Frame system and system

Abstract

This frame system is provided with a first fixed frame, a second fixed frame, a movable frame, and a moving unit. The first fixed frame and the second fixed frame extend in a first direction. The movable frame is supported by the first fixed frame and the second fixed frame, and extends in a second direction crossing the first direction. The first fixed frame is provided with an endless first belt and a first acceleration means configured to accelerate the movement of the first belt. The movable frame is configured such that one end thereof is connected to the first belt so as to move along the first fixed frame and the second fixed frame according to the movement of the first belt.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a frame system and a system. BACKGROUND

[0002] In recent years, in the field of rehabilitation and the like, a BWSTT (Body Weight Supported Treadmill Training) that performs walking training while reducing at least a part of the body weight of a user is known. On a treadmill, the environment of training is limited. Therefore, in order to improve the adaptability to various ground walking scenes in daily life, development of a mobile weight reduction system is being performed.

[0003] For example, in Non-Patent Literature 1, a wire system for supporting a user from four directions is proposed. Specifically, the wire system proposed in Non-Patent Literature 1 is provided with a pair of rails. Two cars are arranged at intervals on each rail. Each car moves along the rail. Four cables are connected to the corresponding car and the mounting harness of the user, respectively. Thereby, the user is supported by four cables.

[0004] Further, for example, Non-Patent Literature 2 proposes a frame system (general-purpose core frame) for movably supporting a weight reduction device. Specifically, the frame system proposed in Non-Patent Literature 2 is provided with a pair of fixed frames and a movable frame. The movable frame is supported by the pair of fixed frames in a movable manner. A moving unit is installed on the movable frame. The moving unit is configured to be movable along the movable frame. The weight reduction device is installed on the moving unit. According to the system proposed in Non-Patent Literature 1 and Non-Patent Literature 2, the user can perform walking training even without a treadmill.

[0005] PRIOR ART DOCUMENTS

[0006] PATENT LITERATURE

[0007] Patent Literature 1: International Publication No. 2020 / 246587

[0008] Patent Literature 2: Japanese Patent Application Publication No. 2016-061302

[0009] NON-PATENT LITERATURE

[0010] Non-Patent Literature 1: M. Plooij, U. Keller, B. Sterke, S. Komi, H. Vallery, and J. von Zitzewitz, “Design of RYSEN: An Intrinsically Safe and Low-Power Three-Dimensional Overground Body Weight Support,” [Online], IEEE Robot. Autom. Lett., vol. 3, no. 3, pp. 2253-2260, July 2018. [Retrieved on September 4, 2023], Internet <URL: http: / / ieeexplore.ieee.org / document / 8307350 / >

[0011] Non-Patent Literature 2: Inter Reha Corporation, “Unweighting Device,” [Retrieved on September 4, 2023], Internet <URL: https: / / www.irc-web.co.jp / unweightingsystem>

[0012] Non-Patent Literature 3: A. Takai, T. Teramae, T. Noda, K. Ishihara, J.-i. Furukawa, H. Fujimoto, M. Hatakenaka, N. Fujita, A. Jino, Y. Hiramatsu, I. Miyai, and J. Morimoto, “Development of split-force-controlled body weight support (SF-BWS) robot for gait rehabilitation,” Front. Hum. Neurosci., vol. 17, p. 1197380, July 2023, [Retrieved on September 4, 2023], Internet <URL: https: / / www.frontiersin.org / articles / 10.3389 / fnhum.2023.1197380 / full> SUMMARY

[0013] PROBLEMS TO BE SOLVED BY THE INVENTION

[0014] The inventors of the present application found that the following problem exists in the existing systems. That is, in the wire system proposed in Non-Patent Literature 1, since a configuration of suspending from four directions using wires is adopted, a high ceiling is required. Therefore, in small- and medium-sized facilities where the ceiling is low, it is difficult to use the wire system. On the other hand, the frame system proposed in Non-Patent Literature 2 can also be used in facilities where the ceiling is low. Therefore, in order to introduce a load reduction system regardless of the size of the facility, it is preferable to adopt such a frame system. However, in this frame system, the larger the moving range of the moving unit, the longer the length of the movable frame. The longer the length of the movable frame, the heavier the weight of the movable frame, and a problem that the mobility (ease of movement) of the movable frame is impaired occurs. Furthermore, the occurrence of this problem is not limited to load reduction systems. This problem occurs in all scenes where any device other than a load reduction device is used in a frame system.

[0015] The present disclosure is accomplished in one aspect with this in mind, and aims to provide a technology for improving the mobility of a movable frame in a frame system.

[0016] Approach for solving the problem

[0017] The present disclosure adopts the following structure in order to solve the above-described problem. Furthermore, the structures of the following inventions can be appropriately combined.

[0018] The frame system of one aspect of the present disclosure has a first fixed frame, a second fixed frame, a movable frame, and a moving unit. The first fixed frame extends in a first direction. The first fixed frame has a first output pulley, a first auxiliary pulley, a first endless belt, and a first speed increasing unit. The first output pulley is disposed at one end portion of the first fixed frame. The first auxiliary pulley is disposed at the other end portion of the first fixed frame. The first belt is stretched between the first output pulley and the first auxiliary pulley. The first speed increasing unit is configured to input a driving force of a first actuator, output the input driving force to the first output pulley, and thereby increase the speed of movement of the first belt. The second fixed frame extends in the first direction and is disposed in parallel with the first fixed frame. The movable frame is supported by the first fixed frame and the second fixed frame, and extends in a second direction that intersects the first direction. The movable frame is configured to move along the first fixed frame and the second fixed frame in accordance with the movement of the first belt by being linked to the first belt at one end portion. The moving unit is supported by the movable frame and is configured to move along the movable frame.

[0019] In this frame system, a first speed-increasing unit is provided in the first fixed frame. The first speed-increasing unit increases the speed of movement of the first belt by outputting the driving force of the first actuator to the first output pulley. One end of the movable frame is connected to this first belt. Therefore, the speed increase by the first speed-increasing unit is transmitted to the movable frame via the first belt, thereby enabling the movable frame to move easily in the first direction. Thus, according to this structure, the mobility of the movable frame in the frame system can be improved. Furthermore, improving the mobility of the movable frame is equivalent to improving the mobility of the moving unit in the first direction. Any device can be installed on the moving unit.

[0020] In one aspect of the frame system described above, the second fixed frame may have a second output pulley, a second auxiliary pulley, an annular second belt, and a second speed-increasing unit. The second output pulley may be disposed at one end of the second fixed frame. The second auxiliary pulley may be disposed at the other end of the second fixed frame. The second belt may be mounted between the second output pulley and the second auxiliary pulley. The second speed-increasing unit may be configured to receive the driving force input from the second actuator and output the driving force input from the second actuator to the second output pulley, thereby increasing the speed of movement of the second belt. Furthermore, the other end of the movable frame may be connected to the second belt. According to this structure, by providing speed-increasing units on both sides of the first fixed frame and the second fixed frame, the speed-increasing force via the belt can be transmitted to the ends of both sides of the movable frame. As a result, the generation of rotational loads when transmitting speed-increasing forces from each belt to each end of the movable frame can be suppressed, thereby improving the mobility of the movable frame. That is, the movable frame can move smoothly.

[0021] In one aspect of the aforementioned framework system, the movable frame may also include a third output pulley, a third auxiliary pulley, an annular third belt, and a third speed-increasing unit. The third output pulley may be located at one end and the other end of the movable frame. The third auxiliary pulley may be located at the other end of the movable frame. The third belt may be positioned between the third output pulley and the third auxiliary pulley. The third speed-increasing unit may be configured to receive the driving force input from the third actuator and output the driving force input from the third actuator to the third output pulley, thereby increasing the speed of movement of the third belt. Furthermore, the moving unit may be connected to the third belt. According to this structure, by also providing a speed-increasing unit in the movable frame, the mobility of the moving unit in the second direction can be improved.

[0022] In one aspect of the framework system described above, the moving unit may also include: a base portion having a cavity open in the vertical direction, configured to supply a plurality of linear structures, including a first linear structure and a second linear structure, from above the cavity to below the vertical; and a rotating unit configured to rotate around the cavity in the vertical direction. The rotating unit may include: a first moving portion disposed outside the cavity, configured to rotate and move in the vertical direction according to the rotation of the rotating unit; and a second moving portion disposed outside the cavity in the vertical direction, raised off the ground from the first moving portion, configured to rotate and move in the vertical direction according to the rotation of the rotating unit while maintaining its positional relationship with the first moving portion. The first moving portion may include a first holding portion configured to hold a coiled first end portion, which is formed by the first linear structure hanging downwards from the cavity and then winding upwards, the first linear structure further hanging downwards from the first end portion. The second moving part may include a second holding part configured to hold a curled second end, which is formed by a second linear structure hanging down vertically from the cavity and then winding up vertically, and the second linear structure hanging down vertically further from the second end.

[0023] Depending on the device used in the mobile unit, it is sometimes required to supply any linear structures such as power cables, communication cables, Bowden cables, and air pipes to the lower part of the mobile unit. In this structure, by providing a cavity in the base portion, multiple linear structures can be supplied in a state where they are gathered below the mobile unit. This makes it easy to wind multiple linear structures. Furthermore, if multiple linear structures are supplied in a gathered state as is, the linear structures become entangled with each other, making it difficult to assemble each linear structure while maintaining its separation. In particular, when rotation is permitted, the linear structures become entangled with each other and are difficult to separate. In contrast, in this structure, in the rotating unit, the first moving part and the second moving part are arranged separately in the circumferential direction. After the first and second linear structures are formed into coils, they are held by the first and second moving parts and wound in a manner that hangs vertically downward. By separating the first and second moving parts, the separated state of the first and second linear structures can be maintained. Furthermore, even when the rotating unit rotates about the vertical direction (i.e., even when rotating around the vertical axis), each linear structure only has excess material in the curled portion, thus suppressing the effect of rotation on the portions hanging down from each moving part. In other words, by the effect of the curled portion on the rotation, the portion of each linear structure that is forward of each moving part is not affected by the curling and can rotate while maintaining separation. Therefore, according to this structure, even if multiple linear structures are supplied to the lower part of the moving unit in a separated state and rotated about the vertical direction, this separated state can be maintained. Furthermore, the linear structure can be any linear object capable of wiring or piping. For example, the linear structure can be a cable, pipe, etc. The type of cable and pipe can be appropriately selected according to the embodiment.

[0024] In one aspect of the framework system described above, the rotating unit may further include: a central portion supported on a base portion in a manner rotatable about the vertical direction, and having a hollow portion with an opening in the vertical direction communicating with a cavity in the base portion; a first arm portion extending from the central portion vertically downward or obliquely downward relative to the vertical direction, connecting the central portion and the first moving portion; and a second arm portion extending from the central portion vertically downward or obliquely downward relative to the vertical direction, connecting the central portion and the second moving portion. A retaining portion for holding the linear structure is provided in the moving portion. Therefore, the load caused by the linear structure acts on the moving portion. In this structure, the moving portion is positioned lower than the rotating portion (central portion). Thus, when shifting to one side, the other side can act as a stop. Furthermore, the rotational stability can be improved through the center of gravity stabilization effect.

[0025] In one aspect of the framework system described above, the moving unit may also include: a base portion having a cavity opening in the vertical direction, configured to supply the linear structure from above the cavity downwards; and a rotating unit configured to rotate around the cavity in the vertical direction. The rotating unit may also include a moving portion disposed outside the cavity, configured to rotate and move in the vertical direction according to the rotation of the rotating unit. Alternatively, the moving portion may include a holding portion configured to hold a curled end formed by the linear structure hanging downwards from the cavity and then winding upwards, with the linear structure further hanging downwards from the end. In this structure, the curled portion acts on the rotating winding, thereby allowing the portion of the linear structure forward of the moving portion to rotate without being affected by the winding. Thus, even linear structures that are difficult to twist can be rotated.

[0026] In the framework system described above, the first actuator can be a variable stiffness actuator. According to this structure, impedance control is possible in the first direction.

[0027] In the framework system described above, the variable stiffness actuator can be composed of a pair of artificial muscles. These artificial muscles are capable of continuously outputting a relatively large force with low energy. Therefore, according to this structure, energy consumption during maintenance can be suppressed. Furthermore, the more the artificial muscles contract, the weaker the force. Therefore, according to this structure, the output of the movable frame decreases when it reaches the end, thus reducing the force contacting the end.

[0028] In one aspect of the framework system described above, each artificial muscle may include: a wire for inputting driving force to the first speed-increasing unit; a stopper configured to transmit the driving force to the wire when each artificial muscle contracts in the direction of pulling the wire; and an elastic member configured to maintain the tension of the wire when each artificial muscle relaxes and the stopper disengages. In this structure, when the wire is stretched, the movement of the wire is stopped by the action of the stopper. On the other hand, when the wire is pulled back, the stopper disengages, thereby allowing the wire to move freely, and the tension of the wire is maintained by the elastic member. Thus, the movable frame can be moved freely within a certain range by hand. That is, in the frame system, a range of free movement relative to a first direction can be set.

[0029] In the framework system described above, each artificial muscle can be a hydrodynamic artificial muscle. Based on this structure, the system is easy to construct.

[0030] Furthermore, when employing a structure with a second speed-increasing unit mounted on a second fixed frame, the second actuator can also be configured in the same way as the first actuator. That is, in one example, the second actuator can be a variable-rigidity actuator. In one example, the variable-rigidity actuator of the second actuator can be composed of a pair of artificial muscles. In one example, each artificial muscle of the second actuator can be configured to include the aforementioned wire, stop, and elastic member. In one example, each artificial muscle of the second actuator can be a hydrodynamic artificial muscle.

[0031] In the framework system described above, when a structure is adopted in which a third speed-increasing unit is provided in the movable frame, the third actuator can be a variable stiffness actuator. According to this structure, impedance control can be performed in the second direction. Furthermore, the third actuator can also be configured in the same way as the first actuator described above. That is, in one example, the variable stiffness actuator of the third actuator can be composed of a pair of artificial muscles. In one example, each artificial muscle of the third actuator can be configured to include the aforementioned wire, stop, and elastic member. In one example, each artificial muscle of the third actuator can be a hydrodynamic artificial muscle.

[0032] In the framework system described above, a load-reducing device can be installed on the moving unit. According to this structure, in scenarios utilizing the load-reducing device, the mobility of the movable frame can be improved.

[0033] In the framework system described above, the load-reducing device can be installed on the moving unit. Furthermore, the moving unit may include a base portion and a rotating unit. The base portion has a cavity open in the vertical direction. The base portion is configured to allow multiple linear structures of the load-reducing device, including a first linear structure and a second linear structure, to pass through the cavity from above the vertical and to supply the linear structures to below the vertical. The rotating unit is configured to rotate around the cavity in the vertical direction. The rotating unit may include: a first moving portion disposed outside the cavity, configured to rotate and move about the vertical direction according to the rotation of the rotating unit; and a second moving portion disposed outside the cavity, about the vertical direction, and ground-free from the first moving portion, configured to rotate and move about the vertical direction according to the rotation of the rotating unit while maintaining its positional relationship with the first moving portion. The first moving part may include a first holding part configured to hold a coiled first end, which is formed by a first linear structure that hangs down vertically from the cavity and then winds upward vertically. The first linear structure hangs further down vertically from the first end on one side facing the user of the weight-reducing device. The second moving part may include a second holding part configured to hold a coiled second end, which is formed by a second linear structure that hangs down vertically from the cavity and then winds upward vertically. The second linear structure hangs further down vertically from the second end on the other side facing the user. According to this structure, even if the multiple linear structures of the weight-reducing device are supplied to the user in a separate state and rotated about the vertical direction, this separated state can be maintained. It should be noted that each linear body of the weight-reducing device can be a cable that supports the left and right sides of the user respectively.

[0034] In one aspect of the framework system described above, a robotic arm may be mounted on the moving unit. According to this structure, the mobility of the movable frame can be improved when the robotic arm is used.

[0035] In one aspect of the aforementioned framework system, a robotic arm may be mounted on the moving unit. Furthermore, the movable frame may include a third output pulley, a third auxiliary pulley, an annular third belt, and a third speed-increasing unit. The third output pulley may be disposed at one end and the other end of the movable frame. The third auxiliary pulley may be disposed at the other end of the movable frame. The third belt may be positioned between the third output pulley and the third auxiliary pulley. The third speed-increasing unit may be configured to receive the driving force input from a third actuator and output the driving force input from the third actuator to the third output pulley, thereby increasing the speed of movement of the third belt. The moving unit may be connected to the third belt. According to this structure, the mobility of the robotic arm in both the first and second directions can be improved.

[0036] In the framework system described above, the robotic arm can be mounted on the moving unit via a balancer. From a convenience point of view, it is preferable to move the robotic arm vertically upward during movement and to lower it vertically downward during use. According to this structure, the vertical movement is facilitated by the balancer. This improves convenience.

[0037] In addition, in one aspect of this disclosure, a system can be constructed by using multiple frame systems involved in any of the above aspects. For example, the system of one aspect of this disclosure may include a first frame system disposed in a first space and a second frame system disposed in a second space adjacent to the first space. Each frame system may include a first fixed frame, a second fixed frame, a movable frame, and a moving unit. The first fixed frame of each frame system may extend in a first direction. The first fixed frame of each frame system may include a first output pulley, a first auxiliary pulley, an annular first belt, and a first speed-increasing unit. In each frame system, the first output pulley may be disposed at one end of the first fixed frame. The first auxiliary pulley may be disposed at the other end of the first fixed frame. The first belt may be mounted between the first output pulley and the first auxiliary pulley. The first speed-increasing unit may be configured to receive the input of the driving force of a first actuator and output the input driving force to the first output pulley, thereby increasing the speed of movement of the first belt. The second fixed frame of each frame system may extend along the first direction and be disposed side by side with the first fixed frame. The movable frame of each frame system may be supported by the first fixed frame and the second fixed frame and may extend in a second direction intersecting the first direction. Each frame system's movable frame can be configured to connect to a first belt at one end, thereby moving along a first fixed frame and a second fixed frame according to the movement of the first belt. Each frame system's moving unit can be configured to be supported by the movable frame and move along it. The first frame system and the second frame system can be configured such that, at least one of the boundaries of the first space and the second space, and in the vicinity of those boundaries, a load-bearing device can be installed at a distance between the moving units of both the first frame system and the second frame system. According to this structure, the mobility of the movable frame in each frame system can be improved. Furthermore, since the first frame system and the second frame system are configured at the aforementioned distance, the load-bearing device can be used continuously in both the first space and the second space.

[0038] In the system described above, the first space and the second space can be arbitrarily selected. In one example, one of the first space and the second space can be a bathroom. According to this example, a burden-reducing device can be used in the bathroom. Thus, it is expected that the burden on the caregiver in the bathroom can be reduced.

