Motion assist tool

Abstract

To provide a motion assist tool that can be easily attached to or detached from a human body.SOLUTION: A motion assist tool includes: a frame formed so as to be along a part of a human body and configured to be operable following a motion of a joint of the human body; and an energization member attached to the frame and energizing the frame so as to be supported by the human body. The frame is configured to be attachable to or detachable from the human body from a direction crossing with a direction in which the joint moves.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a movement assist device. [Background technology]

[0002] As the aging population continues, the number of people requiring care is expected to continue to increase. Creating an environment in which care workers can work healthily is an important issue. In recent years, various devices have been developed to assist people's posture and movements in daily life. Most of the devices actually used in caregiving sites directly support hip extension movements with the aim of reducing the burden on the lower back during lifting movements. However, a large proportion of working hours is spent standing and walking, which are thought to be factors in causing leg and lower back pain. Therefore, there is a demand for movement support devices that can further reduce the burden on caregivers by supporting these postures as well. For example, Patent Document 1 discloses a lower back support device that aims to obtain an appropriate support effect according to the posture of the user using a smaller device. Patent Document 2 discloses a waist assist supporter that aims to reduce the force exerted when a wearer pulls on the end of a shoulder belt in an attempt to connect the shoulder belt and waist belt. Patent Document 3 discloses innerwear intended to maintain balance during walking and assist the flexion and extension of the hip and knee joints, thereby reducing fatigue. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-193069 [Patent Document 2] Japanese Patent Publication No. 2023-57301 [Patent Document 3] Japanese Patent Application Publication No. 2023-77783 Summary of the Invention [Problem to be solved by the invention]

[0004] However, movement assist devices require technology that allows them to be easily attached to and detached from the human body. However, none of Patent Documents 1 to 3 discloses such technology.

[0005] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a movement assist device that can be easily attached to and detached from the human body. [Means for solving the problem]

[0006] A movement assistance device according to one aspect of the present invention comprises a frame formed to fit a part of a human body and configured to be able to move in accordance with the movement of a joint of the human body, and a biasing member attached to the frame and biasing the frame so that it is supported by the human body, the frame being configured to be attachable to and detachable from the human body in a direction intersecting the direction in which the joint moves. [Effects of the Invention]

[0007] According to the above aspect, it is possible to provide a movement assistance tool that can be easily attached to and detached from the human body. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view of a movement assistance tool according to an embodiment worn by a wearer who is standing upright, as viewed from the right front. [Figure 2] FIG. 1 is a perspective view of a movement assistance tool according to an embodiment worn by a wearer who is standing upright, as viewed from the left rear. [Figure 3] FIG. 2 is a perspective view of the movement assistance tool according to the embodiment, viewed from the right front. [Figure 4] FIG. 1 is a side view of the movement assistance tool according to the embodiment, seen from the right side, when worn by a wearer who is standing upright. [Figure 5] A side view of the wearer in a bent position, seen from the right side. [Figure 6] FIG. 5 is an enlarged side view of a portion of the movement assist tool in the state shown in FIG. 4. [Figure 7]FIG. 6 is an enlarged side view of a portion of the movement assist tool in the state shown in FIG. 5. [Figure 8] FIG. 10 is a side view from the right side showing a state in which the wearer is performing a twisting motion. [Figure 9] FIG. 10 is a front view showing a state in which the wearer is performing a twisting motion. [Figure 10] FIG. 10 is a perspective view showing the operation of the frame following the movement of the joints of the human body. [Figure 11] A side view from the right side showing part of the frame in contact with the ground. [Figure 12] FIG. 10 is a perspective view showing the frame in a folded state. [Figure 13] A side view of the frame from the right side before it is folded. [Figure 14] A side view of the frame folded from the right side. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the embodiment, a passive motion-assist tool that does not use an actuator will be described as an example of a motion-assist tool. For example, the passive motion-assist tool of this embodiment is used for technology that simultaneously supports the lower back and legs in various postures and movements of care workers.

[0010] In the following description, expressions indicating relative or absolute arrangements, such as "parallel," "orthogonal," "center," and "coaxial," do not only mean such arrangements or states in the strict sense, but also include arrangements or states in which there is a relative displacement with a tolerance or an angle or distance to the extent that the same function is obtained. In the drawings used in the following description, the scale of each component may be changed as appropriate to make each component recognizable. Note that directions such as front, back, up, down, left, and right in the following explanation are the same as the directions when the movement-assistance device is worn by a wearer who is standing upright. In the following explanation, when directions such as front, back, left, right, and up and down are simply indicated, they refer to the front, back, left, right, up and down as seen from the wearer when the movement-assistance device is worn by a wearer who is standing upright. In the figures used in the following explanation, the arrow UP indicates upward, the arrow FR indicates forward, and the arrow LH indicates left.

