Auxiliary devices

Abstract

An auxiliary device comprises a first set of straps (11), a second set of straps (12), a strap body (13), an actuator (14) and a controller (15). The controller (15) is configured to perform operation control of the actuator (14). The controller (15) is configured to: when the operation of the actuator (14) is started in a state where the first set of straps (11) and the second set of straps (12) are fitted to a user, the strap body (13) is wound with a first winding force, and the controller (15) is configured to: when the winding of the strap body (13) is completed, change the winding force of the actuator (14) to a second winding force that is smaller than the first winding force.

Description

Technical Field

[0001] The disclosed invention relates to assistive devices. Background Art

[0002] Various assistive devices have been proposed that assist the work of a user by being worn on the body of a user (person). For example, even when the user lifts a heavy object, the assistive device enables the user to perform the work with little effort (burden). Such an assistive device is disclosed, for example, in Japanese Unexamined Patent Application Publication No. 2018-199205 (JP 2018-199205A). Summary of the invention

[0003] The assist device disclosed in JP 2018-199205A includes a frame made of, for example, metal, which is fitted to the user. The output of the actuator installed in the frame is transmitted to the upper and lower body of the user through a linkage mechanism. Therefore, for example, the movement of lifting a heavy object is assisted.

[0004] In addition to movements involving a large burden such as lifting a heavy object, examples of movements in which the user needs assistance include movements to assist (help) people such as patients or the elderly in activities of daily life. When the user performs work involving a heavy burden, a high-power assist device, such as the high-power assist device disclosed in JP 2018-199205 A, is effective.

[0005] However, when the user assists a person such as a patient or an elderly person, the high-power assist device may be overkill. In addition, the high-power assist device uses many rigid components such as a link mechanism and a frame made of, for example, metal, and has a solid configuration to achieve high output. Therefore, such an assist device is heavy and the user's movement is limited by the rigid components.

[0006] Therefore, the inventors of the present invention have proposed an auxiliary device that is lightweight and provides good wearing comfort (for example, Japanese Patent Application No. 2019-043462). Each of such auxiliary devices includes: a first set of belts that are fitted to the shoulder area of ​​the user; a second set of belts that are fitted to the left and right leg areas of the user; a belt body that is arranged to extend to the first set of belts and the second set of belts along the back side of the user; and an actuator. The actuator is provided in the first set of belts and is capable of winding and unwinding a portion of the belt body.

[0007] When the actuator winds up a portion of the belt body, tension acts on the belt body. The tension acts as an assisting force and acts on the user. Therefore, for example, when the user assists a person as described above, the burden is reduced.

[0008] The assistive devices each including a belt body as described above are used by users of various body sizes. Therefore, in the case where the length of the belt body is set according to, for example, a standard height, if a user having a height higher than the standard height wears the assistive device, the belt body is pulled unnecessarily. Then, the assistive device may fail to generate an appropriate assisting force or make it difficult for the user to walk easily.

[0009] The present disclosure provides an assistive device which is light in weight, provides good wearing comfort, and can generate assistive force according to the body size of the user.

[0010] An auxiliary device according to one aspect of the present disclosure includes a first set of belts, a second set of belts, a belt body actuator, and a controller. The first set of belts is configured to be fitted to at least one of the shoulder area and the chest area of ​​the user. The second set of belts is configured to be fitted to the leg area or the waist area of ​​the user. The belt body is arranged to extend to the first set of belts and the second set of belts along the back side of the user. The actuator is arranged in one of the first set of belts and the second set of belts, and the actuator is configured to wind and unwind a part of the belt body. The controller is configured to perform operation control of the actuator. The controller is configured to: when the operation of the actuator is started in a state where the first set of belts and the second set of belts are fitted to the user, the winding of the belt body is performed with a first winding force, and the controller is configured to: when the winding of the belt body is completed, the winding force of the actuator is changed to a second winding force that is smaller than the first winding force.

[0011] With the assistive device according to this aspect of the invention, the belt body is arranged to extend to the first set of belts and the second set of belts along the back side of the user. When the actuator winds the belt body, tension acts on the belt body. The tension causes the generation of an assistive force for assisting the work of the user, which reduces the burden on the user's body. The belt body is lightweight, and even if the user changes his / her posture, the belt body can fit the user's body and thus follow the user's movement. Therefore, the following assistive device can be provided: the assistive device provides good wearing comfort.

[0012] In addition, with the auxiliary device having the above configuration, when the user puts on the auxiliary device, even if the belt body is loosened in advance, when the operation of the actuator is started, the belt body is automatically adjusted to a certain length according to the user's body size (for example, height). Then, when the winding of the belt body is completed, the winding force is changed to a second winding force that is smaller than the first winding force. Since the second winding force is small, after the user puts on the auxiliary device, the user's movement is not hindered by the belt body. Since the belt body is adjusted to a certain length according to the user's body size, an auxiliary force can be generated according to the user's body size.

[0013] In the assistive device according to this aspect of the present disclosure, the controller may be configured to: when winding of the belt body is completed, change the winding force of the actuator to a second winding force that is smaller than the first winding force but greater than zero. With the assistive device according to this aspect of the present disclosure, even if the user performs a small movement after putting on the assistive device, such as the user losing his / her posture, the belt body is not easily loosened.

[0014] In addition, in the auxiliary device according to this aspect of the present disclosure, the actuator may include a pulley and a motor, the pulley is configured to wind the belt body, and the motor is used to make the pulley perform the operation of winding the belt body. The controller can be configured to detect the completion of the winding of the belt body based on parameters related to the rotation of the pulley or the motor. The auxiliary device according to this aspect of the present disclosure makes it possible to detect the completion of the winding of the belt body with a simple configuration. When the winding of the belt body is completed, the winding force of the actuator is changed from the first winding force to the second winding force.

[0015] In addition, in the auxiliary device according to this aspect of the present disclosure, the actuator may include a pulley and a motor, the pulley is configured to wind up the belt body, and the motor is used to make the pulley perform an operation of winding up the belt body. The controller may be configured to change the winding force of the actuator by reducing the current supplied to the motor. The auxiliary device according to this aspect of the present disclosure makes it possible to change the winding force of the actuator that winds up the belt body from a first winding force to a second winding force that is smaller than the first winding force with a simple configuration.

[0016] The amount by which the belt body is wound with the first winding force varies according to the height of the user. Therefore, in the assistive device according to this aspect of the present disclosure, the actuator may include a pulley and a motor, the pulley being configured to wind up the belt body, and the motor being used to cause the pulley to perform the operation of winding up the belt body. The controller may be configured to: when the winding force of the actuator is changed to the second winding force, set the phase of the motor at the time of the change to an initial value of the phase of the motor. With the assistive device according to this aspect of the present disclosure, the initial setting of the phase of the motor is performed according to the body size of the user. Based on the initial setting, control of the rotation of the motor may be performed so that an appropriate assistive force can be generated.

