WO2017213198A1 - Motion assist device - Google Patents

Motion assist device Download PDF

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Publication number
WO2017213198A1
WO2017213198A1 PCT/JP2017/021205 JP2017021205W WO2017213198A1 WO 2017213198 A1 WO2017213198 A1 WO 2017213198A1 JP 2017021205 W JP2017021205 W JP 2017021205W WO 2017213198 A1 WO2017213198 A1 WO 2017213198A1
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WO
WIPO (PCT)
Prior art keywords
wire
actuator
drive mechanism
brace
thigh
Prior art date
Application number
PCT/JP2017/021205
Other languages
French (fr)
Japanese (ja)
Inventor
中村　太郎
駿 毛利
洸樹 猪瀬
功 菊谷
和也 横山
Original Assignee
学校法人 中央大学
ナブテスコ株式会社
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 学校法人 中央大学, ナブテスコ株式会社 filed Critical 学校法人 中央大学
Priority to JP2018521764A priority Critical patent/JP6698835B2/en
Publication of WO2017213198A1 publication Critical patent/WO2017213198A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

Definitions

  • the present invention relates to a motion assist device, and in particular, provides a motion assist device suitable for extending a bent joint.
  • JP2012-147944A discloses an exoskeleton-type lower limb movement support device.
  • the lower limb movement support device is configured to be rotatable around the knee joint and tow the lower leg link extending along the lower leg part of the human body by an actuator disposed around the human thigh part.
  • the present invention has been made in view of the above problems, and provides an operation assist device capable of obtaining an assist force sufficient to bring a bent joint into an extended state.
  • the operation assist device that assists the operation when the portion connected by the joint is changed from the bent state to the extended state
  • the first device attached to one portion, and the other
  • a drive mechanism having a second device mounted on the part, a third device mounted on a joint, an extendable actuator, and a wire connected to the actuator, and one end of the drive mechanism is The first device is connected, the wire is guided by a wire guide provided in the third device, the other end of the drive mechanism is connected to the second device, and the actuator contracts to Three orthoses are configured to press the joint toward the virtual straight line connecting both ends of the drive mechanism.
  • the joint connecting the first part and the second part is pressed toward the virtual straight line connecting both ends 5a and 5b of the drive mechanism, so that the part in the bent state is in the extended state. It is possible to obtain a sufficient assist force to
  • the actuator has a reversing unit that reverses the path of the wire, and both ends of the wire or any one end thereof are fixed via the reversing unit, so that the wire larger than the contraction amount of the actuator. Traction amount can be obtained.
  • both ends of the wire or any one of the end portions are fixed to the third device, so that the wire path from the third device to the first device or the second device, and the reversing unit to the third device.
  • the path of the wire leading to the brace can be made parallel to each other, and the pulling amount of the wire can be made efficient.
  • FIG. 4B is a cross-sectional view of the artificial muscle, showing a cross section corresponding to the IVB-IVB line of FIG. 4A. It is a figure which shows one of the artificial muscles of an actuator in a contracted state.
  • FIG. 4B is a cross-sectional view of the artificial muscle, showing a cross section corresponding to the IVD-IVD line in FIG.
  • FIG. 3 is a geometric model diagram when the motion assist device is mounted on a human body. It is a figure which shows the joint angle of a knee. It is a figure which shows a stand-up operation
  • the motion assist device 1 shown in FIG. 1 is, for example, a so-called endoskeleton-type brace that assists a rising motion when a person lifts a load.
  • An endoskeleton-type appliance functions by utilizing a skeleton in the human body.
  • a bone-to-bone connection in the human body is regarded as one link mechanism and assists the joint operation.
  • the motion assist device 1 is applied to a leg portion of a human body is shown.
  • the motion assist device 1 can be bent such as an arm portion centered on an elbow joint or a waist portion centered on a lumbar spine.
  • the present invention can be applied to any part that can take a stretched state and an extended state.
  • the motion assist device 1 includes a thigh brace 2 attached to the thigh, a knee brace 3 attached to the knee, a crus brace 4 attached to the crus, the thigh brace 2, and the knee brace. 3 and a drive mechanism 5 for applying a driving force to the lower leg orthosis 4. That is, the motion assist device 1 regards the knee joint that rotatably connects the thigh bone in the thigh and the crus bone in the lower thigh as a pair of joints, and considers bending of the knee. Assisting (assisting) the movement of the legs, especially when moving from the bent state to the extended state.
  • the lower thigh brace 4 is the first brace
  • the thigh brace 2 is the second brace
  • the knee brace 3 is the third brace
  • the thigh orthosis 2, the knee orthosis 3 and the lower thigh orthosis 4 are respectively a mechanism attaching member 2A; 3A; 4A for attaching the drive mechanism 5, and these mechanism attaching members 2A; 3A; 4A to the thigh, knee joint, Fixed belts 2B; 3B; 4B for fixing to the crus.
  • the cushioning material etc. which are not shown in figure are provided in the back surface of mechanism attachment member 2A; 3A; 4A, and a buffer with a human body is aimed at.
  • the mechanism attachment members 2A; 3A; 4A are made of, for example, a hard resin having flexibility.
  • the fixing belts 2B; 3B; 4B are made of, for example, a non-stretchable belt and are provided with hook-and-loop fasteners that function as fixing means at the ends.
  • the mechanism attachment member 2A is formed to be attachable along the side of the thigh, for example, and is fixed to the base of the thigh by the fixing belt 2B.
  • the mechanism attaching member 2A is provided with a wire fixing portion 11 to which an end portion of a wire 8 constituting a drive mechanism 5 described later is fixed.
  • the wire fixing part 11 is constituted by, for example, a plate-like member 12 and is fixed to the mechanism attaching member 2A by sandwiching the end of the wire 8 by being screwed to the mechanism attaching member 2A.
  • the mechanism attachment member 3A is formed, for example, so as to wrap the kneecap in the knee joint, and is fixed to the knee joint portion by the fixing belt 3B.
  • the mechanism attachment member 3A includes a wire guide 15 that constitutes the drive mechanism 5 and on which the wire 8 is hung.
  • the wire guide 15 may be any member that does not hinder the movement of the wire 8 pulled by the actuator 9 described later, such as a pulley, a pin, or a groove, and preferably can guide the movement of the wire 8. Thus, the extending direction of the wire 8 is bent. In the illustrated example, a pulley is used as the wire guide 15.
  • the mechanism attachment member 4A is formed, for example, so as to be attachable along the side of the lower leg, and is fixed to the ankle side by the fixing belt 4B.
  • the mechanism mounting member 4A is provided with an actuator mounting portion 16 to which the actuator 9 can be fixed.
  • the drive mechanism 5 is generally composed of an actuator 9 and a wire 8.
  • the actuator 9 is configured to be extendable and contractible.
  • the actuator 9 and the wire 8 are connected to each other at the wire fixing portion 14 of the actuator 9.
  • the drive mechanism 5 has one end 5a and the other end 5b.
  • the one end 5a of the drive mechanism 5 is configured by an end portion on the opposite side of the wire 8 in the actuator 9, and the other end 5b is
  • the wire 8 is constituted by an end portion on the opposite side to the actuator 9.
  • One end 5 a of the drive mechanism 5 is connected to the lower leg brace 4 at the actuator attachment portion 16, and the other end 5 b is connected to the thigh orthosis 2 at the wire fixing portion 11.
  • the actuator 9 includes a plurality (two in this embodiment) of axial fiber-reinforced artificial muscles (hereinafter simply referred to as artificial muscles) 18 that expand and contract in the axial direction by the supply of a fluid; 18.
  • the artificial muscle 18 has a configuration in which a carbon fiber sheet 22 is inserted into a cylindrical body 19 made of, for example, natural latex rubber.
  • a plurality of carbon fibers 21 are oriented along the axial direction of the cylindrical body 19, and restrains the extension of the cylindrical body 19 in the axial direction. Both ends of the cylindrical body 19 are closed by terminal members 23A and 23B.
  • an air chamber 26 is formed on the inner peripheral side of the cylindrical body 19.
  • One terminal member 23 ⁇ / b> A is connected to a tube 45, which will be described later, and is provided with an air inlet 25 communicating with the air chamber 26.
  • a plurality of rings 24 are provided on the outer periphery of the cylindrical body 19 at equal intervals in the axial direction.
  • the artificial muscle 18 has a characteristic that an output characteristic (traction force) with respect to the contraction stroke is large at the initial stage of contraction and gradually decreases toward the end of contraction. This characteristic corresponds to the human characteristic that a large force is required at the initial stage of a person's rising motion and the required force gradually decreases as the rising motion progresses. It is preferable as a power source for obtaining.
  • the artificial muscle is not limited to the above-described one, and may be another Macchiben type artificial muscle or the like.
  • the actuator 9 is arranged in parallel so that the telescopic axes of the pair of artificial muscles 18; 18 are parallel to each other.
  • the respective ends of the artificial muscles 18; 18 are connected to each other by a lower connecting member 30 and an upper connecting member 31 to be integrally formed.
  • the lower connecting member 30 is made of, for example, a metal flat plate member, and the artificial muscles 18; 18 are positioned at regular intervals by fixing the terminal members 23A of the artificial muscles 18; 18 by fixing means such as bolts. Is done.
  • the lower connecting member 30 is provided with an L-shaped connecting portion 32 that is connected to the lower leg brace 4. One of the connection portions 32 is fixed to the lower connecting member 30, and the other is connected to the crus orthosis 4 through the through hole 33.
  • the upper connecting member 31 is made of, for example, a metal angle member, and the terminal members 23B of the artificial muscles 18; 18 are fixed by fixing means such as bolts, whereby the artificial muscles 18; 18 are positioned at regular intervals.
  • a wire fixing portion 14 for fixing the end portion of the wire 8 is provided at the center of the upper connecting member 31.
  • the wire fixing portion 14 only needs to be able to be connected by folding the wire 8 such as a circular hole or a screw hole, or by a fixing means such as a set screw, and the end portion of the wire 8 is interposed via the wire fixing portion 14.
  • the actuator 9 is firmly connected.
  • the actuator 9 having the above-described configuration is screwed to the actuator attachment portion 16 provided in the crus orthosis 4 through the through hole 33 formed in the connection portion 32 of the lower coupling member 30. It is rotatably attached to the lower leg orthosis 4. In addition, it is good also as rotation not only by screwing but by insertion of a pin.
  • FIG. 5 is a geometric model diagram when the motion assist device 1 is worn on a human body.
  • the number of artificial muscles 18 constituting the actuator 9 can be calculated based on the following equations (1) and (2). That is, the required quantity of the artificial muscle 18 can be estimated by calculating in advance the assist force (assist torque) T required for the actuator 9 by the equation (1).
  • both ends of the wire 8 are fixed to the actuator 9 connected to the thigh brace 2 and the lower leg brace 4. More specifically, when viewed from the thigh orthosis 2 side, the wire 8 extends toward the knee orthosis 3 and the direction in which the wire 8 extends by being hung on the wire guide 15 provided on the knee orthosis 3 is bent, It extends toward the actuator 9 and the lower leg orthosis 4.
  • the wire 8 reaching the actuator 9 is fixed via a wire fixing portion 14 provided on the actuator 9.
  • the wire 8 having such a path is not limited to a metal and may be a synthetic fiber obtained by twisting organic fibers.
