Artificial muscle-type joint support

Abstract

This supporter is easy to wear daily and provides assistance with joint torque, offering both joint stability and ease of bending and extending. [Solution] The artificial muscle-type joint supporter is made of an elastic material and comprises a main body 16, an artificial muscle 10 having an air chamber 11 inside the main body, a storage space for housing the artificial muscle, and is worn on the wearer such that the artificial muscle housed in the storage space covers the back of the joint and is fixed to the back of the joint, an air supply bulb that communicates with the air chamber inside the artificial muscle via a tube and pressurizes the air chamber by manually operating it, an exhaust control valve provided on the tube that can discharge air from the air chamber, and an adjustment body that adjusts the pressure of the air chamber by adjusting the amount of air discharged from the exhaust control valve, thereby causing the artificial muscle to expand and act on the back of the joint to adjust the wearer's walking assistance force, joint extension angle and flexion angle.

Description

[Technical Field]

[0001] The present disclosure relates to an artificial muscle-type joint supporter having an artificial muscle and an artificial muscle. [Background Art]

[0002] For elderly people to lead a healthy life, it is important to maintain their own walking ability and delay the decline of physical ability. However, as factors that hinder the above, there are decreased muscle strength of the knee joint extensor group and decreased function of the knee joint due to aging, diseases, and the like. [Prior Art Documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Unexamined Patent Publication No. 2018-166636 [Non-Patent Documents]

[0004] [Non-Patent Document 1] Masahiro Fujimoto (Doshisha University Graduate School), et al., "Study on Standing-up Motion from a Chair by Elderly People (Factors Affecting Stability of Standing-up Motion)", The Japan Society of Mechanical Engineers, "Proceedings of Welfare Engineering Symposium (2005)", pp. 65-68 [Non-Patent Document 2] Tsuyoshi Hayata (Kawasaki University of Medical Welfare), "Effect of Wearing Pressure of Knee Joint Orthoses on Exercise Performance - Development of Sports Orthoses Based on Scientific Evidence -" (2013) [Non-Patent Document 3] Takuma Inai (National Institute of Advanced Industrial Science and Technology), et al., "Knee sleeves improve gait symmetry during fast walking in older adults", Frontiers in Bioengineering and Biotechnology (17 July 2024) [Summary of the Invention] [Problem to be Solved by the Invention]

[0005] To address the above problems, various means and methods can be considered, and generally, the following can be cited: medical procedures such as surgery and drug administration, and sports classes aimed at promoting exercise habits and health. However, medical procedures such as surgery and drug administration have the problem of being expensive and time-consuming. Furthermore, sports classes have the problem of taking time to establish a system to operate efficiently and effectively, and there are many cases where people become overly reliant on sports classes alone.

[0006] In light of the circumstances described above, the purpose of this disclosure is to provide a joint support that is easy to wear on a daily basis and provides both joint stability and ease of bending and extending by assisting the torque of the joints during standing up and walking movements. [Means for solving the problem]

[0007] An artificial muscle-type joint support according to one embodiment of this disclosure is It consists of an elastic material, a main body, and an artificial muscle having an air chamber inside the main body, A supporter having a storage space for housing an artificial muscle, which is worn by the wearer so as to cover and fix the artificial muscle housed in the storage space to the back of the joint, An air supply balloon that communicates with the air chamber inside the artificial muscle via a tube and pressurizes the air chamber by manually operating it, and An exhaust control valve is provided in the tube and capable of discharging air from the air chamber, By adjusting the amount of air discharged from the exhaust control valve, the pressure in the air chamber is adjusted, and as the artificial muscle expands, the artificial muscle acts on the back of the joint to adjust the walking assistance force of the wearer, as well as the extension and flexion angles of the joint. It is equipped with. [Effects of the Invention]