[0039] The effects of the invention

[0040] According to this disclosure, techniques can be provided for improving the mobility of movable frames in a frame system. Attached Figure Description

[0041] Figure 1 An example of the framework system of the implementation is illustrated schematically.

[0042] Figure 2A An example of a first fixed frame in an embodiment is shown schematically.

[0043] Figure 2B An example of the state of the first fixed frame (second fixed frame) of the embodiment is shown schematically from a lateral perspective.

[0044] Figure 2C This is a diagram illustrating the impedance control performed by the speed-increasing unit of the fixed frame in the implementation method.

[0045] Figure 3 An example of a movable frame in an embodiment is shown schematically.

[0046] Figure 4A This is a perspective view schematically showing an example of the movable frame and the support portion of the first fixed frame of the embodiment.

[0047] Figure 4B This is a partial cross-sectional view schematically illustrating an example of the movable frame and the support portion of the first fixed frame of the embodiment.

[0048] Figure 4C This is a partial cross-sectional view schematically illustrating an example of the movable frame and the support portion of the second fixed frame of the embodiment.

[0049] Figure 5A This is a perspective view schematically illustrating an example of a movable unit in an embodiment.

[0050] Figure 5B This is a partial cross-sectional view schematically illustrating an example of a movable unit in an embodiment.

[0051] Figure 6 An example of the schematic structure of an artificial muscle according to an embodiment is shown.

[0052] Figure 7 An example of the hardware structure of the control device in an embodiment is shown schematically.

[0053] Figure 8 An example of the software structure of the control device in an embodiment is illustrated schematically.

[0054] Figure 9 This is a flowchart illustrating an example of the processing sequence of the control device in an implementation method.

[0055] Figure 10 An example of other types of frames (a first fixed frame, a second fixed frame, and a movable frame) is shown schematically.

[0056] Figure 11A This illustration shows an example of another scenario using the framework system of this disclosure.

[0057] Figure 11B This is a perspective view schematically illustrating an example of the winding of a linear structure in a movable unit of the present disclosure.

[0058] Figure 11C This is a partial cross-sectional view schematically illustrating an example of the winding of a linear structure in a movable unit of the present disclosure.

[0059] Figure 12 This illustration shows an example of another scenario using the framework system of this disclosure.

[0060] Figure 13 This illustration shows an example of another scenario using the framework system of this disclosure.

[0061] Figure 14 This is a flowchart illustrating another example of the processing sequence of the control device of this disclosure.

[0062] Figure 15 An example of the system disclosed herein is illustrated schematically.

[0063] Figure 16A This illustration schematically depicts an example of a scenario in which a user of the load-reducing device moves from a first space to a second space within the system disclosed herein.

[0064] Figure 16B This illustration schematically depicts an example of a scenario in which a user of the load-reducing device moves from a first space to a second space within the system disclosed herein.

[0065] Figure 17 This schematically illustrates one example of the approximate structure of another type of artificial muscle.

[0066] Figure 18 An example of force control according to this disclosure is illustrated schematically.

[0067] Figure 19A This indicates the result of the first experimental case.

[0068] Figure 19B This indicates the result of the first experimental case.

[0069] Figure 20A This indicates the result of the second experimental case.

[0070] Figure 20B This indicates the result of the second experimental case. Detailed Implementation

[0071] Hereinafter, an embodiment of one aspect of the present invention (hereinafter also referred to as "this embodiment") will be described based on the accompanying drawings. However, the embodiment described below is merely an example of the present invention in all respects. Of course, various modifications and variations can be made without departing from the scope of the present invention. That is, when implementing the present invention, a specific structure corresponding to the embodiment may be appropriately adopted. The shape, material, structure, and other properties of the constituent elements described in this embodiment may be appropriately changed according to the embodiment. In addition, the data appearing in this embodiment is described using natural language, but more specifically, it is specified by pseudo-language, instructions, parameters, machine language, etc., that can be recognized by a computer.

[0072] §1 Structural Examples

[0073] Figure 1 An example of the frame system ST of this embodiment is schematically shown. The frame system ST of this embodiment includes a first fixed frame 10, a second fixed frame 20, a movable frame 30, and a moving unit 40.

[0074] In one example, the first fixing frame 10 extends along a first direction (x-direction) and is formed with a generally rectangular cross-section. The second fixing frame 20 also extends along the first direction (x-direction) and is formed with a generally rectangular cross-section. The second fixing frame 20 is arranged side-by-side with the first fixing frame 10. The length of each fixing frame (10, 20) can be appropriately determined according to the implementation method. Figure 1 In the example, the first fixed frame 10 and the second fixed frame 20 are approximately the same length. However, the length of each fixed frame (10, 20) is not limited to this example; one of the first fixed frame 10 and the second fixed frame 20 may be longer than the other. The material of each fixed frame (10, 20) may be appropriately selected according to the implementation method.

[0075] The movable frame 30 extends in a second direction (y-direction) intersecting the first direction, and is formed with a generally rectangular cross-section. The movable frame 30 is supported by a first fixed frame 10 and a second fixed frame 20, enabling it to move along the first fixed frame 10 and the second fixed frame 20 (i.e., in the first direction). The length of the movable frame 30 can be appropriately determined according to the embodiment. The moving unit 40 is supported by the movable frame 30. The moving unit 40 is configured to move along the movable frame 30. The materials of the movable frame 30 and the moving unit 40 can be appropriately selected according to the embodiment. In one example of this embodiment, a load-bearing device 60 can be installed on the moving unit 40. Figure 1 An example scenario is envisioned where the framework system ST of this disclosure is used in conjunction with the load reduction device 60.

[0076] The first fixed frame 10 and the second fixed frame 20 can be properly fixed. Figure 1 In this example, the frame system ST also includes four pillars (first pillar 55, second pillar 56, third pillar 57, and fourth pillar 58). Each pillar 55-58 is configured as a support and is fixed by being clamped between the floor and the ceiling. Each end of the first fixed frame 10 is appropriately fixed near the ceiling of each of the first pillar 55 and the second pillar 56. Similarly, each end of the second fixed frame 20 is appropriately fixed near the ceiling of each of the third pillar 57 and the fourth pillar 58. Thus, the first fixed frame 10 and the second fixed frame 20 are fixed at approximately the same height.

[0077] In addition, Figure 1 In the example, the frame system ST also includes a third fixed frame 51 and a fourth fixed frame 52. The third fixed frame 51 and the fourth fixed frame 52 extend along a second direction (y-direction) and are formed with approximately rectangular cross-sections. The lengths of the third fixed frame 51 and the fourth fixed frame 52 are approximately the same as those of the movable frame 30. The third fixed frame 51 is erected between the second support column 56 and the third support column 57 at approximately the same height as the first fixed frame 10 and the second fixed frame 20. Each end of the third fixed frame 51 is fixed to the second support column 56 and the third support column 57, respectively. Thus, the third fixed frame 51 connects one end of the first fixed frame 10 and the second fixed frame 20 to each other. Similarly, the fourth fixed frame 52 is erected between the first support column 55 and the fourth support column 58 at approximately the same height as the first fixed frame 10 and the second fixed frame 20. Each end of the fourth fixed frame 52 is fixed to the first support column 55 and the fourth support column 58, respectively. Thus, the fourth fixed frame 52 fixes the other end of the first fixed frame 10 and the second fixed frame 20 to each other. By using the third fixing frame 51 and the fourth fixing frame 52 to fix the ends of the first fixing frame 10 and the second fixing frame 20 to each other, it is possible to suppress the expansion of the first fixing frame 10 and the second fixing frame 20 in the second direction.

[0078] Furthermore, in the figures, for ease of explanation, the "x-direction" represents the first direction, the "y-direction" represents the second direction, and the "z-direction" represents the vertical direction. However, the correspondence between these directions is merely illustrative and can be appropriately modified according to the implementation method. For example, the relationship between the first and second directions can be interchanged (e.g., the first direction could be the y-direction, and the second direction could be the x-direction). The first and second directions are preferably horizontal, but as long as the movable frame 30 can move, the first and second directions can also be inclined relative to the vertical direction.

[0079] Furthermore, the first fixed frame 10 and the second fixed frame 20 are preferably configured side by side by means of the first fixed frame 10 and the second fixed frame 20 being parallel. However, as long as the movable frame 30 can move, the side-by-side configuration is not limited to this example, and may also include the case where the first fixed frame 10 and the second fixed frame 20 are configured at an angle.

[0080] Furthermore, the intersection of the first and second directions is preferably formed by the first and second directions being orthogonal (i.e., the angle at which the first and second directions intersect is a right angle). However, as long as the movable frame 30 can move, the intersection of the first and second directions is not limited to this example, and may also include the first and second directions intersecting at an acute or obtuse angle.

[0081] [First Fixed Frame / Second Fixed Frame]

[0082] Figure 2A An example of the first fixed frame 10 of this embodiment is shown schematically. Figure 2B The diagram schematically illustrates an example of the state of the first fixed frame 10 (second fixed frame 20) of this embodiment as viewed laterally. In one example, the first fixed frame 10 includes a first output pulley 11, a first auxiliary pulley 12, an annular first belt 13, and a first speed-increasing unit 14.

[0083] The first output pulley 11 is disposed at one end 101 of the first fixed frame 10. The first auxiliary pulley 12 is disposed at the other end 102 of the first fixed frame 10. The diameters of the first output pulley 11 and the first auxiliary pulley 12 can be appropriately determined according to the embodiment. In one example, the diameters of the first output pulley 11 and the first auxiliary pulley 12 can be the same. Furthermore, in... Figure 1 In this example, the first output pulley 11 can be housed together with the first speed-increasing unit 14 in the housing 140, and the first auxiliary pulley 12 can be housed in the housing 121. Alternatively, the housings (121, 140) can be omitted.

[0084] The first belt 13 is installed between the first output pulley 11 and the first auxiliary pulley 12. Figure 2A and Figure 2BIn this example, the first belt 13 is exposed between the housings (121, 140). A tensioner 131 is provided near the outlet of the housing 121 of the first auxiliary pulley 12 to press the first belt 13 from below. Additionally, a pair of tensioners (132, 133) are provided vertically near the outlet of the housing 140 of the first output pulley 11. These tensioners 131-133 maintain the tension of the first belt 13 spanning between the first output pulley 11 and the first auxiliary pulley 12. However, the method of maintaining the tension of the first belt 13 is not limited to this example and can be appropriately changed according to the embodiment. Furthermore, the state of the first belt 13 is not limited to this example and can be appropriately selected according to the embodiment. In another example, the first belt 13 may be entirely contained or entirely exposed. In this embodiment, the first belt 13 is disposed on the outside of the first fixed frame 10 (specifically, on the side opposite to the side where the movable frame 30 is disposed). This configuration of the first belt 13 can be appropriately changed according to the embodiment.

[0085] Furthermore, each end (101, 102) merely indicates the area where the first belt 13 is mounted, and the first fixing frame 10 may also have a shape that extends further from each end (101, 102). That is, positioning the first output pulley 11 at one end 101 can mean positioning the first output pulley 11 relative to the first auxiliary pulley 12 at one end. Positioning the first auxiliary pulley 12 at the other end 102 can mean positioning the first auxiliary pulley 12 relative to the first output pulley 11 at the other end. The first output pulley 11 and the first auxiliary pulley 12 may be positioned near each end of the first fixing frame 10, or they may be positioned away from each end. The relationship between one end 101 and the other end 102 may also be interchanged. In one example, the axes of the first output pulley 11 and the first auxiliary pulley 12 face the second direction. Thus, the first output pulley 11 and the first auxiliary pulley 12 are configured to move the first belt 13 in the first direction by rotating about the second direction.

[0086] The first speed-increasing unit 14 is configured to receive the driving force input from the first actuator 15 and output the input driving force to the first output pulley 11, thereby increasing the speed of movement of the first belt 13. In this embodiment, the first actuator 15 consists of a pair of artificial muscles (151, 152). The first actuator 15 of this structure is an example of a variable rigidity actuator. The type of each artificial muscle (151, 152) can be appropriately selected according to the embodiment. In one example, each artificial muscle (151, 152) can be a fluid-pressure artificial muscle. The fluid can be a gas or a liquid. The fluid can be appropriately selected from, for example, air, oil, water, etc. As a typical example, each artificial muscle (151, 152) can be a pneumatic artificial muscle. In another example, each artificial muscle (151, 152) can also be an artificial muscle other than a fluid-pressure artificial muscle, such as a polymer actuator or a dielectric actuator. In addition, the configuration of each artificial muscle (151, 152) can be appropriately determined according to the embodiment. Figure 1 In this example, the first speed-increasing unit 14 is located on the side of the second pillar 56. Correspondingly, each artificial muscle (151, 152) can be configured on the second pillar 56.

[0087] In this embodiment, the first speed-increasing unit 14 includes a first input pulley 141 and an annular first speed-increasing belt 143. The first input pulley 141 includes a coaxial first drive gear 142. That is, the first input pulley 141 and the first drive gear 142 are composed of two stages of pulleys. The first input pulley 141 is configured to face the same direction as the first output pulley 11. Similarly, the first output pulley 11 includes a coaxial first driven gear 111. That is, the first output pulley 11 and the first driven gear 111 are also composed of two stages of pulleys.

[0088] The first drive gear 142 is configured opposite to the first driven gear 111. A first speed-increasing belt 143 is installed between the first drive gear 142 and the first driven gear 111. The positional relationship between the first drive gear 142 and the first driven gear 111 is not limited to this example, as long as the first speed-increasing belt 143 can be installed, and can be appropriately modified according to the embodiment. On the other hand, the positional relationship between the first input pulley 141 and the first output pulley 11 can be arbitrary. The first input pulley 141 may or may not be opposite to the first output pulley 11. A pair of tensioners (148, 149) are arranged vertically between the first drive gear 142 and the first driven gear 111. The tension of the first speed-increasing belt 143 is maintained by these tensioners (148, 149). Furthermore, the method of maintaining the tension of the first speed-increasing belt 143 is not limited to this example and can be appropriately modified according to the embodiment.

[0089] The diameter of the first drive gear 142 is larger than the diameter of the first driven gear 111. Other diameter relationships may be appropriately determined according to the implementation. In one example, the diameter of the first driven gear 111 may be smaller than the diameter of the first output pulley 11. The diameter of the first drive gear 142 may be larger than the diameter of the first input pulley 141. The filament of one of the pair of artificial muscles (151, 152) is wound around the first input pulley 141 in one direction, with its end fixed to the first input pulley 141. Thus, one artificial muscle is configured to drive the first input pulley 141 to rotate in one direction via the filament. On the other hand, the filament of the other artificial muscle is wound around the first input pulley 141 in another direction, with its end fixed to the first input pulley 141. Thus, the other artificial muscle is configured to drive the first input pulley 141 to rotate in the other direction via the filament.

[0090] That is, in the first speed-increasing unit 14 of this embodiment, the input of the driving force of a pair of artificial muscles (151, 152) is received by the first input pulley 141. The driving force input to the first input pulley 141 is output to the first output pulley 11 via the first speed-increasing belt 143. At this time, according to the ratio of the first driving gear 142 to the first driven gear 111, the rotation of the first input pulley 141 is increased and transmitted to the first output pulley 11. Thus, the first speed-increasing unit 14 increases the movement speed of the first belt 13.

[0091] The movable frame 30 is configured such that by connecting one end 301 of the movable frame 30 to the first belt 13, the movable frame 30 moves along the first fixed frame 10 and the second fixed frame 20 according to the movement of the first belt 13. The method of connecting the movable frame 30 and the first belt 13 is not particularly limited and can be appropriately selected according to the embodiment. In this embodiment, one end 301 of the movable frame 30 is connected to the first belt 13 via a connecting unit 36.

[0092] In this embodiment, the second fixed frame 20 is constructed in the same manner as the first fixed frame 10. That is, the second fixed frame 20 includes a second output pulley 21, a second auxiliary pulley 22, an annular second belt 23, and a second speed-increasing unit 24.

[0093] The second output pulley 21 is disposed at one end 201 of the second fixed frame 20. The second auxiliary pulley 22 is disposed at the other end 202 of the second fixed frame 20. The diameters of the second output pulley 21 and the second auxiliary pulley 22 can be the same. The second output pulley 21 can be housed together with the second speed-increasing unit 24 in the housing 240, and the second auxiliary pulley 22 can be housed in the housing 221. Alternatively, the housings (221, 240) can be omitted.

[0094] The second belt 23 is installed between the second output pulley 21 and the second auxiliary pulley 22.Figure 2B In this example, the second belt 23 is exposed between the housings (221, 240). A tensioner 231 is provided near the outlet of the housing 221 of the second auxiliary pulley 22 to press the second belt 23 from below. Additionally, a pair of tensioners (232, 233) are provided vertically near the outlet of the housing 240 of the second output pulley 21. These tensioners 231-233 maintain the tension of the second belt 23 spanning between the second output pulley 21 and the second auxiliary pulley 22. However, the method of maintaining the tension of the second belt 23 is not limited to this example and can be appropriately modified according to the embodiment. Furthermore, the state of the second belt 23 is not limited to this example and can be appropriately selected according to the embodiment. In another example, the second belt 23 can be entirely stored or entirely exposed. In this embodiment, the second belt 23 is disposed on the outside of the second fixed frame 20 (specifically, on the side opposite to the side where the movable frame 30 is disposed). This configuration of the second belt 23 can be appropriately modified according to the embodiment.

[0095] Furthermore, each end (201, 202) merely indicates the area where the second belt 23 is mounted, and the second fixed frame 20 may also have a shape that extends further from each end (201, 202). The second output pulley 21 and the second auxiliary pulley 22 may be respectively arranged near each end of the second fixed frame 20, or they may be arranged away from each end. The relationship between one end 201 and the other end 202 may also be interchanged. In one example, the axes of the second output pulley 21 and the second auxiliary pulley 22 face the second direction. Thus, the second output pulley 21 and the second auxiliary pulley 22 are configured to move the second belt 23 in the first direction by rotating about the second direction. In addition, in Figure 1 In the example, one end 101 of the first fixed frame 10 is opposite to one end 201 of the second fixed frame 20, and the other end 102 of the first fixed frame 10 is opposite to the other end 202 of the second fixed frame 20. However, the positional relationship of the ends is not limited to this example. In another example, one end 101 of the first fixed frame 10 may be opposite to the other end 202 of the second fixed frame 20, and the other end 102 of the first fixed frame 10 may be opposite to one end 201 of the second fixed frame 20.

[0096] The second speed-increasing unit 24 is configured to receive the driving force input from the second actuator 25 and output the input driving force to the second output pulley 21, thereby increasing the speed of movement of the second belt 23. In this embodiment, the second actuator 25 consists of a pair of artificial muscles (251, 252). This second actuator 25 is an example of a variable rigidity actuator. The type of each artificial muscle (251, 252) can be appropriately selected according to the embodiment. In one example, each artificial muscle (251, 252) can be a hydrodynamic artificial muscle. The hydrodynamic artificial muscle can include a hybrid type of artificial muscle configured to output other driving forces, such as electricity, together with the hydrodynamic force. In another example, each artificial muscle (251, 252) can also be an artificial muscle other than a hydrodynamic artificial muscle. The configuration of each artificial muscle (251, 252) can be appropriately determined according to the embodiment. Figure 1 In this example, the second speed-increasing unit 24 is positioned on the side of the third pillar 57. Correspondingly, each artificial muscle (251, 252) can be configured on the third pillar 57.