  • the wire 8 is preferably made of a material that is less stretchable when tension is applied. Moreover, when considering durability, those made of metallic or non-metallic inorganic fibers are preferable, and from the viewpoint of weight, those made of twisted organic fibers are preferable.
  • the length of the wire 8 is adjusted so that there is no play when, for example, the knee joint is in the maximum bending state.
  • the intersection angle (joint angle) ⁇ between the extension line p1 of the thigh and the extension line p2 of the crus takes the minimum angle.
  • the minimum angle is, for example, the joint angle between the femur and the lower leg (tibia) when the knee is bent to the maximum. That is, the joint angle ⁇ is also an inclination angle of the thigh with respect to the crus, for example.
  • the actuator 9 is controlled by the driving device 40.
  • the driving device 40 includes an air supply means 41 that supplies compressed air to the actuator 9, a control valve 42 that controls the pressure of the compressed air, and a control unit 43 that controls the compressed air supplied from the air supply means 41 to the actuator 9. Is provided.
  • the air supply means 41 is constituted by, for example, an air compressor or an air tank.
  • the control valve 42 adjusts the flow rate of air supplied to the actuator 9.
  • a proportional solenoid valve is applied to the control valve 42.
  • the proportional solenoid valve adjusts the flow rate of air when the compressed air accumulated in the air supply means 41 is supplied to the actuator 9 based on a signal output from the control unit 43.
  • the proportional solenoid valve is a normally closed type that shuts off the supply of air to the actuator 9 when no signal is input.
  • the control valve 42 is connected to the air supply means 41 and the tube 44, and is connected to the actuator 9 and the tube 45.
  • the tube 44 and the tube 45 preferably have pressure resistance and flexibility.
  • a branch pipe 46 is provided in the middle of the tube 45 connecting the control valve 42 and the actuator 9, and an exhaust valve 47 for exhausting the air supplied to the actuator 9 is provided.
  • the exhaust valve 47 opens and closes the exhaust valve 47 based on a signal output from the control unit 43 to exhaust the air supplied to the air chamber 26 of the actuator 9.
  • the control unit 43 includes a CPU as a calculation means, a ROM that stores a program for controlling the assist force, a ROM that temporarily stores input values and calculation results from the motion detection sensor 50 and the load detection sensor 51, and the like.
  • a microcomputer including the storage means.
  • the control unit 43 controls signals output to the control valve 42 and the exhaust valve 47 in accordance with output values output from the motion detection sensor 50 and the load detection sensor 51.
  • the control unit 43 stores, in advance, data in which the correspondence relationship between the load value and the pressure of the air supplied to the air chamber 26, a pressure calculation formula, and the like are stored in the storage unit. Based on the load value and the operation value detected by 51, the signal output to the control valve 42 and the exhaust valve 47 is controlled.
  • the motion detection sensor 50 is a sensor for detecting a motion of a human body, and detects a motion (rising motion) that rises from a state where a person is squatting. For example, a change in the tension of the wire 8 or an acceleration sensor can be used.
  • the load detection sensor 51 is a sensor for setting an assist force in the rising motion, and detects, for example, a load value related to the sole. For example, a pressure sensor or the like can be used as the load detection sensor 51.
  • the motion detection value detected by the motion detection sensor 50 and the load value detected by the load detection sensor 51 are output to the control unit 43, respectively.
  • the flow rate of the air supplied to the actuator 9 is calculated based on the input detection value and load value.
  • the method for attaching the motion assist device 1 to the human body will be described.
  • the thigh brace 2, the knee brace 3, and the lower leg brace 4 are attached to each part of the leg.
  • tension adjustment of the wire 8 is performed in the wire fixing portion 11 on the thigh side in a squatting posture so that the bent state of the knee is maximized.
  • the assist force by the actuator 9 is adjusted by adjusting the tension of the wire 8 so that play is zero. Can be obtained without delay.
  • FIG. 7A to 7F are diagrams showing an assist state by the motion assist device 1.
  • FIG. 7A is a diagram showing a state where a person is squatting
  • FIG. 7B is a diagram showing an operating state of the drive mechanism 5 in the state of FIG. 7A
  • FIG. 7C is a diagram illustrating a state in which a person is standing up
  • FIG. 7D is a diagram illustrating an operating state of the drive mechanism 5 in the state of FIG. 7C
  • FIG. 7E is a diagram showing a state where a person has stood up
  • FIG. 7F is a diagram showing an operating state of the drive mechanism 5 in the state of FIG. 7E.
  • the operation of the motion assist device 1 will be described.
  • the load detection sensor 51 disposed on the sole of the foot causes the total value of the weight of the load and the weight of the person. Is output to the control unit 43 as a load value.
  • the bending state of the knee joint of the person wearing the motion assist device 1 is maximized.
  • the intersection angle (joint angle) ⁇ (see FIG. 6) between the extension line p1 of the thigh and the extension line p2 of the crus is the smallest.
  • the drive mechanism 5 has a wire guide 15 that is positioned in front of the knee joint part (on the left side in FIG. 7B) with a predetermined distance from the knee joint part.
  • a signal is output to the control unit 43 when the motion detection sensor 50 detects a motion (FIGS. 7C and 7E) that attempts to stand up from a state of holding a baggage in a hand and a state of squatting by a person's intention.
  • the control unit 43 compares the input load value with the rising motion map and determines a signal to be output to the control valve 42 so as to obtain a predetermined assist force. In this case, a signal is output only to the control valve 42, and the exhaust valve 47 remains closed.
  • the supply of air by the operation of the control valve 42 causes the actuator 9 to contract in the axial direction and pull the wire 8.
  • the knee brace 3 presses the knee joint toward the imaginary straight line L connecting both ends 5a and 5b of the drive mechanism 5 with the wire guide 15 as a base point, so that an assist force sufficient to stand up is obtained. be able to.
  • the wire 8 extends over the thigh brace 2 and the lower thigh brace 4 with the knee brace 3 as the center.
  • traction force opposite to the above direction is applied to the thigh and crus, ensuring sufficient assist force to extend the leg centered on the knee joint can do.
  • the drive mechanism 5 has a wire guide 15, and the wire guide 15 is between the knee joint portion and It is located in front of the knee joint with a predetermined interval in the front-rear direction of the wearer. 7A and 7B, when crouched, that is, when the knee joint is in the maximum bending state, as shown in FIG. 7C and FIG. And in any state where the knee joint is bent, as shown in FIGS. 7E and 7F, the length of the drive mechanism 5 is the length of the wearer's thigh and It becomes longer than the total length of the lower leg.
  • the length of the drive mechanism 5 is the length from one end 5a of the drive mechanism 5 to the other end 5b of the drive mechanism 5 via the wire guide 15, and the length of the thigh and lower leg of the wearer.
  • the total length is a length from a point located immediately below one end 5a of the drive mechanism 5 in the lower leg to a point located directly below the other end 5b of the drive mechanism 5 in the thigh via the knee joint. It is.
  • the total length of the wearer's thigh and lower leg is longer than the length of the virtual straight line L.
  • the length of the drive mechanism 5 is longer than the total length of the wearer's thigh and crus.
  • the total length of the wearer's thigh and lower leg is longer than the length of the virtual straight line L.
  • the actuator 9 is contracted to shorten the length of the drive mechanism 5.
  • the wire guide 15 receives a pressing force directed from the wire 8 toward the virtual straight line L.
  • This pressing force acts on the knee joint of the wearer via the knee brace (third brace) 3, and the knee joint is pressed toward the virtual straight line L connecting both ends 5 a and 5 b of the drive mechanism 5.
  • knee joint angle (theta) changes so that it may increase.
  • the actuator 9 is contracted to reduce the length of the drive mechanism 5, so that the pressing force that the wire guide 15 receives from the wire 8 toward the imaginary straight line L side is centered on the knee joint and the thigh of the wearer. And assist force for extending the lower leg. As a result, the wearer can obtain a sufficient assist force for getting up from the squatting state from the motion assist device 1.
  • the assist force for extending the wearer's thigh and crus by a relatively simple configuration including the actuator 9 and the wire 8 that generate a pulling force (traction force). Therefore, the operation assist device 1 can be effectively reduced in size and weight as compared with a device using a link member or a gear mechanism as in the prior art. This is a great advantage in the motion assist device 1 that can be used in fields such as medical training systems and rehabilitation.
  • FIGS. 8A to 8E In each figure, the thigh orthosis 2, knee orthosis 3 and lower thigh orthosis 4 are indicated by broken lines.
  • FIG. 8A shows an example in which the position of the actuator 9 is changed from the lower leg side to the thigh side.
  • the actuator 9 is connected to the thigh brace 2
  • one end of the wire 8 is connected to the thigh brace 2 via a locking portion 9 ⁇ / b> A provided on the actuator 9, and the other end is connected to the knee brace.
  • 3 is connected to the lower leg brace 4 via a wire fixing part 7 provided on the lower leg brace 4 via a wire guide 15.
  • the relatively heavy actuator 9 since the relatively heavy actuator 9 is located on the thigh side, the heavy object approaches the position of the center of gravity of the human body.
  • FIG. 8B shows an example in which the actuators 9; 9 are provided on both the thigh side and the crus side.
  • the actuators 9; 9 are connected to the thigh brace 2 and the lower thigh brace 4, respectively, and one end portion of the wire 8 is connected to the thigh brace 2 via the engaging portion 9A of the actuator 9 located on the thigh side.
  • the other end side is connected to the lower leg brace 4 via the wire guide 15 of the knee brace 3 and the wire fixing part 14 of the actuator 9 located on the lower leg side.
  • the actuators 9; 9 are provided on the thigh side and the lower leg side, respectively, so that the assist force obtained when the actuators 9 are operated in synchronization is doubled. It becomes possible to do.
  • FIG. 8C shows an example in which the fixed end of the wire 8 is set on the knee brace 3 side.
  • the actuator 9 connected to the lower leg orthosis 4 is provided with a reversing unit 20 for reversing the path of the wire 8 to the knee joint side instead of the wire fixing unit 14.
  • the reversing unit 20 may be any member that does not hinder the movement of the wire 8 that is pulled as in the case of the wire guide 15 described above.
  • the path of the wire 8 extending from the knee joint to the lower leg is inverted by the reversing unit 20 and extends to the knee joint. Then, the end of the wire 8 extending to the knee joint side is firmly fixed at the wire fixing portion 14 provided on the knee brace 3.
  • the motion assist device 1 since the wire 8 is pulled with a pulling amount twice as large as the contraction amount of the actuator 9, it is a part where the change in the joint angle from bending to extension of the knee joint or the like is large.
  • an actuator with a small stroke can be employed.
  • the fixed end of the wire 8 is set on the knee joint side, that is, on the knee brace 3.
  • the position is not limited to this as long as the path of the wire 8 can be reversed.
  • a part different from each appliance may be set as a fixed end.
  • FIG. 8D shows an example in which the reversing unit 20 of the actuator 9 is constituted by a plurality of pulleys.
  • the reversing unit 20 is composed of a plurality of pulleys.
  • the plurality of pulleys are configured by, for example, providing a small-diameter pulley 20A having a different outer diameter and a large-diameter pulley 20B coaxially and individually rotatable.
  • the wire guide 15 provided in the knee brace 3 is constituted by a plurality of pulleys corresponding to the pulleys 20A and 20B constituting the reversing unit 20.
  • the plurality of pulleys 15A; 15B constituting the wire guide 15 are configured by, for example, similarly to the pulleys 20A; 20B, a small-diameter pulley 15A having a different outer diameter and a large-diameter pulley 15B that are coaxially and individually rotatable. Is done.
