Human body supporter, human body supporter set, and relaxation device

Abstract

To provide a human body supporter, human body supporter set, and relaxation device including a support surface capable of responding by deformation of a plurality of fluid pressure actuators.SOLUTION: A human body supporter includes a support surface for supporting a human body. The human body supporter includes: a support main body; and a plurality of actuators which are arranged at different positions in a plane view when viewed from the support surface, are supported from below in a vertical direction by the support main body, and can be individually deformable by pressure of a fluid. The support surface can respond to deformation of the fluid pressure actuators.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a body support device, a body support device set, and a relaxation device. [Background technology]

[0002] Conventionally, there have been known human body supports capable of supporting a human body, such as household furniture such as chairs, sofas, and beds, as well as various types of commercial beds. There are also known human body supports, such as massage chairs, that have a function capable of controlling the force acting on the supported human body.

[0003] Patent Document 1 describes a bed hardness characteristic setting device. The bed hardness characteristic setting device described in Patent Document 1 includes a displacement amount detection unit that detects the amount of displacement that changes in response to the weight of a recumbent, and an actuator equipped with a force generation unit that applies a force to the recumbent. The actuator described in Patent Document 1 applies a force to the recumbent by multiplying a preset spring constant by the amount of displacement detected sequentially. The bed hardness characteristic setting device described in Patent Document 1 changes the spring constant of the actuator to a spring constant corresponding to the hardness change request when a hardness change request command is received from the recumbent. The bed hardness characteristic setting device described in Patent Document 1 also repeats a routine that sequentially determines the force of the actuator to be applied to the recumbent by multiplying the changed spring constant by the amount of displacement detected sequentially by a displacement sensor, and sequentially applies this force to the recumbent. When a hardness determination command is received from the recumbent while the force that sequentially changes in response to the displacement is being applied to the recumbent, the spring constant of the actuator at the time of receiving the hardness determination command is stored. In the actuator described in Patent Document 1, the spring constant can be changed by moving the coil against the elastic force of the leaf spring. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-056082 Summary of the Invention [Problem to be solved by the invention]

[0005] An object of the present invention is to provide a body support device, a body support device set, and a relaxation device that are provided with a support surface that can respond to deformation of a plurality of fluid pressure actuators. [Means for solving the problem]

[0006] The human body support device according to the first aspect of the present invention comprises: (1) A human body support device having a support surface capable of supporting a human body, A support body; a plurality of fluid pressure actuators that are arranged at different positions in a plan view seen from the support surface side, are supported by the support body from below in the vertical direction, and are individually deformable by fluid pressure; The support surface is a human body support device configured to be responsive to deformation of the plurality of fluid pressure actuators.

[0007] A human body support device according to one embodiment of the present invention comprises: (2) The human body support tool according to (1) above, wherein the plurality of fluid pressure actuators include at least one of an expansion / contraction type actuator that can expand and contract with fluid pressure, and a bending type actuator that can bend and deform with fluid pressure.

[0008] A human body support device according to one embodiment of the present invention comprises: (3) The human body supporting device according to (1) or (2) above, wherein the plurality of fluid pressure actuators are arranged in parallel in the plan view.

[0009] A human body support device according to one embodiment of the present invention comprises: (4) The human body supporting device according to any one of (1) to (3) above, wherein the support body includes a lower cushion member that is in contact with the plurality of fluid pressure actuators from below in the vertical direction.

[0010] A human body support device according to one embodiment of the present invention comprises: (5) The human body supporting device according to any one of (1) to (4) above, wherein the support body includes an upper cushion member that covers the upper side of the plurality of fluid pressure actuators in the vertical direction.

[0011] A human body support device according to one embodiment of the present invention comprises: (6) The human body supporting tool according to any one of (1) to (5) above, further comprising a control unit capable of controlling the deformation of each of the plurality of fluid pressure actuators.

[0012] A human body support device according to one embodiment of the present invention comprises: (7) The human body supporting tool according to (6) above, wherein the control unit is capable of controlling the deformation of each of the plurality of fluid pressure actuators so that a predetermined movement is reproduced on the support surface by the plurality of fluid pressure actuators.

[0013] A human body support device according to one embodiment of the present invention comprises: (8) a sensor capable of detecting a state in which a human body is supported on the support surface; The human body support tool according to (6) or (7) above, wherein the control unit is configured to be able to start control to deform each of the plurality of fluid pressure actuators based on the detection results of the sensors.

[0014] A human body support device according to one embodiment of the present invention comprises: (9) The human body supporting tool according to any one of (1) to (8) above, further comprising a fluid supply / discharge device capable of supplying and discharging fluid to each of the plurality of fluid pressure actuators.

[0015] A human body support set according to a second aspect of the present invention comprises: (10) A human body support set including a plurality of the human body support devices according to any one of (1) to (9) above.

[0016] A relaxation device according to a third aspect of the present invention comprises: (11) A human body support device according to any one of (1) to (9) above; a cushion body, When the plurality of fluid pressure actuators are a plurality of first fluid pressure actuators, The cushion body is a cushion body that forms an outer surface of the cushion body; a plurality of second fluid pressure actuators covered by the cushion body and individually deformable by fluid pressure; The outer surface of the cushion body is a relaxation device configured to be responsive to deformation of the plurality of second fluid pressure actuators. [Effects of the Invention]

[0017] According to the present invention, it is possible to provide a body support device, a body support device set, and a relaxation device that are provided with a support surface that can respond to deformation of a plurality of fluid pressure actuators. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a perspective view of a human body support device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a top view of the human body support device shown in FIG. [Figure 3] FIG. 3 is a cross-sectional view of the human body support tool taken along line II in FIG. 2. [Figure 4] 2. FIG. 3 is a cross-sectional view of the human body support tool taken along line II-II in FIG. [Figure 5] FIG. 2 is a side view of the fluid pressure actuator shown in FIG. 1. [Figure 6] FIG. 6 is a partially exploded perspective view of the fluid pressure actuator shown in FIG. 5. [Figure 7] 6 is a cross-sectional view of the fluid pressure actuator taken along line III-III in FIG. 5. [Figure 8] 6 is a cross-sectional view of the fluid pressure actuator taken along line IV-IV in FIG. 5. [Figure 9A] FIG. 6 is a diagram showing a natural state before contraction of the fluid pressure actuator shown in FIG. 5. [Figure 9B] FIG. 6 is a diagram illustrating a contracted state of the fluid pressure actuator shown in FIG. 5. [Figure 10] 6 is a partially exploded perspective view of a fluid pressure actuator as a modified example of the fluid pressure actuator shown in FIG. 5. FIG. [Figure 11] FIG. 11 is a cross-sectional view of the fluid pressure actuator shown in FIG. [Figure 12A] 11 is a diagram showing the fluid pressure actuator shown in FIG. 10 in its natural state before bending. [Figure 12B] 11 is a diagram showing a curved state of the fluid pressure actuator shown in FIG. 10. FIG. [Figure 13] FIG. 1 is a perspective view of a human body support set according to one embodiment of the present invention. [Figure 14] FIG. 14 is a side view of the human body support set shown in FIG. 13. [Figure 15] 1 is a perspective view of a relaxation device according to an embodiment of the present invention; [Figure 16] FIG. 16 is a plan view of the cushion body shown in FIG. [Figure 17] FIG. 16 is a perspective view of the cushion body shown in FIG. 15. [Figure 18] 18 is a perspective view of the cushion body shown in FIG. 15, showing a state in which some of the second fluid pressure actuators are bent from the state shown in FIG. 17. FIG. [Figure 19] FIG. 16 is a cross-sectional view of a portion of the cushion body shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0019] Hereinafter, embodiments of a human body support device, a human body support device set, and a relaxation device according to the present invention will be described with reference to the drawings. In each drawing, the same components are given the same reference numerals.

