WO2014061269A1 - Muscular strength assisting device - Google Patents

Muscular strength assisting device Download PDF

Info

Publication number
WO2014061269A1
WO2014061269A1 PCT/JP2013/006137 JP2013006137W WO2014061269A1 WO 2014061269 A1 WO2014061269 A1 WO 2014061269A1 JP 2013006137 W JP2013006137 W JP 2013006137W WO 2014061269 A1 WO2014061269 A1 WO 2014061269A1
Authority
WO
WIPO (PCT)
Prior art keywords
user
assisting
force
detection unit
unit
Prior art date
Application number
PCT/JP2013/006137
Other languages
French (fr)
Japanese (ja)
Inventor
山本　雅也
尾鷲　幹夫
友介 森野
淳也 石川
Original Assignee
株式会社ニコン
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 株式会社ニコン filed Critical 株式会社ニコン
Priority to EP13848039.7A priority Critical patent/EP2910229A4/en
Priority to JP2014541951A priority patent/JPWO2014061269A1/en
Publication of WO2014061269A1 publication Critical patent/WO2014061269A1/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
    • 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
    • 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
    • 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
    • A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0103—Constructive details inflatable
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A61H2201/0176—By stopping operation
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A61H2201/0184—Means for preventing injuries by raising an alarm
    • 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
    • A61H2201/1652—Harness
    • 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
    • A61H2201/5084—Acceleration sensors