[0017] In addition, in the auxiliary device according to this aspect of the present disclosure, the actuator may include: a motor; a reducer portion including a plurality of gears, the reducer portion being configured to reduce the rotation of the motor and output the resulting rotation; and a pulley configured to wind the belt body by rotating via the output of the reducer portion. The actuator may be configured so that: when the belt body is unwound from the pulley, the pulley rotates in the direction in which the belt body is unwound while the motor provides the pulley with a torque in the direction in which the belt body is wound through the reducer portion. With the auxiliary device according to this aspect of the present disclosure, even in the case where the belt body is unwound from the pulley, the motor provides the pulley with a torque in the direction in which the belt body is wound through the reducer portion. In other words, in each of the case where the belt body is wound and the case where the belt body is unwound, tension acts on the belt body. In addition, in the reducer portion, whether the belt body is wound or unwound, a delay in the response to the generation of the auxiliary force, which is caused by the backlash between the gears, and the occurrence of the impact caused by the backlash can be prevented.

[0018] In the auxiliary device, when the operation of the actuator is started in a state where the first strap and the second strap are fitted to the user, the winding of the belt body is performed with a first winding force. If the first winding force is always large, the impact force transmitted from the belt body to the user when the winding is completed may be large. Therefore, in the auxiliary device according to this aspect of the present disclosure, the controller can be configured to: when the operation of the actuator is started, perform control to change the first winding force to be smaller than the first winding force at the beginning of the winding within a time period after the start of the winding. With the auxiliary device according to this aspect of the present disclosure, the first winding force becomes smaller toward the completion of the winding of the belt body. Therefore, it is possible to prevent the impact force from the belt body from being provided to the user when the winding is completed.

[0019] Furthermore, in the auxiliary device according to this aspect of the present disclosure, the controller may be configured to: when the operation of the actuator is started, perform control to change the winding speed of the belt body to a lower winding speed of the belt body at the start of winding within a period after the start of winding. With the auxiliary device according to this aspect of the present disclosure, the winding speed of the belt body becomes lower toward the completion of the winding of the belt body. Therefore, it is possible to prevent the impact force from the belt body from being provided to the user when the winding is completed.

[0020] The assistive device according to this aspect of the present disclosure is lightweight, provides good wearing comfort, and is capable of generating assistive force according to the user's body size. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, wherein like reference numerals denote like elements, and in which:

[0022] Figure 1 is a rear view illustrating an example of an auxiliary device;

[0023] Figure 2 is a rear view of the assistive device attached to the user's body;

[0024] Figure 3 is a side view of the assistive device attached to the body of a user;

[0025] Figure 4 is a diagram illustrating a user wearing an assistive device in a forward leaning posture;

[0026] Figure 5 This is a picture of the control box and the body;

[0027] Figure 6 is a block diagram illustrating a control configuration included in an auxiliary device;

[0028] Figure 7 is a flowchart illustrating an initial setting process;

[0029] Figure 8 is a diagram of a situation in which a user wearing an assistive device changes his / her posture;

[0030] Fig. 9 is a side view of another form of the assistive device;

[0031] Fig. 10A is a diagram illustrating how the current value of the current supplied to the motor changes with time by the function of the regulating section;

[0032] Fig. 10B is a diagram illustrating how the current value of the current supplied to the motor changes with time by the function of the regulating section;

[0033] Fig.11A is a graph illustrating how the rotation speed of the motor changes with time by the function of the regulating section; and

[0034] Fig. 11B is a diagram illustrating how the rotation speed of the motor changes with time by the function of the regulating section. DETAILED DESCRIPTION

[0035] Overall configuration of the auxiliary device 10

[0036] Figure 1 is a rear view illustrating an example of an auxiliary device. Figure 2 is a rear view of the assistive device attached to the user's body. Figure 3 is a side view of an assistive device attached to a user's body. Figure 4The diagram illustrates a user of the wearing assistance device in a forward leaning posture (bending posture). Figure 1 The assisting device 10 shown in the figure includes one first set of straps 11 fitted to the left and right shoulder regions BS as a part of the body of the user (person) and two second sets of straps 12 fitted to the left and right leg regions BL as another part of the body of the user (person). The first set of straps 11 only needs to be fitted to at least any one of the shoulder region BS or the chest region BB of the user, and the first set of straps 11 may also have a form other than the illustrated form. In the present disclosure, the second set of straps 12 is fitted to the corresponding knee region BN in the leg region BL. The second set of straps 12 may also have a form other than the illustrated form.

[0037] In the assistive device 10 of the present disclosure, "left" and "right" are the user's own left and right when the user has an upright posture wearing the assistive device 10, and "front" and "back" are the user's own front and back, and "up (upper part)" and "down (lower part)" are the user's own upper side and lower side. "Up (upper part)" is the user's head side, and "down (lower part)" is the user's foot side.

[0038] In addition to the first set of belts 11 and the left and right second sets of belts 12 , the auxiliary device 10 includes a belt body 13 , an actuator 14 , a controller 15 , a battery 37 , and a sensor 38 .

[0039] The first strap 11 is fitted to the user's shoulder area BS. One second strap 12 is fitted to the user's left knee area BN. Another second strap 12 is fitted to the user's right knee area BN. The left second strap 12 and the right second strap 12 are bilaterally symmetrical and have the same configuration. The first strap 11 and the two second straps 12 are fitted to respective areas away from each other, that is, the shoulder area BS and the leg area BL, through the waist area BW as the user's joint.

[0040] The first set of belts 11 is formed of, for example, a flexible fabric. The first set of belts 11 includes a back body portion 21 fitted to the back of the user, and shoulder straps 22 and underarm straps 23 connected to the back body portion 21. The shoulder straps 22 and underarm straps 23 allow the back body portion 21 to be held on the back of the user. The underarm straps 23 connect the back body portion 21 and the corresponding shoulder straps 22, and the underarm straps 23 are adjustable in length. By adjusting the length of each underarm strap 23, the back body portion 21 is brought into close contact with the user. The first set of belts 11 is fitted to the shoulder area BS so as not to move forward and backward, left and right, and upward and downward. The first set of belts 11 may include a rigid member, which is, for example, a component suspended on the shoulder area BS.

[0041] The second straps 12 are each formed of, for example, a flexible fabric. Each second strap 12 includes a knee body portion 24 fitted to the rear side of the relevant knee region BN of the user and a knee belt 25 arranged to extend from the knee body portion 24. The knee belt 25 extends around the knee region BN at corresponding positions above and below the knee region BN, and the distal side of each knee belt 25 is fixed to the knee body portion 24. The length of the knee belt 25 wrapping the knee region BN can be adjusted by a locking member such as a belt and a buckle or a hook and loop fastener. By this adjustment, the knee body portion 24 is in close contact with the rear side of the knee region BN. The second strap 12 is fitted to the knee region BN so as not to move forward and backward, left and right, and upward and downward.

[0042] The belt body 13 is provided along the back side of the user to connect the first set of belts 11 and the second set of belts 12. The belt body 13 includes a first belt 16 provided on the upper body side, a second belt 17 provided on the lower body side, and a connecting member 18 connecting the first belt 16 and the second belt 17. Each of the first belt 16 and the second belt 17 is long and flexible. The connecting member 18 is made of metal and is formed of a rectangular ring-shaped body called a "rectangular ring".

[0043] Each of the first belt 16 and the second belt 17 is a belt-like member made of fabric or leather and can be bent along the shape of the body. It should be noted that each of the first belt 16 and the second belt 17 may be a rope-like belt (linear member). Each of the first belt 16 and the second belt 17 of the present disclosure is a non-stretchable member, that is, each of the first belt 16 and the second belt 17 of the present disclosure has a characteristic of being difficult to stretch in the longitudinal direction of the first belt 16 or the second belt 17 or a characteristic of being unable to stretch in the longitudinal direction.

