Body aid and actuator

Abstract

To provide a body aid achieving an excellent mounting feeling.SOLUTION: A body aid 1 uses an artificial muscle 11b formed by covering the periphery of an elastic material tube with a tubular fiber sleeve, which expands in a radial direction when compressed air is supplied to the elastic material tube and contracts in an axial direction. The body aid 1 includes an actuator 11 having a control device 11a for adjusting air pressure of the compressed air and an artificial muscle 11b, and work clothes 12 to which the artificial muscle 11b is attached. The artificial muscle 11b is attached to the work clothes 12 so that one end is fixed onto the back face of the lumbar part, and connected to the control device 11a, and so as to be arranged along the surface of the body when the work clothes are worn. Furthermore, the artificial muscle 11b is configured so as to allow a fixed extension from a natural length by giving a play to the fiber sleeve.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a physical assistance device that reduces the physical strain caused by various tasks. [Background technology]

[0002] In recent years, physical assistance devices have been introduced in various workplaces, such as agriculture, manufacturing, transportation, and nursing care, to assist workers in working in a crouched or semi-squatting position and reduce fatigue caused by such work.

[0003] Such physical assistance devices have traditionally been called assist suits, and some use McKibben artificial muscles (conventional artificial muscles), which are more flexible and safer than motors. Specifically, conventional assist suits are equipped with a hard exoskeleton, and the artificial muscles housed inside this exoskeleton drive the rotating shafts that are components of the exoskeleton to assist the body.

[0004] Non-Patent Document 1 describes an exoskeleton-type muscle suit that utilizes the contractile force of McKibben artificial muscles as an example of the above-mentioned assist suit.

[0005] The artificial muscles used in this muscle suit consist of a rubber tube wrapped in a cylindrical nylon mesh, with both ends secured by crimping. When compressed air is injected into the rubber tube, the expansion of the rubber tube is converted into a strong tension that causes it to contract longitudinally.

[0006] This muscle suit has an exoskeleton structure in which the back frame can rotate around a rotation axis installed near the waist belt, and the contraction of artificial muscles linearly incorporated within the exoskeleton causes the back frame to rotate around the axis, and the rotational movement of the back frame assists the wearer in raising their upper body. In other words, this muscle suit achieves a strong assistive force by converting the linear movement caused by the contraction of the artificial muscles into rotational movement of the joints. [Prior art documents] [Patent documents]

[0007] [Non-Patent Document 1] Innophys Co., Ltd. Muscle Suit https: / / innophys.jp / product / Product information "How the Muscle Suit Works" Search date: January 25, 2024 Summary of the Invention [Problem to be solved by the invention]

[0008] However, conventional assist suits, which convert the linear motion of McKibben artificial muscle contraction into rotational motion at the joints, have a limited range of motion because the rotational motion around the axis of rotation is unidirectional. In other words, the exoskeleton structure described above hinders the wearer's freedom of movement.

[0009] Furthermore, the McKibben artificial muscles used in conventional assist suits cannot stretch beyond their natural length, so the moment an external force is applied to the artificial muscles by the wearer's movement, a reaction force is returned to the body. In other words, smooth movement (movement in the desired direction) is suddenly impeded, so there is still room for improvement in terms of wearing comfort.

[0010] The present invention has been made in consideration of the above-mentioned problems, and aims to provide a body assist device (assist suit) that has an excellent wearing comfort without interfering with the wearer's free movement, and an actuator that constitutes the body assist device. [Means for solving the problem]

[0011] The physical assistance device of the present invention is a physical assistance device that uses artificial muscles formed by covering the periphery of an elastic material tube with a cylindrical fiber sleeve, and that expand radially and contract axially when compressed air is supplied to the elastic material tube. The physical assistance device of the present invention also includes a control device that adjusts the air pressure of the compressed air, an actuator that has the artificial muscle, and work clothes for attaching the artificial muscle.

[0012] One end of the artificial muscle is fixed to the back of the waist and connected to the control device, and when the work clothes are worn, it is attached to the work clothes so that it is positioned along the surface of the right and left lower legs, from the back of the waist, via the gluteus maximus, the long head of the biceps femoris, the front of the knee, and the gastrocnemius to the back of the heel. Furthermore, the artificial muscle is structured to allow a certain amount of stretch from its natural length by providing play in the fiber sleeve.

[0013] Furthermore, the body assist device according to the present invention comprises the following artificial muscles: a first artificial muscle formed so as to extend from the back of the waist, over the right shoulder, to the front of the torso, a second artificial muscle formed so as to extend from the back of the waist, over the right flank, to the front of the torso, a third artificial muscle formed symmetrically with the first artificial muscle, and a fourth artificial muscle formed symmetrically with the second artificial muscle.The body assist device according to the present invention has a structure in which the first to fourth artificial muscles are each arranged so as to follow the surface of the body due to the flexibility of the artificial muscles themselves, and the ends that reach the front of the torso are sewn to the front of the torso of the work clothes and fixed in that position.

