auxiliary device

Abstract

The present disclosure relates to an assistive device (10) comprising: a first brace (11) configured to be worn on at least a waist of a user; an arm (37) configured to extend along a thigh of the user and configured to rotate relative to the first brace (11); an actuator (35) configured to generate a torque that rotates the arm (37); a second brace (12R, 12L) provided on the arm (37) and configured to be worn on the thigh. The arm (37) comprises an arm body (42) and a holding portion (43). The holding portion (43) is provided on the arm body (42) such that the holding portion (43) is movable along a longitudinal direction of the arm body (42). The holding portion (43) holds the second brace (12R, 12L) such that the second brace (12R, 12L) is rotatable.

Description

Technical Field

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

[0002] Various assistive devices designed to be worn by a user (person) to assist the user in performing their work have been proposed. Wearing the assistive device allows the user to work with less effort (less burden), even when lifting heavy objects, for example. For example, such an assistive device is disclosed in Japanese Unexamined Patent Application Publication No. 2018-199205 (JP 2018-199205 A). Summary of the Invention

[0003] The assist device disclosed in JP 2018-199205A is configured to transmit the output of an actuator (motor) to the right and left thighs of the user through an arm to support the movement of the right and left thighs relative to the waist.

[0004] A brace configured to be worn on a user's thigh is provided on an arm. Each brace has a belt, etc., fixed to the arm and configured to be wrapped around the thigh and fastened to the thigh. The brace is the contact point between the assistive device and the user, and the assistive force is transmitted to the user through the brace. Therefore, the brace is securely fastened to the thigh. As a result, the brace may not be able to follow the user's movements, which may cause the user to feel pressure or friction on their thigh caused by the brace when the assistive force is applied from the assistive device. In addition, it may be difficult for small or large users to wear the brace properly, which may cause the user to feel pressure or friction on their thigh. This pressure or friction may cause the user to feel strange or uncomfortable. The present disclosure reduces the strange feeling or discomfort caused to the user.

[0005] One aspect of the present invention is an assistive device. The assistive device includes: a first brace configured to be worn around at least the waist of a user; an arm configured to extend along the user's thigh and configured to rotate relative to the first brace; an actuator configured to generate torque to rotate the arm; and a second brace disposed on the arm and configured to be worn on the thigh. The arm includes an arm body and a retaining portion. The retaining portion is disposed on the arm body so as to be movable in the longitudinal direction of the arm body. The retaining portion retains the second brace so as to be rotatable.

[0006] According to the above configuration, the second brace, which is designed to be worn on the thigh, is held by the holding portion. Therefore, the second brace is held so as to be movable and rotatable relative to the arm body. Therefore, the second brace can be moved or rotated according to the user's body shape and movements. This configuration reduces the pressure or friction caused by the second brace on the thigh when the assistive force is applied from the assistive device, thereby reducing any strange or uncomfortable sensations inflicted on the user.

[0007] In the auxiliary device, the second brace may include a pad having a plate-like shape. The arm body may include a guide rail extending in the longitudinal direction of the arm body. The retaining portion may include a moving block, a base member, and a pad supporting portion. The moving block is configured to travel on the guide rail in the longitudinal direction of the arm body. The base member is fixed to the moving block, and the base member includes a base surface extending in the longitudinal direction. The pad supporting portion supports the pad so that the pad can rotate with the pad facing the base surface. The pad may have a slit extending in a circumferential direction around the rotation center of the second brace. The retaining portion may further include a pin member protruding from the base surface and inserted into the slit. According to the above configuration, the rotation range of the second brace can be limited to a necessary range.

[0008] In the auxiliary device, the base member may have a bolt hole that opens onto the base surface and holds in place a bolt that secures the base member to the moving block. The gasket may have an exposure hole configured to expose the bolt hole. With this configuration, even if the base surface is covered by the gasket, the bolt can be inserted into and removed from the bolt hole that opens onto the base surface through the exposure hole.