[0044] The auxiliary device 10 of the present disclosure includes a control box 30. The control box 30 is disposed in the back body portion 21 of the first set of belts 11. Figure 5 3 is a diagram of a control box 30 and a belt body 13. The control box 30 includes a base 31 having a plate-like shape and a cover 32 covering the base 31. In order to describe the internal structure of the control box 30, Figure 5 In the figure, the cover 32 is represented by an imaginary line (a dashed line with one long and two short lines alternating). The base 31 may be the back body portion 21 of the first set of belts 11.

[0045] The actuator 14, the controller 15, the battery 37, the sensor 38, etc. are provided in the space between the base 31 and the cover 32. In the cover 32, an opening (cutout) 32a is formed, and the first belt 16 extends through the opening 32a.

[0046] The actuator 14 is disposed inside the control box 30. In other words, the actuator 14 is disposed in the first set of belts 11. The actuator 14 is capable of winding and unwinding a portion of the belt body 13. For this purpose, the actuator 14 includes a motor 33, a speed reducer portion 34, and a driving pulley 35. The motor 33 is a brushless DC motor. The motor 33 can rotate at a predetermined torque at a predetermined rotation frequency based on a drive signal output from the controller 15. The motor 33 can rotate in a forward direction and a reverse direction based on a drive signal output from the controller 15.

[0047] The rotation-related parameters of the motor 33, such as the rotation angle, the rotation speed, or the rotation frequency, are detected by the rotation detector 36 attached to the motor 33. The rotation detector 36 of the present disclosure is a rotary encoder, but may also be a Hall sensor or a resolver. The detection result of the rotation detector 36 is input to the controller 15. By the controller 15 controlling the operation of the motor 33 based on the detection result, the assist device 10 can generate an appropriate assist force.

[0048] The speed reducer portion 34 is formed of a plurality of gears, reduces the rotation frequency of the motor 33, and rotates the output shaft 34a of the speed reducer portion 34. The driving pulley 35 is coupled to the output shaft 34a, and thus rotates together with the output shaft 34a. One end portion 16a side of the first belt 16 is attached to the driving pulley 35. When the driving pulley 35 rotates in one direction by the forward rotation of the motor 33, the first belt 16 is wound around the driving pulley 35. When the driving pulley 35 rotates in the other direction by the reverse rotation of the motor 33, the first belt 16 is unwound from the driving pulley 35.

[0049] As described above, the actuator 14 includes the drive pulley 35 that can wind up the belt body 13, and the motor 33 for causing the drive pulley 35 to perform an operation of winding up the belt body 13. The first belt 16 is wound and unwound by the actuator 14.

[0050] The controller 15 is formed of a control unit including a microcomputer. The controller 15 controls the operation of the actuator 14 (motor 33). As the sensor 38, an acceleration sensor is provided. The signal from the sensor 38 is input to the controller 15. The controller 15 can estimate the posture of the user based on the signal from the sensor 38. The battery 37 supplies power to the controller 15, the motor 33, the rotation detector 36, and the sensor 38. The sensor 38 can be provided outside the control box 30.

[0051] With body 13

[0052] As described above, the belt body 13 includes the first belt 16, the second belt 17 and the connecting member 18. One end portion 16a side of the first belt 16 is wound on the driving pulley 35 and fixed. The other end portion 16b side of the first belt 16 is fixed to the connecting member 18. When the first belt 16 is wound on the driving pulley 35, the connecting member 18 is pulled upward. When the connecting member 18 is forcibly pulled down, the first belt 16 is unwound (pulled out) from the driving pulley 35. The amount of winding or unwinding (pulling out) of the first belt 16 in the driving pulley 35 and the rotation amount of the output shaft of the motor 33 are related to each other. Parameters related to the rotation of the motor 33 accompanying the winding or unwinding of the belt body 13 are detected by the rotation detector 36.

[0053] As described above, the connecting member 18 is formed of a rectangular annular body. The shaft portion 27a on one side (upper side) of the annular body is the first attachment portion 27, and the end portion 16b of the first belt 16 is attached to the first attachment portion 27. In the present disclosure, the first belt 16 cannot be detached from the first attachment portion 27, but may be detachable by using, for example, a buckle.

[0054] The other side (lower side) of the rectangular ring body forming the connecting member 18 is the second attachment portion 28 for attaching the second belt 17. As described above, the connecting member 18 includes the first attachment portion 27 for attaching the first belt 16 and the second attachment portion 28 for attaching the second belt 17.

[0055] The second attachment portion 28 supports the second belt 17 so that the second belt 17 is folded at the middle point (middle portion 17c) of the second belt 17. The second attachment portion 28 of the present disclosure includes a shaft portion 28a that is integral with the first attachment portion 27 and a rotating pulley 29 that is rotatably supported on the shaft portion 28a. The second belt 17 is suspended on the rotating pulley 29 to be folded at the middle point of the second belt 17. This configuration provides a configuration in which the second belt 17 is not fixed to the second attachment portion 28, but the second belt 17 is supported so that it can be moved in two directions (in the longitudinal direction) in a state in which the second belt 17 is folded. Figure 5 Move in the direction of the arrow X in the figure.

[0056] exist Figure 2 , the second belt 17 is attached to the second set belt 12. More specifically, the second belt 17 is formed of a single belt-shaped member. One end portion 17a of the second belt 17 is attached to the left second set belt 12. The other end portion 17d of the second belt 17 is attached to the right second set belt 12. As described above, the middle portion 17c of the second belt 17 is placed on the connecting member 18.

[0057] According to the above configuration of the second belt 17, the second belt 17 includes a left second belt portion 19 extending from the connecting member 18 to the left second set of belts 12 and a right second belt portion 20 extending from the connecting member 18 to the right second set of belts 12. As described above (see Figure 5 ), the second belt 17 is suspended on the second attachment portion 28 (rotating pulley 29) and is not fixed, and the length of the left second belt portion 19 and the length of the right second belt portion 20 can be freely changed. However, the sum of the length of the left second belt portion 19 and the length of the right second belt portion 20 is fixed. This configuration prevents, for example, the walking of the user from being restricted by the second belt 17, and thus enables the user to walk easily.

[0058] The second strap 17 further includes a connecting member 39 connecting the left second strap portion 19 and the right second strap portion 20. The connecting member 39 connects the left second strap portion 19 and the right second strap portion 20 at a middle position between the folded portion (middle portion 17c) of the second strap 17 and the corresponding fixed portions (one end portion 17a and the other end portion 17d) of the two second strap sets 12. The folded portion is a portion of the second strap 17 that is folded at the connecting member 18. The fixed portion is a portion of the second strap 17 that is fixed to the two second strap sets 12, respectively.

[0059] For example, when a user changes his / her posture from an upright position to Figure 4 , the connecting member 39 can prevent the increase in the lateral distance between the left second belt portion 19 and the right second belt portion 20. In other words, the connecting member 39 can prevent the left second belt portion 19 and the right second belt portion 20 from failing to extend along the respective back sides of the user's leg region BL.

[0060] Sensor 38 and controller 15

[0061] exist Figure 5 In the embodiment of the present invention, as described above, the sensor 38 is formed of an acceleration sensor. The controller 15 can perform various types of arithmetic processing. By the controller 15 performing arithmetic processing on the signal from the sensor 38, the movement and posture of the user can be detected. The sensor 38 has a configuration of outputting a signal according to the posture of the user, and thus the sensor 38 serves as a posture detector for detecting the posture of the user. For example, it can be detected whether the posture of the upper body of the user is a forward leaning posture or an upright posture, or it can be detected whether the user has assumed a squatting posture.

