Auxiliary device

Abstract

The invention relates to an auxiliary device. This assist device (10) is provided with: a first attachment (11) that is worn on at least one of the shoulders and the chest of a user; second mounts (12) that are worn on the left and right legs of the user; a belt body (13) provided across the first attachment (11) and the second attachment (12) and along the rear surface of the user; and an actuator (14) capable of winding and feeding out a portion of the tape body (13). The second mounting member (12) is provided with: a band-shaped member (40) that is wound around and fixed to the leg; and a connection belt (42) that connects the belt body (13) and the belt-shaped member (40). The second surface (40s) of the belt-shaped member (40) has a contact surface (40t) which is provided across the entire region of the belt-shaped member (40) in the width direction and which is in contact with the shank of the user.

Description

Technical Field

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

[0002] For example, Patent Document 1 discloses an auxiliary device including: a first mounting member worn on the shoulders of a user, a second mounting member worn on the left and right legs of the user, a belt extending over the first mounting member and the second mounting member and arranged along the back side of the user, and an actuator arranged on the first mounting member.

[0003] The assist device generates tension in the belt by winding a portion of the belt with an actuator, and the tension acts on the user as an assist force to assist the rotation of the user's waist and thighs.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2021-49601

[0005] The second attachment of the conventional assistive device is worn on the knee of the user.

[0006] Therefore, there is a possibility that the second mounting member may hinder the flexion and extension movement of the user's knee.

[0007] Furthermore, the second mounting member is often displaced due to the flexion and extension of the knee, and the tension of the belt is lost due to the positional displacement. Summary of the invention

[0008] The auxiliary device as an embodiment includes: a first mounting member, which is worn on at least one of the shoulder and chest of the user; a second mounting member, which is worn on the left and right legs of the user; a belt body, which is arranged along the back of the user across the first mounting member and the second mounting member; and an actuator, which can roll up and send out a part of the belt body. The second mounting member includes: a belt-like component that is rolled up and fixed on the leg, and a connecting belt that connects the belt body and the belt-like component. One surface of the belt-like component has a contact surface that is arranged over the entire area in the width direction of the belt-like component and contacts the calf of the user.

[0009] According to the present invention, it is possible to efficiently apply assist force to the user without hindering the flexion and extension movement of the knee. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a rear view of the assist device of the embodiment.

[0011] Figure 2 This is a rear view of the assistive device worn on the user's body.

[0012] Figure 3This is a side view of the assistive device worn on the user's body.

[0013] Figure 4 This is an explanatory diagram showing a state in which a user wearing an assistive device is in a forward leaning posture (forward bending posture).

[0014] Figure 5 It is a figure which shows the inside of a control box.

[0015] Figure 6 This is an explanatory diagram of a case where a user wearing the above-mentioned assistive device changes his posture.

[0016] Figure 7 Yes means Figure 1 FIG. 10A is a diagram of a second mounting member in FIG. 10B .

[0017] Figure 8 It is a diagram showing the main parts of the second surface.

[0018] Fig. 9 It is a figure which shows the 2nd attachment which the user wears. DETAILED DESCRIPTION

[0019] First, the contents of the implementation modes are listed and described.

[0020] [Overview of Embodiments]

[0021] (1) An auxiliary device according to an embodiment includes: a first mounting member that is worn on at least one of the shoulder and chest of a user; a second mounting member that is worn on the left and right legs of the user; a belt that extends over the first mounting member and the second mounting member and is provided along the back of the user; and an actuator that can wind up and deliver a portion of the belt. The second mounting member includes: a belt-like component that is wound around and fixed to the leg, and a connecting belt that connects the belt and the belt-like component. One surface of the belt-like component has a contact surface that is provided over the entire width direction of the belt-like component and that contacts the calf of the user.

[0022] According to the above configuration, one surface of the belt-shaped member has a contact surface that contacts the user's calf and is provided over the entire width direction (vertical direction) of the belt-shaped member. Therefore, the belt-shaped member can be worn on the user's calf without covering the knee.

[0023] Therefore, the second mounting member does not hinder the flexion and extension of the knee. Furthermore, although the calf muscles expand and contract, the change in the thickness of the thigh muscles caused by the flexion and extension of the knee is small, so the positional deviation of the second mounting member can be suppressed, and the auxiliary force can be effectively applied to the user.

[0024] (2) In the above assisting device, it is preferable that the belt-shaped member is provided with a hole for exposing the calf of the user.

[0025] In this case, when the belt-shaped member is worn on the user's calf, the calf is exposed from the hole, so that the appropriately raised calf can be fitted into the hole.

[0026] As a result, the positional deviation of the second mounting member can be effectively suppressed. Furthermore, by exposing the calf portion, the ventilation of the calf portion can be improved, and the wearing comfort of the second mounting member can be improved.

[0027] (3) In addition, in the above-mentioned auxiliary device, it is preferred that the above-mentioned connecting belt has a pair of belt portions, each of the above-mentioned pair of belt portions has: a connecting portion connected to the above-mentioned belt body, and a belt end portion connected to the above-mentioned belt-like component, and the pair of the above-mentioned belt end portions of the pair of belt portions are connected to the left and right adjacent portions of the above-mentioned hole portion of the above-mentioned belt-like component.

[0028] In this case, a pair of belts connects the left and right adjacent portions of the hole of the belt-shaped member to the belt body located on the back side of the user. Therefore, the pair of belts avoids the left and right sides of the knees and extends from the left and right positions of the calves of the user along the back side of the thighs.

[0029] As a result, it is possible to suppress the pair of belt parts from contacting the left and right sides of the knees, which are parts of the bones close to the skin, and to further improve wearing comfort without causing the user to feel pain due to the contact.

[0030] (4) In the above-mentioned assisting device, the above-mentioned belt-shaped member preferably includes a surface fastener for locking a first edge in the longitudinal direction of the above-mentioned belt-shaped member and a second edge on the opposite side of the first edge.

