reference numerals, and the description thereof is omitted.
  • each fitting part 31,79,81 has the same structure, respectively, the structure of the fitting part 31 is demonstrated in the following description.
  • a pressure adjustment unit 400 that automatically adjusts the pressure in each filling chamber 200 is mounted on the operation assistance mounting frame 18 ⁇ / b> C of the third embodiment.
  • a surface pressure detection sensor (pressure detection means) 410 for detecting the fitting pressure is fixed to the contact surface of each filling chamber 200.
  • a detection means such as a strain gauge or a piezoelectric element is used.
  • the buckle 140 of the waist fastening member 30 is provided with a buckle coupling detection switch 420 that detects that the locking metal fitting 142 is inserted and locked.
  • a buckle coupling detection switch 420 a micro switch that is turned on when the locking metal fitting 142 is inserted into the buckle 140 is used.
  • FIG. 17 is a diagram schematically showing a schematic configuration of the pressure adjusting unit 400.
  • the pressure adjustment unit 400 reads the detection signals from the surface pressure detection sensor 410 and the buckle coupling detection switch 420 and performs pressure control calculation processing, and the control device 430 A small motor 440 that is driven and controlled by a control signal. Further, the pressure adjusting unit 400 inputs a piston / cylinder mechanism 460 as pressure introducing means to which the rotational driving force of the small motor 440 is transmitted via the reduction gear 450, and a target for inputting an arbitrary target pressure in each filling chamber 200. Pressure input means 500. Control device 430 performs pressure adjustment control by power supply from battery 432.
  • the memory 431 of the control device 430 stores a control program as a mounting determination unit that determines that the motion assisting mounting frame 18C is mounted on the wearer 12 based on the detection signal output from the buckle coupling detection switch 420. ing. Furthermore, the memory 431 of the control device 430 stores the surface pressure (fitting pressure) between each filling chamber 200 of the fitting unit 31 and the contact portion of the wearer 12 based on the detection signal output from the surface pressure detection sensor 410. A control program as pressure adjusting means for adjusting to the specified pressure is stored.
  • the piston / cylinder mechanism 460 includes a cylinder 470 connected to the other end of the pressure introducing pipe 360, a piston 480 inserted into the cylinder 470 so as to reciprocate, and a piston rod 490 provided integrally with the piston 480.
  • a male screw 492 is formed on the outer periphery of the piston rod 490, and the male screw 492 is screwed into a screw hole 472 that passes through the cylinder 470.
  • the piston 480 moves in the axial direction to increase or decrease the volume in the cylinder 470. Further, since the outer periphery of the piston 48 is hermetically sealed by a seal member 482, the air in the filling chamber 200 to which one end of the pressure introducing pipe 360 is connected is supplied and discharged according to the moving direction of the piston 480. The pressure can be finely adjusted.
  • the pressure adjusting unit 400 is connected to each valve unit 150 of each of the plurality of filling chambers 200 by one pressure introduction pipe 360, and is provided corresponding to each of the plurality of filling chambers 200. It is possible to adjust. Moreover, it is also possible to collectively adjust the pressures of the plurality of filling chambers 200 by connecting the pressure introducing pipes 360 in parallel to the valve portions 150 of the plurality of filling chambers 200.
  • FIG. 18 is a flowchart of control processing executed when the motion assisting mounting frame 18 ⁇ / b> C is mounted on the wearer 12.
  • FIG. 19A is a flowchart of the control process 1 executed when the motion assisting mounting frame 18C is attached to the wearer 12.
  • FIG. 19B is a flowchart of the control process 2 executed when the motion assisting mounting frame 18 ⁇ / b> C is attached to the wearer 12.
  • the control device 430 checks whether or not the buckle coupling detection switch 420 is turned on in S11 shown in FIG. When the motion assisting mounting frame 18C is mounted on the wearer 12 and the locking bracket 142 is inserted into the buckle 140 and locked, the buckle coupling detection switch 420 is turned on and a detection signal is output. If the buckle connection detection switch 420 is turned on in S11 (in the case of YES), it is determined that the mounting operation of the motion auxiliary mounting frame 18C is completed, and the process proceeds to S12.
  • the small motor 440 is rotationally driven in the negative pressure generation direction (depressurization direction), the piston 480 is moved to increase the volume in the cylinder 470, and the air in the filling chamber 200 is sucked to each of the fitting portions 31. A negative pressure is introduced into the filling chamber 200. Thereby, since the air in each filling chamber 200 is sucked, the friction between the granular members 182 filled in each filling chamber 200 is increased and changed into a solidified state.
  • the fitting pressure detected by the surface pressure detection sensor 410 is read.
  • the detected fitting pressure (detected pressure) is compared with a preset target pressure (set value) to determine whether or not the fitting pressure (detected pressure) has reached the target pressure (set value). To check.
  • the pressure adjustment processing shown in FIG. 19A is performed by the control device 430 at predetermined time intervals (for example, every 5 to 10 minutes).
  • predetermined time intervals for example, every 5 to 10 minutes.
  • S21 shown in FIG. 19A it is confirmed that the buckle coupling detection switch 420 is on, and the process proceeds to S22.
  • S22 the fitting pressure detected by the surface pressure detection sensor 410 is read.
  • S23 it is checked whether or not the fitting pressure (detected pressure) detected by the surface pressure detection sensor 410 is larger than the upper limit target pressure (set value A).
  • the process proceeds to S28, in which it is checked whether or not the fitting pressure (detected pressure) detected by the surface pressure detection sensor 410 is smaller than the lower limit pressure (set value C ⁇ B).
  • the fitting pressure (detected pressure) is larger than the lower limit pressure (set value C) (in the case of NO)
  • the process proceeds to S25, and whether or not the fitting pressure (detected pressure) detected by the surface pressure detection sensor 410 is constant. To check.
  • the wearer 12 can move the body or change the posture, so that the granular member 182 moves smoothly and the shape of the filling chamber 200 matches the shape of the wearer 12. It becomes possible to adjust to. Subsequently, the process proceeds to S25, and when the fitting pressure (detected pressure) changes (in the case of NO), it is determined that there is no air leakage from the fitting unit 31 (normal), and the process returns to S22 and the processes after S22 are performed. repeat.
  • the pressure of the fitting unit 31 can always be adjusted to the target pressure by the pressure adjusting unit 400, the transmission of the driving force between the operation assisting mounting frame 18C and the wearer 12 can be performed without loss.
  • the pressure adjustment of the fitting portion 31 by the pressure adjustment portion 400 is performed in a state where the locking metal fitting 142 is locked to the buckle 140 of the operation assisting mounting frame 18C, and therefore pressure control can be performed in a non-mounted state.
  • the burden on the fitting unit 31 and the pressure adjustment unit 400 can be reduced.
  • FIG. 19B a modified example of the control process executed by the control device 430 will be described with reference to FIG. 19B.
  • FIG. 19B the same processes as those in FIG. 19A described above are denoted by the same processing numbers and description thereof is omitted.
  • the filling chamber 200 returns to the expanded state, and the fitting operation (air introduction and negative pressure introduction into the filling chamber 200) can be repeated again.
  • the wearer 12 can move the body or change the posture, so that the granular member 182 moves smoothly and the shape of the filling chamber 200 matches the body shape of the wearer 12. It becomes possible to adjust the shape.
  • the process proceeds to S25, and when the fitting pressure (detected pressure) changes (in the case of NO), it is determined that there is no air leakage from the fitting unit 31 (normal), and the process returns to S22 and the processes after S22 are performed. repeat.
  • the number of times of pressure adjustment is three, but the number of times of pressure adjustment can be set to three or more in accordance with the movement of the wearer 12.
  • FIG. 20 is a view showing a modification of the pressure adjusting unit.
  • the pressure adjustment unit 600 includes a vacuum tank 610 whose inside is evacuated, a negative pressure electromagnetic valve 620 that opens or closes a pressure introduction pipe 360 connected to the vacuum tank 610, a pressure An atmospheric electromagnetic valve 640 that opens or closes the branch pipe 630 branched from the introduction pipe 360 and a throttle 650 that suppresses the flow rate of the pressure introduction pipe 360 to a minute flow rate are provided.
  • the vacuum tank 610 and the negative pressure solenoid valve 620 constitute pressure introducing means.
  • the control device 430 of the pressure adjustment unit 600 is similar to the pressure adjustment unit 400 described above in that the negative pressure solenoid valve 620 or the atmospheric solenoid valve is based on the fitting pressure (detected pressure) detected by the surface pressure detection sensor 410.
  • Switch 640 to open or closed. Note that the internal flow paths of the negative pressure solenoid valve 620 and the atmospheric solenoid valve 640 are throttled so as to have a minute flow rate. Therefore, the flow path area is set so that the pressure of the fitting portion 31 does not change suddenly even if the negative pressure electromagnetic valve 620 and the atmospheric electromagnetic valve 640 are opened.
  • the pressure adjusting unit 600 since only the negative pressure electromagnetic valve 620 and the atmospheric electromagnetic valve 640 are opened and closed, the power consumption of the battery 432 can be saved, but the vacuum tank 610 is periodically changed according to the number of pressure adjustments. Will be replaced.
  • FIG. 21 is a perspective view showing the operation assisting mounting frame of the fourth embodiment.
  • FIG. 22 is a perspective view showing the fitting unit 700 separated.
  • the same parts as those of the first, second, and third embodiments described above are denoted by the same reference numerals and the description thereof is omitted.
  • each fitting part 31,79,81 has the same structure, respectively, the structure of the fitting part 31 is demonstrated in the following description.
  • the operation assisting mounting frame 18 ⁇ / b> D is provided with the fitting unit 700 so as to be separable from the reinforcing portion 100 of the waist fastening member 30.
  • An engaging portion 710 for holding the fitting unit 700 protrudes from the inner peripheral surface of the reinforcing portion 100.
  • the protruding position of the engaging portion 710 is provided at a position corresponding to a concave portion 720 of the fitting unit 700 described later.
  • the fitting unit 700 is integrally provided on the outer surface of the inner wear 730 worn by the wearer 12 on the underwear.
  • the fitting unit 700 includes a first fitting portion 740 stitched to the back side of the inner wear 730, a second fitting portion 750 stitched to the left and right sides of the inner wear 730, and a third fitting portion 760.
  • the first fitting portion 740 is made of a bag-like member that is shaped so as to be positioned on the back side of the waist of the wearer 12, and the bag-like member is filled with a granular member 182.
  • the second and third fitting portions 750 and 760 are formed of bag-shaped members that are formed on the left and right sides of the waist of the wearer 12, and the bag-shaped member is filled with a granular member 182. ing.
  • FIG. 23 is a cross-sectional view showing a state in which the fitting unit 700 is engaged with the motion assisting mounting frame 18D.
  • the wearer 12 wearing the inner wear 730 aligns the concave portion 720 of the fitting unit 700 with the engaging portion 710 of the reinforcing portion 100 when wearing the motion assisting wearing frame 18D.
  • the locking metal fitting 142 is inserted into the buckle 140 and locked.
  • an operation of introducing a negative pressure to each fitting part 740, 750, 760 is performed to solidify each fitting part 740, 750, 760.
  • the fitting unit 700 is solidified into a shape that is in close contact with the back side and the left and right sides of the waist of the wearer 12, and can transmit the driving force from the motion assisting wearing frame 18D to the wearer 12 without loss.
  • each fitting portion 740, 750, 760 by introducing air (atmospheric pressure) to each fitting portion 740, 750, 760, the engagement state between the reinforcing portion 100 of the motion assisting mounting frame 18D and the fitting unit 700 is released, and motion assisting from the wearer 12 is performed.
  • the mounting frame 18D can be removed.
  • the fitting unit 700 is separable from the motion assisting mounting frame 18D, for example, when a plurality of patients share one motion assisting mounting frame 18D in a facility such as rehabilitation, each person has the fitting unit 700D. If the inner wear 730 having 700 is prepared, it is possible to perform rehabilitation using the motion assisting mounting frame 18D regardless of the difference in the body shape of each person.
  • the form of the inner wear 730 is not limited to the spats type as shown in FIG. 22, for example, a belly-wrap type that adheres around the waist of the wearer 12, or a vest that covers from the shoulder to the waist.
  • a mold may be used.
  • FIG. 24 is a cross-sectional view showing another modification of the first embodiment.
  • a support member 800 is attached around the waist of the wearer 12.
  • the support member 800 is woven by a fiber material having stretchability and high friction properties that are spread outward when worn around the waist of the wearer 12 and generates a tightening force on the wearer 12 inside. ing.
  • the support member 800 has a large number of irregularities on the surface and has a high friction coefficient like a rubber material, and also acts as a slip stopper between the wearer 12 and the fitting portion 31. That is, the support member 800 has an inner peripheral surface that is in close contact with the waist of the wearer 12 and an outer peripheral surface that is in close contact with the surface of the fitting portion 31.
  • Each of the granular members 182 filled in the fitting portion 31 is depressurized in the fitting portion 31 by the pressure adjustment described above, and changes into a solidified state according to the body shape of the wearer 12 via the support member 800. Shape. Accordingly, the fitting portion 31 changes to a shape that matches the shape of the outer peripheral surface of the support member 800 and maintains the close contact state when each granular member 182 changes to a solidified state.
  • the support member 800 having stretchability and high friction on the surface makes it difficult for the fitting portion 31 to slip when the wearer 12 performs a walking motion, and the wearer 12 and the fitting portion 31 when the motor driving force is generated. The rattling between them is prevented.
  • the support member 800 has a size that can be attached to the thigh to which the fitting portion 79 of the thigh fastening member 78 is attached and the shin to which the fitting portion 81 of the shin fastening member 80 is attached. It is appropriately worn according to the intention of the wearer 12.
  • FIG. 25 is a cross-sectional view showing another modification of the second embodiment.
  • the fitting portion 31 is provided with a plurality of filling chambers 200, and the surfaces of the plurality of filling chambers 200 are in close contact with the outer peripheral surface of the support member 800.
  • a plurality of filling chambers 200 in which a large number of granular members 182 are filled in the fitting portion 31 are provided.
  • a support member 800 having stretchability and high friction on the surface is interposed. Therefore, regardless of the shape when the surface of each filling chamber 200 is individually deformed by the pressure adjustment described above, the wearer 12 and the fitting portion 31 are less likely to slip, and the wearer 12 when the motor driving force is generated Shaking between the fitting part 31 is prevented.
  • the support member 800 ensures the adhesion between the surface of each filling chamber 200 and the wearer 12.
  • FIG. 26 is a perspective view showing a modification of the fourth embodiment.
  • FIG. 27 is a cross-sectional view showing a modification of the fourth embodiment.
  • the inner wear 730 integrally stitches together the support member 800 to which the fitting portions 740, 750, and 760 are attached and the spats portion 810 formed of a softer and thinner material than the support member 800. Do it.
  • the support member 800 is in close contact with the waist portion of the wearer 12, and the spats 810 is in close contact with the hip and lower limb portions below the support member 800.
  • the support member 800 constitutes a waist portion of the inner wear 730, and the wearer 12 wears the inner wear 730 and is in close contact with the waist of the wearer 12.
  • the fitting portions 740, 750, and 760 are integrally provided on the outer peripheral surface of the support member 800, so that the inner wear 730 is attached as in the case of the fourth embodiment described above.
  • the wearer 12 performs positioning so that the engaging portion 710 of the reinforcing portion 100 fits into the concave portion 720 between the fitting portions 740, 750, and 760, and attaches the motion assisting mounting frame 18D. Then, the locking fitting 142 of the waist fastening member 30 is inserted into the buckle 140 and locked.
  • each of the fitting parts 740, 750, 760 changes the number of granular members 182 filled therein from a fluidized state to a solidified state. It changes and is shape
  • the wearer 12 can wear the support member 800 and the fitting portions 740, 750, and 760 by wearing the inner wear 730. Therefore, the preparatory work before the operation assisting mounting frame 18D is mounted can be performed. It becomes easy.

Landscapes

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

Abstract

A motion assisting wearable frame (18A) has a waist fastening member (30) to be attached to the waist of a person (12), a right leg assist portion (54) provided downward from the right side portion of the waist fastening member (30), and a left leg assist portion (55) provided downward from the left side portion of the waist fastening member (30). A fitting portion (31) to be fitted to the backside at the waist of a person (12) with no clearance is fixed to the backside of the waist fastening member (30). The fitting portion (31) consists of a bag-shaped resin member formed in curved shape to cover the backside at the waist of the person (12). The fitting portion (31) is in deformable fluid state until it is attached to the person (12) under a state where the internal pressure is the atmospheric pressure. After it is attached to the person (12), the internal pressure is reduced so that the shape is varied in accordance with the figure of the person (12) at a portion abutting against backside at the waist.