[0062] Furthermore, the amount of winding and unwinding of the belt body 13 on the driving pulley 35 by the motor 33 and the posture of the user are related to each other. Therefore, the controller 15 can estimate the posture of the user based on the rotation angle of the motor 33 detected by the rotation detector 36. The rotation detector 36 serves as a posture detector for detecting the posture of the user.

[0063] The controller 15 processes the signal from one or each of the sensor 38 and the rotation detector 36, and the controller 15 outputs a drive signal to the actuator 14 (motor 33) based on the result of the processing, that is, based on the user's posture. Based on the drive signal, the actuator 14 (motor 33) operates to, for example, wind and unwind the belt body 13, and temporarily stop the winding and unwinding.

[0064] In a state where the auxiliary device 10 is worn by the user, based on the control of the controller 15, the motor 33 is continuously operated in the direction in which the belt body 13 is wound with a force (torque as a second winding force described later) smaller than the force in the case where the motor 33 generates the auxiliary force, so that a small tension is generated in the belt body 13. Therefore, the belt body 13 does not become loose.

[0065] When the user changes his / her posture, for example, from the upright posture to the forward leaning posture, tension is generated in the belt body 13 due to the posture change. Therefore, in this case, when the posture starts to change to the forward leaning posture, regardless of the power of the actuator 14, the motor 33 is forcibly rotated by the tension of the belt body 13 (the motor 33 idles), and the belt body 13 is thereby unwound. Alternatively, when the posture starts to change to the forward leaning posture, the actuator 14 operates, that is, the motor 33 is driven to rotate to unwind the belt body 13.

[0066] On the other hand, when the user changes his / her posture from the forward leaning posture to the upright posture, the belt body 13 will be slack due to the posture change. Therefore, in this case, when the posture starts to change to the upright posture, in order to maintain the tension acting on the belt body 13, the actuator 14 is operated, that is, the motor 33 is driven to rotate so that the belt body 13 is wound.

[0067] In this way, the belt body 13 is wound or unwound by the change in the posture of the user. When winding or unwinding, the motor 33 is actively or passively rotated by a predetermined rotation angle. The rotation angle at this time is detected by the rotation detector 36. In this way, the operation amount of the actuator 14 (motor 33) to wind or unwind the belt body 13 due to the change in the posture of the user is detected by the rotation detector 36. Then, the controller 15 obtains the operation amount (rotation angle of the motor 33) of the actuator 14 to wind or unwind the belt body 13 due to the change in the posture of the user, and performs control of the operation of the actuator 14 based on the operation amount to provide an assist force to the user.

[0068] Figure 6 1 is a block diagram illustrating a control configuration included in the auxiliary device 10. The controller 15 is formed by a control unit including a microcomputer, and the controller 15 includes an arithmetic processing unit (CPU) 15a and a storage device (storage part) 15b, such as a memory. The arithmetic processing unit 15a performs various types of arithmetic processing based on various programs, various parameters, etc. stored in the storage device 15b. The controller 15 of the present disclosure includes a starting part 42a, an adjustment part 42b, and a setting part 42c as functional parts realized by arithmetic processing performed by the arithmetic processing unit 15a. The controller 15 also includes a drive circuit (motor driver) 15c that performs operation control of the motor 33. The motor 33 performs a predetermined operation via cooperation between the corresponding functional parts and the drive circuit 15c.

[0069] When the start switch 41 is turned on in a state where the auxiliary device 10 is worn by the user, the controller 15 performs the initial setting process. It should be noted that the start switch 41 is provided in, for example, the control box 30 (see Figure 1 ) or the shoulder strap 22, and the start switch 41 is operated by the user. The start switch 41 is a switch for starting and stopping the auxiliary device 10.

[0070] The starting portion 42a starts the actuator 14 to start the winding of the belt body 13. In other words, the starting portion 42a rotates the motor 33 to wind the belt body 13 around the driving pulley 35.

[0071] The adjustment portion 42b adjusts the force for winding the belt body 13. The force for winding the belt body 13 is generated based on the rotational torque for driving the pulley 35, and the rotational torque is generated based on the output torque of the motor 33. Therefore, in order to adjust the force for winding the belt body 13, the adjustment portion 42b controls the drive circuit 15c to change the output torque of the motor 33. The adjustment portion 42b can reduce the output torque of the motor 33 by reducing the current supplied to the motor 33. In other words, as described later, the reduction in the current supplied to the motor 33 causes the winding force of the actuator 14 to change to a second winding force that is smaller than the first winding force. In addition, the adjustment portion 42b can increase the output torque of the motor 33 by increasing the current supplied to the motor 33.

[0072] When the user puts on the assistive device 10, the winding of the belt body 13 is started by the starting portion 42a. Also as described later, in order to provide an assistive force to the user who performs the work, the motor 33 rotates from a state in which the belt body 13 is not loose, that is, a state in which the winding of the belt body 13 on the driving pulley 35 is completed, to perform winding and unwinding of the belt body 13. It should be noted that the state in which the winding of the belt body 13 on the driving pulley 35 is completed is the "initial state". The amount of winding of the belt body 13 and the amount of unwinding of the belt body 13 vary according to the amount of rotation of the motor 33 from the initial state. The tension acting on the belt body 13 and the time during which the tension acts are adjusted according to the change, and the assistive force is generated according to the tension and the time.

[0073] In other words, the amount of rotation of the motor 33 from the initial state affects the assist force. In order to control the amount of rotation of the motor 33, it is important to set the initial value of the phase of the motor 33. Then, the amount of winding performed by the starting part 42a until the winding is completed, such as described above, varies according to the body size (height) of the user. In other words, the amount of rotation of the motor 33 until the winding is completed varies according to the user. Therefore, in the initial setting process, the initial value of the phase of the motor 33 is set by the setting part 42c, but a specific example will be described later.

[0074] Initial setting process

[0075] Will refer to Figure 6 and Figure 7 The initial setting process performed by the functional section included in the controller 15 is described. Figure 7 is a flowchart illustrating the initial setting process. After the initial setting process is performed, the assist device 10 generates an assist force according to the actual movement (work) of the user. The generation of the assist force will be described later.

[0076] The first belt 11 and the second belt 12 of the auxiliary device 10 (see Figure 1 and Figure 2 ) is attached to a predetermined part of the user's body, the initial setting process starts ( Figure 7 It should be noted that, in order to fit the first set of belts 11 and the second set of belts 12 to the user, the belt body 13 is pulled out from the driving pulley 35 in advance, and thus the belt body 13 is in a loose state.

[0077] The user who is equipped with the first set of belts 11 and the second set of belts 12 is in an upright position. When the user switches the start switch 41 from the off state to the on state, for example, the start portion 42a starts the actuator 14 to start the winding of the belt body 13 ( Figure 7In other words, the motor 33 rotates, and the belt body 13 is wound around the driving pulley 35. From the start of the rotation of the motor 33, the belt body 13 is wound with the first winding force. The current value supplied to the motor 33 to generate the first winding force is α [ampere].