[0020] <Human body support equipment 100> FIG. 1 is a perspective view of a human body support device 100 as one embodiment of the human body support device according to the present invention. The human body support device 100 of this embodiment has a support surface 100a that supports a human body, such as a user, from below in the vertical direction A. Below, the configuration of the human body support device 100 will be described based on the position of the human body support device 100 in which the support surface 100a faces upward in the vertical direction A. FIG. 2 is a top view of the human body support device 100 as seen from the support surface 100a side. In FIGS. 1 and 2, multiple fluid pressure actuators 2 and the like located inside the human body support device 100 are indicated by dashed lines. FIG. 3 is a cross-sectional view of the human body support device 100 taken along line II in FIG. 2. FIG. 4 is a cross-sectional view of the human body support device 100 taken along line II-II in FIG. 2.

[0021] The human body support device 100 of this embodiment is, for example, a single-seater sofa such as an ottoman. However, the human body support device 100 is not limited to a single-seater sofa, and may be, for example, a multi-seater sofa, a bed, or the like. Therefore, the area of ​​the support surface 100a of the human body support device 100 is not particularly limited. Furthermore, the human body support device 100 may further include a backrest that can support the back of a person seated on the support surface 100a.

[0022] As shown in FIGS. 1 to 4, the support surface 100a in this embodiment is a plane that is approximately perpendicular to the vertical direction A. However, the support surface 100a is not limited to a plane that is approximately perpendicular to the vertical direction A. The support surface 100a may be a concave surface that is recessed downward in the vertical direction A, such as a groove-shaped concave surface (see FIGS. 13 and 14). The support surface 100a may also be a convex surface that protrudes upward in the vertical direction A (see FIGS. 13 and 14). Furthermore, the support surface 100a may be configured by a combination of two or more of the above-mentioned plane, concave, and convex surfaces.

[0023] As shown in Fig. 2, the support surface 100a of this embodiment has a substantially rectangular outer shape when viewed from above. However, the outer shape of the support surface 100a when viewed from above (see Fig. 2) is not particularly limited. The outer shape of the support surface 100a when viewed from above may be other shapes, such as a circle, an oval, or a polygonal shape other than a rectangle.

[0024] As shown in Figures 1 to 4, the human body supporting device 100 includes a supporting body 1 and a plurality of fluid pressure actuators 2. For ease of explanation, the fluid pressure actuators 2 are shown in a simplified form in Figures 1 to 4. The configuration of the fluid pressure actuators 2 of this embodiment will be described in detail later (see Figures 5 to 9B).

[0025] Each of the plurality of fluid pressure actuators 2 is configured to be deformable by fluid pressure. Furthermore, the plurality of fluid pressure actuators 2 are individually deformable by fluid pressure.

[0026] The multiple fluid pressure actuators 2 are arranged at different positions in a top plan view (see FIG. 2) as seen from the support surface 100a side. In other words, the multiple fluid pressure actuators 2 are arranged at different positions in a horizontal direction perpendicular to the vertical direction A.

[0027] The plurality of fluid pressure actuators 2 are supported by the support body 1 from below in the vertical direction A. The configuration of the support body 1 is not particularly limited as long as it is configured to support the plurality of fluid pressure actuators 2 from below in the vertical direction A. Details of the support body 1 of this embodiment will be described later (see FIGS. 3 and 4).

[0028] Support surface 100a of human body support device 100 is configured to be responsive to deformation of multiple fluid pressure actuators 2. Support surface 100a being "responsive to deformation of multiple fluid pressure actuators 2" does not necessarily mean that support surface 100a can deform in response to deformation of each of the multiple fluid pressure actuators 2, but also means that the compression rigidity of human body support device 100 can be changed when supporting surface 100a is pressed downward in the vertical direction A in response to deformation of each of the multiple fluid pressure actuators 2.

[0029] Although details will be described later, the upper sides of the multiple fluid pressure actuators 2 in this embodiment in the vertical direction A are covered by the upper cushion member 24 of the support body 1. The support surface 100a in this embodiment is formed by an exterior cover 6 that further covers the upper sides of the upper cushion member 24 in the vertical direction A. However, the support surface 100a may also be formed by, for example, the upper cushion member 24. Furthermore, the support surface 100a may also be formed by, for example, the multiple fluid pressure actuators 2 that are not covered by the upper cushion member 24 and the exterior cover 6 and are exposed to the outside.

[0030] In this way, human body support device 100 is provided with a plurality of fluid pressure actuators 2 that are arranged at different positions when viewed from above (see FIG. 2), are supported from below in the vertical direction A by support main body 1, and can be deformed individually. The individual deformation of the plurality of fluid pressure actuators 2 makes it possible to vary the response of each location on support surface 100a of human body support device 100. Therefore, by individually deforming the plurality of fluid pressure actuators 2 while the human body is supported on support surface 100a, it is possible to provide an appropriate stimulus to the human body supported on support surface 100a.

[0031] The human body supporting device 100 of this embodiment will be described in further detail below.

[0032] The human body supporting device 100 of this embodiment includes the support body 1 and the plurality of fluid pressure actuators 2 described above, as well as a control unit 3, a sensor 4, a fluid supply / drainage device 5, and an exterior cover 6.

[0033] First, details of the fluid pressure actuator 2 of this embodiment will be described. Fig. 5 is a side view of the fluid pressure actuator 2 of this embodiment alone. Fig. 6 is a partially exploded perspective view of the fluid pressure actuator 2. Fig. 7 is a cross-sectional view of the fluid pressure actuator 2 taken along line III-III in Fig. 5. Fig. 8 is a cross-sectional view of the fluid pressure actuator 2 taken along line IV-IV in Fig. 5. Figs. 9A and 9B are diagrams showing the expansion and contraction operation of the fluid pressure actuator 2. Fig. 9A is a diagram showing the natural state of the fluid pressure actuator 2 before contraction. Fig. 9B is a diagram showing the contracted state in which the fluid pressure actuator 2 has contracted from the natural state shown in Fig. 9A.

[0034] 5 to 9B, the fluid pressure actuator 2 of this embodiment is a McKinven type fluid pressure actuator. However, the fluid pressure actuator 2 is not limited to this configuration and may be another type of fluid pressure actuator.

[0035] 5, the fluid pressure actuator 2 of this embodiment includes a tube 11, a sleeve 12, a first sealing portion 13a, and a second sealing portion 13b. The longitudinal direction of the fluid pressure actuator 2 of this embodiment is the axial direction B of the tube 11.