[0008] According to the present disclosure, a joint supporter that can be worn easily, routinely and simply, and achieves both joint stability and ease of bending and stretching by assisting joint torque during standing-up motion and walking motion can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] [Figure 1] It is a front view showing a state where an artificial muscle type joint supporter is worn on a wearer's joint. [Figure 2] It is a right side view showing a state where an artificial muscle type joint supporter is worn on a wearer's joint. [Figure 3] It is a partially enlarged view showing a state where an artificial muscle type joint supporter is worn on a wearer's joint. [Figure 4] It is a perspective view showing an artificial muscle. [Figure 5] This diagram schematically shows an elongated air chamber of an artificial muscle. [Figure 6] It is a cross-sectional view taken along line A-A of FIG. 4. [Figure 7] It is a cross-sectional view taken along line B-B of FIG. 4. [Figure 8] It is a cross-sectional view taken along line C-C of FIG. 5, showing a deformed state. [Figure 9] It shows a deformed state of an artificial muscle. [Figure 10] It shows an experimental example when the artificial muscle type joint supporter is worn on a knee joint. [Figure 11] It shows an experimental example when the artificial muscle type joint supporter is worn on a knee joint. [Figure 12] It shows an experimental example when the artificial muscle type joint supporter is worn on a knee joint. [Figure 13] It shows an experimental example when the artificial muscle type joint supporter is worn on a knee joint. [Figure 14] It shows an experimental example of a model of an elongated air chamber of an artificial muscle. [Figure 15] It shows an experimental example of a model of an elongated air chamber of an artificial muscle. [Figure 16] It shows an experimental example of a model of an elongated air chamber of an artificial muscle. [Figure 17]An experimental example of a model of an elongated air chamber for an artificial muscle is shown.

Mode for Carrying Out the Invention

[0010] 1. Artificial muscle-type joint supporter

[0011] Figure 1 is a front view showing a state where an artificial muscle-type joint supporter is worn on a wearer's joint. Figure 2 is a right side view showing a state where the artificial muscle-type joint supporter is worn on a wearer's joint. Figure 3 is a partially enlarged view showing a state where the artificial muscle-type joint supporter is worn on a wearer's joint.

[0012] The artificial muscle-type joint supporter 1 is worn on a wearer's joint. Hereinafter, as a specific example, a case where the artificial muscle-type joint supporter 1 is worn on a wearer's knee joint will be described.

[0013] The artificial muscle-type joint supporter 1 includes an artificial muscle 10, a supporter 2, an air supply balloon 4, an exhaust control valve 5a, and an adjusting body 5b.

[0014] The artificial muscle 10 is stored in a storage space of the supporter 2 that can be worn so as to cover the knee joint. The artificial muscle 10 has a main body 16 and an air chamber 11 inside the main body 16. The artificial muscle 10 is made of an elastic material, and may be made of, for example, a silicone elastomer having tensile strength and compressive strength. Specifically, the main body 16 is a cured silicon body obtained by injecting a silicon fluid into a cylindrical mold. The main body 16 formed of the silicon body is suitable for assisting flexion and extension movements. A tube 7a made of a plastic material into which compressed air flows communicates with the air chamber 11. Alternatively, the artificial muscle 10 may be made of, for example, urethane.

[0015] Supporter 2 has a storage space for housing the artificial muscle 10. The artificial muscle 10 housed in the storage space is attached to the wearer so as to cover the back of the joint and be fixed to the back of the joint. Specifically, supporter 2 has an outer fabric, an inner fabric that comes into contact with the skin, and a storage space formed by the partial fixation of the outer fabric and the inner fabric. The main body of supporter 2 covers and secures the area around the knee joint when worn. The surface of the main body is provided with straps 3a, 3b, and 3c with hook-and-loop fasteners that can be stretched by external force.

[0016] The hook-and-loop fastener straps 3a, 3b, and 3c feature easy-to-use hook-and-loop fasteners and can be secured to the knee with any desired tightening pressure to match the circumference of the knee joint. They are open-type straps that wrap around the knee joint from the back to the front, with both ends connected and secured on the front side in the direction of wrapping.

[0017] The air supply balloon 4 communicates with the air chamber 11 inside the artificial muscle 10 via a tube 7a. The wearer or caregiver pressurizes the air chamber 11 by manually operating the air supply balloon 4 to supply air pressurized into the air chamber 11 inside the artificial muscle 10. The wearer or caregiver pressurizes the air chamber 11 by gripping the air supply balloon 4 with one hand, pressing it, and repeatedly expanding and contracting it to supply air. The air supply balloon 4 is made of, for example, rubber.

