Standing support device

Abstract

To provide a lightweight, compact wearable standing support device.SOLUTION: A standing support device includes an inflatable actuator 20 fixed to a rear side of the leg with belts 30, 32, 34; and a control device 10 incorporating an air pump. When a wearer 2 takes a forward-bent posture to press a switch 8 on the shin part, a center of gravity of the human body thus moves to the heel. The control device 10 actuates the air pump and sends compressed-air to the actuator 20 via an air tube 6 when it confirms with a knee angle sensor 40 that the switch 8 is pressed and the angle is a standable knee angle. The actuator 20 stretches the knee back of the wearer 2 by being swollen by the compressed-air.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a standing assistance device, and more particularly to a standing assistance device that is worn on the human body. [Background technology]

[0002] Various devices have been proposed to assist people with weak legs and hips in standing up and walking. For example, Patent Document 1 proposes a wearable walking support device. In this conventional technology, a hip joint motor, which is located above the upper thigh when standing upright, is moved toward the knee when bending the leg, thereby shortening the moment arm when bending compared to conventional devices and reducing the load on the knee. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 3869446 specification [Patent Document 2] Japanese Patent Application Laid-Open No. 2013-208290 [Patent Document 3] Japanese Patent Application Publication No. 7-246223 Summary of the Invention [Problem to be solved by the invention]

[0004] However, since conventional devices use parts such as motors and gears, the device body is relatively heavy.

[0005] An object of the present invention is to provide a lightweight, small, wearable standing assistance device. [Means for solving the problem]

[0006] The standing assistance device according to the present invention is a rod-shaped bag member fixed to the back of the knee at the central portion, and by expanding in response to filling with air, the upper portion presses from the back side of the thigh and the lower portion presses from the back side of the lower leg, respectively, so as to stretch the wearer's knee from the back side. A bag member that acts as such, an air pump that sends air into the bag member, a detection means that detects the posture of the wearer, and a control means that operates the air pump when it is detected that the seated wearer is in a posture capable of standing up. It is characterized by comprising.

[0007] Further, it is provided with switch means attached near the shin of the wearer, and the control means operates the air pump when the wearer determines that the switch means has been operated and is in a posture capable of standing up. It is characterized by that.

[0008] Further, the detection means detects the degree of bending of the wearer's knee, and the control means operates the air pump when a predetermined degree of knee bending required for standing up is detected by the detection means. It is characterized by that.

[0009] Further, it includes knee fixing means for closely attaching the central portion of the bag member to the back of the knee, upper thigh fixing means for fixing the upper end portion of the bag member to the back side of the upper thigh, and lower leg fixing means for fixing the lower end portion of the bag member to the back side of the lower leg. The bag member has a V-shape that bends at the central portion when filled with air, and the upper and lower end portions of the bag member are worn by the wearer in a direction approaching the upper and lower legs. It is characterized by that.

[0010] Further, an elastic member that applies pressure to the upper and lower end portions is disposed between the central portion and the upper and lower end portions of the bag member. It is characterized by that.

[0011] Further, a shape collapse prevention plate is disposed on a portion other than the central portion of the bag member facing the back of the knee. It is characterized by that.

Effect of the Invention

[0012] According to the invention described in claim 1, it is possible to provide a lightweight and compact wearable standing assistance device.

[0013] According to the invention of claim 2, the center of gravity of the wearer's body can be shifted toward the soles of the feet, leading to a posture that makes it easier to stand up.

[0014] According to the invention as set forth in claim 3, the wearer can check whether the knee angle is at an angle that allows standing up.

[0015] According to the invention as set forth in claim 4, the bag member can be fixed to the backside of the wearer's leg.

[0016] According to the invention as set forth in claim 5, the upper and lower ends of the bag member that expands when air is fed into the bag member can be effectively pressed against the upper and lower thighs of the wearer.