[0031] In this case, it is easy to put on and take off the belt-shaped member with respect to the calf.

[0032] (5) In addition, in the above-mentioned auxiliary device, when the above-mentioned first edge has: a first upper edge, a first lower edge, and a first cut-out portion arranged between the above-mentioned first upper edge and the above-mentioned first lower edge, and the above-mentioned second edge has: a second upper edge, a second lower edge, and a second cut-out portion arranged between the above-mentioned second upper edge and the above-mentioned second lower edge, the above-mentioned surface fastener may also have: an upper fastener that locks the above-mentioned first upper edge and the above-mentioned second upper edge; and a lower fastener that locks the above-mentioned first lower edge and the above-mentioned second lower edge.

[0033] In this case, the degree of fastening to the calf portion can be independently adjusted by the first surface fastener and the second surface fastener.

[0034] In particular, if the first lower edge and the second lower edge are located near the lower portion of the calf in the up-down direction, the first lower edge and the second lower edge can be more strongly fastened by the lower fastener, and the lower portion of the calf can be more strongly fastened by the belt-like component, thereby effectively preventing the second mounting member from shifting upward.

[0035] (6) In addition, it is preferable that a dimension of the first lower edge in the width direction and a dimension of the second lower edge in the width direction are smaller than a dimension of the first upper edge in the width direction and a dimension of the second upper edge in the width direction.

[0036] In this case, when the first lower edge and the second lower edge are fastened, the fastening width of the belt-shaped member around the lower portion of the calf can be relatively narrowed, and the fastening surface pressure around the lower portion of the calf can be increased. As a result, the upward positional deviation of the second mounting member can be more effectively suppressed.

[0037] (7) In the above-mentioned assisting device, it is preferable that the connecting belt is formed of a non-stretchable material, and the belt-shaped member is formed of a stretchable material.

[0038] In this case, the transmission loss of the tension of the belt can be reduced by the non-elastic connecting belt, and the assist force can be applied to the user more efficiently.

[0039] Furthermore, by making the belt-shaped member a stretchable material, it is possible to allow the muscles of the calf to expand and contract, thereby alleviating the pressure feeling given to the user.

[0040] (8) In the above-mentioned auxiliary device, the above-mentioned stretchable material may be a mesh material.

[0041] In this case, the ventilation property of the calf portion can be further improved, and the wearing comfort of the second mounting member can be further improved.

[0042] [Details of implementation method]

[0043] Hereinafter, preferred embodiments will be described with reference to the accompanying drawings.

[0044] [Overall Structure of the Assisting Device 10]

[0045] Figure 1 It is a rear view of the assist device of the embodiment. Figure 2 This is a rear view of the assistive device worn on the user's body. Figure 3 This is a side view of the assistive device worn on the user's body. Figure 4 This is an explanatory diagram showing a state in which a user wearing an assistive device is in a forward leaning posture (forward bending posture).

[0046] In the assistive device 10 of the present invention, left and right refer to the left and right of a user wearing the assistive device 10 in an upright position, front and back refer to the front and back of the user, and top and bottom refer to the top and bottom of the user. Top refers to the head side of the user, and bottom refers to the foot side of the user.

[0047] Figure 1 The auxiliary device 10 shown includes a first mounting member 11 and two second mounting members 12 .

[0048] The first mounting member 11 is worn on the left and right shoulders BS, which are a part of the user's (human) body. The first mounting member 11 only needs to be worn on at least one of the user's shoulders and chest, and may be in a form other than that shown in the figure.

[0049] The second mounting member 12 is worn on the other part of the user's body, that is, the left and right legs BL. In the present invention, the second mounting member 12 is worn on the calf BLL inside the legs BL. The second mounting member 12 on the left and the second mounting member 12 on the right are symmetrical, but have the same structure. The second mounting member 12 may also be in a form other than that shown in the figure.

[0050] In addition, in the present embodiment, the calf portion BLL refers to a portion (including the calf portion) below the knee BN in the leg BL.

[0051] The first mounting member 11 and the two second mounting members 12 are worn at two locations separated from each other via the waist BW and the hip joint, namely, the shoulder BS and the leg BL (the calf BLL).

[0052] The first mounting member 11 includes a base 21 , a pair of shoulder straps 22 , and a pair of armpit straps 23 .

[0053] The base 21 includes a control box 30 that accommodates a control unit 15 and the like described later.

[0054] The base 21 is placed on the user's back via the pair of shoulder straps 22 and the pair of armpit straps 23 .

[0055] The pair of shoulder straps 22 are provided on the upper part of the base 21 (control box 30 ). A pair of armpit straps 23 are connected to the front end portions 22 a of the pair of shoulder straps 22 .

[0056] The pair of axillary straps 23 connects the base 21 (control box 30) and the front end portions 22a of the pair of shoulder straps 22. The length of the axillary straps 23 can be adjusted. By adjusting the length of the axillary straps 23, the base 21 is brought into close contact with the back (back) BB of the user. Thus, the first attachment 11 is worn on the shoulder BS in a manner that does not move in the front-back, left-right, and up-down directions.

[0057] For example, the first attachment 11 may include a hard component as a portion hung on the shoulder BS. Although not shown, the first attachment 11 may also include a component (belt) worn on the waist BW of the user as an auxiliary portion. The waist belt is connected to the base 21.

[0058] The second mounting member 12 includes a belt-shaped member 40 and a connecting belt 42 .

[0059] The belt-like member 40 is worn on the leg BL ( Figure 2 , Figure 4 The belt-like member 40 is wound around and fixed to the user's calf BLL ( Figure 2 , Figure 4 ).

[0060] The connecting belt 42 connects the belt-shaped member 40 and the belt body 13. The belt body 13 (described later) is a member that connects the first attachment 11 and the second attachment 12.