  • the wire 8 extending from the thigh to the knee joint is guided by a large-diameter pulley 15A provided in the knee brace 3 and extends toward the lower leg.
  • the path of the wire 8 extending from the pulley 15A toward the lower leg is reversed by the pulley 20A and extends toward the knee joint.
  • the route of the wire 8 extending from the pulley 20A toward the knee joint is reversed by the pulley 15B and extends toward the lower leg.
  • the path of the wire 8 extending from the pulley 15B toward the lower leg is reversed by the pulley 20B and extends toward the knee joint.
  • the end portion of the wire 8 extending toward the knee joint portion is firmly fixed by the wire fixing portion 14 provided in the knee brace 3.
  • the motion assist device 1 since the wire 8 is pulled with a pulling amount larger than the contraction amount of the actuator 9, an actuator with a smaller stroke amount can be employed.
  • the plurality of pulleys constituting the reversing unit 20 are composed of two pulleys of different sizes, but the invention is not limited to this as long as the route of the wire 8 can be reversed a plurality of times.
  • the quantity and the size relationship between the pulleys may be set as appropriate so that the contraction amount can be doubled to the required pulling amount.
  • a part different from each appliance may be set as the fixed end.
  • FIG. 8E shows another example in which the reversing unit 20 of the actuator 9 is configured by a plurality of pulleys.
  • the wire 8 that connects the thigh brace 2 and the lower leg brace 4 is composed of a wire 8A extending from the thigh brace 2 and a wire 8B extending on the lower leg brace 4 side.
  • a pulley 29 that reverses the path of the wire 8A and an inversion part 20 that reverses the path of the wire 8B toward the knee joint are provided in the actuator 9.
  • the pulley 29 and the reversing unit 20 composed of the pulley are provided in multiple stages. As shown in the figure, one end is fixed to the thigh brace 2 and the wire 8A extending from the thigh to the knee joint is guided by the wire guide 15 provided on the knee brace 3 and extends toward the lower thigh. .
  • the path of the wire 8 extending from the wire guide 15 toward the lower leg is reversed by the pulley 29 and extends toward the knee joint.
  • the other end portion of the wire 8 ⁇ / b> A extending toward the knee joint side is firmly fixed at the wire fixing portion 14 provided on the knee brace 3.
  • One end of the wire 8B is fixed to the rotating shaft 29A of the pulley 29 and extends toward the lower leg orthosis 4 side.
  • the path of the wire 8B extending toward the lower leg orthosis 4 is reversed by the reversing unit 20 of the actuator 9 and extends toward the knee joint.
  • the other end portion of the wire 8B extending to the knee joint side is firmly fixed together with the wire 8A at the wire fixing portion 14 provided in the knee brace 3.
  • the motion assist device 1 since the wire 8 is pulled with a pulling amount larger than the contraction amount of the actuator 9, an actuator with a smaller stroke amount can be employed.
  • the number of stages of the plurality of pulleys constituting the reversing unit 20 is not limited to this, and the number of stages of the pulleys is appropriately set so that the contraction amount can be doubled to the required traction amount. Set it. For example, a part different from each appliance may be set as the fixed end.
  • the actuator 9 is composed of the two artificial muscles 18; 18. However, one or three or more may be provided in parallel according to the required assist force. Further, the actuator 9 has been described as being constituted by the artificial muscle 18, but when air is used as a drive source, an air cylinder or the like may be used. When electric power is used as a drive source, the pulley 10 may be pulled by combining a motor and a ball screw mechanism. That is, the type of the actuator is not limited as long as it can pull and retract the wire 8.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)

Abstract

A motion assist device (1) that assists movement when sites connected by way of a joint change from a bent state to an extended state, wherein: the motion assist device comprises a first orthosis (4) that is mounted to a site, a second orthosis (2) that is mounted to another site, a third orthosis (3) that is mounted to a joint, and a drive mechanism (5) that has an extendable actuator (9) and a wire (8) connected to the actuator (9); one end (5a) of the drive mechanism (5) is connected to the first orthosis (4), the wire (8) is guided by a wire guide (15) provided on the third orthosis (3), and the other end (5b) of the drive mechanism (5) is connected to the second orthosis (2); and the third orthosis (3) pushes the joint toward a virtual straight line (L) connecting both ends (5a, 5b) of the drive mechanism (5) by contraction of the actuator (9).

Description

動作アシスト装置Operation assist device
　本発明は、動作アシスト装置に関し、特に、屈曲した関節を伸展させるのに好適な動作アシスト装置を提供する。 The present invention relates to a motion assist device, and in particular, provides a motion assist device suitable for extending a bent joint.
　近年、医療系のトレーニングシステムやリハビリテーション等の分野において、人の動作を補助する外骨格型のアシストスーツが開発されている。例えばＪＰ２０１２－１４７９４４Ａには、外骨格型の下肢動作支援装置が開示されている。しかしながら、当該下肢動作支援装置では、膝関節の周囲において回動自在とされ、人体の下腿部に沿って延びる下腿リンクを人の大腿部の周囲に配設されたアクチュエータにより牽引する構成であるため、下腿部を前方に踏み出すアシスト力を得ることはできるが、例えば人が荷物を持って完全にしゃがんだ状態から立ち上がる場合のように、関節を中心として回動する両方の節（大腿，下腿）に多大な負荷が加わる動作をアシストする装置としては、十分なアシスト力を得られないという欠点が存在する。 In recent years, exoskeleton-type assist suits that assist human movements have been developed in fields such as medical training systems and rehabilitation. For example, JP2012-147944A discloses an exoskeleton-type lower limb movement support device. However, the lower limb movement support device is configured to be rotatable around the knee joint and tow the lower leg link extending along the lower leg part of the human body by an actuator disposed around the human thigh part. Therefore, it is possible to obtain an assist force to step forward on the lower leg, but both nodes (thighs) that rotate around the joint, for example, when a person stands up from a fully crouched state with a load As a device for assisting an operation in which a large load is applied to the lower leg), there is a drawback that a sufficient assist force cannot be obtained.
　本発明は、上記課題を鑑みてなされたものであり、屈曲した関節を伸展状態とするのに十分なアシスト力を得られる動作アシスト装置を提供する。 The present invention has been made in view of the above problems, and provides an operation assist device capable of obtaining an assist force sufficient to bring a bent joint into an extended state.
　上記課題を解決するための、関節によって接続された部位が屈曲状態から伸展状態へと変動する際の動作をアシストする動作アシスト装置の構成として、一方の部位に装着される第１装具と、他方の部位に装着される第２装具と、関節に装着される第３装具と、伸縮可能なアクチュエータと、前記アクチュエータに接続されたワイヤとを有する駆動機構と、を備え、前記駆動機構の一端が前記第１装具に連結され、前記ワイヤが前記第３装具に設けられたワイヤガイドに案内され、前記駆動機構の他端が前記第２装具に連結されており、前記アクチュエータの収縮により、前記第３装具が、前記関節を前記駆動機構の両端を結んだ仮想直線側に押圧する構成とした。 In order to solve the above-mentioned problem, as a configuration of the operation assist device that assists the operation when the portion connected by the joint is changed from the bent state to the extended state, the first device attached to one portion, and the other A drive mechanism having a second device mounted on the part, a third device mounted on a joint, an extendable actuator, and a wire connected to the actuator, and one end of the drive mechanism is The first device is connected, the wire is guided by a wire guide provided in the third device, the other end of the drive mechanism is connected to the second device, and the actuator contracts to Three orthoses are configured to press the joint toward the virtual straight line connecting both ends of the drive mechanism.
　本構成によれば、第１の部位と第２の部位とを接続する関節が、駆動機構の両端５ａ，５ｂを結んだ仮想直線側に押圧されるため、屈曲状態にある部位を伸展状態とするための十分なアシスト力を得ることができる。 According to this configuration, the joint connecting the first part and the second part is pressed toward the virtual straight line connecting both ends 5a and 5b of the drive mechanism, so that the part in the bent state is in the extended state. It is possible to obtain a sufficient assist force to
　また、他の構成として、駆動機構が、ワイヤに接続された他のアクチュエータをさらに有することにより、複数のアクチュエータの動作によってより高いアシスト力を得ることができる。 As another configuration, when the drive mechanism further includes another actuator connected to the wire, higher assist force can be obtained by the operation of the plurality of actuators.
　また、他の構成として、アクチュエータにワイヤの経路を反転させる反転部を設け、ワイヤの両端又はいずれかの端部が反転部を経由して固定されたことにより、アクチュエータの収縮量よりも大きなワイヤの牽引量を得ることができる。 As another configuration, the actuator has a reversing unit that reverses the path of the wire, and both ends of the wire or any one end thereof are fixed via the reversing unit, so that the wire larger than the contraction amount of the actuator. Traction amount can be obtained.
　また、他の構成として、反転部を複数設ければ更に大きなワイヤの牽引量を得ることができる。 Also, as another configuration, if a plurality of inversion parts are provided, a larger wire pulling amount can be obtained.
　また、他の構成として、ワイヤの両端又はいずれかの端部が第３装具に固定されたことにより、第３装具から第１装具又は第２装具に至るワイヤの経路と、反転部から第３装具に至るワイヤの経路とを平行に近づけることができ、ワイヤの牽引量を効率化することができる。 As another configuration, both ends of the wire or any one of the end portions are fixed to the third device, so that the wire path from the third device to the first device or the second device, and the reversing unit to the third device. The path of the wire leading to the brace can be made parallel to each other, and the pulling amount of the wire can be made efficient.
本実施形態に係る動作アシスト装置の構成図である。It is a lineblock diagram of the operation assistant device concerning this embodiment. 動作アシスト装置の装着状態を示す図である。It is a figure which shows the mounting state of an operation assistance apparatus. 動作アシスト装置のアクチュエータを伸長状態で示す図である。It is a figure which shows the actuator of an operation assistance apparatus in the expansion | extension state. 動作アシスト装置のアクチュエータを収縮状態で示す図である。It is a figure which shows the actuator of an operation | movement assistance apparatus in a contracted state. アクチュエータの人工筋肉の１つを伸長状態で示す図である。It is a figure which shows one of the artificial muscles of an actuator in the expansion | extension state. 人工筋肉の断面図であって、図４ＡのＩＶＢ－ＩＶＢ線に対応する断面を示す図である。FIG. 4B is a cross-sectional view of the artificial muscle, showing a cross section corresponding to the IVB-IVB line of FIG. 4A. アクチュエータの人工筋肉の１つを収縮状態で示す図である。It is a figure which shows one of the artificial muscles of an actuator in a contracted state. 人工筋肉の断面図であって、図４ＡのＩＶＤ－ＩＶＤ線に対応する断面を示す図である。FIG. 4B is a cross-sectional view of the artificial muscle, showing a cross section corresponding to the IVD-IVD line in FIG. 4A. 動作アシスト装置を人体に装着した時の幾何学的モデル図である。FIG. 3 is a geometric model diagram when the motion assist device is mounted on a human body. 膝の関節角度を示す図である。It is a figure which shows the joint angle of a knee. 立上り動作を示す図であって、人がしゃがんだ状態を示す図である。It is a figure which shows a stand-up operation | movement, Comprising: It is a figure which shows the state which the person crouched. 図７Ａの状態における駆動機構の動作状態を示す図である。It is a figure which shows the operation state of the drive mechanism in the state of FIG. 7A. 立上り動作を示す図であって、人が立ち上がり動作中である状態を示す図である。It is a figure which shows a stand-up operation | movement, Comprising: It is a figure which shows the state in which a person is standing-up operation | movement. 図７Ｃの状態における駆動機構の動作状態を示す図である。It is a figure which shows the operation state of the drive mechanism in the state of FIG. 7C. 立上り動作を示す図であって、人が立ち上った状態を示す図である。It is a figure which shows a rising operation | movement, Comprising: It is a figure which shows the state which the person stood up. 図７Ｅの状態における駆動機構の動作状態を示す図である。It is a figure which shows the operation state of the drive mechanism in the state of FIG. 7E. 他の実施形態に係る動作アシスト装置の模式図である。It is a schematic diagram of the operation assistance apparatus which concerns on other embodiment. さらに他の実施形態に係る動作アシスト装置の模式図である。It is a mimetic diagram of an operation assistant device concerning other embodiments. さらに他の実施形態に係る動作アシスト装置の模式図である。It is a mimetic diagram of an operation assistant device concerning other embodiments. さらに他の実施形態に係る動作アシスト装置の模式図である。It is a mimetic diagram of an operation assistant device concerning other embodiments. さらに他の実施形態に係る動作アシスト装置の模式図である。It is a mimetic diagram of an operation assistant device concerning other embodiments.