[0017] According to the invention of claim 6, when the bag member is not filled with air, deformation of portions other than the central portion of the bag member where deformation is not desired can be suppressed. [Brief explanation of the drawings]

[0018]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Embodiments for Carrying out the Invention

[0019] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0020] FIG. 1 is a schematic diagram showing the usage state of the standing-up support device in this embodiment. The standing-up support device in this embodiment supplies compressed air to an inflatable actuator (hereinafter, also simply referred to as "actuator") 20 attached to the back of the knees of both legs of a person, and causes it to expand so as to extend the knees of the wearer 2 from the back side to perform standing-up support. Note that since the actuators 20 attached to each leg may have the same structure, only one leg is shown in each of the following drawings. Of course, it is also possible to attach the actuator 20 to only one leg and use it.

[0021] FIG. 1 shows a state where a person (hereinafter, "wearer") 2 is sitting on a chair 4 while wearing the standing-up support device in this embodiment. Further, FIG. 2 is a schematic block configuration diagram of the control device 10 in this embodiment. The standing-up support device in this embodiment is mainly composed of a control device 10 attached to the contact part of the waist of the wearer 2 and an actuator 20 attached to the back of the knee part of the wearer 2. The control device 10 and the actuator 20 are connected by an air tube 6. The control device 10 can control the operation of the actuator 20, and it is not necessarily required to be attached to the waist as long as it is in a position that does not interfere with standing up, and it does not necessarily need to be attached to the wearer 2.

[0022] Note that, since the stand-up assistance device in this embodiment is worn by the wearer 2 when in use, terms indicating body parts such as the knees and waist refer to body parts of the wearer 2. Furthermore, the following explanation will be given on the assumption that the stand-up assistance device is worn by the wearer 2. In other words, when explaining the positional relationship between the components of the stand-up assistance device and body parts of the wearer 2, expressions such as "when the stand-up assistance device is worn" will be omitted for convenience.

[0023] The control device 10 has a built-in air pump 11, and the actuator 20 is configured to be inflated by air being sent through an air tube 6 under the control of the control device 10. Knee belts 30, upper thigh belts 32, and lower thigh belts 34 are attached to the actuator 20 as means for fastening to the legs so that the actuator 20 does not come off the backs of the knees of the wearer 2 and so that the inflation of the actuator 20 is effectively transmitted to the backs of the knees of the wearer 2.

[0024] A switch 8 is disposed near the shin of the wearer 2 as switching means for operating the air pump 11. In this embodiment, the switch 8 is attached to the lower leg belt 34 located near the shin, but the switch 8 may be fixed to the shin by providing a separate member to be attached to the shin instead of the lower leg belt 34. In addition, a knee angle sensor 40 that detects the degree of bending of the knee of the wearer 2 is attached to the surface of the actuator 20 facing the back of the knee. In this embodiment, the knee angle sensor 40 is provided as an example of detection means that detects the posture of the wearer 2 based on the degree of bending of the knee, and the posture of the wearer 2 is determined based on the degree of bending of the knee.

[0025] In addition, in FIG. 1, the position of the center of gravity when the wearer 2 is seated is indicated by a dashed arrow G. In order for a person to stand up, the position of the center of gravity of the human body needs to be between the position gh of the heel of the sole of the foot and the toe. In FIG. 1, the center of gravity position (hereinafter, also referred to as "center of gravity position G") indicated by the dashed arrow G when seated is shown to be behind the position of the heel by a distance L1. That is, the seated position is a posture in which standing up is not possible. Note that the position of the center of gravity of the human body may be detected, for example, by having the wearer 2 wear a center of gravity detection slip.