[0061] The second mounting member 12 will be described in detail later.

[0062] The assist device 10 includes a belt 13 , an actuator 14 , a control unit 15 , a battery 37 , and a sensor 38 in addition to the first mounting member 11 and the left and right second mounting members 12 .

[0063] The belt body 13 is provided along the back side of the user. As described above, the belt body 13 connects the first attachment 11 and the second attachment 12.

[0064] The belt body 13 includes a first belt 16, a second belt 17, and a connecting member 18. The first belt 16 is provided on the upper body side of the user. The second belt 17 is provided on the lower body side of the user. The connecting member 18 connects the first belt 16 and the second belt 17.

[0065] The first belt 16 and the second belt 17 are each long and flexible. The connecting member 18 is described later, but is composed of a rectangular ring body 27 called a "flat can" or a "square can" and a fastener 28 such as a buckle.

[0066] The first belt 16 and the second belt 17 are belt-shaped members made of cloth or leather, and can be bent along the shape of the body. In addition, the first belt 16 and the second belt 17 may also be rope-shaped belts (wire-like members). The first belt 16 and the second belt 17 of the present invention are formed of non-stretchable materials. That is, the first belt 16 and the second belt 17 have the characteristics of being difficult to stretch or not stretching in the long side direction.

[0067] Alternatively, the second belt 17 may be partially made of flat rubber to have stretchability.

[0068] The actuator 14 , the control unit 15 , the battery 37 , and the sensor 38 are accommodated in a control box 30 which is a casing.

[0069] Figure 5 3 is a diagram showing the interior of the control box 30. The control box 30 includes a back panel 31 and a cover 32 covering the back panel 31. Figure 5 In FIG. 1 , the cover 32 is indicated by an imaginary line (two-dot chain line).

[0070] An opening (notch) 32a is provided at the lower end of the cover 32. The first belt 16 passes through the opening 32a.

[0071] The actuator 14 can wind up and feed out a part of the belt body 13. In other words, the actuator 14 expands and contracts the belt body 13 between the first mounting member 11 and the second mounting member 12.

[0072] The actuator 14 includes a motor 33 , a speed reducer unit 34 , and a drive pulley 35 .

[0073] The motor 33 is a brushless DC motor. The motor 33 rotates at a predetermined torque and a predetermined rotation speed based on a control command given from the control unit 15. In addition, the motor 33 can rotate forward and reverse based on the control command.

[0074] The rotation-related parameters such as the rotation angle, rotation speed or rotation speed of the motor 33 are detected by the rotation detector 36. The rotation detector 36 is provided in the motor 33. The rotation detector 36 of the present invention is a rotary encoder, but it may also be a Hall sensor or a resolver. The output of the rotation detector 36 is given to the control unit 15.

[0075] The speed reducer unit 34 is composed of a plurality of gears and reduces the speed of the motor 33 to rotate an output shaft 34 a of the speed reducer unit 34 .

[0076] The driving pulley 35 is connected to the output shaft 34 a so as to be integrally rotatable. The one end portion 16 a side of the first belt 16 is fixed to the driving pulley 35 .

[0077] When the drive pulley 35 rotates in one direction by the forward rotation of the motor 33, the first belt 16 is wound around the drive pulley 35. When the drive pulley 35 rotates in the other direction by the reverse rotation of the motor 33, the first belt 16 is fed out from the drive pulley 35.

[0078] In this way, the actuator 14 can wind up and feed out the first tape 16 which is a part of the tape body 13 .

[0079] The control unit 15 includes, for example, a computer, a drive circuit for the motor 33 , and the like.

[0080] The control unit 15 has a function of controlling the actuator 14 based on the output of the rotation detector 36 and the output of the sensor 38. The processing performed by the control unit 15 will be described later.

[0081] The sensor 38 includes, for example, a three-axis acceleration sensor, and the output of the sensor 38 is given to the control unit 15 .

[0082] The sensor 38 may be composed of a plurality of sensor units instead of being composed of a single sensor unit.

[0083] In addition, the sensor 38 may be a tilt sensor, a gyro sensor, or a combination thereof, in addition to the acceleration sensor.

[0084] In addition, the sensor 38 may also be disposed outside the control box 30 .

[0085] The battery 37 supplies electric power to the control unit 15 , the motor 33 and other parts of the auxiliary device.

[0086] [About belt 13]

[0087] As described above, the belt body 13 includes the first belt 16, the second belt 17, and the connecting member 18. The first belt 16 is wound around the driving pulley 35 at one end 16a thereof and fixed thereto. The other end 16b thereof is fixed thereto at the connecting member 18. When the first belt 16 is wound around the driving pulley 35, the connecting member 18 is pulled up. When the connecting member 18 is forcibly pulled down, the first belt 16 is unwound (pulled out) from the driving pulley 35.

[0088] There is a correlation between the winding amount or unwinding amount (pulling amount) of the first belt 16 on the driving pulley 35 and the rotation amount of the output shaft of the motor 33. Therefore, the winding amount or unwinding amount of the first belt 16 can be obtained based on the parameter related to the rotation of the motor 33.

[0089] like Figure 5 As shown, the connecting member 18 includes an annular body 27 and a fastener (buckle) 28. The fastener 28 has a first member 28a and a second member 28b. The first member 28a and the second member 28b can be separated and connected. The first member 28a is attached to the other end 16b of the first belt 16. The second member 28b and the annular body 27 are connected by a short belt 29. The second belt 17 is inserted through the annular body 27.

[0090] The second belt 17 is folded back in the annular body 27 and hung on the annular body 27. The annular body 27 supports the folded back second belt 17. Thus, the second belt 17 is supported by the annular body 27 and is not fixed to the annular body 27. Therefore, the second belt 17 can be extended in both directions ( Figure 4 Move in the direction of the arrow X).