[0014] Furthermore, in the body assist device according to the present invention, the control device includes a control unit that performs control processing to adjust the air pressure of the compressed air, a compressor that discharges compressed air under the control of the control unit, an air tank for storing compressed air, a control valve that supplies and discharges air under the control of the control unit, and a pressure sensor that measures the air pressure, which is the internal pressure of the artificial muscle.

[0015] In the body assistance device of the present invention, the control unit executes the following steps: a driving step of driving the compressor to supply compressed air to the air tank; a supply step of opening the control valve and supplying air to the artificial muscle while adjusting the air pressure; an acquisition step of acquiring a first air pressure, which is the air pressure inside the artificial muscle, from the pressure sensor; an air pressure calculation step of reading information on the wearer's weight and posture from memory and calculating a second air pressure as the air pressure necessary for the wearer to maintain their posture; a comparison step of comparing the first air pressure with the second air pressure; a supply stop step of closing the control valve when the first air pressure and the second air pressure match; and a supply continuation step of maintaining the control valve open if the first air pressure has not reached the second air pressure.

[0016] In the body assist device according to the present invention, the control unit controls the control valve to discharge air from inside the artificial muscle when the first air pressure exceeds the second air pressure.

[0017] On the other hand, the body assist device according to the present invention may use a control device that includes a compressor that discharges compressed air when powered on, an air tank for storing the compressed air, and a regulator that manually adjusts the air pressure and supplies the compressed air to the artificial muscle. In this body assist device, the compressor is driven when powered on, and with compressed air stored in the air tank, the air pressure is adjusted with an operating lever on the regulator, thereby supplying compressed air to the artificial muscle.

[0018] That is, the body assist device according to the present invention can provide an excellent wearing comfort without interfering with the wearer's free movement.

[0019] The actuator according to the present invention is an actuator attachable to work clothes, and includes an artificial muscle formed by covering an elastic material tube with a cylindrical fiber sleeve, which expands radially and contracts axially when compressed air is supplied to the elastic material tube, and a control device that adjusts the pressure of the compressed air. In the actuator according to the present invention, one end of the artificial muscle is fixed to the back of the waist and connected to the control device, and the artificial muscle is attached to the work clothes so that, when the work clothes are worn, it is positioned along the surfaces of the right and left lower legs, from the back of the waist, through the gluteus maximus, the long head of the biceps femoris, the front of the knee, and the gastrocnemius, to the back of the heel. In the actuator according to the present invention, the artificial muscle is configured to allow a certain degree of elongation from its natural length by providing play in the fiber sleeve.

[0020] Furthermore, the actuator of the present invention comprises, as the artificial muscles, a first artificial muscle formed so as to extend from the back of the waist, over the right shoulder, and reach the front side of the torso; a second artificial muscle formed so as to extend from the back of the waist, over the right flank, and reach the front side of the torso; a third artificial muscle formed symmetrically with respect to the first artificial muscle; and a fourth artificial muscle formed symmetrically with respect to the second artificial muscle; the first to fourth artificial muscles are each positioned so as to follow the surface of the body due to the flexibility of the artificial muscle itself, and the ends that reach the front side of the torso are sewn to the front of the torso of the work clothes and fixed in that position.

[0021] That is, the actuator according to the present invention can provide an excellent wearing comfort without interfering with the wearer's free movement. [Effects of the Invention]

[0022] According to the present invention, it is possible to obtain a body assist device that does not hinder the wearer's free movement and that provides an excellent wearing comfort. [Brief explanation of the drawings]

[0023] [Figure 1] FIG. 1 is a schematic diagram showing an image of a body assistance device according to the present invention. [Figure 2] FIG. 2 is a schematic diagram showing the state in which the body assistance device according to the present invention is actually worn. [Figure 3] FIG. 3 is a diagram showing the main components of an artificial muscle. [Figure 4] FIG. 4 is a diagram showing the movement of an artificial muscle. [Figure 5] FIG. 5 is a diagram showing an example of a manufacturing procedure for an artificial muscle. [Figure 6] FIG. 6 is a block diagram illustrating an example of a hardware configuration of the control device. [Figure 7] FIG. 7 is a flowchart showing an example of a control process performed by the control unit. [Figure 8] FIG. 8 is a block diagram illustrating an example of a hardware configuration of the control device. [Figure 9] FIG. 9 is a schematic diagram showing an image of a body assistance device according to the present invention. [Figure 10] FIG. 10 is a schematic diagram showing the state in which the body assist device according to the present invention is actually worn. DETAILED DESCRIPTION OF THE INVENTION

[0024] Hereinafter, an embodiment of a body assist device according to the present invention will be described in detail with reference to the drawings. However, the present invention is not limited to this embodiment. Furthermore, in the specification and drawings of this application, elements that can be similarly described may be designated by the same reference numerals, and duplicated explanations may be omitted.