[0026] As shown in FIG. 2, the control device 10 in the present embodiment includes an air pump 11, an electromagnetic valve 12, a control unit 13, and a storage battery 14 as power supply means. Each component 11 to 13 operates with power supplied from the storage battery 14. The air pump 11 compresses the air sucked in from the intake port 15 under the control of the control unit 13 and sends it to the actuator 20 via the air tube 6. A pressure gauge 16 is provided in the air pump 11, and the internal pressure in the actuator 20 can be measured. The air pressure value measured by the pressure gauge 16 is sent to the control unit 13 via the data signal line 17. The electromagnetic valve 12 opens and closes the built-in electromagnetic valve under the control of the control unit 13. When the electromagnetic valve is in the closed state, the air from the air pump 11 is sent to the actuator 20. When the electromagnetic valve is in the open state, the air in the actuator 20 is exhausted from the exhaust port 18 via the electromagnetic valve 12.

[0027] The control unit 13 is provided as control means for controlling the operation of the standing assistance device in the present embodiment. For the control of each component, the control unit 13 is connected to the built-in air pump 11 and electromagnetic valve 12 by a control signal line 19. The control unit 13 is further connected to the knee angle sensor 40 and the switch 8 on the actuator 20 side by wire or wirelessly. In the case of wire connection, the control signal line may be run along the air tube 6. In FIG. 2, the relationship of transmission and reception of control signals is shown by a dashed line. Also, the control unit 13 acquires the air pressure data from the pressure gauge 16 via the data signal line 17 and the knee bend angle (hereinafter, also referred to as "knee angle") data from the knee angle sensor 40 via the data signal line 48, respectively.

[0028] Figure 3 is a diagram schematically showing a state in which the actuator 20 in the present embodiment is attached to the leg 2a. In Figure 3, a state before the actuator 20 is filled with air is shown. As shown in Figure 3, the actuator 20 is fixed to the back side of the leg 2a using the knee belt 30, the thigh belt 32, and the calf belt 34. The knee belt 30 is provided as knee fixing means for closely fixing the central portion of the actuator 20 to the back of the knee. The knee belt 30 includes a knee belt 30a that closely adheres the central portion of the actuator 20 to the back of the knee, and knee auxiliary belts 30b and 30c that are disposed above and below the knee belt 30a and are attached to the knee so as to sandwich the knee joint from above and below, thereby firmly fixing the actuator 20 so that it does not shift in the vertical direction from the back of the knee.

[0029] The thigh belt 32 is thigh fixing means for fixing the upper end portion of the actuator 20 to the back side of the thigh. The calf belt 34 is calf fixing means for fixing the lower end portion of the actuator 20 to the back side of the calf. As will be described in detail later, in the present embodiment, by expanding the actuator 20, a force is generated to push the thigh and the calf with the back of the knee as a fulcrum, thereby assisting the leg force during standing up to support the standing up operation. At this time, the thigh belt 32 and the calf belt 34 are provided so that the actuator 20 does not deviate from the surface that pushes the thigh and the calf.

[0030] Since each of the belts 30, 32, and 34 is intended to fix the actuator 20 at a predetermined position on the back side of the leg, it is formed with appropriate dimensions such as length and width, and a material of an elastic member such as a rubber band, and attached to the actuator 20. Further, it may be formed so as to have an adjustment mechanism for the length and the fixing strength.

[0031] FIG. 4 is a perspective view showing the basic structure of the actuator 20 in this embodiment. The actuator 20 in this embodiment is a bag member that expands when air is introduced, and has a V-shape that is bent at the center when filled with air. The wearer 2 wears the actuator 20 with the upper and lower ends of the V-shape facing the upper and lower thighs. The actuator 20 shown in FIG. 3 is in a state before air is introduced, and is therefore bent in the opposite direction of the V to follow the curve of the leg 2a. The actuator 20 expands when filled with air, and the upper portion presses against the back of the upper thigh and the lower portion presses against the back of the lower leg, thereby acting to straighten the knee of the wearer 2 from the back.