[0097] In this embodiment, the second speed-increasing unit 24 includes a second input pulley 241 and an annular second speed-increasing belt 243. The second input pulley 241 has a coaxial second drive gear 242. The second input pulley 241 is configured to face the same direction as the second output pulley 21. Similarly, the second output pulley 21 has a coaxial second driven gear 211. The second drive gear 242 is configured opposite to the second driven gear 211. The second speed-increasing belt 243 is mounted between the second drive gear 242 and the second driven gear 211. As long as the second speed-increasing belt 243 can be mounted, the positional relationship between the second drive gear 242 and the second driven gear 211 is not limited to this example and can be appropriately modified according to the embodiment. On the other hand, the positional relationship between the second input pulley 241 and the second output pulley 21 can be arbitrary. A pair of tensioners (248, 249) are arranged vertically between the second drive gear 242 and the second driven gear 211. The tension of the second speed-increasing belt 243 is maintained by these tensioners (248, 249). Furthermore, the method of maintaining the tension of the second speed-up band 243 is not limited to this example and can be appropriately modified according to the implementation method.

[0098] The diameter of the second drive gear 242 is larger than the diameter of the second driven gear 211. Other diameter relationships may be appropriately determined according to the implementation. In one example, the diameter of the second driven gear 211 may be smaller than the diameter of the second output pulley 21. The diameter of the second drive gear 242 may be larger than the diameter of the second input pulley 241. The filament of one of the pair of artificial muscles (251, 252) is wound around the second input pulley 241 from one direction, and its end is fixed to the second input pulley 241. On the other hand, the filament of the other artificial muscle is wound around the second input pulley 241 from another direction, and its end is fixed to the second input pulley 241. Thus, the second speed-increasing unit 24 increases the speed of movement of the second belt 23 in the same way as the first speed-increasing unit 14.

[0099] The movable frame 30 is configured such that, by connecting its other end 302 to the second belt 23, the movable frame 30 moves along the first fixed frame 10 and the second fixed frame 20 according to the movement of the second belt 23. The method of connecting the movable frame 30 and the second belt 23 is not particularly limited and can be appropriately selected according to the embodiment. In this embodiment, the other end 302 of the movable frame 30 is connected to the second belt 23 via a connecting unit 37.

[0100] (Impedance control)

[0101] In this embodiment, a pair of artificial muscles (151, 152) are driven in opposite directions. That is, one of the artificial muscles (151, 152) is connected in a way that drives the first input pulley 141 to rotate in one direction, and the other artificial muscle is connected in a way that drives it to rotate in the opposite direction. When no other force is applied to the movable frame 30, the position of the movable frame 30 remains in a balanced position of the pair of artificial muscles (151, 152). If the movable frame 30 is displaced from this balanced position, one of the artificial muscles (151, 152) contracts, and the other artificial muscle extends. If the movable frame 30 is displaced in the opposite direction, one artificial muscle extends, and the other artificial muscle contracts. Thus, a driving force (hereinafter also referred to as a restoring force) is generated in the direction that returns the movable frame 30 to its balanced position. Based on this, the pair of artificial muscles (151, 152) can be considered as a pair of interconnected springs (SP1, SP2). The equilibrium position of the driving force can be considered as the equilibrium point BP of the springs (SP1, SP2). The same applies to the pair of artificial muscles (251, 252) in the second fixed frame 20. In addition, each speed-increasing unit (14, 24) can move the movable frame 30 in that direction by shifting the position of the equilibrium point BP from the position of the movable frame 30.

[0102] In this embodiment, the pair of artificial muscles (151, 152) of the first actuator 15 is an example of a variable stiffness actuator. Similarly, the pair of artificial muscles (251, 252) of the second actuator 25 is also an example of a variable stiffness actuator. A variable stiffness actuator is an actuator capable of changing its stiffness. Each actuator (15, 25) is composed of a variable stiffness actuator, thereby enabling impedance control based on each band (13, 23) of each speed-increasing unit (14, 24). By enabling impedance control using at least one of the first band 13 and the second band 23, impedance control in a first direction is possible.

[0103] Figure 2C This is a diagram illustrating the impedance control of each speed-increasing unit (14, 24) in each fixed frame (10, 20) of this embodiment. The horizontal axis of the diagram represents the contraction rate of one of the artificial muscles in a pair of artificial muscles (151, 152) (251, 252). Since it is a relationship where one artificial muscle extends while the other contracts (i.e., the pair of artificial muscles are driven in opposite directions), the other artificial muscle is represented in reverse. The resultant force F3 of the driving force F1 of one artificial muscle and the driving force F2 of the other artificial muscle is the driving force output from each actuator (15, 25). The point T0 where the resultant force F3 is 0 corresponds to the equilibrium point BP mentioned above. The slope of the resultant force F3 corresponds to the rigidity of each actuator (15, 25).

[0104] Artificial muscles can appropriately modify their rigidity. When using fluid pressure in each artificial muscle (151, 152) (251, 252), increasing the fluid pressure within each artificial muscle (151, 152) (251, 252) can improve its rigidity. Therefore, as... Figure 2C As shown, the slope of the resultant force F3 relative to the contraction rate can be increased. That is, the springs (SP1, SP2) can be stiffened, increasing the restoring force generated when the movable frame 30 deviates from the equilibrium point BP. Conversely, by reducing the fluid pressure, the stiffness of the artificial muscles (151, 152) (251, 252) can be reduced. This reduces the slope of the resultant force F3 relative to the contraction rate. That is, the springs (SP1, SP2) can be softened, reducing the restoring force generated when the movable frame 30 deviates from the equilibrium point BP. In this embodiment, by changing the stiffness of each actuator (15, 25) in this way, impedance control in the first direction can be achieved. It should be noted that... Figure 2CIn the example, a scenario is envisioned where a pair of artificial muscles (151, 152) (251, 252) are in opposition, with one artificial muscle fully contracted and the other not contracted at all. However, the opposition state of a pair of artificial muscles (151, 152) (251, 252) is not limited to this example and can be appropriately determined according to the implementation method. Figure 2C In the example, the antagonistic state can be changed to cause at least one of the pair of driving forces (F1, F2) to shift towards the horizontal axis.

[0105] [Modible Frame]

[0106] Figure 3 An example of the movable frame 30 of this embodiment is shown schematically. In this embodiment, the movable frame 30 also has the same structure as the first fixed frame 10. That is, the movable frame 30 includes a third output pulley 31, a third auxiliary pulley 32, an annular third belt 33, and a third speed-increasing unit 34.

[0107] The third output pulley 31 is disposed at one end 301 and the other end 302 of the movable frame 30. The third auxiliary pulley 32 is disposed at the other end 301 and the other end 302 of the movable frame 30. The diameters of the third output pulley 31 and the third auxiliary pulley 32 can be the same. The third output pulley 31 can be housed together with the third speed-increasing unit 34 in the housing 340, and the third auxiliary pulley 32 can be housed in the housing 321. The housings (321, 340) can be omitted.

[0108] The third belt 33 is installed between the third output pulley 31 and the third auxiliary pulley 32. Figure 3 In this example, the third belt 33 is exposed between the housings (321, 340). A tensioner 331 is provided near the outlet of the housing 321 of the third auxiliary pulley 32 to press the third belt 33 from below. Additionally, a pair of tensioners (332, 333) are provided vertically near the outlet of the housing 340 of the third output pulley 31. These tensioners 331-333 maintain the tension of the third belt 33, which is positioned between the third output pulley 31 and the third auxiliary pulley 32. However, the method of maintaining the tension of the third belt 33 is not limited to this example and can be appropriately modified according to the embodiment. Furthermore, the state of the third belt 33 is not limited to this example and can be appropriately selected according to the embodiment. In another example, the third belt 33 can be entirely stored or entirely exposed. Figure 3 In the example, the third band 33 is partially omitted.

[0109] Furthermore, the movable frame 30 may also have a shape that extends further from each end (301, 302). One end 301 of the movable frame 30 is supported on the first fixed frame 10, and the other end 302 is supported on the second fixed frame 20. The portions supported on each fixed frame (10, 20) and the portions where each pulley (31, 32) is disposed may overlap or be separate. The third output pulley 31 and the third auxiliary pulley 32 may be disposed near each end of the movable frame 30 or disposed away from each end. Similarly, the movable frame 30 may be supported near each end of each fixed frame (10, 20) or supported away from each end. Each end (301, 302) may broadly refer to the supporting portion of each fixed frame (10, 20) and the disposed portion of each pulley (31, 32). In one example, the shafts of the third output pulley 31 and the third auxiliary pulley 32 face a first direction. Therefore, the third output pulley 31 and the third auxiliary pulley 32 are configured such that the third belt 33 moves in the second direction by rotating about the first direction. Additionally, in Figure 3 In the example, the third output pulley 31 is disposed at the other end 302 of the movable frame 30, and the third auxiliary pulley 32 is disposed at one end 301. However, the configuration of the third output pulley 31 and the third auxiliary pulley 32 is not limited to this example. Alternatively, the third output pulley 31 can be disposed at one end 301, and the third auxiliary pulley 32 at the other end 302. That is, the third output pulley 31 can be disposed at one of the movable frame 30's ends 301 and 302, and the third auxiliary pulley 32 can be disposed at the other of the movable frame 30's ends 301 and 302.

[0110] The third speed-increasing unit 34 is configured to receive the driving force input from the third actuator 35 and output the input driving force to the third output pulley 31, thereby increasing the speed of movement of the third belt 33. In this embodiment, the third actuator 35 consists of a pair of artificial muscles (351, 352). This third actuator 35 is an example of a variable rigidity actuator. The type of each artificial muscle (351, 352) can be appropriately selected according to the embodiment. In one example, each artificial muscle (351, 352) may also be a hydrodynamic artificial muscle. In another example, each artificial muscle (351, 352) may also be an artificial muscle other than a hydrodynamic artificial muscle. The configuration of each artificial muscle (351, 352) can be appropriately determined according to the embodiment. Figure 1 and Figure 3 In this example, each artificial muscle (351, 352) is positioned on the upper part and one end 301 side of the movable frame 30. The wires of each artificial muscle (351, 352) extend from here and are input to the third speed-increasing unit 34.

[0111] In this embodiment, the third speed-increasing unit 34 includes a third input pulley 341 and an annular third speed-increasing belt 343. The third input pulley 341 has a coaxial third drive gear 342. The third input pulley 341 is configured to face the same direction as the third output pulley 31. Similarly, the third output pulley 31 has a coaxial third driven gear 311. The third drive gear 342 is configured opposite to the third driven gear 311. The third speed-increasing belt 343 is mounted between the third drive gear 342 and the third driven gear 311. As long as the third speed-increasing belt 343 can be mounted, the positional relationship between the third drive gear 342 and the third driven gear 311 is not limited to this example and can be appropriately modified according to the embodiment. On the other hand, the positional relationship between the third input pulley 341 and the third output pulley 31 can be arbitrary. A pair of tensioners (348, 349) are provided vertically between the third drive gear 342 and the third driven gear 311. The tension of the third speed-increasing band 343 is maintained by these tensioners (348, 349). Furthermore, the method of maintaining the tension of the third speed-increasing band 343 is not limited to this example and can be appropriately modified according to the implementation method.

[0112] The diameter of the third drive gear 342 is larger than the diameter of the third driven gear 311. Other diameter relationships can be appropriately determined according to the implementation. In one example, the diameter of the third driven gear 311 may be smaller than the diameter of the third output pulley 31. The diameter of the third drive gear 342 may be larger than the diameter of the third input pulley 341. The filament of one of the artificial muscles (351, 352) is wound around the third input pulley 341 from one direction, and its end is fixed to the third input pulley 341. On the other hand, the filament of the other artificial muscle is wound around the third input pulley 341 from another direction, and its end is fixed to the third input pulley 341. Thus, the third speed-increasing unit 34 increases the speed of movement of the third belt 33 in the same way as the first speed-increasing unit 14, etc.

[0113] The movable unit 40 is supported on the movable frame 30 and connected to the third belt 33. Thus, the movable unit 40 is configured to move along the movable frame 30 according to the movement of the third belt 33. The connection method between the movable unit 40 and the third belt 33 is not particularly limited and can be appropriately selected according to the embodiment. An example of the connection method of the movable unit 40 is described later.

[0114] In this embodiment, the pair of artificial muscles (351, 352) of the third actuator 35 is an example of a variable stiffness actuator. The pair of artificial muscles (351, 352) functions in the same way as the aforementioned pair of artificial muscles (151, 152). Therefore, in this embodiment, as in the first direction, impedance control in the second direction can be achieved using the third speed-increasing unit 34 of the movable frame 30. By increasing the stiffness of each artificial muscle (351, 352), the moving unit 40 can be firmly supported in the second direction, increasing the restoring force generated when the moving unit 40 shifts from the equilibrium point to the second direction. On the other hand, by decreasing the stiffness of each artificial muscle (351, 352), the moving unit 40 can be softly supported in the second direction, reducing the restoring force generated when the moving unit 40 shifts from the equilibrium point to the second direction. The stiffness in both the first and second directions can be appropriately controlled.

[0115] Furthermore, in this embodiment, annular belts are used for each belt (13, 23, 33) and each speed-increasing belt (143, 243, 343). The annular belts can be generated by any method. In one example, the belt may be originally formed as an annular shape. In another example, the annular belt can be formed by connecting the ends of a single belt to each other. Additionally, the shape of the belt is not particularly limited as long as it achieves its intended purpose, and can be appropriately selected according to the implementation method. In one example, the belt may include chains and wires in addition to ordinary belts.

[0116] (Supporting part)

[0117] Figure 4A This is a perspective view schematically showing an example of the movable frame 30 and the support portion of the first fixed frame 10 in this embodiment. Figure 4B This is a partial cross-sectional view schematically showing an example of the support portion of the movable frame 30 and the first fixed frame 10 (second fixed frame 20) of this embodiment. Furthermore, in Figure 4B In the middle, the upper periphery of the first belt 13 is omitted.

[0118] In this embodiment, one end 301 of the movable frame 30 is supported on the first fixed frame 10 via a connecting unit 36 ​​and connected to the first belt 13. The structure of the connecting unit 36 ​​can be appropriately determined according to the embodiment. In one example, the connecting unit 36 ​​includes a pair of first members 360, a second member 361, a sliding unit 362, a third member 363, a fourth member 364, and a fifth member 365. Each first member 360 is formed as a flat plate. The pair of first members 360 are fixed on the lower side of the movable frame 30 in a state of clamping one end 301 of the movable frame 30. Each first member 360 extends slightly downward from the movable frame 30 and is fixed to one end of the second member 361. Thus, the pair of first members 360 connect one end 301 of the movable frame 30 to the second member 361.

[0119] In this embodiment, the first band 13 is disposed on the outer side of the first fixed frame 10 (i.e., on the side opposite to the movable frame 30). Correspondingly, the second member 361 is formed as a plate and extends from one end 301 of the movable frame 30 through the lower side of the first fixed frame 10 to the outer side of the first fixed frame 10. The other end of the second member 361 is connected to the fourth member 364 via a plate-shaped third member 363. One end of the third member 363 is fixed to the other end of the second member 361, and the other end of the third member 363 is fixed to one end of the fourth member 364. The fourth member 364 is formed as a plate and extends from the other end of the third member 363 through the lower side of the first band 13 (the lower periphery) to a slightly outer side of the first band 13. The fourth member 364 is fixed at its other end to a plate-shaped fifth member 365 in a state of being clamped into the first band 13. Thus, one end 301 of the movable frame 30 is connected to the first band 13.

[0120] In this embodiment, the first fixed frame 10 has an internal space 190 with a generally rectangular cross-section on its lower side. This internal space 190 communicates with the outer space via a groove 193 provided at the lower end of the first fixed frame 10. Each edge portion (191, 192) located in the width direction (second direction) of the groove 193 bends inward, thereby making the width of the groove 193 narrower than the width of the internal space 190. The internal space 190 and each edge portion (191, 192) constitute a linear guide rail. The sliding unit 362 is configured to enter the internal space 190 from the lower side of the first fixed frame 10 through the groove 193, be supported on the first fixed frame 10 by hooking onto each edge portion (191, 192), and allow each edge portion (191, 192) to slide on it as a track.

[0121] In one example, the sliding unit 362 includes a base 3620, a pair of vertical wheels (3621, 3622), and a pair of horizontal wheels (3623, 3624). The lower end of the base 3620 is fixed to the second member 361. The width direction of the base 3620 ( Figure 4B The length of the base 3620 (in the left-right direction) is shorter than that of the groove 193, thus the base 3620 extends upward from the second member 361 and enters the interior space 190.

[0122] Within the interior space 190, a pair of vertical wheels (3621, 3622) are rotatably connected to the base 3620 via an axle in the width direction. The spacing between the pair of vertical wheels (3621, 3622) Figure 4B The length of the groove 193 in the left-right direction is approximately the same as or wider than the length in the width direction, thereby allowing the sliding unit 362 to hook onto each edge portion (191, 192). Furthermore, the thickness of each vertical wheel (3621, 3622) is approximately the same as or thinner than the width of the bent portion (track) of each edge portion (191, 192). By rotating the vertical wheels (3621, 3622) around the upper end of each edge portion (191, 192) as a track, the movable frame 30 can slide along the first fixed frame 10 via the sliding unit 362.

[0123] Furthermore, within the internal space 190, a pair of horizontal wheels (3623, 3624) are rotatably connected to the base 3620 in a manner that does not interfere with the vertical wheels (3621, 3622) in the width direction. The horizontal wheel 3623 is disposed near the inner wall surface on the edge 191 side of the first fixed frame 10. Conversely, the horizontal wheel 3624 is disposed near the inner wall surface on the edge 192 side of the first fixed frame 10. By abutting against the inner wall surfaces in their respective directions, the pair of horizontal wheels (3623, 3624) can withstand axial loads on the shafts of the pair of vertical wheels (3621, 3622), which serve as guides. This allows for smooth sliding of the movable frame 30.

[0124] The structure of the sliding unit 362 can be appropriately modified according to the implementation method. For example, the number and configuration of the vertical wheels (3621, 3622) and horizontal wheels (3623, 3624) are not limited to this. Figure 4BThe example can be appropriately modified according to the implementation method. Additionally, for example, if a gap is formed between the base 3620 and the upper surface of the internal space 190, one or more vertical wheels can be mounted to the base 3620 by filling the gap. This allows the radial load on the axle of the pair of vertical wheels (3621, 3622) to be supported, resulting in smoother sliding of the movable frame 30. In this embodiment, one end 301 of the movable frame 30 is supported on the first fixed frame 10 at approximately the same height as the first fixed frame 10 via such a sliding unit 362.