[0036] The tube 11 can expand and contract due to the pressure of the fluid. Specifically, when a fluid flows into the internal space 11a of the tube 11, the tube 11 contracts in the axial direction B and expands in a radial direction C perpendicular to the axial direction B (see FIG. 9B). On the other hand, when a fluid flows out of the internal space 11a of the tube 11, the tube 11 expands in the axial direction B and contracts in the radial direction C (see FIG. 9A). The fluid pressure actuator 2 of this embodiment can expand and contract in both the axial direction B and the radial direction C due to such a change in the shape of the tube 11. In other words, the fluid pressure actuator 2 of this embodiment is an expansion / contraction type actuator that can expand and contract in both the axial direction B and the radial direction C due to the pressure of the fluid.

[0037] Examples of materials constituting the tube 11 include elastic materials such as butyl rubber, NBR (nitrile rubber), hydrogenated NBR, chloroprene rubber, and epichlorohydrin rubber.

[0038] The fluid used for expanding and contracting the tube 11 may be a gas such as air, or a liquid such as water or mineral oil.

[0039] 5 to 8, sleeve 12 is cylindrical and covers the outer peripheral surface of tube 11. Sleeve 12 is an elastic structure made by weaving fiber cords oriented in a predetermined direction, and the oriented cords cross to form repeated diamond shapes. Because of this shape, sleeve 12 can undergo pantograph deformation and follow the contraction and expansion of tube 11 while regulating it.

[0040] It is preferable to use fiber cords such as aromatic polyamide (aramid fiber) or polyethylene terephthalate (PET) as the fiber cords constituting the sleeve 12. However, the fiber cords constituting the sleeve 12 are not limited to these types of fiber cords, and may be, for example, high-strength fiber cords such as PBO fiber (polyparaphenylene benzobisoxazole).

[0041] The first sealing portion 13a and the second sealing portion 13b seal both ends of the tube 11 in the axial direction B. Specifically, the first sealing portion 13a seals one end of the tube 11 in the axial direction B. The second sealing portion 13b seals the other end of the tube 11 in the axial direction B. Hereinafter, in this embodiment, when there is no need to particularly distinguish between the first sealing portion 13a and the second sealing portion 13b, they will simply be referred to as "sealing portion 13."

[0042] As shown in FIG. 6, the sealing portion 13 (first sealing portion 13a in the illustrated example) includes a sealing member 14, a locking ring 15, and a crimping member 16.

[0043] The sealing member 14 seals the end of the tube 11 in the axial direction B. Specifically, the sealing member 14 of this embodiment includes a main body portion 14a, an insertion portion 14b, and a connecting portion 14c.

[0044] The insertion portion 14b protrudes from the main body portion 14a in the axial direction B. The insertion portion 14b is inserted into the internal space 11a of the tube 11 from the outside of the tube 11 in the axial direction B. The connecting portion 14c is configured to be connectable to other members. The connecting portion 14c protrudes from the main body portion 14a on the side opposite to the insertion portion 14b in the axial direction B. The connecting portion 14c may be defined with a connecting hole 14c1 penetrating in the radial direction C to facilitate connection to other members. As shown in FIG. 4, the first sealing portion 13a and the second sealing portion 13b are each attached to a skeleton 22 of the support main body 1, which will be described later, via an elastic body 18, such as a spring, that is elastically deformable in the axial direction B.

[0045] The sealing member 14 is made of a metal such as stainless steel, but is not limited to such a metal and may be made of a hard plastic material or the like.

[0046] As shown in Fig. 6, the locking ring 15 is a ring-shaped member that locks the sleeve 12 to the sealing member 14. Specifically, as shown in Fig. 7, the sleeve 12 is folded back outward in the radial direction C via the locking ring 15.

[0047] 6, the locking ring 15 has a cutout portion 15a cut out in part to allow engagement with the sealing member 14. The locking ring 15 may be made of, for example, a metal material or a hard plastic material similar to the sealing member 14. The locking ring 15 may also be made of, for example, natural fiber or a rubber material such as an O-ring.

[0048] The crimping member 16 can crimp the tube 11 and the sleeve 12 together with the sealing member 14. Specifically, the crimping member 16 of this embodiment is a cylindrical member having a larger outer diameter than the insertion portion 14b of the sealing member 14. As shown in FIG. 7 , the crimping member 16 is arranged so as to cover the outside of the tube 11 and the sleeve 12 in the radial direction C in the region where the insertion portion 14b of the sealing member 14 is located in the axial direction B. In this state, the crimping member 16 is crimped using a jig. As a result, the tube 11 and the sleeve 12 are sandwiched between the crimping member 16 and the insertion portion 14b of the sealing member 14 in the radial direction C. In other words, the tube 11 and the sleeve 12 are fixed to the sealing portion 13.

[0049] The crimping member 16 may be made of a metal such as an aluminum alloy, brass, or iron. As shown in Fig. 5, an indentation 16a, which is a mark made by crimping with a jig, may be formed on the outer circumferential surface of the crimping member 16.

[0050] As shown in FIG. 7, the sealing member 14 of the first sealing portion 13a of this embodiment has a connection port 14d and a passage hole 14e. In contrast, the sealing member 14 of the second sealing portion 13b of this embodiment does not have the connection port 14d or the passage hole 14e. The connection port 14d is connected to the fluid supply / discharge device 5 (see FIG. 4) via a flow path member 5a (see FIG. 4), such as a hose. The connection port 14d and the internal space 11a of the tube 11 are connected to each other via the passage hole 14e. Therefore, the fluid that flows into the sealing member 14 through the connection port 14d passes through the passage hole 14e and flows into the internal space 11a of the tube 11. Conversely, the fluid in the internal space 11a of the tube 11 flows out of the connection port 14d through the passage hole 14e. The connection port 14d of this embodiment is provided so as to open outward in the radial direction C of the main body 14a of the sealing member 14. In addition, the through hole 14e of this embodiment is formed across the main body portion 14a and the insertion portion 14b.

[0051] Next, we will explain the support body 1 that supports the above-mentioned fluid pressure actuator 2. As shown in Figures 3 and 4, the support body 1 of this embodiment includes a housing 21, a skeleton body 22 held by this housing 21, a lower cushion member 23, and an upper cushion member 24.

[0052] The housing 21 defines an opening 21a therein that opens upward in the vertical direction A. The housing 21 may be made of, for example, a hard plastic material.

[0053] The skeleton 22 is housed in the opening 21a of the housing 21. The skeleton 22 of this embodiment is positioned relative to the housing 21 within the opening 21a of the housing 21. The skeleton 22 of this embodiment includes a plate-shaped first wall portion 22a and a plate-shaped second wall portion 22b that are arranged opposite each other in a direction perpendicular to the vertical direction A. As shown in FIG. 4 , the fluid pressure actuator 2 is arranged between the first wall portion 22a and the second wall portion 22b. More specifically, the fluid pressure actuator 2 is arranged between the first wall portion 22a and the second wall portion 22b such that the axial direction B is parallel to the opposing direction of the first wall portion 22a and the second wall portion 22b. In this state, both ends of the fluid pressure actuator 2 in the axial direction B are attached to the first wall portion 22a and the second wall portion 22b. More specifically, at one end of the fluid pressure actuator 2 in the axial direction B, a first sealing portion 13a is attached to the first wall portion 22a via an elastic body 18. Furthermore, at the other end of the fluid pressure actuator 2 in the axial direction B, the second sealing portion 13b is attached to the second wall portion 22b via the elastic body 18. As described above, the fluid pressure actuator 2 of this embodiment is disposed so that the axial direction B extends in a substantially straight line perpendicular to the vertical direction A, and both ends in the axial direction B are attached to the first wall portion 22a and the second wall portion 22b. Since the fluid pressure actuator 2 is attached to the first wall portion 22a and the second wall portion 22b via the elastic body 18 that is elastically deformable in the axial direction B, the fluid pressure actuator 2 can expand and contract in the axial direction B, as shown in FIGS. 9A and 9B .