[0091] like Figure 1 as well as Figure 2 As shown, the second belt 17 is attached to the second mounting member 12. Specifically, the second belt 17 is composed of a belt-shaped member. One end 17a of the second belt 17 is attached to the second mounting member 12 on the left side. The other end 17d of the second belt 17 is attached to the second mounting member 12 on the right side. The middle portion 17c of the second belt 17 is hung on the connecting member 18.

[0092] The second belt 17 includes, in addition to the midway portion 17c, a left leg belt portion 19 extending from the connecting member 18 (midway portion 17c) to the second mounting member 12 on the left side, and a right leg belt portion 20 extending from the connecting member 18 (midway portion 17c) to the second mounting member 12 on the right side.

[0093] As described above, since the second belt 17 is not fixed to the annular body 27, the length of the left leg belt 19 and the length of the right leg belt 20 can be freely changed. However, the total length of the left leg belt 19 and the length of the right leg belt 20 is constant. According to this structure, for example, the user's walking is not restricted by the second belt 17, and the user can walk happily.

[0094] The second belt 17 further includes a connecting member 39 . The connecting member 39 connects the left leg belt portion 19 and the right leg belt portion 20 .

[0095] By providing the connecting member 39, for example, Figure 4 As shown, when the user changes his posture from the upright posture to the forward bending posture, the left and right intervals between the left leg belt 19 and the right leg belt 20 can be prevented from becoming larger. That is, the left leg belt 19 and the right leg belt 20 can be prevented from not following the back side of the user's leg BL.

[0096] [Regarding the processing of the control unit 15]

[0097] As described above, the control unit 15 controls the actuator 14 based on the output of the rotation detector 36 and the output of the sensor 38 .

[0098] The control unit 15 can detect the user's motion or posture based on the output of the sensor 38. Therefore, the sensor 38 has a function as a detector for detecting the user's motion or posture. The postures that the control unit 15 can detect include a forward leaning posture in which the upper body leans forward, an upright posture, a squatting posture, and the like.

[0099] In addition, the winding amount and the feeding amount of the belt body 13 of the driving pulley 35 by the motor 33 are correlated with the posture of the user. Therefore, the control unit 15 can also infer the posture of the user based on the rotation angle of the motor 33 detected by the rotation detector 36. Therefore, it can be said that the rotation detector 36 is a sensor for detecting the posture and movement of the user.

[0100] The control unit 15 generates a control command based on at least one of the output of the rotation detector 36 and the output of the sensor 38, and gives the control command to the actuator 14 (motor 33). The control unit 15 controls the actuator 14. The actuator 14 is controlled according to the posture of the user.

[0101] The actuator 14 operates based on the control command to wind up and deliver the belt 13, as well as temporarily stop the belt 13, and the like.

[0102] When the assisting device 10 is worn by the user and the assisting device 10 does not generate assisting force, the control unit 15 controls the motor 33 so as to move in the direction of winding the belt 13. The control unit 15 controls the motor 33 with a torque lower than that when the assisting force is generated. Thus, a weak tension is applied to the belt 13, and the belt 13 does not sag.

[0103] For example, if the user in the upright posture starts to change his posture to the forward leaning posture, the belt 13 is subjected to tension due to the posture change. Here, the weak tension applied to the belt 13 is smaller than the tension caused by the posture change. Therefore, due to the tension of the belt 13 caused by the posture change, the motor 33 forcibly rotates the belt 13 in the delivery direction. The belt 13 is delivered regardless of the output of the actuator 14.

[0104] Alternatively, when the user in the upright posture starts to change his posture to the forward leaning posture, the actuator 14 moves the belt 13 in the feeding direction.

[0105] On the contrary, if the user in the forward leaning posture starts to change his posture toward the upright posture, the belt 13 will be loosened due to the posture change. On the other hand, the control unit 15 applies a weak tension to the belt 13, so the belt 13 is wound according to the posture change.

[0106] At this time, the control unit 15 can determine whether the user is in the process of changing his posture from the forward leaning posture to the upright posture based on at least one of the output of the rotation detector 36 and the output of the sensor 38 .

[0107] If it is determined that the user is changing his posture from the forward leaning posture to the upright posture, the control unit 15 causes the actuator 14 to generate a torque higher than the torque for generating the weak tension, generates a higher tension in the belt 13 , and winds the belt 13 .

[0108] In this way, the control unit 15 controls the torque output by the actuator 14 (motor 33 ) according to the change in the user's posture, and winds or feeds out the belt 13 .

[0109] [Regarding the assisting force of the assisting device 10]

[0110] Figure 6 This is an explanatory diagram of a case where the user wearing the assistive device 10 changes his posture. The assistive device 10 can apply an assistive force to the user in response to the change in posture.

[0111] When the first belt 16 is wound around the driving pulley 35 by the actuator 14 (the motor 33), the connecting member 18 pulls up the second belt 17 toward the actuator 14 side, that is, the upper side. Both ends 17a and 17d of the second belt 17 are attached to the left and right second mounting members 12. The second mounting member 12 is fixed to the calf BLL. 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 auxiliary force (auxiliary force) for the user.

[0112] That is, the actuator 14 generates an assist force between the first mount 11 and the second mount 12 .

[0113] The case where the user in the upright posture starts the posture change to the forward leaning posture will be described. If the posture change is started from the upright posture to the forward leaning posture, the belt 13 is sent out regardless of the output of the actuator 14. Thus, the user can easily change to the forward leaning posture.

[0114] If the forward tilt angle of the upper body of the user relative to the vertical line reaches θ, the user maintains the forward tilt posture at the forward tilt angle θ, and stops sending out (winding out) the belt 13. In addition, the start and end of the posture change can be detected by the rotation detector 36 or the sensor 38.