[0025] <Configuration and Overview> 1 is a schematic diagram showing an image of a body assist device according to the present invention. The body assist device 1 of this embodiment functions as a so-called assist suit (sometimes referred to as assist suit 1) that aims to assist work in a crouched or half-squatted position in various work sites such as agriculture, manufacturing, transportation, and nursing care.

[0026] The body assist device 1 shown in FIG. 1 includes an actuator 11 that includes an artificial muscle (corresponding to artificial muscle 11b described below), and work clothes 12 for attaching the artificial muscle, which is a component of the actuator 11, along the body. This body assist device 1 is not provided with an exoskeleton (rotating axis) as described in Non-Patent Document 1. In addition, in this embodiment, for the sake of convenience of explanation, work clothes (coveralls) are used, but the clothing for attaching the actuator 11 is not limited to this as long as it allows the artificial muscle to be attached along the body.

[0027] The actuator 11 has a control device 11a formed integrally with the waist belt, and an artificial muscle 11b that has one end connected to the control device 11a and the other end formed so that it can reach the heel area (the bottom of the work clothes 12), and is fixed to the work clothes 12 by the waist belt and bands A, B, and C (see Figure 1).

[0028] In detail, one end of the artificial muscle 11b is connected to a control device 11a fixed to the back of the waist by a waist belt, as shown in Fig. 1. The artificial muscle 11b extends from the back of the waist, through the gluteus maximus, the long head of the biceps femoris, the front of the knee, and the gastrocnemius, to the back of the heel (the back of the bottom of the work clothes 12), and is attached to the work clothes 12 so that the flexibility of the artificial muscle 11b itself allows it to fit the surface of the body.

[0029] This artificial muscle 11b is formed by a pair of long, thin elastic bodies, and is attached to the work clothes 12 for each leg. These pair of elastic bodies are called the right lower limb elastic body and the left lower limb elastic body, respectively.

[0030] Specifically, one end of the artificial muscle 11b (elastic body for the right lower limb, elastic body for the left lower limb) is connected to the main body of the control device 11a, and the elastic body for the right lower limb and the elastic body for the left lower limb extend toward the lower end of the work clothes 12, and then branch off to both sides at the right lower limb section and the left lower limb section.

[0031] In the right lower limb, the two elastic bodies that form the elastic body for the right lower limb are bound together by band A attached to the back of the gluteus maximus muscle, and two more elastic bodies wrap around the front of the knee, sandwiching it from both sides. The two elastic bodies that wrap around the front of the knee are bound together by bands B and C attached above and below the knee. In this case, the distance between the two elastic bodies bound together by bands B and C is preferably between 40 mm and 150 mm. If this distance is too short, it is difficult for the elastic body for the right lower limb (artificial muscle 11b) to maintain the correct position on the front of the knee, which is undesirable. Conversely, if the distance is too long, it is undesirable because it becomes difficult for the contraction of artificial muscle 11b to be converted into assistive force.

[0032] Furthermore, in the right lower limb, the two elastic bodies that wrap around the front of the knee pass through the inside of bands B and C, then split again to sandwich the right leg from both sides and wrap around the back (gastrocnemius muscle side). The two elastic bodies that wrap around the back are then attached to the lower end of the back (hem) of the work clothes 12. That is, the other end of the artificial muscle 11b (elastic body for the right lower limb) is attached to the lower end of the back (hem) of the work clothes 12. Although not shown in FIG. 1, a slippage prevention band (corresponding to band D, described later) is provided at the hem to connect the other end of the artificial muscle 11b to the lower end of the side of the hem of the work clothes 12.

[0033] Also, in the left lower limb, an artificial muscle 11b (elastic body for the left lower limb) is attached in the same manner as in the right lower limb, that is, in a position symmetrical to the attachment position of the elastic body for the right lower limb.

[0034] Fig. 2 is a schematic diagram showing the state in which the body assist device 1 (assist suit 1) is actually worn. For ease of explanation, in Fig. 2, the artificial muscle 11b (elastic body for the right lower limb) is attached only to the work clothes 12 on the right half of the body, but it is assumed that the artificial muscle 11b (elastic body for the left lower limb) is also attached to the left half of the body.