　図１に示す動作アシスト装置１は、例えば、人が荷物を持ち上げるときの立上り動作を補助する装具であって、いわゆる内骨格型の装具である。内骨格型の装具とは、人体における骨格を利用することで機能し、例えば、人体における骨と骨のつながりを１つのリンク機構とみなし、関節の動作をアシストする。なお、以下の実施形態では、動作アシスト装置１を人体の脚部に適用した例を示すが、本動作アシスト装置１は、肘関節を中心とする腕部や腰椎を中心とする腰部等、屈曲した状態と伸展した状態とを取り得る部位であればいかなる部位にも適用可能である。 The motion assist device 1 shown in FIG. 1 is, for example, a so-called endoskeleton-type brace that assists a rising motion when a person lifts a load. An endoskeleton-type appliance functions by utilizing a skeleton in the human body. For example, a bone-to-bone connection in the human body is regarded as one link mechanism and assists the joint operation. In the following embodiment, an example in which the motion assist device 1 is applied to a leg portion of a human body is shown. However, the motion assist device 1 can be bent such as an arm portion centered on an elbow joint or a waist portion centered on a lumbar spine. The present invention can be applied to any part that can take a stretched state and an extended state.
　図２に示すように、動作アシスト装置１は、大腿部に取り付けられる大腿装具２と、膝に取り付けられる膝装具３と、下腿部に取り付けられる下腿装具４と、大腿装具２、膝装具３及び下腿装具４に駆動力を付与する駆動機構５とを備える。即ち、動作アシスト装置１は、大腿部における大腿骨と下腿部における下腿骨とを一対の節とし、これらの節を回転可能に連結する膝関節を１つのリンク機構と見なし、膝の曲げ伸ばし、特に屈曲状態から伸展状態へと動作するときの脚部の動作をアシスト（補助）する。以下、下腿装具４が第１装具であり、大腿装具２が第２装具であり、膝装具３が第３装具である例について説明する。 As shown in FIG. 2, the motion assist device 1 includes a thigh brace 2 attached to the thigh, a knee brace 3 attached to the knee, a crus brace 4 attached to the crus, the thigh brace 2, and the knee brace. 3 and a drive mechanism 5 for applying a driving force to the lower leg orthosis 4. That is, the motion assist device 1 regards the knee joint that rotatably connects the thigh bone in the thigh and the crus bone in the lower thigh as a pair of joints, and considers bending of the knee. Assisting (assisting) the movement of the legs, especially when moving from the bent state to the extended state. Hereinafter, an example in which the lower thigh brace 4 is the first brace, the thigh brace 2 is the second brace, and the knee brace 3 is the third brace will be described.
　大腿装具２、膝装具３及び下腿装具４は、それぞれ、駆動機構５を取り付けるための機構取付部材２Ａ；３Ａ；４Ａと、これら機構取付部材２Ａ；３Ａ；４Ａを大腿部、膝関節部、下腿部に固定する固定ベルト２Ｂ；３Ｂ；４Ｂとを備える。なお、機構取付部材２Ａ；３Ａ；４Ａの裏面には、図外のクッション材等が設けられ、人体との緩衝が図られる。機構取付部材２Ａ；３Ａ；４Ａは、例えば、可撓性を有する硬質の樹脂で構成される。固定ベルト２Ｂ；３Ｂ；４Ｂは、例えば、非伸縮性の帯からなり、端部に固定手段として機能する面ファスナーを備える。 The thigh orthosis 2, the knee orthosis 3 and the lower thigh orthosis 4 are respectively a mechanism attaching member 2A; 3A; 4A for attaching the drive mechanism 5, and these mechanism attaching members 2A; 3A; 4A to the thigh, knee joint, Fixed belts 2B; 3B; 4B for fixing to the crus. In addition, the cushioning material etc. which are not shown in figure are provided in the back surface of mechanism attachment member 2A; 3A; 4A, and a buffer with a human body is aimed at. The mechanism attachment members 2A; 3A; 4A are made of, for example, a hard resin having flexibility. The fixing belts 2B; 3B; 4B are made of, for example, a non-stretchable belt and are provided with hook-and-loop fasteners that function as fixing means at the ends.
　機構取付部材２Ａは、例えば、大腿部の側部に沿って装着可能に形成され、固定ベルト２Ｂにより、大腿部の付け根側に固定される。機構取付部材２Ａには、後述の駆動機構５を構成するワイヤ８の端部が固定されるワイヤ固定部１１が設けられる。ワイヤ固定部１１は、例えば、板状部材１２により構成され、機構取付部材２Ａにねじ止めされることにより、ワイヤ８の端部を機構取付部材２Ａとの間で挟み込んで固定する。 The mechanism attachment member 2A is formed to be attachable along the side of the thigh, for example, and is fixed to the base of the thigh by the fixing belt 2B. The mechanism attaching member 2A is provided with a wire fixing portion 11 to which an end portion of a wire 8 constituting a drive mechanism 5 described later is fixed. The wire fixing part 11 is constituted by, for example, a plate-like member 12 and is fixed to the mechanism attaching member 2A by sandwiching the end of the wire 8 by being screwed to the mechanism attaching member 2A.
　機構取付部材３Ａは、例えば、膝関節における膝頭を包むように形成され、固定ベルト３Ｂにより膝関節部に固定される。機構取付部材３Ａは、駆動機構５を構成しワイヤ８が掛けられるワイヤガイド１５を備える。ワイヤガイド１５としては、滑車やピン或いは溝等、後述のアクチュエータ９により牽引されるワイヤ８の移動を阻害しない、好ましくはワイヤ８の移動を案内し得る、部材であれば良く、当該ワイヤガイド１５によってワイヤ８の延びる方向が曲げられる。なお、図示の例では、ワイヤガイド１５として滑車を用いた例を示している。 The mechanism attachment member 3A is formed, for example, so as to wrap the kneecap in the knee joint, and is fixed to the knee joint portion by the fixing belt 3B. The mechanism attachment member 3A includes a wire guide 15 that constitutes the drive mechanism 5 and on which the wire 8 is hung. The wire guide 15 may be any member that does not hinder the movement of the wire 8 pulled by the actuator 9 described later, such as a pulley, a pin, or a groove, and preferably can guide the movement of the wire 8. Thus, the extending direction of the wire 8 is bent. In the illustrated example, a pulley is used as the wire guide 15.
　機構取付部材４Ａは、例えば、下腿部の側部に沿って装着可能に形成され、固定ベルト４Ｂにより足首側に固定される。機構取付部材４Ａには、アクチュエータ９を固定可能なアクチュエータ取付部１６が設けられる。 The mechanism attachment member 4A is formed, for example, so as to be attachable along the side of the lower leg, and is fixed to the ankle side by the fixing belt 4B. The mechanism mounting member 4A is provided with an actuator mounting portion 16 to which the actuator 9 can be fixed.
　駆動機構５は、概略、アクチュエータ９とワイヤ８とで構成される。図１及び図２に示された例では、アクチュエータ９は伸縮可能に構成されている。アクチュエータ９とワイヤ８とは、アクチュエータ９のワイヤ固定部１４において、互いに接続されている。駆動機構５は一端５ａ及び他端５ｂを有しており、図示された例では、駆動機構５の一端５ａは、アクチュエータ９におけるワイヤ８と反対側の端部で構成され、他端５ｂは、ワイヤ８におけるアクチュエータ９と反対側の端部で構成される。駆動機構５の一端５ａは、アクチュエータ取付部１６において下腿装具４に連結され、他端５ｂは、ワイヤ固定部１１において、大腿装具２に連結される。 The drive mechanism 5 is generally composed of an actuator 9 and a wire 8. In the example shown in FIGS. 1 and 2, the actuator 9 is configured to be extendable and contractible. The actuator 9 and the wire 8 are connected to each other at the wire fixing portion 14 of the actuator 9. The drive mechanism 5 has one end 5a and the other end 5b. In the illustrated example, the one end 5a of the drive mechanism 5 is configured by an end portion on the opposite side of the wire 8 in the actuator 9, and the other end 5b is The wire 8 is constituted by an end portion on the opposite side to the actuator 9. One end 5 a of the drive mechanism 5 is connected to the lower leg brace 4 at the actuator attachment portion 16, and the other end 5 b is connected to the thigh orthosis 2 at the wire fixing portion 11.