Description

装着式動作補助装置Wearable motion assist device
　本発明は装着式動作補助装置に係り、特に装着者の動作を補助する駆動力を装着者に伝達するよう構成された装着式動作補助装置に関する。 The present invention relates to a wearable motion assist device, and more particularly to a wearable motion assist device configured to transmit a driving force that assists the wearer's motion to the wearer.
　例えば、関節の病気により腕や足が動作しにくかったり、あるいは筋力の低下により関節が動作しにくい場合、動作補助具を腕や足に装着して関節の動作を補助する装着式動作補助装置が開発されつつある（特許文献１参照）。 For example, if the arm or leg is difficult to move due to a joint disease, or if the joint is difficult to move due to a decrease in muscle strength, a wearable movement assist device that assists the movement of the joint by attaching a movement assist tool to the arm or leg is available. It is being developed (see Patent Document 1).
　装着式動作補助装置は、装着者の意思に基づいて発生する生体電位を検出し、検出された生体電位信号からモータ（駆動部）を制御する制御信号が制御部によって生成される構成であるので、モータの駆動力を自分の筋力と同じように腕や足に伝達することが可能になる。 The wearable movement assist device is configured to detect a bioelectric potential generated based on the wearer's intention, and to generate a control signal for controlling the motor (drive unit) from the detected bioelectric potential signal. It becomes possible to transmit the driving force of the motor to the arms and legs in the same way as their muscle strength.
　ところで、装着式動作補助装置は、装着者に装着される際に駆動部による駆動力を装着者に伝達するためのフレーム部材と装着者の所定箇所（例えば、腰、大腿部等）とを締結部材によって締結させている。締結部材としては、例えば、伸縮可能な弾性を有するベルトを巻き付けて装着者の所定箇所とフレーム部材とを一体化するように締結することで、駆動部の駆動力がフレーム部材及び締結部材を介して装着者に伝達される。 By the way, the wearable movement assist device includes a frame member for transmitting the driving force of the drive unit to the wearer when worn on the wearer, and a predetermined position (for example, waist, thigh) of the wearer. Fastened by a fastening member. As the fastening member, for example, a belt having elasticity that can be stretched is wound and fastened so that a predetermined position of the wearer and the frame member are integrated, so that the driving force of the driving unit is interposed between the frame member and the fastening member. Is transmitted to the wearer.
　装着式動作補助装置では、駆動部の駆動力がフレーム部材及び締結部材を介して装着者に伝達される際にベルト状の締結部材が装着者の体に密着した状態に締結されていることが望ましい。 In the wearable movement assist device, when the driving force of the drive unit is transmitted to the wearer via the frame member and the fastening member, the belt-like fastening member is fastened in a state of being in close contact with the wearer's body. desirable.
　そして、装着式動作補助装置の締結部材は、通常、装着者の腰や大腿部や脛部等の外周に巻き付けるようにして皮膚の表面に食い込ませるように締め付けるように取り付けられる。 The fastening member of the wearable movement assist device is usually attached so as to be wound around the outer surface of the wearer's waist, thigh, shin, etc. so as to bite into the skin surface.
　さらに、従来のものは、締結部材の締め付けによる苦痛を和らげるため、ベルト状に形成された締結部材にフエルトやスポンジ等の弾性を有する緩衝部材を装着の所定箇所に当接させるように構成されている。
特開２００５－９５５６１号公報 Furthermore, in order to relieve the pain caused by tightening the fastening member, the conventional one is configured such that a shock-absorbing member such as felt or sponge is brought into contact with a predetermined portion of the mounting on the fastening member formed in a belt shape. Yes.
JP 2005-95561 A
　しかしながら、従来の装着式動作補助装置では、装着者が歩行動作などの動作を行なう際に筋肉が膨張または収縮し、あるいは装着者の皮膚や皮下脂肪が締結部材の押圧力によって凹んだ状態に変化するため、次第に締結部材による締結が弱まってしまい、締結部材による締め付け力を何度も調整し直さなければならないという問題があった。 However, in the conventional wearable movement assist device, the muscle expands or contracts when the wearer performs an operation such as walking, or the wearer's skin or subcutaneous fat changes to a depressed state due to the pressing force of the fastening member. Therefore, the fastening by the fastening member gradually weakens, and there is a problem that the fastening force by the fastening member has to be adjusted again and again.
　また、従来は、ベルト状に形成された締結部材にフエルトやスポンジ等の弾性を有する緩衝部材を装着の所定箇所に当接させるように構成されているが、緩衝部材が次第に摩耗したり変形したりするため、使用回数が増えるにつれて締結部材と装着者とのフィッティング（密着性）が次第に低下するという問題が生じるおそれがあった。 In addition, conventionally, it is configured such that a cushioning member having elasticity such as felt or sponge is brought into contact with a predetermined portion of the mounting member formed in a belt shape, but the cushioning member is gradually worn or deformed. For this reason, there has been a possibility that the problem that the fitting (adhesion) between the fastening member and the wearer gradually decreases as the number of uses increases.
　そこで、本発明は上記事情に鑑み、上記課題を解決した装着式動作補助装置を提供することを課題としている。 Therefore, in view of the above circumstances, an object of the present invention is to provide a wearable movement assist device that solves the above problems.
　上記課題を解決するため、本発明は以下のような手段を有する。
（１）本発明は、装着者の意思に応じた駆動力を発生させる駆動部と、
　該駆動部による駆動力を前記装着者に伝達するためのフレーム部材と、
　該フレーム部材を前記装着者の所定箇所に締結する締結部材と、
　該締結部材と前記装着者との間に介在し、前記装着者の所定箇所に当接するフィッティング部と、
を有する装着式動作補助装置であって、
　前記フィッティング部は、前記装着者に装着されるまで変形可能な流動状態であり、前記装着者に装着された後に前記装着者に当接する部分の体形に応じた形状に変化するように構成されることにより、上記課題を解決するものである。
（２）本発明は、（１）に記載の装着式動作補助装置であって、
　前記フィッティング部は、内部に気体の給排に応じて硬さが変化する充填材が充填されており、前記装着者に装着された状態で気体を排出されると前記装着者に当接する部分の体形に応じた形状に充填材が固化され、気体が供給されると前記充填材が流動状態に戻されることにより、上記課題を解決するものである。
（３）本発明は、（１）に記載の装着式動作補助装置であって、
　前記フィッティング部は、
　前記装着者の当接部分に応じた形状の袋状部材と、
　該袋状部材の内部に充填された多数の粒状部材と、からなり、
　前記袋状部材は、前記装着者に当接した状態で負圧を導入されると共に、前記多数の粒状部材を固化状態に変化させることにより、上記課題を解決するものである。
（４）本発明は、（３）に記載の装着式動作補助装置であって、
　前記袋状部材は、前記粒状部材が充填される複数の充填室を有することにより、上記課題を解決するものである。
（５）本発明は、（４）に記載の装着式動作補助装置であって、
　前記複数の充填室は、それぞれ異なる種類の粒状部材が充填されることにより、上記課題を解決するものである。
（６）本発明は、（４）に記載の装着式動作補助装置であって、
　前記複数の充填室は、それぞれ異なる充填率で粒状部材が充填されることにより、上記課題を解決するものである。
（７）本発明は、（４）に記載の装着式動作補助装置であって、
　前記複数の充填室は、予めそれぞれ当接する前記装着者の当接部分の体形に応じた形状に形成されてなることにより、上記課題を解決するものである。
（８）本発明は、（４）に記載の装着式動作補助装置であって、
　前記複数の充填室のそれぞれに設けられ、前記複数の充填室の圧力を個別に調整する圧力調整部を有することにより、上記課題を解決するものである。
（９）本発明は、（８）に記載の装着式動作補助装置であって、
　前記圧力調整部は、
　前記複数の充填室のそれぞれの圧力を個別に検出する圧力検出手段と、
　該圧力検出手段によって検出された圧力値に基づき、前記複数の室の圧力を予め設定された目標値に調整するように加圧または減圧する圧力導入手段と、
　を備えたことにより、上記課題を解決するものである。
（１０）本発明は、（１）に記載の装着式動作補助装置であって、
　前記フィッティング部は、前記締結部材から分離可能に設けられたことにより、上記課題を解決するものである。
（１１）本発明は、（１０）に記載の装着式動作補助装置であって、
　前記フィッティング部は、前記装着者が着るインナーウエアに取り付けられており、装着時に前記締結部材に締結されることにより、上記課題を解決するものである。
（１２）本発明は、（３）に記載の装着式動作補助装置であって、
　前記フィッティング部は、前記装着者の複数箇所に当接するように複数個設けられ、
　前記複数のフィッティング部は、それぞれが負圧導入経路により相互に連通され、該負圧導入経路を介して気体を吸引することで一括して負圧状態に切替える圧力調整部を有することにより、上記課題を解決するものである。
（１３）本発明は、（１）に記載の装着式動作補助装置であって、
　前記フィッティング部と前記装着者との間には、伸縮性及び高摩擦性を有するサポート部材を介在させることにより、上記課題を解決するものである。
（１４）本発明は、装着者の腰に装着され、前記装着者の腰背面側に締結される第１締結部材と、
　該第１締結部材の内面に取付けられ、前記装着者の腰背面側に当接する第１フィッティング部と、
　該第１締結部材の右側部から下方に設けられた右脚補助部と、
　前記第１締結部材の左側部から下方に設けられた左脚補助部と、を有しており、
　前記右脚補助部及び左脚補助部は、
　前記第１締結部材を支持するように下方に延在するブラケットと、
　該ブラケットより前記装着者の大腿部と平行に延在する第１フレームと、
　該第１フレームに設けられ、前記装着者の大腿部の外周に締結される第２締結部材と、
　該第２締結部材の内面に取付けられ、前記装着者の大腿部の外周に当接する第２フィッティング部と、
　前記第１フレームより前記装着者の脛部と平行に下方に延在する第２フレームと、
　該第２フレームに設けられ、前記装着者の脛部の外周に締結される第３締結部材と、
　該第３締結部材の内面に取付けられ、前記装着者の脛部の外周に当接する第３フィッティング部と、
　前記第２フレームの下端に設けられ、前記装着者の脚の裏が載置される第３フレームと、
　前記ブラケットの下端と前記第１フレームの上端との間に介在する第１関節と、
　該第１関節を駆動する第１駆動部と、
　前記第１フレームの下端と前記第２フレームの上端との間に介在する第２関節と、
　該第２関節を駆動する第２駆動部と、
　を有し、
　前記第１乃至第３フィッティング部は、前記装着者に装着されるまで変形可能な流動状態であり、前記装着者に装着された後に前記装着者に当接する部分の体形に応じた形状に変化することにより、上記課題を解決するものである。 In order to solve the above problems, the present invention has the following means.
(1) The present invention includes a drive unit that generates a drive force according to the wearer's intention;
A frame member for transmitting a driving force by the driving unit to the wearer;
A fastening member for fastening the frame member to a predetermined location of the wearer;
A fitting portion interposed between the fastening member and the wearer and abutting on a predetermined location of the wearer;
A wearable motion assist device comprising:
The fitting portion is in a flowable state that can be deformed until being worn by the wearer, and is configured to change into a shape corresponding to a body shape of a portion that contacts the wearer after being worn by the wearer. This solves the above-mentioned problem.
(2) The present invention is the wearable movement assist device according to (1),
The fitting portion is filled with a filler whose hardness changes in accordance with supply and discharge of gas, and a portion of the fitting portion that comes into contact with the wearer when the gas is discharged while being worn by the wearer. When the filler is solidified into a shape corresponding to the body shape and the gas is supplied, the filler is returned to a fluidized state, thereby solving the above problem.
(3) The present invention is the wearable movement assist device according to (1),
The fitting part is
A bag-like member having a shape corresponding to the contact portion of the wearer;
A plurality of granular members filled in the bag-shaped member,
The bag-shaped member solves the above problems by introducing a negative pressure in a state where the bag-shaped member is in contact with the wearer and changing the numerous granular members into a solidified state.
(4) The present invention is the wearable movement assist device according to (3),
The bag-shaped member solves the above problems by having a plurality of filling chambers filled with the granular member.
(5) The present invention is the wearable movement assist device according to (4),
The plurality of filling chambers solve the above problems by being filled with different types of granular members.
(6) The present invention is the wearable movement assist device according to (4),
The plurality of filling chambers solve the above problems by filling the granular members with different filling rates.
(7) The present invention is the wearable movement assist device according to (4),
The plurality of filling chambers are formed in a shape corresponding to the body shape of the abutting portion of the wearer that abuts in advance, thereby solving the above problem.
(8) The present invention is the wearable movement assist device according to (4),
The above-described problems are solved by including a pressure adjusting unit that is provided in each of the plurality of filling chambers and individually adjusts the pressure of the plurality of filling chambers.
(9) The present invention is the wearable movement assist device according to (8),
The pressure adjusting unit is
Pressure detecting means for individually detecting the pressure of each of the plurality of filling chambers;
Pressure introducing means for pressurizing or depressurizing the pressure in the plurality of chambers to a preset target value based on the pressure value detected by the pressure detecting means;
By providing the above, the above-mentioned problems are solved.
(10) The present invention is the wearable movement assist device according to (1),
The fitting portion is provided so as to be separable from the fastening member, thereby solving the above-described problem.
(11) The present invention is the wearable movement assist device according to (10),
The fitting part is attached to inner wear worn by the wearer, and solves the above problem by being fastened to the fastening member at the time of wearing.
(12) The present invention is the wearable movement assist device according to (3),
A plurality of the fitting portions are provided so as to contact a plurality of locations of the wearer,
Each of the plurality of fittings includes a pressure adjusting unit that is connected to each other by a negative pressure introduction path, and collectively switches to a negative pressure state by sucking gas through the negative pressure introduction path. It solves the problem.
(13) The present invention is the wearable movement assist device according to (1),
The above-mentioned problem is solved by interposing a support member having stretchability and high friction between the fitting portion and the wearer.
(14) The present invention is a first fastening member that is worn on the waist of the wearer and fastened to the back side of the wearer;
A first fitting part attached to the inner surface of the first fastening member and abutting on the waist back side of the wearer;
A right leg auxiliary part provided downward from the right side part of the first fastening member;
A left leg auxiliary portion provided below from the left side of the first fastening member,
The right leg auxiliary part and the left leg auxiliary part are
A bracket extending downward to support the first fastening member;
A first frame extending in parallel with the wearer's thigh from the bracket;
A second fastening member provided on the first frame and fastened to an outer periphery of the wearer's thigh;
A second fitting portion attached to the inner surface of the second fastening member and contacting the outer periphery of the wearer's thigh;
A second frame extending downward in parallel with the wearer's shin from the first frame;
A third fastening member provided on the second frame and fastened to the outer periphery of the wearer's shin;
A third fitting part attached to the inner surface of the third fastening member and contacting the outer periphery of the wearer's shin part;
A third frame provided at the lower end of the second frame, on which the back of the leg of the wearer is placed;
A first joint interposed between a lower end of the bracket and an upper end of the first frame;
A first drive unit for driving the first joint;
A second joint interposed between a lower end of the first frame and an upper end of the second frame;
A second drive unit for driving the second joint;
Have
The first to third fitting parts are in a flowable state that can be deformed until they are worn by the wearer, and after being worn by the wearer, the first to third fitting parts change into a shape corresponding to the body shape of the portion that contacts the wearer. This solves the above-mentioned problem.
　本発明によれば、フィッティング部が装着者に装着されるまで変形可能な流動状態であり、装着者に装着された後に装着者に当接する部分の体形に応じた形状に変化するため、締結部材と装着者との間を密着した状態に保持することができ、例えば、装着者の体形が変化した場合、あるいは異なる装着者に装着する場合でも、フィッティング部を装着者の体形に応じた形状に変形させることで装着者に対するフィッティング部の調整作業を不要にできるという効果が得られる。 According to the present invention, the fastening member is in a deformable flow state until the fitting portion is attached to the wearer, and changes to a shape corresponding to the body shape of the portion that comes into contact with the wearer after being attached to the wearer. For example, even when the wearer's body shape changes or when the wearer wears a different wearer, the fitting portion is shaped according to the wearer's body shape. By deforming, the effect that adjustment work of the fitting part for the wearer can be made unnecessary can be obtained.
　さらに、フィッティング部が装着者に装着された状態で装着者に当接する部分の体形に応じた形状に固化されることにより、装着者に対してガタツキの無い状態で駆動部による駆動力を動作補助力として装着者に伝達することが可能になる。 In addition, when the fitting part is attached to the wearer, it is solidified to a shape corresponding to the shape of the part that comes into contact with the wearer, thereby assisting the wearer with the driving force of the drive part without rattling. It can be transmitted as a force to the wearer.
本発明による装着式動作補助装置の一実施例が装着者に装着された状態を前側からみた斜視図である。It is the perspective view which looked at the state with which one Example of the mounting | wearing type movement assistance apparatus by this invention was mounted | worn by the wearer from the front side. 本発明による装着式動作補助装置の一実施例が装着者に装着された状態を後側からみた斜視図である。It is the perspective view which looked at the state with which one Example of the mounting | wearing type movement assistance apparatus by this invention was mounted | worn by the wearer from the rear side. 動作補助装着フレーム１８Ａの装着前の状態を示す斜視図である。It is a perspective view which shows the state before mounting | wearing of the operation | movement assistance mounting frame 18A. 腰締結部材３０の装着状態を示す横断面図である。FIG. 6 is a cross-sectional view showing a mounted state of the waist fastening member 30. 補強部１００の内周面にフィッティング部３１が固着された状態を示す斜視図である。FIG. 4 is a perspective view showing a state in which a fitting part 31 is fixed to an inner peripheral surface of a reinforcing part 100. 弁部１５０の閉止状態を拡大して示す縦断面図である。It is a longitudinal cross-sectional view which expands and shows the closed state of the valve part 150. FIG. 弁部１５０の圧力調整状態を拡大して示す縦断面図である。It is a longitudinal cross-sectional view which expands and shows the pressure adjustment state of the valve part 150. FIG. フィッティング部３１の内部圧力を減圧する際の方法を示す図である。It is a figure which shows the method at the time of reducing the internal pressure of the fitting part. フィッティング部３１の内部の状態の変化を示す図である。It is a figure which shows the change of the state inside the fitting part. フィッティング部３１の変形例を示す斜視図である。FIG. 10 is a perspective view showing a modification of the fitting part 31. 実施例２の動作補助装着フレーム１８Ｂを示す斜視図である。It is a perspective view which shows the operation | movement assistance mounting frame 18B of Example 2. FIG. 実施例２の装着状態を示す横断面図である。6 is a cross-sectional view showing a mounting state of Example 2. FIG. 補強部１００の内周面に実施例２のフィッティング部３１が固着された状態を示す斜視図である。It is a perspective view which shows the state by which the fitting part 31 of Example 2 was fixed to the internal peripheral surface of the reinforcement part 100. FIG. 実施例２のフィッティング部３１の内部圧力を減圧する際の方法を示す図である。It is a figure which shows the method at the time of reducing the internal pressure of the fitting part 31 of Example 2. FIG. 実施例２の変形例を示す斜視図である。FIG. 10 is a perspective view showing a modification of the second embodiment. 装着時にフィッティング部３００，３１０，３２０を減圧する方法を示す図である。It is a figure which shows the method of decompressing fitting part 300,310,320 at the time of mounting | wearing. 実施例３の動作補助装着フレームを示す斜視図である。It is a perspective view which shows the operation | movement assistance mounting frame of Example 3. FIG. 圧力調整部４００の概略構成を模式的に示す図である。FIG. 3 is a diagram schematically showing a schematic configuration of a pressure adjustment unit 400. 動作補助装着フレーム１８Ｃが装着者１２に装着される際に実行される制御処理のフローチャートである。10 is a flowchart of a control process executed when the motion assisting mounting frame 18C is mounted on the wearer 12. 動作補助装着フレーム１８Ｃが装着者１２に装着された状態のときに実行される制御処理１のフローチャートである。7 is a flowchart of a control process 1 executed when the motion auxiliary mounting frame 18C is mounted on the wearer 12. 動作補助装着フレーム１８Ｃが装着者１２に装着された状態のときに実行される制御処理２のフローチャートである。12 is a flowchart of a control process 2 executed when the motion auxiliary mounting frame 18C is mounted on the wearer 12. 圧力調整部の変形例を示す図である。It is a figure which shows the modification of a pressure adjustment part. 実施例４の動作補助装着フレームを示す斜視図である。It is a perspective view which shows the operation | movement assistance mounting frame of Example 4. FIG. 分離されたフィッティングユニット７００を示す斜視図である。It is a perspective view which shows the fitting unit 700 isolate | separated. 動作補助装着フレーム１８Ｄにフィッティングユニット７００を係合させた状態を示す横断面図である。It is a cross-sectional view showing a state where the fitting unit 700 is engaged with the motion assisting mounting frame 18D. 実施例１の他の変形例を示す横断面図である。FIG. 6 is a cross-sectional view showing another modification of the first embodiment. 実施例２の他の変形例を示す横断面図である。FIG. 10 is a transverse cross-sectional view showing another modified example of the second embodiment. 実施例４の変形例を示す斜視図である。FIG. 10 is a perspective view showing a modified example of the fourth embodiment. 実施例４の変形例を示す横断面図である。FIG. 10 is a transverse cross-sectional view showing a modified example of the fourth embodiment.
符号の説明Explanation of symbols
１０　装着式動作補助装置
１２　装着者
１８Ａ，１８Ｂ，１８Ｃ，１８Ｄ　動作補助装着フレーム
２０，２２，２４，２６　駆動モータ
３０　腰締結部材（第１締結部材）
３１，７９，８１，３００，３１０，３２０，７４０，７５０，７６０　フィッティング部
３６　制御ユニット
５５　左脚補助部
５４　右脚補助部
５８　第１フレーム
６０　第２フレーム
６２　第３フレーム
６４　第１関節
６６　第２関節
６８　第３関節
７８　腿締結部材（第２締結部材）
８０　脛締結部材（第３締結部材）
１００　補強部
１２０，１３０　ベルト
１４０　バックル
１４２　係止用金具
１５０　弁部
１６０　ニードル部
１７０　負圧発生手段
１８０，３０２，３１２，３２２　袋状部材
１８２　粒状部材
１８４　当接部
２００，３０６，３１６，３２６　充填室
２０２，３０４，３１４，３２４　隔壁
２０４，３０８　連通管
３６０　圧力導入管
３６１～３６３　分岐管
４００，６００　圧力調整部
４１０　面圧検出センサ
４２０　バックル結合検出スイッチ
４３０　制御装置
４３１　メモリ
４４０　小型モータ
４５０　減速ギヤ
４６０　ピストン・シリンダ機構
４７０　シリンダ
４８０　ピストン
４９０　ピストンロッド
６１０　真空タンク
６２０　負圧用電磁弁
６４０　大気用電磁弁
７００　フィッティングユニット
７１０　係合部
７２０　凹部
７３０　インナーウエア
８００　サポート部材
８１０　スパッツ部 DESCRIPTION OF SYMBOLS 10 Wearing type movement assistance apparatus 12 Wearer 18A, 18B, 18C, 18D Operation assistance wearing frame 20, 22, 24, 26 Drive motor 30 Waist fastening member (1st fastening member)
31, 79, 81, 300, 310, 320, 740, 750, 760 Fitting part 36 Control unit 55 Left leg auxiliary part 54 Right leg auxiliary part 58 First frame 60 Second frame 62 Third frame 64 First joint 66 First Two joints 68 Third joint 78 Thigh fastening member (second fastening member)
80 shin fastening member (third fastening member)
100 Reinforcing part 120, 130 Belt 140 Buckle 142 Locking metal fitting 150 Valve part 160 Needle part 170 Negative pressure generating means 180, 302, 312, 322 Bag-like member 182 Granular member 184 Abutting part 200, 306, 316, 326 Filling Chamber 202, 304, 314, 324 Bulkhead 204, 308 Communication pipe 360 Pressure introduction pipe 361-363 Branch pipe 400, 600 Pressure adjustment unit 410 Surface pressure detection sensor 420 Buckle coupling detection switch 430 Controller 431 Memory 440 Small motor 450 Reduction gear 460 Piston cylinder mechanism 470 Cylinder 480 Piston 490 Piston rod 610 Vacuum tank 620 Negative pressure solenoid valve 640 Atmospheric solenoid valve 700 Fitting unit 710 Engagement part 720 Recess 730 Inner wear 800 Support member 8 10 Spats club
　以下、図面を参照して本発明を実施するための最良の形態について説明する。 Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings.
　図１は本発明による装着式動作補助装置の一実施例が装着者に装着された状態を前側からみた斜視図である。図２は本発明による装着式動作補助装置の一実施例が装着者に装着された状態を後側からみた斜視図である。 FIG. 1 is a perspective view of a wearing type movement assisting device according to an embodiment of the present invention as seen from the front side when worn by a wearer. FIG. 2 is a rear perspective view of a state in which the wearable movement assisting device according to the embodiment of the present invention is worn by a wearer.