Definitions

  • the present invention relates to a muscle strength assisting device.
  • Patent Document 1 Japanese Patent Laid-Open No. 2003-153828
  • Such a muscle strength assisting device may give an assisting force that hinders the user's operation to avoid the dangerous situation when the user enters a dangerous situation.
  • a dangerous situation is detected by an auxiliary part that assists a user's muscle strength using an auxiliary force due to expansion or contraction, a detection part that detects a predetermined dangerous situation, and a detection part.
  • a muscle force assisting device is provided that includes a control unit that controls the assisting force of the assisting unit to be reduced.
  • FIG. 1 is a schematic view of a muscle strength assisting device 200 attached to the user 100 as seen from the back.
  • the up, down, left, and right directions indicated by arrows are the up, down, left, and right directions of the strength assisting tool 200.
  • FIG. 2 is a schematic view of the muscular strength assisting tool 200 attached to the user as seen from the side.
  • the up and down direction indicated by the arrows is defined as the up and down direction of the muscle strength assisting device 200.
  • the muscle strength assisting device 200 includes an upper mounting portion 210 and a lower mounting portion 220.
  • the upper mounting part 210 includes an upper auxiliary belt 212, a lower auxiliary belt 252, a connector 214, a jacket part 218, a control box 300, a measurement part 310, and a release part 340.
  • a pair of upper auxiliary belt 212, lower auxiliary belt 252, connector 214 and release portion 340 are provided on the left and right.
  • the lower mounting portion 220 includes a fixture 222, a connecting belt 226, a fixing belt 228, a knee belt 230, a heel belt 232, and a trouser portion 234.
  • a pair of the fixture 222, the connecting belt 226, the knee belt 230, and the heel belt 232 are provided on the left and right.
  • the right upper auxiliary belt 212 is slidably attached to the right shoulder portion outside the jacket portion 218.
  • One end side of the right upper auxiliary belt 212 is wound around the right shoulder and the buttock of the user 100, and the right upper auxiliary belt 212 is joined to the right upper auxiliary belt 212 with a hook-and-loop fastener.
  • the other end side of the right upper auxiliary belt 212 is connected to one end side of the right lower auxiliary belt 252 by a release portion 340.
  • the lower auxiliary belt 252 on the right extends to the waist on the back side of the user 100.
  • a connector 214 is provided on the other end side of the right lower auxiliary belt 252.
  • the left upper auxiliary belt 212 and the lower auxiliary belt 252 have the same configuration on the left side of the user 100.
  • Each of the couplers 214 is detachably connected to the corresponding fixture 222 in the lower mounting part 220.
  • the upper auxiliary belt 212 and the lower auxiliary belt 252 are formed by covering a stretchable belt-like cloth woven with natural or synthetic rubber fibers with a stretchable synthetic resin.
  • the upper auxiliary belt 212 and the lower auxiliary belt 252 assist the muscular strength of the user's 100 waist by using an auxiliary force by extension or contraction.
  • the upper auxiliary belt 212 and the lower auxiliary belt 252 are examples of auxiliary portions.
  • Jacket portion 218 covers upper body of user 100.
  • the form of the arm is not particularly limited, such as a half sleeve, a long sleeve, and a sleeveless.
  • the material of the jacket part 218 is not particularly limited, and for example, a woven fabric, a knitted fabric or the like is used.
  • the fixed belt 228 is attached by being wound around the lower back of the user 100.
  • Two fixed belts 226 are connected to the fixed belt 228 on the upper side.
  • two sets of left and right knee belts 230 are connected to the fixed belt 228 below.
  • a fixture 222 is provided on each upper end of the connecting belt 226.
  • the right attachment 222 is detachably connected to the right connector 214 of the upper mounting portion 210, and fixes the right lower auxiliary belt 252 to the fixed belt 228.
  • the left attachment 222 has the same configuration.
  • the measuring unit 310 is attached to the fixed belt 228 and arranged so as to come to the center of the abdomen of the user 100.
  • the measurement unit 310 includes an ultrasonic sensor 312, an angle adjustment unit 314, and a cable 316.
  • the ultrasonic sensor 312 has a transmitter that transmits ultrasonic waves and a receiver that receives sound waves reflected on the ground. The time until the reflected waves of the ultrasonic waves transmitted from the transmitter are acquired by the receiver is determined. taking measurement. The ultrasonic sensor 312 outputs the measured time to the control box 300 through the cable 316.
  • the angle adjusting unit 314 is composed of two members that can rotate relatively around an axis extending in the left-right direction.
  • the ultrasonic sensor 312 is attached to one member, and the fixed belt 228 is attached to the other member.
  • the angle adjustment unit 314 By rotating the angle adjustment unit 314, the direction in which the ultrasonic wave of the ultrasonic sensor 312 is transmitted can be changed according to the user 100.
  • the muscle strength assisting device 200 can make the ultrasonic wave oscillate toward the tip of the toe of the user 100 according to the stride or height of the user 100.
  • the control box 300 is electrically connected to the left and right release parts 340 by the cable 260 and is held by these. As a result, the control box 300 is arranged at the center of the back of the user 100. The control box 300 determines whether or not the user 100 is in a dangerous situation.
  • the release unit 340 releases the elastic force generated by the upper auxiliary belt 212 and the lower auxiliary belt 252 when the control box 300 determines that the user 100 is in a dangerous situation. Release of the elastic force is an example of adjustment of the auxiliary force by the control box 300.
  • the right knee belt 230 has two belts. These two belts are crossed at the front part below the knee from the waist of the user 100 through the left and right of the buttocks and the thighs of the right leg, and are attached to each other with a hook-and-loop fastener at the rear part below the knee. Both ends of the right heel belt 232 are connected to the right and left knee portions of the right knee belt 230. The heel belt 232 is worn across the heel from the left and right side surfaces of the crus, which are the connection with the knee belt 230. The left knee belt 230 and the heel belt 232 have the same configuration on the left leg side of the user 100.
  • the knee belt 230 and the heel belt 232 are non-stretchable, and are formed by covering a non-stretch belt-like cloth woven with natural fibers or synthetic fibers with a synthetic resin or the like.
  • a synthetic resin sheet or leather may be used as the knee belt 230 and the heel belt 232.
  • the trouser part 234 covers both legs of the user 100 to the vicinity of the ankle.
  • the material of the trouser part 234 is not specifically limited, For example, a textile fabric, knitting, etc. are used.
  • a fixing belt 228 is wound around the outer side of the upper part of the trouser part 234, and the knee belt 230 and the heel belt 232 are stitched inside the trouser part 234. Accordingly, the upward movement of the fixed belt 228 is restricted by the knee belt 230 and the heel belt 232.
  • FIG. 3 is a perspective view of the connector 214 and the fixture 222.
  • the connector 214 includes two locking projections 215 having an inclined surface on one side and two elastic claws 216.
  • the fixture 222 has a fitting portion 223 and a locking hole 224.
  • the locking protrusion 215 is deformed inward by the elasticity of the elastic claw 216 and the inclined surface of the locking protrusion 215.
  • the coupling tool 214 is further inserted into the fitting portion 223, the locking protrusion 215 is locked to the locking hole 224 by the fitting of the locking protrusion 215 and the locking hole 224, so that the connecting tool 214.
  • the fixture 222 are connected.
  • connection between the coupling tool 214 and the mounting tool 222 can be released by bending the locking projection 215 inward from the locking hole 224 of the mounting tool 222. If both are separated in this state, the connection between the connector 214 and the fixture 222 can be released.
  • FIG. 4 shows a functional block diagram of the control box 300.
  • the control box 300 includes a detection unit 324 and a control unit 326.
  • the detection unit 324 detects whether or not the user 100 is in a predetermined dangerous situation from the distance. In the present embodiment, the detection unit 324 detects, as an example of a dangerous situation, whether or not there is a step greater than or equal to a predetermined height at the stepped foot of the user 100.
  • the detection unit 324 obtains the time output from the measurement unit 310, and calculates the distance by multiplying the time by the speed of sound.
  • the detection unit 324 determines that there is a step greater than a predetermined height when the calculated distance is equal to or greater than a predetermined distance or equal to or less than a predetermined distance.
  • the detection unit 324 detects that the muscle strength assisting device 200 is worn on the user 100, calculates the distance, stores this as a reference distance, and compares the calculated distance with the reference distance. Then, when the difference exceeds a predetermined value, it may be determined that there is a level difference greater than a predetermined height.
  • Detecting unit 324 outputs a release signal to control unit 326 when detecting that there is a step. On the other hand, the detection unit 324 does not output a release signal when it does not detect that there is a step.
  • the control unit 326 outputs a drive signal for driving the release unit 340 to the release unit 340 when the release signal is acquired from the detection unit 324.
  • FIG. 5 and 6 are cross-sectional views of the release unit 340.
  • FIG. FIG. 5 shows a state in which the upper auxiliary belt 212 and the lower auxiliary belt 252 are connected by the release portion 340.
  • FIG. 6 shows a state where the upper auxiliary belt 212 and the lower auxiliary belt 252 are separated by the release portion 340.
  • the release unit 340 includes a locking claw 342, a locking plate 344, a support unit 346, a biasing member 348, a rod 350, a housing 352, and a driving unit 354.
  • the housing 352 is a hollow rectangular parallelepiped having a rectangular opening on one surface.
  • a support portion 346 and a biasing member 348 are provided inside the housing 352.
  • the driving unit 354 and the upper auxiliary belt 212 are fixed to the outer surface of the housing 352.
  • a lower auxiliary belt 252 is fixed to one end side of the locking claw 342.
  • Two saw blade-like claws are provided on the other end side of the locking claw 342.
  • the central portion of the locking plate 344 is supported by the support portion 346 so as to be rotatable.
  • One end of the locking plate 344 is urged downward in the figure by the urging member 348. Further, the other end of the locking plate 344 is in contact with the rod 350.
  • the rod 350 penetrates the housing 352. One end of the rod 350 is connected to the drive unit 354, and the other end is in contact with the locking plate 344.
  • the locking plate 344 is locked to the locking claw 342 and restricts the movement of the locking claw 342.
  • the upper auxiliary belt 212 and the lower auxiliary belt 252 are connected, and the transmission path of the auxiliary force of the upper auxiliary belt 212 and the lower auxiliary belt 252 is connected.
  • the locking plate 344 rotates in the clockwise direction in the drawing, the one end of the locking plate 344 is lifted, and the locking between the locking plate 344 and the locking claw 342 is released.
  • the upper auxiliary belt 212 and the lower auxiliary belt 252 are physically separated from each other, and the auxiliary force transmission path is physically blocked. As described above, the auxiliary force to the user 100 is released.
  • the muscle strength assisting device 200 shown in the present embodiment releases the assisting force of the muscle strength assisting device 200 when the detection unit 324 detects a dangerous situation of the user 100. Thereby, the muscular strength assisting device 200 can prevent the movement of the user 100 trying to avoid the dangerous situation.
  • the detection unit 324 detects a step having a predetermined height or more as a dangerous situation. That is, the detection unit 324 determines that the situation is a dangerous situation both when the step is higher and lower than the current position of the user 100. Instead of this, the detection unit 324 determines that it is a dangerous situation when the step is lower than the current position of the user 100, and does not judge that it is a dangerous situation when it is high. Good.
  • the ground at which the foot is stepped is low, if the user 100 steps on the ground, the balance of the body is easily lost. In this case, the user 100 can be prevented from falling without giving unnecessary assisting force.
  • an assisting force is applied to the user 100 to reduce the muscle load.
  • the detection unit 324 may detect that the safety condition recorded in advance is not a dangerous situation.
  • a safe condition is recorded in the detection unit 324 in advance, and the detection unit 324 detects whether or not the safe condition recorded in advance is deviated.
  • the detection unit 324 determines that the detected result is out of the safe condition, the detection unit 324 determines that the user 100 is in a dangerous situation.
  • the connector 214 and the attachment 222, and the release portion 340 are provided separately. It may replace with this and the cancellation
  • release part 340 may serve as connection and disconnection of the upper side auxiliary belt 212 and the lower side auxiliary belt 252 in attachment / detachment of the muscular strength auxiliary tool 200.
  • FIG. 7 and 8 are cross-sectional views of another release portion 360.
  • FIG. FIG. 7 shows a state in which the auxiliary force of the upper auxiliary belt 212 and the lower auxiliary belt 252 is working.
  • FIG. 8 shows a state in which the auxiliary force of the upper auxiliary belt 212 and the lower auxiliary belt 252 is released.
  • the release portion 360 includes a rotating body 362, a locking projection 364, adjustment belts 366, 368, a locking claw 370, a biasing member 372, a rod 374, a support portion 376, a housing 378, and a drive. Part 380.
  • the rotating body 362 is held so as to be rotatable with respect to the rotating shaft.
  • a saw blade-like locking projection 364 is provided on the outer periphery of the rotating body 362.
  • the central portion of the locking claw 370 is rotatably supported by the support portion 376.
  • One end of the locking claw 370 is provided with a protrusion that locks with the locking protrusion 364 of the rotating body 362.
  • the one end of the locking claw 370 is biased by a biasing member 372 from below to above in the drawing.
  • the other end of the locking claw 370 is in contact with the rod 374.
  • the adjustment belts 366 and 368 are non-stretchable. One end of the adjustment belt 366 is fixed to the rotating shaft. The other end of the adjustment belt 366 is connected to the lower auxiliary belt 252.
  • One end of the adjustment belt 368 is fixed to the central portion of the rotating body 362, and the fixed portion rotates integrally with the rotating body 362. Further, the adjustment belt 368 is wound around the fixed portion. The other end of the adjustment belt 368 is connected to the upper auxiliary belt 212.
  • the protrusion of the locking claw 370 is locked to one of the locking protrusions 364 to restrict the rotation of the rotating body 362.
  • the extension of the upper auxiliary belt 212 is restricted, and the auxiliary force of the upper auxiliary belt 212 and the lower auxiliary belt 252 acts on the user 100.
  • the locking claw 370 rotates clockwise in the drawing, the one end of the locking claw 370 is pulled down, and the locking between the protrusion of the locking claw 370 and the locking protrusion 364 is released. Accordingly, the rotating body 362 can rotate counterclockwise, and the adjustment belt 368 wound around the rotating body 362 is pulled out by the elastic force of the upper auxiliary belt 212 and the lower auxiliary belt 252. By pulling out the adjustment belt 368, the tension of the upper auxiliary belt 212 and the lower auxiliary belt 252 is eliminated, and the auxiliary force to the user 100 is released. Thereby, the muscular strength assisting device 200 can prevent the movement of the user 100 trying to avoid the dangerous situation.
  • FIG. 9 is a schematic view of another muscle strength assisting device 202 attached to the user 100 as seen from behind.
  • the vertical and horizontal directions indicated by the arrows are the vertical and horizontal directions of the muscle strength assisting device 202.
  • the configuration other than the assist belt 213, the elastic portion 242, the control box 302, and the pump 304 is the same as that of the muscle strength assisting tool 200 shown in FIG.
  • the auxiliary belt 213 is non-stretchable. One end on the back side of the auxiliary belt 213 is connected to the corresponding elastic portion 242.
  • the elastic portion 242 is disposed on the left and right back portions of the user 100. One end of each elastic portion 242 is connected to the corresponding upper auxiliary belt 212, and the other end is fixed to the corresponding attachment 222 via the connector 214.
  • the elastic part 242 is connected to the pump 304 via the connecting pipe 262.
  • the pump 304 is held at the center of the back of the user 100 by the connecting pipe 262.
  • the control box 302 outputs a drive signal for driving the pump 304 when the dangerous situation of the user 100 is detected. On the other hand, the control box 302 does not output a drive signal for driving the pump 304 when the dangerous situation of the user 100 is not detected.
  • the elastic part 242 is formed of an elastic material and has a hollow shape with a rectangular cross-sectional shape.
  • the fluid 217 is filled in the elastic portion 242.
  • FIG. 10 shows a sectional view of the pump 304.
  • the pump 304 includes a cylinder 390, a piston 392, and an actuator 394.
  • the pump 304 moves the piston 392 upward by the actuator 394 to send the fluid 217 in the cylinder to the elastic portion 242 and moves the piston 392 downward to return the fluid 217 from the elastic portion 242 into the cylinder 390.
  • the filling amount of the fluid 217 in the elastic part 242 is controlled.
  • FIG. 11 shows a state where the filling amount of the fluid 217 in the elastic portion 242 is small
  • FIG. 12 shows a state where the filling amount of the fluid 217 in the elastic portion 242 is large.
  • the cross-sectional shape of the elastic portion 242 maintains a rectangular shape, and the bending rigidity is small.
  • FIG. 12 since the filling amount of the fluid 217 in the elastic part 242 is large, the cross-sectional shape of the elastic part 242 is deformed into an elliptical shape, and the bending rigidity is large.
  • the greater the amount of fluid 217 filled in the elastic portion 242 the greater the assisting force for the user 100.
  • the fluid 217 any of gas, liquid, or a mixture thereof can be used.
  • the pump 304 drives the actuator 394 to move the piston 392 downward.
  • the piston 392 is moved downward, the fluid 217 is returned from the elastic portion 242 into the cylinder 390.
  • the elastic force of the elastic part 242 can be reduced.
  • the muscular strength assisting tool 202 can reduce the elastic force of the elastic part 242 when the danger state of the user 100 is detected by the detection part 324. Thereby, the muscular strength assisting tool 202 can avoid giving the user 100 an assisting force that hinders the user 100 from trying to avoid a dangerous situation.
  • the example using the ultrasonic sensor 312 is shown as the measurement unit 310 of the present embodiment, laser reflection may be used. Further, instead of these, the camera 100 is used to capture the stepped foot of the user 100, the front image of the user 100 is analyzed, and whether or not there is a step in the stepped foot of the user 100. May be detected.
  • FIG. 13 is a schematic view of another muscle strength assisting device 204 attached to the user 100 as viewed from the side.
  • the configuration other than the shoes 330 is the same as that of the strength assisting tool 200 shown in FIG.
  • the shoe 330 detects the center of gravity of the user 100, and based on this, the detection unit 324 detects the dangerous posture of the user 100 as an example of a dangerous situation.
  • FIG. 14 is a side view of the right shoe 330.
  • the shoe 330 is worn on the leg of the user 100 in the same manner as a normal shoe.
  • the shoe 330 includes a first load sensor 332, a second load sensor 334, and a cable 336.
  • the first load sensor 332 is provided on the back side of the shoe 330 and detects the load on the toe side of the user 100.
  • the second load sensor 334 is provided on the sole side of the shoe 330 and detects the load on the heel side of the user 100.
  • the load detection values of both load sensors are output to the control box 306 through the cable 336.
  • the configuration of the left shoe is the same.
  • FIG. 15 shows a state in which the weight of the user 100 is applied to the heel side.
  • the user 100 when the weight is applied to the heel side of both legs, the user 100 is assumed to be in a posture of sliding backward.
  • the muscle strength assisting device 204 gives the user 100 a restoring force against the forward bending, and thus the user 100 may fall backward. Therefore, it is desirable that the muscle force assisting device 204 does not apply the assisting force by the upper assisting belt 212 and the lower assisting belt 252 to the user 100 in a posture in which the user 100 slides backward.
  • the detection unit 324 acquires the load detection values of the first load sensor 332 and the second load sensor 334 from each of the left and right shoes 330.
  • the detection unit 324 detects the user 100 when the load indicated by the second load sensor 334 is larger than a predetermined ratio with respect to the load indicated by the first load sensor 332 in both the left and right shoes 330. Judge that the weight center of gravity has moved backwards.
  • the detection unit 324 outputs a release signal to the control unit 326 when determining that the center of gravity of the weight of the user 100 has moved backward.
  • the detection unit 324 does not output a release signal to the control unit 326 when it is not determined that the center of gravity of the weight of the user 100 has moved backward.
  • the control unit 326 When acquiring the release signal from the detection unit 324, the control unit 326 outputs a drive signal for driving the release unit 340. Then, the release unit 340 that has acquired the drive signal releases the locking of the locking claw 342 and releases the auxiliary force of the upper auxiliary belt 212 and the lower auxiliary belt 252.
  • the muscle force assisting tool 204 may include a triaxial acceleration sensor in the control box 302 in addition to the two load sensors of the shoe 330.
  • the muscle force assisting device 204 can detect the posture of the user 100 in the direction of gravity of the waist, so that it is possible to detect in detail a dangerous situation related to the posture of the user 100.
  • the muscle force assisting device 206 may detect a dangerous situation of the user 100 using a myoelectric potential sensor. Since a force is instantaneously applied to a part of the user's 100 body when falling, the myoelectric potential sensor determines that the user 100 is in a dangerous situation when the force exceeds a predetermined threshold. Good.
  • FIG. 16 is a schematic view of another strength assisting tool 206 attached to the user 100 as seen from the back.
  • the up, down, left, and right directions indicated by the arrows are the up, down, left, and right directions of the strength assisting tool 206.
  • FIG. 17 is a schematic view of another muscle strength assisting device 206 attached to the user 100 as seen from the front.
  • the up, down, left, and right directions indicated by the arrows are the up, down, left, and right directions of the strength assisting tool 206.
  • the muscle strength assisting tool 206 is attached to the upper and lower body of the user 100 to assist the muscle strength of the user 100 waist.
  • the muscular strength assisting tool 206 includes a jacket part 400, a trouser part 402, a wiring part 404, a waist actuator 410, a leg actuator 420, a control box 500, an operation detection part 508, and a power switch 510.
  • the jacket part 400 has a form that covers the upper body of the user 100.
  • the shape of the arm of the jacket portion 400 is not particularly limited, such as a half sleeve, a long sleeve, and a sleeveless.
  • the jacket part 400 is formed of a stretchable chemical fiber or the like. The jacket part 400 tightly contacts the upper body of the user 100 with a fixed binding force. Thereby, the jacket part 400 becomes difficult to slide with respect to the upper body of the user 100 in the mounted state.
  • the trouser part 402 has a form which covers the lower body of the user 100.
  • the trouser part 402 is short trousers covering half of the legs, but may be long trousers covering all the legs.
  • the trouser part 402 is formed of a chemical fiber or the like that can be expanded and contracted.
  • the trouser part 402 tightly adheres the lower body of the user 100 with a fixed binding force. Thereby, the trouser part 402 becomes difficult to slide with respect to the lower body of the user 100 in the mounted state.
  • the waist actuator 410 includes a first actuator 412 and a second actuator 414.
  • the first actuator 412 is formed in a band shape, and is provided on the right side of the user 100 from the back to the waist.
  • the first actuator 412 is attached to and closely contacts the jacket part 400 over its entire length.
  • the first actuator 412 includes a polymer material that expands and contracts when a voltage is applied.
  • the first actuator 412 extends or contracts in the longitudinal direction when a voltage is applied.
  • the first actuator 412 provides an assisting force to the user 100 by extending or contracting.
  • the polymer material is a crosslinked polyrotaxane.
  • the first actuator 412 is produced by winding a sheet member in which both surfaces of a planar polyrotaxane crosslinked body are sandwiched between stretchable electrodes.
  • the longitudinal direction of the first actuator 412 is parallel to the axial direction of the wound sheet member. Since the first actuator 412 has flexibility, it can reduce the user's uncomfortable feeling when walking in a worn state.
  • the first actuator 412 includes a pair of outer electrodes, a mesh-like mesh electrode arranged between the pair of outer electrodes, and a nonionic gel provided between the mesh electrode and each outer electrode.
  • a nonionic gel is a gel of polyvinyl alcohol using dimethyl sulfoxide as a solvent.
  • a voltage higher than that of the outer electrode is applied to the mesh electrode, a negative charge is injected from the outer electrode to the nonionic gel and is attracted to the mesh electrode.
  • the distance between the pair of outer electrodes contracts.
  • the elastic state of the nonionic gel returns to the original state and expands. The amount of expansion and contraction can be increased by laminating a plurality of combinations of the outer electrode, mesh electrode, and nonionic gel.
  • polymer material is a polypyrrole film.
  • the polypyrrole film immersed in the electrolytic solution expands or contracts when a voltage is applied. For example, when a positive voltage is applied, the polypyrrole film expands. When a negative voltage is applied, the polypyrrole film contracts.
  • the first actuator 412 includes a polypyrrole film, an electrolytic solution is required, and thus the first actuator 412 needs to be sealed.
  • the second actuator 414 is provided on the left side of the user from the back to the waist. Since the other structure of the second actuator 414 is the same as that of the first actuator, description thereof is omitted.
  • the leg actuator 420 includes a third actuator 422, a fourth actuator 424, a fifth actuator 426, and a sixth actuator 428.
  • the third actuator 422 is provided from the upper right to the lower left of the front surface of the trouser part 402 covering the thigh of the right leg.
  • the third actuator 422 is formed in a band shape.
  • the third actuator 422 is adhered to and adhered to the trouser part 402 over the entire length.
  • the third actuator 422 includes a polymer material that expands and contracts when a voltage is applied, and expands or contracts in the longitudinal direction when a voltage is applied.
  • the third actuator 422 assists in raising or lowering the right leg of the user 100 during walking by extending or contracting. Since the other configuration of the third actuator is the same as that of the first actuator 412, description thereof will be omitted.
  • the fourth actuator 424 is provided from the upper left to the lower right of the front surface of the trouser part 402 covering the thigh of the right leg. Therefore, the third actuator 422 and the fourth actuator 424 intersect at the front surface of the thigh of the right leg.
  • the fifth actuator 426 is provided from the upper left to the lower right of the front surface of the trouser part 402 that covers the thigh of the left leg.
  • the sixth actuator 428 is provided from the front upper right to the lower left of the trouser part 402 covering the thigh of the left leg.
  • the fifth actuator 426 and the sixth actuator 428 intersect at the front surface of the thigh of the right leg. Since the other configurations of the fourth actuator 424, the fifth actuator 426, and the sixth actuator 428 are the same as those of the third actuator 422, description thereof is omitted.
  • the wiring unit 404 applies individual voltages to the power source of the control box 500 and the actuators of the waist actuator 410 and the leg actuator 420 (hereinafter referred to as each actuator).
  • the control box 500 is provided on the upper front side of the trouser part 402.
  • the control box 500 includes a control device 502, a power supply unit 504, and a leakage sensor 506.
  • the control device 502 governs overall control of the muscle strength assisting tool 206.
  • the power supply unit 504 individually applies a voltage to each actuator through the wiring unit 404.
  • the leakage sensor 506 detects leakage in the wiring portion 404 and each actuator.
  • the motion detection unit 508 is a sensor that is provided on the back of the user 100 and detects the motion of the upper body of the user 100.
  • An example of the motion detection unit 508 is a triaxial acceleration sensor. When the user 100 takes a forward bending posture, the motion detection unit 508 detects the upper body inclination and outputs the upper body inclination information to the control device 502.
  • the power switch 510 is provided at the center of the abdomen of the user 100. With the power switch 510, the user 100 switches on / off the main power supply of the strength assisting tool 206.
  • FIG. 18 shows functional blocks for explaining the control of the control box 500.
  • the control device 502 includes a control unit 518 and a storage unit 514.
  • the control unit 518 acquires tilt information from the motion detection unit 508.
  • the control unit 518 further acquires a power signal from the power switch 510.
  • the control unit 518 controls the power supply unit 504 based on the relationship between the inclination information stored in the storage unit 514 and the power supply control by referring to the storage unit 514 based on the acquired inclination information.
  • the muscular strength is assisted by applying a voltage to each actuator individually.
  • FIG. 19 is a diagram illustrating the operation of the muscle strength assisting tool 206. As shown in FIG. 19, when a voltage is applied to the second actuator 414, the second actuator 414 contracts. By the contraction of the second actuator 414, the user 100 is given an assisting force that raises the upper body.
  • control unit 518 When the control unit 518 acquires the first power signal from the power switch 510, the control unit 518 turns on the main power of the muscle strength assisting device 206. When the control unit 518 acquires the next power supply signal, the control unit 518 turns off the main power supply of the strength assisting tool 206.
  • the earth leakage sensor 506 detects an earth leakage in the wiring unit 404 and each actuator as an example of a dangerous situation. In this case, leakage sensor 506 determines that a leakage has occurred when a current greater than the current that should flow based on the control of control unit 518 flows, and outputs to the control unit 518 that a leakage has been detected.
  • the control unit 518 forcibly turns off the main power supply and stops the supply of energy for the actuators to expand or contract when the leakage sensor 506 inputs that there is a leakage. Thereby, when it becomes a dangerous situation due to electric leakage, the muscular strength assisting tool 206 turns off the main power source to avoid the dangerous situation of the user 100.
  • the muscle strength assisting device 206 provided with each actuator also detects and controls the dangerous situation of the user 100 using the measuring unit 310 of FIG. 1 or the shoe 330 of FIG. Unit 518 may turn off the main power supply. Further, when the dangerous situation of the user 100 is detected, the muscle strength assisting tool 206 may give an assisting force for avoiding the dangerous situation to the user 100 from each actuator. Giving an assist force for avoiding a dangerous situation is an example in which the control unit 518 adjusts the assist force.
  • the muscle strength assisting tool 206 applies a voltage to the leg actuator 420 to prevent the user 100 from going forward, and provides an assisting force that prevents the leg from rising. May be given.
  • the muscular strength assisting tool 206 can prevent the user 100 from falling into a large dent by preventing the user 100 from going forward.
  • the muscle force assisting tool 206 when it is detected that the user 100 has walked downhill, applies a voltage to the leg actuator 420 and the waist actuator 410 to assist the leg forward. An assisting force that raises the upper body may be given to the user 100 to provide an assisting force that prevents falling. Furthermore, the muscle force assisting device 206 is provided with an actuator for assisting the muscle strength of the arm portion, and the muscle force assisting device 206 may provide the arm portion of the user 100 with the force assisting the balancing movement for preventing the fall. Good. As described above, the muscle force assisting tool 206 can avoid the dangerous situation of the user 100 by adjusting the assisting force to the user 100.
  • the release unit 340 of FIG. 5 is provided at one of the end portions of each actuator, and the release is performed when the dangerous situation of the user 100 is detected.
  • the actuator may be separated from the jacket portion 400 by driving the portion 340.
  • the danger state of the user 100 is detected by the motion detection unit 508.
  • the muscle strength assisting device 206 uses the myoelectric potential sensor. It may be used to detect the dangerous situation of the user 100. Since a force is instantaneously applied to a part of the user's 100 body when falling, the myoelectric potential sensor determines that the user 100 is in a dangerous situation when the force exceeds a predetermined threshold. Good.
  • the control unit 504 may positively return each actuator to the natural length instead of or in addition to turning off the main power supply.
  • a discharge circuit may be provided for an electrically driven actuator such as the first actuator 412.
  • the control unit 504 stops the power supply from the power supply unit 504 to the actuator, and discharges the electric charge accumulated in the actuator with the discharge circuit, so that the actuator becomes a natural length. You may return positively.
  • the actuator can be quickly returned to the natural length, and when the user avoids danger, the actuator can be reliably prevented from hindering the user's movement.
  • a dielectric elastomer type actuator in which stretchable sheet-like electrodes are bonded to both surfaces of an elastomer film such as silicone or acrylic may be used.
  • the actuator extends in the surface direction by sandwiching and crushing the elastomer film by a Coulomb force generated by applying a voltage to the electrode.
  • the control unit 504 uses the release unit 340 shown in FIGS. 5 to 8 to physically block the auxiliary force transmission path of the actuator. May be.
  • the first actuator 412 and the like can be deformed by an external force at least in a state where power is not supplied.
  • rigidity or elasticity when power is not supplied is lower than when power is supplied.
  • the first actuator 412 is easily deformed by the force received from the user, thereby preventing the user's operation from being hindered.
  • the actuator is a rotary motor, hydraulic cylinder, or the like, a mechanism that makes the actuator move freely, such as a clutch mechanism or an oil release mechanism, is provided in a dangerous situation. It does not have to be provided. Further, due to the flexibility of the actuator itself, the actuator can also serve as a cushioning material in the event of a fall or the like.
  • the dangerous situation it may be detected that the user 100 has been flooded, and the assisting force such as the strength assisting tool 200 may be released or reduced.
  • moisture content of the muscular strength auxiliary tool 206 can be detected by detecting the electric current value, detecting the amount of electric leakage, or detecting the humidity around each actuator with a hygrometer.
  • a leakage breaker may be provided in the control box 500, and the supply of power to each actuator may be cut off when a leakage occurs.
  • the part that controls to reduce the assisting force based on the dangerous situation may be executed by the CPU reading the software program, or as hardware by an ASIC or the like. It may be formed.
  • the control units 326 and 518 may warn of a dangerous situation by sound, vibration, or the like.
  • the motion detection unit 508 of the muscle strength assisting device 206 includes an acceleration sensor
  • the acceleration sensor outputs an acceleration signal in three directions at the user's waist to the control unit 504 via the wiring.
  • a state signal indicating that the user has fallen is output to the control unit 504.
  • the control device 502 controls the power supply unit 504 to stop walking support by actuators such as the first actuator 412 and the second actuator 414. That is, the user is provided with a free state where there is no support from the strength assisting tool 206.
  • the control device 504 may limit the walking support by reducing the output of each actuator by reducing the applied voltage instead of stopping the walking support.
  • the motion detection unit 508 acquires acceleration signals in three directions at the user's waist from the acceleration sensor.
  • the motion detection unit 508 calculates acceleration from the acquired acceleration signal, and creates a profile of acceleration change at a predetermined time.
  • An example of the predetermined time is 2 seconds.
  • a profile of acceleration change measured when the vehicle falls intentionally in advance is stored in the storage unit 514 as a reference profile.
  • the motion detection unit 508 compares the reference profile stored in the storage unit 514 with the profile calculated based on the output from the acceleration sensor, so that the user using the muscle strength assisting device 206 falls Is detected.
  • a detection unit such as the detection unit 324 that detects a dangerous situation determines that the user's state is in a fallen state when the created profile matches the reference profile under a predetermined condition, and the control unit 502 A state signal indicating that the user's state is a fallen state is output.
  • the control device 502 stops the voltage control process.
  • the control device 502 stops walking support by each actuator by stopping the voltage control process.
  • the control device 502 executes a voltage control process.
  • the strength assisting tool 206 stops walking support when the detection unit detects the user's fall state. As a result, when the user falls down, the support is stopped and the user's original body sensation is restored, thereby prompting a passive action.
  • a pressure sensor may be provided on the user's waist or buttocks to detect a state in which the user is seated as a predetermined state.
  • a detection part acquires the pressure signal concerning a user's waist
  • the detection unit calculates a pressure from the acquired pressure signal, and determines that the user is seated when the calculated pressure exceeds a predetermined pressure threshold. Accordingly, the detection unit detects that the user wearing the muscle strength assisting tool 206 is seated and is not in a dangerous state.
  • the detection unit outputs a state signal indicating that the state of the user is in the seated state to the control device 502 when detecting the state in which the user is seated.
  • the control device 502 acquires the state signal, the control device 502 does not perform control as in the case where a dangerous situation occurs, but supports the user's strength.
  • an angle sensor that can detect the angle of the knee may be provided at the knee of the user.
  • a detection part acquires a bending angle signal of a user's knee from an angle sensor.
  • the detection unit calculates a knee bending angle from the acquired knee bending angle signal, and when the calculated angle exceeds a predetermined angle threshold, or the knee bending angle is a predetermined angle.
  • the detection unit may detect that the user who is using the muscle strength assisting tool 206 is seated.
  • the predetermined state is set to a height equal to or higher than a predetermined height before the user.
  • the detection unit acquires a time until the ultrasonic wave transmitted from the ultrasonic sensor toward the ground is reflected by the ground and received.
  • the motion detection unit 508 calculates the height of the step on the ground by multiplying the acquired time by the speed of sound and measuring the distance.
  • the detection unit determines that there is a level difference greater than or equal to a predetermined height before the user.
  • a detection part detects that there exists a level
  • the detection unit When the detection unit detects a state where there is a step greater than or equal to a predetermined height before the user, the detection unit indicates that the control device 502 has a step greater than or equal to a predetermined height before the user.
  • the status signal shown is output.
  • the control device 502 stops the voltage control process and stops walking support. As described above, by assisting walking in a state where there is a level difference of a predetermined height or more in front of the user, it is possible to prevent the user from being guided to the level difference and falling down due to the level difference.
  • the detection unit determines whether or not the height determined in advance for the user is based on whether or not the ground on which the user's legs are stepped is low. It may be determined that there is a step greater than this.
  • the step makes it easier for the user to fall. Therefore, by assisting walking while the ground on which the user's legs are stepped is low, the user can be guided to the level difference and prevented from being overturned by the level difference.
  • an imaging device may be used instead of or in addition to the ultrasonic sensor.
  • a detection part acquires the image ahead of the user imaged with the imaging device.
  • the detection unit may analyze the acquired image and determine whether or not there is a step greater than a predetermined height in front of the user. Thereby, a detection part detects that there exists a level
  • the muscular strength assisting tool 206 may include an atmospheric pressure sensor 72 instead of the acceleration sensor.
  • the detection unit detects a state where the user is climbing the stairs as a predetermined state. When the user holds the handrail while climbing the stairs, the intention display is not input from either one or both of the right input unit 26 and the left input unit 28.
  • the detection unit detects that the user is climbing the stairs
  • the detection unit outputs a state signal indicating that the user is climbing the stairs to the control device 502.
  • the control device 502 controls the power supply unit 504 to assist walking by each actuator even when no intention display is input from either the right input unit 26 or the left input unit 28. Thereby, walking can be assisted also to the user who goes up the stairs while grasping a handrail.
  • the detection unit obtains an atmospheric pressure signal from the atmospheric pressure sensor 72.
  • the detection unit calculates the user's altitude from the acquired atmospheric pressure signal.
  • the detection unit creates a profile of the user's altitude change from the calculated altitude.
  • the detection unit determines that the user is climbing up the stairs when the profile of the altitude change is gently rising. Thereby, a detection part detects that the user who is using the muscular strength auxiliary tool 206 is in the state which is going up the stairs.
  • the operation detection unit 508 acquires a pressure signal from the pressure sensor.
  • the detection unit calculates the altitude of the user from the atmospheric pressure signal, and creates an altitude change profile.
  • the detection unit determines whether or not the user's state is up a staircase based on the altitude change profile.
  • the control unit 502 determines that the user is climbing the stairs and outputs a status signal indicating that the user is climbing the stairs.
  • the control device 502 executes a voltage control process.
  • an angle sensor for measuring the angle of the user's hip joint may be provided.
  • a detection part acquires the bending angle signal of a user's hip joint from an angle sensor.
  • the detection unit calculates, for example, the angle change of the hip joint from the angle signal, and acquires the timing of bending and stretching of the user's leg.