[0032] FIG. 4(a) is a perspective view showing the air bag 21, which constitutes the main part of the actuator 20, in a state in which it is filled with air. The air bag 21 is V-shaped to form the shape of the actuator 20. The air bag 21 is made of a beach ball or rubber material and, as shown in FIG. 4(b), is used inside a bag cover 22 that forms the shape of the main body of the actuator 20. The bag cover 22 has the same V-shape as the air bag 21 and is made of a strong cloth material. The bag cover 22 can withstand the internal pressure caused by the supplied air, allowing the control device 10 to supply high-pressure air to the air bag 21. Compressed air supplied via the air tube 6 enters the interior through the air valve 23. Both ends of the air tube 6 are firmly fixed so that it does not leak even when compressed air is sent to the actuator 20. However, the standing assistance device may be detachable from at least one of the control device 10 and the actuator 20 when not in use, for portability, etc. Furthermore, rubber bands 24 are sewn as elastic members between the center and upper and lower end portions of the bag cover 22 to pressurize the upper and lower end portions of the actuator 20. Since the surface pressure near the position where the rubber bands 24 are arranged is high, the actuator 20 is not easily crushed and inflated where the rubber bands 24 are present. In other words, the rubber bands 24 have the function of adjusting the order in which the actuators 20 are inflated.

[0033] Assuming that Fig. 4(b) shows the front side of the actuator 20, Fig. 4(c) is a perspective view when seen from the back side of the actuator 20 in contact with the back of the knee. On the back surface of the bag cover 22, a plate 25 made of a lightweight material such as a resin material is sewn as a shape-retaining plate for the actuator 20. The airbag 21 made of a beach ball material or the like shrinks when the air escapes and the internal pressure is low. As a result, the bag cover 22 can no longer maintain a V shape. Therefore, the plate 25 is disposed on the back surface of the bag cover 22, specifically, on the portions other than the central portion. In this way, the plate 25 is attached to the upper and lower portions of the bag cover 22 other than the bent central portion so as to suppress deformation of the upper and lower portions as much as possible. Thereby, the shape when air is being withdrawn from the actuator 20 can be adjusted.

[0034] For the above purposes, the plate 25 may be provided over the entire portion that does not need to be bent, in other words, does not deform, outside the central portion of the bag cover 22. However, in the present embodiment, the plate 25 is partially formed in an H shape at the upper and lower portions so as to satisfy both rigidity and weight reduction. Of course, the plate 25 may be formed in a shape other than the H shape or made of a material other than resin.

[0035] The actuator 20 is affected by factors such as the width, shape, and rigidity of the rubber band 24 and the plate 25, and the material thereof. Therefore, the shape change of the actuator 20 during air supply may be controlled by appropriately setting the shape and the like of the rubber band 24 and the plate 25. In the above description, the rubber band 24 and the plate 25 are sewn to be fixed to the bag cover 22, but they may be fixed by other methods such as pasting.

[0036] FIG. 5 is a perspective view showing the structure of the knee angle sensor 40 in the present embodiment. The knee angle sensor 40 is provided as a detection means for detecting the posture of the wearer 2, and detects a knee angle indicating the degree of knee bending as an example of an index indicating the posture of the wearer 2. The knee angle sensor 40 is formed as follows. That is, one end of the bending sensor 41 is fixed to the sensor base 42, and a sensor clamp 43 is attached to the other end of the bending sensor 41. The sensor clamp 43 is inserted into the clamp rail 45 of the lever 44 in a slidable state and fixed to the tip of the lever 44 using a rubber string 46. The lever 44 is rotatable with respect to the sensor base 42 about the lever fulcrum 47 as a central axis. The angle formed by the sensor base 42 and the lever 44 is measured by the bending sensor 41. In the present embodiment, the lever fulcrum 47 is disposed on the back of the knee to measure the bending angle of the leg 2a, that is, the knee angle.