　図１及び図２に示されるように、装着式動作補助装置（以下「動作補助装置」と称する）１０は、例えば、骨格筋の筋力低下により歩行が不自由な下肢運動機能障害者、あるいは、歩行運動のリハビリを行う患者などのように自力歩行が困難な人の歩行動作を補助（アシスト）する装置である。また、動作補助装置１０は、脳からの信号により筋力を発生させる際に生じる生体信号（表面筋電位）を検出し、生体信号に基づいてアクチュエータからの駆動力を付与するように作動する。 As shown in FIG. 1 and FIG. 2, the wearable movement assist device (hereinafter referred to as “motion assist device”) 10 is, for example, a lower limb motor function disabled person who is unable to walk due to a decrease in muscle strength of skeletal muscles, or It is a device that assists (assides) the walking motion of a person who is difficult to walk on their own, such as a patient who performs rehabilitation of walking motion. Further, the motion assisting device 10 operates so as to detect a biological signal (surface myoelectric potential) generated when a muscle force is generated by a signal from the brain and to apply a driving force from the actuator based on the biological signal.
　動作補助装置１０を装着した装着者１２は、自らの意思で歩行動作を行う際に発生した生体信号に応じた駆動トルクがアシスト力として動作補助装置１０から付与され、例えば、通常歩行で必要とされる筋力の半分の力で歩行することが可能になる。従って、装着者１２は、自身の筋力とアクチュエータ（本実施例では、電動式の駆動モータを用いる）からの駆動トルクとの合力によって全体重を支えながら歩行することができる。 The wearer 12 wearing the motion assisting device 10 is given a driving torque according to a biological signal generated when performing a walking motion on his / her own intention as an assisting force, and is necessary for normal walking, for example. It becomes possible to walk with half the strength of the muscle strength. Therefore, the wearer 12 can walk while supporting the overall weight by the resultant force of his / her muscle strength and the driving torque from the actuator (in this embodiment, an electric driving motor is used).
　動作補助装置１０は、装着者１２の歩行動作に伴う重心の移動に応じて付与されるアシスト力（モータトルク）が装着者１２の意思を反映するように制御している。そのため、動作補助装置１０のアクチュエータは、装着者１２の意思に反するような負荷を与え無いように制御されており、装着者１２の動作を妨げないように制御される。 The motion assisting device 10 controls the assist force (motor torque) applied in accordance with the movement of the center of gravity accompanying the walking motion of the wearer 12 to reflect the intention of the wearer 12. Therefore, the actuator of the motion assisting device 10 is controlled so as not to apply a load that is against the intention of the wearer 12 and is controlled so as not to hinder the operation of the wearer 12.
　また、動作補助装置１０は、歩行動作以外にも、例えば、装着者１２が椅子に座った状態から立ち上がる際の動作、あるいは立った状態から椅子に腰掛ける際の動作も補助することができる。さらには、装着者１２が階段を上がったり、階段を下りる場合にもパワーアシストすることができる。特に筋力が弱っている場合には、階段の上り動作や、椅子から立ち上がる動作を行うことが難しいが、動作補助装置１０を装着した装着者１２は、自らの意思に応じて駆動トルクを付与されて筋力の低下を気にせずに動作することが可能になる。 In addition to the walking motion, the motion assisting device 10 can also assist, for example, the motion when the wearer 12 stands up from the sitting state or the motion when sitting on the chair from the standing state. Furthermore, power assist can be performed even when the wearer 12 goes up or down the stairs. In particular, when the muscular strength is weak, it is difficult to move up the stairs or move up from the chair, but the wearer 12 wearing the movement assisting device 10 is given drive torque according to his / her intention. This makes it possible to operate without worrying about muscular weakness.
　ここで、動作補助装置１０の構成の一例について説明する。動作補助装置１０は、図１及び図２に示されるように、装着者１２に装着される動作補助装着フレーム１８Ａに駆動部を設けたものである。駆動部としては、装着者１２の右側股関節に位置する右腿駆動モータ２０と、装着者１２の左側股関節に位置する左腿駆動モータ２２と、装着者１２の右膝関節に位置する右膝駆動モータ２４と、装着者１２の左膝関節に位置する左膝駆動モータ２６とを有する。これらの駆動モータ２０，２２，２４，２６は、制御装置からの制御信号により駆動トルクを制御されるＤＣモータまたはＡＣモータなどの電動モータからなる。また、各駆動モータ２０，２２，２４，２６は、モータ回転を所定の減速比で減速する減速機構（駆動部に内蔵）を有しており、小型ではあるが十分な駆動力を付与することができる。また、駆動モータとしては、設置スペースが小さく済むように薄型化された超音波モータを用いても良いのは勿論である。 Here, an example of the configuration of the motion assisting device 10 will be described. As shown in FIGS. 1 and 2, the motion assisting device 10 is provided with a drive unit on a motion assisting mounting frame 18 </ b> A that is worn by the wearer 12. The drive unit includes a right thigh drive motor 20 located at the right hip joint of the wearer 12, a left thigh drive motor 22 located at the left hip joint of the wearer 12, and a right knee drive located at the right knee joint of the wearer 12. The motor 24 and the left knee drive motor 26 located at the left knee joint of the wearer 12 are included. These drive motors 20, 22, 24, and 26 are electric motors such as a DC motor or an AC motor whose drive torque is controlled by a control signal from a control device. Each of the drive motors 20, 22, 24, and 26 has a speed reduction mechanism (built in the drive unit) that reduces the motor rotation at a predetermined speed reduction ratio, and provides a small but sufficient driving force. Can do. Further, as a drive motor, it is needless to say that an ultrasonic motor thinned so that the installation space can be reduced may be used.
　また、装着者１２の腰の周囲に装着される腰締結部材（第１締結部材）３０には、駆動モータ２０，２２，２４，２６を駆動させるための電源として機能するバッテリ３２，３４が取り付けられている。バッテリ３２、３４は、充電式バッテリであり、装着者１２の歩行動作を妨げないように左右に分散配置されている。 Further, batteries 32 and 34 functioning as power sources for driving the drive motors 20, 22, 24, and 26 are attached to the waist fastening member (first fastening member) 30 that is worn around the waist of the wearer 12. It has been. The batteries 32 and 34 are rechargeable batteries, and are distributed on the left and right so as not to hinder the walking motion of the wearer 12.
　また、装着者１２の背面側となる腰締結部材３０の後側には、制御ユニット３６が取り付けられている。 Further, a control unit 36 is attached to the rear side of the waist fastening member 30 which is the back side of the wearer 12.
　そして、動作補助装置１０は、装着者１２の右腿の動きに伴う生体電位を検出する生体信号検出センサ３８ａ，３８ｂと、装着者１２の左腿の動きに伴う生体電位を検出する生体信号検出センサ４０ａ，４０ｂと、右膝の動きに伴う生体電位を検出する生体信号検出センサ４２ａ，４２ｂと、左膝の動きに伴う生体電位を検出する生体信号検出センサ４４ａ，４４ｂとを有する。 Then, the motion assisting device 10 detects the bioelectric potential associated with the movement of the right thigh of the wearer 12 and the biosignal detection of detecting the biopotential associated with the movement of the left thigh of the wearer 12. Sensors 40a and 40b, biosignal detection sensors 42a and 42b that detect biopotentials associated with the movement of the right knee, and biosignal detection sensors 44a and 44b that detect biopotentials associated with the movement of the left knee.
　これらの各生体信号検出センサ３８ａ，３８ｂ，４０ａ，４０ｂ，４２ａ，４２ｂ，４４ａ，４４ｂは、筋電位信号や神経伝達信号などの生体電位信号を皮膚を介して検出する生体信号検出手段であり、微弱電位を検出するための電極（図示せず）を有する。尚、本実施例では、各生体信号検出センサ３８ａ，３８ｂ，４０ａ，４０ｂ，４２ａ，４２ｂ，４４ａ，４４ｂは、電極の周囲を覆う粘着シールにより装着者１２の皮膚表面に貼着するように取り付けられる。 Each of these biosignal detection sensors 38a, 38b, 40a, 40b, 42a, 42b, 44a, 44b is a biosignal detection means for detecting biopotential signals such as myopotential signals and nerve transmission signals through the skin, It has an electrode (not shown) for detecting a weak potential. In this embodiment, each of the biological signal detection sensors 38a, 38b, 40a, 40b, 42a, 42b, 44a, 44b is attached so as to be attached to the skin surface of the wearer 12 with an adhesive seal covering the periphery of the electrodes. It is done.
　人体においては、脳からの指令によって骨格筋を形成する筋肉の表面にシナプス伝達物質のアセチルコリンが放出される結果、筋線維膜のイオン透過性が変化して活動電位が発生する。そして、活動電位によって筋線維の収縮が発生し、筋力を発生させる。そのため、骨格筋の電位を検出することにより、歩行動作の際に生じる筋力を推測することが可能になり、推測された筋力に基づく仮想トルクから歩行動作に必要なアシスト力を求めることが可能になる。 In the human body, acetylcholine, a synaptic transmitter, is released on the surface of muscles that form skeletal muscles according to commands from the brain. As a result, the ionic permeability of muscle fiber membranes changes and action potentials are generated. The action potential causes contraction of muscle fibers and generates muscle force. Therefore, by detecting the potential of the skeletal muscle, it is possible to estimate the muscle strength that occurs during the walking motion, and it is possible to determine the assist force required for the walking motion from the virtual torque based on the estimated muscle strength Become.
　従って、動作補助装置１０では、これらの生体信号検出センサ３８ａ，３８ｂ，４０ａ，４０ｂ，４２ａ，４２ｂ，４４ａ，４４ｂによって検出された生体信号に基づいて４個の駆動モータ２０，２２，２４，２６に供給する駆動電流を求め、駆動電流で駆動モータ２０，２２，２４，２６を駆動することで、アシスト力が付与されて装着者１２の歩行動作を補助するように構成されている。 Therefore, in the motion assisting device 10, the four drive motors 20, 22, 24, and 26 are based on the biological signals detected by the biological signal detection sensors 38a, 38b, 40a, 40b, 42a, 42b, 44a, and 44b. The driving current to be supplied to the vehicle is obtained, and the driving motors 20, 22, 24, and 26 are driven with the driving current, whereby an assist force is applied to assist the walking motion of the wearer 12.
　また、歩行動作による重心移動をスムーズに行うため、脚の裏にかかる荷重を検出する必要がある。そのため、装着者１２の左右脚の裏には、床反力センサ５０ａ，５０ｂ，５２ａ，５２ｂ（図１及び図２中、破線で示す）が設けられている。 Also, it is necessary to detect the load on the back of the leg in order to smoothly move the center of gravity by walking. Therefore, floor reaction force sensors 50a, 50b, 52a, 52b (shown by broken lines in FIGS. 1 and 2) are provided on the backs of the left and right legs of the wearer 12.
　また、床反力センサ５０ａは、右脚前側の荷重に対する反力を検出し、床反力センサ５０ｂは、右脚後側の荷重に対する反力を検出する。床反力センサ５２ａは、左脚前側の荷重に対する反力を検出し、床反力センサ５２ｂは、左脚後側の荷重に対する反力を検出する。各床反力センサ５０ａ，５０ｂ，５２ａ，５２ｂは、例えば、印加された荷重に応じた電圧を出力する圧電素子などからなり、体重移動に伴う荷重変化、及び装着者１２の脚と地面との接地の有無を夫々検出することができる。 The floor reaction force sensor 50a detects a reaction force with respect to the load on the right leg front side, and the floor reaction force sensor 50b detects a reaction force with respect to the load on the rear side of the right leg. The floor reaction force sensor 52a detects a reaction force against the load on the left leg front side, and the floor reaction force sensor 52b detects a reaction force against the load on the left leg rear side. Each of the floor reaction force sensors 50a, 50b, 52a, and 52b includes, for example, a piezoelectric element that outputs a voltage corresponding to an applied load, and changes in load due to weight shift and between the legs of the wearer 12 and the ground. The presence or absence of grounding can be detected.
　図３は動作補助装着フレーム１８Ａの装着前の状態を示す斜視図である。図３に示されるように、動作補助装着フレーム１８Ａは、装着者１２の腰に装着される腰締結部材３０と、腰締結部材３０の右側部から下方に設けられた右脚補助部５４と、腰締結部材３０の左側部から下方に設けられた左脚補助部５５とを有する。腰締結部材３０の背面側には、装着者１２の腰背面側との隙間をなくして密着するフィッティング部３１が取り付けられている。 FIG. 3 is a perspective view showing a state before the operation auxiliary mounting frame 18A is mounted. As shown in FIG. 3, the motion assisting mounting frame 18 </ b> A includes a waist fastening member 30 attached to the waist of the wearer 12, a right leg auxiliary portion 54 provided below from the right side of the waist fastening member 30, A left leg auxiliary portion 55 provided below the left side portion of the waist fastening member 30. On the back side of the waist fastening member 30, a fitting part 31 that is in close contact with the back of the waist 12 of the wearer 12 is attached.
　右脚補助部５４と左脚補助部５５とは、左右対称に配置されており、腰締結部材３０に固定されたブラケット５６と、ブラケット５６より下方に延在し装着者１２の腿外側に沿うように形成された第１フレーム５８と、第１フレーム５８より下方に延在し装着者１２の脛外側に沿うように形成された第２フレーム６０と、装着者１２の脚の裏（靴を履く場合には、靴底）が載置される第３フレーム６２とを有する。 The right leg auxiliary part 54 and the left leg auxiliary part 55 are disposed symmetrically, and are provided with a bracket 56 fixed to the waist fastening member 30 and extending downward from the bracket 56 along the outer side of the thigh of the wearer 12. A first frame 58 formed as described above, a second frame 60 formed so as to extend below the first frame 58 and along the outside of the shin of the wearer 12, When wearing it, it has the 3rd frame 62 in which a shoe sole) is mounted.
　ブラケット５６の下端と第１フレーム５８の上端との間には、軸受構造とされた第１関節６４が介在しており、ブラケット５６と第１フレーム５８とを回動可能に連結している。第１関節６４は、装着者１２の股関節と一致する高さ位置に設けられており、ブラケット５６が第１関節６４の支持側に締結され、第１フレーム５８が第１関節６４の回動側に締結されている。また、第１関節６４には、駆動モータ２０，２２が内蔵されており、第１関節６４と駆動モータ２０，２２とは外観上一体化されている。 A first joint 64 having a bearing structure is interposed between the lower end of the bracket 56 and the upper end of the first frame 58, and the bracket 56 and the first frame 58 are rotatably connected. The first joint 64 is provided at a height position that coincides with the hip joint of the wearer 12, the bracket 56 is fastened to the support side of the first joint 64, and the first frame 58 is the rotation side of the first joint 64. It is concluded to. Further, the first joint 64 incorporates drive motors 20 and 22, and the first joint 64 and the drive motors 20 and 22 are integrated in appearance.
　また、第１フレーム５８の下端と第２フレーム６０の上端との間には、軸受構造とされた第２関節６６が介在しており、第１フレーム５８と第３フレーム６２とを回動可能に連結している。第２関節６６は、膝関節と一致する高さ位置に設けられており、第１フレーム５８が第２関節６６の支持側に締結され、第２フレーム６０が第２関節６６の回動側に締結されている。また、第２関節６６には、駆動モータ２４，２６が内蔵されており、第２関節６６と駆動モータ２４，２６とは外観上一体化されている。 Further, a second joint 66 having a bearing structure is interposed between the lower end of the first frame 58 and the upper end of the second frame 60, and the first frame 58 and the third frame 62 can be rotated. It is linked to. The second joint 66 is provided at a height position that coincides with the knee joint, the first frame 58 is fastened to the support side of the second joint 66, and the second frame 60 is on the rotation side of the second joint 66. It is concluded. Further, the second joint 66 incorporates drive motors 24 and 26, and the second joint 66 and the drive motors 24 and 26 are integrated in appearance.
　また、第２フレーム６０の下端と第３フレーム６２の上端との間には、軸受構造とされた第３関節６８が介在しており、第２フレーム６０と第３フレーム６２とを回動可能に連結している。そして、第３フレーム６２の内側には、装着者１２の足を装着する靴８４が固定されている。 Further, a third joint 68 having a bearing structure is interposed between the lower end of the second frame 60 and the upper end of the third frame 62, and the second frame 60 and the third frame 62 can be rotated. It is linked to. A shoe 84 on which the foot of the wearer 12 is to be worn is fixed inside the third frame 62.
　従って、第１フレーム５８及び第２フレーム６０は、腰締結部材３０に固定されたブラケット５６に対して第１関節６４及び第２関節６６を回動支点とする歩行動作を行えるように取り付けられている。すなわち、第１フレーム５８及び第２フレーム６０は、装着者１２の脚と同じ動作を行えるように構成されている。また、第３関節６８は、装着者１２の足首の側方に位置するように設けられている。そのため、靴８４は、第３関節６８の回動動作により歩行動作に応じて装着者１２の足首と同じように床面（または地面）に対する角度が変化する。 Accordingly, the first frame 58 and the second frame 60 are attached to the bracket 56 fixed to the waist fastening member 30 so as to be able to perform a walking motion with the first joint 64 and the second joint 66 as pivot points. Yes. That is, the first frame 58 and the second frame 60 are configured to perform the same operation as the leg of the wearer 12. The third joint 68 is provided so as to be located on the side of the ankle of the wearer 12. Therefore, the angle of the shoe 84 with respect to the floor surface (or the ground surface) is changed in the same manner as the ankle of the wearer 12 according to the walking operation by the rotation operation of the third joint 68.
　また、第１関節６４及び第２関節６６は、駆動モータ２０，２２，２４，２６の回転軸が、ギヤを介して被駆動側となる第１フレーム５８、第２フレーム６０に駆動トルクを伝達するように構成されている。 In addition, the first joint 64 and the second joint 66 transmit the drive torque to the first frame 58 and the second frame 60 on which the rotation shafts of the drive motors 20, 22, 24, and 26 are driven via gears. Is configured to do.
　さらに、駆動モータ２０，２２，２４，２６は、関節角度を検出する角度センサを有する。角度センサは、例えば、第１関節６４及び第２関節６６の関節角度に比例したパルス数をカウントするロータリエンコーダなどからなり、関節角度に応じたパルス数に対応した電気信号をセンサ出力として出力する。 Furthermore, the drive motors 20, 22, 24, and 26 have angle sensors that detect joint angles. The angle sensor includes, for example, a rotary encoder that counts the number of pulses proportional to the joint angles of the first joint 64 and the second joint 66, and outputs an electrical signal corresponding to the number of pulses corresponding to the joint angle as a sensor output. .
　第１関節６４の角度センサは、装着者１２の股関節の関節角度に相当するブラケット５６と第１フレーム５８との間の回動角度を検出する。また、第２関節６６の角度センサは、装着者１２の膝関節の関節角度に相当する第１フレーム５８の下端と第２フレーム６０との間の回動角度を検出する。 The angle sensor of the first joint 64 detects a rotation angle between the bracket 56 and the first frame 58 corresponding to the joint angle of the hip joint of the wearer 12. Further, the angle sensor of the second joint 66 detects a rotation angle between the lower end of the first frame 58 and the second frame 60 corresponding to the joint angle of the knee joint of the wearer 12.
　また、第１フレーム５８の長手方向の中間位置には、装着者１２の腿に締結されるベルト状の腿締結部材（第２締結部材）７８が取り付けられている。腿締結部材７８の内面側には、装着者１２の腿との隙間をなくして密着するフィッティング部７９が取り付けられている。 In addition, a belt-like thigh fastening member (second fastening member) 78 fastened to the thigh of the wearer 12 is attached to an intermediate position in the longitudinal direction of the first frame 58. On the inner surface side of the thigh fastening member 78, a fitting portion 79 that is in close contact with the thigh of the wearer 12 is attached.
　また、第２フレーム６０の長手方向の中間位置には、装着者１２の膝下の脛に締結されるベルト状の脛締結部材（第３締結部材）８０が取り付けられている。脛締結部材８０の内面側には、装着者１２の脛との隙間をなくして密着するフィッティング部８１が取り付けられている。 Also, a belt-like shin fastening member (third fastening member) 80 that is fastened to the shin below the knee of the wearer 12 is attached to an intermediate position in the longitudinal direction of the second frame 60. On the inner surface side of the shin fastening member 80, a fitting portion 81 that is in close contact with the wearer 12 with no gap is attached.
　従って、駆動モータ２０，２２，２４，２６で発生された駆動トルクは、ギヤを介して第１フレーム５８、第２フレーム６０に伝達され、さらに腿締結部材７８、脛締結部材８０を介して装着者１２の脚にアシスト力として伝達される。 Accordingly, the drive torque generated by the drive motors 20, 22, 24, 26 is transmitted to the first frame 58 and the second frame 60 via gears, and is further attached via the thigh fastening member 78 and the shin fastening member 80. It is transmitted to the leg of the person 12 as assist force.
　また、第２フレーム６０の下端には、第３関節６８を介して靴８４が回動可能に連結されている。尚、第１フレーム５８及び第２フレーム６０は、装着者１２の脚の長さに応じた長さに調整されている。 Also, a shoe 84 is rotatably connected to the lower end of the second frame 60 via a third joint 68. The first frame 58 and the second frame 60 are adjusted to a length corresponding to the length of the leg of the wearer 12.
　各フレーム５８，６０，６２は、夫々ジュラルミン等の軽量化された金属材の周囲を弾性を有する樹脂材で覆うように構成されており、腰締結部材３０に取り付けられたバッテリ３２，３４、制御ユニット３６等の動作補助装着フレーム１８Ａの重量を支えることができる。すなわち、動作補助装置１０は、動作補助装着フレーム１８Ａなどの重量が装着者１２に作用しないように構成されており、装着者１２に余計な荷重を与えないように取り付けられる。 Each frame 58, 60, 62 is configured to cover the periphery of a metal material reduced in weight such as duralumin with a resin material having elasticity, and the batteries 32, 34 attached to the waist fastening member 30, the control The weight of the operation assisting mounting frame 18A such as the unit 36 can be supported. That is, the motion assisting device 10 is configured such that the weight of the motion assisting mounting frame 18A or the like does not act on the wearer 12, and is attached so as not to apply an extra load to the wearer 12.
　腰締結部材３０は、ヒンジ１１０を介して連結されたベルト１２０，１３０と、一方のベルト１２０の端部に取り付けられたバックル１４０と、他方のベルト１３０の端部に取り付けられた係止用金具１４２とを有する（図４を参照）。 The waist fastening member 30 includes belts 120 and 130 connected via a hinge 110, a buckle 140 attached to an end portion of one belt 120, and a locking metal fitting attached to an end portion of the other belt 130. 142 (see FIG. 4).
　腰締結部材３０を装着者１２に装着する際は、補強部１００に腰の背面側を当接させた状態でバックル１４０の挿入口に係止用金具１４２を挿入して係止させる。そして、ベルト１２０，１３０の長さを装着者１２のお腹の出っ張り具合に応じた長さに調整する。これにより、腰締結部材３０は、装着者１２の腰回りの外周にほぼ密着した状態となる。尚、バックル１４０は、自動車のシートベルトと同様な構成になっており、係止解除部を操作することにより係止用金具１４２の係止を解除することができるように構成されている。 When attaching the waist fastening member 30 to the wearer 12, the locking metal fitting 142 is inserted into the insertion port of the buckle 140 and locked with the reinforcing portion 100 in contact with the back side of the waist. Then, the lengths of the belts 120 and 130 are adjusted to a length corresponding to the degree of protrusion of the wearer 12. As a result, the waist fastening member 30 is in close contact with the outer circumference of the wearer 12 around the waist. The buckle 140 has a configuration similar to that of a seat belt of an automobile, and is configured so that the locking of the locking metal fitting 142 can be released by operating the locking release portion.
　ここで、腰締結部材３０及び腿締結部材７８、脛締結部材８０の内側に設けられたフィッティング部３１，７９，８１について説明する。尚、各フィッティング部３１，７９，８１は、夫々同一構成であるので、以下の説明ではフィッティング部３１の構成について説明する。 Here, the fitting parts 31, 79, 81 provided inside the waist fastening member 30, the thigh fastening member 78, and the shin fastening member 80 will be described. In addition, since each fitting part 31,79,81 has the respectively same structure, the structure of the fitting part 31 is demonstrated in the following description.
　図４は腰締結部材３０の装着状態を示す横断面図である。図４に示されるように、腰締結部材３０は、装着者１２の腰の背面側を覆うように上方からみてＣ字状に形成された補強部１００と、補強部１００の内側に沿って設けられたフィッティング部３１とを有する。補強部１００は、剛性を有する樹脂材、または金属材、または金属材の表面を樹脂材で覆うように構成された強度の高い材料により形成されている。また、フィッティング部３１は、内部に例えば、多数の粒状部材（充填材）１８２が充填されている。多数の粒状部材１８２は、空気の給排によって調整される圧力（負圧）によって各粒状部材１８２間の摩擦が増大して流動状態から固化状態に変化する。 FIG. 4 is a cross-sectional view showing a mounted state of the waist fastening member 30. As shown in FIG. 4, the waist fastening member 30 is provided along the reinforcement portion 100 formed in a C shape as viewed from above so as to cover the back side of the waist of the wearer 12, and along the inside of the reinforcement portion 100. And the fitted fitting portion 31. The reinforcing portion 100 is formed of a rigid resin material, a metal material, or a high-strength material configured to cover the surface of the metal material with a resin material. Moreover, the fitting part 31 is filled with many granular members (filler) 182 inside, for example. The large number of granular members 182 change from a fluidized state to a solidified state due to an increase in friction between the granular members 182 due to a pressure (negative pressure) adjusted by supplying and discharging air.