[0125] Figure 4C This is a partial cross-sectional view schematically showing an example of the support portion of the movable frame 30 and the second fixed frame 20 in this embodiment. Furthermore, in Figure 4C In this embodiment, the upper periphery of the second band 23 is omitted. The other end 302 of the movable frame 30 is supported on the second fixed frame 20 via the connecting unit 37 and connected to the second band 23. The structure of the connecting unit 37 can be appropriately determined according to the embodiment. In one example, the connecting unit 37 may have the same structure as the connecting unit 36 ​​described above. That is, the connecting unit 37 includes a pair of first members 370, a second member 371, a sliding unit 372, a third member 373, a fourth member 374, and a fifth member 375. The pair of first members 370 connect the other end 302 of the movable frame 30 and the second member 371.

[0126] In this embodiment, the second band 23 is disposed on the outer side of the second fixed frame 20 (i.e., on the side opposite to the movable frame 30). Correspondingly, the second member 371 extends from the other end 302 of the movable frame 30 through the lower side of the second fixed frame 20 to the outer side of the second fixed frame 20. The other end of the second member 371 is connected to the fourth member 374 via the third member 373. The fourth member 374 extends from the other end of the third member 373 through the lower side of the second band 23 (the lower periphery) to a slightly outer side of the second band 23. The fourth member 374 is fixed to the fifth member 375 when the second band 23 is clamped in place. Thus, the other end 302 of the movable frame 30 is connected to the second band 23.

[0127] In this embodiment, the second fixed frame 20 has an internal space 290 with a generally rectangular cross-section on its lower side. This internal space 290 communicates with the outer space via a groove 293 provided at the lower end of the second fixed frame 20. Each edge portion (291, 292) located in the width direction of the groove 293 bends inward, thereby making the width of the groove 293 narrower than the width of the internal space 290. The sliding unit 372 is configured to enter the internal space 290 from the lower side of the second fixed frame 20 through the groove 293, be supported on the second fixed frame 20 by hooking onto each edge portion (291, 292), and slide on it using each edge portion (291, 292) as a track.

[0128] In one example, the sliding unit 372 includes a base 3720, a pair of vertical wheels (3721, 3722), and a pair of horizontal wheels (3723, 3724). The lower end of the base 3720 is fixed to the second member 371. The length of the base 3720 in the width direction is shorter than that of the slot 293, thereby extending the base 3720 upward from the second member 371 into the interior space 290.

[0129] Within the internal space 290, a pair of vertical wheels (3721, 3722) are rotatably connected to the base 3720 via an axle in the width direction. The pair of vertical wheels (3721, 3722) are constructed similarly to the aforementioned pair of vertical wheels (3621, 3622). The sliding unit 372 is hooked to each edge portion (291, 292) via the pair of vertical wheels (3721, 3722). The movable frame 30 can slide along the second fixed frame 20 via the sliding unit 372 by rotating around the upper end of each edge portion (291, 292) using the vertical wheels (3721, 3722) as its track.

[0130] Furthermore, within the internal space 290, a pair of horizontal wheels (3723, 3724) are rotatably connected to the base 3720 in a manner that does not interfere with the vertical wheels (3721, 3722) in the width direction. The horizontal wheel 3723 is disposed near the inner wall surface on the edge 291 side of the second fixed frame 20. Conversely, the horizontal wheel 3724 is disposed near the inner wall surface on the edge 292 side of the second fixed frame 20. By abutting against the inner wall surfaces in their respective directions, the pair of horizontal wheels (3723, 3724) can withstand axial loads on the shafts of the pair of vertical wheels (3721, 3722), which serve as guides. This allows for smooth sliding of the movable frame 30.

[0131] The structure of the sliding unit 372 can be appropriately modified according to the implementation method. For example, the number and configuration of the vertical wheels (3721, 3722) and horizontal wheels (3723, 3724) are not limited to these specifications. Figure 4CThe example can be appropriately modified according to the implementation method. Additionally, for example, if a gap is formed between the base 3720 and the upper surface of the internal space 290, one or more vertical wheels can be mounted to the base 3720 in a way that fills the gap. This allows the radial load on the axles of the pair of vertical wheels (3721, 3722) to be withstood, resulting in smoother sliding of the movable frame 30. Furthermore, the components of the connecting unit 37 can be configured in the same way as the components of the connecting unit 36 ​​described above. In this embodiment, through such a sliding unit 372, the other end 302 of the movable frame 30 is supported on the second fixed frame 20 at approximately the same height as the second fixed frame 20.

[0132] [Moving Unit]

[0133] Figure 5A and Figure 5B These are perspective views and partial cross-sectional views schematically illustrating an example of the moving unit 40 of this embodiment. In this embodiment, the moving unit 40 includes a pair of base portions (41, 42), a rotating unit 43, a sliding unit 45, and a connecting portion 46.

[0134] A pair of base portions (41, 42) are examples of base portions of this disclosure. The pair of base portions (41, 42) have cavities (410, 420) that open in the vertical direction. The rotating unit 43 is configured to rotate around the cavities (410, 420) in the vertical direction. Rotation in the vertical direction is equivalent to rotation about the vertical direction as a rotation axis. Furthermore, depending on the oscillation of the moving unit 40, the rotation axis may also be tilted from the vertical direction. Rotation in the vertical direction may include rotation about such a vertically tilted rotation axis. The rotating unit 43 includes a first moving portion 434 and a second moving portion 435. The first moving portion 434 is disposed outside the cavities (410, 420) and is configured to rotate and move about the vertical direction according to the rotation of the rotating unit 43. The first moving portion 434 includes a first holding portion 436. The second moving part 435 is configured to be disposed separately from the first moving part 434 in the vertical direction outside the cavities (410, 420), and to rotate and move in the vertical direction according to the rotation of the rotating unit 43 while maintaining its positional relationship with the first moving part 434. The second moving part 435 includes a second holding part 437. Such a rotating unit 43 can be appropriately configured according to the embodiment.

[0135] In one example, the rotating unit 43 further includes a central portion 431, a first arm portion 432, and a second arm portion 433. In this embodiment, each portion 431 to 435 of the rotating unit 43 is formed as a flat plate, having a shape that is partially bent at each arm portion (432, 433). The central portion 431 is supported on a pair of base portions (41, 42) in a manner that allows it to rotate about the vertical direction. In this embodiment, the upper base portion 41 is formed as a cylinder. The lower base portion 42 is a circular shape with a diameter larger than that of the upper base portion 41, and has a shape that, after moving downward with a fixed diameter, its diameter decreases at one point and then increases. The central portion 431 is rotatably held between the upper base portion 41 and the lower base portion 42, thereby being supported by a pair of base portions (41, 42). In addition, the central portion 431 has a hollow portion 430 that opens in the vertical direction. The hollow part 430 is connected to the cavities (410, 420) of a pair of base parts (41, 42).

[0136] A thrust bearing can be disposed between the central portion 431 and the lower base portion 42. The thrust bearing can withstand the axial load on the rotation shaft of the rotating unit 43, thereby ensuring smooth rotation of the rotating unit 43. Alternatively, a hollow shaft can be provided in the central portion 431, and a radial bearing can be disposed on this hollow shaft. The radial bearing also ensures smooth rotation of the rotating unit 43.

[0137] exist Figure 5BIn the example, the first arm 432 has a shape that extends obliquely downward from the central portion 431. The first arm 432 is configured to connect the central portion 431 and the first moving portion 434. Furthermore, the extension direction of the first arm 432 is not limited to this example. In another example, the first arm 432 may also have a shape that extends vertically downward from the central portion 431. Similarly, the second arm 433 has a shape that extends obliquely downward from the central portion 431. The second arm 433 is configured to connect the central portion 431 and the second moving portion 435. The extension direction of the second arm 433 is not limited to this example. In another example, the second arm 433 may also have a shape that extends vertically downward from the central portion 431. Additionally, the extension shape of each arm (432, 433) may include at least a partially curved shape. In this embodiment, the first moving part 434 and the second moving part 435 are configured to be connected via a central part 431 and each arm part (432, 433), and rotate and move according to the rotation of the central part 431. Thus, the first moving part 434 and the second moving part 435 can rotate and move while maintaining separation in the vertical direction. Furthermore, the positional relationship between the first moving part 434 and the second moving part 435 is not particularly limited and can be appropriately determined according to the embodiment. In one example, the first moving part 434 and the second moving part 435 can be configured to be separated by a 180-degree positional relationship in the circumferential direction.

[0138] In this embodiment, the movable frame 30 has a U-shaped groove 385 on its upper side. The upper end of the groove 385 is open. Additionally, on the side opposite to the third belt 33, an L-shaped bracket 38 is fitted to the side wall of the upper side of the movable frame 30. One or more linear structures of a device mounted on the movable unit 40 can be configured in the groove 385 and the bracket 38. The type of linear structure is not particularly limited and can be appropriately selected according to the embodiment. Linear structures may include cables, conduits, wire harnesses, other wiring or conduit objects, or objects composed of these. Cables may be, for example, Bowden cables, power cables, signal cables, communication cables, etc. Conduits may be, for example, air conduits, etc.

[0139] A pair of guide portions (441, 442) are provided on the upper base portion 41. The guide portion 441 extends from the side wall of the upper base portion 41 on the side of the groove 385 toward the upper movable frame 30, configured to introduce the linear structure disposed in the groove 385 toward the upper base portion 41. The guide portion 442 extends from the side wall of the upper base portion 41 on the side of the bracket 38 toward the upper movable frame 30, configured to introduce the linear structure disposed in the bracket 38 toward the upper base portion 41. The pair of base portions (41, 42) are configured to supply one or more linear structures introduced by the pair of guide portions (441, 442) from vertically above through cavities (410, 420) to vertically downward. In this embodiment, one or more linear structures are sequentially supplied from above to below the moving unit 40 through the cavity 410 of the upper base portion 41, the hollow portion 430 of the central portion 431, and the cavity 420 of the lower base portion 42. Alternatively, the pair of guide portions (441, 442) may be omitted. In this case, one or more linear structures may be directly introduced into the pair of base portions (41, 42).

[0140] In one example, multiple linear structures can be supplied vertically downward to the moving unit 40 via a pair of base portions (41, 42). In this case, the multiple linear structures may include a first linear structure and a second linear structure. The first holding portion 436 of the first moving portion 434 can be configured to hold a curled first end, which is formed by the first linear structure hanging vertically downward from the cavity (410, 420) and then winding vertically upward. The first linear structure can hang further vertically downward from the first end. Similarly, the second holding portion 437 of the second moving portion 435 can be configured to hold a curled second end, which is formed by the second linear structure hanging vertically downward from the cavity (410, 420) and then winding vertically upward. The second linear structure can hang further vertically downward from the second end. Furthermore, the structure of each retaining part (436, 437) is not particularly limited as long as it can retain (constrain) the linear structure, and can be appropriately selected according to the implementation method. Each retaining part (436, 437) may be, for example, composed of bolts or the like for retaining the wire.

[0141] In this embodiment, by providing cavities (410, 420) in a pair of base portions (41, 42), multiple linear structures can be supplied in a state where they are gathered below the moving unit 40. This allows for easy winding of multiple linear structures. Furthermore, in the rotating unit 43, the first moving portion 434 and the second moving portion 435 are arranged separately in the circumferential direction. After the first and second linear structures are formed into coils, they are held in the first moving portion 434 and the second moving portion 435 and wound in a manner that hangs vertically downwards. By separating the first moving portion 434 and the second moving portion 435, the state in which the first and second linear structures are separated can be maintained. Moreover, even when the rotating unit 43 rotates about the vertical direction, each linear structure only has excess material in the coiled portion (i.e., the coiled portion is released from the winding formed by rotation), so the portions hanging down from each moving portion (434, 435) can rotate while maintaining mutual separation. Therefore, according to this embodiment, even if multiple linear structures are supplied to the lower part of the moving unit 40 in a separated state and rotated about the vertical direction, the separated state can be maintained.

[0142] Furthermore, in this embodiment, each moving part (434, 435) is positioned below the rotating portion (central portion 431) of the rotating unit 43. Therefore, when one of the moving parts (434, 435) shifts, the other can act as a stop. For example, if the rotating unit 43 shifts towards the first moving part 434, the shift of the rotating unit 43 can be prevented by the inner walls of the second arm portion 433 and the second moving part 435 abutting against the lower base portion 42. Moreover, the rotational stability of the rotating unit 43 can be improved through the center-of-gravity stabilization effect.

[0143] like Figure 1 , Figure 3 as well as Figure 5A As shown, in one example of this embodiment, a load-bearing device 60 can be installed on the mobile unit 40. The load-bearing device 60 includes a pair of artificial muscles (601, 602), a pair of wires (603, 604), and a pair of wearable devices (606, 607). One of the pair of wires (603, 604) is an example of a first linear structure of the load-bearing device 60, and the other is an example of a second linear structure of the load-bearing device 60.

[0144] The user W of the weight-relief device 60 wears a pair of wearable devices (606, 607) on both sides. Artificial muscle 601 transmits weight-relief force to wearable device 606 via wire 603. Artificial muscle 602 transmits weight-relief force to wearable device 607 via wire 604. Thus, the weight-relief device 60 can reduce at least a portion of the user W's weight. Similar to the individual artificial muscles (151, 152), the type of artificial muscles (601, 602) is not particularly limited and can be appropriately selected according to the implementation method. In a typical example, each artificial muscle (601, 602) can be a pneumatic artificial muscle. Each metal wire (603, 604) can be, for example, Bowden cable.

[0145] The drive source of the load-relief device 60 can be appropriately selected according to the implementation method. In one example, when each artificial muscle (601, 602) is a pneumatic artificial muscle, the load-relief device 60 may include a compressor and an air valve. The compressor may be connected to the air valve, and the air pressure inside the pneumatic artificial muscle can be adjusted by opening and closing the air valve. The load-relief device 60 may also include a control device configured to control the movement of each artificial muscle (601, 602). The compressor, air valve, and control device may be appropriately configured to drive a pair of artificial muscles (601, 602). In this case, the control device can adjust the load-relief force of each artificial muscle (601, 602) by controlling the opening and closing of the air valve. It should be noted that the structure of the load-relief device 60 is not particularly limited and can be appropriately selected according to the implementation method. The load-relief device 60 may, for example, adopt a structure known from Patent Document 1. The types of artificial muscles (601, 602) can be arbitrarily selected.

[0146] In this embodiment, the pair of wires (603, 604) in the load-reducing device 60 can be wound using the aforementioned moving unit 40 and rotating unit 43. In one example, a pair of artificial muscles (601, 602) can be arranged similarly to the third actuator 35 at the upper end of one end 301 of the movable frame 30. Each wire (603, 604) extending from each artificial muscle (601, 602) extends towards the other end 302 within the groove 385 and bracket 38 on the upper end side of the movable frame 30, then folds back and is wound towards the moving unit 40. Thus, on the upper end side of the movable frame 30, the release portion of each wire (603, 604) relative to the moving unit 40 can be ensured. Figure 5B In this example, wire 603 is disposed within bracket 38, and wire 604 is disposed within slot 385. It should be noted that, as... Figure 5BAs shown, in order to improve the following of movement relative to the moving unit 40, a portion of each wire (603, 604) wound around the upper end of the movable frame 30 can be fitted with a cable bearing (CB1, CB2). Each guide (441, 442) can be configured to introduce a linear structure from the front end of each cable bearing (CB1, CB2).

[0147] After being wound into the moving unit 40, a pair of wires (603, 604) can be introduced into the upper base portion 41 via a pair of guide portions (441, 442). After being introduced into the upper base portion 41, the pair of wires (603, 604) can be supplied to the lower part of the moving unit 40 in the order of passing through the cavity 410 of the upper base portion 41, the hollow portion 430 of the central portion 431, and the cavity 420 of the lower base portion 42.

[0148] Furthermore, one of the two wires (603, 604) can be coiled by hanging down vertically from the cavity 420 and then winding up vertically. The end of the coiled wire can be held by the first holding part 436 of the first moving part 434. This coiled end is an example of a first end. One wire can hang down vertically further from the coiled end toward one side of the user W of the load-reducing device 60. Similarly, the other wire can be coiled by hanging down vertically from the cavity 420 and then winding up vertically. The end of the coiled wire can be held by the second holding part 437 of the second moving part 435. This coiled end is an example of a second end. The other wire can hang down vertically further from the coiled end toward the other side of the user W of the load-reducing device 60.

[0149] exist Figure 3 and Figure 5AIn this example, wire 603 descends vertically from cavity 420 and then winds vertically upward, forming a coil 6031. The end of the coil 6031 is held in the first holding portion 436. Wire 603 descends further vertically from the end of the coil 6031 and connects to the wearing device 606 on the right side of the user W. On the other hand, wire 604 descends vertically from cavity 420 and then winds vertically upward, forming a coil 6041. The end of the coil 6041 is held in the second holding portion 437. Wire 604 descends further vertically from the end of the coil 6041 and connects to the wearing device 607 on the left side of the user W. Each holding portion (436, 437) can hold the ends of the coiled portions of each wire (603, 604) while maintaining the coils (6031, 6041). In this embodiment, even when a pair of wires (603, 604) of the weight-reducing device 60 are supplied to the user W in a separated state and rotate around the vertical direction, this separated state can be maintained. Therefore, even if the user W rotates, the wearing state of each wearable device (606, 607) can be maintained. As a result, the wearability of the weight-reducing device 60 can be improved.

[0150] Furthermore, downward drooping (hanging down) refers to lowering the vertical position and drooping. Drooping (hanging down) along the vertical direction can include extending straight down at least partially, drooping at an angle relative to the vertical direction, or drooping in a curved manner relative to the vertical direction. The shape of the drooping of the linear structure is not particularly limited. Upward winding (winding upward) is winding in a manner that raises the position in the vertical direction. Upward winding in the vertical direction can include extending straight up at least partially, extending at an angle relative to the vertical direction, or extending in a curved manner relative to the vertical direction. The shape of the upward winding of the linear structure is not particularly limited. Upward winding can also include a portion drooping downward. Additionally, the curled portion only needs to constitute the remaining portion of the rotation relative to the rotating unit 43, and its shape is not limited to this. Figure 1 , Figure 3 as well as Figure 5A The illustrated shape can be modified appropriately according to the implementation method. In one example, the curled portion can have a shape with multiple coils.

[0151] (Combined parts)

[0152] In this embodiment, the third belt 33 is disposed on the outer side of the movable frame 30. Figure 5B(Right side). Correspondingly, the connecting portion 46 includes a first member 461 and a second member 462. One end of the first member 461 is fixed to the upper end of the upper base portion 41. The first member 461 is formed as a flat plate and extends from the upper base portion 41 through the lower side of the third belt 33 to a slightly outer side of the third belt 33. The first member 461 is fixed to the flat second member 462 at the other end in a state of being clamped into the third belt 33. Thus, the moving unit 40 is connected to the third belt 33.