[0018] The exhaust control valve 5a is located on the tube 7a and can expel air from the air chamber 11. Air is supplied to the artificial muscle 10 by the air supply bulb 4, and the exhaust control valve 5a can be adjusted to lower the pressure in the air chamber 11 of the artificial muscle 10, thereby adjusting the assist force, knee extension angle, and flexion angle.

[0019] The adjustment unit 5b adjusts the pressure in the air chamber 11 by adjusting the amount of air discharged from the exhaust adjustment valve 5a, causing the artificial muscle 10 to expand and act on the back of the joint to adjust the wearer's walking assistance force, joint extension angle, and joint flexion angle. The adjustment unit 5b has an adjustment cylinder and a cap. The adjustment cylinder is provided on the side of the tube 7a connected to the air supply bulb 4. The cap is, for example, screw-type, attached to the adjustment cylinder, and provided on the upper outer circumference. By turning the screw-type cap, the amount of air discharged from the adjustment cylinder can be adjusted.

[0020] The aneroid pressure gauge 6 can be connected to the air chamber 11 inside the artificial muscle 10 via tube 7b. The aneroid pressure gauge 6 is connected so that the air chamber 11 inside the artificial muscle 10, tube 7a, and the inside of the inflation bulb 4 are at the same pressure. Tubes 7a and 7b are independently provided, made of a plastic material, and can follow the movements of the wearer. The advantages of manual air pressure measurement include ease of measurement, reduction of the burden on the measurer, prevention of delays in reading the pressure gauge and errors in remembering the read pressure, and portability, making the aneroid pressure gauge 6 a good choice. The air pressure inside the air chamber 11 of the artificial muscle 10, tubes 7a and 7b, and the inflation bulb 4 are connected so that the inside are at the same pressure. Tubes 7a and 7b are independently provided. They are made of a plastic material and can follow the movements of the wearer.

[0021] Belt 8 is a strip of woven fabric sewn to the outer fabric of the artificial muscle-type joint supporter 1, and is used to secure the air supply bulb 4, the exhaust valve, and the pressure gauge.

[0022] Hooks 9a and 9b are provided on the sides of the air supply balloon 4 and the aneroid pressure gauge 6, respectively, and are used to attach them to the belt 8. Hooks 9a and 9b allow for stable fastening during movements such as standing up and walking, improving safety when worn.

[0023] The artificial muscle-type joint support 1 is lightweight and does not interfere with walking because it does not have a complex mechanism. The mass of the artificial muscle-type joint support 1 is 500 grams, and the flexion pressure is theoretically 2 MPa (maximum).

[0024] 2. Artificial muscle

[0025] Figure 4 is a perspective view showing an artificial muscle. Figure 5 is a schematic diagram showing a long air chamber of the artificial muscle. Figure 6 is a cross-sectional view along line AA of Figure 4. Figure 7 is a cross-sectional view along line BB of Figure 4. Figure 8 is a cross-sectional view along line CC of the schematic diagram in Figure 5, showing the deformation state. Figure 9 shows the deformation state of the artificial muscle in the schematic diagram in Figure 5. Note that in each drawing, the main body 16 may be shown without hatching for the sake of clarity.

[0026] The artificial muscle 10 is a McKibben-type artificial muscle that can be arbitrarily bent in response to the air pressure supplied from the air supply balloon 4, and plays the role of an actuator that assists the torque of the joint.

[0027] The air chamber 11 of the artificial muscle 10 has a plurality of elongated air chambers 12 and a connecting air chamber 13. The elongated air chambers 12 are elongated in the vertical direction of the joint and are arranged in a plurality at intervals in the width direction, with the air chamber 11 located inside the artificial muscle 10. The connecting air chamber 13 communicates with one end of the plurality of elongated air chambers 12 and connects the plurality of elongated air chambers 12.