[0037] FIG. 6 is a diagram showing a method of attaching the knee angle sensor 40 to the actuator 20 in the present embodiment. The knee angle sensor 40 is inserted into a sensor cover 49 made of a soft material such as quilting fabric in a state where it is not bent at the lever fulcrum 47. FIG. 6(a) shows the state before insertion, and FIG. 6(b) shows the state after insertion. Then, as shown in FIG. 6(c), the sensor cover 49 is sewn to the bag cover 22 so that the lever fulcrum 47 comes to the position on the back of the knee, in other words, so that the lever fulcrum 47 coincides with the position where the V-shaped bend of the actuator 20 occurs. Note that the sensor cover 49 may be fixed to the bag cover 22 by other methods such as pasting instead of sewing.

[0038] A perspective view of the actuator 20 to which the knee angle sensor 40 and the belts 30, 32, 34 are further attached is shown in FIG. 6(c). FIG. 6(c) shows the actuator 20 when the upper and lower parts are bent in the opposite direction of the back of the knee because it is not filled with air.

[0039] By the way, each of the belts 30, 32, and 34, which are fixing means, will be wound around the leg 2a when the standing support device is used. However, as shown in Fig. 6(c), the state before wearing is not closed, and it may be configured to be fixed to the leg 2a by locking means (not shown) such as hooks or hook-and-loop fasteners when worn.

[0040] Next, the principle of generating the force for supporting standing by the actuator 20 attached to the leg 2a will be described with reference to Fig. 7.

[0041] Fig. 7(a) is a side view schematically showing the actuator 20 in the present embodiment. The actuator 20 shown in Fig. 7(a) is in a state where the internal pressure is low, similar to Fig. 6(c), and shows a state where the V shape is maintained for convenience. Fig. 7(b) is a view showing the actuator 20 attached to the leg 2a. The actuator 20 is fixed by the knee belt 30 so that the concave portion in the central part is in close contact with the back of the knee, and the upper and lower end portions are fixed to the upper and lower legs by the thigh belt 32 and the calf belt 34, respectively. At this time, since the actuator 20 is in a state where the internal pressure is low, when it is attached to the leg 2a, it bends in the direction opposite to the original V shape along the bend of the knee.

[0042] When air is supplied to the actuator 20 in this state, since the upper and lower end portions of the V-shaped actuator 20 are arranged at positions where they push the upper and lower legs, respectively, an upper leg pressing force and a lower leg pressing force are generated as the actuator 20 expands. Also, the air supplied by the action of the rubber band 24 makes it easier to expand from the upper and lower end portions.

[0043] FIG. 7(c) shows the actuator 20 in a state where the internal pressure is high due to continuous filling with air. As described above, as air is filled, the upper leg pressing force (arrow A2) and the lower leg pressing force (arrow A3) become stronger. The wearer 2 can more easily extend the knees due to this pressing force. That is, it becomes easier to stand up compared to the case of relying only on one's own strength. Incidentally, as a reaction to the upper leg pressing force and the lower leg pressing force, a force B1 that tries to separate the actuator 20 from the contact portion on the back of the knee occurs. Therefore, in order to prevent separation, it is necessary to firmly attach the actuator 20 to the back of the knee with the knee belt 30.

[0044] FIG. 8 is a flowchart showing the standing assistance control process performed by the control device 10 when the wearer 2 stands up in the present embodiment. FIG. 9 is a diagram showing the change in the posture when the wearer 2 stands up. Hereinafter, the standing assistance control in the present embodiment performed when the wearer 2 stands up will be described with reference to FIGS. 8 and 9. It is assumed that the person who tries to stand up (wearer 2) has already worn the standing assistance device in the present embodiment and is sitting on the chair 4.

[0045] First, when the wearer 2 tries to stand up from the seated state shown in FIG. 1, the power button (not shown) of the control device 10 is operated to turn on the power of the control device 10 (step S101). When the power supply is started, the control unit 13 activates the knee angle sensor 40. As a result, the knee angle sensor 40 starts measuring the knee angle α (step S102). The knee angle sensor 40 measures the knee angle at regular intervals until the power of the control device 10 is turned off, and transmits the measured value to the control unit 13.