　図３Ａ及び図３Ｂに示すように、アクチュエータ９は、流体の供給により軸方向に伸縮する複数（本実施形態では２つ）の軸方向繊維強化型人工筋肉（以下、単に人工筋肉という）１８；１８を有して構成される。図４Ａ乃至図４Ｄに示すように、人工筋肉１８は、例えば天然のラテックスゴムからなる円筒体１９にカーボン繊維シート２２を内挿した構成である。カーボン繊維シート２２は、複数のカーボン繊維２１が円筒体１９の軸方向に沿って配向されており、円筒体１９の軸方向への伸長を拘束する。円筒体１９の両端は、端子部材２３Ａ；２３Ｂにより閉塞される。これにより、円筒体１９の内周側には気室２６が形成される。一方の端子部材２３Ａには、後述のチューブ４５が接続され、気室２６に連通する空気取入口２５が設けられる。円筒体１９の外周には、複数のリング２４が軸方向に均等な間隔で設けられる。上記構成からなる人工筋肉１８の気室２６内に流体の一例としての空気を供給した場合、円筒体１９は、リング２４に区画された複数の瘤を有するように半径方向に膨張するとともに、カーボン繊維シート２２の拘束力によって軸方向に収縮する。また、気室２６内の空気を排気することによって、自然長に復帰（伸長）する。このような構成の人工筋肉１８を用いることによりアクチュエータ９を軽量化することができると共に、立上り動作に応じたアシスト力の変化を得ることができる。人工筋肉１８には、収縮ストロークに対する出力特性（牽引力）が、収縮初期に大きく、収縮末期に向けて徐々に小さくなるという特性を有している。この特性は、人の立上り動作において動作初期には大きな力が必要とされ、立上り動作の進行にともない必要とされる力が徐々に小さくなるという人の特性にちょうど対応しており、アシスト力を得るための動力源として好ましい。なお、人工筋肉としては、上述のものに限定されず、他のマッキベン型の人工筋肉等であっても良い。 As shown in FIGS. 3A and 3B, the actuator 9 includes a plurality (two in this embodiment) of axial fiber-reinforced artificial muscles (hereinafter simply referred to as artificial muscles) 18 that expand and contract in the axial direction by the supply of a fluid; 18. As shown in FIGS. 4A to 4D, the artificial muscle 18 has a configuration in which a carbon fiber sheet 22 is inserted into a cylindrical body 19 made of, for example, natural latex rubber. In the carbon fiber sheet 22, a plurality of carbon fibers 21 are oriented along the axial direction of the cylindrical body 19, and restrains the extension of the cylindrical body 19 in the axial direction. Both ends of the cylindrical body 19 are closed by terminal members 23A and 23B. Thereby, an air chamber 26 is formed on the inner peripheral side of the cylindrical body 19. One terminal member 23 </ b> A is connected to a tube 45, which will be described later, and is provided with an air inlet 25 communicating with the air chamber 26. A plurality of rings 24 are provided on the outer periphery of the cylindrical body 19 at equal intervals in the axial direction. When air as an example of a fluid is supplied into the air chamber 26 of the artificial muscle 18 having the above-described configuration, the cylindrical body 19 expands in the radial direction so as to have a plurality of lumps partitioned by the ring 24, and carbon. The fiber sheet 22 is contracted in the axial direction by the restraining force of the fiber sheet 22. Further, the air in the air chamber 26 is exhausted to return to its natural length (extend). By using the artificial muscle 18 having such a configuration, it is possible to reduce the weight of the actuator 9 and to obtain a change in assist force according to the rising motion. The artificial muscle 18 has a characteristic that an output characteristic (traction force) with respect to the contraction stroke is large at the initial stage of contraction and gradually decreases toward the end of contraction. This characteristic corresponds to the human characteristic that a large force is required at the initial stage of a person's rising motion and the required force gradually decreases as the rising motion progresses. It is preferable as a power source for obtaining. The artificial muscle is not limited to the above-described one, and may be another Macchiben type artificial muscle or the like.
　図３Ａ及び図３Ｂに示すように、アクチュエータ９は、一対の人工筋肉１８；１８の伸縮軸が互いに平行となるように並列配置されてなる。人工筋肉１８；１８の各端部は、それぞれ下側連結材３０及び上側連結材３１により連結されて一体に構成される。下側連結材３０は、例えば、金属製の平板部材からなり、人工筋肉１８；１８の端子部材２３Ａがボルト等の固定手段により固定されることにより、人工筋肉１８；１８同士が一定間隔で位置決めされる。また、下側連結材３０には、下腿装具４と接続されるＬ字状の接続部３２が設けられる。接続部３２は、一方が下側連結材３０に固定されるとともに、他方が貫通孔３３を介して下腿装具４と接続される。 3A and 3B, the actuator 9 is arranged in parallel so that the telescopic axes of the pair of artificial muscles 18; 18 are parallel to each other. The respective ends of the artificial muscles 18; 18 are connected to each other by a lower connecting member 30 and an upper connecting member 31 to be integrally formed. The lower connecting member 30 is made of, for example, a metal flat plate member, and the artificial muscles 18; 18 are positioned at regular intervals by fixing the terminal members 23A of the artificial muscles 18; 18 by fixing means such as bolts. Is done. Further, the lower connecting member 30 is provided with an L-shaped connecting portion 32 that is connected to the lower leg brace 4. One of the connection portions 32 is fixed to the lower connecting member 30, and the other is connected to the crus orthosis 4 through the through hole 33.
　上側連結材３１は、例えば、金属製のアングル部材からなり、人工筋肉１８；１８の端子部材２３Ｂがボルト等の固定手段により固定されることにより、人工筋肉１８；１８同士が一定間隔で位置決めされる。また、上側連結材３１の中心部には、ワイヤ８の端部を固定するためのワイヤ固定部１４が設けられる。ワイヤ固定部１４としては、円孔やねじ穴等、ワイヤ８の折り返しによる接続や、止めねじ等の固定手段による接続が可能であればよく、ワイヤ８の端部が当該ワイヤ固定部１４を介してアクチュエータ９と強固に接続される。 The upper connecting member 31 is made of, for example, a metal angle member, and the terminal members 23B of the artificial muscles 18; 18 are fixed by fixing means such as bolts, whereby the artificial muscles 18; 18 are positioned at regular intervals. The Further, a wire fixing portion 14 for fixing the end portion of the wire 8 is provided at the center of the upper connecting member 31. The wire fixing portion 14 only needs to be able to be connected by folding the wire 8 such as a circular hole or a screw hole, or by a fixing means such as a set screw, and the end portion of the wire 8 is interposed via the wire fixing portion 14. Thus, the actuator 9 is firmly connected.
　図２に示すように、上記構成からなるアクチュエータ９は、下側連結材３０の接続部３２に形成された貫通孔３３を介して下腿装具４に設けられたアクチュエータ取付部１６にねじ止めされ、下腿装具４に対して回転自在に取り付けられる。なお、ねじ止めに限らず、ピンの挿通等によって回転自在としても良い。 As shown in FIG. 2, the actuator 9 having the above-described configuration is screwed to the actuator attachment portion 16 provided in the crus orthosis 4 through the through hole 33 formed in the connection portion 32 of the lower coupling member 30. It is rotatably attached to the lower leg orthosis 4. In addition, it is good also as rotation not only by screwing but by insertion of a pin.
　図５は、動作アシスト装置１を人体に装着した時の幾何学的モデル図である。例えば、アクチュエータ９を構成する人工筋肉１８の数量については、以下の式（１）及び式（２）に基づいて算出できる。即ち、式（１）によりアクチュエータ９に必要とされるアシスト力（アシストトルク）Ｔをあらかじめ算出しておくことにより、人工筋肉１８の必要な数量を見積もることができる。
　Ｔ＝２Ｆ（Ｐ１，θ）×（Ｌ１×ｓｉｎα＋Ｌ２×ｓｉｎβ）　式（１）
　Ｆ＝（１／２）×２×Ｆ１　　　　　　　　　　　　　　　　　式（２）
Ｆ：アクチュエータモジュールによる牽引力［Ｎ］，
Ｐ１：人工筋肉への印加圧力［ＭＰａ］
Ｆ１：人工筋肉の収縮力［Ｎ］，
Ｌ１：大腿部長さ［ｍ］，
Ｌ２：下腿部長さ［ｍ］，
Ｌ３：膝関節の回転軸からワイヤガイドにおけるワイヤと当接する位置までの距離［ｍ］，
ｘ１＋Δｘ１：大腿部における駆動機構の長さ［ｍ］，
ｘ２＋Δｘ２：下腿部における駆動機構の長さ［ｍ］，
（本実施形態では、ｘ１＝Ｌ１，ｘ２＝Ｌ２）
θ：膝関節角度［ｒａｄ］，
α：大腿部とワイヤとの挟角［ｒａｄ］，
β：下腿部とワイヤとの挟角［ｒａｄ］，である。 FIG. 5 is a geometric model diagram when the motion assist device 1 is worn on a human body. For example, the number of artificial muscles 18 constituting the actuator 9 can be calculated based on the following equations (1) and (2). That is, the required quantity of the artificial muscle 18 can be estimated by calculating in advance the assist force (assist torque) T required for the actuator 9 by the equation (1).
T = 2F (P1, θ) × (L1 × sin α + L2 × sin β) Equation (1)
F = (1/2) × 2 × F1 Formula (2)
F: Traction force by actuator module [N],
P1: Applied pressure to the artificial muscle [MPa]
F1: Contraction force of artificial muscle [N],
L1: thigh length [m],
L2: Lower leg length [m],
L3: distance [m] from the rotation axis of the knee joint to the position in contact with the wire in the wire guide,
x1 + Δx1: length of drive mechanism in thigh [m],
x2 + Δx2: length of drive mechanism in lower leg [m],
(In the present embodiment, x1 = L1, x2 = L2)
θ: Knee joint angle [rad],
α: Angle between the thigh and the wire [rad],
β: The included angle [rad] between the lower leg and the wire.
　次に、図２を参照してワイヤ８の経路について説明する。上述のとおり、ワイヤ８の両端部は、大腿装具２及び下腿装具４と接続されたアクチュエータ９に対して固定されている。より詳細には、大腿装具２側を起点として見た場合、ワイヤ８は、膝装具３に向けて延びるとともに、膝装具３に設けられたワイヤガイド１５に掛けられることによって延びる方向が曲げられ、アクチュエータ９及び下腿装具４に向けて延びる。アクチュエータ９に達したワイヤ８は、アクチュエータ９に設けられたワイヤ固定部１４を介して固定される。このような経路を有するワイヤ８としては、金属製に限らず有機繊維を撚り合わせた化繊のものであっても良い。ワイヤ８は、張力が付加されたときに伸長性の少ない素材のものが好ましい。また、耐久性を考慮した場合、金属製や非金属性の無機繊維のものが好ましく、重量の観点からは、有機繊維を撚り合わせた化繊のものが好ましい。 Next, the path of the wire 8 will be described with reference to FIG. As described above, both ends of the wire 8 are fixed to the actuator 9 connected to the thigh brace 2 and the lower leg brace 4. More specifically, when viewed from the thigh orthosis 2 side, the wire 8 extends toward the knee orthosis 3 and the direction in which the wire 8 extends by being hung on the wire guide 15 provided on the knee orthosis 3 is bent, It extends toward the actuator 9 and the lower leg orthosis 4. The wire 8 reaching the actuator 9 is fixed via a wire fixing portion 14 provided on the actuator 9. The wire 8 having such a path is not limited to a metal and may be a synthetic fiber obtained by twisting organic fibers. The wire 8 is preferably made of a material that is less stretchable when tension is applied. Moreover, when considering durability, those made of metallic or non-metallic inorganic fibers are preferable, and from the viewpoint of weight, those made of twisted organic fibers are preferable.
　ワイヤ８の長さは、例えば、膝関節の屈曲状態が最大のときに、遊びがない長さに調整される。図６に示すように、膝関節の屈曲状態が最大のときとは、大腿部の延長線ｐ１と下腿部の延長線ｐ２との交差角度（関節角度）φが最小角度をとるときを意味し、この最小角度は、例えば膝を最大限折り曲げたときの大腿骨と下腿（脛）骨との関節角度である。即ち、関節角度φは、例えば、下腿部に対する大腿部の傾斜角度でもある。 The length of the wire 8 is adjusted so that there is no play when, for example, the knee joint is in the maximum bending state. As shown in FIG. 6, when the knee joint is in the maximum bending state, the intersection angle (joint angle) φ between the extension line p1 of the thigh and the extension line p2 of the crus takes the minimum angle. This means that the minimum angle is, for example, the joint angle between the femur and the lower leg (tibia) when the knee is bent to the maximum. That is, the joint angle φ is also an inclination angle of the thigh with respect to the crus, for example.