[0028] The structure of the elongated air chamber 12 has a U-shaped cross-section (semi-circular, semi-annular), and its U-shape allows it to respond to the flexion and extension of the joint. The U-shaped cross-section of the elongated air chamber 12 has an inner arc portion 15 with a convex inner surface and an outer arc portion 14 with a concave inner surface. The main body 16 of the artificial muscle 10 is thicker on the inner arc portion 15 side and thinner on the outer arc portion 14 side. The artificial muscle 10 is attached so that the inner arc portion 15 (thick side) faces the back of the joint. The surface area of ​​the outer arc portion 14 is larger than the surface area of ​​the inner arc portion 15. By making the cross-section of the elongated air chamber 12 U-shaped, when the air supply balloon 4 is pressed and air is introduced into the elongated air chamber 12, the elongated air chamber 12 curves and expands so that one side, the outer arc portion 14 (thin side), protrudes, as shown in the right diagram of Figure 9.

[0029] As shown in the right-hand diagram of Figure 9, in the process of the elongated air chamber 12 curving and expanding so that one side, the outer arc portion 14, protrudes, the cross-section of the elongated air chamber 12 is U-shaped, resulting in a larger surface area of ​​the outer arc portion 14 compared to an air opening with a non-U-shaped cross-section. This larger surface area allows for the intake of more air flowing in from the air supply balloon 4.

[0030] The cross-sectional shape of the elongated air chamber 12 may have a smaller radius towards the tip in the elongated direction of the elongated air chamber 12.

[0031] Due to the U-shaped cross-sectional structure of the elongated air chamber 12 (left diagram in Figures 8 and 9), when air flows in from the air supply balloon 4, the air pressure repelled from the inner arc portion 15 (thick side) is transmitted to the outer arc portion 14 (thin side), causing the artificial muscle 10 to curve so that it protrudes toward the outer arc portion 14 (thin side). Specifically, when air flows into the elongated air chamber 12 using the adjustment body 5b, as shown in the right diagram of Figure 8, the air pressure repelled from the inner arc portion 15 (thick side) is transmitted to the outer arc portion 14 (thin side), causing the artificial muscle 10 to expand so that the expansion of the outer arc portion 14 is greater than the expansion of the inner arc portion 15, and as shown in the right diagram of Figure 9, the artificial muscle 10 curves so that it protrudes toward the outer arc portion 14 (thin side). The pressure from the elongated air chamber 12 with its U-shaped cross-sectional shape causes the joint to extend (the expansion of the artificial muscle 10 assists in joint extension).

[0032] The outer arc portion 14 side (thin side) of the artificial muscle 10 is curved to protrude, and the artificial muscle 10 is fixed to the back of the joint by the supporter 2, so that the surface of the inner arc portion 15 conforms to the back of the joint of the human body and supports the wearer's walking. Specifically, when the artificial muscle 10 expands and bends, the surface of the inner arc portion 15 side of the artificial muscle 10 (the lower surface in the plane of the paper in the right diagram of Figure 9) conforms to the back of the joint. At this time, because the artificial muscle 10 is fixed to the back of the joint by the supporter 2, the expanding and bending artificial muscle 10 is pressed against the back of the joint, and both ends of the expanding and bending artificial muscle 10 in the longitudinal direction press against the upper and lower parts of the back of the joint (thigh and calf), respectively, which are fixed by the supporter 2, thereby assisting the extension movement of the joint (the expansion of the artificial muscle 10 assists joint extension).

[0033] By operating the screw-type cap on the upper outer circumference attached to the adjustment cylinder of the adjustment body 5b provided on the side of the air supply balloon 4, it is possible to suppress the supply and discharge of air to the air chamber 11, thereby suppressing the resistance of the artificial muscle 10, and making it possible to maintain the flexion and extension movement in a neutral state.

[0034] When air is discharged from the elongated air chamber 12 using the adjustment body 5b and the exhaust adjustment valve 5a, the artificial muscle 10, which has expanded and curved toward the outer arc portion 14 due to the air pressure (right diagram in Figures 8 and 9), contracts, and the artificial muscle 10 returns to its original state (left diagram in Figures 8 and 9). At this time, the artificial muscle 10 is pressed against the back of the joint, and the pressure exerted by both ends of the elongated artificial muscle 10, which are fixed by the supporter 2, on the upper and lower parts of the back of the joint (thigh and calf) is released, thereby assisting the flexion movement of the joint (the contraction of the artificial muscle 10 assists the flexion of the joint).