[0046] The wearer 2 needs to operate the switch 8 to receive assistance in standing up. The control unit 13 waits until the switch 8 is operated (No in step S103).

[0047] Incidentally, Fig. 9(a) shows the posture of wearer 2 at the start of standing up, and Fig. 9(b) shows the posture of wearer 2 at the end of standing up. Note that the posture shown in Fig. 9(b) is the end of standing up but has not reached an upright position. As a condition for wearer 2 to realize the standing-up motion, at the start of standing up, the center-of-gravity position G of the human body needs to move a distance L1 from the sitting position shown in Fig. 1 and reach between the position gh of the heel and the toe. To realize this movement of the center-of-gravity position G, in this embodiment, the switch 8 is disposed on the shin. To press the switch 8 disposed on the shin, wearer 2 assumes a forward-leaning posture as shown by arrow C, whereby the center-of-gravity position G of the human body can be moved between the position gh of the heel and the toe.

[0048] Also, in this embodiment, a knee-angle sensor 40 is provided as a method for confirming the center-of-gravity position G of the human body. Assuming that a predetermined knee angle when the center-of-gravity position G of the human body reaches the position gh of the heel is a known value α0, after the switch 8 is turned on, it is confirmed whether the knee angle α of wearer 2 has reached the predetermined value α0. If not, it is determined that the center-of-gravity position G of the human body has not moved to the position gh of the heel, and the process returns to the process of comparing the knee angle α of wearer 2 with the predetermined value α0 (N in step S104). When the knee angle α of wearer 2 is less than or equal to the predetermined value α0 (Y in step S104), the control unit 13 performs closed control of the solenoid valve of the electromagnetic valve 12 (step S105). After confirming that the solenoid valve is in the closed state, the control unit 13 turns on and operates the air pump 11 (step S106).

[0049] When the air pump 11 starts operating, it compresses the air sucked in from the intake port 15 and sends it to the actuator 20 via the air tube 6. As a result, the actuator 20 expands as described above and presses the upper and lower legs at the upper and lower ends while the back of the knee is in close contact. As a result, wearer 2 changes from the state shown in Fig. 9(a) to the state shown in Fig. 9(b), that is, the knee extends by the actuator 20.

[0050] In this embodiment, assuming that a predetermined knee angle for determining the standing state is a known value α1, it is confirmed whether the knee angle α (angle D in FIG. 9(b)) of the wearer 2 measured by the knee angle sensor 40 has reached the predetermined value α1. When the knee angle α of the wearer 2 is equal to or greater than the predetermined value α1 (Y in step S107), the control unit 13 determines that the wearer 2 has stood up, turns off the air pump 11, and stops supplying air to the actuator 20 (step S109). Judging that the inflated state of the actuator 20 would interfere with the movements of the wearer 2 after standing up, the control unit 13 controls the electromagnetic valve of the electromagnetic valve 12 to open (step S110). When the electromagnetic valve is opened, the air supplied to the actuator 20 is exhausted from the exhaust port 18 of the electromagnetic valve 12 and deflates until it returns to the state before air supply. Then, the wearer 2 operates the power button of the control device 10 to turn off the power of the control device 10 (step S111). The standing assist device in this embodiment assists the wearer 2 to stand up as described above.

[0051] On the other hand, if the knee angle α of the wearer 2 is not equal to or greater than the predetermined value α1 (N in step S107), the control unit 13 acquires the internal pressure Pin of the actuator 20 from the pressure gauge 16 and compares the internal pressure Pin with the maximum rated pressure P0 of the airbag 21. If the internal pressure Pin is not equal to or greater than the maximum rated pressure P0 of the airbag 21 (N in step S108), the process returns to step S107. When the internal pressure Pin is equal to or greater than the maximum rated pressure P0 of the airbag 21 (Y in step S108), there is a possibility that the airbag 21 will be damaged if air is sent to the actuator 20 to inflate it further. For this reason, the control unit 13 turns off the air pump 11 and stops supplying air to the actuator 20 (step S109). After that, the control unit 13 controls the electromagnetic valve of the electromagnetic valve 12 to open as described above (step S110), vents the air from the actuator 20, and turns off the power of the control device 10 according to the operation of the wearer 2 (step S111). Even in this case, although it may not be confirmed that the wearer 2 has stood up from the knee angle, it is considered to be helpful for standing up.