Landscapes

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

Abstract

In conventional muscle strength assisting devices there is a possibility that an assisting force is exerted when a user is in a dangerous situation, said assisting force impeding the movement of the user who is attempting to escape the dangerous situation. This muscular strength assisting device comprises: an assisting unit which applies an assisting force by extending or contracting to assist the muscular strength of a user; a detection unit which detects a dangerous situation stipulated in advance; and a control unit which, if a dangerous situation is detected by the detection unit, performs control so as to reduce or cease the assistance force provided by the assisting unit, or to cease the assistance force by stopping the energy supply.

Description

筋力補助具Strength aids
　本発明は、筋力補助具に関する。 The present invention relates to a muscle strength assisting device.
　弾性部材等によってユーザの筋肉を補助する筋力補助具が知られている（例えば、特許文献１参照）。
　　［特許文献１］特開２００３－１５３９２８号公報 A muscle force assisting tool that assists a user's muscle with an elastic member or the like is known (see, for example, Patent Document 1).
[Patent Document 1] Japanese Patent Laid-Open No. 2003-153828
　このような筋力補助具は、使用者が危険状況となったときに、危険状況を避けようとする使用者の動作を妨げる補助力を与えてしまう可能性があった。 Such a muscle strength assisting device may give an assisting force that hinders the user's operation to avoid the dangerous situation when the user enters a dangerous situation.
　本発明の第一態様として、伸長または収縮による補助力を用いて、使用者の筋力を補助する補助部と、予め定められた危険状況を検出する検出部と、検出部により危険状況が検出された場合に、補助部による補助力を低減させるべく制御する制御部とを備える筋力補助具が提供される。 As a first aspect of the present invention, a dangerous situation is detected by an auxiliary part that assists a user's muscle strength using an auxiliary force due to expansion or contraction, a detection part that detects a predetermined dangerous situation, and a detection part. In such a case, a muscle force assisting device is provided that includes a control unit that controls the assisting force of the assisting unit to be reduced.
　上記の発明の概要は、本発明の必要な特徴の全てを列挙したものではない。これら特徴群のサブコンビネーションもまた発明となり得る。 The above summary of the invention does not enumerate all the necessary features of the present invention. A sub-combination of these feature groups can also be an invention.
使用者に装着された筋力補助具の背面模式図である。It is a back surface schematic diagram of the muscular strength auxiliary tool with which the user was equipped. 使用者に装着された筋力補助具の側面模式図である。It is a side surface schematic diagram of the muscular strength auxiliary tool with which the user was equipped. 連結具、および取付具の斜視図である。It is a perspective view of a connection tool and a fixture. 制御ボックスの機能ブロック図である。It is a functional block diagram of a control box. 解除部の断面図である。It is sectional drawing of a cancellation | release part. 解除部の断面図である。It is sectional drawing of a cancellation | release part. 他の解放部の断面図である。It is sectional drawing of another releasing part. 他の解放部の断面図である。It is sectional drawing of another releasing part. 使用者に装着された別の筋力補助具の背面模式図である。It is a back surface schematic diagram of another muscular strength auxiliary tool with which the user was equipped. ポンプの断面図である。It is sectional drawing of a pump. 低充填時の弾性部の模式図である。It is a schematic diagram of the elastic part at the time of low filling. 高充填時の弾性部の模式図である。It is a schematic diagram of the elastic part at the time of high filling. 使用者に装着された別の筋力補助具の側面模式図である。It is a side surface schematic diagram of another muscular strength auxiliary tool with which the user was equipped. 靴の側面図である。It is a side view of shoes. 靴の動作を示す図である。It is a figure which shows operation | movement of shoes. 使用者に装着された別の筋力補助具の背面模式図である。It is a back surface schematic diagram of another muscular strength auxiliary tool with which the user was equipped. 使用者に装着された別の筋力補助具の正面模式図である。It is a front schematic diagram of another muscular strength auxiliary tool with which the user was equipped. 制御ボックスの機能ブロック図である。It is a functional block diagram of a control box. 筋力補助具の動作を示す図である。It is a figure which shows operation | movement of a muscular strength auxiliary tool.
　以下、発明の実施の形態を通じて本発明を説明するが、以下の実施形態は請求の範囲に係る発明を限定するものではない。また、実施形態の中で説明されている特徴の組み合わせの全てが発明の解決手段に必須であるとは限らない。 Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. In addition, not all the combinations of features described in the embodiments are essential for the solving means of the invention.
　図１は、使用者１００に装着された筋力補助具２００を背面から見た模式図である。図１において、矢印で示す上下左右を筋力補助具２００の上下左右方向とする。図２は、使用者に装着された筋力補助具２００を側面から見た模式図である。図２において、矢印で示す上下前後を筋力補助具２００の上下前後方向とする。 FIG. 1 is a schematic view of a muscle strength assisting device 200 attached to the user 100 as seen from the back. In FIG. 1, the up, down, left, and right directions indicated by arrows are the up, down, left, and right directions of the strength assisting tool 200. FIG. 2 is a schematic view of the muscular strength assisting tool 200 attached to the user as seen from the side. In FIG. 2, the up and down direction indicated by the arrows is defined as the up and down direction of the muscle strength assisting device 200.
　図１および図２において、筋力補助具２００は、上装着部２１０および下装着部２２０を備える。上装着部２１０は、上側補助ベルト２１２と、下側補助ベルト２５２と、連結具２１４と、ジャケット部２１８と、制御ボックス３００と、測定部３１０と、解除部３４０とを有する。上側補助ベルト２１２、下側補助ベルト２５２、連結具２１４および解除部３４０は、左右に一対設けられる。 1 and 2, the muscle strength assisting device 200 includes an upper mounting portion 210 and a lower mounting portion 220. The upper mounting part 210 includes an upper auxiliary belt 212, a lower auxiliary belt 252, a connector 214, a jacket part 218, a control box 300, a measurement part 310, and a release part 340. A pair of upper auxiliary belt 212, lower auxiliary belt 252, connector 214 and release portion 340 are provided on the left and right.
　下装着部２２０は、取付具２２２と、連結ベルト２２６と、固定ベルト２２８と、膝ベルト２３０と、踵ベルト２３２と、ズボン部２３４とを有する。取付具２２２、連結ベルト２２６、膝ベルト２３０および踵ベルト２３２は、左右に一対設けられる。 The lower mounting portion 220 includes a fixture 222, a connecting belt 226, a fixing belt 228, a knee belt 230, a heel belt 232, and a trouser portion 234. A pair of the fixture 222, the connecting belt 226, the knee belt 230, and the heel belt 232 are provided on the left and right.
　右の上側補助ベルト２１２は、ジャケット部２１８の外側であって右の肩の部分に摺動自在に取りつけられる。右の上側補助ベルト２１２の一端側は、使用者１００の右の肩部と腋部に巻かれて装着され、当該肩部において右の上側補助ベルト２１２同士が面ファスナーで接合される。右の上側補助ベルト２１２の他端側は、解除部３４０により右の下側補助ベルト２５２の一端側に連結されている。 The right upper auxiliary belt 212 is slidably attached to the right shoulder portion outside the jacket portion 218. One end side of the right upper auxiliary belt 212 is wound around the right shoulder and the buttock of the user 100, and the right upper auxiliary belt 212 is joined to the right upper auxiliary belt 212 with a hook-and-loop fastener. The other end side of the right upper auxiliary belt 212 is connected to one end side of the right lower auxiliary belt 252 by a release portion 340.
　右の下側補助ベルト２５２は、使用者１００の背中側において腰部まで延在している。右の下側補助ベルト２５２の他端側には、連結具２１４が設けられている。左の上側補助ベルト２１２および下側補助ベルト２５２も、使用者１００の左側において同様の構成を有する。連結具２１４はそれぞれ、下装着部２２０において対応する取付具２２２と着脱自在に接続される。 The lower auxiliary belt 252 on the right extends to the waist on the back side of the user 100. A connector 214 is provided on the other end side of the right lower auxiliary belt 252. The left upper auxiliary belt 212 and the lower auxiliary belt 252 have the same configuration on the left side of the user 100. Each of the couplers 214 is detachably connected to the corresponding fixture 222 in the lower mounting part 220.
　これら上側補助ベルト２１２および下側補助ベルト２５２は、天然、または合成ゴム繊維を織り込んだ伸縮性の帯状の布を伸縮性の合成樹脂で被覆して形成されている。上側補助ベルト２１２および下側補助ベルト２５２は、伸長または収縮による補助力を用いて使用者１００の腰部の筋力を補助する。上側補助ベルト２１２、および下側補助ベルト２５２は補助部の一例である。 The upper auxiliary belt 212 and the lower auxiliary belt 252 are formed by covering a stretchable belt-like cloth woven with natural or synthetic rubber fibers with a stretchable synthetic resin. The upper auxiliary belt 212 and the lower auxiliary belt 252 assist the muscular strength of the user's 100 waist by using an auxiliary force by extension or contraction. The upper auxiliary belt 212 and the lower auxiliary belt 252 are examples of auxiliary portions.
　ジャケット部２１８は、使用者１００の上半身を覆う。ジャケット部２１８において、半そで、長そで、ノースリーブ等、腕の形態は特に限定されない。ジャケット部２１８の素材は特に限定されず、例えば、織物、編物等が用いられる。 Jacket portion 218 covers upper body of user 100. In the jacket portion 218, the form of the arm is not particularly limited, such as a half sleeve, a long sleeve, and a sleeveless. The material of the jacket part 218 is not particularly limited, and for example, a woven fabric, a knitted fabric or the like is used.
　固定ベルト２２８は、使用者１００の腰部下側に巻き付けて装着される。固定ベルト２２８には、上方に左右二本の連結ベルト２２６が接続されている。さらに、固定ベルト２２８には、下方に左右二組の膝ベルト２３０が接続されている。 The fixed belt 228 is attached by being wound around the lower back of the user 100. Two fixed belts 226 are connected to the fixed belt 228 on the upper side. Further, two sets of left and right knee belts 230 are connected to the fixed belt 228 below.
　連結ベルト２２６の上側端部にはそれぞれ、取付具２２２が設けられている。右の取付具２２２は、上装着部２１０の右の連結具２１４と着脱自在に接続され、右の下側補助ベルト２５２を固定ベルト２２８に固定している。左の取付具２２２も同様の構成を有する。 A fixture 222 is provided on each upper end of the connecting belt 226. The right attachment 222 is detachably connected to the right connector 214 of the upper mounting portion 210, and fixes the right lower auxiliary belt 252 to the fixed belt 228. The left attachment 222 has the same configuration.
　測定部３１０は、固定ベルト２２８に取り付けられ、使用者１００の腹部の中央に来るように配される。測定部３１０は、超音波センサ３１２と、角度調整部３１４と、ケーブル３１６とを有する。 The measuring unit 310 is attached to the fixed belt 228 and arranged so as to come to the center of the abdomen of the user 100. The measurement unit 310 includes an ultrasonic sensor 312, an angle adjustment unit 314, and a cable 316.
　超音波センサ３１２は、超音波を発信する発信機、および地面に反射した音波を受信する受信機を有し、発信機より発信した超音波の反射波が受信機に取得されるまでの時間を測定する。超音波センサ３１２は、測定した時間をケーブル３１６を通じて制御ボックス３００に出力する。 The ultrasonic sensor 312 has a transmitter that transmits ultrasonic waves and a receiver that receives sound waves reflected on the ground. The time until the reflected waves of the ultrasonic waves transmitted from the transmitter are acquired by the receiver is determined. taking measurement. The ultrasonic sensor 312 outputs the measured time to the control box 300 through the cable 316.
　角度調整部３１４は、左右に伸びる軸周りに相対的に回動可能な２つの部材から構成される。一方の部材には、超音波センサ３１２が取り付けられており、他方の部材には、固定ベルト２２８が取り付けられている。角度調整部３１４を回動することにより、超音波センサ３１２の超音波を発信する向きを使用者１００に合わせて変えることができる。これにより、例えば、筋力補助具２００は使用者１００の歩幅、または身長に合せて、超音波の発振先を使用者１００のつま先の先に向かせることができる。 The angle adjusting unit 314 is composed of two members that can rotate relatively around an axis extending in the left-right direction. The ultrasonic sensor 312 is attached to one member, and the fixed belt 228 is attached to the other member. By rotating the angle adjustment unit 314, the direction in which the ultrasonic wave of the ultrasonic sensor 312 is transmitted can be changed according to the user 100. Thereby, for example, the muscle strength assisting device 200 can make the ultrasonic wave oscillate toward the tip of the toe of the user 100 according to the stride or height of the user 100.
　制御ボックス３００は、左右の解除部３４０にケーブル２６０により電気的に接続されるとともに、これらに保持される。これにより、制御ボックス３００は使用者１００の背部の中央に配される。当該制御ボックス３００は、使用者１００が危険状況であるか否かを判断する。解除部３４０は、制御ボックス３００が、使用者１００が危険状況であると判断したときに、上側補助ベルト２１２および下側補助ベルト２５２により生じている弾性力を解除する。弾性力の解除は、制御ボックス３００による補助力の調整の一例である。 The control box 300 is electrically connected to the left and right release parts 340 by the cable 260 and is held by these. As a result, the control box 300 is arranged at the center of the back of the user 100. The control box 300 determines whether or not the user 100 is in a dangerous situation. The release unit 340 releases the elastic force generated by the upper auxiliary belt 212 and the lower auxiliary belt 252 when the control box 300 determines that the user 100 is in a dangerous situation. Release of the elastic force is an example of adjustment of the auxiliary force by the control box 300.
　右の膝ベルト２３０は、２本のベルトを有している。これら２本のベルトは、使用者１００の腰部から臀部および右脚の大腿部の左右を通って膝下前部で交差して、膝下後部で面ファスナーにてお互いが接合されて装着される。右の踵ベルト２３２の両端は、右の膝ベルト２３０の膝部左右に接続している。踵ベルト２３２は、膝ベルト２３０との接続部である下腿部左右の側面から踵部に渡って装着される。左の膝ベルト２３０および踵ベルト２３２も使用者１００の左脚側において、同様の構成を有する。 The right knee belt 230 has two belts. These two belts are crossed at the front part below the knee from the waist of the user 100 through the left and right of the buttocks and the thighs of the right leg, and are attached to each other with a hook-and-loop fastener at the rear part below the knee. Both ends of the right heel belt 232 are connected to the right and left knee portions of the right knee belt 230. The heel belt 232 is worn across the heel from the left and right side surfaces of the crus, which are the connection with the knee belt 230. The left knee belt 230 and the heel belt 232 have the same configuration on the left leg side of the user 100.
　膝ベルト２３０および踵ベルト２３２は、非伸縮性であって、天然繊維、または合成繊維を織った非伸縮性の帯状の布を合成樹脂等で被覆して形成される。膝ベルト２３０および踵ベルト２３２として合成樹脂のシートまたは皮が使用されてもよい。 The knee belt 230 and the heel belt 232 are non-stretchable, and are formed by covering a non-stretch belt-like cloth woven with natural fibers or synthetic fibers with a synthetic resin or the like. A synthetic resin sheet or leather may be used as the knee belt 230 and the heel belt 232.
　ズボン部２３４は、使用者１００の両脚をくるぶし付近まで覆う。ズボン部２３４の素材は特に限定されず、例えば、織物、編み物等が用いられる。ズボン部２３４の上部の外側に固定ベルト２２８が巻き付けられるとともに、ズボン部２３４の内側には、膝ベルト２３０および踵ベルト２３２が縫合される。これにより、固定ベルト２２８は、膝ベルト２３０および踵ベルト２３２によって上方向への移動が規制されている。 The trouser part 234 covers both legs of the user 100 to the vicinity of the ankle. The material of the trouser part 234 is not specifically limited, For example, a textile fabric, knitting, etc. are used. A fixing belt 228 is wound around the outer side of the upper part of the trouser part 234, and the knee belt 230 and the heel belt 232 are stitched inside the trouser part 234. Accordingly, the upward movement of the fixed belt 228 is restricted by the knee belt 230 and the heel belt 232.
　図３は、連結具２１４および取付具２２２の斜視図である。連結具２１４は、片側に傾斜面を有する２つの係止突起２１５と、２つの弾性爪２１６を有する。取付具２２２は、嵌合部２２３と、係止穴２２４を有する。連結具２１４が嵌合部２２３に挿入されると、弾性爪２１６の弾性と係止突起２１５の傾斜面により係止突起２１５は内側に変形する。その状態で、さらに連結具２１４が嵌合部２２３に挿入されると、係止突起２１５と係止穴２２４との嵌合によって係止突起２１５が係止穴２２４に係止され、連結具２１４と取付具２２２とが接続される。 FIG. 3 is a perspective view of the connector 214 and the fixture 222. The connector 214 includes two locking projections 215 having an inclined surface on one side and two elastic claws 216. The fixture 222 has a fitting portion 223 and a locking hole 224. When the connector 214 is inserted into the fitting portion 223, the locking protrusion 215 is deformed inward by the elasticity of the elastic claw 216 and the inclined surface of the locking protrusion 215. In this state, when the coupling tool 214 is further inserted into the fitting portion 223, the locking protrusion 215 is locked to the locking hole 224 by the fitting of the locking protrusion 215 and the locking hole 224, so that the connecting tool 214. And the fixture 222 are connected.
　一方、連結具２１４と取付具２２２との接続は、取付具２２２の係止穴２２４から係止突起２１５を内側へ撓ませることで解除できる。この状態で両者を離間させれば、連結具２１４と取付具２２２との接続を解除できる。 On the other hand, the connection between the coupling tool 214 and the mounting tool 222 can be released by bending the locking projection 215 inward from the locking hole 224 of the mounting tool 222. If both are separated in this state, the connection between the connector 214 and the fixture 222 can be released.
　図４は、制御ボックス３００の機能ブロック図を示している。制御ボックス３００は、検出部３２４および制御部３２６を有する。 FIG. 4 shows a functional block diagram of the control box 300. The control box 300 includes a detection unit 324 and a control unit 326.
　検出部３２４は、距離から使用者１００が予め定められた危険状況にあるか否かを検出する。本実施形態において、検出部３２４は、危険状況の一例として、使用者１００の脚の踏み出し先に予め定められた高さ以上の段差があるか否かを検出する。 The detection unit 324 detects whether or not the user 100 is in a predetermined dangerous situation from the distance. In the present embodiment, the detection unit 324 detects, as an example of a dangerous situation, whether or not there is a step greater than or equal to a predetermined height at the stepped foot of the user 100.
　この場合に、検出部３２４は、測定部３１０から出力された時間を取得して、当該時間に音速を乗じて距離を算出する。検出部３２４は、算出した距離が予め定められた距離以上、または、予め定められた距離以下であったときに、予め定められた高さ以上の段差があると判断する。検出部３２４は、使用者１００に筋力補助具２００が装着されたことを検出して、上記距離を算出しこれを基準距離として記憶して、その後に算出された距離と当該基準距離とを比較して、その差が予め定められた値を越えた場合に、予め定められた高さ以上の段差があると判断してもよい。 In this case, the detection unit 324 obtains the time output from the measurement unit 310, and calculates the distance by multiplying the time by the speed of sound. The detection unit 324 determines that there is a step greater than a predetermined height when the calculated distance is equal to or greater than a predetermined distance or equal to or less than a predetermined distance. The detection unit 324 detects that the muscle strength assisting device 200 is worn on the user 100, calculates the distance, stores this as a reference distance, and compares the calculated distance with the reference distance. Then, when the difference exceeds a predetermined value, it may be determined that there is a level difference greater than a predetermined height.
　検出部３２４は、上記段差がある旨を検出した場合に、制御部３２６に解除信号を出力する。一方、検出部３２４は、上記段差がある旨を検出しない場合に、解除信号を出力しない。制御部３２６は、検出部３２４から解除信号を取得した場合に、解除部３４０を駆動させる駆動信号を解除部３４０に出力する。 Detecting unit 324 outputs a release signal to control unit 326 when detecting that there is a step. On the other hand, the detection unit 324 does not output a release signal when it does not detect that there is a step. The control unit 326 outputs a drive signal for driving the release unit 340 to the release unit 340 when the release signal is acquired from the detection unit 324.
　図５および図６は、解除部３４０の断面図である。図５は、上側補助ベルト２１２と下側補助ベルト２５２とが解除部３４０により連結されている状態を示す。一方、図６は、上側補助ベルト２１２と下側補助ベルト２５２とが解除部３４０により切り離された状態を示す。 5 and 6 are cross-sectional views of the release unit 340. FIG. FIG. 5 shows a state in which the upper auxiliary belt 212 and the lower auxiliary belt 252 are connected by the release portion 340. On the other hand, FIG. 6 shows a state where the upper auxiliary belt 212 and the lower auxiliary belt 252 are separated by the release portion 340.
　解除部３４０は、係止爪３４２と、係止板３４４と、支持部３４６と、付勢部材３４８と、ロッド３５０と、筐体３５２と、駆動部３５４とを有する。筐体３５２は、一面に矩形の開口を有する中空の直方体である。筐体３５２の内部には、支持部３４６、付勢部材３４８が設けられている。筐体３５２の外面には、駆動部３５４と、上側補助ベルト２１２とが固定されている。 The release unit 340 includes a locking claw 342, a locking plate 344, a support unit 346, a biasing member 348, a rod 350, a housing 352, and a driving unit 354. The housing 352 is a hollow rectangular parallelepiped having a rectangular opening on one surface. A support portion 346 and a biasing member 348 are provided inside the housing 352. The driving unit 354 and the upper auxiliary belt 212 are fixed to the outer surface of the housing 352.
　係止爪３４２の一端側には、下側補助ベルト２５２が固定されている。係止爪３４２の他端側には、鋸刃状の爪が２つ設けられている。 A lower auxiliary belt 252 is fixed to one end side of the locking claw 342. Two saw blade-like claws are provided on the other end side of the locking claw 342.
　係止板３４４の中央部は、支持部３４６に回動自在に支持されている。係止板３４４の一端は、付勢部材３４８により図中下方向へ付勢されている。また、係止板３４４の他端は、ロッド３５０に当接している。 The central portion of the locking plate 344 is supported by the support portion 346 so as to be rotatable. One end of the locking plate 344 is urged downward in the figure by the urging member 348. Further, the other end of the locking plate 344 is in contact with the rod 350.
　ロッド３５０は筐体３５２を貫通している。ロッド３５０の一端側は駆動部３５４に接続され、他端側は係止板３４４に当接している。 The rod 350 penetrates the housing 352. One end of the rod 350 is connected to the drive unit 354, and the other end is in contact with the locking plate 344.
　図５の状態において、駆動部３５４に駆動信号は入力されておらず、ロッド３５０は駆動部３５４側に引っ込んでいる。この状態で付勢部材３４８の付勢力が働いているので、係止板３４４が図中の反時計周りに回動して、係止板３４４の上記一端は図中下方に位置している。 In the state of FIG. 5, no drive signal is input to the drive unit 354, and the rod 350 is retracted to the drive unit 354 side. Since the urging force of the urging member 348 is working in this state, the locking plate 344 rotates counterclockwise in the drawing, and the one end of the locking plate 344 is located in the lower side in the drawing.