[0054] 2, the plurality of fluid pressure actuators 2 of this embodiment are arranged in parallel in a top view (see FIG. 2). Specifically, the human body supporting device 100 of this embodiment includes eight fluid pressure actuators 2. The eight fluid pressure actuators 2 of this embodiment are arranged such that the axial directions B of the fluid pressure actuators 2 are approximately parallel to one another in a top view (see FIG. 2). The eight fluid pressure actuators 2 of this embodiment are arranged at intervals in a direction perpendicular to the axial direction B in a top view (see FIG. 2). In other words, the eight fluid pressure actuators 2 of this embodiment are arranged at intervals in a direction perpendicular to the vertical direction A and perpendicular to the axial direction B. In this state, in this embodiment, each of the eight fluid pressure actuators 2 is attached to the first wall portion 22a and the second wall portion 22b. Although the human body supporting device 100 of this embodiment includes eight fluid pressure actuators 2, the present invention is not limited to this configuration. Human body supporting device 100 may be configured to include two to seven fluid pressure actuators 2, or may be configured to include nine or more fluid pressure actuators 2.

[0055] The skeleton 22 of this embodiment also includes a plate-shaped base portion 22c located below the multiple fluid pressure actuators 2 in the vertical direction A. The base portion 22c is disposed between the first wall portion 22a and the second wall portion 22b so that the thickness direction of the base portion 22c is approximately parallel to the vertical direction A. The base portion 22c bridges between the first wall portion 22a and the second wall portion 22b and is fixed to the first wall portion 22a and the second wall portion 22b.

[0056] In this embodiment, the base portion 22c is configured only by a plate material spanning between the first wall portion 22a and the second wall portion 22b, but is not limited to this configuration. The base portion 22c may be configured, for example, to include a plurality of long aggregates spanning between the first wall portion 22a and the second wall portion 22b and a plate material supported by these plurality of long aggregates. With this configuration, the long aggregates can suppress deflection of the plate material, thereby increasing the strength of the base portion 22c against vertical loads.

[0057] The skeleton 22 is made of a metal such as stainless steel, but is not limited to such a metal and may be made of a hard plastic material or the like.

[0058] The lower cushion member 23 is in contact with the multiple fluid pressure actuators 2 from below in the vertical direction A. More specifically, the lower cushion member 23 of this embodiment is located between the multiple fluid pressure actuators 2 and the base portion 22c of the skeleton 22 described above in the vertical direction A. The lower cushion member 23 of this embodiment is placed on the upper surface of the base portion 22c of the skeleton 22, and is supported from below in the vertical direction A by the base portion 22c. In other words, the multiple fluid pressure actuators 2 of this embodiment are supported from below in the vertical direction A by the base portion 22c of the skeleton 22 and the lower cushion member 23 in the support main body 1. More specifically, the multiple fluid pressure actuators 2 of this embodiment are supported from below in the vertical direction A by the base portion 22c of the skeleton 22 via the lower cushion member 23. When a human body is supported on the support surface 100a of the human body support device 100, each fluid pressure actuator 2 is subjected to a force that bends it downward in the vertical direction A. However, this force is received by the base portion 22c of the skeleton 22 via the lower cushion member 23. Therefore, when a human body is supported on the support surface 100a of the human body support device 100, it is possible to prevent each fluid pressure actuator 2 from bending significantly downward in the vertical direction A. Furthermore, by interposing the lower cushion member 23 between the multiple fluid pressure actuators 2 and the base portion 22c, each fluid pressure actuator 2 can bend slightly downward in the vertical direction A so as to be embedded in the lower cushion member 23. Therefore, it is possible to prevent the human body on the support surface 100a from feeling a foreign body sensation due to the presence of multiple fluid pressure actuators 2 below the support surface 100a.

[0059] In this embodiment, the lower cushion member 23 is supported by the base portion 22c of the skeleton 22 from below in the vertical direction A, but this configuration is not limited to this. The lower cushion member 23 may be supported by the housing 21 from below in the vertical direction A, for example. Furthermore, the lower cushion member 23 may be supported by both the housing 21 and the skeleton 22 from below in the vertical direction A, for example.

[0060] The lower cushion member 23 may be made of various cushioning materials, such as urethane. Alternatively, the lower cushion member 23 may be made of, for example, a flexible bag and an indefinite filling stuffed inside the bag. The indefinite filling may be, for example, a group of small pieces including a plurality of linear or granular pieces. Examples of the linear pieces include, for example, small pieces of polyester fiber, such as small pieces of polyethylene terephthalate fiber. Examples of the group of small pieces made of linear pieces include cotton made of polyester fiber. Examples of the granular pieces include, for example, small pieces of foamed resin, such as small pieces of urethane foam, and small pieces of resin, such as small pieces of polyethylene pipe. However, the small pieces constituting the filling are not limited to the small pieces exemplified above. Furthermore, the lower cushion member 23 may be, for example, a piece made of a plurality of the above-mentioned linear pieces compressed and integrated to have a fixed shape.

[0061] The upper cushion member 24 covers the multiple fluid pressure actuators 2 from above in the vertical direction A. More specifically, in this embodiment, the upper cushion member 24 is in contact with the multiple fluid pressure actuators 2 from above in the vertical direction A. The response of the support surface 100a due to the deformation of the fluid pressure actuators 2 is dispersed by being transmitted via the upper cushion member 24. This prevents the human body on the support surface 100a from directly feeling the deformation of the fluid pressure actuators 2, and prevents the human body on the support surface 100a from feeling a foreign body sensation due to the presence of the multiple fluid pressure actuators 2 below the support surface 100a.

[0062] The upper cushion member 24 may be made of, for example, the same material as the material exemplified above for the lower cushion member 23. However, it is preferable that the upper cushion member 24 has a lower compressive rigidity in the vertical direction A than the lower cushion member 23. In other words, it is preferable that the upper cushion member 24 is softer than the lower cushion member 23 in the vertical direction A. By doing so, compared to a configuration in which the upper cushion member 24 is harder than the lower cushion member 23, the upper cushion member 24 is more likely to deform in response to the deformation of the fluid-pressure actuator 2 than the lower cushion member 23, thereby improving the responsiveness of the support surface 100a to the deformation of the fluid-pressure actuator 2. Therefore, it is preferable that the materials of the lower cushion member 23 and the upper cushion member 24 be selected so as to satisfy the above-mentioned compressive rigidity relationship. The hardness of the lower cushion member 23 and the upper cushion member 24 may be measured, for example, by a test method specified in JIS K 6400-2 (Method D).

[0063] From the same viewpoint as above, it is preferable that the maximum thickness of the upper cushion member 24 in the vertical direction A is smaller than the maximum thickness of the lower cushion member 23 in the vertical direction A. By doing so, it is easier to improve the responsiveness of the support surface 100a in response to deformation of the fluid pressure actuator 2.