[0011] <Movement support equipment> Fig. 1 is a perspective view of a movement assistance tool 1 according to an embodiment worn by a wearer who is standing upright, as seen from the front right. Fig. 2 is a perspective view of a movement assistance tool 1 according to an embodiment worn by a wearer who is standing upright, as seen from the rear left. Fig. 3 is a perspective view of the movement assistance tool 1 according to an embodiment worn by a wearer who is standing upright, as seen from the front right. 1 to 3, the movement assist device 1 includes a frame 2 that is formed to fit along a part of the human body and is configured to be able to move in accordance with the movement of the joints of the human body, and a biasing member 3 that is attached to the frame 2 and biases the frame 2 so that it is supported by the human body. The frame 2 is configured to be attachable to and detachable from the human body in a direction that intersects with the direction in which the joints move.

[0012] <frame> In this embodiment, the frame 2 is configured to be attachable to and detachable from the left and right sides of the human body. In this embodiment, the frame 2 is an exoskeleton type to facilitate attachment and detachment. The frame 2 is attachable to and detachable from the left and right outer sides of the human body (the directions of arrows VL and VR shown in FIGS. 1 and 2). For example, the wearer can wear the movement-assistance device 1 simply by putting on shoes and sandwiching the frame 2 from the left and right outer sides. This makes it easy to attach and detach the movement-assistance device 1 to and from the human body.

[0013] For example, the frame 2 may be made of a metal such as aluminum. The frame 2 includes lower leg side members 10L, 10R formed to fit along the lower legs of the human body, and a thoracic / lumbar side member 20 formed to fit along the thoracic / lumbar region of the human body. When viewed from the left and right sides, the frame 2 is formed in a zigzag shape from the chest to the feet of the human body. Note that, to prevent the frame 2 from slipping off the body when worn, a portion of the frame 2 may be attached to the knees and / or thighs of the human body using a rubber band or the like.

[0014] <Lower limb component> The lower leg side members 10L, 10R are configured to be operable in response to the movement of at least one of the ankle joint, knee joint, and hip joint of the human body. The lower leg side members 10L, 10R are provided as a pair on the left and right sides of the lower leg. The pair of left and right lower leg side members 10L, 10R are provided symmetrically with the lateral center line of the human body as the axis of symmetry. Hereinafter, the left part number of the pair of left and right parts will be suffixed with "L" and "R," respectively, and detailed descriptions of overlapping parts between the pair of left and right parts will be omitted.

[0015] The lower limb side members 10L, 10R comprise a foot side member 11 arranged on the side of the foot of the human body, and a leg side member 12 arranged on the side of the leg of the human body and connected to the foot side member 11 so as to be able to move relative to the foot side member 11 in accordance with the movement of the ankle joint of the human body.

[0016] The foot side member 11 is arranged on the side of the foot and includes a front-to-rear extending portion 11a that extends in the front-to-rear direction so as to contact the ground when the human body is standing upright, and a rear-upward inclined portion 11b that extends rearward and upward from the rear end of the front-to-rear extending portion 11a so as to move away from the ground when the human body is standing upright.

[0017] The foot side members 11 are disposed on the left and right outer sides of the foot. The front-rear extending portion 11a extends linearly in the front-rear direction from the toe side to the heel side of the foot. The rear upper inclined portion 11b extends linearly from the rear end of the front-rear extending portion 11a, slanting rearward and upward beyond the heel.

[0018] The leg side member 12 comprises a lower leg side member 13 arranged on the side of the lower leg of the leg and connected to the foot side member 11 so as to be able to move relative to the foot side member 11 in response to the movement of the ankle joint; a thigh side member 14 arranged on the side of the thigh of the leg and connected to the lower leg side member 13 so as to be able to move relative to the lower leg side member 13 in response to the movement of the knee joint of the human body; a below-knee support member 15 connected to the lower leg side member 13 to support the part below the knee of the human body; and a posterior thigh support member 16 connected to the thigh side member 14 to support the posterior surface of the thigh.

[0019] The leg side members 12 are disposed on the left and right outer sides of the lower legs. The crus-side member 13 extends linearly and is inclined relative to the up-down direction so that the upper end of the crus-side member 13 is located forward of the lower end of the crus-side member 13 when the wearer is standing upright. The crus-side member 13 is connected to a part of the foot-side member 11 (the boundary between the front-to-rear extending portion 11a and the rear-upper inclined portion 11b) so as to be able to move relatively with multiple degrees of freedom (e.g., three degrees of freedom) in response to the movement of the ankle joint. The degrees of freedom for following the movement of the ankle joint include a rotational degree of freedom about an axis along the left-right direction of the human body and a rotational degree of freedom about an axis along the extension direction of the crus-side member 13.

[0020] For example, when the wearer is standing upright, the lower end of the crus side member 13 may be connected to the foot side member 11 via a connecting member such as a ball joint. The lower end of the crus side member 13 may be detachably attached to the connecting member.

[0021] The thigh-side member 14 extends linearly and inclined relative to the up-down direction so that the upper end of the thigh-side member 14 is located further rearward than the lower end of the thigh-side member 14 when the wearer is standing upright. The thigh-side member 14 is connected to a part of the lower leg-side member 13 (the part on the upper end side of the lower leg-side member 13 when the wearer is standing upright) so as to be able to move relatively with a predetermined degree of freedom (for example, one degree of freedom) in accordance with the movement of the knee joint. The degrees of freedom for following the movement of the knee joint include a degree of freedom of rotation about an axis along the left-right direction of the human body.