[0115] If the user in the forward leaning posture starts to change his posture toward the upright posture, and it is determined that the user is in the process of changing his posture from the forward leaning posture to the upright posture, the control unit 15 controls the actuator 14 in a manner that generates a higher torque than the torque used to generate the above-mentioned weaker tension, generates a higher tension through the belt 13, and winds up the belt 13.

[0116] The tension of the belt 13 generates a force F1 in the first mounting member 11 in the rear direction. That is, the force F1 is generated to pull the upper body of the user in the forward leaning position upward. At the same time, the tension generates a force F2 to push the left and right buttocks of the user forward. Thus, the user can easily return to the upright position from the forward leaning position.

[0117] By the above-described acting forces F1 and F2 , it is possible to reduce the muscle load on the back muscles, quadriceps muscles, and the like in the forward bending posture of the user, and to assist the movement of the user.

[0118] In addition, if Figure 4 As shown, when the user is in a bent posture (flexed posture) in which the upper body is bent forward and the knees are bent, the assisting device 10 can also apply an assisting force to the user. When the user changes from a bent posture to an upright posture, for example, when lifting an object or a part of the body of the person being assisted, the actuator 14 winds up the belt 13. As a result, tension is generated in the belt 13.

[0119] This tension generates a force F1 that pulls the upper body of the user in the forward leaning posture upward, and simultaneously generates a force F2 that pushes the left buttocks and the right buttocks of the user forward.

[0120] Moreover, if Figure 4 As shown, the second mounting member 12 generates a force F3 that pulls the user's knee BN backward. Such forces F1, F2, and F3 can reduce the muscle load on the back muscles and quadriceps of the user in a bent posture, thereby assisting the lifting action of the cargo.

[0121] As described above, according to the assisting device 10 of the present invention, the burden on the waist muscles in the forward bending posture can be reduced, and low back pain can be prevented.

[0122] [Regarding the second mounting member 12]

[0123] Figure 7 Yes means Figure 1 FIG. 1 is a diagram of a second mounting member 12 in FIG.

[0124] Figure 7 Although the second mounting member 12 on the left side is shown, the second mounting member 12 on the right side has the same structure.

[0125] As described above, the second mounting member 12 includes the belt-shaped member 40 and the connecting belt 42 .

[0126] The upper end portion 42a of the connecting belt 42 is connected to the second belt 17 (belt body 13). More specifically, a connector 44 is provided between the upper end portion 42a of the connecting belt 42 and one end portion 17a of the second belt 17 of the belt body 13.

[0127] The connector 44 includes a buckle and the like. The connector 44 is disposed near the back surface of the knee BN. The connector 44 includes a first member 44a and a second member 44b. The first member 44a and the second member 44b can be separated and connected.

[0128] The first member 44a is attached to the one end 17a of the second belt 17. The second member 44b is attached to the upper end 42a of the connecting belt 42. Therefore, the connector 44 connects the connecting belt 42 and the second belt 17 (belt body 13) in a detachable manner.

[0129] The connecting belt 42 includes a belt body 43. The belt body 43 is formed of a non-stretchable material. Therefore, the belt body 43 has a characteristic of not easily stretching or not stretching in the longitudinal direction.

[0130] The belt body 43 is inserted through the hole 44b1 of the second member 44b. The belt body 43 is folded back at the hole 44b1 to have a pair of belt parts 46 and 47.

[0131] The pair of belt portions 46 and 47 extend from the second member 44 b toward the belt-shaped member 40 .

[0132] The pair of belt portions 46 and 47 are connected via connecting portions 46 a and 47 a and belt end portions 46 b and 47 b.

[0133] The connecting portions 46a and 47a are connected to the second member 44b by folding back the belt body 43. The belt end portions 46b and 47b are connected to the belt-shaped member 40.

[0134] The belt-shaped member 40 is formed of a mesh material having stretchability.

[0135] The belt-shaped member 40 is a member having a rectangular outer shape.

[0136] In the following description, the direction along the long side of the belt-shaped member 40 is also referred to as the long side direction, and the direction along the short side of the belt-shaped member 40 is also referred to as the width direction. Figure 7 In the figure, the long side direction is also the left-right direction, and the width direction is also the up-down direction.

[0137] The dimension in the longitudinal direction refers to the dimension in the direction along the long side of the belt-shaped member 40 , and the dimension in the width direction refers to the dimension in the direction along the short side of the belt-shaped member 40 .

[0138] The belt-shaped member 40 has a first edge 40 a , a second edge 40 b , an upper edge 40 c , and a lower edge 40 d .

[0139] The upper edge 40c and the lower edge 40d are edges along the longitudinal direction and are parallel to each other.

[0140] The first edge 40a and the second edge 40b are edges along the width direction and are parallel to each other.

[0141] The first edge 40a is an edge on one side in the long side direction. The second edge 40b is an edge on the opposite side of the first edge 40a. The upper edge 40c connects the upper ends of the first edge 40a and the second edge 40b. The lower edge 40d connects the lower ends of the first edge 40a and the second edge 40b.

[0142] The first edge 40a, the second edge 40b, the upper edge 40c, and the lower edge 40d are connected by a smooth curved portion.

[0143] The first edge 40 a has a first upper edge 51 , a first lower edge 52 , and a first cutout portion 53 .

[0144] The first notch portion 53 is provided between the first upper edge 51 and the first lower edge 52. The first notch portion 53 notches the first edge 40a so as to be recessed from the first upper edge 51 and the first lower edge 52 toward the second edge 40b.

[0145] The second edge 40 b has a second upper edge 54 , a second lower edge 55 , and a second cutout portion 56 .

[0146] The second cutout portion 56 is provided between the second upper edge 54 and the second lower edge 55. The second cutout portion 56 cuts out the second edge 40b so as to be recessed from the second upper edge 54 and the second lower edge 55 toward the first edge 40a side.

[0147] The width dimension of the first upper edge 51 is the same as the width dimension of the second upper edge 54. The width dimension of the first lower edge 52 is the same as the width dimension of the second lower edge 55.