　上記アクチュエータ９は、駆動装置４０により制御される。駆動装置４０は、アクチュエータ９に圧縮空気を供給する空気供給手段４１と、圧縮空気の圧力を制御する制御弁４２と、空気供給手段４１からアクチュエータ９に供給する圧縮空気を制御するコントロールユニット４３とを備える。空気供給手段４１は、例えば、エアコンプレッサやエアタンクにより構成される。 The actuator 9 is controlled by the driving device 40. The driving device 40 includes an air supply means 41 that supplies compressed air to the actuator 9, a control valve 42 that controls the pressure of the compressed air, and a control unit 43 that controls the compressed air supplied from the air supply means 41 to the actuator 9. Is provided. The air supply means 41 is constituted by, for example, an air compressor or an air tank.
　制御弁４２は、アクチュエータ９に供給する空気の流量を調整する。制御弁４２には、例えば、比例電磁弁が適用される。比例電磁弁は、コントロールユニット４３から出力される信号に基づいて、空気供給手段４１に蓄圧された圧縮空気をアクチュエータ９に供給するときの空気の流量を調整する。比例電磁弁は、信号の入力が無いときには、アクチュエータ９への空気の供給を遮断するノーマルクローズ型である。制御弁４２は、空気供給手段４１とチューブ４４により接続され、アクチュエータ９とチューブ４５により接続される。チューブ４４及びチューブ４５には、耐圧かつ可撓性を有するものが好ましい。 The control valve 42 adjusts the flow rate of air supplied to the actuator 9. For example, a proportional solenoid valve is applied to the control valve 42. The proportional solenoid valve adjusts the flow rate of air when the compressed air accumulated in the air supply means 41 is supplied to the actuator 9 based on a signal output from the control unit 43. The proportional solenoid valve is a normally closed type that shuts off the supply of air to the actuator 9 when no signal is input. The control valve 42 is connected to the air supply means 41 and the tube 44, and is connected to the actuator 9 and the tube 45. The tube 44 and the tube 45 preferably have pressure resistance and flexibility.
　また、例えば、制御弁４２とアクチュエータ９とを接続するチューブ４５の途中には、分岐管４６が設けられ、アクチュエータ９に供給された空気を排気する排気弁４７が設けられる。排気弁４７は、コントロールユニット４３から出力される信号に基づいて、排気弁４７を開閉することにより、アクチュエータ９の気室２６に供給された空気を排気する。 Further, for example, a branch pipe 46 is provided in the middle of the tube 45 connecting the control valve 42 and the actuator 9, and an exhaust valve 47 for exhausting the air supplied to the actuator 9 is provided. The exhaust valve 47 opens and closes the exhaust valve 47 based on a signal output from the control unit 43 to exhaust the air supplied to the air chamber 26 of the actuator 9.
　コントロールユニット４３は、演算手段としてのＣＰＵ、アシスト力を制御するためのプログラムを記憶するＲＯＭ、及び、動作検出センサ５０及び荷重検出センサ５１からの入力値や演算結果を一時的に記憶するＲＯＭ等の記憶手段を含むマイクロコンピュータを備える。コントロールユニット４３は、動作検出センサ５０及び荷重検出センサ５１から出力される出力値に応じて、制御弁４２や排気弁４７に出力する信号を制御する。コントロールユニット４３は、例えば、記憶手段に、荷重値と気室２６に供給する空気の圧力との対応関係を紐付けしたデータや、圧力算定式等を、予め記憶させておき、各センサ５０，５１により検出された荷重値や動作値に基づいて、制御弁４２や排気弁４７に出力する信号を制御する。 The control unit 43 includes a CPU as a calculation means, a ROM that stores a program for controlling the assist force, a ROM that temporarily stores input values and calculation results from the motion detection sensor 50 and the load detection sensor 51, and the like. A microcomputer including the storage means. The control unit 43 controls signals output to the control valve 42 and the exhaust valve 47 in accordance with output values output from the motion detection sensor 50 and the load detection sensor 51. For example, the control unit 43 stores, in advance, data in which the correspondence relationship between the load value and the pressure of the air supplied to the air chamber 26, a pressure calculation formula, and the like are stored in the storage unit. Based on the load value and the operation value detected by 51, the signal output to the control valve 42 and the exhaust valve 47 is controlled.
　動作検出センサ５０は、人体の動作を検出するためのセンサであって、人がしゃがんだ状態から立ち上がる動作（立上り動作）を検出する。例えば、ワイヤ８の張力の変化や加速度センサ等を用いることができる。荷重検出センサ５１は、立上り動作におけるアシスト力を設定するためのセンサであって、例えば、足裏に係る荷重値を検出する。荷重検出センサ５１は、例えば、圧力センサ等を用いることができる。 The motion detection sensor 50 is a sensor for detecting a motion of a human body, and detects a motion (rising motion) that rises from a state where a person is squatting. For example, a change in the tension of the wire 8 or an acceleration sensor can be used. The load detection sensor 51 is a sensor for setting an assist force in the rising motion, and detects, for example, a load value related to the sole. For example, a pressure sensor or the like can be used as the load detection sensor 51.
　動作検出センサ５０により検出された動作の検出値、及び荷重検出センサ５１により検出された荷重値は、それぞれコントロールユニット４３に出力される。コントロールユニット４３では、入力された検出値及び荷重値に基づいてアクチュエータ９に供給する空気の流量を演算処理する。 The motion detection value detected by the motion detection sensor 50 and the load value detected by the load detection sensor 51 are output to the control unit 43, respectively. In the control unit 43, the flow rate of the air supplied to the actuator 9 is calculated based on the input detection value and load value.
　動作アシスト装置１の人体への装着方法について説明する。まず、大腿装具２、膝装具３、下腿装具４を脚の各部に装着する。次に、膝の折り曲げ状態が最大となるように、しゃがんだ姿勢で大腿部側のワイヤ固定部１１においてワイヤ８の張り調整を行う。本実施形態では、アクチュエータ９に可撓性を有する部材により構成された人工筋肉１８を適用しているため、遊びがゼロとなるようにワイヤ８の張り調整を行うことにより、アクチュエータ９によるアシスト力を遅滞なく得ることができる。 The method for attaching the motion assist device 1 to the human body will be described. First, the thigh brace 2, the knee brace 3, and the lower leg brace 4 are attached to each part of the leg. Next, tension adjustment of the wire 8 is performed in the wire fixing portion 11 on the thigh side in a squatting posture so that the bent state of the knee is maximized. In the present embodiment, since the artificial muscle 18 composed of a flexible member is applied to the actuator 9, the assist force by the actuator 9 is adjusted by adjusting the tension of the wire 8 so that play is zero. Can be obtained without delay.
　図７Ａ乃至図７Ｆは、動作アシスト装置１によるアシスト状態を示す図である。とりわけ、図７Ａは、人がしゃがんだ状態を示す図であり、図７Ｂは、図７Ａの状態における駆動機構５の動作状態を示す図である。図７Ｃは、人が立ち上がり動作中である状態を示す図であり、図７Ｄは、図７Ｃの状態における駆動機構５の動作状態を示す図である。図７Ｅは、人が立ち上った状態を示す図であり、図７Ｆは、図７Ｅの状態における駆動機構５の動作状態を示す図である。以下、動作アシスト装置１の動作について説明する。 7A to 7F are diagrams showing an assist state by the motion assist device 1. FIG. In particular, FIG. 7A is a diagram showing a state where a person is squatting, and FIG. 7B is a diagram showing an operating state of the drive mechanism 5 in the state of FIG. 7A. FIG. 7C is a diagram illustrating a state in which a person is standing up, and FIG. 7D is a diagram illustrating an operating state of the drive mechanism 5 in the state of FIG. 7C. FIG. 7E is a diagram showing a state where a person has stood up, and FIG. 7F is a diagram showing an operating state of the drive mechanism 5 in the state of FIG. 7E. Hereinafter, the operation of the motion assist device 1 will be described.
　図７Ａに示すように、例えば床に置かれた荷物を持ち上げようとしてしゃがみ、手に荷物を持つと、足裏に配置された荷重検出センサ５１により、荷物の重量と人の体重との合計値が荷重値としてコントロールユニット４３に出力される。このとき、動作アシスト装置１を装着した人の膝関節の屈曲状態は最大となっている。具体的には、大腿部の延長線ｐ１と下腿部の延長線ｐ２との交差角度（関節角度）φ（図６参照）が最小となっている。図７Ｂに示されているように、駆動機構５が、膝関節部との間に所定の間隔を有して膝関節部の前方（図７Ｂでは左側）に位置するワイヤガイド１５を有していることにより、膝関節の屈曲状態が最大となっている場合においても、ワイヤ８を膝関節部の前方を通るように案内することができる。 As shown in FIG. 7A, for example, when a person squats to lift a load placed on the floor and holds the load in his hand, the load detection sensor 51 disposed on the sole of the foot causes the total value of the weight of the load and the weight of the person. Is output to the control unit 43 as a load value. At this time, the bending state of the knee joint of the person wearing the motion assist device 1 is maximized. Specifically, the intersection angle (joint angle) φ (see FIG. 6) between the extension line p1 of the thigh and the extension line p2 of the crus is the smallest. As shown in FIG. 7B, the drive mechanism 5 has a wire guide 15 that is positioned in front of the knee joint part (on the left side in FIG. 7B) with a predetermined distance from the knee joint part. As a result, even when the bending state of the knee joint is maximum, the wire 8 can be guided through the front of the knee joint.
　次に、荷物を手に持った状態から、人の意思によりしゃがんだ状態から立ち上がろうとする動作（図７Ｃ及び図７Ｅ）を動作検出センサ５０が検出することにより、信号がコントロールユニット４３に出力される。コントロールユニット４３は、入力された荷重値を立上がり動作マップに照らし合わせ、所定のアシスト力が得られるように制御弁４２に出力する信号を決定する。この場合、制御弁４２にのみ信号を出力し、排気弁４７は閉じたままとする。 Next, a signal is output to the control unit 43 when the motion detection sensor 50 detects a motion (FIGS. 7C and 7E) that attempts to stand up from a state of holding a baggage in a hand and a state of squatting by a person's intention. The The control unit 43 compares the input load value with the rising motion map and determines a signal to be output to the control valve 42 so as to obtain a predetermined assist force. In this case, a signal is output only to the control valve 42, and the exhaust valve 47 remains closed.
　図７Ｄ及び図７Ｆに示すように、制御弁４２の動作による空気の供給により、アクチュエータ９が軸方向に収縮し、ワイヤ８を牽引する。ワイヤ８が牽引されると、ワイヤガイド１５を基点として膝装具３が膝関節を駆動機構５の両端５ａ，５ｂを結んだ仮想直線Ｌ側に押圧するため、立ち上がるのに十分なアシスト力を得ることができる。 7D and 7F, the supply of air by the operation of the control valve 42 causes the actuator 9 to contract in the axial direction and pull the wire 8. When the wire 8 is pulled, the knee brace 3 presses the knee joint toward the imaginary straight line L connecting both ends 5a and 5b of the drive mechanism 5 with the wire guide 15 as a base point, so that an assist force sufficient to stand up is obtained. be able to.
　即ち、本実施形態では、図７Ａ乃至図７Ｆに示すように、膝装具３を中心として大腿装具２及び下腿装具４に渡ってワイヤ８が延びて架設されているため、膝関節には上述の方向への押圧力が加わると同時に、大腿部及び下腿部には、上記方向とは逆の牽引力が加わるため、膝関節を中心とする脚部を伸展させるための十分なアシスト力を確保することができる。 That is, in this embodiment, as shown in FIGS. 7A to 7F, the wire 8 extends over the thigh brace 2 and the lower thigh brace 4 with the knee brace 3 as the center. At the same time as pressing force in the direction is applied, traction force opposite to the above direction is applied to the thigh and crus, ensuring sufficient assist force to extend the leg centered on the knee joint can do.