[0035] As shown in Figure 2, simply by wearing the assist suit 1 of this embodiment, the artificial muscles 11b are arranged along the surface of the body, from the back of the waist, through the gluteus maximus, the long head of the biceps femoris, the front of the knee, and the gastrocnemius, to the back of the heel. Also, as mentioned above, a slippage prevention band (band D) is provided at the bottom (see Figure 2). By pressing down on this slippage prevention band with the sole of the foot (heel, arch, etc.), slippage of the lower end of the artificial muscles 11b in the expansion / contraction direction is prevented.

[0036] 1 and 2, by integrating the work clothes 12 and the actuator 11, it becomes possible to bring the artificial muscle 11b into close contact with the body (from the back of the waist, through the gluteus maximus, the long head of the biceps femoris, the front of the knee, and the gastrocnemius to the back of the heel) at the same time as putting on the work clothes 12. Note that in this embodiment, in order to fix the position of the waist belt, the control device 11a formed integrally with the waist belt may be suspended from the shoulders using non-stretchable shoulder belts shaped like suspenders (braces) (see dotted line in FIG. 1).

[0037] In addition, in this embodiment, the actuator 11 is attached to the work clothes 12 using a waist belt and bands A, B, and C, but this is not limited to this, and the actuator 11 may be attached to the work clothes 12 in other ways (such as a fixed position) as long as it can be attached along the surface of the body using the above-mentioned route.

[0038] Next, the structure of the artificial muscle 11b used in this embodiment will be described in detail with reference to the drawings.

[0039] Fig. 3 is a diagram showing the main configuration of the artificial muscle 11b. Fig. 4 is a diagram showing the movement of the artificial muscle 11b, where (a) shows the state at its natural length, (b) shows the state extended by an external force, and (c) shows the state contracted by pressure (air pressure).

[0040] As shown in Figure 3, artificial muscle 11b is formed by covering an elastic material tube 11c (for example, a rubber tube) with a fiber sleeve 11d, which is made by weaving inelastic fibers into a cylindrical shape. When compressed air is supplied into the elastic material tube 11c (pressurized with a predetermined air pressure) from a natural length state (see Figure 4(a)) where no air pressure is applied, the elastic material tube 11c expands in the radial direction and contracts in the axial direction (see Figure 4(c)). Accordingly, the fiber sleeve 11d also expands in diameter and contracts in the axial direction. This generates a pulling force (tension) as an artificial muscle.

[0041] Furthermore, the artificial muscle 11b used in this embodiment is an improvement over the McKibben-type artificial muscle, with a structure that allows a certain degree of elongation (elongation due to an external force) from its natural length by providing play in the outer fiber sleeve 11d (see FIG. 4(b)). This structure allows the elastic material tube 11c to receive assistance (a force that tries to contract it to its natural length) from the time it starts to elongate due to an external force until it reaches its full extension (a state in which it has fully extended to the same length as the fiber sleeve 11d), and also from the fully extended state until it returns to its natural length. In other words, when the elastic material tube 11c is extended beyond its natural length, the wearer can constantly receive assistance from the elastic material. Then, when compressed air is supplied into the elastic material tube 11c (pressurized at a predetermined air pressure) from the state in which it is extended due to an external force (see FIG. 4(b)), the elastic material tube 11c expands radially and contracts axially (see FIG. 4(c)), as described above. Accordingly, the fiber sleeve 11d also expands in diameter and contracts axially. This generates tension as an artificial muscle.

[0042] These tensions act as auxiliary forces from the artificial muscles and contribute to maintaining a crouched or half-squat position and bending and stretching movements. In this embodiment, rubber is used as an example of the material for the elastic material tube 11c, but the material is not limited to this and can be any elastic material having properties similar to those of rubber.

[0043] Figure 5 shows an example of a manufacturing procedure for an artificial muscle 11b having the above structure. In Figure 5, as an example, an elastic material tube 11c was prepared that had an outer diameter of 18 mm and an inner diameter of 16 mm when at its natural length. As an example, a fiber sleeve 11d was prepared that had an inner diameter large enough to cover the elastic material tube 11c at its natural length, and that was approximately 120 mm longer than the elastic material tube 11c at its natural length to allow for play (see Figure 5(a)). In addition, two approximately cylindrical terminal members 11e were prepared that fit into the tip openings (openings at both ends) of the elastic material tube 11c. A through-hole was formed in the center of each terminal member 11e to supply compressed air into the elastic material tube 11c.

[0044] The inner and outer diameters of the elastic material tube 11c are determined as appropriate based on the assistive force required to assist the wearer in a crouching or semi-squatting position. For example, to achieve a 10mm contraction and a contraction force of 180-200N at a safe upper pressure limit of 0.3MPa, the outer diameter is preferably between 9mm and 20mm. An outer diameter that is too small will result in insufficient contraction force, while an outer diameter that is too large may impede the wearer's movement, which is undesirable. The length of the fiber sleeve 11d can be adjusted as needed, as long as it provides the necessary length for slack.