[0009] According to the above configuration, the strange feeling or discomfort given to the user is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like reference numerals represent like elements, and in which:

[0011] Figure 1 is a perspective view illustrating the overall configuration of the assisting device;

[0012] Figure 2 yes Figure 1 An exploded perspective view of the auxiliary device;

[0013] Figure 3 It is wearable Figure 1 a side view of a user of an assistive device;

[0014] Figure 4 It is wearable Figure 1 a side view of a user of an assistive device;

[0015] Figure 5 It is an enlarged exploded perspective view of the lower arm portion;

[0016] Figure 6 is a cross-sectional view of the retaining portion;

[0017] Figure 7 is a perspective view illustrating an overall configuration of an auxiliary device according to another embodiment;

[0018] Figure 8 yes Figure 7 An exploded perspective view of the auxiliary device;

[0019] Figure 9 It is wearable Figure 7 a side view of a user of an assistive device; and

[0020] Figure 10 It is a cross-sectional view of the retaining portion according to the modification. DETAILED DESCRIPTION

[0021] Overall configuration of the auxiliary device

[0022] Preferred embodiments of the present invention will be described with reference to the accompanying drawings. Figure 1 is a perspective view illustrating the overall configuration of the assisting device. Figure 2 yes Figure 1 Exploded perspective view of the auxiliary device. Figure 3 and Figure 4 It is wearable Figure 1 Side view of a user of an assistive device. Figure 3 and Figure 4 It is schematically shown in FIG. Figure 3 The user is shown in an upright position, and Figure 4 The user is shown in a forward leaning position. Figure 3 The upright posture shown in is a posture in which the longitudinal direction of the user's upper body from the waist BW toward the head BH (the longitudinal direction of his or her spine) extends along the vertical line V. Figure 4 The forward leaning posture shown in is a posture in which the longitudinal direction of the user's upper body is tilted forward. The forward leaning posture includes the posture in which the user's legs BL are straight (knees straight) and the posture in which the user's legs BL are straight. Figure 4 The user's legs BL are shown in a bent position. Figure 4 In FIG, θa represents the angle of the user's upper body in the forward leaning posture relative to the vertical line V.

[0023] The assistive device 10 is a device that supports the rotational movement of the user's thigh BF relative to the waist BW, for example, when the user lifts a package and when he or she puts down the package, and that supports the rotational movement of the user's thigh BF relative to the waist BW when the user walks. The operation of the assistive device 10 that assists the user's body is referred to herein as an "assistance operation".

[0024] The X-axis, Y-axis, and Z-axis in the drawing are perpendicular to each other. For a user who wears the assistive device 10 and is in an upright posture, the X-axis direction corresponds to the forward direction, the Y-axis direction corresponds to the left direction, and the Z-axis direction corresponds to the upward direction. In terms of the assistance operation, the assistance of the rotational movement of the thigh BF relative to the waist BW and the assistance of the rotational movement of the waist BW relative to the thigh BF are the same as described above. The assistance operation is an assistance operation that applies a torque around an imaginary line Li that passes through the user's waist BW in the lateral direction of the user to the user. This torque is sometimes referred to herein as an "assistance torque".

[0025] Figure 1 The assistive device 10 of the present embodiment includes a first brace 11, right and left second braces 12R, 12L, right and left actuator units 13R, 13L. The first brace 11 has a waist support portion 21 and a jacket portion 22, and the first brace 11 is configured to be worn on the upper body of the user including the waist BW. The right and left second braces 12R, 12L are configured to be worn on the right and left thighs BF of the user. The right and left actuator units 13R, 13L are drive units that are attached between the first brace 11 and the second braces 12R, 12L and are driven to perform the assistance operation.

[0026] The assistive device 10 further includes an operation unit 14 and a control device 15. The operation unit 14 is a so-called remote controller, and the operation unit 14 is a device to which the user inputs specifications and the like of the assistance operation. The specifications of the assistance operation include the operation mode of the assistance operation, the strength of the assistance operation, the speed of the assistance operation, and the like. The operation mode includes, for example, "walking", "putting down", and "lifting". The operation unit 14 is provided with a selection button that allows the user to select the specifications of the assistance operation. The operation unit 14 is attached, for example, to the jacket portion 22 of the first brace 11. The operation unit 14 and the control device 15 are connected by wire or wirelessly and can communicate with each other. The control device 15 controls the operation of the actuator units 13R, 13L in accordance with the information input to the operation unit 14.