　より詳細には、図２、図５及び図７Ａ乃至図７Ｆに示された例では、駆動機構５がワイヤガイド１５を有しており、このワイヤガイド１５が、膝関節部との間に、装着者の前後方向に所定の間隔を有して膝関節部の前方に位置している。これにより、図７Ａ及び図７Ｂに示すような、しゃがんだときすなわち膝関節の屈曲状態が最大となるとき、図７Ｃ及び図７Ｄに示すような、立ち上がり動作中すなわち膝関節の屈曲状態が中間のとき、並びに、図７Ｅ及び図７Ｆに示すような、立ち上った状態すなわち膝関節の屈曲状態が最小となるときのいずれの状態においても、駆動機構５の長さは、装着者の大腿部及び下腿部の合計長さよりも長くなる。ここで、駆動機構５の長さとは、駆動機構５の一端５ａからワイヤガイド１５を経由して駆動機構５の他端５ｂまでの長さであり、装着者の大腿部及び下腿部の合計長さとは、下腿部における駆動機構５の一端５ａの直下に位置する点から膝関節部を経由して大腿部における駆動機構５の他端５ｂの直下に位置する点までの長さである。 More specifically, in the example shown in FIGS. 2, 5, and 7A to 7F, the drive mechanism 5 has a wire guide 15, and the wire guide 15 is between the knee joint portion and It is located in front of the knee joint with a predetermined interval in the front-rear direction of the wearer. 7A and 7B, when crouched, that is, when the knee joint is in the maximum bending state, as shown in FIG. 7C and FIG. And in any state where the knee joint is bent, as shown in FIGS. 7E and 7F, the length of the drive mechanism 5 is the length of the wearer's thigh and It becomes longer than the total length of the lower leg. Here, the length of the drive mechanism 5 is the length from one end 5a of the drive mechanism 5 to the other end 5b of the drive mechanism 5 via the wire guide 15, and the length of the thigh and lower leg of the wearer. The total length is a length from a point located immediately below one end 5a of the drive mechanism 5 in the lower leg to a point located directly below the other end 5b of the drive mechanism 5 in the thigh via the knee joint. It is.
　また、少なくとも膝関節の屈曲状態が最大となるとき、及び、膝関節の屈曲状態が中間のときには、装着者の大腿部及び下腿部の合計長さは、仮想直線Ｌの長さよりも長くなる。したがって、少なくとも膝関節の屈曲状態が最大となるとき、及び、膝関節の屈曲状態が中間のときには、駆動機構５の長さは、装着者の大腿部及び下腿部の合計長さよりも長くなり、且つ、装着者の大腿部及び下腿部の合計長さは、仮想直線Ｌの長さよりも長くなる。 Further, at least when the knee joint is in the maximum bending state and when the knee joint is in the intermediate bending state, the total length of the wearer's thigh and lower leg is longer than the length of the virtual straight line L. Become. Therefore, at least when the knee joint is in a maximum bending state and when the knee joint is in an intermediate bending state, the length of the drive mechanism 5 is longer than the total length of the wearer's thigh and crus. And the total length of the wearer's thigh and lower leg is longer than the length of the virtual straight line L.
　駆動機構５の長さ、装着者の大腿部及び下腿部の合計長さ、及び、仮想直線Ｌの長さが上述の関係を満たす場合、アクチュエータ９を収縮させて駆動機構５の長さを小さくすることにより、ワイヤガイド１５は、ワイヤ８から仮想直線Ｌ側に向かう押圧力を受ける。この押圧力が、膝装具（第３装具）３を介して装着者の膝関節に作用し、膝関節が、駆動機構５の両端５ａ，５ｂを結んだ仮想直線Ｌ側に押圧される。これにより、膝関節角度θ（図５参照）は増大するように変化する。すなわち、アクチュエータ９を収縮させて駆動機構５の長さを小さくすることにより、ワイヤガイド１５がワイヤ８から受ける、仮想直線Ｌ側に向かう押圧力が、膝関節を中心として装着者の大腿部及び下腿部を伸展させるためのアシスト力となる。これにより、装着者は、動作アシスト装置１から、しゃがんだ状態から立ち上がるための十分なアシスト力を得ることができる。 When the length of the drive mechanism 5, the total length of the wearer's thigh and crus, and the length of the virtual straight line L satisfy the above relationship, the actuator 9 is contracted to shorten the length of the drive mechanism 5. Is reduced, the wire guide 15 receives a pressing force directed from the wire 8 toward the virtual straight line L. This pressing force acts on the knee joint of the wearer via the knee brace (third brace) 3, and the knee joint is pressed toward the virtual straight line L connecting both ends 5 a and 5 b of the drive mechanism 5. Thereby, knee joint angle (theta) (refer FIG. 5) changes so that it may increase. That is, the actuator 9 is contracted to reduce the length of the drive mechanism 5, so that the pressing force that the wire guide 15 receives from the wire 8 toward the imaginary straight line L side is centered on the knee joint and the thigh of the wearer. And assist force for extending the lower leg. As a result, the wearer can obtain a sufficient assist force for getting up from the squatting state from the motion assist device 1.
　とりわけ、本実施形態の動作アシスト装置１では、引張り力（牽引力）を生じるアクチュエータ９及びワイヤ８を有する比較的簡単な構成により、装着者の大腿部及び下腿部を伸展させるためのアシスト力を得ることができるので、従来技術のようにリンク部材やギア機構を用いた装置に比べて、動作アシスト装置１を効果的に小型化及び軽量化することができる。このことは、医療系のトレーニングシステムやリハビリテーション等の分野において用いられ得る動作アシスト装置１において、大きな利点である。 In particular, in the motion assist device 1 of the present embodiment, the assist force for extending the wearer's thigh and crus by a relatively simple configuration including the actuator 9 and the wire 8 that generate a pulling force (traction force). Therefore, the operation assist device 1 can be effectively reduced in size and weight as compared with a device using a link member or a gear mechanism as in the prior art. This is a great advantage in the motion assist device 1 that can be used in fields such as medical training systems and rehabilitation.
　以下、図８Ａ乃至図８Ｅを参照して、動作アシスト装置１の他の実施形態について説明する。なお、各図において大腿装具２、膝装具３及び下腿装具４については破線で示す。 Hereinafter, another embodiment of the motion assist device 1 will be described with reference to FIGS. 8A to 8E. In each figure, the thigh orthosis 2, knee orthosis 3 and lower thigh orthosis 4 are indicated by broken lines.
　図８Ａは、アクチュエータ９の位置を下腿側から大腿側に変更した例を示す。本例においてアクチュエータ９は、大腿装具２と接続されており、ワイヤ８の一端部側がアクチュエータ９に設けられた係止部９Ａを介して大腿装具２と接続されると共に、他端部側が膝装具３のワイヤガイド１５を経由し下腿装具４に設けられたワイヤ固定部７を介して下腿装具４と接続されている。 FIG. 8A shows an example in which the position of the actuator 9 is changed from the lower leg side to the thigh side. In this example, the actuator 9 is connected to the thigh brace 2, one end of the wire 8 is connected to the thigh brace 2 via a locking portion 9 </ b> A provided on the actuator 9, and the other end is connected to the knee brace. 3 is connected to the lower leg brace 4 via a wire fixing part 7 provided on the lower leg brace 4 via a wire guide 15.
　本例に係る動作アシスト装置１によれば、比較的重量のあるアクチュエータ９が大腿側となることにより、人体における重心位置に重量物が近づくため、装着時の重量感を小さくできる。 According to the motion assist device 1 according to the present example, since the relatively heavy actuator 9 is located on the thigh side, the heavy object approaches the position of the center of gravity of the human body.
　図８Ｂは、アクチュエータ９；９を大腿側及び下腿側の両方に設けた例を示す。本例においてアクチュエータ９；９は、大腿装具２及び下腿装具４とそれぞれ接続されており、ワイヤ８の一端部側が大腿側に位置するアクチュエータ９の係止部９Ａを介して大腿装具２と接続され、他端部側が膝装具３のワイヤガイド１５を経由し、下腿側に位置するアクチュエータ９のワイヤ固定部１４を介して下腿装具４と接続されている。 FIG. 8B shows an example in which the actuators 9; 9 are provided on both the thigh side and the crus side. In this example, the actuators 9; 9 are connected to the thigh brace 2 and the lower thigh brace 4, respectively, and one end portion of the wire 8 is connected to the thigh brace 2 via the engaging portion 9A of the actuator 9 located on the thigh side. The other end side is connected to the lower leg brace 4 via the wire guide 15 of the knee brace 3 and the wire fixing part 14 of the actuator 9 located on the lower leg side.
　本例に係る動作アシスト装置１によれば、アクチュエータ９；９がそれぞれ大腿側及び下腿側に設けられたことにより、各アクチュエータ９を同期して動作させた場合に得られるアシスト力を２倍とすることが可能となる。 According to the motion assist device 1 according to this example, the actuators 9; 9 are provided on the thigh side and the lower leg side, respectively, so that the assist force obtained when the actuators 9 are operated in synchronization is doubled. It becomes possible to do.
　図８Ｃは、ワイヤ８の固定端部を膝装具３側に設定した例を示す。本例において下腿装具４と接続されたアクチュエータ９には、ワイヤ固定部１４に代えてワイヤ８の経路を膝関節部側に反転させる反転部２０が設けられる。なお、反転部２０としては前述のワイヤガイド１５と同様に牽引されるワイヤ８の移動を阻害しない部材であれば良い。同図に示すように、膝関節部から下腿部側に延びるワイヤ８は、反転部２０によってその経路が反転され、膝関節部側に延びる。そして、膝関節側に延びるワイヤ８の端部は、膝装具３に設けられたワイヤ固定部１４において強固に固定される。 FIG. 8C shows an example in which the fixed end of the wire 8 is set on the knee brace 3 side. In this example, the actuator 9 connected to the lower leg orthosis 4 is provided with a reversing unit 20 for reversing the path of the wire 8 to the knee joint side instead of the wire fixing unit 14. The reversing unit 20 may be any member that does not hinder the movement of the wire 8 that is pulled as in the case of the wire guide 15 described above. As shown in the figure, the path of the wire 8 extending from the knee joint to the lower leg is inverted by the reversing unit 20 and extends to the knee joint. Then, the end of the wire 8 extending to the knee joint side is firmly fixed at the wire fixing portion 14 provided on the knee brace 3.
　本例に係る動作アシスト装置１によれば、アクチュエータ９の収縮量の２倍の牽引量でワイヤ８が牽引されるため、膝関節などの屈曲から伸展までの関節角度の変化が大きい部位であってもストローク量の小さいアクチュエータを採用することができる。 According to the motion assist device 1 according to this example, since the wire 8 is pulled with a pulling amount twice as large as the contraction amount of the actuator 9, it is a part where the change in the joint angle from bending to extension of the knee joint or the like is large. However, an actuator with a small stroke can be employed.
　なお、本例においては、ワイヤ８の固定端を膝関節部側、即ち、膝装具３上に設定したが、ワイヤ８の経路を反転させ得る位置であればこれに限られるものではなく、例えば各装具とは別の部位を固定端として設定しても良い。 In this example, the fixed end of the wire 8 is set on the knee joint side, that is, on the knee brace 3. However, the position is not limited to this as long as the path of the wire 8 can be reversed. A part different from each appliance may be set as a fixed end.