[0064] As shown in Figures 1, 3, and 4, the human body supporting device 100 of this embodiment includes a control unit 3. The control unit 3 is capable of controlling the deformation of each of the multiple fluid pressure actuators 2. Therefore, the control unit 3 of this embodiment can, for example, control at least one of the multiple fluid pressure actuators 2 to expand or contract while preventing at least another fluid pressure actuator 2 from expanding or contracting. Furthermore, the control unit 3 of this embodiment can, for example, simultaneously expand or contract at least two fluid pressure actuators 2 so that the expansion and contraction phases of the actuators are different.

[0065] Furthermore, the control unit 3 of this embodiment can control the deformation of each of the multiple fluid pressure actuators 2 so that a predetermined movement is reproduced on the support surface 100a by the multiple fluid pressure actuators 2. By controlling the deformation of each of the multiple fluid pressure actuators 2, the control unit 3 may be able to reproduce on the support surface 100a various movements that are expected to have a relaxing effect as a moderate stimulus, such as the movement of a living organism, such as abdominal movement due to breathing of a human body, or movements that exist in nature, such as the movement of waves.

[0066] 3 and 4, the control unit 3 of this embodiment is held by the support body 1. More specifically, the control unit 3 of this embodiment is embedded in the housing 21 of the support body 1. However, the location of the control unit 3 is not limited to this configuration. The control unit 3 may be configured, for example, by an external device such as a computer that is placed outside the support body 1.

[0067] The control unit 3 includes a processor, such as a general-purpose processor such as a CPU (central processing unit) or an MPU (micro processing unit), or a dedicated processor specialized for a specific process. The control unit 3 may control the fluid pressure of each fluid pressure actuator 2, for example, by controlling the operation of the fluid supply / discharge device 5. The control unit 3 may also include a storage unit that stores control data for the fluid pressure of each fluid pressure actuator 2, for example, to reproduce a predetermined movement on the support surface 100a. The storage unit may include, for example, a ROM (read-only memory), a RAM (random access memory), etc.

[0068] The sensor 4 can detect a state in which a human body is being supported on the support surface 100a. The sensor 4 may be, for example, a load sensor. The control unit 3 of this embodiment is configured to be able to start control to deform each of the multiple fluid pressure actuators 2 based on the detection result of the sensor 4.

[0069] As shown in FIG. 3, the sensor 4 in this embodiment is located above the multiple fluid pressure actuators 2 in the vertical direction A. More specifically, the sensor 4 in this embodiment is embedded in the upper cushion member 24. By arranging the sensor 4 above the multiple fluid pressure actuators 2 in the vertical direction A, the sensor 4 can more easily detect the load of the human body on the support surface 100a. Furthermore, by embedding the sensor 4 in the upper cushion member 24 as in this embodiment, it is possible to prevent the human body on the support surface 100a from feeling a foreign body sensation due to the presence of the sensor 4 below the support surface 100a.

[0070] The fluid supply / discharge device 5 is configured to be able to supply and discharge fluid to each of the multiple fluid pressure actuators 2. More specifically, the fluid supply / discharge device 5 is able to supply fluid to each of the multiple fluid pressure actuators 2. The fluid supply / discharge device 5 is also able to discharge fluid from each of the multiple fluid pressure actuators 2. As shown in FIG. 4, the fluid supply / discharge device 5 of this embodiment is able to supply and discharge fluid to each of the multiple fluid pressure actuators 2 via a flow path member 5a.

[0071] The fluid supply / drainage device 5 of this embodiment is held by the support body 1. More specifically, the fluid supply / drainage device 5 of this embodiment is embedded in the housing 21 of the support body 1. However, the location of the fluid supply / drainage device 5 is not limited to this configuration. The fluid supply / drainage device 5 may be disposed outside the support body 1, for example.

[0072] There are no particular limitations on the configuration of the fluid supply / drainage device 5. The fluid supply / drainage device 5 may be configured to include, for example, an intake / exhaust pump.

[0073] As shown in FIGS. 1 to 4, the exterior cover 6 is an exterior member of the human body support device 100. Specifically, the exterior cover 6 of this embodiment covers the upper side of the upper cushion member 24 in the vertical direction A, and constitutes the support surface 100a of the human body support device 100. The exterior cover 6 of this embodiment also covers the side surface of the housing 21. There are no particular limitations on the material that constitutes the exterior cover 6, as long as it is a flexible material that does not inhibit the response of the support surface 100a due to deformation of the multiple fluid pressure actuators 2.

[0074] As described above, the human body supporting device 100 of this embodiment includes the support main body 1, multiple fluid pressure actuators 2, the control unit 3, the sensor 4, the fluid supply / drainage device 5, and the exterior cover 6, but the human body supporting device 100 is not limited to this configuration. For example, the human body supporting device 100 may not include the control unit 3 and the fluid supply / drainage device 5, and may be configured to be connectable to a control device and a fluid supply / drainage device separate from the human body supporting device 100. Also, as described above, the human body supporting device 100 of this embodiment includes the exterior cover 6 that forms the supporting surface 100a, but the human body supporting device 100 does not have to include the exterior cover 6. In other words, the supporting surface 100a of the human body supporting device 100 may be configured, for example, by multiple exposed fluid pressure actuators 2, or by an upper cushion member 24 that covers the multiple fluid pressure actuators 2 above in the vertical direction A.

[0075] Furthermore, although each of the multiple fluid pressure actuators 2 in this embodiment is an expansion / contraction type actuator as shown in Figs. 5 to 9B, the present invention is not limited to this configuration. Each of the multiple fluid pressure actuators 2 may be, for example, a bending type actuator that can be bent and deformed by fluid pressure. Furthermore, the multiple fluid pressure actuators 2 may include both expansion / contraction type actuators and bending type actuators. Below, an example of a bending type actuator that can be used as the fluid pressure actuator 2 will be described with reference to Figs. 10 to 12B.

[0076] Fig. 10 is a partially exploded perspective view of a bendable actuator serving as the fluid pressure actuator 2. Fig. 11 is a cross-sectional view perpendicular to the longitudinal direction of the bendable actuator serving as the fluid pressure actuator 2 shown in Fig. 10. Figs. 12A and 12B are diagrams showing the bending operation of the bendable actuator serving as the fluid pressure actuator 2 shown in Fig. 10. Fig. 12A is a diagram showing the natural state of the bendable actuator shown in Fig. 10 before bending. Fig. 12B is a diagram showing the bendable actuator shown in Fig. 10 in a bent state after being bent from the natural state shown in Fig. 12A.

[0077] 10 to 12B is different from the expansion / contraction type actuator serving as the fluid pressure actuator 2 shown in Figures 5 to 9B in the presence or absence of a restraining member 17, but the other configurations are the same. Therefore, only the above differences will be described here.