　従って、係止板３４４は、係止爪３４２に係止して、係止爪３４２の移動を規制している。これにより、上側補助ベルト２１２と下側補助ベルト２５２とが連結されて、上側補助ベルト２１２および下側補助ベルト２５２の補助力の伝達経路がつながっている。 Therefore, the locking plate 344 is locked to the locking claw 342 and restricts the movement of the locking claw 342. Thereby, the upper auxiliary belt 212 and the lower auxiliary belt 252 are connected, and the transmission path of the auxiliary force of the upper auxiliary belt 212 and the lower auxiliary belt 252 is connected.
　図６において、駆動部３５４に制御部３２６からの駆動信号が入力されることにより、駆動部３５４は、ロッド３５０を下方へ押し出している。これにより、ロッド３５０は、付勢部材３４８の付勢力に抗して係止板３４４の上記他端を押し下げる。 In FIG. 6, when the drive signal from the control unit 326 is input to the drive unit 354, the drive unit 354 pushes the rod 350 downward. As a result, the rod 350 pushes down the other end of the locking plate 344 against the biasing force of the biasing member 348.
　従って、係止板３４４が図中の時計周りに回動して、係止板３４４の上記一端が持ち上げられ、係止板３４４と係止爪３４２との係止が解除される。これにより、上側補助ベルト２１２と下側補助ベルト２５２と物理的に切り離されて、補助力の伝達経路が物理的に遮断される。以上により、使用者１００への補助力が解放される。 Therefore, the locking plate 344 rotates in the clockwise direction in the drawing, the one end of the locking plate 344 is lifted, and the locking between the locking plate 344 and the locking claw 342 is released. Thus, the upper auxiliary belt 212 and the lower auxiliary belt 252 are physically separated from each other, and the auxiliary force transmission path is physically blocked. As described above, the auxiliary force to the user 100 is released.
　本実施形態に示した筋力補助具２００は、検出部３２４によって使用者１００の危険状況が検出された場合に、筋力補助具２００の補助力を解放する。これより、筋力補助具２００は、危険状況を避けようとする使用者１００の動作を妨げるのを防ぐことができる。 The muscle strength assisting device 200 shown in the present embodiment releases the assisting force of the muscle strength assisting device 200 when the detection unit 324 detects a dangerous situation of the user 100. Thereby, the muscular strength assisting device 200 can prevent the movement of the user 100 trying to avoid the dangerous situation.
　上記実施形態において、検出部３２４は、危険状況として、予め定められた高さ以上の段差を検出する。すなわち、段差が使用者１００の現在位置よりも高い場合と低い場合との両方において、検出部３２４は危険状況であると判断する。これに代えて、検出部３２４はいずれか一方、特に、段差が使用者１００の現在位置よりも低い場合に危険状況であると判断して、高い場合に危険状況であると判断しなくてもよい。脚の踏み出し先の地面が低いとき、使用者１００が当該地面に脚を踏み出すと身体のバランスを崩しやすい。この場合に使用者１００に対し不要な補助力を与えずに、転倒を防ぐことができる。一方で、脚の踏み出し先の地面が高いときには、使用者１００に補助力を与えて筋肉の負担を低減する。 In the above-described embodiment, the detection unit 324 detects a step having a predetermined height or more as a dangerous situation. That is, the detection unit 324 determines that the situation is a dangerous situation both when the step is higher and lower than the current position of the user 100. Instead of this, the detection unit 324 determines that it is a dangerous situation when the step is lower than the current position of the user 100, and does not judge that it is a dangerous situation when it is high. Good. When the ground at which the foot is stepped is low, if the user 100 steps on the ground, the balance of the body is easily lost. In this case, the user 100 can be prevented from falling without giving unnecessary assisting force. On the other hand, when the ground on which the foot is stepped on is high, an assisting force is applied to the user 100 to reduce the muscle load.
　また、検出部３２４は、予め記録された安全な条件を満たさない場合を危険状況であると検出してもよい。検出部３２４には、予め安全な条件が記録されており、検出部３２４は、予め記録された安全な条件から外れたか否かを検出部する。検出部３２４は、検出した結果が、安全な条件から外れたと判断した場合、検出部３２４は、使用者１００が危険な状況にいると判断する。 Further, the detection unit 324 may detect that the safety condition recorded in advance is not a dangerous situation. A safe condition is recorded in the detection unit 324 in advance, and the detection unit 324 detects whether or not the safe condition recorded in advance is deviated. When the detection unit 324 determines that the detected result is out of the safe condition, the detection unit 324 determines that the user 100 is in a dangerous situation.
　なお、上記実施形態においては、連結具２１４および取付具２２２と、解除部３４０とが別個に設けられている。これに代えて、解除部３４０が、筋力補助具２００の着脱における上側補助ベルト２１２と下側補助ベルト２５２との連結、切り離しを兼ねてもよい。 In the above embodiment, the connector 214 and the attachment 222, and the release portion 340 are provided separately. It may replace with this and the cancellation | release part 340 may serve as connection and disconnection of the upper side auxiliary belt 212 and the lower side auxiliary belt 252 in attachment / detachment of the muscular strength auxiliary tool 200.
　図７および図８は、他の解放部３６０の断面図である。図７は、上側補助ベルト２１２および下側補助ベルト２５２の補助力が働いている状態を示す。一方、図８は、上側補助ベルト２１２および下側補助ベルト２５２の補助力が解放された状態を示す。解放部３６０は、回転体３６２と、係止突起３６４と、調整ベルト３６６、３６８と、係止爪３７０と、付勢部材３７２と、ロッド３７４と、支持部３７６と、筐体３７８と、駆動部３８０とを有する。 7 and 8 are cross-sectional views of another release portion 360. FIG. FIG. 7 shows a state in which the auxiliary force of the upper auxiliary belt 212 and the lower auxiliary belt 252 is working. On the other hand, FIG. 8 shows a state in which the auxiliary force of the upper auxiliary belt 212 and the lower auxiliary belt 252 is released. The release portion 360 includes a rotating body 362, a locking projection 364, adjustment belts 366, 368, a locking claw 370, a biasing member 372, a rod 374, a support portion 376, a housing 378, and a drive. Part 380.
　回転体３６２は、回転軸に対して回転自在に保持されている。回転体３６２の外周には、鋸刃状の係止突起３６４が設けられる。 The rotating body 362 is held so as to be rotatable with respect to the rotating shaft. A saw blade-like locking projection 364 is provided on the outer periphery of the rotating body 362.
　係止爪３７０の中央部は、支持部３７６に回動自在に支持されている。係止爪３７０の一端には、回転体３６２の係止突起３６４と係止する突起が設けられている。係止爪３７０の当該一端は図中の下方から上方へ付勢部材３７２により付勢されている。係止爪３７０の他端は、ロッド３７４に当接している。 The central portion of the locking claw 370 is rotatably supported by the support portion 376. One end of the locking claw 370 is provided with a protrusion that locks with the locking protrusion 364 of the rotating body 362. The one end of the locking claw 370 is biased by a biasing member 372 from below to above in the drawing. The other end of the locking claw 370 is in contact with the rod 374.
　調整ベルト３６６、３６８は、非伸縮性である。調整ベルト３６６の一端は、上記回転軸に固定されている。調整ベルト３６６の他端は、下側補助ベルト２５２に接続されている。 The adjustment belts 366 and 368 are non-stretchable. One end of the adjustment belt 366 is fixed to the rotating shaft. The other end of the adjustment belt 366 is connected to the lower auxiliary belt 252.
　調整ベルト３６８の一端は、回転体３６２の中央部分に固定され、当該固定部分は回転体３６２と一体的に回転する。さらに調整ベルト３６８は、当該固定部分に巻かれている。調整ベルト３６８の他端は、上側補助ベルト２１２に接続されている。 One end of the adjustment belt 368 is fixed to the central portion of the rotating body 362, and the fixed portion rotates integrally with the rotating body 362. Further, the adjustment belt 368 is wound around the fixed portion. The other end of the adjustment belt 368 is connected to the upper auxiliary belt 212.
　図７の状態において、駆動部３８０に駆動信号は入力されておらず、ロッド３７４は駆動部３８０側に引っ込んでいる。この状態で付勢部材３７２の付勢力が働いているので、係止爪３７０が図中の反時計周りに回動して、係止爪３７０の上記一端は図中上方に位置している。 7, no drive signal is input to the drive unit 380, and the rod 374 is retracted to the drive unit 380 side. Since the urging force of the urging member 372 is working in this state, the locking claw 370 rotates counterclockwise in the figure, and the one end of the locking claw 370 is positioned upward in the figure.
　従って、係止爪３７０の突起は、係止突起３６４のいずれかに係止して、回転体３６２の回転を規制している。これにより、上側補助ベルト２１２の伸長が規制されて、上側補助ベルト２１２および下側補助ベルト２５２の補助力が使用者１００に働いている。 Therefore, the protrusion of the locking claw 370 is locked to one of the locking protrusions 364 to restrict the rotation of the rotating body 362. As a result, the extension of the upper auxiliary belt 212 is restricted, and the auxiliary force of the upper auxiliary belt 212 and the lower auxiliary belt 252 acts on the user 100.
　図８において、駆動部３８０に制御部３２６からの駆動信号が入力されることにより、駆動部３８０は、ロッド３７４を上方へ押し出している。これにより、ロッド３７４は、付勢部材３７２の付勢力に抗して係止爪３７０の上記他端を押し上げる。 In FIG. 8, when the drive signal from the control unit 326 is input to the drive unit 380, the drive unit 380 pushes the rod 374 upward. As a result, the rod 374 pushes up the other end of the locking claw 370 against the urging force of the urging member 372.
　従って、係止爪３７０が図中の時計周りに回動して、係止爪３７０の上記一端が引き下げられ、係止爪３７０の突起と係止突起３６４との係止が解除される。これにより、回転体３６２は反時計周りの回転が可能となり、回転体３６２に巻かれていた調整ベルト３６８は、上側補助ベルト２１２および下側補助ベルト２５２の弾性力により引き出される。調整ベルト３６８が引き出されることによって、上側補助ベルト２１２および下側補助ベルト２５２の張力はなくなり、使用者１００への補助力が解放される。これより、筋力補助具２００は、危険状況を避けようとする使用者１００の動作を妨げるのを防ぐことができる。 Therefore, the locking claw 370 rotates clockwise in the drawing, the one end of the locking claw 370 is pulled down, and the locking between the protrusion of the locking claw 370 and the locking protrusion 364 is released. Accordingly, the rotating body 362 can rotate counterclockwise, and the adjustment belt 368 wound around the rotating body 362 is pulled out by the elastic force of the upper auxiliary belt 212 and the lower auxiliary belt 252. By pulling out the adjustment belt 368, the tension of the upper auxiliary belt 212 and the lower auxiliary belt 252 is eliminated, and the auxiliary force to the user 100 is released. Thereby, the muscular strength assisting device 200 can prevent the movement of the user 100 trying to avoid the dangerous situation.
　図９は、使用者１００に装着された別の筋力補助具２０２を背後から見た模式図である。図９において、矢印で示す上下左右を筋力補助具２０２の上下左右方向とする。図９に示した筋力補助具２０２において、補助ベルト２１３、弾性部２４２、制御ボックス３０２、およびポンプ３０４以外の構成は、図１に示した筋力補助具２００と同じであり、説明を省略する。 FIG. 9 is a schematic view of another muscle strength assisting device 202 attached to the user 100 as seen from behind. In FIG. 9, the vertical and horizontal directions indicated by the arrows are the vertical and horizontal directions of the muscle strength assisting device 202. In the muscle strength assisting tool 202 shown in FIG. 9, the configuration other than the assist belt 213, the elastic portion 242, the control box 302, and the pump 304 is the same as that of the muscle strength assisting tool 200 shown in FIG.
　補助ベルト２１３は非伸縮性である。補助ベルト２１３の背中側の一端はそれぞれ、対応する弾性部２４２に接続されている。 The auxiliary belt 213 is non-stretchable. One end on the back side of the auxiliary belt 213 is connected to the corresponding elastic portion 242.
　弾性部２４２は、使用者１００の左右の背部に配される。弾性部２４２の一端はそれぞれ、対応する上側補助ベルト２１２に接続され、他端は連結具２１４を介して対応する取付具２２２に固定される。 The elastic portion 242 is disposed on the left and right back portions of the user 100. One end of each elastic portion 242 is connected to the corresponding upper auxiliary belt 212, and the other end is fixed to the corresponding attachment 222 via the connector 214.
　弾性部２４２は、連結管２６２を介してポンプ３０４に連結している。ポンプ３０４は、連結管２６２により使用者１００の背中中央で保持される。 The elastic part 242 is connected to the pump 304 via the connecting pipe 262. The pump 304 is held at the center of the back of the user 100 by the connecting pipe 262.
　制御ボックス３０２は、使用者１００の危険状況を検出した場合に、ポンプ３０４を駆動させる駆動信号を出力する。一方、制御ボックス３０２は、使用者１００の危険状況を検出しない場合に、ポンプ３０４を駆動させる駆動信号を出力しない。 The control box 302 outputs a drive signal for driving the pump 304 when the dangerous situation of the user 100 is detected. On the other hand, the control box 302 does not output a drive signal for driving the pump 304 when the dangerous situation of the user 100 is not detected.
　弾性部２４２は弾性を有する材料で形成され、断面形状が矩形の中空形状を有する。弾性部２４２の内部には、流体２１７が充填される。 The elastic part 242 is formed of an elastic material and has a hollow shape with a rectangular cross-sectional shape. The fluid 217 is filled in the elastic portion 242.
　図１０は、ポンプ３０４の断面図を示している。ポンプ３０４は、シリンダ３９０と、ピストン３９２と、アクチュエータ３９４とを有する。ポンプ３０４は、アクチュエータ３９４によりピストン３９２を上方へ移動させて、シリンダ内の流体２１７を弾性部２４２に送り、ピストン３９２を下方へ移動させて、弾性部２４２からシリンダ３９０内へ流体２１７を戻して、弾性部２４２内の流体２１７の充填量を制御する。 FIG. 10 shows a sectional view of the pump 304. The pump 304 includes a cylinder 390, a piston 392, and an actuator 394. The pump 304 moves the piston 392 upward by the actuator 394 to send the fluid 217 in the cylinder to the elastic portion 242 and moves the piston 392 downward to return the fluid 217 from the elastic portion 242 into the cylinder 390. The filling amount of the fluid 217 in the elastic part 242 is controlled.
　図１１は、弾性部２４２内の流体２１７の充填量が少ない状態を示しており、図１２は、弾性部２４２内の流体２１７の充填量が多い状態を示している。図１１において、弾性部２４２内の流体２１７の充填量は少ないので、弾性部２４２の断面形状は、矩形形状を維持しており、曲げ剛性は小さい。一方、図１２において、弾性部２４２内の流体２１７の充填量は多いので、弾性部２４２の断面形状は、楕円形状に変形して、曲げ剛性は大きい。これにより、弾性部２４２に充填されている流体２１７の量が大きいほど、使用者１００への補助力も大きくなる。なお、流体２１７として、気体、液体のいずれか、またはこれらの混合物を用いることができる。 11 shows a state where the filling amount of the fluid 217 in the elastic portion 242 is small, and FIG. 12 shows a state where the filling amount of the fluid 217 in the elastic portion 242 is large. In FIG. 11, since the filling amount of the fluid 217 in the elastic portion 242 is small, the cross-sectional shape of the elastic portion 242 maintains a rectangular shape, and the bending rigidity is small. On the other hand, in FIG. 12, since the filling amount of the fluid 217 in the elastic part 242 is large, the cross-sectional shape of the elastic part 242 is deformed into an elliptical shape, and the bending rigidity is large. Thus, the greater the amount of fluid 217 filled in the elastic portion 242, the greater the assisting force for the user 100. Note that as the fluid 217, any of gas, liquid, or a mixture thereof can be used.
　ポンプ３０４は、制御部３２６から駆動信号を取得すると、アクチュエータ３９４を駆動させて、ピストン３９２を下方へ移動させる。ピストン３９２を下方へ移動させると、弾性部２４２からシリンダ３９０内へ流体２１７が戻される。弾性部２４２内の流体２１７の充填量を少なくすることで、弾性部２４２の弾性力を低減させることができる。 When the pump 304 obtains the drive signal from the control unit 326, the pump 304 drives the actuator 394 to move the piston 392 downward. When the piston 392 is moved downward, the fluid 217 is returned from the elastic portion 242 into the cylinder 390. By reducing the filling amount of the fluid 217 in the elastic part 242, the elastic force of the elastic part 242 can be reduced.
　このように、筋力補助具２０２は、検出部３２４により使用者１００の危険状況が検出されたときに、弾性部２４２の弾性力を低減できる。それにより、筋力補助具２０２は、危険状況を避けようとする使用者１００の動作を妨げる補助力を使用者１００に与えることを回避できる。 Thus, the muscular strength assisting tool 202 can reduce the elastic force of the elastic part 242 when the danger state of the user 100 is detected by the detection part 324. Thereby, the muscular strength assisting tool 202 can avoid giving the user 100 an assisting force that hinders the user 100 from trying to avoid a dangerous situation.
　本実施形態の測定部３１０は超音波センサ３１２を用いた例を示したが、レーザーの反射を用いてもよい。さらにそれらに代えて、カメラを用いて使用者１００の脚の踏み出し先を撮像して、使用者１００の前方の画像を解析して、使用者１００の脚の踏み出し先に段差があるか否かを検出してもよい。 Although the example using the ultrasonic sensor 312 is shown as the measurement unit 310 of the present embodiment, laser reflection may be used. Further, instead of these, the camera 100 is used to capture the stepped foot of the user 100, the front image of the user 100 is analyzed, and whether or not there is a step in the stepped foot of the user 100. May be detected.
　図１３は、使用者１００に装着された別の筋力補助具２０４を側面から見た模式図である。図１３に示した筋力補助具２０４において、靴３３０以外の構成は、図１に示した筋力補助具２００と同じであり、説明を省略する。靴３３０は使用者１００の重心を検出して、これに基づいて、検出部３２４は危険状況の一例としての使用者１００の危険姿勢を検出する。 FIG. 13 is a schematic view of another muscle strength assisting device 204 attached to the user 100 as viewed from the side. In the strength assisting tool 204 shown in FIG. 13, the configuration other than the shoes 330 is the same as that of the strength assisting tool 200 shown in FIG. The shoe 330 detects the center of gravity of the user 100, and based on this, the detection unit 324 detects the dangerous posture of the user 100 as an example of a dangerous situation.
　図１４は、右の靴３３０の側面図である。靴３３０は、使用者１００の脚に通常の靴と同様に履かれる。靴３３０は、第一荷重センサ３３２と、第二荷重センサ３３４と、ケーブル３３６とを有する。 FIG. 14 is a side view of the right shoe 330. The shoe 330 is worn on the leg of the user 100 in the same manner as a normal shoe. The shoe 330 includes a first load sensor 332, a second load sensor 334, and a cable 336.
　第一荷重センサ３３２は、靴３３０の脚裏爪先側に設けられ、使用者１００の爪先側の荷重を検出する。第二荷重センサ３３４は、靴３３０の脚裏踵側に設けられ、使用者１００の踵側の荷重を検出する。両荷重センサの荷重検出値は、ケーブル３３６を通じて制御ボックス３０６に出力される。左の靴の構成も同じである。 The first load sensor 332 is provided on the back side of the shoe 330 and detects the load on the toe side of the user 100. The second load sensor 334 is provided on the sole side of the shoe 330 and detects the load on the heel side of the user 100. The load detection values of both load sensors are output to the control box 306 through the cable 336. The configuration of the left shoe is the same.
　図１５は、踵側に使用者１００の体重が掛かった状態を示している。両脚について図１５に示すように踵側に体重がかかっている場合に、使用者１００は後方にのけぞった姿勢であると推測される。この姿勢において使用者１００が前屈すると、筋力補助具２０４は、使用者１００に前屈に対する復元力を与えるので、使用者１００が後方に転倒する可能性がある。よって、使用者１００は後方にのけぞった姿勢において、筋力補助具２０４は、使用者１００に上側補助ベルト２１２、および下側補助ベルト２５２による補助力を与えないことが望ましい。 FIG. 15 shows a state in which the weight of the user 100 is applied to the heel side. As shown in FIG. 15, when the weight is applied to the heel side of both legs, the user 100 is assumed to be in a posture of sliding backward. When the user 100 bends forward in this posture, the muscle strength assisting device 204 gives the user 100 a restoring force against the forward bending, and thus the user 100 may fall backward. Therefore, it is desirable that the muscle force assisting device 204 does not apply the assisting force by the upper assisting belt 212 and the lower assisting belt 252 to the user 100 in a posture in which the user 100 slides backward.
　検出部３２４は、左右の靴３３０のそれぞれから、第一荷重センサ３３２および第二荷重センサ３３４の荷重検出値を取得する。検出部３２４は、左右の靴３３０の両方において、第二荷重センサ３３４の示す荷重が第一荷重センサ３３２の示す荷重に対して予め定められた比よりも大きくなった場合に、使用者１００の体重の重心が後ろへ移動したと判断する。 The detection unit 324 acquires the load detection values of the first load sensor 332 and the second load sensor 334 from each of the left and right shoes 330. The detection unit 324 detects the user 100 when the load indicated by the second load sensor 334 is larger than a predetermined ratio with respect to the load indicated by the first load sensor 332 in both the left and right shoes 330. Judge that the weight center of gravity has moved backwards.
　検出部３２４は、使用者１００の体重の重心が後ろへ移動したと判断した場合に、制御部３２６に解除信号を出力する。検出部３２４は、使用者１００の体重の重心が後ろへ移動したと判断しない場合に、制御部３２６に解除信号を出力しない。制御部３２６は、検出部３２４から解除信号を取得すると、解除部３４０を駆動する駆動信号を出力する。そして、駆動信号を取得した解除部３４０は、係止爪３４２の係止を解除して、上側補助ベルト２１２、および下側補助ベルト２５２の補助力を解放する。 The detection unit 324 outputs a release signal to the control unit 326 when determining that the center of gravity of the weight of the user 100 has moved backward. The detection unit 324 does not output a release signal to the control unit 326 when it is not determined that the center of gravity of the weight of the user 100 has moved backward. When acquiring the release signal from the detection unit 324, the control unit 326 outputs a drive signal for driving the release unit 340. Then, the release unit 340 that has acquired the drive signal releases the locking of the locking claw 342 and releases the auxiliary force of the upper auxiliary belt 212 and the lower auxiliary belt 252.
　筋力補助具２０４は、靴３３０の二つの荷重センサに加えて、三軸の加速度センサを制御ボックス３０２に備えてもよい。三軸の加速度センサを備えることで、筋力補助具２０４は、使用者１００の腰部の重力方向に対する姿勢も検出できるので、使用者１００の姿勢に関係する危険状況を詳細に検出できる。加速度センサに代えて、またはこれに加えて、筋力補助具２０６は、筋電位センサを用いて使用者１００の危険状況を検出してもよい。転倒するとき、使用者１００の体の一部に瞬時に力が入るので、筋電位センサは、当該力が予め定めた閾値を超えた場合に使用者１００が危険状況にあると判断してもよい。 The muscle force assisting tool 204 may include a triaxial acceleration sensor in the control box 302 in addition to the two load sensors of the shoe 330. By providing the triaxial acceleration sensor, the muscle force assisting device 204 can detect the posture of the user 100 in the direction of gravity of the waist, so that it is possible to detect in detail a dangerous situation related to the posture of the user 100. Instead of or in addition to the acceleration sensor, the muscle force assisting device 206 may detect a dangerous situation of the user 100 using a myoelectric potential sensor. Since a force is instantaneously applied to a part of the user's 100 body when falling, the myoelectric potential sensor determines that the user 100 is in a dangerous situation when the force exceeds a predetermined threshold. Good.
　図１６は、使用者１００に装着された別の筋力補助具２０６を背面から見た模式図である。図１６において、矢印で示す上下左右を筋力補助具２０６の上下左右方向とする。図１７は、使用者１００に装着された別の筋力補助具２０６を正面から見た模式図である。図１７において、矢印で示す上下左右を筋力補助具２０６の上下左右方向とする。 FIG. 16 is a schematic view of another strength assisting tool 206 attached to the user 100 as seen from the back. In FIG. 16, the up, down, left, and right directions indicated by the arrows are the up, down, left, and right directions of the strength assisting tool 206. FIG. 17 is a schematic view of another muscle strength assisting device 206 attached to the user 100 as seen from the front. In FIG. 17, the up, down, left, and right directions indicated by the arrows are the up, down, left, and right directions of the strength assisting tool 206.