[0153] In this embodiment, the movable frame 30, like the first fixed frame 10 described above, has an internal space 390 with a generally rectangular cross-section on its lower side. A partition wall is provided between this internal space 390 and the groove 385 on the upper side, so that the internal space 390 is not connected to the groove 385. On the other hand, the internal space 390 is connected to the outer space via a groove 393 provided at the lower end of the movable frame 30. Each edge portion (391, 392) located in the width direction of the groove 393 is bent inward, so that the width of the groove 393 is narrower than the width of the internal space 390. The sliding unit 45 is configured to enter the internal space 390 from the lower side of the movable frame 30 through the groove 393, be supported on the movable frame 30 by hooking onto each edge portion (391, 392), and slide on it using each edge portion (391, 392) as a track.

[0154] In one example, the sliding unit 45 can be constructed in the same manner as the sliding units (362, 372) described above. That is, the sliding unit 45 includes a base 450, a pair of vertical wheels (451, 452), and a pair of horizontal wheels (453, 454). The lower end of the base 450 is fixed to the upper end of the upper base portion 41. The length of the base 450 in the width direction is shorter than that of the groove 393, thereby extending the base 450 upward from the upper base portion 41 into the internal space 390.

[0155] Within the internal space 390, a pair of vertical wheels (451, 452) are rotatably connected to the base 450 via an axle in the width direction. The pair of vertical wheels (451, 452) can be configured similarly to the aforementioned pair of vertical wheels (3621, 3622) (3721, 3722). The sliding unit 45 is hooked to each edge portion (391, 392) via the pair of vertical wheels (451, 452). The moving unit 40 can slide along the movable frame 30 via the sliding unit 45, rotating along the upper end of each edge portion (391, 392) using the vertical wheels (451, 452) as its track.

[0156] Furthermore, within the internal space 390, a pair of horizontal wheels (453, 454) are rotatably connected to the base 450 in a manner that does not interfere with the vertical wheels (451, 452) in the width direction. The horizontal wheel 453 is positioned near the inner wall surface on the edge 391 side of the movable frame 30. Conversely, the horizontal wheel 454 is positioned near the inner wall surface on the edge 392 side of the movable frame 30. By abutting against the inner wall surfaces in their respective directions, the pair of horizontal wheels (453, 454) can withstand axial loads on the shafts of the pair of vertical wheels (451, 452), which act as guides. This allows for smooth sliding of the moving unit 40.

[0157] The structure of the sliding unit 45 can be appropriately modified according to the implementation method. For example, the number and configuration of the vertical wheels (451, 452) and horizontal wheels (453, 454) are not limited to these. Figure 5B The example can be appropriately modified according to the implementation method. Additionally, for example, if a gap is formed between the upper surface of the base 450 and the internal space 390, one or more vertical wheels can be mounted to the base 450 in a way that fills the gap. This allows the radial load on the axle of the pair of vertical wheels (451, 452) to be supported, resulting in smoother sliding of the moving unit 40. In this embodiment, the moving unit 40 is supported below the movable frame 30 by such a sliding unit 45.

[0158] [Artificial muscle]

[0159] Figure 6 An example of the schematic structure of the artificial muscle 500 of this embodiment is shown schematically. Figure 6 In this example, we envision a scenario where pneumatic artificial muscles are used as the artificial muscle 500. The artificial muscle 500 of this embodiment includes a chamber 501, a pair of ends (502, 503), a tubular cylinder 504, a wire 505, a stop 506, and an elastic member 507. The chamber 501 is made of a soft material. Compressed air fills the chamber 501, thereby converting the air pressure into the tension of the artificial muscle 500. The pair of ends (502, 503) seal the chamber 501 from the outside. A supply port 509 is provided at the lower end 503, and the supply port 509 is connected to an air valve. The air valve is connected to a compressor. By opening the air valve, compressed air is supplied to the chamber 501 via the supply port 509. The tubular cylinder 504 is connected to the end 502 in a manner that seals the atmospheric pressure within the tubular cylinder 504 and the air pressure within the chamber 501.

[0160] A wire 505 extends outward from its lower end within the tubular cylinder 504 via its upper end 502. The wire 505 is used to output driving force externally. A stop 506 is configured to transmit the driving force to the wire 505 when the artificial muscle 500 contracts in the direction pulling the wire 505. In one example, the stop 506 is mounted on the end 502 side of the wire 505 and is formed to be larger than the through hole in the wire 505. When the artificial muscle 500 contracts in the direction pulling the wire 505, the stop 506 acts on the lower surface at the end 502, thereby transmitting the contractile force of the artificial muscle 500 to the wire 505. An elastic member 507 is configured to maintain the tension of the wire 505 when the artificial muscle 500 relaxes and the stop 506 disengages. The type of elastic member 507 is not particularly limited and can be appropriately selected according to the embodiment. The elastic member 507 can be, for example, a spring. Furthermore, the structure of the artificial muscle 500 can be appropriately modified according to the embodiment. Other structures of the artificial muscle 500 may employ structures known, such as those in Patent Document 2. For example, the portion of the wire 505 protruding from the end 502 may be covered by a sleeve or the like. Furthermore, the artificial muscle 500 may be configured to measure the contraction rate using any method, such as a scaler or encoder.

[0161] In the above embodiment, each artificial muscle (151, 152) serving as the first actuator 15 can be used Figure 6 Artificial muscle 500. In this case, the artificial muscle 500 described above can be replaced by individual artificial muscles (151, 152). The driving force of each artificial muscle (151, 152) is input to the first speed-increasing unit 14 via wire 505. Similarly, each artificial muscle (251, 252) serving as the second actuator 25 can be... Figure 6 Artificial muscle 500. In this case, the artificial muscle 500 described above can be replaced by individual artificial muscles (251, 252). The driving force of each artificial muscle (251, 252) is input to the second speed-increasing unit 24 via wire 505. Each artificial muscle (351, 352), serving as the third actuator 35, can use Figure 6 Artificial muscle 500. The artificial muscle 500 in the above description can be replaced by each artificial muscle (351, 352). The driving force of each artificial muscle (351, 352) is input to the third speed-increasing unit 34 via wire 505.

[0162] In this artificial muscle 500, when the wire 505 is stretched, the movement of the wire 505 is stopped by the action of the stop member 506. On the other hand, when the wire is pulled back, the stop member 506 disengages, thereby allowing the wire 505 to move freely, and the tension of the wire 505 is maintained by the elastic member 507. Thus, the wire 505 can be moved freely within a certain range by hand. By using the artificial muscle 500 as each of the artificial muscles (151, 152) of the first actuator 15, the range of free movement of the movable frame 30 relative to the first direction can be set. The same applies when the artificial muscle 500 is used as each of the artificial muscles (251, 252) of the second actuator 25. In addition, by using the artificial muscle 500 as each of the artificial muscles (351, 352) of the third actuator 35, the range of free movement of the moving unit 40 relative to the second direction can be set. Note that the artificial muscle 500 can also be used as each of the artificial muscles (601, 602) of the load-reducing device 60.

[0163] [Control Device]

[0164] like Figure 1 As shown, in this embodiment, the control device 70 is used to control the operation of each actuator (15, 25, 35). The control device 70 is one or more computers configured to control the operation of each actuator (15, 25, 35). In one example, a different computer may be used as the control device 70 for each actuator (15, 25, 35). In another example, the same computer may be used as the control device 70 in a combination of at least two of the three actuators (15, 25, 35).

[0165] The control device 70 can appropriately control the operation of each actuator (15, 25, 35). Control may include direct control of each actuator (15, 25, 35) or indirect control of each actuator (15, 25, 35) via external devices such as controllers. The control device 70 may be directly or indirectly connected to each actuator (15, 25, 35). Indirect connection refers to connection via other external devices such as computers.

[0166] Furthermore, the operating reference of each actuator (15, 25, 35) can be appropriately determined according to the implementation method. The control device 70 can acquire information, determine the operation of each actuator (15, 25, 35) based on the acquired information, and control each actuator (15, 25, 35) to perform the determined operation.

[0167] In one example, the sensor SE can be used to observe objects associated with the moving unit 40 (e.g., the user W of the load-relief device 60). The type of sensor SE can be appropriately selected according to the content of the observation. The control device 70 can be directly or indirectly connected to the sensor SE. The control device 70 can obtain observation data (measurement data) of the object from the sensor SE and appropriately analyze the obtained observation data. The control device 70 can control the operation of each actuator (15, 25, 35) according to the obtained analysis results.

[0168] As a specific example, when using the load-reducing device 60, the control device 70 can measure the position of the user W via the sensor SE. Furthermore, the control device 70 can control the operation of each actuator (15, 25, 35) based on the position measurement result. In this case, the sensor SE can be a sensor capable of measuring position, such as an image sensor (camera). The sensor SE can be held by the user W or configured to observe the user W from the outside.

[0169] Furthermore, the method for driving each actuator (15, 25, 35) can be appropriately selected according to the type of each actuator (15, 25, 35). As a typical example, the above-described method is used in each actuator (15, 35, 35). Figure 6 In the case of artificial muscle 500 (pneumatic artificial muscle), control device 70 can be connected to air valve. By controlling the opening and closing of air valve, control device 70 can control the driving force of each actuator (15, 25, 35).

[0170] (Hardware structure)

[0171] Figure 7 An example of the hardware structure of the control device 70 in this embodiment is schematically shown. Figure 7 In one example, the control device 70 of this embodiment is a computer electrically connected to a control unit 71, a storage unit 72, an external interface 73, an input device 74, an output device 75, and a driver 76.

[0172] The control unit 71 includes a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), etc., which are configured to perform information processing based on programs and various data. The control unit 71 (CPU) is an example of processor resources.

[0173] The storage unit 72 can be configured as, for example, a hard disk drive, a solid-state drive, or a semiconductor memory. The storage unit 72 (along with RAM and ROM) is an example of a memory resource. In this embodiment, the storage unit 72 stores various information such as a program 87. The program 87 is used to cause the control device 70 to perform information processing related to the control of each actuator (15, 25, 35) (described later). Figure 9 The program (etc.). Program 87 contains a series of commands for this information processing.

[0174] External interface 73 may be, for example, a USB (Universal Serial Bus) port, a dedicated port, etc., configured to connect to external devices via wired or wireless means. External interface 73 may include, for example, a wired LAN (Local Area Network) module, a wireless LAN module, or other communication interfaces. The type and number of external interfaces 73 can be arbitrarily selected. In this embodiment, control device 70 can be connected to each actuator (15, 25, 35) and sensor SE.

[0175] Input device 74 is, for example, a mouse, keyboard, operator device, or other device for input. Output device 75 is, for example, a display, speaker, or other device for output. The operator can use input device 74 and output device 75 to operate control device 70. Input device 74 and output device 75 may also be integrated into a single unit, such as a touch panel display.

[0176] The drive 76 is a device for reading various information, such as programs, stored in the storage medium 97. The program 87 may replace the storage unit 72 or be stored together with the storage unit 72 in the storage medium 97. The storage medium 97 is configured to store this information through electrical, magnetic, optical, mechanical, or chemical action, enabling devices such as computers to read various information (stored programs, etc.). The control device 70 may also retrieve the program 87 from the storage medium 97. Furthermore, the storage medium 97 may be a disc-type storage medium such as a CD or DVD, or a storage medium other than a disc type such as semiconductor memory (e.g., flash memory). The type of drive 76 may be appropriately selected depending on the type of storage medium 97.

[0177] Furthermore, the specific hardware structure of the control device 70 can be appropriately omitted, substituted, or added depending on the implementation method. For example, the control unit 71 may include multiple hardware processors. The type of hardware processor is not particularly limited and can be appropriately selected according to the implementation method. The storage unit 72 may also be composed of RAM and ROM included in the control unit 71. At least one of the external interface 73, input device 74, output device 75, and driver 76 may also be omitted. The control device 70 may also be composed of multiple computers. In this case, the hardware structure of each computer may be the same or different. In addition, the control device 70 may be a general-purpose PC (Personal Computer), tablet PC, portable terminal (including smartphone), etc., in addition to being designed as an information processing device dedicated to the service provided.

[0178] (Software Structure)

[0179] Figure 8 An example of the software structure of the control device 70 of this embodiment is schematically shown. The control unit 71 of the control device 70 expands the program 87 stored in the storage unit 72 in RAM, and executes the commands contained in the program 87 by the CPU. Thus, the control device 70 of this embodiment operates as a computer including an information acquisition unit 711 and a driver unit 712 as software modules. That is, in this embodiment, each software module of the control device 70 is implemented by the control unit 71 (CPU).

[0180] The information acquisition unit 711 is configured to acquire information. The acquired information is not particularly limited and can be appropriately selected depending on the implementation method. For example, the acquired information may be observation data from the sensor SE, the analysis results of the observation data, or input data via the input device 74. The drive unit 712 is configured to control the operation of each actuator (15, 25, 35) based on the acquired information.

[0181] The various software modules of the control device 70 will be described in detail in the operational examples described later. Furthermore, in this embodiment, an example has been described where each software module of the control device 70 is implemented using a general-purpose CPU. However, some or all of the aforementioned software modules may also be implemented using one or more dedicated processors. These modules may also be implemented as hardware modules. Additionally, regarding the software structure of the control device 70, software modules may be omitted, replaced, or added as appropriate depending on the implementation method.

[0182] §2 Examples of Actions

[0183] Figure 9This is a flowchart illustrating an example of the processing sequence of the control device 70 in this embodiment. The processing sequence of the control device 70 described below is an example of a control method (information processing method). However, the processing sequence described below is merely an example, and each step can be modified as much as possible. Furthermore, regarding the processing sequence below, steps can be appropriately omitted, substituted, or added according to the embodiment. Additionally, in... Figure 9 In the example, a scenario is envisioned whereby the aforementioned load-reducing device 60 uses the frame system ST to control the actions of each actuator (15, 25, 35) based on the position of the user W of the load-reducing device 60.

[0184] In step S101, the control unit 71 operates as an information acquisition unit 711, acquiring measurement data of the user W's position from the sensor SE. As long as the user W's position can be determined, the type of sensor SE and the type of measurement data are not particularly limited and can be appropriately selected according to the implementation method. The data obtained from the sensor SE can be the measurement data directly, or it can be obtained by performing arbitrary information processing (analysis processing) on ​​the data obtained from the sensor SE. In one example, the sensor SE can be an image sensor (camera). The image sensor can be appropriately configured to capture the movable range of the moving unit 40. The control unit 71 can acquire the captured image from the image sensor and perform analysis processing to detect the user W on the acquired captured image to obtain the measurement result (measurement data) of the user W's position. When the position measurement result is obtained, the control unit 71 causes the processing to proceed to the next step S102.

[0185] In step S102, the control unit 71 operates as the drive unit 712, controlling the movement of each actuator (15, 25, 35) based on the measured position of the user W. In this embodiment, the speed-increasing effect of each actuator (15, 25, 35) can be changed by setting the balance position (balance point BP, point T0) of each artificial muscle (151, 152), (251, 252), (351, 352) relative to the user W.

[0186] In one example, the control unit 71 can drive each actuator (15, 25, 35) to make the balance position of each artificial muscle (151, 152), (251, 252), and (351, 352) follow the measured position of the user W. That is, the balance position of each artificial muscle (151, 152), (251, 252), and (351, 352) can be set to be the same as the position of the user W. Thus, while reducing the load acting on the user W from the movable frame 30 and the moving unit 40, the movable frame 30 and the moving unit 40 can match the position of the user W and follow it.

[0187] In another example, the control unit 71 can drive each actuator (15, 25, 35) to offset the balance position of each artificial muscle (151, 152), (251, 252), (351, 352) from the measured position of the user W in the guiding direction. The direction in which the balance position is offset relative to the position of the user W corresponds to the guiding direction. Furthermore, the amount by which the balance position is offset relative to the position of the user W corresponds to the value obtained by dividing the guiding force by the spring constant. The guiding direction (target) and the guiding force can be specified arbitrarily, for example, by operator input. Thus, by using the load acting on the user W from the movable frame 30 and the moving unit 40 for guiding the user W, it is difficult to use the weight of the movable frame 30 and the moving unit 40 as a load, and the mobility of the user W can be improved by this guiding force.

[0188] Furthermore, by increasing the force of one of the artificial muscles (151, 152), (251, 252), and (351, 352) and decreasing the force of the other artificial muscle, the control unit 71 can move the balanced position while maintaining rigidity. Additionally, by increasing the rigidity of each artificial muscle (151, 152), (251, 252), and (351, 352), the control unit 71 can increase the force supporting the user W. On the other hand, by decreasing the rigidity of each artificial muscle (151, 152), (251, 252), and (351, 352), the control unit 71 can decrease the force supporting the user W. While controlling the operation of each actuator (15, 25, 35), the control unit 71 proceeds to the next step, S103.

[0189] In step S103, the control unit 71 determines whether to terminate the control of each actuator (15, 25, 35). The determination criteria can be arbitrarily set. In one example, the control unit 71 may determine that after activating the control device 70 and performing the operation initiated via the input device 74, it will not terminate the control of each actuator (15, 25, 35) until an end instruction is given. On the other hand, when an end instruction is given (e.g., via user operation via the input device 74), the control unit 71 may determine to terminate the control of each actuator (15, 25, 35). If it is determined not to terminate the control, the control unit 71 returns to step S101 and executes the process again from step S101. On the other hand, if it is determined to terminate the control, the control unit 71 terminates the processing sequence of the control device 70 in this operation example.

[0190] §3 Characteristics

[0191] As described above, in this embodiment, a first speed-increasing unit 14 is provided in the first fixed frame 10. The first speed-increasing unit 14 increases the speed of movement of the first belt 13 by outputting the driving force of the first actuator 15 to the first output pulley 11. The movable frame 30 is connected to the first belt 13. Therefore, the speed-increasing effect of the first speed-increasing unit 14 can be transmitted to the movable frame 30 via the first belt 13, thereby improving the mobility of the movable frame 30. In step S102 above, by using the speed-increasing effect of the first speed-increasing unit 14 in a following or guiding manner, the load on the movable frame 30 is less likely to function as a load, and the movable frame 30 can be easily moved in the first direction. Therefore, according to this embodiment, the mobility of the movable frame 30 in the frame system ST can be improved. In one example of this embodiment, the mobility of the movable frame 30 can be improved when the load-reducing device 60 is used.

[0192] Furthermore, in this embodiment, by also providing a second speed-increasing unit 24 in the second fixed frame 20, the speed-increasing force via the belts (13, 23) can be transmitted to both ends (301, 302) of the movable frame 30. This suppresses the generation of rotational loads when the speed-increasing force is transmitted from each belt (13, 23) to each end (301, 302) of the movable frame 30, thereby improving the mobility of the movable frame 30.