[0035] The artificial muscle-type joint supporter 1 having the artificial muscle 10 according to this embodiment can be expected to have the following effects: It can be easily worn on a daily basis. By assisting the torque of the knee joint during standing up and walking, it can achieve both knee joint stability and ease of bending and straightening. Rather than assisting all torque, it can prevent a decline in remaining physical ability and maintain quality of life by assisting the force that is insufficient for movement using one's own legs. It is low-cost, easy to use, lightweight, highly versatile, and can be easily used as an everyday living aid. Although it is designed with the elderly as the intended user, it is considered that it can be applied as a medical device for users with some kind of movement disorder of the knee joint.

[0036] According to the artificial muscle-type joint supporter 1 of this embodiment, a supporter is provided that is easy to wear on a daily basis and is simple to use, and that assists the torque of the knee joint during standing up and walking movements, thereby achieving both knee joint stability and ease of bending and straightening.

[0037] The artificial muscle-type joint supporter 1 of this embodiment aims to prevent a decline in remaining physical ability and maintain quality of life by assisting the force that is insufficient for movement using one's own legs, rather than assisting the entire torque. It is intended to be used as an everyday tool, and is a low-cost, easy-to-use, lightweight, and versatile product.

[0038] According to the artificial muscle-type joint supporter 1 of this embodiment, when compressed air is sent to the air chamber 11 inside the artificial muscle 10, the U-shaped cross-section of the elongated air chamber 12 causes the artificial muscle 10 to extend or flex. The air pressure can be easily adjusted, thereby changing the stiffness of the artificial muscle 10, and making it possible to adjust the assist force, knee extension angle, and flexion angle.

[0039] 3. Experimental Examples

[0040] Figures 10 to 13 show experimental examples of when an artificial muscle-type joint support is attached to the knee joint.

[0041] Figure 10 shows the seated position with zero air pressure to the artificial muscle 10. Figure 11 shows the standing motion, Figure 12 is a front view (after standing), and Figure 13 is a right side view (after standing). When air is supplied to the artificial muscle 10, its expansion supports the torque of the knee joint (the expansion of the artificial muscle 10 assists in joint extension), making it easier to stand up from a seated position (Figure 10) (Figure 11; the flexed knee joint extends as the artificial muscle 10 expands).

[0042] Figures 14 to 17 show experimental examples of models of long air chambers for artificial muscles.

[0043] As shown in Figure 14, a model of an artificial muscle 10 having a long air chamber 12 with a U-shaped cross-section was fabricated. Specifically, a U-shaped axis was created using a 3D printer, the U-shaped axis was inserted into a cylindrical mold, silicone fluid was injected into the cylindrical mold, and the silicone fluid was hardened. By removing the U-shaped axis from the hardened silicone body, a silicone model of the artificial muscle 10 was fabricated. As shown in Figure 15, an air supply balloon 4 was connected to one end of the artificial muscle 10 model via a tube 7a, and a pressure gauge 6 was connected via another tube 7a. As shown in Figure 16, the other end of the artificial muscle 10 model was airtightly sealed, and air was injected into the long air chamber 12 from the air supply balloon 4. As a result, as shown in Figure 17, the long air chamber 12 did not expand uniformly, but rather curved and expanded so that one side (the outer arc portion 14 side) protruded. In the artificial muscle 10, the curved, protruding inflatable surface (upper side in the plane of Figure 17) and the opposite side (lower side in the plane of Figure 17) are the inner arc portion 15 side of the surface that contacts the back of the joint of the wearer. The inner arc portion 15 side (lower side in the plane of Figure 17) fits to the back of the joint. At this time, because the artificial muscle 10 is fixed to the back of the joint by the supporter 2, the inflatable and curved artificial muscle 10 is pressed against the back of the joint, and both ends of the inflatable and curved artificial muscle 10 in the longitudinal direction press against the upper and lower parts of the back of the joint (thigh and calf), respectively, which are fixed by the supporter 2, thereby assisting the extension movement of the joint (the expansion of the artificial muscle 10 assists joint extension).