[0027] The first brace 11 includes a lumbar support portion 21, a vest portion 22, a frame 23, and a backpack portion 24. The lumbar support portion 21 is configured to be worn around the user's waist BW. The lumbar support portion 21 includes a strap 25. The strap 25 can adjust the length of the lumbar support portion 21 around the waist BW and is used to secure the lumbar support portion 21 to the waist BW. The lumbar support portion 21 includes a hard core made of resin or the like and a member made of leather or cloth. Housings 36 for the actuator units 13R and 13L are attached to the right and left sides of the lumbar support portion 21. The lumbar support portion 21 and the housing 36 are attached so that they can rotate relative to each other in one direction and the other direction about an imaginary line Li in the user's lateral direction.

[0028] The vest portion 22 is configured to be worn around the user's shoulders BS and chest BB. The vest portion 22 has a first attachment 26 and a second attachment 27. The vest portion 22 is coupled to the frame 23 via the first attachment 26. The vest portion 22 is coupled to the waist support portion 21 via the second attachment 27. The vest portion 22 includes a hard core made of resin or the like and a member made of leather or cloth.

[0029] The frame 23 comprises a tube made of metal, such as an aluminum alloy. The frame 23 includes a main frame 28, a right sub-frame 29R, and a left sub-frame 29L. The main frame 28 includes a cushion member 30 configured to contact the user's back. The right sub-frame 29R is a columnar member connecting the main frame 28 to a portion of the right actuator unit 13R, and the left sub-frame 29L is a columnar member connecting the main frame 28 to a portion of the left actuator unit 13L. The upper end of the right sub-frame 29R is coupled to a portion of the main frame 28, and the lower end of the right sub-frame 29R is coupled to a housing 36 for the right actuator unit 13R. The upper end of the left sub-frame 29L is coupled to a portion of the main frame 28, and the lower end of the left sub-frame 29L is coupled to a housing 36 for the left actuator unit 13L. Therefore, the right and left actuator units 13R and 13L are connected to the frame 23 of the first brace 11 , and the right and left actuator units 13R and 13L and the frame 23 (first brace 11 ) are not allowed to shift relative to each other.

[0030] The backpack portion 24 is attached to the rear of the main frame 28. The backpack portion 24 is also called a control box and has a box-like shape. The backpack portion 24 stores the control device 15, a power supply (battery) 20, and the like. The power supply 20 supplies necessary power to devices such as the control device 15 and the right and left actuator units 13R and 13L.

[0031] The right second brace 12R and the left second brace 12L are configured to be worn around the user's right and left thighs (BF). The second brace 12R for the right thigh (BF) and the second brace 12L for the left thigh (BF) are symmetrical in shape but have the same configuration. The second brace 12L (12R) includes a pad 31 and a strap 32. The pad 31 has a plate-like shape and includes a hard core made of resin or the like. The strap 32 includes a member made of leather or cloth. The actuator unit 13L includes an auxiliary arm 37, and the pad 31 is attached to the auxiliary arm 37. The pad 31 is configured to contact the front side of the thigh (BF). The strap 32 is attached to the pad 31. The strap 32 can adjust the length of the second brace 12L (12R) around the thigh (BF) and is used to secure the pad 31 and the auxiliary arm 37 to the thigh (BF).

[0032] The right and left actuator units 13R and 13L are attached to the right and left sides of the lumbar support portion 21. The right and left actuator units 13R and 13L are symmetrical in shape but have the same configuration and the same function. The right and left actuator units 13R and 13L can operate independently of each other, and the right and left actuator units 13R and 13L can perform not only the same operation but also different operations in synchronization.

[0033] The right actuator unit 13R is attached between the first brace 11 and the right second brace 12R. Specifically, the right actuator unit 13R is attached between the lumbar support portion 21 and frame 23 (right sub-frame 29R) of the first brace 11, and the right second brace 12R. The left actuator unit 13L is attached between the first brace 11 and the left second brace 12L. Specifically, the left actuator unit 13L is attached between the lumbar support portion 21 and frame 23 (left sub-frame 29L) of the first brace 11, and the left second brace 12L.

[0034] The right actuator unit 13R is configured to apply torque about the imaginary line Li to the user via the first brace 11 and the right second brace 12R. The left actuator unit 13L is configured to apply torque about the imaginary line Li to the user via the first brace 11 and the left second brace 12L. As described above, the torque applied during the assist operation is the "assist torque." The assist device 10 can support the rotational movement of the user's thigh BF relative to the waist BW through the assist torque output from the right and left actuator units 13R, 13L.