[0148] Furthermore, the dimension of the first lower edge 52 in the width direction and the dimension of the second lower edge 55 in the width direction are smaller than the dimension of the first upper edge 51 in the width direction and the dimension of the second upper edge 54 in the width direction.

[0149] The belt-shaped member 40 has a first surface 40f and a second surface 40s. The second surface 40s is a surface on the back side of the first surface 40f.

[0150] exist Figure 7 In FIG. 1 , the first surface 40 f side of the belt-shaped member 40 is shown.

[0151] The belt-shaped member 40 has a surface fastener 58 for locking the first edge 40 a and the second edge 40 b .

[0152] The surface joint member 58 includes an upper joint member 59 and a lower joint member 60 .

[0153] The upper engaging member 59 includes an upper male engaging member portion 59a and an upper female engaging member portion 59b.

[0154] The upper female engagement piece portion 59b is rectangular and is provided on the first surface 40f. The engaging surface of the upper female engagement piece portion 59b exposed on the first surface 40f is raised in a micro-annular shape.

[0155] The upper female engaging part 59b is arranged along the second upper edge 54. The width dimension of the upper female engaging part 59b is smaller than the width dimension between the upper edge 40c and the second cutout 56. The upper female engaging part 59b is provided in the region between the upper edge 40c and the second cutout 56 of the first surface 40f.

[0156] The upper female engagement member portion 59b is generally square in shape as a whole.

[0157] The upper male engagement piece portion 59a is rectangular and is provided on the second surface 40s.

[0158] Figure 8 It is a diagram showing the main part of the second surface 40s.

[0159] The engaging surface of the upper male engaging piece portion 59a exposed on the second surface 40s is raised in a fine hook shape.

[0160] The upper male engaging piece 59a is arranged along the first upper edge 51. The width dimension of the upper male engaging piece 59a is smaller than the width dimension between the upper edge 40c and the first cutout 53. The upper male engaging piece 59a is provided in the region between the upper edge 40c and the first cutout 53 of the second surface 40s.

[0161] The dimension of the upper male engagement piece portion 59a in the width direction is substantially the same as the dimension of the upper female engagement piece portion 59b in the width direction.

[0162] When the locking surface of the upper male engaging piece portion 59a and the locking surface of the upper female engaging piece portion 59b are brought into contact with each other, the upper male engaging piece portion 59a and the upper female engaging piece portion 59b are locked to each other.

[0163] Thus, the upper engaging member 59 locks the first upper edge 51 and the second upper edge 54 .

[0164] The lower engaging member 60 includes a lower male engaging member portion 60a and a lower female engaging member portion 60b.

[0165] like Figure 7 As shown, the lower female engagement member 60b is rectangular and is provided on the first surface 40f. The engaging surface of the lower female engagement member 60b exposed on the first surface 40f is raised in a micro-annular shape.

[0166] The lower female engaging part 60b is arranged along the second lower edge 55. The width dimension of the lower female engaging part 60b is smaller than the width dimension between the lower edge 40d and the second cutout 56. The lower female engaging part 60b is provided in the region between the lower edge 40d and the second cutout 56 of the first surface 40f.

[0167] The dimension of the lower female engagement member portion 60b in the longitudinal direction is substantially the same as the dimension of the upper female engagement member portion 59b in the longitudinal direction.

[0168] like Figure 8 As shown, the lower male engagement member portion 60a is rectangular and is disposed on the second surface 40s.

[0169] The engaging surface of the lower male engaging piece portion 60a exposed on the second surface 40s is raised in a fine hook shape.

[0170] The lower male engaging piece 60a is arranged along the first lower edge 52. The width dimension of the lower male engaging piece 60a is smaller than the width dimension between the lower edge 40d and the first cutout 53. The lower male engaging piece 60a is provided in the area between the lower edge 40d and the first cutout 53 of the second surface 40s.

[0171] The dimension of the lower male engagement member portion 60a in the longitudinal direction is substantially the same as the dimension of the upper male engagement member portion 59a in the longitudinal direction.

[0172] In addition, the dimension of the lower male engagement member 60a in the width direction and the dimension of the lower female engagement member 60b in the width direction are substantially the same.

[0173] When the locking surface of the lower male engagement piece portion 60a and the locking surface of the lower female engagement piece portion 60b are brought into contact with each other, the lower male engagement piece portion 60a and the lower female engagement piece portion 60b are locked to each other.

[0174] Thus, the lower fastener 60 locks the first lower edge 52 and the second lower edge 55 .

[0175] like Figure 7 As shown in FIG. 1 , a hole 64 is provided in the center of the width direction and the longitudinal direction of the belt-shaped member 40. The hole 64 is a hole for exposing the calf of the user when the second attachment 12 is worn on the calf BLL. The edge portion 66 of the hole 64 includes an upper edge portion 66a, a lower edge portion 66b, a right edge portion 66c, and a left edge portion 66d.

[0176] The upper edge portion 66a and the lower edge portion 66b are linear and substantially parallel to the upper edge 40c and the lower edge 40d. The lower edge portion 66b is longer than the upper edge portion 66a.

[0177] The right edge portion 66c and the left edge portion 66d connect the left and right ends of the upper edge 40c and the lower edge 40d to each other in a smooth curve.

[0178] The dimension in the width direction between the lower edge portion 66 b and the lower edge 40 d is substantially the same as the dimension in the width direction of the first lower edge 52 and the second lower edge 55 .

[0179] As described above, the pair of belt portions 46 and 47 have the belt ends 46 b and 47 b. The belt ends 46 b and 47 b are connected to the belt-shaped member 40.