　筋力補助具２０６は、使用者１００の上半身および下半身に装着されて、使用者１００腰部の筋力を補助する。筋力補助具２０６は、ジャケット部４００とズボン部４０２と、配線部４０４と、腰部アクチュエータ４１０と、脚部アクチュエータ４２０と、制御ボックス５００と、動作検出部５０８と、電源スイッチ５１０とを有する。 The muscle strength assisting tool 206 is attached to the upper and lower body of the user 100 to assist the muscle strength of the user 100 waist. The muscular strength assisting tool 206 includes a jacket part 400, a trouser part 402, a wiring part 404, a waist actuator 410, a leg actuator 420, a control box 500, an operation detection part 508, and a power switch 510.
　ジャケット部４００は、使用者１００の上半身を覆う形態を有している。ジャケット部４００は、半そで、長そで、ノースリーブ等、腕の形態は特に限定されない。ジャケット部４００は、伸縮可能な化学繊維等により形成される。ジャケット部４００は、使用者１００の上半身を一定の束縛力で締め付けて密着する。これにより、ジャケット部４００は、装着された状態では、使用者１００の上半身に対してすべり難くなる。 The jacket part 400 has a form that covers the upper body of the user 100. The shape of the arm of the jacket portion 400 is not particularly limited, such as a half sleeve, a long sleeve, and a sleeveless. The jacket part 400 is formed of a stretchable chemical fiber or the like. The jacket part 400 tightly contacts the upper body of the user 100 with a fixed binding force. Thereby, the jacket part 400 becomes difficult to slide with respect to the upper body of the user 100 in the mounted state.
　ズボン部４０２は、使用者１００の下半身を覆う形態を有している。ズボン部４０２は、脚部を半分覆う半ズボンであるが、脚部を全て覆う長ズボンであってもよい。ズボン部４０２は、伸縮可能な化学繊維等により形成される。ズボン部４０２は、使用者１００の下半身を一定の束縛力で締め付けて密着する。これにより、ズボン部４０２は、装着された状態では、使用者１００の下半身に対してすべり難くなる。 The trouser part 402 has a form which covers the lower body of the user 100. The trouser part 402 is short trousers covering half of the legs, but may be long trousers covering all the legs. The trouser part 402 is formed of a chemical fiber or the like that can be expanded and contracted. The trouser part 402 tightly adheres the lower body of the user 100 with a fixed binding force. Thereby, the trouser part 402 becomes difficult to slide with respect to the lower body of the user 100 in the mounted state.
　腰部アクチュエータ４１０は、第一アクチュエータ４１２と、第二アクチュエータ４１４とを有する。第一アクチュエータ４１２は、帯状に形成されており、使用者１００の右側であって、背部から腰部にわたって設けられている。第一アクチュエータ４１２は、全長にわたって、ジャケット部４００に貼り付けられて密着している。 The waist actuator 410 includes a first actuator 412 and a second actuator 414. The first actuator 412 is formed in a band shape, and is provided on the right side of the user 100 from the back to the waist. The first actuator 412 is attached to and closely contacts the jacket part 400 over its entire length.
　第一アクチュエータ４１２は、電圧が印加されると伸縮する高分子材料を含む。第一アクチュエータ４１２は、電圧が印加されると、長手方向に伸長または収縮する。第一アクチュエータ４１２は、伸長または収縮することにより、使用者１００に補助力を提供する。 The first actuator 412 includes a polymer material that expands and contracts when a voltage is applied. The first actuator 412 extends or contracts in the longitudinal direction when a voltage is applied. The first actuator 412 provides an assisting force to the user 100 by extending or contracting.
　高分子材料の一例は、ポリロタキサン架橋体である。第一アクチュエータ４１２は、平面状のポリロタキサン架橋体の両面を伸縮性の電極で挟んだシート部材を巻くことによって作製される。ここで、第一アクチュエータ４１２の長手方向は、巻かれたシート部材の軸方向と平行である。第一アクチュエータ４１２は、柔軟性を有するので、着用した状態で歩行したときのユーザの違和感を低減できる。 An example of the polymer material is a crosslinked polyrotaxane. The first actuator 412 is produced by winding a sheet member in which both surfaces of a planar polyrotaxane crosslinked body are sandwiched between stretchable electrodes. Here, the longitudinal direction of the first actuator 412 is parallel to the axial direction of the wound sheet member. Since the first actuator 412 has flexibility, it can reduce the user's uncomfortable feeling when walking in a worn state.
　高分子材料の別例は、非イオン性ゲルである。この場合、第一アクチュエータ４１２は、一対の外側電極と、一対の外側電極の間に配置されたメッシュ状のメッシュ電極と、メッシュ電極と各外側電極との間に設けられた非イオン性ゲルとを有する。非イオン性ゲルの一例は、ジメチルスルホキシドを溶媒とするポリビニルアルコールのゲルである。この第一アクチュエータ４１２では、メッシュ電極に外側電極よりも高い電圧を印加すると、外側電極から非イオン性ゲルに負電荷が注入されて、メッシュ電極に引き寄せられる。この結果、一対の外側電極間の距離が収縮する。逆に電圧の印加を停止すると、非イオン性ゲルの弾性力によって、元の状態に戻って伸長する。この外側電極、メッシュ電極及び非イオン性ゲルの組み合わせを複数積層することによって、伸縮量を増加させることができる。 Another example of the polymer material is a nonionic gel. In this case, the first actuator 412 includes a pair of outer electrodes, a mesh-like mesh electrode arranged between the pair of outer electrodes, and a nonionic gel provided between the mesh electrode and each outer electrode. Have An example of a nonionic gel is a gel of polyvinyl alcohol using dimethyl sulfoxide as a solvent. In the first actuator 412, when a voltage higher than that of the outer electrode is applied to the mesh electrode, a negative charge is injected from the outer electrode to the nonionic gel and is attracted to the mesh electrode. As a result, the distance between the pair of outer electrodes contracts. Conversely, when the application of voltage is stopped, the elastic state of the nonionic gel returns to the original state and expands. The amount of expansion and contraction can be increased by laminating a plurality of combinations of the outer electrode, mesh electrode, and nonionic gel.
　高分子材料の別例は、ポリピロール膜である。電解液中に浸漬されたポリピロール膜は、電圧が印加されることにより、膨張または収縮する。例えば、正の電圧が印加されると、ポリピロール膜は膨張する。負の電圧が印加されると、ポリピロール膜は収縮する。第一アクチュエータ４１２は、ポリピロール膜を含む場合、電解液が必要となるので、第一アクチュエータ４１２を封止する必要がある。 Another example of the polymer material is a polypyrrole film. The polypyrrole film immersed in the electrolytic solution expands or contracts when a voltage is applied. For example, when a positive voltage is applied, the polypyrrole film expands. When a negative voltage is applied, the polypyrrole film contracts. When the first actuator 412 includes a polypyrrole film, an electrolytic solution is required, and thus the first actuator 412 needs to be sealed.
　第二アクチュエータ４１４は、使用者の左側であって、背部から腰部にわたって設けられている。第二アクチュエータ４１４のその他の構成は、第一アクチュエータと同様なので説明は省略する。 The second actuator 414 is provided on the left side of the user from the back to the waist. Since the other structure of the second actuator 414 is the same as that of the first actuator, description thereof is omitted.
　脚部アクチュエータ４２０は、第三アクチュエータ４２２と、第四アクチュエータ４２４と、第五アクチュエータ４２６と、第六アクチュエータ４２８とを有する。第三アクチュエータ４２２は、右脚の大腿部を覆うズボン部４０２の前面の右上から左下にわたって設けられている。第三アクチュエータ４２２は、帯状に形成されている。第三アクチュエータ４２２は、全長にわたって、ズボン部４０２に貼り付けられて密着している。 The leg actuator 420 includes a third actuator 422, a fourth actuator 424, a fifth actuator 426, and a sixth actuator 428. The third actuator 422 is provided from the upper right to the lower left of the front surface of the trouser part 402 covering the thigh of the right leg. The third actuator 422 is formed in a band shape. The third actuator 422 is adhered to and adhered to the trouser part 402 over the entire length.
　第三アクチュエータ４２２は、電圧が印加されると伸縮する高分子材料を含み、電圧が印加されると、長手方向に伸長または収縮する。第三アクチュエータ４２２は、伸長または収縮することによって、歩行時の使用者１００の右脚の上昇または下降を補助する。第三アクチュエータのその他の構成は、第一アクチュエータ４１２と同様であるので説明は省略する。 The third actuator 422 includes a polymer material that expands and contracts when a voltage is applied, and expands or contracts in the longitudinal direction when a voltage is applied. The third actuator 422 assists in raising or lowering the right leg of the user 100 during walking by extending or contracting. Since the other configuration of the third actuator is the same as that of the first actuator 412, description thereof will be omitted.
　第四アクチュエータ４２４は、右脚の大腿部を覆うズボン部４０２の前面の左上から右下にわたって設けられている。従って、第三アクチュエータ４２２と、第四アクチュエータ４２４は、右脚の大腿部の前面で交差する。第五アクチュエータ４２６は、左脚の大腿部を覆うズボン部４０２の前面左上から右下にわたって設けられている。第六アクチュエータ４２８は、左脚の大腿部を覆うズボン部４０２の前面右上から左下にわたって設けられている。第五アクチュエータ４２６と、第六アクチュエータ４２８は、右脚の大腿部の前面で交差する。第四アクチュエータ４２４、第五アクチュエータ４２６、第六アクチュエータ４２８のその他の構成は、第三アクチュエータ４２２と同様なので、説明を省略する。 The fourth actuator 424 is provided from the upper left to the lower right of the front surface of the trouser part 402 covering the thigh of the right leg. Therefore, the third actuator 422 and the fourth actuator 424 intersect at the front surface of the thigh of the right leg. The fifth actuator 426 is provided from the upper left to the lower right of the front surface of the trouser part 402 that covers the thigh of the left leg. The sixth actuator 428 is provided from the front upper right to the lower left of the trouser part 402 covering the thigh of the left leg. The fifth actuator 426 and the sixth actuator 428 intersect at the front surface of the thigh of the right leg. Since the other configurations of the fourth actuator 424, the fifth actuator 426, and the sixth actuator 428 are the same as those of the third actuator 422, description thereof is omitted.
　配線部４０４は、制御ボックス５００の電源と、腰部アクチュエータ４１０、および脚部アクチュエータ４２０のそれぞれのアクチュエータ（以後、各アクチュエータという）に個別電圧を印加する。制御ボックス５００は、ズボン部４０２の前側上部に設けられている。制御ボックス５００は、制御装置５０２と、電源部５０４と、漏電センサ５０６とを有する。 The wiring unit 404 applies individual voltages to the power source of the control box 500 and the actuators of the waist actuator 410 and the leg actuator 420 (hereinafter referred to as each actuator). The control box 500 is provided on the upper front side of the trouser part 402. The control box 500 includes a control device 502, a power supply unit 504, and a leakage sensor 506.
　制御装置５０２は、筋力補助具２０６の制御全般を司る。電源部５０４は、配線部４０４を通じて各アクチュエータに電圧を個別に印加する。漏電センサ５０６は、配線部４０４、および各アクチュエータでの漏電を検出する。 The control device 502 governs overall control of the muscle strength assisting tool 206. The power supply unit 504 individually applies a voltage to each actuator through the wiring unit 404. The leakage sensor 506 detects leakage in the wiring portion 404 and each actuator.
　動作検出部５０８は、使用者１００の背部に設けられ、使用者１００の上半身の動作を検出するセンサである。動作検出部５０８の一例は、三軸の加速度センサである。使用者１００が前屈姿勢をとると、動作検出部５０８は、上半身の傾斜を検出して制御装置５０２へ上半身の傾斜情報を出力する。 The motion detection unit 508 is a sensor that is provided on the back of the user 100 and detects the motion of the upper body of the user 100. An example of the motion detection unit 508 is a triaxial acceleration sensor. When the user 100 takes a forward bending posture, the motion detection unit 508 detects the upper body inclination and outputs the upper body inclination information to the control device 502.
　電源スイッチ５１０は、使用者１００の腹部中央部に設けられる。電源スイッチ５１０によって使用者１００は、筋力補助具２０６の主電源のオン・オフを切り替える。 The power switch 510 is provided at the center of the abdomen of the user 100. With the power switch 510, the user 100 switches on / off the main power supply of the strength assisting tool 206.
　図１８は、制御ボックス５００の制御を説明する機能ブロックを示す。図１８に示すように、制御装置５０２は、制御部５１８と、格納部５１４とを有する。 FIG. 18 shows functional blocks for explaining the control of the control box 500. As illustrated in FIG. 18, the control device 502 includes a control unit 518 and a storage unit 514.
　制御部５１８は、動作検出部５０８から傾斜情報を取得する。制御部５１８はさらに、電源スイッチ５１０から電源信号を取得する。制御部５１８は、取得した傾斜情報に基づいて、格納部５１４を参照することにより、当該格納部５１４に格納されている傾斜情報と電源制御との関係に基づいて、電源部５０４を制御して、各アクチュエータに個別に電圧を印加して筋力を補助する。 The control unit 518 acquires tilt information from the motion detection unit 508. The control unit 518 further acquires a power signal from the power switch 510. The control unit 518 controls the power supply unit 504 based on the relationship between the inclination information stored in the storage unit 514 and the power supply control by referring to the storage unit 514 based on the acquired inclination information. The muscular strength is assisted by applying a voltage to each actuator individually.
　図１９は、筋力補助具２０６の動作を示す図である。図１９に示したように、第二アクチュエータ４１４に電圧が印加されると、第二アクチュエータ４１４は収縮する。第二アクチュエータ４１４の収縮により、使用者１００には、上半身を起こす補助力が付与される。 FIG. 19 is a diagram illustrating the operation of the muscle strength assisting tool 206. As shown in FIG. 19, when a voltage is applied to the second actuator 414, the second actuator 414 contracts. By the contraction of the second actuator 414, the user 100 is given an assisting force that raises the upper body.
　制御部５１８は、電源スイッチ５１０から最初の電源信号を取得すると、筋力補助具２０６の主電源をオン状態にする。制御部５１８は、次の電源信号を取得すると、筋力補助具２０６の主電源をオフ状態にする。 When the control unit 518 acquires the first power signal from the power switch 510, the control unit 518 turns on the main power of the muscle strength assisting device 206. When the control unit 518 acquires the next power supply signal, the control unit 518 turns off the main power supply of the strength assisting tool 206.
　漏電センサ５０６は、危険状況の一例として、配線部４０４および各アクチュエータでの漏電を検出する。この場合に、漏電センサ５０６は、制御部５１８の制御に基づいて流れるべき電流以上の電流が流れた場合に漏電があったと判断して、制御部５１８に漏電を検出した旨を出力する。 The earth leakage sensor 506 detects an earth leakage in the wiring unit 404 and each actuator as an example of a dangerous situation. In this case, leakage sensor 506 determines that a leakage has occurred when a current greater than the current that should flow based on the control of control unit 518 flows, and outputs to the control unit 518 that a leakage has been detected.
　制御部５１８は、漏電センサ５０６から漏電があった旨が入力された場合に、主電源を強制的にオフ状態にして、各アクチュエータが伸張、または収縮するエネルギーの供給を停止させる。これにより、漏電により危険状況となったときに、筋力補助具２０６は、主電源をオフ状態にして、使用者１００の危険状況を回避させる。 The control unit 518 forcibly turns off the main power supply and stops the supply of energy for the actuators to expand or contract when the leakage sensor 506 inputs that there is a leakage. Thereby, when it becomes a dangerous situation due to electric leakage, the muscular strength assisting tool 206 turns off the main power source to avoid the dangerous situation of the user 100.
　これに代えて、またはこれに加えて、各アクチュエータを備えた筋力補助具２０６においても、図１の測定部３１０または図１４の靴３３０を用いて使用者１００の危険状況を検出して、制御部５１８が主電源をオフ状態としてもよい。また、使用者１００の危険状況を検出したとき、筋力補助具２０６は、各アクチュエータから使用者１００に当該危険状況を回避するための補助力を与えてもよい。危険状況を回避するための補助力を与えることは、制御部５１８が補助力を調整する一例である。 Instead of this, or in addition to this, the muscle strength assisting device 206 provided with each actuator also detects and controls the dangerous situation of the user 100 using the measuring unit 310 of FIG. 1 or the shoe 330 of FIG. Unit 518 may turn off the main power supply. Further, when the dangerous situation of the user 100 is detected, the muscle strength assisting tool 206 may give an assisting force for avoiding the dangerous situation to the user 100 from each actuator. Giving an assist force for avoiding a dangerous situation is an example in which the control unit 518 adjusts the assist force.
　前方に大きな凹み段差を検出した場合、筋力補助具２０６は、使用者１００を前方へ行かせなくすることを目的として、脚部アクチュエータ４２０に電圧を印加して、脚の上昇を妨げる補助力を与えてもよい。筋力補助具２０６は、使用者１００を前方へ行かせなくすることで、使用者１００が大きな凹みへ落ちることを防止できる。 When a large dent step is detected forward, the muscle strength assisting tool 206 applies a voltage to the leg actuator 420 to prevent the user 100 from going forward, and provides an assisting force that prevents the leg from rising. May be given. The muscular strength assisting tool 206 can prevent the user 100 from falling into a large dent by preventing the user 100 from going forward.
　他の例として、使用者１００が下り坂でつまずいたことを検出した場合、筋力補助具２０６は、脚部アクチュエータ４２０と腰部アクチュエータ４１０に電圧を印加して、より前方に脚をださせる補助力と上半身を起こす補助力を使用者１００に与えて、転倒を防止させる補助力を与えてもよい。更に、筋力補助具２０６に腕部の筋力を補助するアクチュエータを設けて、筋力補助具２０６は、転倒を防止するためのバランスを取る動きを補助する力を使用者１００の腕部に与えてもよい。このように、筋力補助具２０６は、使用者１００への補助力を調整することによって、使用者１００の危険状況を回避させることができる。 As another example, when it is detected that the user 100 has stumbled downhill, the muscle force assisting tool 206 applies a voltage to the leg actuator 420 and the waist actuator 410 to assist the leg forward. An assisting force that raises the upper body may be given to the user 100 to provide an assisting force that prevents falling. Furthermore, the muscle force assisting device 206 is provided with an actuator for assisting the muscle strength of the arm portion, and the muscle force assisting device 206 may provide the arm portion of the user 100 with the force assisting the balancing movement for preventing the fall. Good. As described above, the muscle force assisting tool 206 can avoid the dangerous situation of the user 100 by adjusting the assisting force to the user 100.
　また、主電源をオフ状態することに代えて、またはこれに加えて、各アクチュエータの端部の一方に、図５の解除部３４０を設けて、使用者１００の危険状況を検出したとき、解除部３４０を駆動させて各アクチュエータをジャケット部４００から切り離してもよい。図１６、および図１７に示した例において、使用者１００の危険状況は、動作検出部５０８によって検出したが、これに代えて、またはこれに加えて、筋力補助具２０６は、筋電位センサを用いて使用者１００の危険状況を検出してもよい。転倒するとき、使用者１００の体の一部に瞬時に力が入るので、筋電位センサは、当該力が予め定めた閾値を超えた場合に使用者１００が危険状況にあると判断してもよい。 Further, in place of or in addition to turning off the main power supply, the release unit 340 of FIG. 5 is provided at one of the end portions of each actuator, and the release is performed when the dangerous situation of the user 100 is detected. The actuator may be separated from the jacket portion 400 by driving the portion 340. In the example shown in FIG. 16 and FIG. 17, the danger state of the user 100 is detected by the motion detection unit 508. Instead of or in addition to this, the muscle strength assisting device 206 uses the myoelectric potential sensor. It may be used to detect the dangerous situation of the user 100. Since a force is instantaneously applied to a part of the user's 100 body when falling, the myoelectric potential sensor determines that the user 100 is in a dangerous situation when the force exceeds a predetermined threshold. Good.
　危険状況の場合に、主電源をオフ状態することに代えて、またはこれに加えて、制御部５０４は各アクチュエータを自然長に積極的に戻してもよい。この場合に、第一アクチュエータ４１２等のように電気的に駆動されるアクチュエータに対して、放電回路が設けられてもよい。危険状況であるときに、制御部５０４は電源部５０４からアクチュエータへの電力供給を停止することに加えて、アクチュエータに蓄積されている電荷を当該放電回路で放電することで、アクチュエータを自然長に積極的に戻してもよい。これにより、アクチュエータを早急に自然長に戻して、ユーザが危険を回避する場合に当該アクチュエータがユーザの動きの妨げとなることを確実に防止することができる。 In the case of a dangerous situation, the control unit 504 may positively return each actuator to the natural length instead of or in addition to turning off the main power supply. In this case, a discharge circuit may be provided for an electrically driven actuator such as the first actuator 412. In a dangerous situation, the control unit 504 stops the power supply from the power supply unit 504 to the actuator, and discharges the electric charge accumulated in the actuator with the discharge circuit, so that the actuator becomes a natural length. You may return positively. Thus, the actuator can be quickly returned to the natural length, and when the user avoids danger, the actuator can be reliably prevented from hindering the user's movement.
　第一アクチュエータ４１２等として、シリコーン、アクリル等のエラストマー膜の両面に、伸縮可能なシート状の電極を接着した誘電エラストマー型のアクチュエータを用いてもよい。当該アクチュエータは、電極への電圧印加で生じるクーロン力によりエラストマー膜を挟み込んで押し潰すことにより面方向に伸長する。危険状況であるときに、制御部５０４は当該アクチュエータへの電圧を制御することに加えて、図５から図８に示す解除部３４０を用いてアクチュエータの補助力の伝達経路を物理的に遮断してもよい。 As the first actuator 412 or the like, a dielectric elastomer type actuator in which stretchable sheet-like electrodes are bonded to both surfaces of an elastomer film such as silicone or acrylic may be used. The actuator extends in the surface direction by sandwiching and crushing the elastomer film by a Coulomb force generated by applying a voltage to the electrode. In a dangerous situation, in addition to controlling the voltage to the actuator, the control unit 504 uses the release unit 340 shown in FIGS. 5 to 8 to physically block the auxiliary force transmission path of the actuator. May be.
　第一アクチュエータ４１２等は、少なくとも電力を供給していない状態において、外力により変形可能であることが好ましい。この場合に電力の非供給時の剛性または弾性が供給時よりも低いことが好ましい。これにより、危険状況であるときに電力の供給を停止したとき、ユーザから受ける力によって第一アクチュエータ４１２が容易に変形するので、ユーザの動作を妨げることが防止される。アクチュエータが回転モータ、油圧シリンダ等の場合には、危険状況である場合にクラッチ機構や油抜き機構等の、アクチュエータの動きを自由にする機構を設けることになるが、上記アクチュエータによればこれらを設けなくてもよい。さらに、アクチュエータ自身の柔軟性により、転倒等の場合に当該アクチュエータが緩衝材としての役割も果たすことができる。 It is preferable that the first actuator 412 and the like can be deformed by an external force at least in a state where power is not supplied. In this case, it is preferable that rigidity or elasticity when power is not supplied is lower than when power is supplied. Thereby, when the supply of electric power is stopped in a dangerous situation, the first actuator 412 is easily deformed by the force received from the user, thereby preventing the user's operation from being hindered. When the actuator is a rotary motor, hydraulic cylinder, or the like, a mechanism that makes the actuator move freely, such as a clutch mechanism or an oil release mechanism, is provided in a dangerous situation. It does not have to be provided. Further, due to the flexibility of the actuator itself, the actuator can also serve as a cushioning material in the event of a fall or the like.