　また、腰締結部材３０を装着者１２に装着する際は、フィッティング部３１の内部に充填された多数の粒状部材１８２が流動状態にあり、表面が柔らかい状態になっている。そのため、腰締結部材３０は、フィッティング部３１の内部に充填された多数の粒状部材１８２が固化状態に変化するまで、装着者１２に無理な締め付け力が作用せず、比較的容易に装着することができる。 Further, when the waist fastening member 30 is attached to the wearer 12, a large number of granular members 182 filled in the fitting portion 31 are in a fluid state, and the surface is in a soft state. Therefore, the waist fastening member 30 can be mounted relatively easily without excessive tightening force acting on the wearer 12 until the large number of granular members 182 filled in the fitting portion 31 change to a solidified state. Can do.
　また、上記粒状部材１８２以外の充填材としては、例えば、袋状部材の内部にスプレーにより充填した後に、固化する発泡ウレタン（硬質ウレタンフォーム）などがある。上記発泡ウレタン（充填材）は、流動状態のままフィッティング部３１に充填することができ、且つフィッティング部３１内の気体と共に揮発性物質を排出することにより固化する性質を有する物質である。従って、フィッティング部３１が装着者１２の当接部分の体形に応じた形状のときにフィッティング部３１内の気体を排出することでフィッティング部３１の内部に充填された発泡ウレタンが装着者１２の当接部分の体形に応じた形状のまま固化される。これにより、フィッティング部３１は、装着者１２の体形に拘わらず、補強部１００と装着者１２との間を隙間無く結合することが可能になる。 Further, examples of the filler other than the granular member 182 include foamed urethane (rigid urethane foam) that solidifies after filling the bag-like member by spraying. The urethane foam (filler) is a substance that can be filled into the fitting part 31 in a fluidized state and solidifies by discharging a volatile substance together with the gas in the fitting part 31. Therefore, when the fitting part 31 has a shape corresponding to the body shape of the contact part of the wearer 12, the foamed urethane filled in the fitting part 31 is discharged by the gas inside the fitting part 31, so that the wearer 12 It is solidified with the shape corresponding to the body shape of the contact part. Thereby, the fitting part 31 can couple | bond the reinforcement part 100 and the wearer 12 without a gap irrespective of the wearer's 12 body shape.
　尚、以下の説明では、フィッティング部３１の内部に多数の粒状部材１８２が充填された場合について説明する。 In the following description, a case where a large number of granular members 182 are filled in the fitting portion 31 will be described.
　図５は補強部１００の内周面にフィッティング部３１が固着された状態を示す斜視図である。図５に示されるように、フィッティング部３１は、帯状に形成された補強部１００の高さとほぼ同じ高さを有し、装着者１２の腰の背面側を覆うように湾曲した形状に形成された樹脂製の袋状部材であり、袋状部材の内部には多数の粒状部材１８２（図４参照）が充填されている。 FIG. 5 is a perspective view showing a state where the fitting portion 31 is fixed to the inner peripheral surface of the reinforcing portion 100. As shown in FIG. 5, the fitting portion 31 has substantially the same height as the reinforcing portion 100 formed in a band shape, and is formed in a curved shape so as to cover the back side of the waist of the wearer 12. The bag-shaped member made of resin is filled with a number of granular members 182 (see FIG. 4).
　フィッティング部３１の上端には、空気の吸気、排気を行なうための弁部１５０が設けられている。弁部１５０は、通常閉弁されて空気の流通を閉止しており、フィッティング圧力を調整する際に開弁される。 At the upper end of the fitting part 31, a valve part 150 for intake and exhaust of air is provided. The valve portion 150 is normally closed to close the air flow, and is opened when adjusting the fitting pressure.
　また、フィッティング部３１は、装着者１２に装着されるまで減圧されず多数の粒状部材１８２が流動状態であり、装着者１２に装着された後に弁部１５０からの排気で減圧されると共に、装着者１２の腰背面側に当接する部分の体形に応じた形状に多数の粒状部材１８２が固化される。 In addition, the fitting part 31 is not decompressed until it is attached to the wearer 12, and a large number of granular members 182 are in a flow state, and after being attached to the wearer 12, the fitting part 31 is decompressed by exhaust from the valve part 150 and attached. A large number of granular members 182 are solidified into a shape corresponding to the body shape of the portion that contacts the waist back side of the person 12.
　図６Ａは弁部１５０の閉止状態を拡大して示す縦断面図である。図６Ａに示されるように、弁部（負圧保持手段）１５０は、ウレタン樹脂などの弾性を有する樹脂材により成形されており、内部と外部とを連通する筒状部１５２と、筒状部１５２の外側開口１５２ａを外側から閉止する外側閉止部１５４と、筒状部１５２の内側開口１５２ｂを内側から閉止する内側閉止部１５６とを有する。通常、弁部１５０は、外側閉止部１５４が筒状部１５２の外側開口１５２ａに嵌合されて閉止されている。また、内側閉止部１５６は、一端が袋状部材の内壁に結合され他端側が変位可能に形成された所謂リーフバルブであり、内部圧力により筒状部１５２の内側開口１５２ｂを閉止している。 FIG. 6A is an enlarged longitudinal sectional view showing the closed state of the valve portion 150. As shown in FIG. 6A, the valve portion (negative pressure holding means) 150 is formed of an elastic resin material such as urethane resin, and has a cylindrical portion 152 that connects the inside and the outside, and a cylindrical portion. An outer closing portion 154 that closes the outer opening 152a of 152 from the outside, and an inner closing portion 156 that closes the inner opening 152b of the cylindrical portion 152 from the inside. Normally, the valve portion 150 is closed by fitting the outer closing portion 154 to the outer opening 152 a of the cylindrical portion 152. The inner closing portion 156 is a so-called leaf valve having one end coupled to the inner wall of the bag-like member and the other end being displaceable, and closes the inner opening 152b of the cylindrical portion 152 by internal pressure.
　図６Ｂは弁部１５０の圧力調整状態を拡大して示す縦断面図である。図６Ｂに示されるように、弁部１５０の外側閉止部１５４を筒状部１５２から離脱させた後、ニードル部１６０を筒状部１５２に挿入する。弁部１５０の内側閉止部１５６は、筒状部１５２に挿入されたニードル部１６０の先端に押圧されて内側に変位して開弁状態になる。そのため、ニードル部１６０の上端から負圧が導入されると、フィッティング部３１の内部圧力を減圧することが可能になる。 FIG. 6B is an enlarged longitudinal sectional view showing the pressure adjustment state of the valve unit 150. As shown in FIG. 6B, after the outer closing portion 154 of the valve portion 150 is detached from the tubular portion 152, the needle portion 160 is inserted into the tubular portion 152. The inner closing portion 156 of the valve portion 150 is pressed by the tip of the needle portion 160 inserted into the cylindrical portion 152 and displaced inward to be in a valve open state. Therefore, when a negative pressure is introduced from the upper end of the needle part 160, the internal pressure of the fitting part 31 can be reduced.
　このように、フィッティング部３１は、ニードル部１６０が弁部１５０の筒状部１５２に挿入されることでフィッティング部３１の内部圧力を調整することが可能になり、負圧導入と共に多数の粒状部材１８２が装着者の体形に応じた形状に変形しながら固化状態に変化する。負圧導入後は、ニードル部１６０を筒状部１５２から引き抜いた後、弁部１５０の外側閉止部１５４を筒状部１５２に嵌合させて閉弁状態に切替える。これで、フィッティング部３１は、弁部１５０の閉弁により装着者の体形に応じた固化状態を保持する。 As described above, the fitting part 31 can adjust the internal pressure of the fitting part 31 by inserting the needle part 160 into the cylindrical part 152 of the valve part 150, and can introduce a large number of granular members together with the introduction of negative pressure. 182 changes to a solidified state while deforming into a shape corresponding to the body shape of the wearer. After the negative pressure is introduced, the needle portion 160 is pulled out from the cylindrical portion 152, and then the outer closing portion 154 of the valve portion 150 is fitted into the cylindrical portion 152 to switch to the valve closed state. Thus, the fitting unit 31 maintains a solidified state corresponding to the wearer's body shape by closing the valve unit 150.
　尚、弁部１５０の閉弁状態を強化するため、例えば、弁部１５０の筒状部１５２を側方から押圧して内部通路を閉止させるような閉止用クリップなどを取り付けても良い。 In order to strengthen the valve closing state of the valve unit 150, for example, a closing clip that presses the cylindrical portion 152 of the valve unit 150 from the side to close the internal passage may be attached.
　図７はフィッティング部３１の内部圧力を減圧する際の方法を示す図である。図７に示されるように、フィッティング部３１を構成する袋状部材１８０の内部には、装着者１２に装着されるまで変形可能な流動状態であり、装着者１２に装着された後に装着者に当接する部分の体形に応じた形状に変化する充填材が充填されている。本実施例の充填材としては、微小（例えば、直径が１ｍｍ～２ｍｍ程度）な球体からなる粒状部材１８２が多数（本実施例では、例えば、１万個～１０万個程度）充填されてなる。尚、粒状部材１８２は、球体に限らず、６面体あるいはそれ以上の多面体でも良いし、あるいは表面に微小な凹凸を設けて、減圧時の粒間摩擦を増大させるようにしても良い。 FIG. 7 is a diagram showing a method for reducing the internal pressure of the fitting part 31. FIG. As shown in FIG. 7, the bag-like member 180 constituting the fitting portion 31 is in a fluid state that can be deformed until it is worn by the wearer 12, and is attached to the wearer after being worn by the wearer 12. A filler that changes to a shape corresponding to the body shape of the abutting portion is filled. As the filler of the present embodiment, a large number (for example, about 10,000 to 100,000 pieces) of granular members 182 made of minute (for example, a diameter of about 1 mm to 2 mm) spheres are filled. . The granular member 182 is not limited to a sphere, and may be a hexahedron or a polyhedron of higher than that, or may be provided with minute irregularities on the surface to increase intergranular friction during decompression.
　さらに、粒状部材１８２は、直径の異なる大きさのものを複数混ぜることにより、減圧時の硬さを調整することも可能である。また、袋状部材１８０の容積に対する粒状部材１８２の充填率の異なるフィッティング部３１を予め用意することにより、例えば、装着者１２の体形に応じて腰締結部材３０を変えずに調整することが可能になる。例えば、装着者１２のウエストが規定値以上の場合には、袋状部材１８０の容積に対する粒状部材１８２の充填率を２０％減量したフィッティング部３１を使用しても良い。また、逆に装着者１２のウエストが規定値以下の場合には、袋状部材１８０の容積に対する粒状部材１８２の充填率を２０％増量したフィッティング部３１を使用するようにしても良い。 Furthermore, the granular member 182 can be adjusted in hardness during decompression by mixing a plurality of members having different diameters. Further, by preparing in advance the fitting part 31 having a different filling rate of the granular member 182 with respect to the volume of the bag-like member 180, it is possible to adjust without changing the waist fastening member 30 according to the body shape of the wearer 12, for example. become. For example, when the waist of the wearer 12 is equal to or greater than a specified value, the fitting portion 31 in which the filling rate of the granular member 182 with respect to the volume of the bag-like member 180 is reduced by 20% may be used. Conversely, when the waist of the wearer 12 is equal to or less than the specified value, the fitting portion 31 in which the filling rate of the granular member 182 with respect to the volume of the bag-like member 180 is increased by 20% may be used.
　袋状部材１８０内の気体を排出する際は、フィッティング部３１の弁部１５０にニードル部１６０を挿入し、且つニードル部１６０の他端に負圧を導入する負圧発生手段１７０を接続する。負圧発生手段１７０は、気体を吸引するように構成されており、例えば、真空ポンプや真空状態に保持されたボンベ、あるいは簡易的に行える注射器のような気密構造とされたシリンダとシリンダ内を摺動するピストンロッドとを有する手動式の吸引装置を用いて良い。 When discharging the gas in the bag-like member 180, the needle part 160 is inserted into the valve part 150 of the fitting part 31, and the negative pressure generating means 170 for introducing a negative pressure is connected to the other end of the needle part 160. The negative pressure generating means 170 is configured to suck a gas. For example, the negative pressure generating means 170 is configured to have a cylinder and a cylinder having an airtight structure such as a vacuum pump, a cylinder held in a vacuum state, or a syringe that can be easily performed. A manual suction device having a sliding piston rod may be used.
　図８はフィッティング部３１の内部の状態の変化を示す図である。図８に示されるように、フィッティング部３１の袋状部材１８０の内部は、減圧前の状態（Ａ）のとき、大気圧であるので、袋状部材１８０に多数充填された粒状部材１８２が自由に移動することができる。そのため、フィッティング部３１は、多数の粒状部材１８２が流動状態であるので、表面が柔らかい状態になっている。 FIG. 8 is a diagram showing a change in the internal state of the fitting unit 31. As shown in FIG. 8, since the inside of the bag-shaped member 180 of the fitting portion 31 is at atmospheric pressure when in the state (A) before decompression, the granular member 182 filled in the bag-shaped member 180 is free. Can be moved to. Therefore, the fitting part 31 has a soft surface because many granular members 182 are in a fluid state.
　そして、装着時に負圧発生手段１７０によりフィッティング部３１の袋状部材１８０の内部を大気圧以下に減圧することで、フィッティング部３１の袋状部材１８０の外形状が装着者１２の当接部分の体形に応じた形状（減圧後の状態（Ｂ））に変形する。これにより、フィッティング部３１の内部に充填された多数の粒状部材１８２は、互いに接触し、各粒間の摩擦増大によって固化された状態に変化する。そのため、フィッティング部３１は、表面が装着者１２の体形に応じた形状のまま多数の粒状部材１８２同士が接触した固化状態に変化する。よって、フィッティング部３１は、装着者１２の腰の背面側及び左右両側に密着した形状に固化されることにより、動作補助装着フレーム１８Ａからの駆動力をロス無く装着者１２に伝達することが可能になる。 Then, the inner shape of the bag-like member 180 of the fitting part 31 is reduced to the atmospheric pressure or lower by the negative pressure generating means 170 at the time of wearing, so that the outer shape of the bag-like member 180 of the fitting part 31 becomes the contact part of the wearer 12. It is deformed into a shape corresponding to the body shape (state (B) after decompression). As a result, the large number of granular members 182 filled in the fitting portion 31 come into contact with each other and change into a solidified state due to increased friction between the grains. Therefore, the fitting part 31 is changed to a solidified state in which a large number of granular members 182 are in contact with each other while the surface is in a shape corresponding to the body shape of the wearer 12. Therefore, the fitting part 31 is able to transmit the driving force from the motion assisting mounting frame 18A to the wearer 12 without loss by being solidified into a shape in close contact with the back side and the left and right sides of the waist of the wearer 12. become.
　また、圧力調整が終了したときは、ニードル部１６０を筒状部１５２から引き抜くことにより、内側閉止部１５６が筒状部１５２の内側開口１５２ｂを内側から閉止する閉弁状態に復帰する。これにより、フィッティング部３１は、内部圧力を大気圧以下に調整された圧力に保持することができる。また、外側閉止部１５４を筒状部１５２の外側開口１５２ａに嵌合させて筒状部１５２の外側開口１５２を閉止することで、フィッティング部３１の内部に導入された負圧が大気圧に戻ることを防止する。 When the pressure adjustment is completed, the inner closing portion 156 returns to the valve closing state in which the inner opening 152b of the cylindrical portion 152 is closed from the inner side by pulling out the needle portion 160 from the cylindrical portion 152. Thereby, the fitting part 31 can hold | maintain the internal pressure to the pressure adjusted to the atmospheric pressure or less. Moreover, the negative pressure introduced into the fitting part 31 returns to atmospheric pressure by fitting the outer closing part 154 to the outer opening 152a of the cylindrical part 152 and closing the outer opening 152 of the cylindrical part 152. To prevent that.
　上記圧力調整後、弁部１５０の外側閉止部１５４を筒状部１５２の外側開口１５２ａから離脱させることにより外気（大気圧）がフィッティング部３１の内部に導入される。これにより、フィッティング部３１は、袋状部材１８０の内部に充填された多数の粒状部材１８２間の摩擦が減少して流動状態となる。そのため、フィッティング部３１は、多数の粒状部材１８２が袋状部材１８０の内部を自由に移動することができるので、表面が柔らかい状態に復帰する。 After the pressure adjustment, outside air (atmospheric pressure) is introduced into the fitting part 31 by detaching the outer closing part 154 of the valve part 150 from the outer opening 152a of the cylindrical part 152. As a result, the fitting portion 31 enters a fluidized state with reduced friction between the large number of granular members 182 filled in the bag-like member 180. Therefore, the fitting part 31 returns to a soft state because the many granular members 182 can freely move inside the bag-shaped member 180.
　さらに、袋状部材１８０の内部には、予め液状の接着剤を噴霧することで粒状部材１８２の表面に接着層を形成することにより、減圧と共に、多数の粒状部材１８２同士を接着することが可能になる。従って、装着時に袋状部材１８０の内部を減圧することで多数の粒状部材１８２同士が接触状態のまま接着されてフィッティング部３１の形状を装着者１２の当接部分の体形に応じた形状に成形することができる。そのため、例えば、袋状部材１８０が破損して内部に空気が流入した場合でも、フィッティング部３１の形状は装着者１２の当接部分の体形に応じた形状を維持することが可能になる。 Furthermore, by forming a bonding layer on the surface of the granular member 182 by spraying a liquid adhesive in advance inside the bag-shaped member 180, it is possible to bond a large number of granular members 182 together with a reduced pressure. become. Therefore, by reducing the pressure inside the bag-shaped member 180 when worn, the large number of granular members 182 are bonded to each other while in contact with each other, and the shape of the fitting portion 31 is formed into a shape corresponding to the shape of the contact portion of the wearer 12. can do. Therefore, for example, even when the bag-like member 180 is damaged and air flows in, the shape of the fitting part 31 can be maintained according to the body shape of the contact part of the wearer 12.
　図９はフィッティング部３１の変形例を示す斜視図である。図９に示されるように、変形例のフィッティング部３１は、補強部１００の内周に沿うように上方からみてＣ字状に形成されると共に、装着者１２の背中に当接する当接部１８４を後ろ側に湾曲させるように形成される。これにより、装着者１２は、動作補助装着フレーム１８Ａが装着された状態でも背中を後方に反らす際にフィッティング部３１の上端縁部が背中に食い込むことがない。そのため、装着者１２は、動作補助装着フレーム１８Ａが装着された状態でも、上半身の動作が妨げられず、動作しやすくなる。 FIG. 9 is a perspective view showing a modified example of the fitting portion 31. As shown in FIG. 9, the fitting portion 31 of the modified example is formed in a C shape as viewed from above along the inner periphery of the reinforcing portion 100 and is in contact with the back of the wearer 12. Is curved to the rear side. As a result, the wearer 12 does not bite the upper edge of the fitting portion 31 into the back when the back is bent backwards even when the motion assisting mounting frame 18A is mounted. For this reason, the wearer 12 can easily operate even when the motion assisting mounting frame 18A is mounted, without hindering the movement of the upper body.
　図１０は実施例２の動作補助装着フレーム１８Ｂを示す斜視図である。図１１は実施例２の装着状態を示す横断面図である。図１２は補強部１００の内周面に実施例２のフィッティング部３１が固着された状態を示す斜視図である。図１３は実施例２のフィッティング部３１の内部圧力を減圧する際の方法を示す図である。
尚、図１０乃至図１３において、前述した実施例１と同一部分には、同一符号を付してその説明を省略する。また、各フィッティング部３１，７９，８１は、夫々同一構成であるので、以下の説明ではフィッティング部３１の構成について説明する。 FIG. 10 is a perspective view showing the operation assisting mounting frame 18B of the second embodiment. FIG. 11 is a cross-sectional view showing a mounting state of the second embodiment. FIG. 12 is a perspective view showing a state in which the fitting part 31 of Example 2 is fixed to the inner peripheral surface of the reinforcing part 100. FIG. 13 is a diagram illustrating a method for reducing the internal pressure of the fitting unit 31 according to the second embodiment.
10 to 13, the same parts as those of the first embodiment described above are denoted by the same reference numerals, and the description thereof is omitted. Moreover, since each fitting part 31,79,81 has the same structure, respectively, the structure of the fitting part 31 is demonstrated in the following description.
　図１０及び図１１に示されるように、動作補助装着フレーム１８Ｂにおいて、フィッティング部３１の袋状部材１８０は、複数の充填室２００を有する。複数の充填室２００は、夫々上下方向に延在形成された隔壁２０２によって仕切られている。また、隔壁２０２の上部には、隣接する充填室２００間を連通する連通管２０４が設けられている。 As shown in FIGS. 10 and 11, the bag-like member 180 of the fitting part 31 has a plurality of filling chambers 200 in the operation assisting mounting frame 18 </ b> B. The plurality of filling chambers 200 are partitioned by partition walls 202 extending in the vertical direction. In addition, a communication pipe 204 that communicates between adjacent filling chambers 200 is provided on the upper part of the partition wall 202.
　各充填室２００には、前述した多数の粒状部材１８２が充填されている。粒状部材１８２は、上下方向に延在形成された隔壁２０２によって仕切られているため、粒状部材１８２は、隔壁２０２によって隣接された他の充填室２００に移動することができない。そのため、非装着時に袋状部材１８０の内部が大気圧に戻されても、粒状部材１８２が偏った部分に集中することがなく、複数の充填室２００に充填された粒状部材１８２の充填率を平均化した状態を維持することができる。 Each filling chamber 200 is filled with the numerous granular members 182 described above. Since the granular member 182 is partitioned by the partition wall 202 extending in the vertical direction, the granular member 182 cannot move to another filling chamber 200 adjacent to the partition wall 202. Therefore, even when the inside of the bag-shaped member 180 is returned to atmospheric pressure when not attached, the granular member 182 does not concentrate on the biased portion, and the filling rate of the granular member 182 filled in the plurality of filling chambers 200 is increased. An averaged state can be maintained.
　各充填室２００においては、直径の異なる大きさの粒状部材１８２を複数種混ぜることにより、各充填室２００毎に減圧時の硬さを調整することが可能である。また、袋状部材１８０の容積に対する粒状部材１８２の充填率を各充填室２００毎に異ならせることで各部位での硬さを変えることも可能である。例えば、装着者１２の腰の背面側に当接する部分を固くして装着者１２の腰の左右の脇側に当接する部分を柔らかくすることも可能である。 In each filling chamber 200, it is possible to adjust the hardness during decompression for each filling chamber 200 by mixing a plurality of types of granular members 182 having different diameters. Moreover, it is also possible to change the hardness in each site | part by making the filling rate of the granular member 182 with respect to the volume of the bag-shaped member 180 differ for every filling chamber 200. FIG. For example, it is possible to harden the part that contacts the back side of the waist of the wearer 12 and soften the part that contacts the left and right sides of the waist of the wearer 12.
　図１２及び図１３に示されるように、弁部１５０は、１箇所のみである。そのため、当該弁部１５０に負圧発生手段１７０を接続することで、装着時に複数の充填室２００の圧力を一括して減圧することができる。また、脱着時には、弁部１５０を開弁させることで複数の充填室２００の圧力を一括して大気圧に復帰させることもできる。 As shown in FIG. 12 and FIG. 13, the valve portion 150 is only one place. Therefore, by connecting the negative pressure generating means 170 to the valve unit 150, the pressures of the plurality of filling chambers 200 can be collectively reduced at the time of mounting. Moreover, at the time of desorption | detachment | desorption, the valve part 150 can be opened, and the pressure of the some filling chamber 200 can also be collectively returned to atmospheric pressure.
　図１４は実施例２の変形例を示す斜視図である。図１４に示されるように、腰締結部材３０の補強部１００には、複数（本実施例では、３個）のフィッティング部３００，３１０，３２０が固着されている。 FIG. 14 is a perspective view showing a modification of the second embodiment. As shown in FIG. 14, a plurality (three in this embodiment) of fitting portions 300, 310, and 320 are fixed to the reinforcing portion 100 of the waist fastening member 30.
　第１フィッティング部３００は、おおよそ装着者１２の腰の背面側の体形に応じた曲面３０１を有する形状に成形された袋状部材３０２を有する。また、袋状部材３０２の内部は、上下方向に延在形成された隔壁３０４によって複数（本実施例では３つ）の充填室３０６に仕切られている。各充填室３０６には、多数の粒状部材１８２が充填されている。また、隔壁３０４の上部には、隣接する充填室２００間を連通する連通管３０８が設けられている。 The first fitting unit 300 includes a bag-like member 302 that is formed into a shape having a curved surface 301 that roughly corresponds to the shape of the back side of the waist of the wearer 12. Further, the interior of the bag-like member 302 is partitioned into a plurality of (three in this embodiment) filling chambers 306 by partition walls 304 extending in the vertical direction. Each filling chamber 306 is filled with a number of granular members 182. A communication pipe 308 that communicates between the adjacent filling chambers 200 is provided above the partition wall 304.