[0180] The belt end 46b of the belt portion 46 of the pair of belt portions 46 and 47 is connected to the adjacent portion on the left side of the hole portion 64 in the first surface 40f. The belt end 46b is sewn in a quadrilateral shape along the edge of the belt end 46b, and is connected to the adjacent portion on the left side of the hole portion 64. The adjacent portion on the left side of the hole portion 64 is the portion (region) between the hole portion 64, the upper male engaging member portion 59a, and the lower male engaging member portion 60a when the belt-shaped member 40 is viewed from above.

[0181] The belt end 47b of the belt portion 47 of the pair of belt portions 46 and 47 is connected to the adjacent portion on the right side of the hole portion 64 in the first surface 40f. The belt end 47b is sewn in a quadrilateral shape along the edge of the belt end 47b to be connected to the adjacent portion on the right side of the hole portion 64. The adjacent portion on the right side of the hole portion 64 is a portion (region) between the hole portion 64, the upper female engaging member portion 59b, and the lower female engaging member portion 60b when the belt-like member 40 is viewed from above.

[0182] In this way, the pair of belt portions 46 and 47 connect the left and right adjacent portions of the hole portion 64 and the second belt 17 (belt body 13) located on the back side of the user.

[0183] The second attachment 12 of the above-described structure is configured such that, after the belt-shaped member 40 is wrapped around the calf portion BLL, the first edge 40 a and the second edge 40 b are locked by the surface fastener 58 .

[0184] The second attachment 12 is worn on the calf part BLL by locking the first edge 40a and the second edge 40b.

[0185] Here, the second surface 40s is wound toward the user side of the belt-shaped member 40. Therefore, the second surface 40s includes a contact surface 40t that contacts the calf part BLL of the user.

[0186] Moreover, the belt-shaped member 40 is worn so that the calf part BC of the user is exposed from the hole part 64. Thus, the belt-shaped member 40 is wrapped around the lower side of the knee part BN of the user.

[0187] Therefore, the contact surface 40 t included in the second surface 40 s extends over the entire width direction of the belt-shaped member 40 .

[0188] In addition, the upper male engaging member 59a and the lower male engaging member 60a are in contact with the upper female engaging member 59b and the lower female engaging member 60b, so they do not contact the calf part BLL. Therefore, the contact surface 40t is set in the range of the area from the second edge 40b to the front of the upper male engaging member 59a and the lower male engaging member 60a in the long side direction.

[0189] According to the above configuration, the second surface 40s of the belt-like member 40 has the contact surface 40t provided over the entire width direction of the belt-like member 40 and in contact with the user's calf BLL. Therefore, the belt-like member 40 is worn on the user's calf BLL without covering the knee BN.

[0190] Therefore, the second mounting member 12 does not hinder the flexion and extension of the knee BN. Furthermore, although the muscles of the calf BLL expand and contract, the thickness of the thigh muscles caused by the flexion and extension of the knee BN is less changed, so the positional deviation of the second mounting member 12 can be suppressed, and the auxiliary force can be efficiently applied to the user.

[0191] Furthermore, the belt-shaped member 40 of the present embodiment is provided with a hole portion 64 for exposing the calf portion BC of the user.

[0192] Therefore, when the belt-shaped member 40 is worn on the user's calf BLL, the calf BC can be exposed from the hole 64, and the hole 64 can be made to fit the bulging calf BC.

[0193] As a result, it is possible to effectively suppress positional deviation of the second mounting member 12. Furthermore, by exposing the calf portion BC, the ventilation of the calf portion BLL can be improved, and the wearing comfort of the second mounting member 12 can be improved.

[0194] In the present embodiment, the pair of belt portions 46 and 47 connect adjacent portions on the left and right sides of the hole portion 64 and the second belt 17 (belt body 13) located on the back side of the user.

[0195] Therefore, the pair of belt portions 46 and 47 extend from the left and right positions of the calf portion BC of the user, avoiding the left and right side portions of the knee portion BN, and along the back side of the thigh portion.

[0196] As a result, the pair of belt portions 46 and 47 can be prevented from contacting the left and right sides of the knee BN, which are the parts of the bones close to the skin, and the wearing comfort can be further improved without causing the user to feel pain due to the contact.

[0197] Fig. 9 2 is a diagram showing the second attachment 12 worn by the user. Fig. 9, a state in which the user's knee BN is bent is shown.

[0198] like Fig. 9 As shown, the belt end 46b is located on the left side of the user's calf BC. Fig. 9 Although not shown, the other belt end portion 47b is located on the right side of the user's calf portion BC.

[0199] Thus, the pair of belt portions 46 and 47 extend from the left and right positions of the calf portion BC of the user along the back side of the thigh portion.

[0200] At this time, the pair of belt portions 46 and 47 extend toward the back surface side so as to avoid the side portion BN1 of the knee portion BN.

[0201] Therefore, it is possible to suppress the pair of belt portions 46 and 47 from coming into contact with the left and right side portions of the knee BN, and it is possible to further improve wearing comfort without causing the user to feel pain due to the contact.

[0202] In addition, in the present embodiment, the second mounting member 12 includes the first upper edge 51, the upper engaging member 59 engaged with the second upper edge 54, the first lower edge 52, and the lower engaging member 60 engaged with the second lower edge 55. Therefore, the degree of tightening of the calf portion BLL can be adjusted independently by the upper engaging member 59 and the lower engaging member 60.

[0203] Furthermore, since the second mounting member 12 has the first notch portion 53 and the second notch portion, it becomes easier to independently adjust the degree of fastening of both the upper fastener 59 and the lower fastener 60 .

[0204] In particular, the first lower edge 52 and the second lower edge 55 are located near the lower portion of the calf portion BC, so the first lower edge 52 and the second lower edge 55 are more strongly fastened by the lower fastener 60, so that the lower portion of the calf portion BC can be more strongly fastened around the belt-like component 40, and the upward positional deviation of the second mounting component 12 can be effectively suppressed.