[0193] In addition, in this embodiment, by also providing a third speed-increasing unit 34 in the movable frame 30, the mobility of the moving unit 40 in the second direction can be improved.

[0194] Furthermore, in this embodiment, by using a variable stiffness actuator as the first actuator 15, impedance control in the first direction can be performed. The same applies when using a variable stiffness actuator as the second actuator 25. By using a variable stiffness actuator as the third actuator 35, impedance control in the second direction can be performed.

[0195] In this embodiment, the first actuator 15 is composed of a pair of artificial muscles (151, 152). The artificial muscles are capable of continuously outputting a relatively large force with low energy. Therefore, energy consumption when maintaining the state in the first direction can be suppressed. Furthermore, the more the artificial muscles contract, the weaker the force. Therefore, the output when the movable frame 30 reaches its end point decreases, reducing the force of contact between the movable frame 30 and its end point. The same applies when the second actuator 25 is composed of a pair of artificial muscles (251, 252). The third actuator 35 is composed of a pair of artificial muscles (351, 352), thereby suppressing energy consumption when maintaining the state in the second direction. Additionally, the force of contact between the moving unit 40 and its end point can be reduced.

[0196] Furthermore, the output of the fluid-pressure artificial muscles can be easily adjusted. Therefore, in this embodiment, by using fluid-pressure artificial muscles for each artificial muscle (151, 152), the system construction can be made easier. The same applies to the use of fluid-pressure artificial muscles for each artificial muscle (251, 252) (351, 352).

[0197] §4 Variations

[0198] The embodiments of the present invention have been described in detail above, but the above description is merely illustrative in all respects. Various modifications or changes can be appropriately made to the above embodiments. For example, the following modifications are possible. Furthermore, the same reference numerals are used below for the same constituent elements as in the above embodiments, and descriptions of points identical to those in the above embodiments are appropriately omitted. The following variations can be appropriately combined.

[0199] <4.1>

[0200] In the above embodiments, the method of supporting the first fixed frame 10 and the second fixed frame 20 can be appropriately modified. Each support column 55-58 can also have a form other than a supporting type. The number of supports is not limited to four. Furthermore, the first fixed frame 10 and the second fixed frame 20 may not be supported by each support column 55-58, but may be suspended from the ceiling by any method, such as a hoist. Each support column 55-58 can be omitted.

[0201] Furthermore, in the above embodiment, each fixed frame (10, 20, 51, 52) can be further supported from the outside (the side opposite to the configuration side of the movable frame 30) towards the horizontal inward side. For example, the first fixed frame 10 can be supported horizontally toward the second fixed frame 20. As a result, the swaying of each fixed frame (10, 20, 51, 52) can be suppressed.

[0202] Furthermore, in the above embodiments, at least one of the third fixing frame 51 and the fourth fixing frame 52 may be omitted. Additionally, in the above embodiments, the first fixing frame 10 and the second fixing frame 20 may be connected to each other by methods other than the third fixing frame 51 and the fourth fixing frame 52. This strengthens the support of the first fixing frame 10 and the second fixing frame 20.

[0203] Furthermore, in the above embodiment, the first fixed frame 10, the second fixed frame 20, and the movable frame 30 are supported at approximately the same height. However, these height relationships are not limited to this example and can be appropriately modified according to the embodiment. In another example, the first fixed frame 10 and the second fixed frame 20 may be configured higher, and the movable frame 30 may be configured lower. In another example, the first fixed frame 10 and the second fixed frame 20 may be configured lower, and the movable frame 30 may be configured higher. In yet another example, one of the first fixed frame 10 and the second fixed frame 20 may be configured higher, and the other lower, with the movable frame 30 positioned between them. The support relationships between the frames (10, 20, 30) can be appropriately modified according to the embodiment.

[0204] Furthermore, in the above embodiment, the first fixed frame 10, the second fixed frame 20, and the movable frame 30 are supported at each end. However, the supporting locations are not limited to the ends and can be appropriately modified according to the embodiment. The first fixed frame 10 and the second fixed frame 20 can be supported at positions separated from each end. The first fixed frame 10 and the second fixed frame 20 can also support the movable frame 30 at positions separated from each end.

[0205] <4.2>

[0206] In the above embodiment, the first holding part 436 (first moving part 434) may hold two or more linear structures as first linear structures respectively. The second holding part 437 (second moving part 435) may also hold two or more linear structures as second linear structures respectively. The plurality of linear structures supplied via a pair of base parts (41, 42) may also include linear structures other than those wound as first and second linear structures (i.e., linear structures not held by the first holding part 436 and the second holding part 437).

[0207] Furthermore, in the above embodiments, the load-reducing device 60 may include linear structures other than a pair of wires (603, 604), such as power cables or communication cables. When the load-reducing device 60 includes multiple linear structures, one or more of the linear structures may be wound as first linear structures, and the remaining one or more linear structures may be wound as second linear structures.

[0208] <4.3>

[0209] In the above embodiment, the rotating unit 43 has two moving parts (434, 435). However, the number of moving parts provided in the rotating unit 43 is not limited to two; it can be one or more. When three or more moving parts are provided, each moving part can be appropriately configured according to the embodiment. Typically, the three or more moving parts can be arranged separately at equal intervals around the vertical direction (circumferential direction). The three or more moving parts can each have a holding part. Correspondingly, the linear structure can be held in a curled shape by the three or more holding parts. That is, a third or subsequent moving part, a holding part, and a linear structure may also exist. Alternatively, either the first moving part 434 or the second moving part 435 may be omitted.

[0210] In the above embodiment, at least one movable part may be provided in the rotating unit 43. Correspondingly, the rotating unit 43 may include a movable part disposed outside the cavities (410, 420), configured to rotate and move about vertically in response to the rotation of the rotating unit 43. The movable part may include a holding part. The holding part may be configured to hold a coiled end formed by a linear structure that hangs vertically downward from the cavities (410, 420) and then winds vertically upward. The linear structure may hang further vertically downward from this end. The holding part may hold more than one linear structure. The held linear structure may also have a property of being difficult to twist. According to this structure, by releasing the coiled portion into the rotating winding, the portion of the linear structure forward of the holding part can rotate and move without being affected by the rotation of the rotating unit 43. Thus, even a linear structure that is difficult to twist can rotate and move about vertically.

[0211] Furthermore, in the above embodiment, the rotating unit 43 only needs to be configured to rotate around the cavity of the base portion in the vertical direction, and the structure of the rotating unit 43 can be appropriately modified. In the rotating unit 43, the central portion 431 and each arm portion (432, 433) can also be omitted. Each moving portion (434, 435) can be supported by a structure other than the central portion 431 and each arm portion (432, 433) to enable rotational movement. In another example, guide members can be provided throughout the circumferential direction on the outer peripheral wall of the base portion, and each moving portion (434, 435) can be configured to rotate and move the guide members in the circumferential direction while maintaining a distance. In the above embodiment, the cavities (410, 420) of a pair of base portions (41, 42) and the hollow portion 430 of the central portion 431 constitute the passage of the linear structure in the moving unit 40. By omitting the central portion 431, the hollow portion 430 can be omitted from the passage of the linear structure.

[0212] Furthermore, in the above embodiment, the relationship between the pair of base portions (41, 42) and the rotating unit 43 can be appropriately modified. The base portions may not be separated vertically. The rotating unit 43 may be appropriately supported above or below the base portions to enable rotation. The rotating unit 43 may also be omitted. The structure of the moving unit 40 may be appropriately modified according to the embodiment.

[0213] Furthermore, in the above embodiment, the moving unit 40 is supported below the movable frame 30. However, the positional relationship between the moving unit 40 and the movable frame 30 is not limited to this example and can be appropriately modified according to the embodiment. The moving unit 40 may be supported at approximately the same height as the movable frame 30 or above the movable frame 30.

[0214] <4.4>

[0215] In the above embodiments, the types of actuators (15, 25, 35) can be appropriately selected. In one example, at least one of the three actuators (15, 25, 35) can use a fluid-pressure artificial muscle. In another example, at least one of the three actuators (15, 25, 35) can also use an artificial muscle other than a fluid-pressure artificial muscle, such as a polymer actuator or a sensor actuator. In one example, if any type of artificial muscle (e.g., an artificial muscle other than pneumatic pressure) is used in at least one of the three actuators (15, 25, 35), the artificial muscle can possess the above-described... Figure 6 The wire 505, stop 506, and elastic member 507 may also have other structures. In one example, at least one of the three actuators (15, 25, 35) may be composed of a pair of artificial muscles. However, the number of artificial muscles used for the actuators is not limited to this example and may be appropriately selected according to the implementation.

[0216] In one example, at least one of the three actuators (15, 25, 35) may be a variable-rigidity actuator other than an artificial muscle, such as an actuator with a spring, a mechanism for changing the stiffness (spring constant) of the spring, or a motor actuator. Speed-increasing units (14, 24) may be provided in at least one of the first fixed frame 10 and the second fixed frame 20. For the actuators (15, 25) that input driving force to the speed-increasing units (14, 24), impedance control in the first direction is achieved by using a variable-rigidity actuator. Alternatively, in one example, at least one of the three actuators (15, 25, 35) may be an actuator other than a variable-rigidity actuator, such as an actuator composed of a spring and a motor, a series elastic actuator, a piezoelectric actuator, or a motor.

[0217] Each speed-increasing unit (14, 24, 34) only needs to output the driving force of each actuator (15, 25, 35) to each output pulley (11, 21, 31), and its structure is not particularly restricted. The structure of each speed-increasing unit (14, 24, 34) can be appropriately modified according to the type of actuator (15, 25, 35). In one example, in at least one of the three speed-increasing units (14, 24, 34), the driving force of the actuator (15, 25, 35) can be directly input to the driven gear (111, 211, 311). In another example, in at least one of the three speed-increasing units (14, 24, 34), the actuator (15, 25, 35) can be a motor, and the motor can also drive the input pulley (141, 241, 341) or the output pulley (11, 21, 31).

[0218] In one example, at least one of the three actuators (15, 25, 35) can be an actuator capable of reverse drive. Furthermore, in this embodiment, the diameter of each driven gear (111, 211, 311) provided on each output pulley (11, 21, 31) is smaller than the diameter of each drive gear (142, 242, 342) provided on each input pulley (141, 241, 341). Therefore, even with a small force pulling each belt (13, 23, 33), a large force can be applied to each actuator (15, 25, 35). Therefore, even if at least one of the three actuators (15, 25, 35) is an actuator that is difficult to reverse drive, it can be reverse driven with a small force. That is, by providing speed-increasing units (14, 24, 34) in at least one of the first fixed frame 10, the second fixed frame 20, and the movable frame 30, the reverse drive performance in this direction can be improved. Therefore, at least one of the three actuators (15, 25, 35) can also use a wave gear mechanism. While wave gear mechanisms are difficult to reverse drive, the reverse drive performance can be ensured through the effect of the aforementioned speed-increasing unit. At the same time, using a wave gear mechanism allows for a more compact actuator design.

[0219] In one example, at least one of the three actuators (15, 25, 35) can be activated by the above-mentioned... Figure 6 The structure can be modified to create a freely movable range. For example, in at least one of the three speed-increasing units (14, 24, 34), a clutch can be provided on the input pulley (141, 241, 341). In this structure, the driving force of the actuators (15, 25, 35) can be loaded and unloaded by means of the clutch. By disengaging the clutch, the actuators (15, 25, 35) can be disconnected, thereby allowing the belt (13, 23, 33) to move freely.

[0220] Furthermore, if at least one of the three actuators (15, 25, 35) uses an artificial muscle, the driving range of the artificial muscle can also be changed by adopting the structure of the clutch.

[0221] In one example, an encoder can be installed on the input pulley (141, 241, 341) in at least one of the three speed-increasing units (14, 24, 341) to measure the angle of the input pulley (141, 241, 341). Without a clutch, the position of the drive point corresponds to the amount of rotation of the input pulley (141, 241, 341) (i.e., the amount of drive of the artificial muscle), thus the position of the drive point can be estimated based on the measured angle. In the first fixed frame 10 and the second fixed frame 20, the drive point is the position of the movable frame 30; in the movable frame 30, the drive point is the position of the moving unit 40.

[0222] On the other hand, if a clutch structure is used, the driving force of the artificial muscle does not correspond to the movement of the driving point when the clutch is disengaged. Therefore, it is difficult to determine the position of the driving point at the angle of the input pulleys (141, 241, 341). Therefore, in another example, if a clutch structure is used in at least one of the three speed-increasing units (14, 24, 34), an encoder can be installed on the output pulleys (11, 21, 31) corresponding to the input pulleys (141, 241, 341) with the clutch. The angle of the output pulleys (11, 21, 31) can be measured using this encoder, and the position of the driving point can be estimated based on the measured angle. Thus, the frame system ST can be configured to adjust the driving range of the artificial muscle by switching the clutch on / off while estimating the position of the driving point. The driving range of the artificial muscle is limited. Therefore, if at least one of the frames in the first direction (the first fixed frame 10 and the second fixed frame 20) and the frame in the second direction (the movable frame 30) is long, it may be impossible to cover the entire range of the frame as the driving range of the artificial muscle. In contrast, by adopting this structure, the driving range of the artificial muscle can be changed, thereby enabling the entire frame to cover the driving range of the artificial muscle even when the frame is long.

[0223] In another example, a brake for suppressing movement can be provided on at least one of the movable frame 30 and the moving unit 40. The brake can be provided, for example, on at least one of the output pulleys (11, 21, 31), auxiliary pulleys (12, 22, 32), and sliding units (362, 372, 45). The type of brake is not particularly limited and can be appropriately selected according to the implementation method. In this embodiment, by increasing the rigidity of each actuator (15, 25, 35), the drive point can be hardened, achieving an effect similar to that of a brake. Conversely, by providing a brake, movement can be further suppressed as needed. For example, when excessive force is applied to the belts (13, 23, 33), movement of the belts (13, 23, 33) can be suppressed by the brake. This suppresses the load on the speed-increasing units (14, 24, 34).

[0224] <4.5>

[0225] In the above embodiment, the first fixed frame 10 supports the movable frame 30 via the sliding unit 362. The second fixed frame 20 supports the movable frame 30 via the sliding unit 372. The movable frame 30 supports the moving unit 40 via the sliding unit 45. However, the support method is not limited to this example and can be appropriately modified according to the embodiment. The structure of the sliding units (362, 372, 45) can be appropriately modified according to the embodiment. In at least one of them, a support method other than the sliding unit can be used. In another example, in at least one of the three sliding units (362, 372, 45), a horizontal wheel can be disposed in a portion of the groove (193, 293, 393). The horizontal wheel can be slightly smaller than the groove (193, 293, 393). The horizontal wheel can withstand axial loads by abutting against the edge portions (191, 192), (291, 292), and (391, 392). Alternatively, the horizontal wheel can be mounted to the sliding unit (362, 372, 45) via an elastic member (e.g., a spring). In another example, in the above embodiment, at least any one of the horizontal wheels (3623, 3624, 3723, 3724, 453, 454) can be mounted to the sliding unit (362, 372, 45) by means of an elastic member (e.g., a spring).

[0226] Furthermore, in the above embodiment, the movable frame 30 is connected to the first belt 13 via the fourth member 364 and the fifth member 365. The movable frame 30 is connected to the second belt 23 via the fourth member 374 and the fifth member 375. The moving unit 40 is connected to the third belt 33 via the connecting part 46. However, the connection method is not limited to this example and can be appropriately modified according to the embodiment. The structure of the connecting components can also be appropriately modified according to the embodiment.

[0227] <4.6>

[0228] In the movable frame 30 of the above embodiment, the third speed-increasing unit 34 can be omitted. In this case, the third output pulley 31 and the third auxiliary pulley 32 can simply be referred to as pulleys. Even if the third speed-increasing unit 34 is omitted, the movable frame 30 can still have a third belt 33, and the moving unit 40 can be connected to the third belt 33.

[0229] Furthermore, in the above embodiment, the third output pulley 31, the third auxiliary pulley 32, the third belt 33, and the third speed-increasing unit 34 can be omitted. Correspondingly, the connection between the moving unit 40 and the third belt 33 can also be omitted. In one example, the movable frame 30 can be used solely as the track for the moving unit 40.

[0230] <4.7>

[0231] In the second fixed frame 20 of the above embodiment, the second speed-increasing unit 24 can be omitted. In this case, the second output pulley 21 and the second auxiliary pulley 22 can also be simply referred to as pulleys. Even if the second speed-increasing unit 24 is omitted, the second fixed frame 20 can still have a second belt 23, and the movable frame 30 can be connected to the second belt 23.

[0232] Furthermore, in the above embodiment, the second output pulley 21, the second auxiliary pulley 22, the second belt 23, and the second speed-increasing unit 24 can be omitted. Correspondingly, the connection between the movable frame 30 and the second belt 23 can also be omitted. In one example, the second fixed frame 20 can be used solely as a track for the movable frame 30.

[0233] <4.8>

[0234] In the above embodiment, the first auxiliary pulley 12 is the driven pulley. However, the first auxiliary pulley 12 is not limited to this example. In another example, a speed-increasing unit independent of the first speed-increasing unit 14 can be provided in the first fixed frame 10, through which the driving force of the actuator can be output to the first auxiliary pulley 12. Thus, the first auxiliary pulley 12 can also operate in the same way as the first output pulley 11.

[0235] This also applies to the second fixed frame 20 and the movable frame 30. That is, in another example, the second fixed frame 20 can be equipped with a speed-increasing unit independent of the second speed-increasing unit 24, through which the driving force of the actuator can be output to the second auxiliary pulley 22. Thus, the second auxiliary pulley 22 can also operate in the same way as the second output pulley 21.

[0236] Alternatively, in another example, the movable frame 30 can be equipped with a speed-increasing unit independent of the third speed-increasing unit 34, through which the driving force of the actuator can be output to the third auxiliary pulley 32. Thus, the third auxiliary pulley 32 can also operate in the same manner as the third output pulley 31.

[0237] <4.9>

[0238] In the above embodiment, encoders can be installed on the output pulleys (11, 21, 31) and auxiliary pulleys (12, 22, 32) respectively in at least one of the first fixed frame 10, the second fixed frame 20, and the movable frame 30. The angles of the output pulleys (11, 21, 31) and auxiliary pulleys (12, 22, 32) can be measured by each encoder. The control device 70 can use each angle to estimate the force acting on the drive point. Furthermore, the control device 70 can also use each angle to correct the position of the drive point. As described above, in the first fixed frame 10 and the second fixed frame 20, the drive point is the position of the movable frame 30; in the movable frame 30, the drive point is the position of the moving unit 40.