[0078] In the fluid pressure actuator 2 shown in FIGS. 10 to 12B , the tube 11 can bend and deform due to the pressure of the fluid. Specifically, when a fluid flows into the internal space 11a of the tube 11, the tube 11 attempts to contract in the axial direction B and expand in the radial direction C perpendicular to the axial direction B. However, at circumferential positions where the restraining members 17 are provided, the restraining members 17 inhibit the tube 11 from shortening in the axial direction B. On the other hand, at circumferential positions where the restraining members 17 are not provided, the tube 11 shortens in the axial direction B. Therefore, the fluid pressure actuator 2 shown in FIGS. 10 to 12B can bend and deform in a direction perpendicular to the axial direction B due to such a change in the shape of the tube 11. In other words, the fluid pressure actuator 2 shown in FIGS. 10 to 12B is a bending actuator that can bend and deform in a direction perpendicular to the axial direction B due to the pressure of the fluid.

[0079] The restraining member 17 is disposed on the inside in the radial direction C with respect to the sleeve 12. More specifically, the restraining member 17 is disposed on the inside in the radial direction C of the sleeve 12, spanning from the first sealing portion 13a to the second sealing portion 13b in the axial direction B. The restraining member 17 may have a length substantially equal to that of the tube 11, for example.

[0080] The restraining member 17 is not compressed in the axial direction B, but is capable of bending deformation in the radial direction C. In other words, the restraining member 17 is configured to resist compression along the axial direction B, but is capable of bending deformation in the radial direction C. The restraining member 17 restricts expansion and contraction of the tube 11 and the sleeve 12 in both the axial direction B and the radial direction C at the circumferential position of the tube 11 where the restraining member 17 is provided. Therefore, the fluid pressure actuator 2 shown in FIGS. 10 to 12B is capable of bending deformation in a direction perpendicular to the axial direction B due to the pressure of the fluid.

[0081] The restraining member 17 is formed using, for example, a leaf spring. The dimensions of the leaf spring are not particularly limited and may be selected appropriately depending on the size of the fluid pressure actuator 2, the required force to be generated, and the like. The material of the leaf spring is also not particularly limited, but typically, it is sufficient if it is a material that is easy to bend and resistant to compression, such as a metal such as stainless steel. For example, the restraining member 17 may be formed from a thin plate of carbon fiber reinforced plastic (CFRP). CFRP is less susceptible to plastic deformation than metal, and therefore the fluid pressure actuator 2 can easily return to its original straight state after being bent.

[0082] As shown in Fig. 11, the restraining member 17 is disposed between the tube 11 and the sleeve 12 in the radial direction C. The restraining member 17 may be in close contact with the tube 11 and the sleeve 12. Alternatively, the restraining member 17 may be disposed with a small gap between it and the tube 11 and / or the sleeve 12. Furthermore, the restraining member 17 may be embedded in the side wall of the tube 11. Alternatively, the restraining member 17 may be disposed along the side wall of the tube 11, inside the tube 11 in the radial direction C.

[0083] The restraining member 17 is provided on a portion of the tube 11 and the sleeve 12 in the circumferential direction. That is, the tube 11 has a portion in the circumferential direction that is covered by the restraining member 17 and a portion that is not covered by the restraining member 17. The circumferential width of the restraining member 17 is not particularly limited, but may be, for example, about half the outer diameter of the tube 11.

[0084] Although the restraining member 17 shown in FIGS. 10 to 12B is flat, it may be curved slightly to fit the cross-sectional shapes of the tube 11 and sleeve 12 as long as it does not affect the way it bends.

[0085] As described above, when fluid flows into the internal space 11a of the tube 11 of the fluid pressure actuator 2, the tube 11 attempts to contract in the axial direction B. However, because the restraining member 17 is provided in part of the circumferential direction of the tube 11 across the axial direction B, the contraction of the tube 11 along the axial direction B is restricted in the circumferential portion of the tube 11 where the restraining member 17 is provided. On the other hand, the portion of the tube 11 where the restraining member 17 is not provided attempts to contract, so the restraining member 17 acts like a backbone, and the tube 11 and sleeve 12 bend concavely at a position on the tube 11 opposite in the radial direction C to the circumferential position where the restraining member 17 is provided. This causes the fluid pressure actuator 2 to bend, as shown in FIG. 12B .

[0086] On the other hand, when the fluid flows out of the internal space 11a of the tube 11, the fluid pressure actuator 402 returns to its original linear position (see FIG. 12A).

[0087] In this way, the multiple fluid pressure actuators 2 of the human body support device 100 may include curved actuators.

[0088] When the fluid pressure actuator 2 of the human body supporting device 100 is a bending actuator, the direction in which the fluid pressure actuator 2 bends may be set appropriately depending on the movement to be reproduced on the support surface 100a, etc. In other words, the bending actuator serving as the fluid pressure actuator 2 may be disposed so as to be bendable in the vertical direction A, for example. Furthermore, the bending of the bending actuator serving as the fluid pressure actuator 2 in the vertical direction A may be, for example, a curve that is convex upward in the vertical direction A, or a curve that is convex downward in the vertical direction A. Furthermore, the bending actuator serving as the fluid pressure actuator 2 may be disposed so as to be bendable in a direction perpendicular to the vertical direction A, for example.

[0089] <Body Support Set 200> Next, referring to Figures 13 and 14, a description will be given of a human body support set 200 as one embodiment of the human body support set according to the present invention. Figure 13 is a perspective view of human body support set 200. Figure 14 is a side view of human body support set 200. For ease of explanation, Figure 14 also illustrates a human body as a user lying on human body support set 200.

[0090] 13 and 14, the human body support set 200 includes multiple human body supports 100. Specifically, the human body support set 200 of this embodiment includes three human body supports 100. More specifically, the human body support set 200 of this embodiment includes one human body support 100 whose support surface 100a is configured as a concave surface, and two human body supports 100 whose support surfaces 100a are configured as convex surfaces. In FIG. 14, the positions of the multiple fluid pressure actuators 2 on each of the three human body support devices 100 are indicated by dashed lines.

[0091] As described above, the three human body supporting devices 100 of this embodiment have different shapes of the support surface 100a compared to the configuration shown in FIGS. 1 to 4. Therefore, as shown in FIG. 14, the multiple fluid pressure actuators 2 of each of the three human body supporting devices 100 are arranged so as to follow the support surface 100a. Furthermore, the base portion 22c (see FIGS. 3 and 4) of each of the three human body supporting devices 100 may also be arranged so as to follow the support surface 100a. Accordingly, the lower cushion member 23 (see FIGS. 3 and 4) and the upper cushion member 24 (see FIGS. 3 and 4) of each of the three human body supporting devices 100 of this embodiment may also be arranged so as to be curved so as to follow the support surface 100a.

[0092] The human body support set 200 shown in FIGS. 13 and 14 includes three human body supports 100. By arranging the three human body supports 100 in a horizontal line, as shown in FIG. 14, a user can lie down using the support surfaces 100a of the three human body supports 100. In other words, the human body support set 200 of this embodiment can be used as a bed that can support a lying human body. However, the three human body supports 100 of the human body support set 200 are not limited to the arrangement shown in FIGS. 13 and 14. The three human body supports 100 may be arranged in an L-shape, for example. Furthermore, the three human body supports 100 may be used individually, or any two of them may be used in combination.

[0093] Furthermore, although the human body support set 200 in this embodiment includes three human body supports 100, the human body support set 200 may be configured to include only two human body supports 100. Furthermore, the human body support set 200 may be configured to include four or more human body supports 100.