[0022] For example, when the wearer is standing upright, the lower end of the thigh side member 14 may be connected to the lower leg side member 13 via a connecting member such as a ball joint. The lower end of the thigh side member 14 may be detachably attached to the connecting member.

[0023] The below-knee support member 15 is fixed to a part of the crus side member 13 (the upper end part of the crus side member 13 when the wearer is standing upright). The below-knee support member 15 is located in front of the lower part of the knee. The below-knee support member 15 is formed in a cylindrical shape that follows the left-right direction of the human body. When the wearer is standing upright, the outer left-right ends of the below-knee support member 15 may be fixed to the inner left-right parts of the upper end of the crus side member 13 with fastening members such as bolts.

[0024] The thigh rear support member 16 is fixed to a part of the thigh side member 14 (the upper end part of the thigh side member 14 when the wearer is standing upright). The thigh rear support member 16 is located above the rear of the thigh and below the waist. The thigh rear support member 16 is formed in a cylindrical shape that follows the left-right direction of the human body. When the wearer is standing upright, the outer left-right ends of the thigh rear support member 16 may be fixed to the inner left-right parts of the upper end of the thigh side member 14 with fastening members such as bolts.

[0025] <Throsacral and lumbar side members> The thoracolumbar side member 20 is configured to be movable in response to at least one of the flexion, extension, left rotation, and right rotation movements of the human trunk (or upper body). Furthermore, the thoracolumbar side member 20 does not inhibit the left flexion or right flexion movements of the human trunk. The thoracolumbar side member 20 is connected to the pair of left and right lower limb side members 10L, 10R so as to be movable relative to the movements of the lower limb side members.

[0026] The thoracic and lumbar side member 20 comprises a pair of left and right lumbar side members 21L, 21R arranged on the sides of the lumbar region of the human body, a pair of left and right abdominal side members 22L, 22R arranged on the sides of the abdominal region of the human body and connected to the pair of left and right lumbar side members 21L, 21R respectively, and a chest support member 23 arranged in front of the chest of the human body, connected to the pair of left and right abdominal side members 22L, 22R so as to be able to move relative to each other, and supporting the chest.

[0027] The waist-side members 21L, 21R extend linearly and incline with respect to the vertical direction so that the upper ends of the waist-side members 21L, 21R are positioned forward of the lower ends of the waist-side members 21L, 21R when the wearer is standing upright. The waist-side members 21L, 21R are positioned on the left and right outer sides of the waist. The waist-side members 21L, 21R are connected to a portion of the thigh-side member 14 (the front portion of the upper end of the thigh-side member 14 when the wearer is standing upright) so as to be able to move relatively with multiple degrees of freedom (e.g., three degrees of freedom) in response to the movement of the human body. The degrees of freedom for following the movement of the human body include a rotational degree of freedom about an axis along the left-right direction of the human body and a rotational degree of freedom about an axis along the extension direction of the waist-side members 21L, 21R.

[0028] For example, when the wearer is standing upright, the lower ends of the waist side members 21L, 21R may be connected to the thigh side member 14 via a connecting member such as a ball joint. The lower ends of the waist side members 21L, 21R may be detachably attached to the connecting member.

[0029] The abdominal side members 22L, 22R extend linearly in the vertical direction when the wearer is standing upright. The abdominal side members 22L, 22R are disposed on the left and right sides of the front of the abdomen. When the wearer is standing upright, the lower ends of the abdominal side members 22L, 22R may be fixed to the inner left and right portions of the upper ends of the waist side members 21L, 21R with fastening members such as bolts.

[0030] Chest support member 23 is formed in a cylindrical shape that follows the left-right direction of the human body. The overall length (length in the left-right direction) of chest support member 23 is shorter than the maximum left-right width of the chest. Chest support member 23 is connected to a portion of the pair of left and right abdominal members 22L, 22R (the upper ends of abdominal members 22L, 22R when the vehicle is upright) so as to be able to move relative to them with multiple degrees of freedom (e.g., three degrees of freedom). The degrees of freedom of the connection between this chest support member 23 and the pair of left and right abdominal members 22L, 22R include a degree of freedom of rotation about an axis that follows the left-right direction of the human body and a degree of freedom of rotation about an axis that follows the extension direction of abdominal members 22L, 22R.

[0031] For example, when the wearer is standing upright, the upper ends of the abdominal side members 22L, 22R may be connected via connecting members such as ball joints to the left and right outer ends of the chest support member 23. The upper ends of the abdominal side members 22L, 22R may be detachably attached to the connecting members.

[0032] <Using member> In this embodiment, the biasing members 3 are made of tension springs. A pair of biasing members 3 are provided on the left and right at positions corresponding to the ankle joints, knee joints, and hip joints, respectively. One pair of biasing members 3 is provided on each side of the frame 2 at positions corresponding to the ankle joints, knee joints, and hip joints, respectively (a total of three pairs on each side).

[0033] A pair of biasing members 3 are provided on the left and right at positions corresponding to the left and right ankle joints of the frame 2, spanning a part of the foot side member 11 (the left and right side portions at the center of the front and rear of the rear-upper inclined portion 11b when the wearer is standing upright) and a part of the crus side member 13 (the left and right side portions at the lower end of the crus side member 13 when the wearer is standing upright).