[0239] Figure 10 An example of the frame (first fixed frame 10, second fixed frame 20, and movable frame 30) of this modified example is schematically shown. Output pulleys 591 correspond to each output pulley (11, 21, 31), and auxiliary pulleys 592 correspond to each auxiliary pulley (12, 22, 32). Annular belts 593 correspond to each belt (13, 23, 33). Figure 10 The structure can be used for at least one of the first fixed frame 10, the second fixed frame 20, and the movable frame 30. Furthermore, Figure 10 Imagine a scenario where the driving point DP (connection point) is set on the lower periphery of the 593.

[0240] In one example, encoder EN1 can be located on output pulley 591, and encoder EN2 can be located on auxiliary pulley 592. The types of encoders (EN1, EN2) are not particularly limited and can be appropriately selected according to the implementation method. Each encoder (EN1, EN2) can be appropriately configured on the rotation axis, side, etc., of each pulley (591, 592). As long as the rotation angle of each pulley (591, 592) can be measured, the configuration of each encoder (EN1, EN2) is not particularly limited and can be appropriately determined according to the implementation method.

[0241] The control device 70 can directly or indirectly obtain the measurement results of the rotation angle of each pulley (591, 592) from each encoder (EN1, EN2). Based on the difference in the measured rotation angle between the output pulley 591 and the auxiliary pulley 592, the control device 70 calculates the extension (stretch) of the upper support portion PT1 of the belt 593 between the output pulley 591 and the auxiliary pulley 592. Furthermore, the spring constant of the upper support portion PT1 can be predetermined. Considering the influence of the tensioner, this spring constant can be approximated by a nonlinear function. The control device 70 can estimate the force acting on the drive point DP by multiplying the calculated stretch by the predetermined spring constant. The control device 70 can use the estimated force for feedback control of the drive point DP. Therefore, the control device 70 can control the drive point DP with or without other sensors.

[0242] Furthermore, the control device 70 can calculate the distance between the pulley and the drive point DP under no-load conditions based on the rotation angle of the pulley, which is located in the direction opposite to the estimated direction of the force. This distance corresponds to the position of the drive point DP under no-load conditions. Additionally, the distance between the pulley and the drive point DP is equivalent to the length of the underside of the belt 593 between the pulley and the drive point DP. Figure 10 In the example, a scenario is envisioned where the estimated force is directed towards the output pulley 591. In this case, the control device 70 can calculate the length of the lower support portion PT2 of the belt 593 between the auxiliary pulley 592 and the drive point DP under no-load conditions based on the measured rotation angle of the auxiliary pulley 592. Under no-load conditions, the belt 593 is not extended, so the control device 70 can consistently determine the length of the lower support portion based on the measured pulley rotation angle. Furthermore, similar to the force estimation scenario described above, the spring constant of this lower support portion can be predetermined. The spring constant can be approximated, for example, by a function. The control device 70 can estimate the spring constant of this portion based on the calculated length of the lower support portion. Moreover, the control device 70 can calculate the offset of the drive point DP's position by dividing the estimated force value by the estimated spring constant value. The control device 70 can correct the position of the drive point DP by shifting the position of the drive point DP by the calculated offset in the direction of the estimated force. The corrected position can be used for position control of the drive point DP.

[0243] The encoder for measuring the pulley angle can be an inexpensive encoder. Therefore, based on this structure, the accuracy of force and position control of the drive point DP can be improved in a relatively inexpensive way. It should be noted that when the drive point DP (connection point) is located on the upper periphery of the belt 593, the upper mounting portion in the force estimation scenario can be replaced with the lower mounting portion, and the lower mounting portion in the position correction scenario can be replaced with the upper mounting portion.

[0244] <4.10>

[0245] In the above embodiments, the moving unit 40 only needs to be able to move along the movable frame 30, and its structure is not particularly limited and can be appropriately modified according to the embodiments. Any device can be installed on the moving unit 40. Furthermore, the object device can be installed by equipping the moving unit 40 with the object device in a manner such as making the moving unit 40 at least part of the object device, suspending the object device, allowing a linear structure of the object device to pass through, or holding the linear structure of the object device. The method of equipping the object device is not particularly limited and can be appropriately selected according to the embodiments.

[0246] <4.11>

[0247] In the above embodiment, a scenario in which the frame system ST is used in the load-reducing device 60 is illustrated. However, the application scope of the frame system ST is not limited to this example. In the moving unit 40, any device may be equipped together with or in place of the load-reducing device 60.

[0248] (1) Exoskeleton Robot

[0249] Figure 11A This illustration shows one example of another scenario using the framework system ST of this disclosure. Figure 11A In the example, we assume a scenario where an exoskeleton robot 61 is used in conjunction with the aforementioned weight-reduction device 60. The exoskeleton robot 61 has four artificial muscles 617, a first auxiliary part 618, and a second auxiliary part 619. The type of each artificial muscle 617 can be arbitrarily selected. In one example, each artificial muscle 617 can use the aforementioned artificial muscle 500.

[0250] The first auxiliary part 618 is configured to receive the driving force of two of the four artificial muscles 617 to assist the user W in the extension and flexion of the knee joint. The second auxiliary part 619 is configured to receive the driving force of the remaining two of the four artificial muscles 617 to assist the user W in the extension and flexion of the ankle joint. The four artificial muscles 617 can be appropriately carried by the user W.

[0251] The exoskeleton robot 61 may include one or more linear structures associated with four artificial muscles 617. In one example, each artificial muscle 617 may be a pneumatic artificial muscle. Accordingly, the exoskeleton robot 61 may have a compressor and four air valves. The compressor may be connected to each air valve via air pipes. Each air pipe may also be connected to each artificial muscle 617 via air pipes. The air pipes of the compressor and each air valve are an example of linear structures. Each air pipe may be appropriately wound.

[0252] Figure 11B and Figure 11C This is a perspective view and a partial cross-sectional view schematically illustrating an example of the winding of the linear structure (air pipe) of the exoskeleton robot 61 in the mobile unit 40 of this disclosure. The compressor can be positioned anywhere. The compressor can be connected to each of the air valves 6121-6124 via the air pipe 611. The air pipe 611 can be wound from the compressor to the upper part of the movable frame 30. For the portion wound to the upper part of the movable frame 30 and passing through the cavities (410, 420) of the pair of base portions (41, 42), the air pipe 611 can be configured in the same manner as the wires (603, 604) of the load-bearing device 60. In one example, this portion of the air pipe 611 can be placed together with the wire 603 into the cable bearing CB1, configured within the bracket 38. Figure 11C In another example, the air tube 611 may also be placed together with the wire 604 into the cable bearing CB2 and configured in the slot 385.

[0253] Four air valves, 6121~6124, can be configured appropriately. Figure 11A and Figure 11B In this example, the four air valves 6121-6124 can be divided into two pairs, and each pair can be fixed in a connected state to the moving parts (434, 435) of the rotating unit 43. It can be configured such that if each air valve 6121-6124 is connected, air pressure can be received through a single pipe. Correspondingly, the air pipe 611 can branch into two pipes (6111, 6112) after being supplied into the cavities (410, 420) of a pair of base parts (41, 42).

[0254] Tube 6111 can be connected to a pair of air valves (6121, 6122), and tube 6112 can be connected to a pair of air valves (6123, 6124). In this case, each tube (6111, 6112) can be connected to its respective pair after being wound in a coiled manner, similar to the wires (603, 604) of the load-reducing device 60. The connection portion of each pair of air valves is an example of a retaining portion. Through this winding, even in scenarios using the exoskeleton robot 61, rotation of the user W around the vertical direction can be easily accommodated.

[0255] The air tubes 6131-6134 hanging from the air valves 6121-6124 can be covered by the sleeve 616 in a bundled state and connected to the artificial muscles 617. Furthermore, as with the relationship between the tubes (6111, 6112) and the air tubes 6131-6134, when two or more linear structures are connected by any object sandwiched in the middle, the two or more linear structures can be regarded as a single linear structure or as independent linear structures.

[0256] Each air valve 6121-6124 can be a known type of air valve. Each air valve 6121-6124 can be controlled wirelessly or via a wired connection. When controlling each air valve 6121-6124 via a wired connection, the communication cable can be wound in the same manner as the air hose 611. Furthermore, each air valve 6121-6124 can be equipped with a battery or connected to a power cable. When supplying power to each air valve 6121-6124 via a power cable, the power cable can be wound in the same manner as the air hose 611. Moreover, the controller can be equipped with each air valve 6121-6124 in the mobile unit 40. In this case, the controller's power cable can also be wound in the same manner as the air hose 611. In this application example, even in scenarios where the exoskeleton robot 61 is used, the effects of the above-described embodiments can be expected. Furthermore, the configuration of each air valve 6121-6124 can be appropriately modified according to the embodiments.

[0257] Figure 12 This illustration shows one example of another scenario using the framework system ST of this disclosure. Figure 12 In the exoskeleton robot 62, air valves 622 are positioned near the upper ends of four artificial muscles 627. These four artificial muscles 627 correspond to the four artificial muscles 617 described above. An air pipe 621 from the compressor corresponds to the air pipe 611 described above. In this case, the air pipe 621 can supply air directly to the user W's back without branching after passing through the cavities (410, 420) of a pair of base portions (41, 42). The other structures of the exoskeleton robot 62 can be the same as those of the exoskeleton robot 61 described above. This simplifies the winding of the linear structure. Furthermore, in variations of the exoskeleton robots (61, 62), the weight-reducing device 60 can be omitted. The type of each artificial muscle 627 can be arbitrarily selected. In one example, each artificial muscle 627 can use the artificial muscle 500 described above.

[0258] (2) Robotic arm

[0259] Figure 13An example of another scenario using the frame system ST of this disclosure is illustrated schematically. In one example, a robotic arm 63 can be mounted on the moving unit 40. This allows the robotic arm 63 to move horizontally in a suspended state. Therefore, obstacles such as steps placed on the ground can be ignored, and the robotic arm 63 can be moved easily. Furthermore, the mobility of the robotic arm 63 in a first direction can be improved using the first speed-increasing unit 14. The second speed-increasing unit 24 allows the robotic arm 63 to move smoothly in the first direction. Additionally, the third speed-increasing unit 34 can also improve the mobility of the robotic arm 63 in a second direction.

[0260] In one example, the robotic arm 63 can be mounted on the moving unit 40 via a balancer 631. The balancer 631 can be suitably configured to assist the vertical movement of the robotic arm 63, enabling it to be maintained at any height. A known balancer can be used. When moving the robotic arm 63 horizontally, it first lifts vertically upwards before beginning horizontal movement, thereby reducing interference with obstacles present on the floor side. On the other hand, during use, the robotic arm 63 can be lowered vertically. In this modified example, the vertical movement of the robotic arm 63 is facilitated by the balancer 631. Therefore, the convenience of the robotic arm 63 is improved. Furthermore, in another example, the balancer 631 can be omitted.

[0261] In this modified example, by using variable stiffness actuators in each actuator (15, 25, 35), impedance control of the front end of the robotic arm 63 can be achieved even if the robotic arm 63 itself has high stiffness. The stiffness of the front end of the robotic arm 63 is equivalent to the combined stiffness of the robotic arm 63 itself and the stiffness of each actuator (15, 25, 35). Therefore, even when it is difficult to reduce the stiffness of the robotic arm 63 itself, a soft state can be achieved at the front end of the robotic arm 63 by reducing the stiffness of each actuator (15, 25, 35).

[0262] (Example of action)

[0263] Figure 14 This is a flowchart illustrating an example of the processing sequence of the control device 70 in a scenario where the robotic arm 63 utilizes the frame system ST. The processing sequence of the control device 70 described below is an example of a control method (information processing method). However, the processing sequence described below is merely an example, and each step can be modified as much as possible. Furthermore, regarding the processing sequence below, steps can be omitted, substituted, or added appropriately depending on the implementation method.

[0264] In step S201, the control unit 71 operates as an information acquisition unit 711, receiving a designation of a location as the destination of the mobile robotic arm 63. The location can be designated via any method, such as input through the input device 74, voice input, or image input (gestures, etc.). For example, when using sensor input such as voice or image input, the control unit 70 can acquire observation data from sensors SE such as microphones or image sensors, and parse the acquired observation data using any method to obtain information about the designated location. The location can be specifically designated, or it can be designated abstractly, such as through instructions or calls. In the case of abstract designation, the control unit 71 can determine the designated location according to predetermined rules (e.g., setting a designated location within a certain range from the user). When the information about the designated location is obtained, the control unit 71 proceeds to the next step, S202.

[0265] In step S202, the control unit 71 operates as the drive unit 712, controlling the movement of each actuator (15, 25, 35) to gradually move the balanced position of each actuator (15, 25, 35) to a designated position. Thus, the control device 70 can use the frame system ST to move the robotic arm 63 to the designated position. When the balanced position of each actuator (15, 25, 35) reaches the designated position, the movement of the robotic arm 63 is completed.

[0266] Typically, the control unit 71 can also cause the robotic arm 63 to move along a straight path. However, the movement path is not limited to this example and can be appropriately determined according to the implementation. The control unit 71 can perform path planning by any method. For example, the control unit 71 can obtain the position of an obstacle and determine the movement path of the robotic arm 63 in a way that avoids the position of the obstacle. Furthermore, the position of the obstacle can be obtained by any method. In one example, the sensor SE may include an image sensor, and the control unit 71 can determine the position of the obstacle based on the image obtained from the image sensor. In another example, the position of the obstacle may also be preset.

[0267] Furthermore, if the balancer 631 is computer-controlled, the control unit 70 can be directly or indirectly connected to the balancer 631. In this case, the control unit 71 can drive the balancer 631 before movement begins, thereby raising the position of the robotic arm 63 vertically upward. Then, after the movement is completed, the control unit 71 can drive the balancer 631 to lower the position of the robotic arm 63 vertically downward. When the movement of the robotic arm 63 is complete, the control unit 71 causes the process to proceed to the next step S203.

[0268] In step S203, the control unit 71 determines whether to terminate the control of each actuator (15, 25, 35). The determination criteria can be arbitrarily set. In one example, the determination criteria for step S203 can be the same as those for step S103 described above. In another example, the control unit 71 may determine to terminate the control of each actuator (15, 25, 35) whenever the movement of the robotic arm 63 is completed. If it is determined that the control should not be terminated, the control unit 71 returns to step S201 and executes the process again from step S201. On the other hand, if it is determined that the control should be terminated, the control unit 71 terminates the processing sequence of the control device 70 in this operation example. According to this operation example, the robotic arm 63 can be moved to any location using the frame system ST.

[0269] Furthermore, in this modified example, the aforementioned brake can be provided. This brake allows for the free stopping of the movement of the robotic arm 63. As a result, the positioning accuracy of the tip of the robotic arm 63 can be improved.

[0270] <4.12>

[0271] Furthermore, the shape, material, structure, and other properties of each component of the frame system ST can be appropriately modified. Regarding the specific hardware structure of the frame system ST, components can be omitted, replaced, or added as appropriate according to the implementation method. The shapes of each frame (10, 20, 30, 51, 52) are not limited to the examples in the figures and can be appropriately modified according to the implementation method. At least one of the first fixed frame 10, the second fixed frame 20, and the movable frame 30 can be partially bent, as long as the movable frame 30 can move. The connection, fixing, support, and other assembly methods of each component can also appropriately adopt known methods.

[0272] <4.13>

[0273] In one example, the system can be constructed by using multiple frame systems ST that have any of the structures described in the above embodiments and variations.

[0274] Figure 15 An example of the system ST100 of this disclosure is schematically shown. Figure 15In one example, system ST100 includes a first frame system ST1 and a second frame system ST2. The first frame system ST1 is disposed in a first space SC1. The second frame system ST2 is disposed in a second space SC2 adjacent to the first space SC1. Each frame system (ST1, ST2) can be configured in the same way as the frame system ST in any of the above embodiments and variations. The first frame system ST1 and the second frame system ST2 can be configured such that the load-bearing device 60 can be installed at a distance from the moving units 40 of both the first frame system ST1 and the second frame system ST2 at least on either side of the boundary SC3 of the first space SC1 and the vicinity of the boundary SC. In addition, a door can be provided at the boundary SC3 of the first space SC1 and the second space SC2. Furthermore, a wall SC30 separating the first space SC1 and the second space SC2 can be provided above the boundary SC3 (entrance / exit).

[0275] Figure 16A and Figure 16B The illustration schematically depicts an example of a scenario where a user W of the weight-relief device 60 moves from a first space SC1 to a second space SC2 within the system ST100 of this disclosure. In one example, the components of the weight-relief device 60, other than the wearable devices (606, 607), (drive source, various linear structures, etc.) can be installed in each frame system (ST1, ST2). Figure 15 , Figure 16A and Figure 16B In one example, the artificial muscles (601, 602) and wires (603, 604) of the load-relief device 60 can be integrated into the frame systems (ST1, ST2). For example... Figure 16A As illustrated, the first frame system ST1 and the second frame system ST2 can be configured in the regions of the spaces (SC1, SC2) near or at the boundary SC3, within the range from the linear structures (wires 603, 604) of the weight-relief device 60 extending from the mobile units 40 of each frame system (ST1, ST2) to the wearable devices (606, 607). Thus, the first frame system ST1 and the second frame system ST2 can be configured to allow the weight-relief device 60 to be installed at a distance from the mobile units 40 of both the first frame system ST1 and the second frame system ST2 in at least one of the regions near the boundary SC3.

[0276] According to one example of this disclosure, when moving from the first space SC1 to the second space SC2 and from the second space SC2 back to the first space SC1, the user W can change the installation target of the wearable device (606, 607) of the weight-reducing device 60 at or near the boundary SC3 without disconnecting from the weight-reducing device 60. Therefore, the weight-reducing device 60 can be used continuously in the first space SC1 and the second space SC2.

[0277] When the wall SC30 is located above the boundary SC3, the sliding members (SC31, SC32) can be positioned near the lower end of the wall SC30 in each space (SC1, SC2) so that the linear structures (wires 603, 604) of the load-bearing device 60 do not contact the lower end of the wall SC30. The type of sliding member (SC31, SC32) is not particularly limited as long as it is a surface-sliding member, and can be appropriately selected according to the implementation method. Each sliding member (SC31, SC32) can be, for example, a rotating member (bearing, etc.) or a surface-sliding member. Therefore, when the installation target of the wearing device (606, 607) of the load-bearing device 60 is changed at or near the boundary SC3, it is possible to prevent the linear structures (wires 603, 604) of the load-bearing device 60 from being hooked by the corner of the lower end of the wall SC30. As a result, wear of the linear structures (wires 603 and 604) of the load-reducing device 60 can be suppressed.

[0278] Furthermore, the first space SC1 and the second space SC2 are not particularly limited and can be appropriately selected according to the implementation method. In one example, one of the first space SC1 and the second space SC2 can be a bathroom, and the other can be a room adjacent to the bathroom (changing room, etc.). According to one example of this disclosure, the weight-relief device 60 can be used in the bathroom. As a result, it is expected to reduce the burden on the caregiver in the bathroom. In addition, even without using a dedicated bed, the user W can be placed in the bathtub while being relieved of the burden by the weight-relief device 60.