[0045] Then, the prepared elastic material tube 11c is covered with the prepared longer fiber sleeve 11d. At this time, the fiber sleeve 11d is covered in a state where it is compressed to the same length as the elastic material tube 11c (see FIGS. 5(b) and (c)).

[0046] In this state, a portion of the terminal member 11e is inserted into each end of the elastic material tube 11c (see FIG. 5(d)). Then, with both ends of the elastic material tube 11c and both ends of the fiber sleeve 11d aligned, the portion where the terminal member 11e is inserted (the mating portion between the terminal member 11e and the elastic material tube 11c) is covered with an aluminum pipe 11f (see FIG. 5(d)).

[0047] Finally, the aluminum pipe 11f is crimped using a crimping machine to secure both ends, thereby obtaining the artificial muscle 11b (see FIG. 5(e)).

[0048] <Control device: Automatic control> Next, the control device 11a that controls the operation of the body assistance device 1 (assist suit 1) of this embodiment will be described in detail.

[0049] Fig. 6 is a block diagram showing an example of the hardware configuration of the control device 11a. In Fig. 6, the control device 11a includes a control unit (microcomputer) 21 composed of a CPU (Central Processing Unit), various memories, peripheral circuits, etc., a compressor 22 that can compress and continuously discharge gas, an air tank 23 for storing compressed air, a control valve (solenoid valve) 24 that supplies and discharges air, and a pressure sensor 25 that measures the air pressure inside the artificial muscles 11b. Here, it is assumed that the various memories that make up the control unit 21 have pre-stored therein a control program for controlling the operation of the artificial muscles 11b in accordance with the posture of the wearer of the assist suit 1, as well as various information (such as the wearer's weight and information about the posture the wearer is about to assume).

[0050] Fig. 7 is a flowchart showing an example of control processing by the control unit 21. In the control unit 21, the CPU reads out a control program and various information stored in memory and executes the control processing of this embodiment. Fig. 7 explains, as an example, the control when the wearer of the assist suit 1 maintains a half-squat position.

[0051] In FIG. 7, when the power is turned on and the state transitions from the power-off state (step S1, No) to the power-on state (step S1, Yes), the control unit 21 drives the compressor 22 (step S2a) and supplies compressed air to the air tank 23. Meanwhile, the control unit 21 reads information on the wearer's weight and posture (squatting state, state of the lower limbs, etc.) from memory and calculates the air pressure required for the wearer of the assist suit 1 to maintain a squatting position (step S2b). At this time, the control unit 21 separately calculates the air pressure to be supplied to the artificial muscle 11b on the right lower limb side (elastic body for the right lower limb) and the artificial muscle 11b on the left lower limb side (elastic body for the left lower limb) according to the posture state stored in the memory. Note that a battery (not shown) is installed inside the control device 11a of the assist suit 1 as a power source, and the assist suit 1 (control device 11a) is battery-powered.

[0052] Next, the control unit 21 opens the control valve 24 to supply air to the artificial muscle 11b while adjusting the air pressure (step S3). The control unit 21 then acquires the air pressure of the air supplied to the artificial muscle 11b from the pressure sensor 25 (step S4) and compares the air pressure obtained from the pressure sensor 25 (first air pressure) with the air pressure calculated from the weight of the wearer of the assist suit 1 (second air pressure) (step S5). In this embodiment, the pressure sensors 25 are provided separately on the right lower limb side and the left lower limb side, and measure the air pressure of the air supplied to the artificial muscle 11b on the right lower limb side and the air pressure of the air supplied to the artificial muscle 11b on the left lower limb side. The control unit 21 then performs a comparison process separately on the right lower limb side and the left lower limb side.

[0053] When the comparison in step S5 determines that the first air pressure and the second air pressure are equal (step S6, Yes), the control unit 21 closes the control valve 24 (step S7), thereby maintaining the air pressure in the artificial muscle 11b.

[0054] On the other hand, if the comparison shows that the first air pressure has not reached the second air pressure (step S6, No), the control unit 21 keeps the control valve 24 open (step S3) and continues to supply air to the artificial muscle 11b while adjusting the air pressure. Here, the processes of steps S3 to S6 are repeated until the first air pressure and the second air pressure match (step S6, Yes). Furthermore, although not shown, if the first air pressure exceeds the second air pressure, the control unit 21 controls the control valve 24 to discharge the air inside the artificial muscle 11b, thereby adjusting the air pressure inside the artificial muscle 11b so that the first air pressure and the second air pressure match.