[0034] A pair of biasing members 3 are provided on the left and right at positions corresponding to the left and right knee joints of the frame 2 so as to span between a part of the lower leg side member 13 (the left and right side portions of the upper end of the lower leg side member 13 when the wearer is standing upright) and a part of the thigh side member 14 (the left and right side portions of the upper and lower center of the thigh side member 14 when the wearer is standing upright).

[0035] A pair of biasing members 3 are provided on the left and right at positions corresponding to the left and right hip joints of the frame 2 so as to span between a part of the thigh side member 14 (the left and right side portions of the upper end of the thigh side member 14 when the wearer is standing upright) and a part of the waist side members 21L, 21R (the left and right side portions of the vertical center of the waist side members 21L, 21R when the wearer is standing upright).

[0036] Fig. 4 is a side view of the movement assistance tool 1 according to the embodiment, seen from the right side, when worn by a wearer who is standing upright. Fig. 5 is a side view of the wearer who is bending over, seen from the right side. Fig. 6 is a side view of an enlarged portion of the movement assistance tool 1 in the state shown in Fig. 4. Fig. 7 is a side view of an enlarged portion of the movement assistance tool 1 in the state shown in Fig. 5. 4 to 7, a pair of biasing members 3 are provided on the left and right at positions corresponding to the ankle joints, knee joints, and hip joints, respectively, so that the biasing force of the biasing members 3 at each position can support the body weight without using electricity. For example, when a wearer applies their body weight to each support member against the biasing force of the biasing members 3 from an upright position, the springs expand, and a force (force in the direction of the arrows in FIG. 5) acts to return the wearer to the upright position. This supports part of the body weight and assists in leaning the upper body forward and bending and straightening the legs.

[0037] Fig. 8 is a side view from the right side showing the state in which the wearer is performing a twisting motion. Fig. 9 is a front view from the front showing the state in which the wearer is performing a twisting motion. Fig. 10 is a perspective view showing the movement of the frame 2 following the movement of the joints of the human body. 8 to 10, it is preferable that the connecting members (e.g., ball joints) provided at the positions of the frame 2 corresponding to the joints have degrees of freedom set to match the joint movements of the body (e.g., degrees of freedom that follow the movements in the directions of the arrows shown in FIG. 10). This makes it possible to perform complex movements such as twisting movements that are essential for caregiving work. Furthermore, by appropriately setting the degrees of freedom to match the joint movements of the body, it becomes possible to perform twisting movements that do not interfere with the caregiving movement.

[0038] The assist force may be adjusted by changing the mounting position and spring constant of the biasing member 3. This allows for fine adjustment of the positions of the support members and connecting members, the initial angles of the joints, and the like to suit the user.

[0039] FIG. 11 is a side view of the frame 2 as seen from the right side, with a part of the frame 2 in contact with the ground. 11, part of the frame 2 (the lower part of the front-to-rear extending portion 11a of the foot-side member 11 when the wearer is standing upright) is in contact with the ground, so that part of the weight of the movement assistance tool 1 can be released to the ground in the direction of the arrow shown in Fig. 11. Therefore, the wearer is less likely to feel the weight of the movement assistance tool 1.

[0040] <Folding structure> Fig. 12 is a perspective view showing the frame 2 in a folded state, Fig. 13 is a side view of the frame 2 before it is folded, seen from the right side, and Fig. 14 is a side view of the frame 2 in a folded state, seen from the right side. 12 to 14, the frame 2 is configured to be foldable when removed from the human body.

[0041] In this embodiment, the biasing members 3 bias the frame 2 to maintain the folded state. For example, the biasing members 3 provided at positions corresponding to the joints may extend across the rotation fulcrums at the corresponding positions on the frame 2 when the frame 2 is folded.

[0042] In this embodiment, at least some of the biasing members 3 are disposed at positions offset from the frame 2 so as to avoid the frame 2 when the frame 2 is folded. For example, the biasing members 3 provided at positions corresponding to the joints may be disposed so as to sandwich the members at the corresponding positions on the frame 2 from the left and right when the frame 2 is folded.

[0043] <Action and effect> As described above, the movement assist device 1 of this embodiment includes the frame 2 that is formed to fit along a part of the human body and configured to be able to move in accordance with the movement of the joints of the human body, and the biasing member 3 that is attached to the frame 2 and biases the frame 2 so that it is supported by the human body. The frame 2 is configured to be attachable to and detachable from the human body in a direction that intersects with the direction in which the joints move. With this configuration, the frame 2 can be attached to and detached from the human body in a direction intersecting the direction of joint movement, preventing interference with joint movement when attaching and detaching. Therefore, it is possible to provide a movement-assistance tool 1 that can be easily attached and detached from the human body.

[0044] In this embodiment, the frame 2 is formed to fit the lower limbs of the human body and is equipped with lower limb side members 10L, 10R that are configured to be able to move in accordance with the movement of at least one of the ankle joints, knee joints, and hip joints of the human body. This configuration reduces the burden on the lower limbs during movements that include movement of at least one of the ankle joints, knee joints, and hip joints.