　さらに、他の危険状況の例として、使用者１００が被水したことを検出して、筋力補助具２００等の補助力を解放または低減してもよい。なお、筋力補助具２０６の被水は、電流値を検出すること、漏電量を検出すること、または、各アクチュエータ周辺の湿度を湿度計で検出することによって検出できる。これにより、使用者１００が水中に落下した等の場合に、アクチュエータ等の電気機器の漏電による使用者１００への感電を防止できる。また、制御ボックス５００に、漏電ブレーカを設け、漏電発生時に各アクチュエータへの電力の供給を遮断してもよい。 Furthermore, as another example of the dangerous situation, it may be detected that the user 100 has been flooded, and the assisting force such as the strength assisting tool 200 may be released or reduced. In addition, the water | moisture content of the muscular strength auxiliary tool 206 can be detected by detecting the electric current value, detecting the amount of electric leakage, or detecting the humidity around each actuator with a hygrometer. Thereby, when the user 100 falls into water, the electric shock to the user 100 by the electric leakage of electric equipments, such as an actuator, can be prevented. In addition, a leakage breaker may be provided in the control box 500, and the supply of power to each actuator may be cut off when a leakage occurs.
　上記検出部３２４、制御部３２６、５１８のうち、危険状況に基づいて補助力を低減させるべく制御する部分は、ＣＰＵがソフトウェアプログラムを読み出すことにより実行されてもよいし、ＡＳＩＣ等によりハードウェアとして形成されてもよい。なお、制御部３２６、５１８は補助力を調整することに加えて、危険状況である旨を音、振動等により警告してもよい。 Of the detection unit 324 and the control units 326 and 518, the part that controls to reduce the assisting force based on the dangerous situation may be executed by the CPU reading the software program, or as hardware by an ASIC or the like. It may be formed. In addition to adjusting the assisting force, the control units 326 and 518 may warn of a dangerous situation by sound, vibration, or the like.
　また、筋力補助具２０６の動作検出部５０８が加速度センサを備えている場合、加速度センサは、配線を介して、ユーザの腰部における３方向の加速度信号を制御部５０４に出力する。 Further, when the motion detection unit 508 of the muscle strength assisting device 206 includes an acceleration sensor, the acceleration sensor outputs an acceleration signal in three directions at the user's waist to the control unit 504 via the wiring.
　加速度センサからの出力が、ユーザが転倒した状態に対応する状態であることを検出した場合、制御部５０４にユーザが転倒した状態であることを示す状態信号が出力される。制御装置５０２は、当該状態信号を取得すると、電源部５０４を制御して、第１アクチュエータ４１２及び第２アクチュエータ４１４等のアクチュエータによる歩行の支援を中止する。すなわち、ユーザに対して筋力補助具２０６からの支援がない自由な状態を提供する。なお、制御装置５０４は、歩行の支援を中止することに代えて、印加電圧を低下させることにより、各アクチュエータの出力を低減して、歩行の支援を制限してもよい。 When it is detected that the output from the acceleration sensor is in a state corresponding to the state in which the user has fallen, a state signal indicating that the user has fallen is output to the control unit 504. When the control device 502 acquires the state signal, the control device 502 controls the power supply unit 504 to stop walking support by actuators such as the first actuator 412 and the second actuator 414. That is, the user is provided with a free state where there is no support from the strength assisting tool 206. Note that the control device 504 may limit the walking support by reducing the output of each actuator by reducing the applied voltage instead of stopping the walking support.
　動作検出部５０８は、加速度センサから、ユーザの腰部における３方向の加速度信号を取得する。動作検出部５０８は、取得した加速度信号から加速度を算出して、予め定められた時間における加速度変化のプロファイルを作成する。なお、予め定められた時間の一例は２秒である。 The motion detection unit 508 acquires acceleration signals in three directions at the user's waist from the acceleration sensor. The motion detection unit 508 calculates acceleration from the acquired acceleration signal, and creates a profile of acceleration change at a predetermined time. An example of the predetermined time is 2 seconds.
　人間が転倒した場合に、腰部に特徴的な加速度変化が観測されることが知られている。そこで、予め故意に転倒した場合に測定された加速度変化のプロファイルを参照プロファイルとして格納部５１４に格納しておく。動作検出部５０８は、格納部５１４に格納された参照プロファイルと、加速度センサからの出力に基づいて算出されたプロファイルとを比較することで、筋力補助具２０６を使用しているユーザが転倒した状態であることを検出する。 It is known that a characteristic acceleration change is observed in the lower back when a human falls. Therefore, a profile of acceleration change measured when the vehicle falls intentionally in advance is stored in the storage unit 514 as a reference profile. The motion detection unit 508 compares the reference profile stored in the storage unit 514 with the profile calculated based on the output from the acceleration sensor, so that the user using the muscle strength assisting device 206 falls Is detected.
　危険状況を検出する検出部３２４等の検出部は、作成したプロファイルと参照プロファイルとが予め定められた条件で一致した場合に、ユーザの状態が転倒した状態であると判断し、制御装置５０２にユーザの状態が転倒した状態であることを示す状態信号を出力する。制御装置５０２は、当該状態信号を取得すると、電圧制御処理を停止する。制御装置５０２は、電圧制御処理を停止することによって、各アクチュエータによる歩行の支援を止める。 A detection unit such as the detection unit 324 that detects a dangerous situation determines that the user's state is in a fallen state when the created profile matches the reference profile under a predetermined condition, and the control unit 502 A state signal indicating that the user's state is a fallen state is output. When acquiring the state signal, the control device 502 stops the voltage control process. The control device 502 stops walking support by each actuator by stopping the voltage control process.
　一方、検出部が、予め定められた条件で一致していない場合に、ユーザの状態が転倒した状態ではないと判断し、制御装置５０２にユーザの状態が転倒した状態でないことを示す状態信号を出力する。制御装置５０２は、当該状態信号を取得すると、電圧制御処理を実行する。 On the other hand, when the detection unit does not match under a predetermined condition, it is determined that the user's state is not a fallen state, and a status signal indicating that the user's state is not a fallen state is sent to the control device 502. Output. When acquiring the state signal, the control device 502 executes a voltage control process.
　このように、筋力補助具２０６は、検出部がユーザの転倒状態を検出した場合には、歩行支援を止める。これにより、ユーザが転倒した場合には支援を中止してユーザの本来の身体感覚に戻すことにより、受け身をとる動作を促すことができる。 As described above, the strength assisting tool 206 stops walking support when the detection unit detects the user's fall state. As a result, when the user falls down, the support is stopped and the user's original body sensation is restored, thereby prompting a passive action.
　また、検出部として、加速度センサに代えて、ユーザの腰または臀部に圧力センサを設けて、予め定められた状態として、ユーザが着座した状態を検出してもよい。この場合、検出部は、圧力センサから、ユーザの腰部または臀部にかかる圧力信号を取得する。検出部は、取得した圧力信号から圧力を算出して、算出した圧力が、予め定められた圧力の閾値を越えた場合に、ユーザが着座した状態であると判断する。これにより、検出部は、筋力補助具２０６を装着したユーザが着座した状態であり、危険状態ではないことを検出する。 Further, instead of the acceleration sensor as the detection unit, a pressure sensor may be provided on the user's waist or buttocks to detect a state in which the user is seated as a predetermined state. In this case, a detection part acquires the pressure signal concerning a user's waist | hip | lumbar part or a buttocks from a pressure sensor. The detection unit calculates a pressure from the acquired pressure signal, and determines that the user is seated when the calculated pressure exceeds a predetermined pressure threshold. Accordingly, the detection unit detects that the user wearing the muscle strength assisting tool 206 is seated and is not in a dangerous state.
　検出部は、ユーザが着座した状態を検出した場合に、制御装置５０２にユーザの状態が着座した状態であることを示す状態信号を出力する。制御装置５０２は、当該状態信号を取得すると、危険状況が生じた場合のような制御は行わず、ユーザの筋力支援を行う。 The detection unit outputs a state signal indicating that the state of the user is in the seated state to the control device 502 when detecting the state in which the user is seated. When the control device 502 acquires the state signal, the control device 502 does not perform control as in the case where a dangerous situation occurs, but supports the user's strength.
　さらに、圧力センサに代えて、または、これに加えてユーザの膝部に膝の角度を検出できる角度センサを設けてもよい。この場合、検出部は、角度センサから、ユーザの膝の曲げ角度信号を取得する。検出部は、取得した膝の曲げ角度信号から膝の曲げ角度を算出して、算出した角度が予め定められた角度の閾値を越えた場合、または、膝の曲げ角度が予め定められた角度の閾値を超えた状態が所定の時間を超えた場合に、ユーザが着座した状態であると判断する。これにより、検出部は、筋力補助具２０６を使用しているユーザが着座した状態であることを検出してもよい。 Furthermore, instead of or in addition to the pressure sensor, an angle sensor that can detect the angle of the knee may be provided at the knee of the user. In this case, a detection part acquires a bending angle signal of a user's knee from an angle sensor. The detection unit calculates a knee bending angle from the acquired knee bending angle signal, and when the calculated angle exceeds a predetermined angle threshold, or the knee bending angle is a predetermined angle. When the state exceeding the threshold exceeds a predetermined time, it is determined that the user is seated. Thereby, the detection unit may detect that the user who is using the muscle strength assisting tool 206 is seated.
　また、加速度センサに代えて、ユーザの脚の踏み出し先の地面に発信方向を向けた、超音波センサを設けた場合、予め定められた状態として、ユーザの前に予め定められた高さ以上の段差がある状態を検出してもよい。この場合、検出部は、超音波センサから地面に向けて発信した超音波が、地面に反射して受信されるまでの時間を取得する。動作検出部５０８は、取得した時間に音速を乗じて距離を測定することによって、当該地面にある段差の高さを算出する。検出部は、算出した高さが閾値以上であった場合に、ユーザの前に予め定められた高さ以上の段差がある状態であると判断する。これにより、検出部は、筋力補助具２０６を使用しているユーザの前に予め定められた高さ以上の段差があることを検出する。 In addition, when an ultrasonic sensor is provided in place of the acceleration sensor and directs the transmission direction to the ground where the user's legs are stepped on, the predetermined state is set to a height equal to or higher than a predetermined height before the user. You may detect the state with a level | step difference. In this case, the detection unit acquires a time until the ultrasonic wave transmitted from the ultrasonic sensor toward the ground is reflected by the ground and received. The motion detection unit 508 calculates the height of the step on the ground by multiplying the acquired time by the speed of sound and measuring the distance. When the calculated height is greater than or equal to the threshold value, the detection unit determines that there is a level difference greater than or equal to a predetermined height before the user. Thereby, a detection part detects that there exists a level | step difference more than predetermined height before the user who is using the muscular strength auxiliary tool 206. FIG.
　検出部は、ユーザの前に予め定められた高さ以上の段差がある状態を検出した場合に、制御装置５０２にユーザの前に予め定められた高さ以上の段差がある状態であることを示す状態信号を出力する。制御装置５０２は、当該状態信号を取得すると、電圧制御処理を停止して歩行支援を止める。このように、ユーザの前に予め定められた高さ以上の段差がある状態で歩行を支援することによって、ユーザを当該段差に導き、当該段差により転倒させてしまうことを防止できる。 When the detection unit detects a state where there is a step greater than or equal to a predetermined height before the user, the detection unit indicates that the control device 502 has a step greater than or equal to a predetermined height before the user. The status signal shown is output. When acquiring the state signal, the control device 502 stops the voltage control process and stops walking support. As described above, by assisting walking in a state where there is a level difference of a predetermined height or more in front of the user, it is possible to prevent the user from being guided to the level difference and falling down due to the level difference.
　さらに、ユーザの前に予め定められた高さ以上の段差がある状態において、検出部は、ユーザの脚の踏み出し先の地面が低いか否かに基づいて、ユーザの前に予め定められた高さ以上の段差があると判断してもよい。足の踏み出し先の地面が低い段差を有する場合、当該段差によりユーザは、転倒しやすくなる。したがって、ユーザの脚の踏み出し先の地面が低い状態で歩行を支援することによって、ユーザを当該段差に導き、当該段差により転倒させてしまうことを防止できる。 Further, in a state where there is a step greater than or equal to a predetermined height in front of the user, the detection unit determines whether or not the height determined in advance for the user is based on whether or not the ground on which the user's legs are stepped is low. It may be determined that there is a step greater than this. When the ground to which the foot is stepped has a low step, the step makes it easier for the user to fall. Therefore, by assisting walking while the ground on which the user's legs are stepped is low, the user can be guided to the level difference and prevented from being overturned by the level difference.
　さらに、超音波センサに代えて、または、これに加えて撮像装置を用いてもよい。この場合、検出部は、撮像装置によって撮像されたユーザの前方の画像を取得する。検出部は、取得した画像を解析して、ユーザの前に予め定められた高さ以上の段差があるか否かを判断してもよい。これにより、検出部は、筋力補助具２０６を使用しているユーザの前に予め定められた高さ以上の段差があることを検出する。 Furthermore, an imaging device may be used instead of or in addition to the ultrasonic sensor. In this case, a detection part acquires the image ahead of the user imaged with the imaging device. The detection unit may analyze the acquired image and determine whether or not there is a step greater than a predetermined height in front of the user. Thereby, a detection part detects that there exists a level | step difference more than predetermined height before the user who is using the muscular strength auxiliary tool 206. FIG.
　また、筋力補助具２０６は、加速度センサに代えて、気圧センサ７２を備えていてもよい。筋力補助具２０６において、検出部は、予め定められた状態として、ユーザが階段を上っている状態を検出する。階段を上っている状態において、ユーザは、手すりを握ると、右入力部２６および左入力部２８の何れか一方、もしくは両方から意思表示が入力されなくなる。 Further, the muscular strength assisting tool 206 may include an atmospheric pressure sensor 72 instead of the acceleration sensor. In the muscular strength assisting tool 206, the detection unit detects a state where the user is climbing the stairs as a predetermined state. When the user holds the handrail while climbing the stairs, the intention display is not input from either one or both of the right input unit 26 and the left input unit 28.
　一方、階段を上る時は、脚部への負荷が大きいので、歩行の支援を行って欲しいと考えるユーザは多い。このため、検出部は、ユーザが階段を上っている状態であると検出した場合、制御装置５０２にユーザが階段を上っている状態であることを示す状態信号を出力する。制御装置５０２は、当該状態信号を取得すると、右入力部２６および左入力部２８のいずれから意思表示が入力されていない場合でも、電源部５０４を制御して、各アクチュエータによって歩行を支援する。これにより、手摺を握りながら階段を上るユーザに対しても歩行を補助できる。 On the other hand, when going up the stairs, the load on the legs is large, and many users want to support walking. For this reason, when the detection unit detects that the user is climbing the stairs, the detection unit outputs a state signal indicating that the user is climbing the stairs to the control device 502. When the control device 502 acquires the state signal, the control device 502 controls the power supply unit 504 to assist walking by each actuator even when no intention display is input from either the right input unit 26 or the left input unit 28. Thereby, walking can be assisted also to the user who goes up the stairs while grasping a handrail.
　検出部は、気圧センサ７２から、気圧信号を取得する。検出部は、取得した気圧信号からユーザの高度を算出する。検出部は、算出した高度からユーザの高度変化のプロファイルを作成する。検出部は、高度変化のプロファイルが、なだらかに上昇している場合に、ユーザが階段を上っている状態であると判断する。これにより検出部は、筋力補助具２０６を使用しているユーザが階段を上っている状態であることを検出する。 The detection unit obtains an atmospheric pressure signal from the atmospheric pressure sensor 72. The detection unit calculates the user's altitude from the acquired atmospheric pressure signal. The detection unit creates a profile of the user's altitude change from the calculated altitude. The detection unit determines that the user is climbing up the stairs when the profile of the altitude change is gently rising. Thereby, a detection part detects that the user who is using the muscular strength auxiliary tool 206 is in the state which is going up the stairs.
　制御装置５０２は、ユーザが電源スイッチ２９によって電源信号を入力したと判定すると、動作検出部５０８は、気圧センサから気圧信号を取得する。検出部は、気圧信号からユーザの高度を算出して、高度変化のプロファイルを作成する。検出部は、高度変化のプロファイルに基づいて、ユーザの状態が、階段を上っている状態か否かを判断する。 When the control device 502 determines that the user has input a power signal using the power switch 29, the operation detection unit 508 acquires a pressure signal from the pressure sensor. The detection unit calculates the altitude of the user from the atmospheric pressure signal, and creates an altitude change profile. The detection unit determines whether or not the user's state is up a staircase based on the altitude change profile.
　検出部は、高度変化のプロファイルが、ユーザが階段を上っていることを示している場合、例えば、ユーザの高度がなだらかに上昇している場合に、ユーザの状態が、階段を上っている状態であり、危険状態ではないと判断し、制御装置５０２にユーザが階段を上っている状態であることを示す状態信号を出力する。制御装置５０２は、当該状態信号を取得すると、電圧制御処理を実行する。 When the profile of the altitude change indicates that the user is climbing the stairs, for example, when the altitude of the user is rising gently, the state of the user is climbing the stairs. The control unit 502 determines that the user is climbing the stairs and outputs a status signal indicating that the user is climbing the stairs. When acquiring the state signal, the control device 502 executes a voltage control process.
　さらに、気圧センサに加えて、ユーザの股関節の角度を計測する角度センサを設けてもよい。この場合、検出部は、角度センサから、ユーザの股関節の曲げ角度信号を取得する。検出部は、角度信号から、例えば、股関節の角度変化を算出して、ユーザの脚の屈伸のタイミングを取得する。階段を上る場合に、股関節から脚を曲げて階段に脚をかけ、股関節を伸ばして１段上の段に上るので、股関節の伸びのタイミングと、ユーザの高度変化のタイミングとを比較することで、ユーザが階段を上っている状態であることを検出してもよい。 Furthermore, in addition to the atmospheric pressure sensor, an angle sensor for measuring the angle of the user's hip joint may be provided. In this case, a detection part acquires the bending angle signal of a user's hip joint from an angle sensor. The detection unit calculates, for example, the angle change of the hip joint from the angle signal, and acquires the timing of bending and stretching of the user's leg. When going up the stairs, bend the legs from the hip joints, put the legs on the stairs, extend the hip joints and go up one step, so compare the timing of hip extension and the timing of altitude change of the user It may be detected that the user is climbing up the stairs.
　以上、本発明を実施の形態を用いて説明したが、本発明の技術的範囲は上記実施の形態に記載の範囲には限定されない。また、上記実施の形態に、多様な変更または改良を加え得ることが当業者に明らかである。更に、変更または改良を加えた形態も本発明の技術的範囲に含まれ得ることは、請求の範囲の記載から明らかである。 As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. In addition, it will be apparent to those skilled in the art that various modifications or improvements can be added to the above embodiment. Further, it is apparent from the scope of the claims that the embodiments added with changes or improvements can be included in the technical scope of the present invention.
　請求の範囲、明細書、および図面中において示した装置、システム、プログラム、および方法における動作、手順、ステップ、および段階等の各処理の実行順序は、特段「より前に」、「先立って」等と明示しておらず、また、前の処理の出力を後の処理で用いるのでない限り、任意の順序で実現しうることに留意すべきである。請求の範囲、明細書、および図面中の動作フローに関して、便宜上「まず、」、「次に、」等を用いて説明したとしても、この順で実施することが必須であることを意味するものではない。 The execution order of each process such as operations, procedures, steps, and stages in the apparatus, system, program, and method shown in the claims, the description, and the drawings is particularly “before” or “prior”. It should be noted that they can be implemented in any order unless the output of the previous process is used in the subsequent process. Regarding the operation flow in the claims, the description, and the drawings, even if it is described using “first”, “next”, etc. for the sake of convenience, it means that it is essential to carry out in this order. is not.
１００　使用者、２００、２０２、２０４、２０６　筋力補助具、２１０　上装着部、２１２　上側補助ベルト、２１３　補助ベルト、２１４　連結具、２１５　係止突起、２１６　弾性爪、２１７　流体、２１８　ジャケット部、２２０　下装着部、２２２　取付具、２２３　嵌合部、２２４　係止穴、２２６　連結ベルト、２２８　固定ベルト、２３０　膝ベルト、２３２　踵ベルト、２３４　ズボン部、２４２　弾性部、２５２　下側補助ベルト、２６０　ケーブル、２６２　連結管、３００、３０２、３０６　制御ボックス、３０４　ポンプ、３１０　測定部、３１２　超音波センサ、３１４　角度調整部、３１６、３３６　ケーブル、３２４　検出部、３２６　制御部、３３０　靴、３３２　第一荷重センサ、３３４　第二荷重センサ、３４０　解除部、３４２、３７０　係止爪、３４４　係止板、３４６、３７６　支持部、３４８、３７２　付勢部材、３５０、３７４　ロッド、３５２、３７８　筐体、３５４、３８０　駆動部、３６０　解放部、３６２　回転体、３６４　係止突起、３６６、３６８　調整ベルト、３９０　シリンダ、３９２　ピストン、３９４　アクチュエータ、４００　ジャケット部、４０２　ズボン部、４０４　配線部、４１０　腰部アクチュエータ、４１２　第一アクチュエータ、４１４　第二アクチュエータ、４２０　脚部アクチュエータ、４２２　第三アクチュエータ、４２４　第四アクチュエータ、４２６　第五アクチュエータ、４２８　第六アクチュエータ、５００　制御ボックス、５０２　制御装置、５０４　電源部、５０６　漏電センサ、５０８　動作検出部、５１０　電源スイッチ、５１４　格納部、５１８　制御部 100 user, 200, 202, 204, 206 muscle strength assisting device, 210 upper mounting part, 212 upper auxiliary belt, 213 auxiliary belt, 214 coupling tool, 215 locking protrusion, 216 elastic claw, 217 fluid, 218 jacket part, 220 Lower mounting part, 222 fitting, 223 fitting part, 224 locking hole, 226 connecting belt, 228 fixing belt, 230 knee belt, 232 heel belt, 234 trouser part, 242 elastic part, 252 lower auxiliary belt, 260 cable , 262 connection pipe, 300, 302, 306 control box, 304 pump, 310 measurement unit, 312 ultrasonic sensor, 314 angle adjustment unit, 316, 336 cable, 324 detection unit, 326 control unit, 330 shoes, 332 first load Sensor, 334 Second load center 340 release part, 342, 370 locking claw, 344 locking plate, 346, 376 support part, 348, 372 biasing member, 350, 374 rod, 352, 378 housing, 354, 380 drive part, 360 release Part, 362 rotating body, 364 locking protrusion, 366, 368 adjustment belt, 390 cylinder, 392 piston, 394 actuator, 400 jacket part, 402 pants part, 404 wiring part, 410 waist part actuator, 412 first actuator, 414 second Actuator, 420 Leg Actuator, 422 Third Actuator, 424 Fourth Actuator, 426 Fifth Actuator, 428 Sixth Actuator, 500 Control Box, 502 Control Device, 504 Power Supply Unit, 506 Leak Sensor, 508 operation detecting unit, 510 a power switch, 514 storage unit, 518 control unit