[0078] The adjustment section 42b continuously acquires a detection signal from the rotation detector 36, and compares the detection value of the rotation speed (a parameter related to rotation) of the motor 33 with the threshold value ε of the parameter ( Figure 7 During the time when the detection value is equal to or greater than the threshold value ε, the value of the current supplied to the motor 33 is α [ampere], and the winding of the belt body 13 with the first winding force continues.

[0079] When the detection value becomes smaller than the threshold ε ( Figure 7 In step S3 in the process, the adjustment section 42b estimates that the winding of the belt body 13 is completed ( Figure 7 When the detection value becomes smaller than the threshold value ε, the regulating portion 42b changes the value of the current supplied to the motor 33 to β [ampere] ( Figure 7 β [ampere] is equal to or less than α [ampere], β is the current value after the change, α is the current value before the change, and in the present embodiment, β is less than α [ampere] (β<α). It should be noted that β [ampere] only needs to be equal to or greater than zero, and in the present embodiment, β is a value greater than zero.

[0080] Therefore, the force that winds the belt body 13 by the actuator 14 is changed to the second winding force. The second winding force after the change is equal to or less than the first winding force, and in the present embodiment, the second winding force is less than the first winding force. The second winding force is a winding force that does not hinder the user's movement by the tension acting on the belt body 13, but generates a certain degree of tension in the belt body 13 that enables the user to move freely. Here, even in the case where the user has an upright posture and the second winding force is zero, it is sufficient to provide tension to the belt body 13. In the case of β=0, the second winding force is zero. In this way, the adjustment part 42b changes the force that winds the belt body 13 by the actuator 14 to the second winding force that is less than the first winding force by reducing the value of the current supplied to the motor 33.

[0081] The moment for changing the winding force is the moment when the slack of the belt body 13 has been eliminated. As described above, such a moment is detected by the rotation detector 36 based on the parameter related to the rotation of the motor 33. In other words, when the first set of belts 11 and the second set of belts 12 are fitted to the user, the motor 33 rotates the drive pulley 35, and the belt body 13 in a slack state is wound on the drive pulley 35 with the first winding force. Therefore, the slack of the belt body 13 is eliminated. Then, the drive pulley 35 becomes unable to rotate, the rotation speed of the drive pulley 35 becomes lower, and finally, the rotation stops. Along with this, the rotation speed of the motor 33 also becomes lower, and finally, the rotation stops. This state is a state in which the winding of the belt body 13 is completed. Therefore, the rotation detector 36 detects the moment when the rotation speed (parameter related to the rotation) of the motor 33 has changed. In other words, the moment when the rotation detector 36 has detected that the rotation speed has become lower than the threshold value ε is determined as the moment for changing the winding force.

[0082] It should be noted that in the present disclosure, the rotation of the motor 33 is detected by the rotation detector 36, and based on the detection, the process for changing the winding force is performed. However, the rotation of the drive pulley 35 may be detected by a rotation detector (not shown), and based on the detection, the process for changing the winding force may be performed. In other words, the adjustment portion 42b may detect (estimate) the completion of the winding of the belt body 13 based on a parameter (e.g., rotation speed) related to the rotation of the motor 33 or the drive pulley 35. Then, the winding force is changed.

[0083] When the winding force of the belt body 13 is changed to the second winding force as described above, the setting portion 42c sets the initial value (rotation angle) of the phase (rotation angle) of the motor 33. Figure 7 In the present disclosure, the phase (rotation angle) of the output shaft of the motor 33 at the point in time when the winding force changes as described above is set to "zero" as an initial value (ie, reset).

[0084] Once the initial value is set, the rotation amount of the motor 33 is subsequently controlled based on the initial value. Therefore, in order to generate the assist force, the correct rotation amount of the motor 33 is controlled. The rotation amount of the motor 33 corresponds to the winding amount of the belt body 13 on the driving pulley 35 and the unwinding amount of the belt body 13 from the driving pulley 35. The winding amount of the belt body 13 is associated with the magnitude of the tension acting on the belt body 13 and the time during which the tension acts, and as described later, the tension of the belt body 13 causes the generation of the assist force. Therefore, the correct control of the rotation amount of the motor 33 enables the desired assist force to be generated.

[0085] Change and adjustment of the first winding force (winding speed of the belt body 13)

[0086] As described above, in the initial setting process, when the operation of the motor 33 included in the actuator 14 is started in a state where the first set of belts 11 and the second set of belts 12 are fitted to the user, the winding of the belt body 13 is performed with the first winding force. The force for winding the belt body 13 is generated based on the rotation torque of the driving pulley 35 included in the actuator 14, and the rotation torque is generated based on the output torque of the motor 33. Therefore, the adjustment part 42b included in the controller 15 has a function of adjusting the force for winding the belt body 13. More specifically, the adjustment part 42b changes the force for winding the belt body 13 by performing control to change the current supplied to the motor 33, that is, changes the output torque of the motor 33.

[0087] In the above description of the initial setting process, the value of the current supplied to the motor 33 to generate the first winding force is α [ampere]. It should be noted that when the winding of the belt body 13 is completed, the adjustment portion 42b changes the value of the current supplied to the motor 33 to β [ampere] (however, β < α).

[0088] Here, in the initial setting process, if the first winding force is always large, the impact force transmitted from the belt body 13 to the user when winding is completed may be large. Therefore, the adjustment portion 42b performs control to change the first winding force to be smaller when the operation of the motor 33 is started in a state where the first set belt 11 and the second set belt 12 are fitted to the user.

[0089] In order to realize this control, the regulating portion 42b changes the value (current command value) of the current supplied to the motor 33. In other words, the current command value α [ampere] is variable. Fig. 10A and Fig. 10B Each of is a graph illustrating that the value of the current supplied to the motor 33 changes with time by the function of the regulating portion 42b. Fig. 10A In the mode shown in FIG. 4 , control of gradually reducing the current command value from the start of rotation of the motor 33 (time t0) is performed by the adjustment portion 42 b. In addition, as a variation of this control, Fig. 10B As shown in FIG. 1 , control can be performed to reduce the current command value in a stepwise manner from the start of rotation of the motor 33 (time t0). Fig. 10A and Fig. 10B As shown in , the adjustment portion 42b performs control to change the first winding force to be smaller than the first winding force at the start of winding within a period after the start of winding.

[0090] exist Fig. 10A and Fig. 10BIn each of the modes shown in , the current instruction value is set (programmed) to eventually approach γ [amperes]. When the winding completion of the belt body 13 is detected at a time point (e.g., time t1) during which the current instruction value is approaching γ [amperes] or at a time point (e.g., time t2) when the current instruction value has approached γ [amperes] and then becomes constant, the adjustment portion 42b then changes the current instruction value to β [amperes]. As a result, the force for winding the belt body 13 is changed to a second winding force that is smaller than the initial value of the first winding force. Fig. 10A ( Fig. 10B ), the current instruction value β may be greater than the current instruction value γ; however, β may also be less than γ or β may also be equal to γ.

[0091] From another perspective, the adjustment portion 42b may have a function of adjusting the winding speed of the belt body 13. In other words, the adjustment portion 42b may perform control to change the rotation speed of the motor 33. Fig.11A and Fig. 11B Each of is a diagram illustrating the change in the rotation speed of the motor 33 over time by the function of the regulating portion 42b. Fig.11A In the mode shown in FIG. 4 , control of gradually reducing the rotation speed from the start of rotation of the motor 33 (time t0) is performed by the adjustment section 42 b. As a variation of this control, Fig. 11B As shown in , control of reducing the rotation speed in a stepwise manner from the start of rotation of the motor 33 (time t0 ) may be performed.