[0045] In this embodiment, the lower limb side members 10L, 10R comprise a foot side member 11 arranged on the side of the foot of the human body, and a leg side member 12 arranged on the side of the leg of the human body and connected to the foot side member 11 so as to be able to move relative to the foot side member 11 in accordance with the movement of the ankle joint of the human body. This configuration reduces the strain on the feet and legs during activities that involve movement of the ankle joints.

[0046] In this embodiment, the foot side member 11 is arranged on the side of the foot and includes a front-to-rear extending portion 11a that extends in the front-to-rear direction so as to contact the ground when the human body is standing upright, and a rear-upward inclined portion 11b that extends at an angle rearward and upward from the rear end of the front-to-rear extending portion 11a so as to move away from the ground when the human body is standing upright. With this configuration, part of the weight of the movement assistance tool 1 can be released to the ground through the front-rear extending portion 11a, which comes into contact with the ground when the wearer is standing upright. This prevents the weight of the movement assistance tool 1 itself from being excessively imposed on the wearer, reducing the sense of burden. Furthermore, the rear-upper inclined portion 11b can be prevented from hitting the ground when the wearer lifts their toes. This prevents the tool from interfering with walking and other movements.

[0047] In this embodiment, the leg side member 12 comprises a lower leg side member 13 arranged on the side of the lower leg of the leg and connected to the foot side member 11 so as to be able to move relative to the foot side member 11 in response to the movement of the ankle joint; a thigh side member 14 arranged on the side of the thigh of the leg and connected to the lower leg side member 13 so as to be able to move relative to the lower leg side member 13 in response to the movement of the knee joint of the human body; a below-knee support member 15 connected to the lower leg side member 13 to support the human body below the knee; and a posterior thigh support member 16 connected to the thigh side member 14 to support the posterior surface of the thigh. This configuration reduces the burden on the feet and legs during movements including the ankle and knee joint movements, and provides stable support for the areas below the knees and the posterior surfaces of the thighs.

[0048] In this embodiment, the frame 2 is formed to fit along the thoracic and lumbar region of the human body and is equipped with a thoracic and lumbar side member 20 configured to be able to move in response to at least one of the movements of the human trunk, including flexion, extension, left rotation, and right rotation. This configuration can reduce the burden on the thoracic and lumbar regions during movements that include at least one of flexion, extension, left rotation, and right rotation of the human trunk.

[0049] In this embodiment, the lower leg side members 10L, 10R are provided on the left and right sides of the lower legs. This configuration reduces the burden on the lower limbs during movements that involve left and right movement of the lower limbs.

[0050] In this embodiment, the frame 2 is formed to fit along the thoracic and lumbar region of the human body, and includes a thoracic and lumbar side member 20 connected to the pair of left and right lower leg side members 10L, 10R so as to be able to move relative to the movement of the members. This configuration reduces the burden on the thoracic and lumbar regions during activities that involve movement of the thoracic and lumbar regions.

[0051] In this embodiment, the frame 2 is configured to be attachable to and detachable from the left and right sides of the human body. This configuration can prevent the movement of the human body in the front-to-back direction from being hindered when putting on or taking off the movement-assistance tool 1. Therefore, the movement-assistance tool 1 can be put on or taken off more easily.

[0052] In this embodiment, the thoracic and lumbar side member 20 comprises a pair of left and right lumbar side members 21L, 21R arranged on the sides of the lumbar region of the human body, a pair of left and right abdominal side members 22L, 22R arranged on the sides of the abdominal region of the human body and connected to the pair of left and right lumbar side members 21L, 21R respectively, and a chest support member 23 arranged in front of the chest of the human body, connected to the pair of left and right abdominal side members 22L, 22R so as to be able to move relative to each other, and supporting the chest. This configuration reduces the burden on the thoracic and lumbar regions during movements that include movements of the lower back, abdomen, and chest, and also provides stable support for the chest.

[0053] In this embodiment, a pair of biasing members 3 are provided on the left and right at positions corresponding to the ankle joints, knee joints, and hip joints, respectively. With this configuration, the burden on each part of the body caused by movements in both the left and right directions can be reduced evenly.

[0054] In this embodiment, the frame 2 is configured to be foldable when removed from the human body. This configuration allows the frame 2 to be compact when folded, which makes it easy to carry and store, contributing to improved portability and storability.

[0055] In this embodiment, the biasing member 3 biases the frame 2 to maintain the folded state. According to this configuration, the biasing force of the biasing member 3 allows the frame 2 to be stably maintained in the folded state.

[0056] In this embodiment, at least a part of the biasing member 3 is disposed at a position offset from the frame 2 so as to avoid the frame 2 when the frame 2 is folded. This configuration can prevent the biasing member 3 from getting in the way when the frame 2 is folded, and therefore the frame 2 can be folded more smoothly.