[0052] In addition, in the present embodiment, in order to make the wearer 2 assume a forward-leaning posture, in other words, to guide the center-of-gravity position G of the human body, which is located behind the position gh of the heel, i.e., toward the back, in front of the position gh of the heel when sitting, the switch 8 is provided on the shin. If the center-of-gravity position G of the human body when operating the switch 8 reaches in front of the position gh of the heel, the switch 8 can be regarded as a means for detecting that the seated wearer 2 is in a posture where they can stand up.

[0053] In the present embodiment, the switch 8 is provided on the shin where the lower-leg belt 34 is located in order to force the wearer 2 to assume a forward-leaning posture as described above. However, even if the switch 8 is not pressed, if it can be confirmed that the knee angle α of the wearer 2 is equal to or less than a predetermined value α0, that is, if the wearer 2 is in a posture where they can stand up, the control unit 13 may control the electromagnetic valve of the electromagnetic valve 12 to open and operate the air pump 11. Further, instead of the switch 8, for example, other means such as providing a sound output means and guiding the wearer 2 to assume a forward-leaning posture by flowing guidance by voice may be used.

[0054] FIG. 10 is a diagram showing two types of airbags 21a and 21b with different outer shapes of the actuator 20 in the present embodiment. FIG. 10(a) shows the airbag 21a with a low-output specification, and FIG. 10(b) shows the airbag 21b with a high-output specification. In addition, when it is not necessary to distinguish between the airbag 21a and the airbag 21b from each other, they are collectively referred to as "airbag 21".

[0055] As shown in FIG. 10, the larger the thickness L in the direction behind the knee, the larger the pressing force on the upper and lower thighs. Also, the smaller the opening angle β of the V-shape, i.e., the angle formed in the direction extending from the center of the airbag 21, the larger the pressing force on the upper and lower thighs. Note that in order to generate a pressing force on the upper and lower thighs, the opening angle β is set to a value smaller than 180°. Since the standing assistance device in this embodiment is used by being worn on the human body, the airbags 21b with the aforementioned low-output and high-output specifications may be prepared, and the wearer 2 (the above-mentioned "wearer 2") may use an appropriate standing assistance device depending on the leg strength, etc. of the user.

[0056] Although two types of airbags 21 are shown here as output specifications, three or more types of airbags 21 may be prepared according to leg strength. Furthermore, since the standing assistance device in this embodiment is used by being worn on the human body, various sizes may be prepared according to the body size of the user (the above-mentioned "wearer 2").

[0057] Fig. 11 is a perspective view showing another shape of the airbag 210 in this embodiment. As shown in Fig. 11, the main body of the airbag 210 is divided into two parts and joined together with a joining band 212. The wearer 2 then wears the actuator 20 so that the backs of the knees fit into the gap 214 formed by the two parts. This is expected to have the effect of preventing lateral slippage of the knees.

[0058] As described above, according to this embodiment, by utilizing an inflatable actuator 20, i.e., an actuator 20 that is inflated by introducing air, it is possible to assist the wearer 2 in standing up. As shown in Fig. 1 etc., this embodiment is not formed by combining relatively heavy mechanical parts such as motors and gears, so it is possible to provide a lightweight, compact, and wearable standing assistance device that does not feel heavy.