[0035] The actuator unit 13R includes an actuator 35, a housing 36 in which the actuator 35 is stored, and an auxiliary arm 37. The actuator 35 includes an electric motor and a transmission mechanism that transmits the rotational torque generated by the electric motor to the auxiliary arm 37. A shaft 37a is fitted in the upper end portion of the auxiliary arm 37. The axis of the shaft 37a matches the imaginary line Li. The shaft 37a extends in the housing 36 so that the shaft 37a can rotate around the imaginary line Li. The auxiliary arm 37 can therefore rotate around the imaginary line Li relative to the first brace 11. The second brace 12R is attached to the lower end portion of the auxiliary arm 37. Figure 3 and Figure 4 As shown in FIG, the auxiliary arm 37 is configured to extend along the thigh BF of the user and to rotate together with the thigh BF.

[0036] The actuator 35 rotationally drives the shaft 37a about the imaginary line Li and transmits a rotational torque to the shaft 37a. The rotational torque from the actuator 35 thus serves as torque for rotating the auxiliary arm 37 about the imaginary line Li. The torque for rotating the auxiliary arm 37 is applied to the user as assistive torque via the first brace 11 and the second brace 12R. Thus, the actuator 35 generates an assistive torque. Like the actuator unit 13R, the actuator unit 13L also includes an actuator 35, a housing 36 housing the actuator 35, and an auxiliary arm 37, and the actuator 35 generates an assistive torque. The actuators 35 of the actuator units 13R and 13L are controlled by the control device 15.

[0037] Each auxiliary arm 37 has an upper arm portion 40 and a lower arm portion 41. The upper arm portion 40 is rotatably attached to the housing 36 and rotates by the rotational torque from the actuator 35. The lower arm portion 41 is coupled to the lower end of the upper arm portion 40 and rotates together with the upper arm portion 40. The second brace 12R, 12L is attached to the lower arm portion 41.

[0038] Figure 5 13R and 13L are symmetrical in shape but have the same configuration. The lower arm portion 41 of the auxiliary arm 37 of the actuator unit 13L will be described.

[0039] The lower arm portion 41 includes an arm body 42 coupled to the upper arm portion 40 and a retaining portion 43 that rotatably retains the second brace 12L. The arm body 42 includes a link member 44 coupled to the upper arm portion 40, and a guide rail 45. A male hinge 44a is attached to the upper end of the link member 44, and a female hinge 40a is attached to the lower end of the upper arm portion 40. The male hinge 44a is coupled to the female hinge 40a via a hinge pin 40b.

[0040] The guide rail 45 is an elongated member on which the moving block 46 travels. The upper end of the guide rail 45 is connected to the lower end of the link member 44. The guide rail 45 is provided at the lower arm portion 41. Figure 5 The guide rail 45 extends in the longitudinal direction indicated by the double arrow in the figure, and guides the moving block 46 so that the moving block 46 can move in the longitudinal direction of the lower arm portion 41. The guide rail 45 and the moving block 46 are formed using a so-called linear guide. Accordingly, there are many steel balls between the moving block 46 and the guide rail 45, and these steel balls allow the moving block 46 to move smoothly on the guide rail 45. A cover 47 is provided around the guide rail 45 of the lower arm portion 41 to protect the guide rail 45 and the moving block 46.

[0041] The retaining portion 43 includes a moving block 46, a base member 48, a bushing 49, an outer washer 50, an inner washer 51 and a rivet 52. As described above, the moving block 46 can move in the longitudinal direction of the lower arm portion 41 when the moving block 46 travels on the guide surface 45a of the guide rail 45. The base member 48 is a member having a quadrilateral plate shape and is made of aluminum alloy. The base member 48 is fixed to the supporting surface 46a of the moving block 46. The base member 48 is fixed to the moving block 46, wherein one surface 48a of the base member 48 is in contact with the supporting surface 46a. The base member 48 has countersunk bolt holes 48b in its four corners. The bolt holes 48b extend from the one surface 48a through the base member 48 to the base surface 48c, which is the surface of the base member 48 opposite to the one surface 48a. The bolt holes 48b lead to the base surface 48c. A fixing bolt B for fixing the base member 48 to the moving block 46 is inserted through the bolt hole 48b. A rotation shaft 53 for holding the gasket 31 is provided on the base surface 48c of the base member 48. The rotation shaft 53 is integral with the base member 48 and protrudes from the base surface 48c. The gasket 31 is a plate-like member made of an aluminum alloy.