Claims (17)

  1. 　伸長または収縮による補助力を用いて、使用者の筋力を補助する補助部と、
    　予め定められた危険状況を検出する検出部と、
    　前記検出部により前記危険状況が検出された場合に、前記補助部による補助力を調整する制御部と
    を備える筋力補助具。     An assisting part that assists the user's muscle strength using an assisting force by extension or contraction;
    A detection unit for detecting a predetermined dangerous situation;
    A muscular strength assisting device comprising: a control unit that adjusts the assisting force by the assisting unit when the dangerous state is detected by the detecting unit.
  2. 　前記制御部は、前記補助部による前記補助力を解放する請求項１に記載の筋力補助具。 The muscle strength assisting device according to claim 1, wherein the control unit releases the assisting force by the assisting unit.
  3. 　前記制御部は、前記補助部が伸長または収縮するエネルギーの供給を停止することにより、前記補助力を解放する請求項２に記載の筋力補助具。 The muscle force assisting device according to claim 2, wherein the control unit releases the assisting force by stopping supply of energy for the assisting unit to expand or contract.
  4. 　前記制御部は、前記補助部の長さが自然長になるように補助力を解放する請求項３に記載の筋力補助具。 The muscle strength assisting device according to claim 3, wherein the control unit releases the assisting force so that the length of the assisting unit becomes a natural length.
  5. 　前記制御部は、前記補助部と前記使用者との間の前記補助力の伝達経路を物理的に遮断することにより前記補助力を解放する請求項２に記載の筋力補助具。 The muscle force assisting device according to claim 2, wherein the control unit releases the assisting force by physically blocking a transmission path of the assisting force between the assisting unit and the user.
  6. 　前記補助部は、少なくとも補助力を解放した状態において、外力により変形可能である請求項２から５のいずれか１項に記載の筋力補助具。 The muscle strength assisting device according to any one of claims 2 to 5, wherein the assisting portion is deformable by an external force at least in a state where the assisting force is released.
  7. 　前記検出部は、前記危険状況として、被水したことを検出する請求項１から６のいずれか１項に記載の筋力補助具。 The muscle strength assisting device according to any one of claims 1 to 6, wherein the detection unit detects that the water has been flooded as the dangerous situation.
  8. 　前記検出部は、前記危険状況として、予め定められた高さ以上の段差を検出する請求項１から６のいずれか１項に記載の筋力補助具。 The muscle strength assisting device according to any one of claims 1 to 6, wherein the detection unit detects a step having a predetermined height or more as the danger situation.
  9. 　前記検出部は、前記使用者の脚の踏み出し先の地面が低いか否かに基づいて、前記段差を検出する請求項８に記載の筋力補助具。 The muscle force assisting device according to claim 8, wherein the detection unit detects the step based on whether or not the ground of the stepped-out leg of the user is low.
  10. 　前記検出部は、前記踏み出し先の地面への距離を測距することにより、前記段差の有無を判断する請求項９に記載の筋力補助具。 The muscle strength assisting tool according to claim 9, wherein the detection unit determines the presence or absence of the step by measuring a distance to the ground of the stepped-out destination.
  11. 　前記検出部は、前記使用者の前方の画像を解析して、前記段差の有無を判断する請求項８に記載の筋力補助具。 The muscle strength assisting device according to claim 8, wherein the detection unit analyzes an image in front of the user to determine the presence or absence of the step.
  12. 　前記検出部は、前記危険状況として、前記使用者の予め定められた危険姿勢を検出する請求項１から６のいずれか１項に記載の筋力補助具。 The muscle force assisting device according to any one of claims 1 to 6, wherein the detection unit detects a predetermined dangerous posture of the user as the dangerous situation.
  13. 　前記検出部は、前記危険姿勢として、前記使用者の体重の重心の後ろへ移動を検出する請求項１２に記載の筋力補助具。 The muscle strength assisting device according to claim 12, wherein the detection unit detects movement behind the center of gravity of the weight of the user as the dangerous posture.
  14. 　前記検出部は、荷重センサ、筋電センサおよび加速度センサの少なくとも一つを有する請求項１２または１３に記載の筋力補助具。 The muscle strength assisting device according to claim 12 or 13, wherein the detection unit includes at least one of a load sensor, a myoelectric sensor, and an acceleration sensor.
  15. 　前記検出部は、前記荷重センサで出力された荷重に基づいて、前記使用者の体重の重心が後ろへ移動したか否かを判断する請求項１４に記載の筋力補助具。 The muscle strength assisting tool according to claim 14, wherein the detection unit determines whether or not the center of gravity of the weight of the user has moved backward based on the load output by the load sensor.
  16. 　前記検出部は、予め記録された安全な条件を満たさない場合に、前記危険状況であると判断する請求項１から１５のいずれか１項に記載の筋力補助具。 The muscle strength assisting device according to any one of claims 1 to 15, wherein the detection unit determines that the danger state is present when a pre-recorded safe condition is not satisfied.
  17. 　前記制御部は、前記補助部により前記危険状況を回避する補助力を与える請求項１から１６のいずれか１項に記載の筋力補助具。 The muscle force assisting device according to any one of claims 1 to 16, wherein the control unit gives an assisting force to avoid the dangerous situation by the assisting unit.
PCT/JP2013/006137 2012-10-16 2013-10-16 Muscular strength assisting device WO2014061269A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP13848039.7A EP2910229A4 (en) 2012-10-16 2013-10-16 Muscular strength assisting device
JP2014541951A JPWO2014061269A1 (en) 2012-10-16 2013-10-16 Strength aids