[0044] 4. Addendum

[0045] For seniors to maintain a healthy lifestyle for as long as possible, it is crucial to preserve their walking ability and prolong the decline of their physical capabilities. Here is some interesting data showing the degree of difficulty seniors experience in their daily activities. According to the Cabinet Office's "Survey on the Attitudes of Seniors Regarding Daily Life," seniors experience difficulty with activities that involve the knees, such as "moderate activities like cleaning and walking" and "bending forward or kneeling."

[0046] The direct causes of difficulty in knee-related movements in the elderly include weakening of the knee extensor muscles and decreased knee joint function due to aging and disease. The knee joint is a joint in which the femur and tibia are connected and supported by ligaments and muscles. Therefore, it is a structurally unstable joint.

[0047] Patent Document 1 discloses a knee support that achieves both knee joint stability and ease of bending and straightening the knee joint during walking. Many elderly people use knee supports because wearing them makes it easier to stand up and is considered useful for improving walking function. However, it is said that there is a lack of objective verification data demonstrating its effectiveness. Therefore, the inventors have arrived at the present invention, which is composed of technology superior to other prior art, by integrating scientific knowledge gathered from various papers.

[0048] Non-patent document 1 provides a quantitative example of the effects of wearing conventional knee supports. While the mechanism by which the effect of "making it easier to stand up" is not sufficiently discussed, research by Fujimoto et al. suggests that wearing a support contributes to improved knee stability, and that stable standing leads to the "feeling that it is easier to stand up." Furthermore, it states that "even elderly women who have difficulty standing up can increase the muscle strength they can exert during movement by wearing a knee support, and as a result, they can stand up quickly without deep trunk flexion," thus confirming its usefulness. Non-patent document 1 (Fig. 11 Effect of wearing supporters on joint moment and power at knee) presents the following research findings on "Effects of wearing supporters on knee joint moment and power": "The dashed line in the figure represents the maximum force exerted by the knee joint extensor muscles when wearing a knee supporter. However, the average of the values ​​for both the left and right lower limbs was taken. Wearing a knee supporter increases both the knee joint moment and power. In particular, the knee joint moment asymptotically approaches the maximum force exerted. The maximum value of muscle strength did not increase, but the muscle strength exerted during movement increased. It is thought that knee supporters have the effect of allowing muscles to exert their maximum potential. (original text)"

[0049] Furthermore, according to Non-Patent Literature 2, it was recognized that applying pressure to the thigh when the knee joint is flexed and reducing the pressure applied during normal use (extension) are useful when wearing a knee brace.

[0050] Furthermore, Non-Patent Document 3 demonstrated that knee supports have the effect of correcting irregular gait. This reduces the risk of falls while walking and suggests that they may be useful in preventing falls, which are one of the major causes of elderly people requiring long-term care.

[0051] • How the problem was discovered One of the inventors' grandmothers suffered from osteoarthritis of the knee and was so afraid of injuring her knees when going out that she would stay home. To solve this problem, the inventors researched treatment methods and rehabilitation equipment and learned that using a knee brace could reduce pain and support walking, which sparked their interest in knee braces. While researching existing products and prior art, the concepts of tensile and compressive pressure that they learned in structural mechanics classes provided a clue.

[0052] ·Point of focus The knee support was designed with a focus on reducing knee pain, supporting standing and walking, and providing convenience and ease of use for the elderly. Artificial muscles were used to simplify the actuator and reduce weight.

[0053] • Initiatives taken to consider solutions to the problem One of the inventors is a member of the track and field club and sometimes uses a support brace to assist with athletic performance. If the support brace is tightened too much for a long time, it can restrict blood flow and cause poor circulation. Therefore, it is necessary to frequently adjust the tightening pressure. However, by actually wearing the artificial muscle-type knee joint support brace produced in this invention and improving the feel of use while changing various conditions, they were finally able to complete a product that they were satisfied with.

[0054] • The relationship between the issue being focused on and social and everyday issues. To ensure that seniors can live healthy lives for as long as possible, it is crucial to maintain their walking ability and prolong the decline of their physical capabilities. With the aging society, the number of elderly people complaining of knee pain is increasing year by year. Furthermore, data shows that one in two people over 50 suffers from osteoarthritis of the knee. Extending healthy life expectancy is considered an urgent issue.