　また、第２、第３フィッティング部３１０，３２０は、おおよそ装着者１２の腰の左右両側の体形に応じた曲面３１１，３２１を有する形状に成形された袋状部材３１２，３２２を有する。また、袋状部材３１２，３２２の内部は、上下方向に延在形成された隔壁３１４，３２４によって複数（本実施例では２つ）の充填室３１６，３２６に仕切られている。各充填室３１６，３２６には、それぞれには多数の粒状部材１８２が充填されている。また、隔壁３１４，３２４の上部には、隣接する充填室２００間を連通する連通管３１８，３２８が設けられている。 Further, the second and third fitting parts 310 and 320 have bag- like members 312 and 322 formed into shapes having curved surfaces 311 and 321 corresponding to body shapes on the left and right sides of the waist of the wearer 12. The bag-shaped members 312 and 322 are partitioned into a plurality of (two in this embodiment) filling chambers 316 and 326 by partition walls 314 and 324 extending in the vertical direction. Each of the filling chambers 316 and 326 is filled with a number of granular members 182. In addition, communication pipes 318 and 328 communicating between adjacent filling chambers 200 are provided above the partition walls 314 and 324.
　このように、フィッティング部３００，３１０，３２０は、夫々袋状部材３０２，３１２，３２２が装着者１２の当接部分の体形に応じた曲面３０１，３１１，３２１を有する形状に成形されているので、装着時の減圧による変形量が小さくて済む。これにより、フィッティング部３００，３１０，３２０においては、空気の吸引量も減少し、減圧による固化時間を短縮することが可能になる。 As described above, the fitting portions 300, 310, and 320 are formed into shapes in which the bag-shaped members 302, 312, and 322 have curved surfaces 301, 311, and 321 corresponding to the body shape of the contact portion of the wearer 12, respectively. The amount of deformation due to reduced pressure during mounting can be small. Thereby, in the fitting parts 300, 310, and 320, the amount of air sucked also decreases, and the solidification time due to decompression can be shortened.
　さらに、フィッティング部３００，３１０，３２０の間には、スポンジ等の弾性体３４０が取り付けられている。弾性体３４０も装着者１２の当接部分に対応する曲面形状に形成されている。しかしながら、弾性体３４０は、フィッティング部３００，３１０，３２０間の谷間を埋めるスペーサであり、装着者１２に対するフィッティング圧力には影響しない。 Furthermore, an elastic body 340 such as a sponge is attached between the fitting parts 300, 310, and 320. The elastic body 340 is also formed in a curved surface shape corresponding to the contact portion of the wearer 12. However, the elastic body 340 is a spacer that fills the valley between the fitting portions 300, 310, and 320 and does not affect the fitting pressure on the wearer 12.
　各充填室３０６，３１６，３２６には、前述した多数の粒状部材１８２が充填されている。各充填室３０６，３１６，３２６は、上下方向に延在形成された隔壁３０４，３１４，３２４によって仕切られているため、粒状部材１８２は、隔壁３０４，３１４，３２４によって隣接された他の充填室３０６，３１６，３２６に移動することができない。そのため、非装着時に袋状部材１８０の内部が大気圧に戻されても、粒状部材１８２が偏った部分に集中することがなく、複数の充填室３０６，３１６，３２６に充填された粒状部材１８２の充填率を平均化した状態を維持することができる。 Each of the filling chambers 306, 316, 326 is filled with the above-described many granular members 182. Since each of the filling chambers 306, 316, 326 is partitioned by partition walls 304, 314, 324 extending in the vertical direction, the granular member 182 is separated from the other filling chambers adjacent by the partition walls 304, 314, 324. Cannot move to 306, 316, 326. Therefore, even if the inside of the bag-shaped member 180 is returned to atmospheric pressure when not attached, the granular member 182 does not concentrate on the biased portion, and the granular member 182 filled in the plurality of filling chambers 306, 316, 326. It is possible to maintain a state in which the filling rate is averaged.
　図１５は装着時にフィッティング部３００，３１０，３２０を減圧する方法を示す図である。図１５に示されるように、フィッティング部３００，３１０，３２０の弁部１５０に真空発生手段１７０に連通された圧力導入管３６０の分岐管３６１～３６３を接続する。 FIG. 15 is a diagram showing a method of depressurizing the fitting parts 300, 310, and 320 when being mounted. As shown in FIG. 15, branch pipes 361 to 363 of the pressure introduction pipe 360 connected to the vacuum generating means 170 are connected to the valve parts 150 of the fitting parts 300, 310, and 320.
　分岐管３６１～３６３には、弁装置３７１～３７３が配設されている。弁装置３７１～３７３は、通常閉弁状態を保持するノーマルクローズ方式の弁装置であり、例えば、操作部を押圧することにより開弁状態に切り替わる。また、負圧発生手段１７０により生成された負圧が弁装置３７１～３７３を介してフィッティング部３００，３１０，３２０に導入されると、フィッティング部３００，３１０，３２０は内部圧力が個別に減圧される。そのため、負圧発生手段１７０を用いてフィッティング部３００，３１０，３２０の各圧力を個別に調整して装着者１２の当接部分に対するフィッティング圧力を適宜調整することが可能になる。 In the branch pipes 361 to 363, valve devices 371 to 373 are arranged. The valve devices 371 to 373 are normally closed valve devices that maintain a normally closed state, and are switched to an open state by, for example, pressing an operation unit. Further, when the negative pressure generated by the negative pressure generating means 170 is introduced into the fitting units 300, 310, and 320 via the valve devices 371 to 373, the internal pressures of the fitting units 300, 310, and 320 are individually reduced. The Therefore, it is possible to appropriately adjust the fitting pressure for the contact portion of the wearer 12 by individually adjusting the pressures of the fitting portions 300, 310, and 320 using the negative pressure generating means 170.
　図１６は実施例３の動作補助装着フレームを示す斜視図である。図１６において、前述した実施例１、２と同一部分には、同一符号を付してその説明を省略する。また、各フィッティング部３１，７９，８１は、夫々同一構成であるので、以下の説明ではフィッティング部３１の構成について説明する。 FIG. 16 is a perspective view showing an operation assisting mounting frame of the third embodiment. In FIG. 16, the same parts as those in the first and second embodiments are denoted by the same reference numerals, and the description thereof is omitted. Moreover, since each fitting part 31,79,81 has the same structure, respectively, the structure of the fitting part 31 is demonstrated in the following description.
　図１６に示されるように、実施例３の動作補助装着フレーム１８Ｃには、各充填室２００の圧力を自動的に調整する圧力調整部４００が搭載されている。各充填室２００の当接面には、フィッティング圧力を検出するための面圧検出センサ（圧力検出手段）４１０が固着されている。面圧検出センサ４１０としては、例えば、歪みゲージあるいは圧電素子などの検出手段が用いられる。 As shown in FIG. 16, a pressure adjustment unit 400 that automatically adjusts the pressure in each filling chamber 200 is mounted on the operation assistance mounting frame 18 </ b> C of the third embodiment. A surface pressure detection sensor (pressure detection means) 410 for detecting the fitting pressure is fixed to the contact surface of each filling chamber 200. As the surface pressure detection sensor 410, for example, a detection means such as a strain gauge or a piezoelectric element is used.
　また、腰締結部材３０のバックル１４０には、係止用金具１４２が挿入されて係止状態にあることを検出するバックル結合検出スイッチ４２０が設けられている。バックル結合検出スイッチ４２０としては、係止用金具１４２がバックル１４０に挿入されることでオンに切り替わるマイクロスイッチが用いられる。あるいはバックル結合検出スイッチ４２０としては、係止用金具１４２に設けられた電気的接点がバックル１４０の挿入部に設けられた電気的接点に接触することで検出信号を出力するように構成されたスイッチを用いても良い。 Also, the buckle 140 of the waist fastening member 30 is provided with a buckle coupling detection switch 420 that detects that the locking metal fitting 142 is inserted and locked. As the buckle coupling detection switch 420, a micro switch that is turned on when the locking metal fitting 142 is inserted into the buckle 140 is used. Alternatively, as the buckle coupling detection switch 420, a switch configured to output a detection signal when an electrical contact provided on the locking bracket 142 contacts an electrical contact provided on the insertion portion of the buckle 140. May be used.
　図１７は圧力調整部４００の概略構成を模式的に示す図である。図１７に示されるように、圧力調整部４００は、上記面圧検出センサ４１０及びバックル結合検出スイッチ４２０からの検出信号を読み取って圧力制御の演算処を行なう制御装置４３０と、制御装置４３０からの制御信号により駆動制御される小型モータ４４０とを有する。また、圧力調整部４００は、小型モータ４４０の回転駆動力が減速ギヤ４５０を介して伝達される圧力導入手段としてのピストン・シリンダ機構４６０と、各充填室２００の任意の目標圧力を入力する目標圧力入力手段５００とを有する。また、制御装置４３０は、バッテリ４３２からの電源供給により圧力調整制御を行なう。 FIG. 17 is a diagram schematically showing a schematic configuration of the pressure adjusting unit 400. As shown in FIG. 17, the pressure adjustment unit 400 reads the detection signals from the surface pressure detection sensor 410 and the buckle coupling detection switch 420 and performs pressure control calculation processing, and the control device 430 A small motor 440 that is driven and controlled by a control signal. Further, the pressure adjusting unit 400 inputs a piston / cylinder mechanism 460 as pressure introducing means to which the rotational driving force of the small motor 440 is transmitted via the reduction gear 450, and a target for inputting an arbitrary target pressure in each filling chamber 200. Pressure input means 500. Control device 430 performs pressure adjustment control by power supply from battery 432.
　制御装置４３０のメモリ４３１には、バックル結合検出スイッチ４２０から出力された検出信号に基づいて動作補助装着フレーム１８Ｃが装着者１２に装着されたことを判定する装着判定手段としての制御プログラムが格納されている。さらに、制御装置４３０のメモリ４３１には、面圧検出センサ４１０から出力された検出信号に基づいてフィッティング部３１の各充填室２００と装着者１２の当接部分との面圧（フィッティング圧力）を規定圧力に調整する圧力調整手段としての制御プログラムが格納されている。 The memory 431 of the control device 430 stores a control program as a mounting determination unit that determines that the motion assisting mounting frame 18C is mounted on the wearer 12 based on the detection signal output from the buckle coupling detection switch 420. ing. Furthermore, the memory 431 of the control device 430 stores the surface pressure (fitting pressure) between each filling chamber 200 of the fitting unit 31 and the contact portion of the wearer 12 based on the detection signal output from the surface pressure detection sensor 410. A control program as pressure adjusting means for adjusting to the specified pressure is stored.
　また、ピストン・シリンダ機構４６０は、圧力導入管３６０の他端に接続されたシリンダ４７０と、シリンダ４７０を往復動可能に挿入されたピストン４８０と、ピストン４８０と一体に設けられたピストンロッド４９０とを有する。ピストンロッド４９０の外周には、雄ネジ４９２が形成されており、雄ネジ４９２はシリンダ４７０を貫通するネジ孔４７２に螺合している。 The piston / cylinder mechanism 460 includes a cylinder 470 connected to the other end of the pressure introducing pipe 360, a piston 480 inserted into the cylinder 470 so as to reciprocate, and a piston rod 490 provided integrally with the piston 480. Have A male screw 492 is formed on the outer periphery of the piston rod 490, and the male screw 492 is screwed into a screw hole 472 that passes through the cylinder 470.
　小型モータ４４０の回転駆動力が減速ギヤ４５０を介してピストンロッド４９０に伝達されると、ピストン４８０が軸方向に移動してシリンダ４７０内の容積を増減させる。また、ピストン４８の外周は、シール部材４８２によって気密にシールされているので、ピストン４８０の移動方向により圧力導入管３６０の一端が接続された充填室２００の空気を給排して充填室２００の圧力を微調整することが可能となる。 When the rotational driving force of the small motor 440 is transmitted to the piston rod 490 via the reduction gear 450, the piston 480 moves in the axial direction to increase or decrease the volume in the cylinder 470. Further, since the outer periphery of the piston 48 is hermetically sealed by a seal member 482, the air in the filling chamber 200 to which one end of the pressure introducing pipe 360 is connected is supplied and discharged according to the moving direction of the piston 480. The pressure can be finely adjusted.
　圧力調整部４００は、複数の充填室２００の各弁部１５０に圧力導入管３６０を一つずつ接続され、複数の充填室２００の夫々に対応して設けられ、各充填室２００を個別に圧力調整することが可能である。また、複数の充填室２００の各弁部１５０に圧力導入管３６０を並列接続することで、複数の充填室２００の圧力を一括して調整することも可能である。 The pressure adjusting unit 400 is connected to each valve unit 150 of each of the plurality of filling chambers 200 by one pressure introduction pipe 360, and is provided corresponding to each of the plurality of filling chambers 200. It is possible to adjust. Moreover, it is also possible to collectively adjust the pressures of the plurality of filling chambers 200 by connecting the pressure introducing pipes 360 in parallel to the valve portions 150 of the plurality of filling chambers 200.
　ここで、制御装置４３０が実行する圧力調整の制御処理について図１８、図１９Ａ、図１９Ｂを参照して説明する。図１８は動作補助装着フレーム１８Ｃが装着者１２に装着される際に実行される制御処理のフローチャートである。図１９Ａは動作補助装着フレーム１８Ｃが装着者１２に装着された状態のときに実行される制御処理１のフローチャートである。図１９Ｂは動作補助装着フレーム１８Ｃが装着者１２に装着された状態のときに実行される制御処理２のフローチャートである。 Here, the pressure adjustment control process executed by the control device 430 will be described with reference to FIGS. 18, 19A, and 19B. FIG. 18 is a flowchart of control processing executed when the motion assisting mounting frame 18 </ b> C is mounted on the wearer 12. FIG. 19A is a flowchart of the control process 1 executed when the motion assisting mounting frame 18C is attached to the wearer 12. FIG. 19B is a flowchart of the control process 2 executed when the motion assisting mounting frame 18 </ b> C is attached to the wearer 12.
　制御装置４３０は、図１８に示すＳ１１において、バックル結合検出スイッチ４２０がオンになったか否かをチェックする。装着者１２に動作補助装着フレーム１８Ｃが装着され、係止用金具１４２がバックル１４０に挿入されて係止されると、バックル結合検出スイッチ４２０がオンになり、検出信号が出力される。Ｓ１１において、バックル結合検出スイッチ４２０がオンになると（ＹＥＳの場合）、動作補助装着フレーム１８Ｃの装着作業が完了したものと判断し、Ｓ１２に進む。 The control device 430 checks whether or not the buckle coupling detection switch 420 is turned on in S11 shown in FIG. When the motion assisting mounting frame 18C is mounted on the wearer 12 and the locking bracket 142 is inserted into the buckle 140 and locked, the buckle coupling detection switch 420 is turned on and a detection signal is output. If the buckle connection detection switch 420 is turned on in S11 (in the case of YES), it is determined that the mounting operation of the motion auxiliary mounting frame 18C is completed, and the process proceeds to S12.
　Ｓ１２では、小型モータ４４０を負圧発生方向（減圧方向）に回転駆動させてピストン４８０を移動させてシリンダ４７０内の容積を増大させて充填室２００内の空気を吸引してフィッティング部３１の各充填室２００に負圧を導入する。これにより、各充填室２００の空気が吸引されるため、各充填室２００に充填された各粒状部材１８２間の摩擦が増大されて固化した状態に変化する。 In S12, the small motor 440 is rotationally driven in the negative pressure generation direction (depressurization direction), the piston 480 is moved to increase the volume in the cylinder 470, and the air in the filling chamber 200 is sucked to each of the fitting portions 31. A negative pressure is introduced into the filling chamber 200. Thereby, since the air in each filling chamber 200 is sucked, the friction between the granular members 182 filled in each filling chamber 200 is increased and changed into a solidified state.
　続いて、Ｓ１３に進み、面圧検出センサ４１０によって検出されたフィッティング圧力を読み込む。そして、Ｓ１４では、検出されたフィッティング圧力（検出圧力）と予め設定された目標圧力（設定値）とを比較し、フィッティング圧力（検出圧力）が目標圧力（設定値）に達したか否かをチェックする。 Subsequently, in S13, the fitting pressure detected by the surface pressure detection sensor 410 is read. In S14, the detected fitting pressure (detected pressure) is compared with a preset target pressure (set value) to determine whether or not the fitting pressure (detected pressure) has reached the target pressure (set value). To check.
　Ｓ１４において、フィッティング圧力（検出圧力）が目標圧力（設定値）に達していないときは（ＮＯの場合）、Ｓ１５に進み、負圧導入開始してから所定時間（例えば、５秒～１０秒）が経過したか否かをチェックする。Ｓ１５において、所定時間が経過していないときは（ＮＯの場合）、上記Ｓ１２に戻り、Ｓ１２以降の処理を行なう。 In S14, when the fitting pressure (detected pressure) does not reach the target pressure (set value) (in the case of NO), the process proceeds to S15, and a predetermined time (for example, 5 seconds to 10 seconds) after starting to introduce the negative pressure. Check if has passed. In S15, when the predetermined time has not elapsed (in the case of NO), the process returns to S12 and the processes after S12 are performed.
　また、Ｓ１４において、フィッティング圧力（検出圧力）が目標圧力（設定値）に達したときは（ＹＥＳの場合）、Ｓ１６に進み、負圧の導入を停止し、Ｓ１７でフィッティング部３１のフィッティングが完了したことを報知する。これにより、フィッティング部３１の当接面は、装着者１２の体形に応じた形状で固化され、補強部１００と装着者１２との間でのずれやがたつきを無くした状態になる。 In S14, when the fitting pressure (detected pressure) reaches the target pressure (set value) (in the case of YES), the process proceeds to S16, the introduction of the negative pressure is stopped, and the fitting of the fitting unit 31 is completed in S17. Notify that Thereby, the contact surface of the fitting part 31 is solidified in a shape according to the body shape of the wearer 12, and a state in which the shift or backlash between the reinforcing part 100 and the wearer 12 is eliminated is obtained.
　また、上記Ｓ１５において、所定時間が経過してもフィッティング圧力（検出圧力）が目標圧力（設定値）に達しないときは（ＮＯの場合）、Ｓ１８に進み、警報を発して異常（例えば、フィッティング部３１の破損による空気漏れ等）が発生したことを知らせる。続いて、Ｓ１９に進み、負圧導入を停止させる。 In S15, if the fitting pressure (detected pressure) does not reach the target pressure (set value) even if the predetermined time has elapsed (in the case of NO), the process proceeds to S18, where an alarm is issued and an abnormality (for example, fitting) The air leak or the like due to breakage of the part 31). Then, it progresses to S19 and a negative pressure introduction is stopped.
　また、動作補助装着フレーム１８Ｃが装着者１２に装着された装着中は、制御装置４３０により図１９Ａに示す圧力調整処理が所定時間間隔（例えば、５分～１０分毎）で行なわれる。図１９Ａに示すＳ２１において、バックル結合検出スイッチ４２０がオンであることを確認し、Ｓ２２に進む。Ｓ２２では、面圧検出センサ４１０によって検出されたフィッティング圧力を読み込む。そして、Ｓ２３では、面圧検出センサ４１０によって検出されたフィッティング圧力（検出圧力）が上限目標圧力（設定値Ａ）より大きいか否かをチェックする。 Further, while the motion assisting mounting frame 18C is mounted on the wearer 12, the pressure adjustment processing shown in FIG. 19A is performed by the control device 430 at predetermined time intervals (for example, every 5 to 10 minutes). In S21 shown in FIG. 19A, it is confirmed that the buckle coupling detection switch 420 is on, and the process proceeds to S22. In S22, the fitting pressure detected by the surface pressure detection sensor 410 is read. In S23, it is checked whether or not the fitting pressure (detected pressure) detected by the surface pressure detection sensor 410 is larger than the upper limit target pressure (set value A).
　Ｓ２３において、フィッティング圧力（検出圧力）が上限目標圧力（設定値Ａ）より大きい場合（ＹＥＳの場合）、Ｓ２４に進み、小型モータ４４０を空気供給方向（加圧方向）に回転駆動させてピストン４８０を移動させてシリンダ４７０内の容積を減少させてフィッティング部３１の各充填室２００に空気を供給する。これにより、各充填室２００の圧力が上昇して各粒状部材１８２間の摩擦が緩和された流動状態に変化する。 In S23, when the fitting pressure (detected pressure) is larger than the upper limit target pressure (set value A) (in the case of YES), the process proceeds to S24, and the small motor 440 is driven to rotate in the air supply direction (pressurizing direction). Is moved to reduce the volume in the cylinder 470 and air is supplied to each filling chamber 200 of the fitting portion 31. Thereby, the pressure of each filling chamber 200 rises and changes to a fluid state in which the friction between the granular members 182 is relaxed.
　続いて、Ｓ２５に進み、面圧検出センサ４１０によって検出されたフィッティング圧力（検出圧力）が一定か否かをチェックする。Ｓ２５において、フィッティング圧力（検出圧力）が変化した場合（ＮＯの場合）、フィッティング部３１からの空気漏れがないもの（正常）と判断し、上記Ｓ２２に戻り、再度、面圧検出センサ４１０によって検出されたフィッティング圧力を読み込み、Ｓ２３のフィッティング圧力の判定処理を繰り返す。また、Ｓ２４でフィッティング部３１の各充填室２００に空気を供給しているのに、上記Ｓ２５において、フィッティング圧力（検出圧力）が一定のとき（ＹＥＳの場合）は、フィッティング部３１からの空気漏れが生じたもの（異常）と判断し、Ｓ２９に進み、警報を発する。そして、Ｓ３０では、フィッティング部３１に対する圧力制御を中止する。 Subsequently, in S25, it is checked whether or not the fitting pressure (detected pressure) detected by the surface pressure detection sensor 410 is constant. In S25, when the fitting pressure (detected pressure) changes (in the case of NO), it is determined that there is no air leakage from the fitting part 31 (normal), and the process returns to S22 and is detected again by the surface pressure detection sensor 410. The determined fitting pressure is read, and the fitting pressure determination process in S23 is repeated. Further, when air is supplied to each filling chamber 200 of the fitting unit 31 in S24, but the fitting pressure (detected pressure) is constant (in the case of YES) in S25, air leaks from the fitting unit 31. Is determined (abnormal), the process proceeds to S29 and an alarm is issued. And in S30, the pressure control with respect to the fitting part 31 is stopped.
　また、上記Ｓ２３において、フィッティング圧力（検出圧力）が上限目標圧力（設定値Ａ）より小さい場合（ＮＯの場合）、Ｓ２６に進み、フィッティング圧力（検出圧力）が下限目標圧力（設定値Ｂ）より小さいか否かをチェックする。Ｓ２６において、フィッティング圧力（検出圧力）が下限目標圧力（設定値Ｂ）より小さい場合（ＹＥＳの場合）、Ｓ２７に進み、小型モータ４４０を負圧発生方向（減圧方向）に回転駆動させてピストン４８０を移動させてシリンダ４７０内の容積を増大させて充填室２００内の空気を吸引してフィッティング部３１の各充填室２００に負圧を導入する。 In S23, when the fitting pressure (detected pressure) is smaller than the upper limit target pressure (set value A) (in the case of NO), the process proceeds to S26, and the fitting pressure (detected pressure) is lower than the lower limit target pressure (set value B). Check if it is small. In S26, when the fitting pressure (detected pressure) is smaller than the lower limit target pressure (set value B) (in the case of YES), the process proceeds to S27, and the small motor 440 is driven to rotate in the negative pressure generation direction (reducing pressure direction). Is moved to increase the volume in the cylinder 470 and the air in the filling chamber 200 is sucked to introduce a negative pressure into each filling chamber 200 of the fitting portion 31.
　これにより、各充填室２００の空気が吸引されるため、各充填室２００に充填された各粒状部材１８２間の摩擦が増大されて固化した状態に変化する。続いて、Ｓ２８に進み、面圧検出センサ４１０によって検出されたフィッティング圧力（検出圧力）が下限圧力（設定値Ｃ＜Ｂ）より小さいか否かをチェックする。Ｓ２８において、フィッティング圧力（検出圧力）が下限圧力（設定値Ｃ）より大きい場合（ＮＯの場合）は、Ｓ２５に進み、面圧検出センサ４１０によって検出されたフィッティング圧力（検出圧力）が一定か否かをチェックする。各充填室２００に負圧を導入した後のＳ２５において、フィッティング圧力（検出圧力）が変化したとき（ＮＯの場合）はフィッティング部３１からの空気漏れがないもの（正常）と判断し、Ｓ２２以降の処理を繰り返す。また、Ｓ２５において、フィッティング圧力（検出圧力）が一定のとき（ＹＥＳの場合）は、フィッティング部３１からの空気漏れが生じたもの（異常）と判断し、Ｓ２９に進み、警報を発する。そして、Ｓ３０では、フィッティング部３１に対する圧力制御を中止する。 Thereby, since the air in each filling chamber 200 is sucked, the friction between the granular members 182 filled in each filling chamber 200 is increased and changed into a solidified state. Subsequently, the process proceeds to S28, in which it is checked whether or not the fitting pressure (detected pressure) detected by the surface pressure detection sensor 410 is smaller than the lower limit pressure (set value C <B). In S28, when the fitting pressure (detected pressure) is larger than the lower limit pressure (set value C) (in the case of NO), the process proceeds to S25, and whether or not the fitting pressure (detected pressure) detected by the surface pressure detection sensor 410 is constant. To check. When the fitting pressure (detected pressure) is changed (in the case of NO) in S25 after introducing the negative pressure into each filling chamber 200, it is determined that there is no air leakage from the fitting part 31 (normal), and after S22 Repeat the process. In S25, when the fitting pressure (detected pressure) is constant (in the case of YES), it is determined that air leakage from the fitting unit 31 has occurred (abnormal), and the process proceeds to S29 to issue an alarm. And in S30, the pressure control with respect to the fitting part 31 is stopped.