[0042] Figure 6 is a cross-sectional view of the holding portion 43 . Figure 6 The cross section taken along a plane including the axis S of the rotation shaft 53 and parallel to the longitudinal direction of the lower arm portion 41 is shown. Figure 6As shown in , the rotating shaft 53 passes through the hole 31a of the gasket 31. The axis S of the rotating shaft 53 is approximately perpendicular to the base surface 48c. The one surface 48a and the base surface 48c are approximately parallel. The base surface 48c extends in the longitudinal direction of the lower arm portion 41. The bushing 49 is a cylindrical member made of resin or the like and has a cylindrical portion 49a and a flange portion 49b. The bushing 49 is fitted on the rotating shaft 53 and positioned between the inner peripheral surface of the hole 31a and the outer peripheral surface 53a of the rotating shaft 53. The flange portion 49b is provided at one end of the cylindrical portion 49a. One surface 49b1 of the flange portion 49b is approximately flush with the tip end face 53b of the rotating shaft 53. The other surface 49a1 of the cylindrical portion 49a is in contact with the base surface 48c. Therefore, the axial length of the bushing 49 is approximately the same as the axial length of the rotating shaft 53. The other surface 49b2 of the flange portion 49b is in contact with one surface 31b of the liner 31. The inner gasket 51 is an annular member made of resin and is fitted on the bushing 49 and the rotating shaft 53. The inner gasket 51 is in contact with the other surface 31c of the liner 31 and with the base surface 48c, and is positioned between the liner 31 and the base member 48.

[0043] The outer washer 50 is an annular member made of resin and contacts the tip end surface 53b of the rotating shaft 53 and the one surface 49b1 of the flange portion 49b. Thus, the outer washer 50 holds the liner 31, the bushing 49, and the inner washer 51 between the outer washer 50 and the base surface 48c. A rivet 52 passes through the hole 50a of the outer washer 50. The rivet 52 is a cylindrical member made of stainless steel and has a cylindrical portion 52a, a head 52b, and a riveted portion 52c. The rivet 52 has a head 52b located at one end of the cylindrical portion 52a and a riveted portion 52c located at the other end of the cylindrical portion 52a. The rivet 52 is inserted through the hole 50a of the outer washer 50 and passes through the center hole 53c of the rotating shaft 53.

[0044] The central hole 53c of the rotating shaft 53 has a small diameter hole 55 and a large diameter hole 56. The small diameter hole 55 opens to the tip end surface 53b, and the large diameter hole 56 opens to the one surface 48a. The small diameter hole 55 and the large diameter hole 56 are connected by a stepped surface 57. The head 52b of the rivet 52 contacts the outer surface 50b of the outer washer 50. The riveted portion 52c of the rivet 52 is positioned in the large diameter hole 56. An inner washer 58 is arranged between the riveted portion 52c and the stepped surface 57. The inner washer 58 is an annular member made of resin and is interposed between the riveted portion 52c and the stepped surface 57.

[0045] The rivet 52 is fixed so as to sandwich the outer washer 50 and (the rotational shaft 53 of) the base member 48 between the head 52b and the riveted portion 52c. Thus, the rivet 52 restricts the outer washer 50 from separating from the tip end surface 53b of the rotational shaft 53. In this way, the gasket 31, the bushing 49, and the inner washer 51 are retained between the outer washer 50 and the base surface 48c.

[0046] The liner 31 is held by the base member 48, with the inner washer 51 interposed between the liner 31 and the base surface 48c. Thus, the liner 31 is held facing the base surface 48c. This configuration can suppress direct contact between the liner 31 and the base member 48, both of which are made of aluminum alloy, and allows the liner 31 to rotate smoothly. The rotation shaft 53 passes through the hole 31a of the liner 31. Thus, the liner 31 is supported so that it can rotate about the axis S. That is, the rotation shaft 53, the bushing 49, the outer washer 50, the inner washer 51, the rivet 52, and the inner washer 58 form a liner support portion 60 that rotatably supports the liner 31 so that it faces the base surface 48c. The gaps between the sliding contact portions of the rotating shaft 53 , the bushing 49 , the outer washer 50 , the inner washer 51 , the rivet 52 , and the inner washer 58 are appropriately set so that the gasket 31 can rotate relative to the arm body 42 .