[0057] As described above, the movement-assistance device 1 of this embodiment is an exoskeleton-type device including a chest support member 23 for supporting the chest, a posterior thigh support member 16 for supporting the posterior thighs, a below-knee support member 15 for supporting the lower legs, attachments (e.g., shoes) for securing the feet, a frame 2 connecting these, and a biasing member 3 composed of a tension spring. This allows the device to be worn simply by attaching the attachments to the feet and sandwiching the frame 2 from the left and right sides. Furthermore, the connecting members connecting each part of the frame 2 are each configured with a degree of freedom to match the joint movement of the body, enabling complex movements such as twisting. Additionally, tension springs are installed at positions corresponding to the hip joints, knee joints, and ankle joints. Applying weight to each support member as if squatting from an upright position stretches the springs, exerting a force that returns the user to an upright position. This supports part of the body weight and assists in leaning the upper body forward and bending and straightening the legs. Therefore, the device can reduce strain on the lower back and legs during various movements and postures.

[0058] Conventionally, various assistive devices have been developed to assist human movement. For example, there are devices that assist the extension of the lower back to reduce the burden on the lower back when in a forward-leaning posture (see Patent Documents 1 and 2), and devices that assist the flexion or extension of the hip and knee joints to reduce the burden on the legs when walking (see Patent Document 3). However, these technologies are limited in the areas that they can assist. In contrast to these, the movement assist device 1 of this embodiment assists in the extension movement of the waist, hip joints, knee joints, and ankle joints, and can reduce the burden on both the waist and legs.

[0059] Incidentally, there are many passive assistive devices that do not use power such as a motor. For example, there are methods that provide support using the stretching or tensioning force of elastic belts or fabric (see Patent Documents 2 and 3). However, these methods require time and effort to wear because the products are soft. There is also a method that provides support using the repulsive force of a gas spring (see Patent Document 1). However, this method requires time to fill with air. Furthermore, the technologies disclosed in Patent Documents 1 to 3 are structures that directly assist muscle stretching. In contrast to these, the movement-assistance tool 1 of this embodiment is an exoskeleton type that uses the restoring force of a spring to provide support.Moreover, the movement-assistance tool 1 of this embodiment has a structure that assists muscle contraction by releasing body weight onto the floor (ground).

[0060] The movement-assistance device 1 of this embodiment is equipped with connecting members that move freely in accordance with the joint movements of the human body, and springs are installed at positions corresponding to each joint, thereby reducing the burden on the lower back and legs during various movements and postures. Furthermore, by contacting the floor when worn, the weight of the movement-assistance device 1 itself is not placed on the wearer, reducing the sense of burden. Additionally, because it is an exoskeleton type using a rigid frame 2 and springs, it has a greater assisting power than movement-assistance devices made of soft materials. Furthermore, the device can be worn simply by attaching the attachments to the feet and clamping the frame 2 from the left and right sides, making it easy to put on and take off.

[0061] <Modification> In the above-described embodiment, the frame is formed to fit the lower limbs of the human body and includes a lower limb side member configured to be operable to follow the movement of at least one of the ankle joint, knee joint, and hip joint of the human body. However, this is not limited to this. For example, the frame may be formed to fit the thoracic and lumbar regions of the human body. For example, the frame may not include a lower limb side member. The installation mode of the lower limb side member can be changed according to design specifications.

[0062] In the above-described embodiment, the lower limb side member includes a foot side member disposed laterally on the foot of the human body and a leg side member disposed laterally on the leg of the human body and connected to the foot side member so as to be movable relative to the foot side member in response to the movement of the ankle joint of the human body. However, this is not limited to this. For example, the lower limb side member does not need to include a foot side member and / or a leg side member. The installation manner of the foot side member and / or the leg side member can be changed according to design specifications.

[0063] In the above-described embodiment, the foot-side member is disposed on the side of the foot and includes a front-rear extending portion that extends in the front-rear direction so as to contact the ground when the human body is standing upright, and a rear-upper inclined portion that extends rearward and upward from the rear end of the front-rear extending portion so as to move away from the ground when the human body is standing upright. However, this is not limited to this. For example, the foot-side member does not need to include the front-rear extending portion and / or the rear-upper inclined portion. The arrangement of the front-rear extending portion and / or the rear-upper inclined portion can be changed according to design specifications.

[0064] In the above-described embodiment, the leg-side member includes a lower leg-side member disposed laterally on the lower leg of the leg and connected to the foot-side member so as to move relative to the foot-side member in response to the movement of the ankle joint, a thigh-side member disposed laterally on the upper leg of the leg and connected to the lower leg-side member so as to move relative to the lower leg-side member in response to the movement of the knee joint of the human body, a below-knee support member connected to the lower leg-side member and supporting the lower part of the knee of the human body, and a thigh-rear support member connected to the thigh-side member and supporting the rear of the thigh. However, this is not limited to this. For example, the leg-side member may not include any of the lower leg-side member, thigh-side member, below-knee support member, and thigh-rear support member. The arrangement of the lower leg-side member, thigh-side member, below-knee support member, and thigh-rear support member can be changed according to design specifications.

[0065] In the above-described embodiment, an example has been described in which the frame is formed to fit along the thoracolumbar region of the human body and includes a thoracolumbar-side member configured to be operable in response to at least one of flexion, extension, left rotation, and right rotation of the human trunk. However, this is not limiting. For example, the frame may be formed to fit only the lower limbs of the human body. For example, the frame may not include a thoracolumbar-side member. The installation mode of the thoracolumbar-side member can be changed according to design specifications.