[0055] While the above description was given as an example of the movement of the wearer of the assist suit 1 maintaining a half-squat position, movements to maintain a crouched position or bending and stretching can also be similarly explained by reading the posture information at that time from memory. Also, when the wearer of the assist suit 1 turns off the power, the control unit 21 controls the control valve 24 to expel all air from the artificial muscles 11b, terminates the control program for controlling the operation of the artificial muscles 11b according to the posture, and stops the operation of the control device 11a.

[0056] In addition, in this embodiment, "information about the posture the wearer is about to assume (posture information)" is stored in advance in memory, but the "posture information" in memory may be updated as appropriate by determining the posture of the wearer in real time using, for example, an acceleration sensor, a bending sensor, a myoelectric potential measuring device, or a combination of these. This enables assistance linked to the movement of the lower limbs.

[0057] <Modification of control device: manual control> In the above-described embodiment, the case where the operation of the body assist device 1 (assist suit 1) is automatically controlled has been described, but the present invention is not limited to this and manual control is also possible.

[0058] Fig. 8 is a block diagram showing an example of the hardware configuration of a control device when manually controlling the assist suit 1. In Fig. 8, control device 11g is provided so as to be interchangeable with the above-mentioned control device 11a, and includes, for example, a compressor 22, an air tank 23, and a regulator 26 that manually adjusts the air pressure and supplies compressed air to the artificial muscle 11b.

[0059] In the control device 11g configured in this manner, when power is applied (power ON), the compressor 22 is driven and compressed air is stored in the air tank 23. In this state, the wearer of the assist suit 1 adjusts the air pressure using an operating lever provided on the regulator 26 to supply compressed air to the artificial muscle 11b (supplying an appropriate amount of air). The regulator 26 is provided with two operating levers so that the air pressure on the right and left lower limb sides can be adjusted separately.

[0060] <Actions, effects, etc.> As described above, the body assist device 1 of this embodiment uses artificial muscle 11b, which is formed by covering elastic material tube 11c with cylindrical fiber sleeve 11d and expands radially and contracts axially when compressed air is supplied to elastic material tube 11c. Furthermore, body assist device 1 includes actuator 11 having artificial muscle 11b and control device 11a that adjusts the air pressure of the compressed air, and workwear 12 for attaching artificial muscle 11b.

[0061] One end of the artificial muscle 11b is fixed to the back of the waist and connected to the control device 11a, and is attached to the work clothes 12 so that when the work clothes are put on, it is positioned along the surfaces of the right and left lower legs, from the back of the waist, through the gluteus maximus, the long head of the biceps femoris, the front of the knee, and the gastrocnemius, to the back of the heel. Furthermore, the artificial muscle 11b is structured to allow a certain amount of stretch from its natural length by providing play in the fiber sleeve 11d.

[0062] By arranging such long artificial muscles 11b on the surface of the body along natural muscles as described above, the load on the muscles during exercise can be significantly reduced. Also, by arranging long artificial muscles 11b across multiple muscles, the overall weight of the body assistance device 1 can be reduced. Furthermore, because no exoskeleton (rotating axis) is used as in conventional devices, the wearer's movements are not restricted, allowing for free exercise.

[0063] Furthermore, in the body assist device 1 of this embodiment, by providing play in the exterior fiber sleeve 11d, it is possible for the elastic material tube 11c (artificial muscle 11b) to stretch beyond its natural length. This allows the artificial muscle 11b to stretch even when the body assist device 1 is not driven, and allows smooth movement without instantaneous reaction force being returned to the body, improving the wearing comfort.

[0064] The control device 11a also includes a control unit 21 that performs control processing to adjust the air pressure of the compressed air, a compressor 22 that discharges the compressed air under the control of the control unit 21, an air tank 23 for storing the compressed air, a control valve 24 that supplies and discharges air under the control of the control unit 21, and a pressure sensor 25 that measures the air pressure, which is the internal pressure of the artificial muscle 11b.

[0065] The control unit 21 then executes the following steps: a driving step of driving the compressor 22 to supply compressed air to the air tank 23; a supply step of opening the control valve 24 and supplying air to the artificial muscle 11b while adjusting the air pressure; an acquisition step of acquiring a first air pressure, which is the air pressure inside the artificial muscle 11b, from the pressure sensor 25; an air pressure calculation step of reading information on the wearer's weight and posture from memory and calculating a second air pressure as the air pressure necessary for the wearer to maintain their posture; a comparison step of comparing the first air pressure with the second air pressure; a supply stop step of closing the control valve 24 when the first air pressure and the second air pressure match; and a supply continuation step of maintaining the open state of the control valve 24 if the first air pressure has not reached the second air pressure.