[0205] Furthermore, in the present embodiment, the dimension of the first lower edge 52 in the width direction and the dimension of the second lower edge 55 in the width direction are smaller than the dimension of the first upper edge 51 in the width direction and the dimension of the second upper edge 54 in the width direction.

[0206] Therefore, when the first lower edge 52 and the second lower edge 55 are fastened, the fastening width of the belt-shaped member 40 around the lower portion of the calf portion BC can be narrowed, and the fastening surface pressure around the lower portion of the calf portion BC can be increased. As a result, the second mounting member 12 can be more effectively prevented from shifting upward.

[0207] Furthermore, in the present embodiment, the dimension in the width direction between the lower edge portion 66 b and the lower edge 40 d is substantially the same as the dimension in the width direction of the first lower edge 52 and the second lower edge 55 .

[0208] Therefore, the portion between the lower edge portion 66b and the lower edge 40d, the first lower edge 52, and the second lower edge 55 can function as one thin band, and the fastening surface pressure around the lower portion of the calf portion BC can be further increased.

[0209] In addition, in the present embodiment, the connecting belt 42 is formed of a non-stretchable material. Therefore, the transmission loss of the tension of the belt body 13 can be reduced, and the auxiliary force can be applied to the user more efficiently.

[0210] On the other hand, since the belt-shaped member 40 is formed of a stretchable mesh material, it is possible to allow the expansion and contraction of the muscles of the calf part BLL, and to alleviate the pressure exerted on the user.

[0211] Furthermore, by using a mesh material, the breathability of the calf part BLL can be further improved.

[0212] In addition, in the present embodiment, the surface fastener 58 is provided so that the first edge 40a is located on the inner side of the calf when the belt-shaped member 40 is worn by the user.

[0213] Therefore, when the user wears the assist device 10 and performs work, it is possible to suppress the first edge 40a from coming into contact with an object around the user and causing the engagement of the surface fastener 58 to be disengaged or relaxed.

[0214] 〔other〕

[0215] The embodiments disclosed this time are illustrative in all aspects and are not restrictive.

[0216] For example, in the above embodiment, the belt-shaped member 40 is provided with the hole 64, but the belt-shaped member 40 may be configured without providing the hole 64. However, as described above, if the hole 64 is provided, the positional deviation of the second attachment 12 can be effectively suppressed, and on this basis, the ventilation of the calf BLL can be improved.

[0217] In addition, in the above-mentioned embodiment, although the case where the connection belt 42 has a pair of belt portions 46 and 47 is exemplified, the connection belt 42 may be constituted by a single belt portion.

[0218] In addition, in the above-described embodiment, although the case where the surface fastener 58 includes the upper fastener 59 and the lower fastener 60 is exemplified, the surface fastener 58 may be constituted by a single surface fastener.

[0219] The protection scope of the present invention is not limited to the above-mentioned embodiments, but includes all changes within the scope equivalent to the structures described in the technical solutions.

[0220] Description of Reference Numerals

[0221] 10…Auxiliary devices

[0222] 11…First mounting piece

[0223] 12…Second mounting piece

[0224] 13…with body

[0225] 14…Actuator

[0226] 40...Strip parts

[0227] 40a…First Edge

[0228] 40b…Second Edge

[0229] 40t…Contact surface

[0230] 42…Link belt

[0231] 46…Belt

[0232] 46a…Connection

[0233] 46b…with end

[0234] 47…Belt

[0235] 47a…Connection

[0236] 47b…with end

[0237] 51…First upper edge

[0238] 52…First lower edge

[0239] 53…First incision

[0240] 54…Second upper edge

[0241] 55…Second lower edge

[0242] 56…Second incision

[0243] 58…Surface joints

[0244] 59…Upper joint

[0245] 60...Lower joint

[0246] 64…hole part.

Claims

1. An auxiliary device comprising: A first mounting member, which is worn on at least one of the shoulder and chest of the user; A second mounting member, which is worn on the left and right legs of the user; a belt body extending over the first attachment and the second attachment and arranged along the back of the user; and an actuator capable of winding and delivering a portion of the strip, The second mounting member comprises: a belt-like member wound around and fixed to the leg; and a connecting belt connecting the belt body and the belt-shaped member, One surface of the belt-shaped member has a contact surface that is provided over the entire width direction of the belt-shaped member and that comes into contact with the calf of the user.

2. The auxiliary device according to claim 1, wherein: The belt-shaped member is provided with a hole for exposing the calf of the user.

3. The auxiliary device according to claim 2, wherein: The connecting belt has a pair of belt parts. Each of the pair of belt portions has: A connecting portion connected to the belt body; and The belt end connected to the belt-shaped member, The pair of belt ends included in the pair of belt portions are connected to left and right adjacent portions of the hole portion of the belt-shaped member.

4. The auxiliary device according to claim 1 or 2, wherein: The belt-shaped member includes a surface fastener that locks a first edge in the longitudinal direction of the belt-shaped member and a second edge on the opposite side of the first edge.

5. The auxiliary device according to claim 4, wherein: The first edge includes: a first upper edge, a first lower edge, and a first cutout portion disposed between the first upper edge and the first lower edge. The second edge includes: a second upper edge, a second lower edge, and a second cutout portion disposed between the second upper edge and the second lower edge. The surface joint part has: an upper engaging member, which locks the first upper edge and the second upper edge; and The lower engaging member locks the first lower edge and the second lower edge.

6. The auxiliary device according to claim 5, wherein: A dimension of the first lower edge in the width direction and a dimension of the second lower edge in the width direction are smaller than a dimension of the first upper edge in the width direction and a dimension of the second upper edge in the width direction.

7. The auxiliary device according to claim 1 or 2, wherein: The connecting belt is formed of a non-stretchable material. The belt-shaped member is formed of a stretchable material.

8. The auxiliary device according to claim 7, wherein: The stretchable material is a mesh material.

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