　また、Ｓ２８において、フィッティング圧力（検出圧力）が下限異常圧力（設定値Ｃ）より小さい場合（ＹＥＳの場合）は、充填室２００において、何らかの異常（例えば、粒状部材１８２の移動がスムーズに行なわれず、充填室２００の形状が歪形状となって装着者１２の体形にフィットしていない等）が発生している可能性が高いので、Ｓ２４に進み、充填室２００に空気を導入する。これにより、充填室２００は膨らんだ流動状態に戻り、再度フィッティング動作（充填室２００の空気導入、負圧導入）を繰り返すことができる。上記フィッティング動作を繰り返すことにより、装着者１２が体を動作させたり、姿勢を変えるができるので、粒状部材１８２の移動がスムーズに行なわれ充填室２００の形状を装着者１２の体形に合った形状に調整することが可能になる。続いて、Ｓ２５に進み、フィッティング圧力（検出圧力）が変化した場合（ＮＯの場合）、フィッティング部３１からの空気漏れがないもの（正常）と判断し、上記Ｓ２２に戻り、Ｓ２２以降の処理を繰り返す。 In S28, when the fitting pressure (detected pressure) is smaller than the lower limit abnormal pressure (set value C) (in the case of YES), some abnormality (for example, movement of the granular member 182 is not smoothly performed in the filling chamber 200). Since the shape of the filling chamber 200 is distorted and does not fit the body shape of the wearer 12), the process proceeds to S <b> 24 and air is introduced into the filling chamber 200. As a result, the filling chamber 200 returns to the inflated flow state, and the fitting operation (air introduction and negative pressure introduction into the filling chamber 200) can be repeated again. By repeating the fitting operation, the wearer 12 can move the body or change the posture, so that the granular member 182 moves smoothly and the shape of the filling chamber 200 matches the shape of the wearer 12. It becomes possible to adjust to. Subsequently, the process proceeds to S25, and when the fitting pressure (detected pressure) changes (in the case of NO), it is determined that there is no air leakage from the fitting unit 31 (normal), and the process returns to S22 and the processes after S22 are performed. repeat.
　そして、Ｓ２６において、フィッティング圧力（検出圧力）が下限目標圧力（設定値Ｂ）より大きい場合（ＮＯの場合）、目標圧力範囲（設定値ＡとＢの間）に調整されたため、充填室２００の圧力調整を行なわずにＳ２１に戻り、Ｓ２１以降の処理を繰り返す。このように、フィッティング圧力調整後もＳ２１以降の処理を行なうことで、常時フィッティング圧力を監視することが可能になる。 In S26, when the fitting pressure (detected pressure) is larger than the lower limit target pressure (set value B) (in the case of NO), it is adjusted to the target pressure range (between the set values A and B). The process returns to S21 without adjusting the pressure, and the processes after S21 are repeated. As described above, the fitting pressure can be constantly monitored by performing the processing after S21 even after adjusting the fitting pressure.
　また、上記Ｓ３０で、フィッティング部３１に対する圧力制御を中止した場合、空気漏れ箇所から空気が充填室２００に流入しており、充填室２００の圧力を調整することができないので、フィッティング部３１の破損箇所を修理する必要がある。 In addition, when the pressure control on the fitting portion 31 is stopped in S30, air is flowing into the filling chamber 200 from the air leakage location, and the pressure in the filling chamber 200 cannot be adjusted. It is necessary to repair the part.
　また、上記Ｓ２１において、バックル結合検出スイッチ４２０がオフである場合（ＮＯの場合）、動作補助装着フレーム１８Ｃのバックル１４０から係止用金具１４２が外されているため、圧力調整部４００による圧力調整を行なわず、フィッティング部３１に空気を供給してフィッティング部３１を使用前の状態（流動状態）に復帰させる（Ｓ３１）。続いて、上記Ｓ２９，Ｓ３０の処理を行なう。 In S21, when the buckle coupling detection switch 420 is off (in the case of NO), the locking metal fitting 142 is removed from the buckle 140 of the operation auxiliary mounting frame 18C. Without performing the above, air is supplied to the fitting unit 31 to return the fitting unit 31 to the state before use (flow state) (S31). Subsequently, the processes of S29 and S30 are performed.
　このように、圧力調整部４００によりフィッティング部３１の圧力を常に目標圧力に調整することが可能であるので、動作補助装着フレーム１８Ｃと装着者１２との間の駆動力の伝達をロスなく行える。 As described above, since the pressure of the fitting unit 31 can always be adjusted to the target pressure by the pressure adjusting unit 400, the transmission of the driving force between the operation assisting mounting frame 18C and the wearer 12 can be performed without loss.
　また、圧力調整部４００によるフィッティング部３１の圧力調整は、動作補助装着フレーム１８Ｃのバックル１４０に係止用金具１４２が係止された状態で行なわれるため、非装着状態で圧力制御を行なうことがなく、フィッティング部３１及び圧力調整部４００の負担を軽減することができる。 In addition, the pressure adjustment of the fitting portion 31 by the pressure adjustment portion 400 is performed in a state where the locking metal fitting 142 is locked to the buckle 140 of the operation assisting mounting frame 18C, and therefore pressure control can be performed in a non-mounted state. The burden on the fitting unit 31 and the pressure adjustment unit 400 can be reduced.
　次に制御装置４３０が実行する制御処理の変形例について図１９Ｂを参照して説明する。尚、図１９Ｂでは、前述した図１９Ａの処理と同じ処理については同じ処理番号を付してその説明を省略する。 Next, a modified example of the control process executed by the control device 430 will be described with reference to FIG. 19B. In FIG. 19B, the same processes as those in FIG. 19A described above are denoted by the same processing numbers and description thereof is omitted.
　図１９Ｂに示されるように、Ｓ２６において、フィッティング圧力（検出圧力）が下限目標圧力（設定値Ｂ）より大きい場合（ＮＯの場合）、目標圧力範囲（設定値ＡとＢの間）に調整されたため、Ｓ３２に進み、フィッティング圧力調整回数ｎに１を加算する。続いて、Ｓ３３に進み、フィッティング圧力調整回数ｎが予め設定された回数（例えば、３回）に達したか否かをチェックする。
　Ｓ３３において、フィッティング圧力調整回数ｎが予め設定された回数（例えば、３回）に達しない場合（ＮＯの場合）は、上記Ｓ２４に戻り、充填室２００に空気を導入する。これにより、充填室２００は膨らんだ状態に戻り、再度フィッティング動作（充填室２００の空気導入、負圧導入）を繰り返すことができる。上記フィッティング動作を繰り返すことにより、装着者１２が体を動作させたり、姿勢を変えることができるので、粒状部材１８２の移動がスムーズに行なわれ充填室２００の形状を装着者１２の体形に合った形状に調整することが可能になる。続いて、Ｓ２５に進み、フィッティング圧力（検出圧力）が変化した場合（ＮＯの場合）、フィッティング部３１からの空気漏れがないもの（正常）と判断し、上記Ｓ２２に戻り、Ｓ２２以降の処理を繰り返す。 As shown in FIG. 19B, in S26, when the fitting pressure (detected pressure) is larger than the lower limit target pressure (set value B) (in the case of NO), the target pressure range (between the set values A and B) is adjusted. Therefore, the process proceeds to S32, and 1 is added to the fitting pressure adjustment count n. Subsequently, in S33, it is checked whether or not the fitting pressure adjustment number n has reached a preset number (for example, three times).
In S33, when the fitting pressure adjustment frequency n does not reach a preset number (for example, 3 times) (in the case of NO), the process returns to S24 and air is introduced into the filling chamber 200. Thereby, the filling chamber 200 returns to the expanded state, and the fitting operation (air introduction and negative pressure introduction into the filling chamber 200) can be repeated again. By repeating the fitting operation, the wearer 12 can move the body or change the posture, so that the granular member 182 moves smoothly and the shape of the filling chamber 200 matches the body shape of the wearer 12. It becomes possible to adjust the shape. Subsequently, the process proceeds to S25, and when the fitting pressure (detected pressure) changes (in the case of NO), it is determined that there is no air leakage from the fitting unit 31 (normal), and the process returns to S22 and the processes after S22 are performed. repeat.
　また、Ｓ３３において、フィッティング圧力調整回数ｎが予め設定された回数（例えば、３回）に達した場合（ＹＥＳの場合）は、Ｓ２１に戻る。また、フィッティング圧力調整後もＳ２１以降の処理を行なうことで、常時フィッティング圧力を監視することが可能になる。 In S33, when the fitting pressure adjustment frequency n reaches a preset number (for example, 3 times) (in the case of YES), the process returns to S21. In addition, the fitting pressure can be constantly monitored by performing the processing after S21 after adjusting the fitting pressure.
　尚、本変形例では、圧力調整回数を３回としたが、圧力調整回数は、装着者１２の動きに合わせて３回以上を設定することも可能である。 In this modification, the number of times of pressure adjustment is three, but the number of times of pressure adjustment can be set to three or more in accordance with the movement of the wearer 12.
　図２０は圧力調整部の変形例を示す図である。図２０に示されるように、圧力調整部６００は、内部が真空とされた真空タンク６１０と、真空タンク６１０に接続された圧力導入管３６０を開または閉とする負圧用電磁弁６２０と、圧力導入管３６０より分岐した分岐管６３０を開または閉とする大気用電磁弁６４０と、圧力導入管３６０の流量を微小流量に抑制する絞り６５０とを有する。真空タンク６１０と負圧用電磁弁６２０とにより圧力導入手段を構成している。 FIG. 20 is a view showing a modification of the pressure adjusting unit. As shown in FIG. 20, the pressure adjustment unit 600 includes a vacuum tank 610 whose inside is evacuated, a negative pressure electromagnetic valve 620 that opens or closes a pressure introduction pipe 360 connected to the vacuum tank 610, a pressure An atmospheric electromagnetic valve 640 that opens or closes the branch pipe 630 branched from the introduction pipe 360 and a throttle 650 that suppresses the flow rate of the pressure introduction pipe 360 to a minute flow rate are provided. The vacuum tank 610 and the negative pressure solenoid valve 620 constitute pressure introducing means.
　圧力調整部６００の制御装置４３０は、前述した圧力調整部４００の場合と同様に、面圧検出センサ４１０によって検出されたフィッティング圧力（検出圧力）に基づいて負圧用電磁弁６２０または大気用電磁弁６４０を開または閉に切替える。尚、負圧用電磁弁６２０及び大気用電磁弁６４０の内部流路は、微小流量となるように絞られている。そのため、負圧用電磁弁６２０及び大気用電磁弁６４０が開弁しても急激にフィッティング部３１の圧力が変化しないように流路面積がセッティングされている。 The control device 430 of the pressure adjustment unit 600 is similar to the pressure adjustment unit 400 described above in that the negative pressure solenoid valve 620 or the atmospheric solenoid valve is based on the fitting pressure (detected pressure) detected by the surface pressure detection sensor 410. Switch 640 to open or closed. Note that the internal flow paths of the negative pressure solenoid valve 620 and the atmospheric solenoid valve 640 are throttled so as to have a minute flow rate. Therefore, the flow path area is set so that the pressure of the fitting portion 31 does not change suddenly even if the negative pressure electromagnetic valve 620 and the atmospheric electromagnetic valve 640 are opened.
　上記圧力調整部６００では、負圧用電磁弁６２０及び大気用電磁弁６４０を開閉させるだけなので、バッテリ４３２の電力消費を節約することができるが、圧力調整回数に応じて真空タンク６１０を定期的に交換することになる。 In the pressure adjusting unit 600, since only the negative pressure electromagnetic valve 620 and the atmospheric electromagnetic valve 640 are opened and closed, the power consumption of the battery 432 can be saved, but the vacuum tank 610 is periodically changed according to the number of pressure adjustments. Will be replaced.
　図２１は実施例４の動作補助装着フレームを示す斜視図である。図２２は分離されたフィッティングユニット７００を示す斜視図である。図２１において、前述した実施例１、２、３と同一部分には、同一符号を付してその説明を省略する。また、各フィッティング部３１，７９，８１は、夫々同一構成であるので、以下の説明ではフィッティング部３１の構成について説明する。 FIG. 21 is a perspective view showing the operation assisting mounting frame of the fourth embodiment. FIG. 22 is a perspective view showing the fitting unit 700 separated. In FIG. 21, the same parts as those of the first, second, and third embodiments described above are denoted by the same reference numerals and the description thereof is omitted. Moreover, since each fitting part 31,79,81 has the same structure, respectively, the structure of the fitting part 31 is demonstrated in the following description.
　図２１、図２２に示されるように、実施例４の動作補助装着フレーム１８Ｄは、フィッティングユニット７００が腰締結部材３０の補強部１００から分離可能に設けられている。補強部１００の内周面には、フィッティングユニット７００を保持するための係合部７１０が突出している。係合部７１０の突出位置は、後述するフィッティングユニット７００の凹部７２０に対応する位置に設けられている。 21 and 22, the operation assisting mounting frame 18 </ b> D according to the fourth embodiment is provided with the fitting unit 700 so as to be separable from the reinforcing portion 100 of the waist fastening member 30. An engaging portion 710 for holding the fitting unit 700 protrudes from the inner peripheral surface of the reinforcing portion 100. The protruding position of the engaging portion 710 is provided at a position corresponding to a concave portion 720 of the fitting unit 700 described later.
　フィッティングユニット７００は、装着者１２が下着の上に装着するインナーウエア７３０の外側表面に一体的に設けられている。フィッティングユニット７００は、インナーウエア７３０の背面側に縫合された第１フィッティング部７４０とインナーウエア７３０の左右両側に縫合された第２フィッティング部７５０、第３フィッティング部７６０を有する。 The fitting unit 700 is integrally provided on the outer surface of the inner wear 730 worn by the wearer 12 on the underwear. The fitting unit 700 includes a first fitting portion 740 stitched to the back side of the inner wear 730, a second fitting portion 750 stitched to the left and right sides of the inner wear 730, and a third fitting portion 760.
　第１フィッティング部７４０は、装着者１２の腰の背面側に位置するように成形された袋状部材からなり、袋状部材の内部には、粒状部材１８２が充填されている。 The first fitting portion 740 is made of a bag-like member that is shaped so as to be positioned on the back side of the waist of the wearer 12, and the bag-like member is filled with a granular member 182.
　また、第２、第３フィッティング部７５０，７６０は、装着者１２の腰の左右両側に位置するように成形された袋状部材からなり、袋状部材の内部には、粒状部材１８２が充填されている。 The second and third fitting portions 750 and 760 are formed of bag-shaped members that are formed on the left and right sides of the waist of the wearer 12, and the bag-shaped member is filled with a granular member 182. ing.
　図２３は動作補助装着フレーム１８Ｄにフィッティングユニット７００を係合させた状態を示す横断面図である。図２３に示されるように、インナーウエア７３０を装着した装着者１２は、動作補助装着フレーム１８Ｄを装着する際にフィッティングユニット７００の凹部７２０を補強部１００の係合部７１０と位置合わせを行なった後、係止用金具１４２をバックル１４０に挿入させて係止させる。続いて、各フィッティング部７４０、７５０，７６０に負圧を導入する操作を行なって各フィッティング部７４０、７５０，７６０を固化させる。これで、フィッティングユニット７００は、装着者１２の腰の背面側及び左右両側に密着した形状に固化され、動作補助装着フレーム１８Ｄからの駆動力をロス無く装着者１２に伝達することが可能になる。 FIG. 23 is a cross-sectional view showing a state in which the fitting unit 700 is engaged with the motion assisting mounting frame 18D. As shown in FIG. 23, the wearer 12 wearing the inner wear 730 aligns the concave portion 720 of the fitting unit 700 with the engaging portion 710 of the reinforcing portion 100 when wearing the motion assisting wearing frame 18D. Thereafter, the locking metal fitting 142 is inserted into the buckle 140 and locked. Subsequently, an operation of introducing a negative pressure to each fitting part 740, 750, 760 is performed to solidify each fitting part 740, 750, 760. As a result, the fitting unit 700 is solidified into a shape that is in close contact with the back side and the left and right sides of the waist of the wearer 12, and can transmit the driving force from the motion assisting wearing frame 18D to the wearer 12 without loss. .
　また、各フィッティング部７４０、７５０，７６０に空気（大気圧）を導入することにより、動作補助装着フレーム１８Ｄの補強部１００とフィッティングユニット７００との係合状態が解除されて装着者１２から動作補助装着フレーム１８Ｄを外すことが可能になる。 Further, by introducing air (atmospheric pressure) to each fitting portion 740, 750, 760, the engagement state between the reinforcing portion 100 of the motion assisting mounting frame 18D and the fitting unit 700 is released, and motion assisting from the wearer 12 is performed. The mounting frame 18D can be removed.
　このように、フィッティングユニット７００は、動作補助装着フレーム１８Ｄから分離可能であるので、例えば、リハビリテーションなどの施設で複数の患者が１台の動作補助装着フレーム１８Ｄを共用する場合、各人がフィッティングユニット７００を有するインナーウエア７３０を用意すれば、各人の体形による差違に拘わらず、動作補助装着フレーム１８Ｄを使用したリハビリテーションを実施することが可能になる。 Thus, since the fitting unit 700 is separable from the motion assisting mounting frame 18D, for example, when a plurality of patients share one motion assisting mounting frame 18D in a facility such as rehabilitation, each person has the fitting unit 700D. If the inner wear 730 having 700 is prepared, it is possible to perform rehabilitation using the motion assisting mounting frame 18D regardless of the difference in the body shape of each person.
　尚、インナーウエア７３０の形態としては、図２２に示すようなスパッツ型のものに限らず、例えば、装着者１２のウエスト回りに密着する腹巻き型のもの、あるいは肩からウエスト部分まで覆うようなベスト型のものでも良い。 The form of the inner wear 730 is not limited to the spats type as shown in FIG. 22, for example, a belly-wrap type that adheres around the waist of the wearer 12, or a vest that covers from the shoulder to the waist. A mold may be used.
　ここで、図２４乃至図２７を参照して上記実施例の他の変形例について説明する。 Here, another modification of the above embodiment will be described with reference to FIGS.
　図２４は実施例１の他の変形例を示す横断面図である。図２４に示されるように、装着者１２の腰回りには、サポート部材８００が装着されている。サポート部材８００は、装着者１２の腰回りに装着されることにより、外側に広げられると共に、内側の装着者１２に対して締付け力を発生させる伸縮性及び高摩擦性を有する繊維素材により織られている。また、サポート部材８００は、表面が多数の凹凸を有してゴム材のように摩擦係数が高くなっており、装着者１２及びフィッティング部３１との間で滑り止めとしても作用する。すなわち、サポート部材８００は、内周面が装着者１２の腰回り密着すると共に、外周面がフィッティング部３１の表面に密着する。 FIG. 24 is a cross-sectional view showing another modification of the first embodiment. As shown in FIG. 24, a support member 800 is attached around the waist of the wearer 12. The support member 800 is woven by a fiber material having stretchability and high friction properties that are spread outward when worn around the waist of the wearer 12 and generates a tightening force on the wearer 12 inside. ing. The support member 800 has a large number of irregularities on the surface and has a high friction coefficient like a rubber material, and also acts as a slip stopper between the wearer 12 and the fitting portion 31. That is, the support member 800 has an inner peripheral surface that is in close contact with the waist of the wearer 12 and an outer peripheral surface that is in close contact with the surface of the fitting portion 31.
　フィッティング部３１の内部に充填された各粒状部材１８２は、前述した圧力調整によりフィッティング部３１の内部が減圧されると共に、固化状態に変化してサポート部材８００を介した装着者１２の体形に応じた形状になる。従って、フィッティング部３１は、各粒状部材１８２が固化状態に変化することにより、サポート部材８００の外周面の形状に合った形状に変化して密着状態を保持する。 Each of the granular members 182 filled in the fitting portion 31 is depressurized in the fitting portion 31 by the pressure adjustment described above, and changes into a solidified state according to the body shape of the wearer 12 via the support member 800. Shape. Accordingly, the fitting portion 31 changes to a shape that matches the shape of the outer peripheral surface of the support member 800 and maintains the close contact state when each granular member 182 changes to a solidified state.
　さらに、伸縮性及び表面に高摩擦性を有するサポート部材８００により、装着者１２が歩行動作を行なう際にフィッティング部３１が滑りにくくなり、モータ駆動力発生時の装着者１２とフィッティング部３１との間のがたつきが防止される。 Furthermore, the support member 800 having stretchability and high friction on the surface makes it difficult for the fitting portion 31 to slip when the wearer 12 performs a walking motion, and the wearer 12 and the fitting portion 31 when the motor driving force is generated. The rattling between them is prevented.
　尚、上記サポート部材８００は、前述した腿締結部材７８のフィッティング部７９が装着される腿、及び脛締結部材８０のフィッティング部８１が装着される脛にも装着可能なサイズが用意されており、装着者１２の意思によって適宜装着される。 The support member 800 has a size that can be attached to the thigh to which the fitting portion 79 of the thigh fastening member 78 is attached and the shin to which the fitting portion 81 of the shin fastening member 80 is attached. It is appropriately worn according to the intention of the wearer 12.
　図２５は実施例２の他の変形例を示す横断面図である。図２５に示されるように、フィッティング部３１には、複数の充填室２００が設けられており、複数の充填室２００の表面がサポート部材８００の外周面に密着する。本変形例では、フィッティング部３１に多数の粒状部材１８２が充填された複数の充填室２００が設けられている。各充填室２００の表面と装着者１２との間には、伸縮性及び表面に高摩擦性を有するサポート部材８００が介在する。そのため、前述した圧力調整により各充填室２００の表面が個別に変形した際の形状に関わらず、装着者１２とフィッティング部３１との間は滑りにくくなり、モータ駆動力発生時の装着者１２とフィッティング部３１との間のがたつきが防止される。 FIG. 25 is a cross-sectional view showing another modification of the second embodiment. As shown in FIG. 25, the fitting portion 31 is provided with a plurality of filling chambers 200, and the surfaces of the plurality of filling chambers 200 are in close contact with the outer peripheral surface of the support member 800. In this modification, a plurality of filling chambers 200 in which a large number of granular members 182 are filled in the fitting portion 31 are provided. Between the surface of each filling chamber 200 and the wearer 12, a support member 800 having stretchability and high friction on the surface is interposed. Therefore, regardless of the shape when the surface of each filling chamber 200 is individually deformed by the pressure adjustment described above, the wearer 12 and the fitting portion 31 are less likely to slip, and the wearer 12 when the motor driving force is generated Shaking between the fitting part 31 is prevented.
　また、固化状態に変化した各充填室２００の表面形状によって装着者１２との接触面積が小さくなった場合でも、サポート部材８００によって各充填室２００の表面と装着者１２との密着性が確保される。 Further, even when the contact area with the wearer 12 is reduced due to the surface shape of each filling chamber 200 changed to a solidified state, the support member 800 ensures the adhesion between the surface of each filling chamber 200 and the wearer 12. The
　図２６は実施例４の変形例を示す斜視図である。図２７は実施例４の変形例を示す横断面図である。図２６に示されるように、インナーウエア７３０は、フィッティング部７４０、７５０、７６０が取り付けられたサポート部材８００と、サポート部材８００よりも軟らかく薄い素材によって形成されたスパッツ部８１０とを一体的に縫合してなる。サポート部材８００は、装着者１２のウエスト部分に密着し、スパッツ部８１０はサポート部材８００より下方のヒップ部分及び下肢部分に密着する。 FIG. 26 is a perspective view showing a modification of the fourth embodiment. FIG. 27 is a cross-sectional view showing a modification of the fourth embodiment. As shown in FIG. 26, the inner wear 730 integrally stitches together the support member 800 to which the fitting portions 740, 750, and 760 are attached and the spats portion 810 formed of a softer and thinner material than the support member 800. Do it. The support member 800 is in close contact with the waist portion of the wearer 12, and the spats 810 is in close contact with the hip and lower limb portions below the support member 800.
　従って、サポート部材８００は、インナーウエア７３０のウエスト部分を構成しており、装着者１２がインナーウエア７３０を装着すると共に、装着者１２の腰回りに密着する。 Therefore, the support member 800 constitutes a waist portion of the inner wear 730, and the wearer 12 wears the inner wear 730 and is in close contact with the waist of the wearer 12.
　図２７に示されるように、サポート部材８００の外周面には、フィッティング部７４０、７５０、７６０が一体的に設けられているので、前述した実施例４の場合と同様に、インナーウエア７３０を装着した装着者１２は、各フィッティング部７４０、７５０、７６０間の凹部７２０に補強部１００の係合部７１０が嵌合するように位置合わせを行なって、動作補助装着フレーム１８Ｄを装着する。そして、腰締結部材３０の係止用金具１４２をバックル１４０に挿入させて係止させる。 As shown in FIG. 27, the fitting portions 740, 750, and 760 are integrally provided on the outer peripheral surface of the support member 800, so that the inner wear 730 is attached as in the case of the fourth embodiment described above. The wearer 12 performs positioning so that the engaging portion 710 of the reinforcing portion 100 fits into the concave portion 720 between the fitting portions 740, 750, and 760, and attaches the motion assisting mounting frame 18D. Then, the locking fitting 142 of the waist fastening member 30 is inserted into the buckle 140 and locked.
　続いて、前述した圧力調整により各フィッティング部７４０、７５０，７６０に負圧を導入すると、各フィッティング部７４０、７５０，７６０は、内部に充填された多数の粒状部材１８２が流動状態から固化状態に変化し、サポート部材８００を介して装着者１２の体形に応じた形状に成形される。 Subsequently, when a negative pressure is introduced into each fitting part 740, 750, 760 by the pressure adjustment described above, each of the fitting parts 740, 750, 760 changes the number of granular members 182 filled therein from a fluidized state to a solidified state. It changes and is shape | molded by the shape according to the wearer's 12 body via the support member 800. FIG.
　このように、装着者１２は、インナーウエア７３０を着ることにより、サポート部材８００及び各フィッティング部７４０、７５０，７６０を装着することができるので、動作補助装着フレーム１８Ｄを装着する前の準備作業が容易になる。 As described above, the wearer 12 can wear the support member 800 and the fitting portions 740, 750, and 760 by wearing the inner wear 730. Therefore, the preparatory work before the operation assisting mounting frame 18D is mounted can be performed. It becomes easy.
　本国際出願は、２００７年１２月２１日に出願した日本国特許出願２００７－３３０６２８号に基づく優先権を主張するものであり、日本国特許出願２００７－３３０６２８号の全内容を本国際出願に援用する。 This international application claims priority based on Japanese Patent Application No. 2007-330628 filed on Dec. 21, 2007, and the entire contents of Japanese Patent Application No. 2007-330628 are incorporated herein by reference. To do.