[0094] <Relaxation Device 300> Next, a relaxation device 300 will be described as one embodiment of the relaxation device according to the present invention. Fig. 15 is a perspective view of the relaxation device 300. As shown in Fig. 15, the relaxation device 300 comprises a human body support device 100 and a cushion body 400. The relaxation device 300 of this embodiment can be used by supporting the human body from below in the vertical direction A with the human body support device 100, and then covering the human body from above in the vertical direction A with the cushion body 400. In other words, the relaxation device 300 of this embodiment is used by sandwiching the human body between the human body support device 100 and the cushion body 400.

[0095] Relaxation device 300 of this embodiment includes three body supports 100 similar to those in the above-described body support set 200 (see FIGS. 13 and 14). Therefore, a description of the configuration of body supports 100 of relaxation device 300 will be omitted here.

[0096] Fig. 16 is a plan view of the cushion body 400. Figs. 17 and 18 are perspective views of the cushion body 400. As shown in Figs. 15 to 18, the cushion body 400 of this embodiment is a flat drape, such as a throw mat, that is draped over a human body lying on three human body supports 100 to cover the human body, but the cushion body 400 is not limited to this configuration. The cushion body 400 is not particularly limited, as long as it is used by being touched by a human body on the support surface 100a of the human body support device 100, such as a body pillow or sofa cushion.

[0097] 16, the cushion body 400 includes a cushion main body 401 and a plurality of fluid pressure actuators 402. In the following, to distinguish between the fluid pressure actuators 402 of the cushion body 400 and the fluid pressure actuators 2 of the human body supporting device 100 described above, the fluid pressure actuators 2 of the human body supporting device 100 will be referred to as the "first fluid pressure actuator 2," and the fluid pressure actuators 402 of the cushion body 400 will be referred to as the "second fluid pressure actuator 402."

[0098] The configuration of the second fluid pressure actuator 402 may be the same as the configuration applicable to the first fluid pressure actuator 2. That is, the second fluid pressure actuator 402 may be, for example, an expansion / contraction type actuator shown in FIGS. 5 to 9B. The second fluid pressure actuator 402 may also be, for example, a bending type actuator shown in FIGS. 10 to 12B. The second fluid pressure actuator 402 of this embodiment is the bending type actuator shown in FIGS. 10 to 12B.

[0099] The cushion body 400 of this embodiment is configured to include only bending actuators as the second fluid pressure actuators 402, but is not limited to this configuration. The multiple second fluid pressure actuators 402 of the cushion body 400 may include both bending actuators and expansion / contraction actuators. Furthermore, the cushion body 400 may be configured to include only expansion / contraction actuators as the second fluid pressure actuators 402.

[0100] Each of the second fluid pressure actuators 402 is configured to be deformable by the pressure of a fluid. The second fluid pressure actuators 402 are also individually deformable by the pressure of a fluid.

[0101] As described above, the cushion body 400 of this embodiment is a flat hanging piece. FIG. 16 is a plan view of the cushion body 400 as viewed along the thickness direction D, and the cushion body 400 is used in an orientation in which the thickness direction D faces the vertical direction A. As shown in FIG. 16 , the multiple second fluid pressure actuators 402 of this embodiment are arranged at different positions in a plan view as viewed along the thickness direction D (hereinafter simply referred to as a "plan view"). In other words, the multiple second fluid pressure actuators 402 of this embodiment are arranged at different positions in a direction perpendicular to the thickness direction D. More specifically, the multiple second fluid pressure actuators 402 of this embodiment are arranged in parallel so that the axial directions E are parallel in a plan view (see FIG. 16 ). In this embodiment, six second fluid pressure actuators 402 are arranged in parallel, but the number of second fluid pressure actuators 402 is not particularly limited as long as it is two or more.

[0102] The cushion body 401 covers the multiple second fluid pressure actuators 402. The cushion body 401 also constitutes the outer surface 400a of the cushion body 400. The outer surface 400a of the cushion body 400 is configured to be responsive to deformation of the multiple second fluid pressure actuators 402. Here, the phrase "responsive to deformation of the multiple second fluid pressure actuators 402" of the outer surface 400a of the cushion body 400 does not necessarily mean that the outer surface 400a can be deformed in response to deformation of each of the multiple second fluid pressure actuators 402, but also means that the compression rigidity of the cushion body 400 can be changed when the outer surface 400a is pressed in a direction perpendicular to the outer surface 400a in response to deformation of each of the multiple second fluid pressure actuators 402.

[0103] In this way, the cushion body 400 can vary the response of various parts of the outer surface 400a of the cushion body 400 by individually deforming the multiple second fluid pressure actuators 402. Therefore, by individually deforming the multiple second fluid pressure actuators 402 while the human body is in contact with the outer surface 400a, it is possible to provide an appropriate stimulus to the human body touching the outer surface 400a.

[0104] 16 to 18, each of the plurality of second fluid pressure actuators 402 of this embodiment is elongated with the axial direction E as the longitudinal direction. A plurality of grooves 401a extending in a direction intersecting the axial direction E as the longitudinal direction are formed on the outer surface of the cushion main body 401, which serves as the outer surface 400a of the cushion body 400. More specifically, a plurality of grooves 401a extending in a direction perpendicular to the axial direction E of the second fluid pressure actuators 402 are formed on the outer surface 400a of the cushion body 400 of this embodiment in a plan view (see FIG. 16). The grooves 401a are formed at positions where at least a portion of the grooves 401a overlap with the second fluid pressure actuators 402 in a plan view (see FIG. 16).

[0105] The provision of groove 401a makes it easier for cushion body 401 to deform in accordance with the deformation of second fluid pressure actuator 402. Furthermore, by using the cushion with a part of the human body, such as a finger, inserted in groove 401a, the deformation of second fluid pressure actuator 402 causes the part of the human body located in groove 401a to be pinched by cushion body 401, providing an appropriate stimulation and enhancing the relaxation effect.

[0106] 16 to 18, grooves 401b extending in the axial direction E as the longitudinal direction are formed between any two adjacent second fluid pressure actuators 402 among the plurality of second fluid pressure actuators 402 arranged in parallel on the outer surface 400a of the cushion body 401 as the outer surface 400a of the cushion body 400. More specifically, a plurality of grooves 401b extending in a direction parallel to the axial direction E of the second fluid pressure actuators 402 are formed on the outer surface 400a of the cushion body 400 of this embodiment at positions between any two adjacent second fluid pressure actuators 402 in plan view (see FIG. 16).

[0107] The provision of grooves 401b makes it difficult for the multiple second fluid pressure actuators 402 embedded in parallel within the cushion body 401 to move within the cushion body 401 in a direction perpendicular to the axial direction E. In other words, the provision of grooves 401b can improve the positioning performance of each of the multiple second fluid pressure actuators 402 within the cushion body 401.

[0108] 19 is a diagram illustrating only the periphery of two adjacent second fluid pressure actuators 402 in a cross section perpendicular to the axial direction E of the cushion body 400. As shown in FIG. 19, the cushion body 401 of this embodiment includes a covering cushion member 411 and an exterior cover 412.

[0109] The covered cushion member 411 covers the periphery of each of the plurality of (six in this embodiment) second fluid pressure actuators 402 in the radial direction F. That is, the cushion main body 401 of this embodiment is provided with a plurality of (six in this embodiment) covered cushion members 411. Two adjacent covered cushion members 411 are not in contact with each other but are spaced apart. This makes it easier for the cushion body 400 to bend and deform in the thickness direction D at a position between two adjacent covered cushion members 411. Therefore, the deformation performance of the cushion body 400 can be improved.