[0092] exist Fig.11A and Fig. 11B In each of the modes shown in , the adjustment portion 42b performs control to change the winding speed of the belt body 13 to be lower when the operation of the motor 33 of the actuator 14 is started in a state where the first set of belts 11 and the second set of belts 12 are fitted to the user. More specifically, the adjustment portion 42b performs control to change the winding speed of the belt body 13 to be lower than the winding speed of the belt body 13 at the start of winding in a period of time after the start of winding. Then, when the winding of the belt body 13 is completed (the winding completion is detected), the winding speed of the belt body 13 becomes zero.

[0093] In the above initial setting process, when the operation of the motor 33 is started, the winding force of the belt body 13 is relatively large, and the winding speed of the belt body 13 is relatively high. Therefore, the belt body 13 is automatically adjusted to a certain length according to the user's body size (e.g., height), and additionally, the process is performed quickly. Then, as Fig. 10A or Fig. 10B As a result of the control shown in is performed, the first winding force of the belt body 13 becomes smaller toward the completion of winding. Fig.11A or Fig. 11B As a result of the control shown in is performed, the winding speed of the belt body 13 becomes lower toward the completion of the winding of the belt body 13. According to the above, it is possible to prevent the impact force from the belt body 13 from being provided to the user when the winding is completed.

[0094] Assistance force of the assist device 10

[0095] Figure 8 1 is a diagram showing a situation where a user wearing the assistive device 10 changes his / her posture. The assistive device 10 can provide the user with an assistive force for posture change.

[0096] When the initial setting process is completed and thus the first belt 16 is wound around the driving pulley 35 by the motor 33 of the actuator 14, the connecting member 18 pulls up the second belt 17 toward the actuator 14 side, that is, toward the upper side. The opposite end portions 17a, 17d of the second belt 17 are attached to the left and right second straps 12, respectively. The second straps 12 are fixed to the corresponding knee regions BN. Therefore, when the first belt 16 is wound around the driving pulley 35, tension acts on the first belt 16 and the second belt 17. This tension acts as an assist force for the user.

[0097] A case where the user changes his / her posture from the upright posture to the forward leaning posture will be described. When the posture starts to change to the forward leaning posture, the actuator 14 unwinds the belt body 13. Alternatively, the belt body 13 is unwound regardless of the power of the actuator 14. Therefore, the user can take the forward leaning posture without any effort. When the forward tilt angle of the user's upper body relative to the vertical line reaches θ and the user stops at the tilt angle of θ, the unwinding of the belt body 13 stops. It should be noted that the start and end of the posture change can be detected by the rotation detector 36 or the sensor 38.

[0098] When the user starts to change his / her posture in the direction from the forward leaning posture to the upright posture, the actuator 14 winds the belt body 13. Therefore, tension is generated in the belt body 13. The tension causes a backward force F1 to be generated in the first set of belts 11. In other words, the force F1 is generated in the direction in which the upper body of the user with the forward leaning posture is raised. Furthermore, at the same time, in the second belt 17, a force F2 that pushes the left and right hip areas of the user forward is generated by the tension. Therefore, the user can easily return to the upright posture from the forward leaning posture.

[0099] In addition, if Figure 4As shown in , in the case where the user takes a bending posture (squatting posture) in which the upper body is leaning forward and the knee area is bent, the assisting device 10 can provide an assisting force to the user. In the case where the user changes his / her posture from the bending posture to the upright posture, for example, in the case where the user lifts an object or a part of the body of the care recipient, the actuator 14 winds the belt body 13. Therefore, tension is generated in the belt body 13.

[0100] The tension causes a backward force F1 to be generated in the first strap 11. In other words, the force F1 is generated in the direction in which the upper body of the user with the forward leaning posture is lifted. Moreover, at the same time, in the second strap 17, a force F2 that pushes the left and right hip areas of the user forward is generated by the tension. Furthermore, a backward force F3 is generated in the second strap 12. The above forces F1, F2, F3 reduce the load on the muscles such as the back muscles, quadriceps, etc. of the user with the bent posture, and thus can assist the movement of lifting the load.

[0101] The assistive device 10 can also function in a situation where the user changes his / her posture from an upright posture to a bent posture, for example, when the user puts down an object or a part of the body of a person being cared for. In this case, the actuator 14 unwinds the belt body 13 while applying a braking force to the unwinding of the belt body 13. In other words, the motor 33 rotates in a direction to unwind the belt body 13, but a torque in the winding direction is generated in the motor 33. Therefore, tension is generated in the belt body 13. In this case, similarly, the assistive device 10 can reduce the load on the muscles such as the back muscles, quadriceps, etc. of the user in a bent posture, and can therefore assist the putting down movement with the help of the above-mentioned forces F1, F2, and F3. As described above, the assistive device 10 of the present disclosure can reduce the load on the muscles of the lumbar region in a bent posture and prevent lower back pain.

[0102] Furthermore, according to the assistive device 10 of the present disclosure, even if the user has a bending posture in which one of the left and right leg regions BL is on the front side and the other is on the rear side (the left and right leg regions BL are in a laterally asymmetric state), one of the left second belt portion 19 and the right second belt portion 20 of the second belt 17 (on the side of the leg region placed forward) can automatically become longer than the other. In this state, when the first belt 16 is wound by the actuator 14, tension also acts on the second belt 17, and the tension acts on both of the left second belt portion 19 and the right second belt portion 20, and thus the tension is not relieved. Therefore, as described above, the assistive device 10 of the present disclosure can cause an appropriate assistive force to act on the user even if the user has a laterally asymmetric posture.

[0103] In the case where the user maintains a forward leaning posture, the assistive device 10 of the present disclosure can also easily maintain the posture. Figure 8 As illustrated in the figure on the right side of , in a state where the user has taken the first forward leaning posture shown by the solid line, the operation of the actuator 14 stops to prevent the belt body 13 from unwinding. Even if the user attempts to take a further forward leaning posture (a second forward leaning posture shown by the dotted line), the tension of the belt body 13 connecting the first set of belts 11 and the second set of belts 12 prevents the second forward leaning posture from being taken. In other words, the assistive device 10 attempts to maintain the first forward leaning posture of the user. It is easy for the user to maintain the first forward leaning posture. Therefore, for example, in a case where the user continues to work with the first forward leaning posture for a long time, the load on the body can be reduced.

[0104] The auxiliary device 10 of the present disclosure

[0105] As described above, the auxiliary device 10 of the present disclosure (see Figure 2 ) includes a first strap 11 fitted to the user's shoulder area BS, a second strap 12 fitted to the left and right leg areas BL of the user, a strap body 13, and an actuator 14. The strap body 13 is provided to extend along the back side of the user to the first strap 11 and the second strap 12. The actuator 14 is provided in the first strap 11 and is configured to enable a portion of the strap body 13 to be wound and unwound.

[0106] The belt body 13 includes a first belt 16 to be wound and unwound by the actuator 14 , a second belt 17 attached to the second set of belts 12 , and a coupling member 18 coupling the first belt 16 and the second belt 17 .