[0055] The Basic Law on Measures for an Aging Society proclaims "opportunities to participate in employment and other diverse social activities throughout one's life" and "a prosperous society in which one can lead a healthy and fulfilling life throughout one's life" as its fundamental principles. In order to achieve these noble ideals, it is important for inventors and other industrial high school students to actively engage with social issues. While various approaches are possible, focusing on creating something new and unprecedented is likely to be the key to solving problems around us.

[0056] • Efforts toward commercialization Designed for everyday use, this product is low-cost, easy to use, lightweight, and features a versatile structure. To achieve these goals, the inventors repeatedly prototyped, utilizing knowledge gained from classes, 3D-CAD, and 3D printers. They also analyzed various prior studies and technologies. Based on objective data, they prototyped, tested, and completed the product. To further improve it, they believe that gathering feedback from many people and continuously refining the design will result in a product that is accepted by society. If this invention becomes widespread, it is believed that it will be easily and inexpensively used, without the fear of risks to the body, compared to medical procedures such as surgery or drug administration.

[0057] • Advantages compared to prior art Compared to other prior art, the structure is extremely simple. What this invention achieves is that it is easy to use, convenient for everyday wear, and simple to wear, and by assisting the torque of the knee joint during standing up and walking, it achieves both knee joint stability and ease of bending and straightening. Another feature is that, rather than assisting all the torque, it assists the force that is insufficient for movement using one's own legs, thereby preventing a decline in remaining physical ability and maintaining quality of life. Its advantages over prior art are that it is low-cost, easy to use, lightweight, highly versatile, and can be easily used as an everyday tool.

[0058] This embodiment contributes to SDG (Sustainable Development Goal) 3, "Ensure healthy lives and promote well-being for all at all ages." The joint support according to this embodiment received the WIPO (World Intellectual Property Organization) Award at the 2024 Patent Contest. (https: / / www.inpit.go.jp / patecon / r06pc_results.html) [Explanation of Symbols]

[0059] 1. Artificial muscle-type joint support 10 Artificial Muscles 11 Air chambers 12 Long air chamber 13 Continuous air chambers 14 Outer arc 15 Inner arc 16 Main unit 2 Supporters 3a Strap with hook-and-loop fastener 4. Inflatable balloons 5a Exhaust control valve 5b Adjustment body 7a Tube 7b tube 8 belts 9a Hook

Claims

1. It consists of an elastic material, a main body, and an artificial muscle having an air chamber inside the main body, A supporter having a storage space for housing the artificial muscle, which is worn by the wearer such that the artificial muscle housed in the storage space covers the back of the joint and is fixed to the back of the joint, A balloon is connected to the air chamber inside the artificial muscle via a tube, and is manually operated to pressurize the air chamber by supplying air to it. An exhaust control valve is provided in the tube and capable of discharging air from the air chamber, By adjusting the amount of air discharged from the exhaust control valve, the pressure in the air chamber is adjusted, and as the artificial muscle expands, the artificial muscle acts on the back of the joint to adjust the walking assistance force of the wearer, as well as the extension and flexion angles of the joint. An artificial muscle-type joint support equipped with [features / equipment].

2. An artificial muscle-type joint supporter according to claim 1, The air supply balloon is grasped in one hand, pressed, and repeatedly expanded and contracted to supply air, thereby pressurizing the air chamber. Artificial muscle-type joint support.

3. An artificial muscle-type joint supporter according to claim 1, The aforementioned adjusting body is An adjustment cylinder provided on the tube connected to the aforementioned air supply balloon, The screw-type cap attached to the aforementioned adjustment cylinder and It has, The amount of air discharged from the adjustment cylinder can be adjusted by turning the screw-type cap. Artificial muscle-type joint support.

4. An artificial muscle-type joint supporter according to claim 1, The artificial muscle is made of a silicone elastomer having tensile strength and compressive strength. Artificial muscle-type joint support.