Claims (14)

  1. 　装着者の意思に応じた駆動力を発生させる駆動部と、
    　該駆動部による駆動力を前記装着者に伝達するためのフレーム部材と、
    　該フレーム部材を前記装着者の所定箇所に締結する締結部材と、
    　該締結部材と前記装着者との間に介在し、前記装着者の所定箇所に当接するフィッティング部と、
    を有する装着式動作補助装置であって、
    　前記フィッティング部は、前記装着者に装着されるまで変形可能な流動状態であり、前記装着者に装着された後に前記装着者に当接する部分の体形に応じた形状に変化するように構成されたことを特徴とする装着式動作補助装置。     A driving unit that generates a driving force according to the intention of the wearer;
    A frame member for transmitting a driving force by the driving unit to the wearer;
    A fastening member for fastening the frame member to a predetermined location of the wearer;
    A fitting portion interposed between the fastening member and the wearer and abutting on a predetermined location of the wearer;
    A wearable motion assist device comprising:
    The fitting portion is in a fluid state that can be deformed until being worn by the wearer, and is configured to change into a shape corresponding to a body shape of a portion that comes into contact with the wearer after being worn by the wearer. A wearable motion assisting device.
  2. 　請求項１に記載の装着式動作補助装置であって、
    　前記フィッティング部は、内部に気体の給排に応じて硬さが変化する充填材が充填されており、前記装着者に装着された状態で気体を排出されると前記装着者に当接する部分の体形に応じた形状に充填材が固化され、気体が供給されると前記充填材が流動状態に戻されることを特徴とする装着式動作補助装置。     The wearable movement assist device according to claim 1,
    The fitting portion is filled with a filler whose hardness changes in accordance with supply and discharge of gas, and a portion of the fitting portion that comes into contact with the wearer when the gas is discharged while being worn by the wearer. A wearable motion assisting device, wherein the filler is solidified into a shape corresponding to the body shape, and when the gas is supplied, the filler is returned to a fluid state.
  3. 　請求項１に記載の装着式動作補助装置であって、
    　前記フィッティング部は、
    　前記装着者の当接部分に応じた形状の袋状部材と、
    　該袋状部材の内部に充填された多数の粒状部材と、からなり、
    　前記袋状部材は、前記装着者に当接した状態で負圧を導入されると共に、前記多数の粒状部材を固化状態に変化させることを特徴とする装着式動作補助装置。     The wearable movement assist device according to claim 1,
    The fitting part is
    A bag-like member having a shape corresponding to the contact portion of the wearer;
    A plurality of granular members filled in the bag-shaped member,
    The bag-like member is introduced with a negative pressure while being in contact with the wearer, and changes the numerous granular members to a solidified state.
  4. 　請求項３に記載の装着式動作補助装置であって、
    　前記袋状部材は、前記粒状部材が充填される複数の充填室を有することを特徴とする装着式動作補助装置。     The wearable motion assist device according to claim 3,
    The pouch-like member has a plurality of filling chambers filled with the granular member.
  5. 　請求項４に記載の装着式動作補助装置であって、
    　前記複数の充填室は、それぞれ異なる種類の粒状部材が充填されることを特徴とする装着式動作補助装置。     The wearable motion assist device according to claim 4,
    The plurality of filling chambers are filled with different types of granular members, respectively.
  6. 　請求項４に記載の装着式動作補助装置であって、
    　前記複数の充填室は、それぞれ異なる充填率で粒状部材が充填されることを特徴とする装着式動作補助装置。     The wearable motion assist device according to claim 4,
    The plurality of filling chambers are filled with granular members at different filling rates, respectively.
  7. 　請求項４に記載の装着式動作補助装置であって、
    　前記複数の充填室は、予めそれぞれ当接する前記装着者の当接部分の体形に応じた形状に形成されてなることを特徴とする装着式動作補助装置。     The wearable motion assist device according to claim 4,
    The plurality of filling chambers are formed in a shape corresponding to the body shape of the abutting portion of the wearer that abuts in advance, respectively.
  8. 　請求項４に記載の装着式動作補助装置であって、
    　前記複数の充填室のそれぞれに設けられ、前記複数の充填室の圧力を個別に調整する圧力調整部を有することを特徴とする装着式動作補助装置。     The wearable motion assist device according to claim 4,
    A wearable motion assisting device, comprising: a pressure adjusting unit that is provided in each of the plurality of filling chambers and individually adjusts the pressure of the plurality of filling chambers.
  9. 　請求項８に記載の装着式動作補助装置であって、
    　前記圧力調整部は、
    　前記複数の充填室のそれぞれの圧力を個別に検出する圧力検出手段と、
    　該圧力検出手段によって検出された圧力値に基づき、前記複数の室の圧力を予め設定された目標値に調整するように加圧または減圧する圧力導入手段と、
    　を備えたことを特徴とする装着式動作補助装置。     The wearable movement assist device according to claim 8,
    The pressure adjusting unit is
    Pressure detecting means for individually detecting the pressure of each of the plurality of filling chambers;
    Pressure introducing means for pressurizing or depressurizing the pressure in the plurality of chambers to a preset target value based on the pressure value detected by the pressure detecting means;
    A wearable movement assist device characterized by comprising:
  10. 　請求項１に記載の装着式動作補助装置であって、
    　前記フィッティング部は、前記締結部材から分離可能に設けられたことを特徴とする装着式動作補助装置。     The wearable movement assist device according to claim 1,
    The fitting type motion assisting device, wherein the fitting portion is provided so as to be separable from the fastening member.
  11. 　請求項１０に記載の装着式動作補助装置であって、
    　前記フィッティング部は、前記装着者が着るインナーウエアに取り付けられており、装着時に前記締結部材に締結されることを特徴とする装着式動作補助装置。     The wearable movement assist device according to claim 10,
    The fitting type motion assisting device, wherein the fitting portion is attached to inner wear worn by the wearer and is fastened to the fastening member at the time of wearing.
  12. 　請求項３に記載の装着式動作補助装置であって、
    　前記フィッティング部は、前記装着者の複数箇所に当接するように複数個設けられ、
    　前記複数のフィッティング部は、それぞれが負圧導入経路により相互に連通され、該負圧導入経路を介して気体を吸引することで一括して負圧状態に切替える圧力調整部を有することを特徴とする装着式動作補助装置。     The wearable motion assist device according to claim 3,
    A plurality of the fitting portions are provided so as to contact a plurality of locations of the wearer,
    Each of the plurality of fitting units includes a pressure adjusting unit that is connected to each other through a negative pressure introduction path and that collectively switches to a negative pressure state by sucking gas through the negative pressure introduction path. Wearable motion assist device.
  13. 　請求項１に記載の装着式動作補助装置であって、
    　前記フィッティング部と前記装着者との間には、伸縮性及び高摩擦性を有するサポート部材を介在させることを特徴とする装着式動作補助装置。     The wearable movement assist device according to claim 1,
    A wearable motion assisting device, wherein a support member having stretchability and high friction is interposed between the fitting portion and the wearer.
  14. 　装着者の腰に装着され、前記装着者の腰背面側に締結される第１締結部材と、
    　該第１締結部材の内面に取付けられ、前記装着者の腰背面側に当接する第１フィッティング部と、
    　該第１締結部材の右側部から下方に設けられた右脚補助部と、
    　前記第１締結部材の左側部から下方に設けられた左脚補助部と、を有しており、
    　前記右脚補助部及び左脚補助部は、
    　前記第１締結部材を支持するように下方に延在するブラケットと、
    　該ブラケットより前記装着者の大腿部と平行に延在する第１フレームと、
    　該第１フレームに設けられ、前記装着者の大腿部の外周に締結される第２締結部材と、
    　該第２締結部材の内面に取付けられ、前記装着者の大腿部の外周に当接する第２フィッティング部と、
    　前記第１フレームより前記装着者の脛部と平行に下方に延在する第２フレームと、
    　該第２フレームに設けられ、前記装着者の脛部の外周に締結される第３締結部材と、
    　該第３締結部材の内面に取付けられ、前記装着者の脛部の外周に当接する第３フィッティング部と、
    　前記第２フレームの下端に設けられ、前記装着者の脚の裏が載置される第３フレームと、
    　前記ブラケットの下端と前記第１フレームの上端との間に介在する第１関節と、
    　該第１関節を駆動する第１駆動部と、
    　前記第１フレームの下端と前記第２フレームの上端との間に介在する第２関節と、
    　該第２関節を駆動する第２駆動部と、
    　を有し、
    　前記第１乃至第３フィッティング部は、前記装着者に装着されるまで変形可能な流動状態であり、前記装着者に装着された後に前記装着者に当接する部分の体形に応じた形状に変化することを特徴とする装着式動作補助装置。     A first fastening member attached to the waist of the wearer and fastened to the back side of the wearer;
    A first fitting part attached to the inner surface of the first fastening member and abutting on the waist back side of the wearer;
    A right leg auxiliary part provided downward from the right side part of the first fastening member;
    A left leg auxiliary portion provided below from the left side of the first fastening member,
    The right leg auxiliary part and the left leg auxiliary part are
    A bracket extending downward to support the first fastening member;
    A first frame extending in parallel with the wearer's thigh from the bracket;
    A second fastening member provided on the first frame and fastened to an outer periphery of the wearer's thigh;
    A second fitting portion attached to the inner surface of the second fastening member and contacting the outer periphery of the wearer's thigh;
    A second frame extending downward in parallel with the wearer's shin from the first frame;
    A third fastening member provided on the second frame and fastened to the outer periphery of the wearer's shin;
    A third fitting part attached to the inner surface of the third fastening member and contacting the outer periphery of the wearer's shin part;
    A third frame provided at the lower end of the second frame, on which the back of the leg of the wearer is placed;
    A first joint interposed between a lower end of the bracket and an upper end of the first frame;
    A first drive unit for driving the first joint;
    A second joint interposed between a lower end of the first frame and an upper end of the second frame;
    A second drive unit for driving the second joint;
    Have
    The first to third fitting parts are in a flowable state that can be deformed until they are worn by the wearer, and after being worn by the wearer, the first to third fitting parts change into a shape corresponding to the body shape of the portion that contacts the wearer. A wearable motion assisting device.
PCT/JP2008/072081 2007-12-21 2008-12-04 Wearable motion assist device WO2009081710A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2009547013A JP5002655B2 (en) 2007-12-21 2008-12-04 Wearable motion assist device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007330628 2007-12-21
JP2007-330628 2007-12-21