[0066] Furthermore, when the first air pressure exceeds the second air pressure, the control unit 21 controls the control valve 24 to discharge the air inside the artificial muscle 11b.

[0067] Furthermore, control device 11g, which is provided so as to be replaceable with control device 11a, includes compressor 22 that discharges compressed air when power is turned on, air tank 23 for storing compressed air, and regulator 26 that manually adjusts the air pressure and supplies compressed air to artificial muscle 11b.

[0068] In the body assistance device 1 using this control device 11g, the compressor 22 is driven when the power is turned on, and compressed air is stored in the air tank 23. By adjusting the air pressure with the operating lever provided on the regulator 26, compressed air is supplied to the artificial muscle 11b.

[0069] That is, the body assist device 1 of this embodiment provides an excellent wearing comfort without interfering with the wearer's free movement.

[0070] <Other embodiments> In the above-described embodiment, the case where the movement of the lower limbs is mainly assisted when working in a crouching or semi-squatting position has been described, but artificial muscles 11b may be added along the spine to further assist the movement of the upper body (such as the waist).

[0071] Fig. 9 is a schematic diagram showing an image of another embodiment of the body assist device, and Fig. 10 is a schematic diagram showing the body assist device (assist suit) actually being worn. As with the above-mentioned embodiment, the body assist device 2 of the other embodiment can also assist with work in a crouched or half-squatted position at various work sites.

[0072] 9 and 10, body assistance device 2 differs from body assistance device 1 in the structure of the actuator.

[0073] In addition to the configuration of the actuator 11 described above, the actuator 13 of the body assist device 2 includes a first artificial muscle (artificial muscle 11b) that is connected to the control device 11a (the back of the waist) at one end and that passes over the right shoulder to reach the front side of the torso, a second artificial muscle (artificial muscle 11b) that is connected to the control device 11a at one end and that passes over the right flank to reach the front side of the torso, a third artificial muscle (artificial muscle 11b) that is formed symmetrically with the first artificial muscle, and a fourth artificial muscle (artificial muscle 11b) that is formed symmetrically with the second artificial muscle. In Figures 9 and 10, as an example, two second artificial muscles and two fourth artificial muscles are provided.

[0074] This actuator 13 has a structure in which the first to fourth artificial muscles (artificial muscles 11b) are arranged so that they follow the surface of the body due to the flexibility of the artificial muscles 11b themselves, and their ends are sewn to the front of the torso of the work clothes 12 and fixed at that position (see FIG. 10). Note that the structure for fixing the artificial muscles 11b is not limited to this as long as it can pull the front of the torso of the work clothes 12 from the back (control device 11a) side. For example, as shown in FIG. 9(a), a structure in which the other ends of the artificial muscles 11b formed symmetrically to each other are connected to each other at the front of the torso of the work clothes 12 so that the flexibility of the artificial muscles 11b themselves allows them to follow the surface of the body, and the artificial muscles 11b are fixed to the work clothes 12 at that connection position may also be used.

[0075] As shown in Figures 9 and 10, by integrating the work clothes 12 and the actuator 13, it is possible to bring the artificial muscle 11b into close contact with the body at the same time as putting on the work clothes 12. This makes it possible to assist the movement of the upper body (such as the waist) in addition to assisting the movement of the lower limbs. The rest of the configuration and operation can be explained in the same way as for the body assist device 1 described above.

[0076] <Actions, effects, etc.> As described above, the body assist device 2 of this embodiment includes the same components as the body assist device 1 described above, but also includes the following artificial muscles 11b: a first artificial muscle formed so as to extend from the back of the waist, over the right shoulder, and reach the front of the torso; a second artificial muscle formed so as to extend from the back of the waist, over the right flank, and reach the front of the torso; a third artificial muscle formed symmetrically with the first artificial muscle; and a fourth artificial muscle formed symmetrically with the second artificial muscle. This body assist device 2 has a structure in which the first to fourth artificial muscles (artificial muscles 11b) are each arranged to conform to the surface of the body due to the flexibility of the artificial muscles 11b themselves, and the ends that reach the front of the torso are sewn to the front of the torso of the work clothes 12 and fixed in place. This allows for assistance with movement of the upper body (such as the waist) in addition to assistance with movement of the lower limbs.