[0066] In the above-described embodiment, a pair of lower leg side members are provided on the left and right sides of the lower leg, but this is not limiting. For example, the lower leg side members may be provided on only one side of the lower leg, either the left or the right. The installation mode of the lower leg side members can be changed according to design specifications.

[0067] In the above-described embodiment, the frame is formed along the thoracolumbar region of the human body and includes thoracolumbar-side members connected to each other so as to be movable relative to the movement of a pair of left and right lower-leg-side members. However, this is not limiting. For example, the thoracolumbar-side member may be connected to each other so as to be movable relative to the movement of only one of the pair of left and right lower-leg-side members. The manner in which the thoracolumbar-side members are connected can be changed according to design specifications.

[0068] In the above-described embodiment, the frame is configured to be detachable from the left and right sides of the human body, but this is not limiting. For example, the frame may be configured to be detachable from the front-rear and / or the top-bottom directions of the human body. The configuration of the frame can be changed according to the design specifications.

[0069] In the above-described embodiment, the thoracic-lumbar side members include a pair of left and right waist side members arranged on the sides of the waist of the human body, a pair of left and right abdominal side members arranged on the sides of the abdomen of the human body and connected to the pair of left and right waist side members, respectively, and a chest support member arranged in front of the chest of the human body, connected to the pair of left and right abdominal side members so as to be movable relative to the pair of left and right abdominal side members, and supporting the chest. However, this is not limited to this. For example, the thoracic-lumbar side members may not include any of the pair of left and right waist side members, the pair of left and right abdominal side members, and the chest support member. The arrangement of the waist side members, abdominal side members, and chest support members can be changed according to design specifications.

[0070] In the above-described embodiment, a pair of biasing members is provided on the left and right sides at positions corresponding to the ankle joint, knee joint, and hip joint, respectively. However, this is not limiting. For example, the biasing members may be provided on only one side, either the left or right side, at positions corresponding to the ankle joint, knee joint, and hip joint, respectively. The manner in which the biasing members are provided can be changed according to design specifications.

[0071] In the above-described embodiment, the frame is configured to be foldable when detached from the human body, but this is not limiting. For example, the frame may be configured to be non-foldable when detached from the human body. The manner in which the frame is folded can be changed according to design specifications.

[0072] In the above-described embodiment, the biasing member biases the frame to maintain the folded state, but this is not limiting. For example, the biasing member may bias the frame to release the folded state. The biasing manner of the biasing member can be changed according to design specifications.

[0073] In the above-described embodiment, an example has been described in which at least a portion of the biasing member is disposed at a position offset from the frame so as to avoid the frame when the frame is folded, but this is not limiting. For example, the biasing member may be disposed at a position overlapping the frame so as to come into contact with the frame when the frame is folded. The arrangement of the biasing member can be changed according to design specifications.

[0074] Although the embodiments of the present invention have been described above, the present invention is not limited to these, and additions, omissions, substitutions, and other modifications to the configuration are possible within the scope of the spirit of the present invention, and the above-described embodiments can also be combined as appropriate.

[0075] (Appendix 1) a frame formed to fit a part of a human body and configured to be movable in accordance with the movement of a joint of the human body; a biasing member attached to the frame and biasing the frame so that it is supported by the human body, The frame is configured to be attachable to and detachable from the human body in a direction intersecting a direction in which the joint moves. Movement support equipment.

[0076] (Appendix 2) the frame is formed to fit along the lower limbs of the human body and includes a lower limb side member configured to be operable in accordance with the movement of at least one of ankle joints, knee joints, and hip joints of the human body. A movement assist device as described in Appendix 1.

[0077] (Appendix 3) The lower leg side member is a foot side member disposed on a side of the foot of the human body; a leg-side member disposed on a side of the leg of the human body and connected to the foot-side member so as to be relatively movable in response to the movement of the ankle joint of the human body; A movement assist device as described in Appendix 2.

[0078] (Appendix 4) The foot side member is a front-rear extension portion disposed on a side of the foot portion and extending in the front-rear direction so as to contact the ground when the human body is standing upright; a rear-upward inclined portion extending rearward and upward from the rear end of the front-rear extending portion so as to be separated from the ground in the upright state, A movement assist device as described in Appendix 3.

[0079] (Appendix 5) The leg side member is a lower leg side member disposed laterally on the lower leg of the leg and connected to the foot side member so as to be movable relative to the foot side member in accordance with the movement of the ankle joint; a thigh side member disposed on the side of the thigh of the leg and connected to the lower leg side member so as to be movable relative to the lower leg side member in accordance with the movement of the knee joint of the human body; a below-knee support member connected to the lower leg member and supporting the lower part of the human body; a thigh rear support member connected to the thigh side member and supporting the rear surface of the thigh, 5. A movement assist device as described in Appendix 3 or 4.

[0080] (Appendix 6) The frame is formed to fit along the thoracolumbar region of the human body and includes a thoracolumbar side member configured to be operable in response to at least one of flexion, extension, left rotation, and right rotation of the trunk of the human body. 10. A movement assist device according to any one of appendices 1 to 5.

[0081] (Appendix 7) The lower leg side members are provided in a pair on the left and right sides of the lower leg, 10. A movement assist device according to any one of appendices 2 to 6.