[0107] According to the assisting device 10, the belt body 13 is provided to extend along the back side of the user to the first set of belts 11 and the second set of belts 12. The belt body 13 (first belt 16) is wound by the actuator 14, and tension acts on the first belt 16 and the second belt 17. The tension causes the generation of an assisting force for assisting the user's work, which reduces the burden on the user's body.

[0108] For example, when a user (caregiver) changes his / her posture from a forward leaning posture to an upright posture while holding a load (care receiver) with his / her hands (see Figure 8 ), the main body 13 is wound by the actuator 14, and tension acts on the belt main body 13. The tension makes it easy for the user to change his / her posture from the forward leaning posture to the upright posture, and thus reduces the burden on the user's body. In other words, the tension acting on the belt main body 13 is generated by the actuator 14 as an auxiliary force.

[0109] The assisting device 10 of the present disclosure includes a controller 15 that performs operation control of the actuator 14 so as to perform the initial setting process and provide the assisting force to the user in such a manner as described above. With respect to the initial setting process, the controller 15 performs the following operation control. In other words, when the operation of the actuator 14 is started in a state where the first set of belts 11 and the second set of belts 12 are fitted to the user, the winding of the belt body 13 is performed with a first winding force. When the winding of the belt body 13 is completed, the winding force of the actuator 14 is changed to a second winding force that is smaller than the first winding force.

[0110] According to the initial setting process, when the user puts on the auxiliary device 10, even if the belt body 13 is loosened in advance, when the operation of the actuator 14 is started, the belt body 13 is automatically adjusted to a certain length according to the user's body size (for example, height). Then, when the belt body 13 is wound, the force that winds the belt body 13 is changed to a second winding force that is smaller than the first winding force. Since the second winding force is small, after the user puts on the auxiliary device 10, the user's movement is not hindered by the belt body 13. Since the belt body 13 is adjusted to a certain length according to the user's body size, an assist force can be generated according to the user's body size.

[0111] According to the present disclosure, in the initial setting process, when the winding of the belt body 13 is completed, the controller 15 (adjusting part 42b) changes the winding force of the actuator 14 to a second winding force that is smaller than the first winding force but greater than zero. After the winding force is changed, the state in which the following rotational torque is generated in the motor 33, which generates the second winding force, is maintained. In other words, the motor 33 continuously generates a rotational torque in the direction of winding of the belt body 13. However, as described above, the second winding force is a small force with a degree of tensioning the belt body 13, which does not impose a burden on the user. Therefore, even if the user performs a small movement such as the user losing his / her posture after putting on the auxiliary device 10, the belt body 13 is not easy to loosen.

[0112] In the initial setting process, the amount of the belt body 13 wound with the first winding force differs according to the height of the user of the wearing assistance device 10. In addition, the amount of the belt body 13 wound until the winding is completed differs according to the length of the belt body 13 in a pre-relaxed state. Therefore, when the winding force of the actuator 14 is changed to the second winding force, the controller 15 sets the phase of the motor 33 at the time of the change to the initial value of the phase of the motor 33. Therefore, the initial setting of the phase of the motor 33 is performed according to the body size of the user. Based on this initial setting, control of the rotation of the motor 33 for generating an assist force can be performed. Therefore, correct control of the winding amount of the belt body 13 (first belt 16) can be performed, so that an appropriate assist force can be generated.

[0113] As reference Figure 5 As described, the actuator 14 includes a motor 33, a speed reducer portion 34, and a driving pulley 35. The speed reducer portion 34 is formed of a plurality of gears 34g, which speeds down the rotation of the motor 33 and outputs the resulting rotation. The driving pulley 35 is capable of winding the belt body 13 by rotating via the output of the speed reducer portion 34. When the belt body 13 is wound around the driving pulley 35, the motor 33 provides torque in one direction to the driving pulley 35 through the speed reducer portion 34, and the driving pulley 35 thereby rotates in the direction in which the belt body 13 is wound.

[0114] Furthermore, for example, when the belt body 13 is unwound from the driving pulley 35 by pulling the belt body 13 due to an external force generated by the user changing his / her posture, the controller 15 rotates the motor 33 as follows to provide torque to the driving pulley 35, and the driving pulley 35 is rotated accordingly. In other words, when the belt body 13 is unwound from the driving pulley 35, while the motor 33 provides torque in the direction in which the belt body 13 is wound to the driving pulley 35 through the speed reducer portion 34, the driving pulley 35 rotates in the direction in which the belt body 13 is unwound.

[0115] In this way, the direction in which the motor 33 generates torque is the same regardless of whether the belt body 13 is wound around the driving pulley 35 or unwound from the driving pulley 35. The controller 15 controls the motor 33 to generate torque in the direction in which the belt body 13 is wound.

[0116] By this configuration, in each of the case where the belt body 13 is wound and the case where the belt body 13 is unwound, tension acts on the belt body 13. Therefore, in the state where the user wears the auxiliary device 10, the belt body 13 does not relax. In other words, tension acts on the belt body 13 continuously in the direction in which the belt body 13 is wound. In addition, the rotation direction of the gear 34g included in the speed reducer portion 34 when the belt body 13 is unwound is opposite to the rotation direction of the gear 34g when the belt body 13 is wound; however, in each of the case where the belt body 13 is unwound and the case where the belt body 13 is wound, the surface of only one side of the teeth of one of the meshing gears 34g, 34g contacts the teeth of the other gear 34g. In other words, the surfaces of the teeth of the meshing gears 34g, 34g that contact each other are always the same. Therefore, even if there is a large backlash, the backlash does not affect the responsiveness related to the generation of the assist force.

[0117] As described above, regardless of the case where the belt body 13 is wound or the case where the belt body 13 is unwound, the above configuration can prevent the delay in the response to the generation of the auxiliary force, which is caused by the backlash between the gears 34g, 34g in the reducer part 34, and the above configuration can also prevent the occurrence of the impact caused by the backlash. In addition, as described above, a relatively large backlash is allowed between the gears 34g, 34g of the reducer part 34, and therefore, the demand for high gear accuracy is reduced. Therefore, the manufacturing cost of the gear 34g included in the reducer part 34 can be reduced. It should be noted that each of the gears 34g included in the reducer part 34 can be a gear other than a spur gear, and can be, for example, a helical gear or a herringbone gear.

[0118] In the above initial setting process, as shown in Fig. 10A and Fig. 10B As described, the controller 15 performs control to change the first winding force to be smaller than the first winding force at the start of winding in a period of time after the start of winding when the operation of the actuator 14 (motor 33) is started in a state where the first set of belts 11 and the second set of belts 12 are fitted to the user. With this configuration, the first winding force becomes smaller toward the completion of the winding of the belt body 13. Therefore, it is possible to prevent the impact force from the belt body 13 from being provided to the user when the winding is completed.

[0119] In addition, as referenced Fig.11A and Fig. 11B As described, the controller 15 may be configured to perform control to change the winding speed of the belt body 13 to be lower than the winding speed of the belt body 13 at the start of winding in a period after the start of winding when the operation of the actuator 14 (motor 33) is started in a state where the first set of belts 11 and the second set of belts 12 are fitted to the user. In this case, the winding speed of the belt body 13 becomes lower toward the completion of the winding of the belt body 13. Therefore, it is possible to prevent the impact force from the belt body 13 at the completion of winding from being provided to the user.