[0059] Note that the standing assistance device in this embodiment is intended to assist the wearer 2 in standing up. However, for example, if discharge control is performed such as gradually discharging the compressed air filled in the actuator 20 with an electromagnetic valve 12 or the like, it can also be used to assist the leg strength of the wearer 2 during the sitting-down operation.

[0060] [Configuration of the Invention of the Present Application] Configuration 1: A rod-shaped bag member fixed to the back of the knee at the central part, which acts to extend the wearer's knee from the back by pressing the upper part from the back side of the thigh and the lower part from the back side of the lower leg respectively by expanding in response to the filling of air. An air pump for sending air into the bag member. Detection means for detecting the posture of the wearer. Control means for operating the air pump when it is detected that the seated wearer is in a posture capable of standing up. A standing assistance device characterized by comprising the above. Configuration 2: Comprising switch means attached near the shin of the wearer. The control means operates the air pump when the wearer is judged to be in a posture capable of standing up based on the operation of the switch means. The standing assistance device according to Configuration 1, characterized by the above. Configuration 3: The detection means detects the degree of bending of the wearer's knee. The control means operates the air pump when a predetermined degree of knee bending required for standing up is detected by the detection means. The standing assistance device according to Configuration 1 or 2, characterized by the above. Configuration 4: Knee fixing means for closely attaching the central part of the bag member to the back of the knee. Upper thigh fixing means for fixing the upper end part of the bag member to the back side of the upper thigh. Lower leg fixing means for fixing the lower end part of the bag member to the back side of the lower leg. Comprising The bag member It has a V - shape that bends at the central part when in a state filled with air, The upper and lower ends of the bag member are worn by the wearer in a direction approaching the upper and lower legs, The standing support device according to any one of Configurations 1 to 3, characterized in that. Configuration 5: An elastic member that applies pressure to the upper and lower ends is disposed between the central part and the upper and lower ends of the bag member. The standing support device according to any one of Configurations 1 to 4, characterized in that. Configuration 6: A shape - collapse prevention plate is disposed on a portion other than the central part of the bag member facing the back of the knee. The standing support device according to any one of Configurations 1 to 5, characterized in that.

Explanation of Signs

[0061] 2 Wearer, 2a Leg, 4 Chair, 6 Air tube, 8 Switch, 10 Control device, 11 Air pump, 12 Electromagnetic valve, 13 Control unit, 14 Battery, 15 Intake port,

Claims

1. A rod-shaped bag member fixed to the back of the knee at the central part, which acts to stretch the wearer's knee from the back by pressing the upper part from the back of the thigh and the lower part from the back of the lower leg respectively by expanding in response to the filling of air, an air pump for sending air into the bag member, detection means for detecting the posture of the wearer, control means for operating the air pump when it is detected that the seated wearer is in a posture capable of standing up, An upright support device characterized by comprising the above.

2. Comprising switch means attached near the shin of the wearer, The control means operates the air pump when it determines that the wearer has taken a posture capable of standing up based on the operation of the switch means. The upright support device according to claim 1, characterized by the above.

3. The detection means detects the degree of bending of the wearer's knee, The control means operates the air pump when a predetermined degree of knee bending required for standing up is detected by the detection means. The upright support device according to claim 1, characterized by the above.

4. Knee fixing means for closely attaching the central part of the bag member to the back of the knee, Thigh fixing means for fixing the upper end part of the bag member to the back of the thigh, Lower leg fixing means for fixing the lower end part of the bag member to the back of the lower leg, Comprising, The bag member, Has a V-shape that bends at the central part when filled with air, The upper and lower end parts of the bag member are worn by the wearer in a direction approaching the upper and lower legs. The upright support device according to claim 1, characterized by the above.

5. An elastic member for applying pressure to the upper and lower end parts is disposed between the central part and the upper and lower end parts of the bag member. The upright support device according to claim 1, characterized by the above.

6. A shape collapse prevention plate is disposed on a part other than the central part of the bag member facing the back of the knee. The upright support device according to claim 1, characterized by the above.

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