Publications (1)

Publication Number Publication Date
WO2009081710A1 true WO2009081710A1 (en) 2009-07-02

Family

ID=40801021

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/072081 WO2009081710A1 (en) 2007-12-21 2008-12-04 Wearable motion assist device

Country Status (2)

Country Link
JP (1) JP5002655B2 (en)
WO (1) WO2009081710A1 (en)

Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011110154A (en) * 2009-11-25 2011-06-09 Toyota Motor Corp Walking assisting device
JP4987148B1 (en) * 2011-07-22 2012-07-25 圭治郎 山本 Joint motion assist device
CN102846450A (en) * 2012-09-28 2013-01-02 中国科学院深圳先进技术研究院 Waist supporting part for exoskeleton robot and exoskeleton robot thereof
JP2013102827A (en) * 2011-11-10 2013-05-30 Honda Motor Co Ltd Force imparting device and control method of the same
JP2013116206A (en) * 2011-12-02 2013-06-13 Dainippon Printing Co Ltd Walking assist device
WO2014138871A1 (en) * 2013-03-15 2014-09-18 Bionik Laboratories, Inc. Transmission assembly for use in an exoskeleton apparatus
WO2014138876A1 (en) * 2013-03-15 2014-09-18 Bionik Laboratories, Inc. Strap assembly for use in an exoskeleton apparatus
CN106272337A (en) * 2016-08-25 2017-01-04 西南交通大学 A kind of wearable lower limb exoskeleton power-assisting robot
JP2017094425A (en) * 2015-11-20 2017-06-01 株式会社クボタ Assist suit
US9675514B2 (en) 2013-03-15 2017-06-13 Bionik Laboratories, Inc. Transmission assembly for use in an exoskeleton apparatus
CN107307971A (en) * 2017-06-09 2017-11-03 浙江安控科技有限公司 A kind of walker robot
US9855181B2 (en) 2013-03-15 2018-01-02 Bionik Laboratories, Inc. Transmission assembly for use in an exoskeleton apparatus
JP2018096003A (en) * 2016-12-15 2018-06-21 帝人株式会社 Garment having heating or cooling function
JP2018096001A (en) * 2016-12-14 2018-06-21 帝人株式会社 Air-conditioning garment
WO2019149316A1 (en) * 2018-01-31 2019-08-08 ReActive Robotics GmbH Cuff for receiving at least part of an outer extremity of a person
WO2019221101A1 (en) * 2018-05-15 2019-11-21 パナソニック株式会社 Movement assistance device
CN111110519A (en) * 2019-12-25 2020-05-08 南京理工大学 Multi-sensing intelligent wearable lower limb exoskeleton robot
US10736810B2 (en) 2013-07-19 2020-08-11 Bionik Laboratories, Inc. Control system for exoskeleton apparatus
JP2020532436A (en) * 2017-08-29 2020-11-12 ローム ロボティクス インコーポレイテッド Exoskeleton conformity assessment system and method
JP2021023749A (en) * 2019-08-09 2021-02-22 本田技研工業株式会社 Assist device control system and drive permission range determination method
US11642857B2 (en) 2020-02-25 2023-05-09 Roam Robotics Inc. Fluidic actuator manufacturing method
US11872181B2 (en) 2017-08-29 2024-01-16 Roam Robotics Inc. Semi-supervised intent recognition system and method
US11931307B2 (en) 2019-12-13 2024-03-19 Roam Robotics Inc. Skiing exoskeleton control method and system
JP7470278B2 (en) 2020-08-04 2024-04-18 ＡｓｓｉｓｔＭｏｔｉｏｎ株式会社 Assist Wear

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014023773A (en) * 2012-07-27 2014-02-06 Dainippon Printing Co Ltd Harness wearing state monitoring device and walking aid device
KR102250225B1 (en) * 2014-07-24 2021-05-10 삼성전자주식회사 A motion assistance apparatus and a control method thereof
KR101806670B1 (en) * 2016-03-04 2017-12-08 현대자동차주식회사 Combinable and separable apparatus of wearable robot
EP3476795B1 (en) * 2016-06-28 2023-08-02 Kubota Corporation Assist suit
JP2018176343A (en) * 2017-04-11 2018-11-15 パナソニック株式会社 Attachment device and movement support device

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0767901A (en) * 1993-08-10 1995-03-14 Smith & Nephew Donjoy Inc Orthosis for orthopedics
JPH1190064A (en) * 1997-09-19 1999-04-06 Manabu Maeda Shape retaining elastic form
WO2000041599A1 (en) * 1999-01-12 2000-07-20 Nihon Kodoiryo Kenkyukai Co., Ltd. Variable adjustment cushion device
JP2005230099A (en) * 2004-02-17 2005-09-02 Yoshiyuki Yamaumi Wearable action supporting apparatus, controlling method of drive source in wearable action supporting apparatus, and program
JP2006320350A (en) * 2005-05-17 2006-11-30 Wacoal Holdings Corp Thigh orthosis for walking assisting apparatus
JP2007098868A (en) * 2005-10-07 2007-04-19 Kb Seiren Ltd Shaped body keeping its shape
JP3132950U (en) * 2007-02-26 2007-06-28 俊弘 赤松 pillow
JP2007530817A (en) * 2004-03-31 2007-11-01 ブリストル−マイヤーズ　スクイブ　カンパニー Improved socks

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0767901A (en) * 1993-08-10 1995-03-14 Smith & Nephew Donjoy Inc Orthosis for orthopedics
JPH1190064A (en) * 1997-09-19 1999-04-06 Manabu Maeda Shape retaining elastic form
WO2000041599A1 (en) * 1999-01-12 2000-07-20 Nihon Kodoiryo Kenkyukai Co., Ltd. Variable adjustment cushion device
JP2005230099A (en) * 2004-02-17 2005-09-02 Yoshiyuki Yamaumi Wearable action supporting apparatus, controlling method of drive source in wearable action supporting apparatus, and program
JP2007530817A (en) * 2004-03-31 2007-11-01 ブリストル−マイヤーズ　スクイブ　カンパニー Improved socks
JP2006320350A (en) * 2005-05-17 2006-11-30 Wacoal Holdings Corp Thigh orthosis for walking assisting apparatus
JP2007098868A (en) * 2005-10-07 2007-04-19 Kb Seiren Ltd Shaped body keeping its shape
JP3132950U (en) * 2007-02-26 2007-06-28 俊弘 赤松 pillow

Cited By (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011110154A (en) * 2009-11-25 2011-06-09 Toyota Motor Corp Walking assisting device
JP4987148B1 (en) * 2011-07-22 2012-07-25 圭治郎 山本 Joint motion assist device
JP2013022296A (en) * 2011-07-22 2013-02-04 Keijiro Yamamoto Joint movement assist device
JP2013102827A (en) * 2011-11-10 2013-05-30 Honda Motor Co Ltd Force imparting device and control method of the same
JP2013116206A (en) * 2011-12-02 2013-06-13 Dainippon Printing Co Ltd Walking assist device
CN102846450A (en) * 2012-09-28 2013-01-02 中国科学院深圳先进技术研究院 Waist supporting part for exoskeleton robot and exoskeleton robot thereof
WO2014138871A1 (en) * 2013-03-15 2014-09-18 Bionik Laboratories, Inc. Transmission assembly for use in an exoskeleton apparatus
WO2014138876A1 (en) * 2013-03-15 2014-09-18 Bionik Laboratories, Inc. Strap assembly for use in an exoskeleton apparatus
US9421143B2 (en) 2013-03-15 2016-08-23 Bionik Laboratories, Inc. Strap assembly for use in an exoskeleton apparatus
US9675514B2 (en) 2013-03-15 2017-06-13 Bionik Laboratories, Inc. Transmission assembly for use in an exoskeleton apparatus
US9855181B2 (en) 2013-03-15 2018-01-02 Bionik Laboratories, Inc. Transmission assembly for use in an exoskeleton apparatus
US10736810B2 (en) 2013-07-19 2020-08-11 Bionik Laboratories, Inc. Control system for exoskeleton apparatus
JP2017094425A (en) * 2015-11-20 2017-06-01 株式会社クボタ Assist suit
CN106272337A (en) * 2016-08-25 2017-01-04 西南交通大学 A kind of wearable lower limb exoskeleton power-assisting robot
JP2018096001A (en) * 2016-12-14 2018-06-21 帝人株式会社 Air-conditioning garment
JP2018096003A (en) * 2016-12-15 2018-06-21 帝人株式会社 Garment having heating or cooling function
CN107307971A (en) * 2017-06-09 2017-11-03 浙江安控科技有限公司 A kind of walker robot
JP7066830B2 (en) 2017-08-29 2022-05-13 ローム ロボティクス インコーポレイテッド Exoskeleton conformity assessment system and method
US11872181B2 (en) 2017-08-29 2024-01-16 Roam Robotics Inc. Semi-supervised intent recognition system and method
JP2020532436A (en) * 2017-08-29 2020-11-12 ローム ロボティクス インコーポレイテッド Exoskeleton conformity assessment system and method
US11266561B2 (en) 2017-08-29 2022-03-08 Roam Robotics Inc. Exoskeleton fit evaluation system and method
CN111683638A (en) * 2018-01-31 2020-09-18 反应机器人技术有限公司 Cuff for accommodating at least a portion of an external limb of a person
WO2019149316A1 (en) * 2018-01-31 2019-08-08 ReActive Robotics GmbH Cuff for receiving at least part of an outer extremity of a person
WO2019221101A1 (en) * 2018-05-15 2019-11-21 パナソニック株式会社 Movement assistance device
JP2021023749A (en) * 2019-08-09 2021-02-22 本田技研工業株式会社 Assist device control system and drive permission range determination method
JP7099999B2 (en) 2019-08-09 2022-07-12 本田技研工業株式会社 Assist device control system and drive permission range determination method
US11931307B2 (en) 2019-12-13 2024-03-19 Roam Robotics Inc. Skiing exoskeleton control method and system
CN111110519B (en) * 2019-12-25 2022-06-24 南京理工大学 Multi-sensing intelligent wearable lower limb exoskeleton robot
CN111110519A (en) * 2019-12-25 2020-05-08 南京理工大学 Multi-sensing intelligent wearable lower limb exoskeleton robot
US11642857B2 (en) 2020-02-25 2023-05-09 Roam Robotics Inc. Fluidic actuator manufacturing method
JP7470278B2 (en) 2020-08-04 2024-04-18 ＡｓｓｉｓｔＭｏｔｉｏｎ株式会社 Assist Wear

Also Published As

Publication number Publication date
JPWO2009081710A1 (en) 2011-05-06
JP5002655B2 (en) 2012-08-15

Similar Documents

Publication Publication Date Title
JP5002655B2 (en) Wearable motion assist device
US11259980B2 (en) Soft inflatable exosuit for knee rehabilitation
JP5313609B2 (en) Frame structure of wearable motion assist device.
US9480618B2 (en) Portable active pneumatically powered ankle-foot orthosis
EP1983963B1 (en) Control unit assembly
US20110112447A1 (en) Portable active fluid powered ankle-foot orthosis
US20150025653A1 (en) Neuromorphic controlled powered orthotic and prosthetic system
EP2688526B1 (en) Supportive belt assembly for lower extremity orthotic devices
KR100651638B1 (en) Muscle fiber expansion sensor of robot for assistant exoskeletal power
WO2006123514A1 (en) Thigh part mounting device for walking assisting device
US20210370494A1 (en) Fit and suspension systems and methods for a mobile robot
CA2855996C (en) Medical support and compression stocking
JP6152523B2 (en) Prosthesis-mounted motion assist device
CA3179858A1 (en) Modular exoskeleton systems and methods
US20210322252A1 (en) Low-volume inflatable actuator composites for wearable applications and portable pneumatic source
EP3515394B1 (en) Legged mobility exoskeleton device with enhanced adjustment mechanisms
JP5493143B2 (en) Wearing aid
CN111096875A (en) Flexible bearing waist and back mechanism, power-assisted support and portable power-assisted equipment thereof
Kim et al. Proof-of-concept of a pneumatic ankle foot orthosis powered by a custom compressor for drop foot correction
Garcia et al. Development of the atlas lower-limb active orthosis
Xu et al. Reducing migration of knee exoskeletons with dynamic Waist strap
US20230055998A1 (en) Actuator features to improve function of a mobile robot
CN111096874A (en) Foot balance mechanism, power assisting support and portable power assisting device
CN220213176U (en) Mermaid bionic lower limb orthosis
US11986403B2 (en) Modular adjustable prosthetic volume compensation system

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 08863779

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2009547013

Country of ref document: JP

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 08863779

Country of ref document: EP

Kind code of ref document: A1