[0082] (Appendix 8) the frame is formed along the thoracic and lumbar region of the human body and includes thoracic and lumbar side members connected to the pair of left and right lower limb side members so as to be movable relative to the movement of the lower limb side members; 1. A movement assist device as described in Appendix 7.

[0083] (Appendix 9) The frame is configured to be attachable to and detachable from the left and right sides of the human body. 1. A movement assist device as described in Appendix 8.

[0084] (Appendix 10) The thoracic and lumbar side member is A pair of left and right waist side members arranged on the sides of the waist of the human body; a pair of left and right abdominal side members disposed on the sides of the abdomen of the human body and connected to the pair of left and right waist side members, respectively; a chest support member that is disposed in front of the chest of the human body, is connected to the pair of left and right abdominal members so as to be relatively movable, and supports the chest; 10. A movement assist device as described in Appendix 9.

[0085] (Appendix 11) The biasing members are provided in pairs on the left and right at positions corresponding to the ankle joint, the knee joint, and the hip joint, respectively. 11. A movement assist device as described in Appendix 10.

[0086] (Appendix 12) The frame is configured to be foldable when removed from the human body. 12. The movement assist tool according to claim 10 or 11.

[0087] (Appendix 13) The biasing member biases the frame to maintain the folded state. 13. A movement assist device as described in Appendix 12.

[0088] (Appendix 14) At least a portion of the biasing member is positioned at a position offset from the frame so as to avoid the frame when the frame is folded. 14. A movement assist tool as described in appendix 12 or 13. [Explanation of symbols]

[0089] 1...movement assistance device, 2...frame, 3...urging member, 10L, 10R...lower leg side member, 11...foot side member, 11a...front-rear extension portion, 11b...rear-upper inclined portion, 12...leg side member, 13...lower leg side member, 14...thigh side member, 15...below-knee support member, 16...rear thigh support member, 20...thoracic and lumbar side member, 21L, 21R...lumbar side member, 22L, 22R...abdominal side member, 23...chest support member

Claims

1. a frame formed to fit a part of a human body and configured to be movable in accordance with the movement of a joint of the human body; a biasing member attached to the frame and biasing the frame so that it is supported by the human body, The frame is configured to be attachable to and detachable from the human body in a direction intersecting a direction in which the joint moves. Movement support equipment.

2. the frame is formed to fit along the lower limbs of the human body and includes a lower limb side member configured to be operable in accordance with the movement of at least one of ankle joints, knee joints, and hip joints of the human body. The movement assist tool according to claim 1 .

3. The lower leg side member is a foot side member disposed on a side of the foot of the human body; a leg-side member disposed on a side of the leg of the human body and connected to the foot-side member so as to be relatively movable in accordance with the movement of the ankle joint of the human body; The movement assist tool according to claim 2 .

4. The foot side member is a front-rear extension portion disposed on a side of the foot portion and extending in the front-rear direction so as to contact the ground when the human body is standing upright; a rear-upward inclined portion extending rearward and upward from the rear end of the front-rear extending portion so as to be separated from the ground in the upright state, The movement assist tool according to claim 3 .

5. The leg side member is a lower leg side member disposed laterally on the lower leg of the leg and connected to the foot side member so as to be movable relative to the foot side member in accordance with the movement of the ankle joint; a thigh side member disposed on the side of the thigh of the leg and connected to the lower leg side member so as to be movable relative to the lower leg side member in accordance with the movement of the knee joint of the human body; a below-knee support member connected to the lower leg member and supporting the lower part of the human body; a thigh rear support member connected to the thigh side member and supporting the rear surface of the thigh, The movement assist tool according to claim 3 .

6. the frame is formed to fit along the thoracolumbar region of the human body and includes a thoracolumbar side member configured to be operable in response to at least one of flexion, extension, left rotation, and right rotation of the trunk of the human body; The movement assist tool according to any one of claims 1 to 5.

7. The lower leg side members are provided in a pair on the left and right sides of the lower leg, The movement assist tool according to any one of claims 2 to 5.

8. the frame is formed along the thoracic and lumbar region of the human body and includes thoracic and lumbar side members connected to the pair of left and right lower limb side members so as to be movable relative to the movement of the lower limb side members; The movement assist tool according to claim 7.

9. The frame is configured to be attachable to and detachable from the left and right sides of the human body. The movement assist tool according to claim 8.

10. The thoracic and lumbar side member is A pair of left and right waist side members arranged on the sides of the waist of the human body; a pair of left and right abdominal side members disposed on the sides of the abdomen of the human body and connected to the pair of left and right waist side members, respectively; a chest support member that is disposed in front of the chest of the human body, is connected to the pair of left and right abdominal members so as to be relatively movable, and supports the chest; The movement assist tool according to claim 9.

11. The biasing members are provided in pairs on the left and right at positions corresponding to the ankle joint, the knee joint, and the hip joint, respectively. The movement assist device according to claim 10.

12. The frame is configured to be foldable when removed from the human body. The movement assist device according to claim 10.

13. The biasing member biases the frame to maintain the folded state. The movement assist device according to claim 12.

14. At least a portion of the biasing member is positioned at a position offset from the frame so as to avoid the frame when the frame is folded. The movement assist device according to claim 12.

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