[0047] As described above, since the retaining portion 43 includes the moving block 46, the lower arm portion 41 includes the retaining portion 43, which is movable in the longitudinal direction of the lower arm portion 41. Furthermore, since the retaining portion 43 includes the pad support portion 60, the retaining portion 43 rotatably retains the second brace 12L including the pad 31. According to the assistive device 10 of this embodiment, the second brace 12L to be worn on the thigh BF is retained by the retaining portion 43. The second brace 12L is thus retained so that it can move and rotate relative to the lower arm portion 41 (assistive arm 37). Therefore, the second brace 12L (12R) can move or rotate according to the user's body shape and movements. This configuration reduces the pressure or friction caused by the second brace 12L (12R) on the thigh BF when the assistive force is applied from the assistive device 10, thereby reducing any strange or uncomfortable sensations experienced by the user.

[0048] Reference Figure 5 and Figure 6 The pad 31 has a pair of slits 62 surrounding the hole 31a. The slits 62 extend circumferentially around the axis S, which serves as the rotation center of the pad 31 (the second brace 12L), at a central angle ranging from approximately 45 degrees to approximately 50 degrees. When the one surface 31b is viewed on a plane, the slits 62 are positioned symmetrically relative to the hole 31a.

[0049] A pin member 64 fixed to the base member 48 is inserted into one of the slits 62. The pin member 64 is fixed in a hole 66 of the base member 48 and protrudes from the base surface 48c. The slit 62 extends circumferentially about the axis S. Therefore, when the pad 31 rotates, the pin member 64 inserted in the slit 62 moves relative to the pad 31 along the slit 62. Thus, the pad 31 rotates along with the pin member 64 inserted in the slit 62. Therefore, the rotation range of the pad 31 is limited by the slit 62. With this configuration, the rotation range of the second brace 12L can be limited to the necessary range by the pin member 64 fixed to the base member 48 and the slit 62 of the pad 31, and thus, ease of manipulation is less likely to be affected by excessive rotation of the second brace 12L.

[0050] like Figure 5 As shown in FIG, the gasket 31 further has a pair of exposure holes 67 located between the slits 62. The exposure holes 67 are holes for exposing the bolt holes 48b that open to the base surface 48c. The exposure holes 67 allow the bolt holes 48b in the base surface 48c and the fixing bolts B inserted through the bolt holes 48b to be exposed as the gasket 31 rotates. With this configuration, even if the base surface 48c is covered by the gasket 31, the fixing bolts B can be inserted into and removed from the bolt holes 48b that open to the base surface 48c through the exposure holes 67.

[0051] Another embodiment

[0052] Figure 7 is a perspective view illustrating the overall configuration of an assisting device 10 according to another embodiment. Figure 8 yes Figure 7 Exploded perspective view of the auxiliary device 10. Figure 9 It is wearable Figure 7 A side view of a user of the assistive device 10. Figure 9 , the assistive device 10 is schematically illustrated, and the user wearing the assistive device 10 is in an upright posture.

[0053] The assist device 10 of this embodiment differs from the above-described embodiment in that the actuator 35 that generates torque (assist torque) for rotating the assist arm 37 is stored in the backpack portion 24. Furthermore, in this embodiment, the assist device 10 includes a first brace 11 configured to be worn on the user's upper body, including the waist BW, and second braces 12R, 12L configured to be worn on the user's right and left thighs BF. Each of the second braces 12R, 12L and the assist arm 37 (upper arm portion 40 and lower arm portion 41) to which they are attached has a configuration similar to that of the above-described embodiment.