5. An artificial muscle-type joint supporter according to claim 1, The aforementioned air chamber is Multiple elongated air chambers, having an elongated length in the vertical direction of the joint and spaced apart in the width direction, A connecting air chamber that communicates with one end of the plurality of elongated air chambers and connects the plurality of elongated air chambers It has, The cross-sectional shape of the elongated air chamber is U-shaped, which allows it to respond to the flexion and extension of the joint. Artificial muscle-type joint support.

6. An artificial muscle-type joint supporter according to claim 1, The artificial muscle is a McKibben-type artificial muscle that can be arbitrarily bent in response to the air pressure supplied from the air-supplying balloon, and plays the role of an actuator that assists the torque of the joint. Artificial muscle-type joint support.

7. An artificial muscle-type joint support according to claim 5, The cross-sectional shape of the elongated air chamber has a radius that decreases towards the tip in the longitudinal direction of the elongated air chamber, and the joint extends when the elongated air chamber, which has a U-shaped cross-sectional shape, is pressed. Artificial muscle-type joint support.

8. An artificial muscle-type joint supporter according to claim 1, An aneroid pressure gauge can be connected to the air chamber inside the artificial muscle. Artificial muscle-type joint support.

9. An artificial muscle-type joint support according to claim 8, The aneroid pressure gauge is configured to communicate with the air chamber inside the artificial muscle, the tube, and the inside of the inflation balloon so that they are all under the same pressure. Artificial muscle-type joint support.

10. An artificial muscle-type joint supporter according to claim 1, The aforementioned tube is independently provided, made of a plastic material, and capable of following the movements of the wearer. Artificial muscle-type joint support.

11. An artificial muscle-type joint supporter according to claim 1, The aforementioned body is a silicon body formed by injecting silicon fluid into a cylindrical mold and curing it. Artificial muscle-type joint support.

12. An artificial muscle-type joint support according to claim 5, The tube, which is made of a plastic material into which compressed air flows, is in communication with the communicating air chamber. Artificial muscle-type joint support.

13. An artificial muscle-type joint supporter according to claim 1, The artificial muscle assists in flexion and extension movements. Artificial muscle-type joint support.

14. An artificial muscle-type joint supporter according to claim 3, By operating the screw-type cap attached to the adjustment cylinder provided on the air-supplying balloon, it is possible to suppress the supply and discharge of air to the air chamber, thereby suppressing the resistance of the artificial muscle and maintaining the flexion and extension movement in a neutral state. Artificial muscle-type joint support.

15. An artificial muscle-type joint support according to claim 5, The elongated air chamber has an outer arc portion and an inner arc portion that form the U-shaped cross-section, The artificial muscle is attached so that the inner arc portion faces the back of the joint. The surface area of ​​the outer arc portion is larger than the surface area of ​​the inner arc portion. When air flows into the elongated air chamber, the artificial muscle curves so as to protrude toward the outer arc portion. When the artificial muscle expands and bends, the inner arc-side surface of the artificial muscle conforms to the back of the joint, and the artificial muscle is fixed to the back of the joint by the supporter. As a result, the expanding and bending artificial muscle is pressed against the back of the joint, and the expanding and bending artificial muscle presses against the upper and lower surfaces of the back of the joint, which is fixed by the supporter, thereby assisting the extension movement of the joint. Artificial muscle-type joint support.

16. An artificial muscle-type joint support according to claim 15, When air is discharged from the elongated air chamber using the adjustment body, the artificial muscle, which has expanded and curved toward the outer arc portion due to the air pressure, contracts. When the artificial muscle returns to its original state, the pressure it exerts on the back of the joint, and the pressure it exerts on the upper and lower parts of the back of the joint, which are fixed by the supporter, are released, thereby assisting the flexion movement of the joint. Artificial muscle-type joint support.

17. An artificial muscle-type joint support according to claim 15, The main body of the artificial muscle has a thicker inner arc portion and a thinner outer arc portion. When air flows into the elongated air chamber, the air pressure repelled from the inner arc is transmitted to the outer arc, causing the artificial muscle to expand so that the expansion of the outer arc is greater than the expansion of the inner arc, resulting in the artificial muscle curving so as to protrude toward the outer arc. Artificial muscle-type joint support.

18. The artificial muscle according to any one of claims 1 to 17.

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