[0279] Regarding the specific hardware structure of system ST100, constituent elements can be appropriately omitted, replaced, or added according to the implementation method. The number of frame systems used is not limited to two, but can be three or more. The number of spaces is also not limited to two, but can be three or more. More than one frame system can be configured in one space. When using three or more frame systems, the above... Figure 15 Similarly, two adjacent frame systems can be configured such that the load-relief device 60 can be installed at a distance from the moving units 40 on both sides of the adjacent frame systems at or near the boundary. This allows the load-relief device 60 to be used continuously in each space.

[0280] <4.14>

[0281] Figure 17 An example of a schematic structure of another type of artificial muscle 500A is shown. Similar to the artificial muscle 500 described above, the artificial muscle 500A includes a chamber 501, a pair of ends (502, 503), a tubular cylinder 504, a wire 505, a stop 506, and an elastic member 507. The internal space 5015 of the chamber 501 is connected to a valve via a supply port 509. The artificial muscle 500A also includes an outer cylinder 520 that forms an internal space 525 for housing these components. Within the outer cylinder 520, the connections of the wire 505 and the supply port 509 to the external space can be appropriately sealed.

[0282] In the case of using artificial muscle 500A in humid environments such as bathrooms, if the chamber 501 and outer cylinder 520 are sealed, condensation may easily occur in the internal space 525 of the outer cylinder 520. Therefore, at least one through hole connecting the internal space 5015 of the chamber 501 to the internal space 525 of the outer cylinder 520 can be provided at at least one of the ends (502, 503) of the chamber 501. Additionally, at least one through hole connecting the internal space 525 of the outer cylinder 520 to the external space can also be provided at at least one of the ends (521, 522) of the outer cylinder 520. The number of through holes can be arbitrarily determined. Figure 17 In one example, two through holes 541 are provided at the end 502 of the chamber 501. Two through holes 542 are also provided at the end 503 of the chamber 501. A through hole 543 is provided at the end 521 of the outer cylinder 520. A through hole 544 is also provided at the end 522 of the outer cylinder 520. According to one example of this disclosure, dried air is supplied from an air valve to the internal space 5015 of the chamber 501. This dried air is supplied from the internal space 5015 of the chamber 501 to the internal space 525 of the outer cylinder 520 through the through holes (541, 542). By supplying dried air from the chamber 501 to the internal space 525 of the outer cylinder 520, the air present in the internal space 525 is squeezed out to the external space through the through holes (543, 544). As a result, the air in the internal space 525 can be dried, and consequently, condensation in the internal space 525 can be suppressed. Furthermore, at least one of the through holes (541, 542) may be omitted. At least one of the through holes (543, 544) may also be omitted. To prevent air from entering the inner space 525 from the outer space, each through hole (543, 544) provided at each end (521, 522) of the outer cylinder 520 may also be equipped with a check valve.

[0283] Sensors for measuring the actuation of the artificial muscle 500A can be appropriately arranged in the internal space 525 of the outer cylinder 520. In one example, when the sensor class is arranged only at one end of the artificial muscle 500A, a through hole is preferably provided at the end of the side where the sensor class is arranged in the chamber 501. Alternatively, the diameter of the through hole at the end of the side where the sensor class is arranged is preferably larger than the through hole provided at the end of the side opposite to the side where the sensor class is arranged. Furthermore, in the outer cylinder 520, a through hole is preferably provided at the end of the side opposite to the side where the sensor class is arranged. Alternatively, the diameter of the through hole at the end of the side opposite to the side where the sensor class is arranged is preferably larger than the through hole at the end of the side where the sensor class is arranged. When multiple through holes are provided, the larger diameter of the through hole on one side than the through hole on the other side corresponds to a greater amount of air that can be discharged from all the through holes on one side than the greater amount of air that can be discharged from all the through holes on the other side.

[0284] exist Figure 17 In one example, a load sensor 531, an encoder 532, and a scale 533 are disposed on the end 521 side of the internal space 525 of the outer cylinder 520. The load sensor 531 is configured to be mounted on the end 502 of the chamber 501 in contact with the stop 506, and measures the driving force of the artificial muscle 500A. The scale 533 is mounted on the inner wall of the outer cylinder 520. The encoder 532 is configured to be mounted on the side of the end 502 of the chamber 501, and measures the contraction rate of the artificial muscle 500A by reading the scale 533. The load sensor 531 and the encoder 532 are examples of sensors. The end 521 side of the outer cylinder 520 is an example of the side where the sensors are disposed, and the end 522 side is an example of the side opposite to the side where the sensors are disposed. In this case, the through hole 542 of the end 503 of the chamber 501 can be omitted. Alternatively, the diameter of the through hole 541 at the end 502 of the chamber 501 can be made larger than the through hole 542 at the end 503. Additionally, the through hole 543 at the end 521 of the outer cylinder 520 can be omitted. Alternatively, the diameter of the through hole 544 at the end 522 of the outer cylinder 520 can be made larger than the through hole 543 at the end 521. According to one embodiment of this disclosure, dry air supplied from the air valve can easily pass through the through hole (in the...) at the end of the chamber 501 on the side where the sensor is located. Figure 17 A through-hole 541 (in the center) discharges air from the interior space 5015 of the chamber 501 to the side of the interior space 525 where the sensor is disposed. Furthermore, within the interior space 525, by causing the air discharged to the side where the sensor is disposed to flow to the opposite side, air from the interior space 525 can easily exit through the through-hole (in the center) at the opposite end. Figure 17The through hole 544 is used for drainage. This allows for easy suppression of condensation on the sensor-like components. In one example, artificial muscle 500A can be used as at least one of the various artificial muscles (151, 152, 251, 252, 351, 352, 601, 602, 617, 627).

[0285] In another example, a portion of the wire 505 extending from the outer cylinder 520 into the external space may be covered by the housing 552. Figure 17 In one example, wire 505 extends from end 521 of outer cylinder 520 into the external space. The end of housing 552 can be suitably fixed to end 521 by fastener 551. Wire 505 can be made of chemical fiber. Wire 505 can be suitably joined to stop 506. Housing 552 can be made of PTFE (polytetrafluoroethylene) tubing. This helps to prevent rusting of wire 505. Alternatively, housing 552 can be configured as a two-layer structure with PTFE on the inner side and nylon or polyurethane on the outer side. For example, housing 552 can be formed by covering PTFE tubing with nylon tubing. Alternatively, for example, housing 552 can be formed by coating the outer circumferential surface of PTFE tubing with polyurethane. This improves the flexibility of housing 552.

[0286] <4.15>

[0287] Figure 18 An example of force control according to this disclosure is illustrated schematically. In the above embodiment, when using the load-reducing device 60, the position of the user W can be observed by the sensor SE. A restricted entry area EA can be set in the observation space of the sensor SE. The observation space of the sensor SE can be appropriately defined by known methods, etc. The restricted entry area EA can be appropriately set by the control device 70. In this case, the control device 70 (control unit 71) can control the operation of each actuator (15, 25, 35) so that the balance position (balance point BP, point T0) of each artificial muscle (151, 152) (251, 252) (351, 352) does not enter the restricted entry area EA.

[0288] In one example, if the position of user W obtained in step S101 is far from the restricted access area EA, in step S102, the control unit 71 can drive each actuator (15, 25, 35) in the same manner as in the above embodiment, so that the balance position (balance point BP, point T0) of each artificial muscle (151, 152), (251, 252), (351, 352) follows the position of user W. On the other hand, if the position of user W obtained in step S101 is at the boundary of the restricted access area EA or is about to enter the restricted access area EA, the control unit 71 can drive each actuator (15, 25, 35) so that the balance position (balance point BP, point T0) of each artificial muscle (151, 152), (251, 252), (351, 352) stops at the boundary of the restricted access area EA or moves away from the restricted access area EA. This makes it difficult for user W to enter the restricted access area EA. Figure 18 As illustrated, when user W enters the restricted access area EA, a force can be applied to user W in a direction away from the restricted access area EA. Therefore, according to one example of this disclosure, user W can be prevented from entering the designated restricted access area EA.

[0289] Furthermore, the method for determining the balance position relative to the restricted access area EA is not limited to the examples described above and can be appropriately modified according to the implementation method. In another example, if the position of the user W obtained in step S101 is within the restricted access area EA, the control unit 71 can drive each actuator (15, 25, 35) so that the balance position (balance point BP, point T0) of each artificial muscle (151, 152), (251, 252), and (351, 352) is set between the boundary of the restricted access area EA and the position of the user W. Thus, the user W can be moved to the outside of the restricted access area EA with a suppressive force.

[0290] §5 Experimental Examples

[0291] To verify the applicability of the curling method in the above embodiments, the following experiments were conducted. However, this disclosure is not limited to the following experimental examples.

[0292] (First experimental example)

[0293] First, a frame system with the same structure as the embodiment described above was prototyped. Next, a load-relief device with the same structure as the embodiment described above was fabricated. Pneumatic artificial muscles were used. The artificial muscles and cables (Bowden cables) were configured in the same manner as in the embodiment described above. Cables extending from each artificial muscle were coiled in a rotating unit and held by a retaining part. The portion of each cable from the retaining part to its front end hangs vertically downwards and is connected to each wearable device. In the first experimental example, assuming a stationary user scenario, a counterweight was fixed to the subject equipped with the load-relief device to prevent the user from moving up, down, left, or right. Using the method of Non-Patent Document 3, the same target value was assigned to the artificial muscles on both sides of the load-relief device. Then, while dynamically changing the target value of the load-relief force, the load-relief device was driven, and the actual load-relief force from the artificial muscles was measured using a load sensor.

[0294] (Second Experimental Example)

[0295] In the second experimental example, a step (a wooden frame 19 cm high and 28 cm deep) was prepared, and the user raised and lowered the step. During the raising and lowering of the step, the user controlled the stress-relief device by applying a certain stress-relief force (100 N), and the actual stress-relief force from the artificial muscle was measured using a load sensor. The frame system and stress-relief device used the same system and apparatus as in the first experimental example.

[0296] (result)

[0297] Figure 19A and Figure 19B This represents the target values ​​for the left and right sides and the measurement results of the load sensor in the first experimental example. Figure 20A and Figure 20B This represents the target values ​​for the left and right sides, the contraction amount of the artificial muscle, and the measurement results from the load sensor in the second experimental example. For example... Figure 19A as well as Figure 19B As shown, even in the coiled portion of the cable, force control can be appropriately applied to follow dynamically changing target values. Furthermore, as... Figure 20A as well as Figure 20B As shown, the contraction of the artificial muscle increases when the user ascends the step (around 9 seconds) and decreases when descending the step (around 14 seconds). This allows for force control that applies a certain amount of load reduction force even during the user's ascent and descent. In other words, it demonstrates that even with a coiled portion in the cable, appropriate force control for the user's movement can be implemented. Based on these results, it is clear that even with the structure described above, which uses a coiled portion in a linear structure, the load reduction device can be used without hindrance when employing it.

[0298] Explanation of reference numerals in the attached figures

[0299] 10. First fixed frame; 11. First output pulley; 12. First auxiliary pulley; 13. First belt; 14. First speed-increasing unit; 15. First actuator; 20. Second fixed frame; 30. Movable frame; 40. Moving unit.

Claims

1. A framework system, wherein, This framework system has the following features: A first fixed frame, extending along a first direction, includes: The first output pulley is disposed at one end of the first fixed frame; A first auxiliary pulley is disposed at the other end of the first fixed frame; A first annular belt is positioned between the first output pulley and the first auxiliary pulley; and The first speed-increasing unit is configured to receive the input of the driving force from the first actuator and output the input driving force to the first output pulley, thereby increasing the speed of movement of the first belt; A second fixed frame extends in the first direction and is configured side by side with the first fixed frame; A movable frame, supported by the first fixed frame and the second fixed frame, extends in a second direction intersecting the first direction. The movable frame is configured such that one end is connected to the first belt, thereby allowing it to move along the first fixed frame and the second fixed frame according to the movement of the first belt; and A movable unit, which is supported on the movable frame, is configured to move along the movable frame.

2. The framework system according to claim 1, wherein, The second fixed frame has: The second output pulley is disposed at one end of the second fixed frame; The second auxiliary pulley is located at the other end of the second fixed frame; A second annular belt is mounted between the second output pulley and the second auxiliary pulley; as well as The second speed-increasing unit is configured to receive a driving force input from a second actuator and output the driving force input from the second actuator to the second output pulley, thereby increasing the speed of movement of the second belt. The other end of the movable frame is connected to the second belt.

3. The framework system according to claim 1, wherein, The movable frame has: The third output pulley is disposed at one end of the movable frame and the other end; A third auxiliary pulley is disposed at one end of the movable frame and the other end of the movable frame; A third belt in the shape of an annular ring is installed between the third output pulley and the third auxiliary pulley; as well as The third speed-increasing unit is configured to receive a driving force input from a third actuator and output the driving force input from the third actuator to the third output pulley, thereby increasing the speed of movement of the third belt. The moving unit is connected to the third belt.

4. The framework system according to claim 1, wherein, The mobile unit includes: A base portion having a cavity opening in a vertical direction, the base portion being configured to supply a plurality of linear structures, including a first linear structure and a second linear structure, from above the vertical through the cavity to below the vertical; and A rotating unit configured to rotate around the cavity in a vertical direction. The rotating unit includes: A first movable part, configured to be disposed outside the cavity, rotates and moves about the vertical direction according to the rotation of the rotating unit; and The second moving part is disposed separately from the first moving part on the outside of the cavity about the vertical direction, and is configured to rotate and move about the vertical direction according to the rotation of the rotating unit while maintaining its positional relationship with the first moving part. The first moving part includes a first holding part configured to hold a curled first end. The curling is formed by the first linear structure hanging vertically downward from the cavity and then winding vertically upward. The first linear structure further hangs vertically downward from the first end. The second moving part includes a second holding part configured to hold the curled second end, the curling being formed by the second linear structure hanging vertically downward from the cavity and then winding vertically upward, the second linear structure further hanging vertically downward from the second end.

5. The framework system according to claim 4, wherein, The rotating unit also includes: The central portion is supported on the base portion in a manner that allows it to rotate about the vertical direction, and has a hollow portion that opens in the vertical direction and communicates with the cavity of the base portion. A first arm extends from the central portion vertically downward or obliquely downward relative to the vertical, connecting the central portion to the first moving portion; as well as The second arm extends from the central portion vertically downward or obliquely downward relative to the vertical, connecting the central portion to the second moving portion.

6. The framework system according to claim 1, wherein, The mobile unit includes: A base portion having a cavity opening in the vertical direction, the base portion being configured to allow a linear structure to be supplied vertically downward through the cavity from above; and A rotating unit configured to rotate around the cavity in a vertical direction. The rotating unit includes a movable part disposed on the outside of the cavity, and configured to rotate and move about the vertical direction according to the rotation of the rotating unit. The movable part includes a retaining part configured to retain a curled end, which is formed by the linear structure hanging vertically downward from the cavity and then winding vertically upward, the linear structure hanging further vertically downward from the end.

7. The framework system according to claim 1, wherein, The first actuator is a variable stiffness actuator.

8. The framework system according to claim 7, wherein, The variable rigidity actuator consists of a pair of artificial muscles.

9. The framework system according to claim 8, wherein, Each of the aforementioned artificial muscles includes: A wire, used to input the driving force to the first speed-increasing unit; A stopper, configured to transmit the driving force to the filament when each of the artificial muscles contracts in the direction of pulling the filament; and An elastic member is configured to maintain tension in the wire when each of the artificial muscles relaxes and the stop disengages.

10. The framework system according to claim 8, wherein, Each of the artificial muscles is a fluid pressure artificial muscle.

11. The framework system according to claim 3, wherein, The third actuator is a variable stiffness actuator.

12. The framework system according to claim 1, wherein, The mobile unit is equipped with a load-reducing device.

13. The frame system according to claim 12, wherein, The mobile unit includes: The base portion has a cavity opening in the vertical direction and is configured to supply a plurality of linear structures, including a first linear structure and a second linear structure, of the load-reducing device from above the vertical through the cavity to below the vertical; and A rotating unit configured to rotate around the cavity in a vertical direction. The rotating unit includes: A first movable part, configured to be disposed outside the cavity, rotates and moves about the vertical direction according to the rotation of the rotating unit; and The second moving part is disposed separately from the first moving part on the outside of the cavity about the vertical direction, and is configured to rotate and move about the vertical direction according to the rotation of the rotating unit while maintaining its positional relationship with the first moving part. The first movable part includes a first retaining part configured to retain a curled first end, the curling being formed by the first linear structure hanging vertically downward from the cavity and then winding vertically upward. The first linear structure hangs further vertically downward from the first end toward one of the user's left or right sides of the weight-reducing device. The second moving part includes a second holding part configured to hold a curled second end, the curling being formed by the second linear structure hanging vertically downward from the cavity and then winding vertically upward, the second linear structure hanging further vertically downward from the second end on the other side (left or right) facing the user.

14. The framework system according to claim 1, wherein, A robotic arm is installed in the mobile unit.

15. The frame system according to claim 14, wherein, The movable frame has: The third output pulley is disposed at one end of the movable frame and the other end; A third auxiliary pulley is disposed at one end of the movable frame and the other end of the movable frame; A third belt in the shape of an annular ring is installed between the third output pulley and the third auxiliary pulley; as well as The third speed-increasing unit is configured to receive a driving force input from a third actuator and output the driving force input from the third actuator to the third output pulley, thereby increasing the speed of movement of the third belt. The moving unit is connected to the third belt.

16. The frame system according to claim 14, wherein, The robotic arm is mounted on the mobile unit via a balancer.

17. A system comprising: a first frame system disposed in a first space and a second frame system disposed in a second space adjacent to the first space, wherein, The first framework system and the second framework system each possess: A first fixed frame, extending along a first direction, has: The first output pulley is disposed at one end of the first fixed frame; A first auxiliary pulley is disposed at the other end of the first fixed frame; A first annular belt is mounted between the first output pulley and the first auxiliary pulley; as well as The first speed-increasing unit is configured to receive the input of the driving force from the first actuator and output the input driving force to the first output pulley, thereby increasing the speed of movement of the first belt; A second fixed frame extends in the first direction and is configured side by side with the first fixed frame; A movable frame, supported on the first fixed frame and the second fixed frame, extends in a second direction intersecting the first direction. The movable frame is configured such that one end is connected to the first belt, thereby moving along the first fixed frame and the second fixed frame according to the movement of the first belt. as well as A movable unit, supported on the movable frame, is configured to move along the movable frame. The first frame system and the second frame system are configured such that at least one of the boundaries of the first space and the second space, and near the boundaries, is capable of mounting the load-reducing device at a distance between the moving units of both the first frame system and the second frame system.

18. The system according to claim 17, wherein, One of the first space and the second space is a bathroom.

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