[0054] The first brace 11 includes a waist support portion 21, a vest portion 22, a frame 23, and a backpack portion 24 as in the above-described embodiment, and further includes a pair of rotation mechanisms 70. The waist support portion 21 is configured to be worn around the waist BW of the user. The waist support portion 21 includes a belt 25 and a pair of waist side pads 80. The belt 25 is used to fasten the waist side pads 80 to the waist BW. The waist side pads 80 are provided on the right and left sides of the belt 25. The waist side pads 80 are members in the form of pads and made of an elastic foam sheet or the like. The rotation mechanisms 70 are fixed to the outer side surfaces 80a of the waist side pads 80. The assist arms 37 are fixed to the rotation mechanisms 70. Each of the rotation mechanisms 70 includes a configuration for rotating the assist arm 37. One of the rotation mechanisms 70 is fixed to the right waist side pad 80, and the other is fixed to the left waist side pad 80.

[0055] The vest portion 22 configured to be worn around the shoulders BS and the chest BB of the user has a pair of shoulder belts 82 and a chest belt 83. Each of the shoulder belts 82 has an upper attachment 82a and a lower attachment 82b. The shoulder belts 82 are coupled to the backpack portion 24 by the upper attachments 82a. The shoulder belts 82 are coupled to the waist support portion 21 by the lower attachments 82b. The chest belt 83 is coupled to the shoulder belts 82, for example, by sewing the chest belt 83 on the shoulder belts 82 so that the chest belt 83 crosses the shoulder belts 82. The chest belt 83 is configured to be worn around the chest BB of the user.

[0056] The frame 23 including a tube made of a metal such as an aluminum alloy is configured to pass between the back of the user and the backpack portion 24. The frame 23 connects the rotation mechanisms 70 fixed to the outer side surfaces 80a of the waist side pads 80 together. Each of the rotation mechanisms 70 is provided with a fixed shaft 70a, and a cylindrical portion 23a is provided at both ends of the frame 23, through which the fixed shaft 70a is inserted. The rotation mechanisms 70 and the cylindrical portions 23a are provided with anti-rotation stops so as not to rotate relative to each other. Thus, the rotation mechanisms 70 do not rotate relative to the frame 23. A ring-shaped fixing member 84 is fixed to the outer side surfaces 80a of the waist side pads 80. The fixed shaft 70a is inserted through and fixed in the cylindrical portions 23a and the fixing member 84. Thus, the rotation mechanisms 70 are fixed to the frame 23 and to the outer side surfaces 80a of the waist side pads 80. At this time, the axis of the fixed shaft 70a coincides with an imaginary line Li in a lateral direction passing through the waist BW of the user of the user.

[0057] A spacer 85 and a back pad 86 are provided on the front surface 24a of the backpack portion 24, which is attached to the rear of the frame 23. The spacer 85 is arranged between the front surface 24a and the back pad 86. The frame 23 is sandwiched between the front surface 24a and the back pad 86. Thus, the lumbar support portion 21, the vest portion 22, the frame 23, the backpack portion 24, and the rotating mechanism 70 are connected together, and the rotating mechanism 70 and the frame 23 are not allowed to shift relative to each other.

[0058] In addition to the control device 15 and the power supply 20, a pair of actuators 35 are stored in the backpack portion 24. One of the actuators 35 generates torque for rotating the right auxiliary arm 37, while the other generates torque for rotating the left auxiliary arm 37.

[0059] A pair of wires 90 and a pair of wires 91 extend from the backpack portion 24. Each wire 90 is covered by a protective tube and connected to the right rotation mechanism 70. Each wire 91 is covered by a protective tube and connected to the left rotation mechanism 70. One actuator 35 transmits torque to the right rotation mechanism 70 via the wire 90, and the other actuator 35 transmits torque to the left rotation mechanism 70 via the wire 91. One actuator 35 has a drive pulley (not shown) for driving the wire 90. This actuator 35 retracts one of the ends 90a, 90b of the wire 90 by rotating the drive pulley and advances the other end. Similarly, the other actuator 35 retracts one of the ends 91a, 91b of the wire 91 by rotating the drive pulley for driving the wire 91 and advances the other end.

[0060] The right auxiliary arm 37 is fixed to the right rotating mechanism 70, and the left auxiliary arm 37 is fixed to the left rotating mechanism 70. The right rotating mechanism 70 has a driven pulley 70b. The driven pulley 70b can rotate in one direction and another direction around an imaginary line Li in the transverse direction of the user. The right auxiliary arm 37 is fixed to the driven pulley 70b so that the right auxiliary arm 37 can rotate together with the driven pulley 70b. A drive line (not shown) is wound around the driven pulley 70b. One end of the drive line is guided by a connecting end 70c and connected to an end 90a of a line 90. The other end of the drive line is guided by a connecting end 70d and connected to an end 90b of a line 90.