　図８Ｄは、アクチュエータ９の反転部２０を複数の滑車により構成した例を示す。本例において反転部２０は、複数の滑車により構成される。複数の滑車は、例えば、外径の異なる小径の滑車２０Ａと大径の滑車２０Ｂとを同軸かつ、個別に回転自在に設けて構成される。また、膝装具３に設けられたワイヤガイド１５は、反転部２０を構成する滑車２０Ａ；２０Ｂに対応する複数の滑車により構成される。ワイヤガイド１５を構成する複数の滑車１５Ａ；１５Ｂは、例えば滑車２０Ａ；２０Ｂと同様に、外径の異なる小径の滑車１５Ａと大径の滑車１５Ｂとを同軸、かつ個別に回転自在に設けて構成される。同図に示すように、大腿部から膝関節部に延びるワイヤ８は、膝装具３に設けられた大径の滑車１５Ａにガイドされて下腿部側に延びる。滑車１５Ａから下腿部側に延びるワイヤ８は、滑車２０Ａによってその経路が反転され、膝関節部側に延びる。滑車２０Ａから膝関節側に延びるワイヤ８は、滑車１５Ｂによってその経路が反転され、下腿部側に延びる。滑車１５Ｂから下腿部側に延びるワイヤ８は、滑車２０Ｂによってその経路が反転され、膝関節部側に延びる。そして、膝関節部側に延びるワイヤ８の端部は、膝装具３に設けられたワイヤ固定部１４において強固に固定される。 FIG. 8D shows an example in which the reversing unit 20 of the actuator 9 is constituted by a plurality of pulleys. In this example, the reversing unit 20 is composed of a plurality of pulleys. The plurality of pulleys are configured by, for example, providing a small-diameter pulley 20A having a different outer diameter and a large-diameter pulley 20B coaxially and individually rotatable. Further, the wire guide 15 provided in the knee brace 3 is constituted by a plurality of pulleys corresponding to the pulleys 20A and 20B constituting the reversing unit 20. The plurality of pulleys 15A; 15B constituting the wire guide 15 are configured by, for example, similarly to the pulleys 20A; 20B, a small-diameter pulley 15A having a different outer diameter and a large-diameter pulley 15B that are coaxially and individually rotatable. Is done. As shown in the figure, the wire 8 extending from the thigh to the knee joint is guided by a large-diameter pulley 15A provided in the knee brace 3 and extends toward the lower leg. The path of the wire 8 extending from the pulley 15A toward the lower leg is reversed by the pulley 20A and extends toward the knee joint. The route of the wire 8 extending from the pulley 20A toward the knee joint is reversed by the pulley 15B and extends toward the lower leg. The path of the wire 8 extending from the pulley 15B toward the lower leg is reversed by the pulley 20B and extends toward the knee joint. The end portion of the wire 8 extending toward the knee joint portion is firmly fixed by the wire fixing portion 14 provided in the knee brace 3.
　本例に係る動作アシスト装置１によれば、アクチュエータ９の収縮量よりも大きな牽引量でワイヤ８が牽引されるため、よりストローク量の小さいアクチュエータを採用することができる。 According to the motion assist device 1 according to the present example, since the wire 8 is pulled with a pulling amount larger than the contraction amount of the actuator 9, an actuator with a smaller stroke amount can be employed.
　なお、本例においては、反転部２０を構成する複数の滑車を大きさの異なる大小２つの滑車で構成したが、ワイヤ８の経路の反転を複数回できるものであればこれに限られるものではなく、数量や滑車の大小関係については、必要とされる牽引量に収縮量を倍化できるように適宜設定すれば良い。例えば各装具とは別の部位を固定端として設定しても良い。 In this example, the plurality of pulleys constituting the reversing unit 20 are composed of two pulleys of different sizes, but the invention is not limited to this as long as the route of the wire 8 can be reversed a plurality of times. However, the quantity and the size relationship between the pulleys may be set as appropriate so that the contraction amount can be doubled to the required pulling amount. For example, a part different from each appliance may be set as the fixed end.
　図８Ｅは、アクチュエータ９の反転部２０を複数の滑車により構成した他の例を示す。 FIG. 8E shows another example in which the reversing unit 20 of the actuator 9 is configured by a plurality of pulleys.
　本例において大腿装具２と下腿装具４とを接続するワイヤ８は、大腿装具２からに延びるワイヤ８Ａと、下腿装具４側において延びるワイヤ８Ｂとで構成され、膝装具３と下腿装具４との間にワイヤ８Ａの経路を反転させる滑車２９と、アクチュエータ９にワイヤ８Ｂの経路を膝関節部側に反転させる反転部２０とが設けられる。即ち、滑車２９と滑車で構成された反転部２０とが多段に設けられている。同図に示すように、一端部が大腿装具２に固定され、大腿部から膝関節部に延びるワイヤ８Ａは、膝装具３に設けられたワイヤガイド１５にガイドされて下腿部側に延びる。ワイヤガイド１５から下腿部側に延びるワイヤ８は、滑車２９によってその経路が反転され、膝関節部側に延びる。そして、膝関節側に延びるワイヤ８Ａの他端部は、膝装具３に設けられたワイヤ固定部１４において強固に固定される。ワイヤ８Ｂは、一端が滑車２９の回転軸２９Ａに固定され、下腿装具４側に延びる。下腿装具４側に延びるワイヤ８Ｂは、アクチュエータ９の反転部２０により経路が反転され、膝関節部側に延びる。そして、膝関節側に延びるワイヤ８Ｂの他端部は、膝装具３に設けられたワイヤ固定部１４においてワイヤ８Ａとともに強固に固定される。 In this example, the wire 8 that connects the thigh brace 2 and the lower leg brace 4 is composed of a wire 8A extending from the thigh brace 2 and a wire 8B extending on the lower leg brace 4 side. A pulley 29 that reverses the path of the wire 8A and an inversion part 20 that reverses the path of the wire 8B toward the knee joint are provided in the actuator 9. In other words, the pulley 29 and the reversing unit 20 composed of the pulley are provided in multiple stages. As shown in the figure, one end is fixed to the thigh brace 2 and the wire 8A extending from the thigh to the knee joint is guided by the wire guide 15 provided on the knee brace 3 and extends toward the lower thigh. . The path of the wire 8 extending from the wire guide 15 toward the lower leg is reversed by the pulley 29 and extends toward the knee joint. The other end portion of the wire 8 </ b> A extending toward the knee joint side is firmly fixed at the wire fixing portion 14 provided on the knee brace 3. One end of the wire 8B is fixed to the rotating shaft 29A of the pulley 29 and extends toward the lower leg orthosis 4 side. The path of the wire 8B extending toward the lower leg orthosis 4 is reversed by the reversing unit 20 of the actuator 9 and extends toward the knee joint. The other end portion of the wire 8B extending to the knee joint side is firmly fixed together with the wire 8A at the wire fixing portion 14 provided in the knee brace 3.
　本例に係る動作アシスト装置１によれば、アクチュエータ９の収縮量よりも大きな牽引量でワイヤ８が牽引されるため、よりストローク量の小さいアクチュエータを採用することができる。 According to the motion assist device 1 according to the present example, since the wire 8 is pulled with a pulling amount larger than the contraction amount of the actuator 9, an actuator with a smaller stroke amount can be employed.
　なお、本例においては、反転部２０を構成する複数の滑車の段数は、これに限られるものではなく、滑車の段数については、必要とされる牽引量に収縮量を倍化できるように適宜設定すれば良い。例えば各装具とは別の部位を固定端として設定しても良い。 In this example, the number of stages of the plurality of pulleys constituting the reversing unit 20 is not limited to this, and the number of stages of the pulleys is appropriately set so that the contraction amount can be doubled to the required traction amount. Set it. For example, a part different from each appliance may be set as the fixed end.
　なお、本実施形態では、アクチュエータ９を２つの人工筋肉１８；１８により構成したが、必要とされるアシスト力に応じて１つ、若しくは３つ以上を並列に設けても良い。また、アクチュエータ９を人工筋肉１８により構成するとして説明したが、駆動源として空気を用いる場合には、エアシリンダ等であっても良い。また、駆動源として電力を用いる場合には、モータとボールねじ機構を組み合わせて、滑車１０を牽引するようにしても良い。つまり、ワイヤ８を牽引し得る伸縮動作可能なアクチュエータであればその種別は問わない。 In this embodiment, the actuator 9 is composed of the two artificial muscles 18; 18. However, one or three or more may be provided in parallel according to the required assist force. Further, the actuator 9 has been described as being constituted by the artificial muscle 18, but when air is used as a drive source, an air cylinder or the like may be used. When electric power is used as a drive source, the pulley 10 may be pulled by combining a motor and a ball screw mechanism. That is, the type of the actuator is not limited as long as it can pull and retract the wire 8.

Claims (5)

  1. 　関節によって接続された部位が、屈曲状態から伸展状態へと変動する際の動作をアシストする動作アシスト装置であって、
    　一方の部位に装着される第１装具と、
    　他方の部位に装着される第２装具と、
    　前記関節に装着される第３装具と、
    　伸縮可能なアクチュエータと、前記アクチュエータに接続されたワイヤとを有する駆動機構と、を備え、
    　前記駆動機構の一端が前記第１装具に連結され、前記ワイヤが前記第３装具に設けられたワイヤガイドに案内され、前記駆動機構の他端が前記第２装具に連結されており、
    　前記アクチュエータの収縮により、前記第３装具が、前記関節を前記駆動機構の両端を結んだ仮想直線側に押圧する、動作アシスト装置。     An operation assist device that assists an operation when a portion connected by a joint changes from a bent state to an extended state,
    A first brace attached to one part;
    A second brace attached to the other part;
    A third brace attached to the joint;
    A drive mechanism having an extendable actuator and a wire connected to the actuator;
    One end of the drive mechanism is connected to the first appliance, the wire is guided by a wire guide provided in the third appliance, and the other end of the drive mechanism is connected to the second appliance,
    An operation assist device in which the third brace presses the joint toward a virtual straight line connecting both ends of the drive mechanism by contraction of the actuator.
  2. 　前記駆動機構は、前記ワイヤに接続された他のアクチュエータをさらに有する、請求項１に記載の動作アシスト装置。 The operation assist device according to claim 1, wherein the drive mechanism further includes another actuator connected to the wire.
  3. 　前記アクチュエータに前記ワイヤの経路を反転させる反転部を設け、
    　前記ワイヤの両端又はいずれかの端部が前記反転部を経由して固定された、請求項１又は請求項２に記載の動作アシスト装置。     The actuator is provided with a reversing unit that reverses the path of the wire,
    The motion assist device according to claim 1, wherein both ends of the wire or any one of the ends thereof are fixed via the reversing unit.
  4. 　前記反転部が複数設けられた、請求項３に記載の動作アシスト装置。 The operation assist device according to claim 3, wherein a plurality of the inversion units are provided.
  5. 　前記ワイヤの両端又はいずれかの端部が前記第３装具に固定された、請求項１乃至請求項４のいずれかに記載の動作アシスト装置。 5. The motion assist device according to claim 1, wherein both ends of the wire or one of the ends thereof are fixed to the third brace.
PCT/JP2017/021205 2016-06-07 2017-06-07 Motion assist device WO2017213198A1 (en)

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