[0077] That is, the body assist device 2 of this embodiment does not hinder the wearer's free movement and provides an excellent wearing comfort. [Explanation of symbols]

[0078] 1. Physical assistance device (assist suit) 2. Physical assistance devices (assist suits) 11 Actuator 11a, 11g control device 11b Artificial Muscle 11c Elastic Tube 11d textile sleeve 11e Terminal material 11f Aluminum Pipe 12 Work clothes 13 Actuator 21 Control section 22 Compressor 23 Air Tank 24 Control valve (solenoid valve) 25 Pressure Sensor 26 Regulator A, B, C, D bands

Claims

1. A physical assistance device using artificial muscles formed by covering the periphery of an elastic material tube with a cylindrical fiber sleeve, which expands in the radial direction and contracts in the axial direction when compressed air is supplied to the elastic material tube, an actuator having a control device that adjusts the air pressure of compressed air and the artificial muscle; Work clothes for attaching the artificial muscle; Equipped with The artificial muscle is One end of the device is fixed to the back of the waist and connected to the control device. When the work clothes are worn, the support belt is attached to the work clothes so as to be positioned along the surfaces of the right and left lower legs from the back of the waist through the gluteus maximus, the long head of the biceps femoris, the front of the knee, the gastrocnemius, to the back of the heel, Furthermore, by providing play in the fiber sleeve, a certain degree of elongation from the natural length is permitted. A physical assistance device characterized by:

2. The artificial muscle further includes: a first artificial muscle formed so as to extend from the back of the waist, over the right shoulder, and to the front side of the torso; a second artificial muscle formed so as to extend from the back of the waist, through the right flank, to the front side of the torso; a third artificial muscle formed symmetrically to the first artificial muscle; a fourth artificial muscle formed symmetrically to the second artificial muscle; and Equipped with The first to fourth artificial muscles are arranged so that they fit along the surface of the body due to the flexibility of the artificial muscles themselves, and the ends that reach the front side of the torso are sewn to the front of the torso of the work clothes and fixed in that position.

2. The body assist device according to claim 1.

3. The control device a control unit that performs control processing to adjust the air pressure of the compressed air; a compressor that discharges compressed air under the control of the control unit; An air tank for storing compressed air; a control valve that supplies and exhausts air under the control of the control unit; a pressure sensor that measures the air pressure that is the internal pressure of the artificial muscle; and Equipped with 3. The body assist device according to claim 1 or 2.

4. The control unit a driving step of driving the compressor to supply compressed air to the air tank; a supply step of opening the control valve and supplying air to the artificial muscle while adjusting the air pressure; an acquisition step of acquiring a first air pressure, which is the air pressure inside the artificial muscle, from the pressure sensor; an air pressure calculation step of reading out information on the weight and posture of the wearer from the memory and calculating a second air pressure as an air pressure required for the wearer to maintain the posture; a comparing step of comparing the first air pressure with the second air pressure; a supply stopping step of closing the control valve when the first air pressure and the second air pressure become equal; a supply continuation step of maintaining the control valve in an open state when the first air pressure has not reached the second air pressure; To execute 4. The body assist device according to claim 3.

5. The control unit When the first air pressure exceeds the second air pressure, the control valve is controlled to discharge air from inside the artificial muscle.

5. The body assist device according to claim 4.

6. The control device A compressor that discharges compressed air when powered on; An air tank for storing compressed air; a regulator that manually adjusts the air pressure and supplies compressed air to the artificial muscle; Equipped with 3. The body assist device according to claim 1 or 2.

7. When power is turned on, the compressor is driven, and compressed air is stored in the air tank. By adjusting the air pressure with an operating lever provided on the regulator, compressed air is supplied to the artificial muscle.

7. The body assist device according to claim 6.

8. An actuator that can be attached to work clothes, an artificial muscle formed by covering the periphery of an elastic material tube with a cylindrical fiber sleeve, which expands in the radial direction and contracts in the axial direction when compressed air is supplied to the elastic material tube; a control device for adjusting the air pressure of the compressed air; Equipped with The artificial muscle is One end of the device is fixed to the back of the waist and connected to the control device. When the work clothes are worn, the support belt is attached to the work clothes so as to be positioned along the surfaces of the right and left lower legs from the back of the waist through the gluteus maximus, the long head of the biceps femoris, the front of the knee, the gastrocnemius, to the back of the heel, Furthermore, by providing play in the fiber sleeve, a certain degree of elongation from the natural length is permitted. An actuator characterized by:

9. The artificial muscle further includes: a first artificial muscle formed so as to extend from the back of the waist, over the right shoulder, and to the front side of the torso; a second artificial muscle formed so as to extend from the back of the waist, through the right flank, to the front side of the torso; a third artificial muscle formed symmetrically to the first artificial muscle; a fourth artificial muscle formed symmetrically to the second artificial muscle; and Equipped with The first to fourth artificial muscles are arranged so that they conform to the surface of the body due to the flexibility of the artificial muscles themselves, and the ends that reach the front of the torso are sewn to the front of the torso of the work clothes and fixed in that position.

9. The actuator according to claim 8.

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