[0120] Other auxiliary devices10

[0121] In the assistive device 10 disclosed above, the second strap 12 is fitted to the user's leg area BL. Fig. 9 As illustrated in , the second set 12 may be fitted to the waist region BW of the user. In this case, the second set 12 may have the shape of a waist belt or the shape of pants. In the case where the second set 12 is fitted to the waist region BW, the actuator 14 may be attached to the first set 11 or may be attached to the second set 12. Fig. 9 In the embodiment, the actuator 14 is attached to the first strap 11 .

[0122] exist Fig. 9 In the case of the assisting device 10 shown in FIG. 1 , similarly, the belt body 13 is provided to extend along the back side of the user to the first set of belts 11 and the second set of belts 12. The belt body 13 is wound by the actuator 14, and tension acts on the belt body 13. This tension causes the generation of an assisting force for assisting the user's work, which reduces the burden on the user's body.

[0123] other

[0124] In order to prevent the user's lower back pain, it is preferred to fit the second set of belts 12 to the leg area BL. This is because the load on the waist area BW can be reduced by fitting the second set of belts 12 to the leg area BL. In each form of the auxiliary device 10, the belt body 13 is lightweight and can fit the user's body even if the user changes his / her posture, and thus follows the user's movement. Therefore, the following auxiliary device 10 can be provided: the auxiliary device 10 provides good wearing comfort. It should be noted that in the above disclosure, the control box 30 is provided in the first set of belts 11 on the rear side (dorsal side) of the user, but the control box 30 can also be provided on the front side of the user. In this case, the belt body 13 is provided along the back of the user through the shoulder area BS of the user.

[0125] The linear form of the belt body 13 may be a form other than the illustrated form. For example, although not shown, a rotating pulley may be provided on the first attachment portion 27 of the connecting member 18, as with the second attachment portion 28, and the first belt 16 may be suspended on the rotating pulley to be folded at the midpoint of the first belt 16. In this case, the end portion of the first belt 16 (located on the side opposite to the driving pulley 35 side of the first belt 16) is attached to the first sleeve 11 (base 31). Alternatively, although not shown, a rotating pulley may be provided at the second sleeve 12, and the second belt 17 may be suspended on the rotating pulley to be folded at the midpoint of the second belt 17. In this case, the opposite end portions of the second belt 17 are attached to the sleeve (third sleeve) to be fitted to the waist region BW.

[0126] The embodiments disclosed herein are merely examples in every aspect and are not restrictive. The scope of rights of the present invention is not limited to the above embodiments, but includes all changes within the meaning and scope of equivalents of the claims.

[0127] Replenish

[0128] In the auxiliary device 10 of the above embodiment, the controller 15 performs control to perform winding of the belt body 13 with a first winding force when the user wears the first strap 11 and the second strap 12 and the operation of the actuator 14 is activated, and changes the winding force of the actuator 14 to a second winding force that is smaller than the first winding force when the winding of the belt body 13 is completed. However, as a reference invention, there is an auxiliary device that does not perform such control. In other words, the auxiliary device of the reference invention is as follows. It should be noted that the same components in the auxiliary device of the reference invention as those of the auxiliary device 10 of the above embodiment are provided with the same reference numerals as those of the auxiliary device 10 of the above embodiment.

[0129] Reference invention auxiliary device 10 (see Figure 2 ) comprises: a first set of belts 11, which are fitted to at least one of the shoulder area BS or the chest area BB of the user; a second set of belts 12, which are fitted to the leg area BL or the waist area BW of the user; a belt body 13, which is arranged to extend along the back side of the user to the first set of belts 11 and the second set of belts 12; and an actuator 14, which is arranged in the first set of belts 11 or the second set of belts 12, and the actuator 14 can make a part of the belt body 13 wind and unwind. Actuator 14 (see Figure 5 ) includes a motor 33, a speed reducer portion 34, and a pulley 35, the speed reducer portion 34 includes a plurality of gears 34g and reduces the rotation of the motor 33 and outputs the resulting rotation, and the pulley 35 is capable of winding the belt body 13 by rotating via the output of the speed reducer portion 34. When the belt body 13 is unwound from the pulley 35, while the motor 33 provides the pulley 35 with a torque in the direction of winding the belt body 13 through the speed reducer portion 34, the pulley 35 rotates in the direction of unwinding the belt body 13.

[0130] The configuration disclosed above can be applied to the auxiliary device of the reference invention.

Claims

1. An auxiliary device, characterized in that: The auxiliary device comprises: a first set of belts (11) configured to be fitted to at least one of a shoulder region and a chest region of a user; a second belt (12) configured to be fitted to the leg region or waist region of the user; A belt body (13), the belt body (13) being arranged to extend along the back side of the user to the first set of belts (11) and the second set of belts (12); an actuator (14) disposed in one of the first strap (11) and the second strap (12), and configured to wind and unwind a portion of the strap body (13); and A controller (15) configured to perform operation control of the actuator (14), wherein the controller (15) is configured to: when the operation of the actuator (14) is started in a state where the first strap (11) and the second strap (12) are fitted to the user, the belt body (13) is wound with a first winding force, and the controller (15) is configured to: when the winding of the belt body (13) is completed, change the winding force of the actuator (14) to a second winding force that is smaller than the first winding force.

2. The auxiliary device according to claim 1, characterized in that The controller (15) is configured to change the winding force of the actuator (14) to a second winding force that is smaller than the first winding force but greater than zero when the winding of the belt body (13) is completed.

3. The auxiliary device according to claim 1 or 2, characterized in that: The actuator (14) includes a pulley and a motor, the pulley being configured to wind up the belt body (13), and the motor being used to cause the pulley to perform an operation of winding up the belt body (13); and The controller (15) is configured to detect completion of the winding of the belt body (13) based on a parameter related to rotation of the pulley or the motor.

4. The auxiliary device according to claim 1 or 2, characterized in that: The actuator (14) includes a pulley and a motor, the pulley being configured to wind up the belt body (13), and the motor being used to cause the pulley to perform an operation of winding up the belt body (13); and The controller (15) is configured to change the winding force of the actuator (14) by reducing the current supplied to the motor.

5. The auxiliary device according to claim 1 or 2, characterized in that: The actuator (14) includes a pulley and a motor, the pulley being configured to wind up the belt body (13), and the motor being used to cause the pulley to perform an operation of winding up the belt body (13); and The controller (15) is configured to, when the winding force of the actuator (14) is changed to the second winding force, set the phase of the motor at the time of the change to an initial value of the phase of the motor.

6. The auxiliary device according to claim 1 or 2, characterized in that: The actuator (14) includes: a motor; a speed reducer portion including a plurality of gears, the speed reducer portion being configured to reduce the speed of rotation of the motor and output the generated rotation; and a pulley configured to wind the belt body (13) by rotating via the output of the speed reducer portion; and The actuator (14) is configured such that, when the belt body (13) is unwound from the pulley, the pulley rotates in the direction in which the belt body (13) is unwound while the motor provides torque in the direction in which the belt body (13) is wound to the pulley through the speed reducer portion.

7. The auxiliary device according to claim 1 or 2, characterized in that: The controller (15) is configured to, when the operation of the actuator (14) is started, perform control to change the first winding force to be smaller than the first winding force at the start of the winding within a period of time after the start of the winding.

8. The auxiliary device according to claim 1 or 2, characterized in that: The controller (15) is configured to, when the operation of the actuator (14) is started, perform control to change the winding speed of the belt body (13) to a speed lower than the winding speed of the belt body (13) at the start of the winding within a period after the start of the winding.

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