[0061] When one end of the drive wire is pulled, the driven pulley 70b rotates accordingly. Therefore, when the actuator 35 rotates the drive pulley to retract one of the ends 90a, 90b of the wire 90, the driven pulley 70b rotates in accordance with the movement of the wire 90. As the driven pulley 70b rotates, the right auxiliary arm 37 rotates accordingly about the imaginary line Li. Therefore, the rotational torque of the actuator 35 is transmitted to the right rotation mechanism 70 via the wire 90, and this rotational torque serves as the torque for rotating the right auxiliary arm 37.

[0062] The left rotation mechanism 70 has a similar configuration to the right rotation mechanism 70. Therefore, when the driven pulley 70b of the left rotation mechanism 70 rotates in accordance with the movement of the wire 91, the left auxiliary arm 37 correspondingly rotates about the imaginary line Li. Consequently, the rotational torque of the other actuator 35 is transmitted to the left rotation mechanism 70 via the wire 91, and this rotational torque serves as the torque for rotating the left auxiliary arm 37. With this configuration, the assist device 10 of this embodiment can also support the rotational movement of the user's thigh BF relative to the waist BW.

[0063] Since the assistive device 10 of the present embodiment has the assistive arm 37 having a similar configuration to that of the assistive arm of the above-described embodiment, the assistive device 10 of the present embodiment reduces the feeling of pressure or friction caused by the second brace 12R, 12L on the thigh BF when the assistive force is applied from the assistive device 10, and thus reduces the strange feeling or discomfort given to the user.

[0064] other

[0065] The present invention is not limited to the above embodiment. For example, in the above embodiment, the bushing 49 included in the retaining portion 43 has the flange portion 49b. However, for example Figure 10 As shown in , the bushing 49 may not have the flange portion 49b. In the above embodiment, the components of the auxiliary device 10 are made of metal or resin. However, the materials of the components of the auxiliary device 10 are not limited. For example, in the above embodiment, the liner 31 is made of aluminum alloy. However, the liner 31 may be made of resin. In the above embodiment, the bushing, washer, etc. are made of resin. However, the bushing, washer, etc. may be made of metal.

[0066] The scope of the present invention is defined by the scope of the claims, and the scope of the present invention is intended to include all modifications within the scope of the claims and equivalents thereof.

Claims

1. An auxiliary device (10), characterized in that The auxiliary device (10) comprises: a first brace (11) configured to be worn on at least the waist of a user; an arm (37) configured to extend along the user's thigh and configured to rotate relative to the first brace (11); an actuator (35) configured to generate a torque to rotate the arm (37); and a second brace (12R, 12L) provided on the arm (37) and configured to be worn on the thigh, wherein the arm (37) includes an arm body (42) and a holding portion (43), the holding portion (43) being provided on the arm body (42) so as to be movable in the longitudinal direction of the arm body (42), and the holding portion (43) holding the second brace (12R, 12L) so as to be rotatable, The second brace (12R, 12L) includes a pad (31) having a plate-like shape, The arm body (42) includes a guide rail (45) extending in the longitudinal direction of the arm body (42), The holding portion (43) includes a moving block (46), a base member (48), and a pad supporting portion (60), the moving block (46) being configured to travel on the guide rail (45) along the longitudinal direction of the arm body (42), the base member (48) being fixed to the moving block (46), and the base member (48) including a base surface (48c) extending in the longitudinal direction, and the pad supporting portion (60) supporting the pad (31) so that the pad (31) can rotate with the pad (31) facing the base surface (48c), The pad (31) has a slit extending in a circumferential direction around the rotation center of the second brace (12R, 12L), and The retaining portion (43) further includes a pin member (64) protruding from the base surface (48c) and inserted into the slit.

2. The auxiliary device (10) according to claim 1, characterized in that The base member (48) has bolt holes that open into the base surface (48c) and that seat bolts that secure the base member (48) to the moving block (46), and The gasket (31) has an exposing hole configured to expose the bolt hole.

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