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2012-228956 2012-10-16
JP2012228956 2012-10-16

Publications (1)

Publication Number Publication Date
WO2014061269A1 true WO2014061269A1 (en) 2014-04-24

Family

ID=50487848

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2013/006137 WO2014061269A1 (en) 2012-10-16 2013-10-16 Muscular strength assisting device

Country Status (3)

Country Link
EP (1) EP2910229A4 (en)
JP (1) JPWO2014061269A1 (en)
WO (1) WO2014061269A1 (en)

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015211825A (en) * 2014-04-14 2015-11-26 株式会社 Ｍｔｇ Massager
CN105267010A (en) * 2014-07-24 2016-01-27 三星电子株式会社 Motion assistance apparatus and method of controlling the same
JP2017148488A (en) * 2016-02-19 2017-08-31 学校法人法政大学 Movement assist suits and movement assist device
JP2017170563A (en) * 2016-03-23 2017-09-28 パナソニック株式会社 Motion assistance device
JPWO2016093038A1 (en) * 2014-12-11 2017-09-28 Ｒ．Ｕ．Ｔｅｃｈｎｏｌｏｇｉｅｓ株式会社 Assist device, assist garment, and assist method
JP2017222017A (en) * 2016-06-17 2017-12-21 国立大学法人信州大学 Assist device fitting wear and assist wear system
CN107661193A (en) * 2017-09-20 2018-02-06 深圳市行者机器人技术有限公司 A kind of walk help boots
JP6443787B1 (en) * 2017-06-26 2018-12-26 パナソニックＩｐマネジメント株式会社 Assist device and assist method
JP2018202516A (en) * 2017-05-31 2018-12-27 株式会社東芝 Motion support device
CN109106554A (en) * 2017-06-26 2019-01-01 松下知识产权经营株式会社 Auxiliary device and householder method
CN109223428A (en) * 2017-07-10 2019-01-18 松下知识产权经营株式会社 Auxiliary device and householder method
CN109259987A (en) * 2017-07-18 2019-01-25 松下知识产权经营株式会社 Auxiliary device and householder method
JP2019014025A (en) * 2017-07-10 2019-01-31 国立大学法人信州大学 Assist wear
CN109303668A (en) * 2017-07-28 2019-02-05 松下知识产权经营株式会社 Auxiliary device and householder method
JP2019041829A (en) * 2017-08-30 2019-03-22 国立大学法人千葉大学 Posture assisting device
CN109718047A (en) * 2017-10-31 2019-05-07 松下知识产权经营株式会社 Auxiliary device, householder method and program
CN109718064A (en) * 2017-10-31 2019-05-07 松下知识产权经营株式会社 Auxiliary device, householder method and program
WO2019087506A1 (en) * 2017-10-31 2019-05-09 パナソニックＩｐマネジメント株式会社 Assistance device, assistance method, and program
CN111991194A (en) * 2020-07-29 2020-11-27 义乌工商职业技术学院 Leg exoskeleton device for assisting old people in moving
WO2024080555A1 (en) * 2022-10-14 2024-04-18 삼성전자주식회사 Wearable device having black box function, and method for operating wearable device

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT201700050753A1 (en) * 2017-05-10 2018-11-10 Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna AUSILIO'S WEARABLE DEVICE AGAINST FALLS

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02136023A (en) * 1988-11-15 1990-05-24 Matsushita Electric Works Ltd Safety device of electrical machinery and apparatus
JP2003153928A (en) 2001-11-22 2003-05-27 Wacoal Corp Lumber burden alleviation tool
WO2006022057A1 (en) * 2004-08-27 2006-03-02 Honda Motor Co., Ltd. Controller of walking assisting device
JP2007130234A (en) * 2005-11-10 2007-05-31 Matsushita Electric Ind Co Ltd Human body motion aid
JP2009112447A (en) * 2007-11-05 2009-05-28 Tokai Rika Co Ltd Muscular strength assisting device
JP4424269B2 (en) * 2005-06-24 2010-03-03 カシオ計算機株式会社 Muscle strength control device
JP2010110381A (en) * 2008-11-04 2010-05-20 Toyota Motor Corp Walking aid device
JP2011193901A (en) * 2010-03-17 2011-10-06 Toyota Motor Corp Leg assisting device
JP2012100722A (en) * 2010-11-08 2012-05-31 Toyota Motor Corp Assisting robot
JP2012115314A (en) * 2010-11-29 2012-06-21 Equos Research Co Ltd Walking support device and walking support program

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4196058B2 (en) * 2001-12-28 2008-12-17 パナソニック電工株式会社 Massage machine equipped with actuator and sphygmomanometer equipped with the actuator
US8096965B2 (en) * 2008-10-13 2012-01-17 Argo Medical Technologies Ltd. Locomotion assisting device and method
EP2548543B1 (en) * 2010-03-17 2015-01-14 Toyota Jidosha Kabushiki Kaisha Leg assistance device

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH02136023A (en) * 1988-11-15 1990-05-24 Matsushita Electric Works Ltd Safety device of electrical machinery and apparatus
JP2003153928A (en) 2001-11-22 2003-05-27 Wacoal Corp Lumber burden alleviation tool
WO2006022057A1 (en) * 2004-08-27 2006-03-02 Honda Motor Co., Ltd. Controller of walking assisting device
JP4424269B2 (en) * 2005-06-24 2010-03-03 カシオ計算機株式会社 Muscle strength control device
JP2007130234A (en) * 2005-11-10 2007-05-31 Matsushita Electric Ind Co Ltd Human body motion aid
JP2009112447A (en) * 2007-11-05 2009-05-28 Tokai Rika Co Ltd Muscular strength assisting device
JP2010110381A (en) * 2008-11-04 2010-05-20 Toyota Motor Corp Walking aid device
JP2011193901A (en) * 2010-03-17 2011-10-06 Toyota Motor Corp Leg assisting device
JP2012100722A (en) * 2010-11-08 2012-05-31 Toyota Motor Corp Assisting robot
JP2012115314A (en) * 2010-11-29 2012-06-21 Equos Research Co Ltd Walking support device and walking support program

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2910229A4 *

Cited By (39)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2015211825A (en) * 2014-04-14 2015-11-26 株式会社 Ｍｔｇ Massager
KR102250225B1 (en) 2014-07-24 2021-05-10 삼성전자주식회사 A motion assistance apparatus and a control method thereof
EP2977039A1 (en) * 2014-07-24 2016-01-27 Samsung Electronics Co., Ltd Motion assistance apparatus and method of controlling the same
KR20160012426A (en) * 2014-07-24 2016-02-03 삼성전자주식회사 A motion assistance apparatus and a control method thereof
JP2016022383A (en) * 2014-07-24 2016-02-08 三星電子株式会社Ｓａｍｓｕｎｇ Ｅｌｅｃｔｒｏｎｉｃｓ Ｃｏ．，Ｌｔｄ． Motion assistance apparatus and method of controlling the same
CN105267010A (en) * 2014-07-24 2016-01-27 三星电子株式会社 Motion assistance apparatus and method of controlling the same
KR20210055647A (en) * 2014-07-24 2021-05-17 삼성전자주식회사 A motion assistance apparatus and a control method thereof
US11833067B2 (en) 2014-07-24 2023-12-05 Samsung Electronics Co., Ltd. Motion assistance apparatus and method of controlling the same
KR102339664B1 (en) 2014-07-24 2021-12-16 삼성전자주식회사 A motion assistance apparatus and a control method thereof
US11304828B2 (en) 2014-07-24 2022-04-19 Samsung Electronics Co., Ltd. Motion assistance apparatus and method of controlling the same
US10265196B2 (en) 2014-07-24 2019-04-23 Samsung Electronics Co., Ltd. Motion assistance apparatus and method of controlling the same
JPWO2016093038A1 (en) * 2014-12-11 2017-09-28 Ｒ．Ｕ．Ｔｅｃｈｎｏｌｏｇｉｅｓ株式会社 Assist device, assist garment, and assist method
JP2017148488A (en) * 2016-02-19 2017-08-31 学校法人法政大学 Movement assist suits and movement assist device
JP2017170563A (en) * 2016-03-23 2017-09-28 パナソニック株式会社 Motion assistance device
JP2017222017A (en) * 2016-06-17 2017-12-21 国立大学法人信州大学 Assist device fitting wear and assist wear system
JP2018202516A (en) * 2017-05-31 2018-12-27 株式会社東芝 Motion support device
JP6443787B1 (en) * 2017-06-26 2018-12-26 パナソニックＩｐマネジメント株式会社 Assist device and assist method
WO2019003550A1 (en) * 2017-06-26 2019-01-03 パナソニックＩｐマネジメント株式会社 Assistance device and assistance method
CN109106554A (en) * 2017-06-26 2019-01-01 松下知识产权经营株式会社 Auxiliary device and householder method
CN109223428A (en) * 2017-07-10 2019-01-18 松下知识产权经营株式会社 Auxiliary device and householder method
JP2019014025A (en) * 2017-07-10 2019-01-31 国立大学法人信州大学 Assist wear
JP7082780B2 (en) 2017-07-10 2022-06-09 国立大学法人信州大学 Assist wear
CN109223428B (en) * 2017-07-10 2022-03-11 松下知识产权经营株式会社 Support device and support method
CN109259987B (en) * 2017-07-18 2022-03-08 松下知识产权经营株式会社 Support device and support method
CN109259987A (en) * 2017-07-18 2019-01-25 松下知识产权经营株式会社 Auxiliary device and householder method
CN109303668B (en) * 2017-07-28 2022-01-11 松下知识产权经营株式会社 Support device and support method
CN109303668A (en) * 2017-07-28 2019-02-05 松下知识产权经营株式会社 Auxiliary device and householder method
JP2019041829A (en) * 2017-08-30 2019-03-22 国立大学法人千葉大学 Posture assisting device
CN107661193B (en) * 2017-09-20 2020-04-07 深圳市行者机器人技术有限公司 Walking-aid boots
CN107661193A (en) * 2017-09-20 2018-02-06 深圳市行者机器人技术有限公司 A kind of walk help boots
JP6544613B1 (en) * 2017-10-31 2019-07-17 パナソニックＩｐマネジメント株式会社 Assist device, assist method and program
CN109996654A (en) * 2017-10-31 2019-07-09 松下知识产权经营株式会社 Auxiliary device, householder method and program
WO2019087506A1 (en) * 2017-10-31 2019-05-09 パナソニックＩｐマネジメント株式会社 Assistance device, assistance method, and program
CN109718064A (en) * 2017-10-31 2019-05-07 松下知识产权经营株式会社 Auxiliary device, householder method and program
CN109718047B (en) * 2017-10-31 2022-05-27 松下知识产权经营株式会社 Support device, support method, and program
CN109718047A (en) * 2017-10-31 2019-05-07 松下知识产权经营株式会社 Auxiliary device, householder method and program
CN109996654B (en) * 2017-10-31 2023-04-21 松下知识产权经营株式会社 Auxiliary device, auxiliary method, and recording medium
CN111991194A (en) * 2020-07-29 2020-11-27 义乌工商职业技术学院 Leg exoskeleton device for assisting old people in moving
WO2024080555A1 (en) * 2022-10-14 2024-04-18 삼성전자주식회사 Wearable device having black box function, and method for operating wearable device

Also Published As

Publication number Publication date
EP2910229A1 (en) 2015-08-26
JPWO2014061269A1 (en) 2016-09-05
EP2910229A4 (en) 2016-08-03

Similar Documents

Publication Publication Date Title
WO2014061269A1 (en) Muscular strength assisting device
KR102339664B1 (en) A motion assistance apparatus and a control method thereof
JP2015529574A5 (en)
US20160235615A1 (en) Joint- movement assisting device
JP5880504B2 (en) Operation assistance device
KR101417895B1 (en) Walking assistance device
KR102131277B1 (en) A walk-assistive apparatus and a method for controlling the walk-assistive apparatus
KR102122856B1 (en) A walk-assistive apparatus and a method for controlling the walk-assistive apparatus
WO2014034145A1 (en) Assistance tool
JP6293653B2 (en) Elastic force generator
KR102253243B1 (en) A walk-assistive apparatus and a method for controlling the walk-assistive apparatus
JP2003116893A (en) Device and method for judging waking state
EP3542762B1 (en) Prosthetic leg movement assisting device and prosthetic leg movement assisting method
KR101302364B1 (en) Walking sensory cognitive device for orthoses
KR101703634B1 (en) Gait training apparatus for hemiplegic patients
JP2014087636A (en) Walking support device
KR20190056592A (en) Ankle Assist Apparatus
KR20150039386A (en) Walking assistance device and control method of walking assistance device
KR101713901B1 (en) Wearable ankle exoskeleton using the ratchet clutch mechanism for supporting ankle joint stiffness
CN115916133A (en) Control system and method for mobile robot
JP2011110070A (en) Walking aid
Gu et al. SMAFO: Stiffness modulated Ankle Foot Orthosis for a patient with foot drop
JP4693755B2 (en) Functional recovery and auxiliary device for anterior tibial muscle
JP2019076443A (en) Walking aid
CN116141377A (en) Support foot for load-bearing exoskeleton, exoskeleton comprising said support foot and method for controlling the exoskeleton

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: 13848039

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2014541951

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 2013848039

Country of ref document: EP