[0110] The covering cushion member 411 may be made of various cushioning materials such as urethane.

[0111] 19 , the exterior cover 412 entirely covers the plurality of second fluid pressure actuators 402, which are each covered by a covering cushion member 411 and arranged in parallel. Specifically, the exterior cover 412 of this embodiment covers the plurality of second fluid pressure actuators 402 from both sides in the thickness direction D via the covering cushion member 411. The exterior cover 412 is an exterior member of the cushion body 400. The constituent material of the exterior cover 412 is not particularly limited as long as it is a flexible material that does not inhibit the response of the outer surface 400a due to deformation of the plurality of second fluid pressure actuators 402.

[0112] The grooves 401a may be formed by, for example, providing a narrowed portion in the covering cushion member 411 that covers the periphery of each second fluid pressure actuator 402, and arranging the exterior cover 412 so as to fit along the narrowed portion of the covering cushion member 411. The narrowed portion of the covering cushion member 411 may be formed, for example, to have the same shape as the covering cushion member 411 in its natural state, or may be formed by wrapping a tightening member such as a string around the covering cushion member 411 and compressing and deforming it. However, the grooves 401a may also be formed by other methods.

[0113] Furthermore, the above-described grooves 401b may be formed, for example, between two adjacent second fluid pressure actuators 402, by recessing the exterior covers 412 located on both sides of the two second fluid pressure actuators 402 in the thickness direction D in the thickness direction D and connecting the exterior covers 412 with connectors 800 such as rivets. However, the grooves 401b may be formed by other methods.

[0114] The bending actuators serving as the second fluid pressure actuators 402 of this embodiment are configured to be bendable in the thickness direction D. Therefore, the covered cushion member 411 is capable of bending in the thickness direction D in accordance with the bending deformation of the second fluid pressure actuators 402 in the thickness direction D. As a result, as shown in Fig. 18, the outer surface 400a of this embodiment is capable of deforming in the thickness direction D at positions corresponding to the plurality of second fluid pressure actuators 402. Note that Fig. 18 shows a state in which only the central two second fluid pressure actuators 402 out of the six second fluid pressure actuators 402 are bent.

[0115] The multiple second fluid pressure actuators 402 of the cushion body 400 of this embodiment are individually deformable as described above. The deformation of each of the multiple second fluid pressure actuators 402 may be controlled, for example, by the control unit 3 (see FIG. 1, etc.) of the human body supporting device 100. Furthermore, the deformation of each of the multiple second fluid pressure actuators 402 may be controlled, for example, by a control unit provided in the cushion body 400 itself, separate from the control unit 3 (see FIG. 1, etc.) of the human body supporting device 100.

[0116] The plurality of second fluid pressure actuators 402 may be controlled by the control unit 3 or the like so that, for example, at least one second fluid pressure actuator 402 undergoes bending deformation, while at least another one second fluid pressure actuator 402 does not undergo bending deformation. Furthermore, the plurality of second fluid pressure actuators 402 may be controlled by the control unit 3 or the like so that, for example, at least two second fluid pressure actuators 402 simultaneously undergo bending deformation with different phases of bending deformation.

[0117] Furthermore, the control unit 3 or the like may control the deformation of each of the plurality of second fluid pressure actuators 402 so that a predetermined movement is reproduced on the outer surface 400a by the plurality of second fluid pressure actuators 402. By controlling the deformation of each of the plurality of second fluid pressure actuators 402, the control unit 3 or the like may be able to reproduce on the outer surface 400a various movements that are expected to have a relaxing effect as a moderate stimulus, such as the movement of a living organism, such as the movement of the abdomen due to breathing in a human body, or movements that exist in nature, such as the movement of waves.

[0118] In particular, in the relaxation device 300 of this embodiment, by combining deformation control of the multiple first fluid pressure actuators 2 of the human body support device 100 with deformation control of the multiple second fluid pressure actuators 402 of the cushion body 400, various movements can be reproduced by utilizing both the support surface 100a of the human body support device 100 and the outer surface 400a of the cushion body 400.

[0119] The supply and discharge of fluid to and from each second fluid pressure actuator 402 of the cushion body 400 may be performed, for example, by the fluid supply and discharge device 5 (see FIG. 4) of the human body support device 100. However, the supply and discharge of fluid to and from each second fluid pressure actuator 402 of the cushion body 400 may also be performed, for example, by a fluid supply and discharge device that is separate from the fluid supply and discharge device 5 of the human body support device 100 and that is provided on the cushion body 400 itself.

[0120] The cushion body 400 may be configured to be detachable from another cushion body 400. For example, the exterior cover 412 of the cushion main body 401 of the cushion body 400 may be provided with a connecting portion that can be connected to the exterior cover 412 of another cushion body 400. In this way, by connecting multiple cushion bodies 400, a connected cushion body having a desired size or area can be easily formed.

[0121] The body support device, body support device set, and relaxation device according to the present invention are not limited to the specific configurations shown in the above-described embodiments, and various modifications, changes, and combinations are possible without departing from the scope of the claims. [Industrial Applicability]

[0122] The present invention relates to a body support device, a body support device set, and a relaxation device. [Explanation of symbols]

[0123] 1: Support body 2: First fluid pressure actuator 3: Control unit 4: Sensor 5:Fluid supply / drainage device 5a: Flow path member 6: Exterior cover 11: Tube 11a:Inner space 12: Sleeve 13: Sealing part 13a: First sealing part 13b: Second sealing part 14: Sealing member 14a: Main body 14b: Insertion section 14c: Connection part 14c1: Connecting hole 14d: Connection port 14e: Passing hole 15: Locking ring 15a: Notch 16: Caulking material 16a: Indentation 17: Restraint member 18: Elastic body 21: Cabinet 21a: Opening 22: Skeleton 22a: 1st wall part 22b: 2nd wall part 22c: Base 23: Lower cushion member 24: Upper cushion member 100:Human support equipment 100a: Support surface 200: Body support set 300: Relaxation device 400: Cushion body 400a: Exterior 401: Cushion body 401a: Groove 401b: Groove 402: Second fluid pressure actuator 411: Covered cushion member 412: Exterior cover 800: Connector A: Vertical direction B: Axial direction of the first fluid pressure actuator C: Radial direction of the first fluid pressure actuator D: Thickness direction of cushion body E: Axial direction of the second fluid pressure actuator F: Radial direction of the second fluid pressure actuator

Claims

1. A human body support device having a support surface capable of supporting a human body, A support body; a plurality of fluid pressure actuators that are arranged at different positions in a plan view seen from the support surface side, are supported by the support body from below in the vertical direction, and are individually deformable by fluid pressure; The support surface is configured to be responsive to deformation of the plurality of fluid pressure actuators.

2. 2. The human body support device according to claim 1, wherein the plurality of fluid pressure actuators include at least one of an expansion / contraction type actuator that can be expanded / contracted by fluid pressure and a bending type actuator that can be bent / deformed by fluid pressure.

3. The human body support device according to claim 1 or 2, wherein the plurality of fluid pressure actuators are arranged in parallel in the plan view.

4. 3. The human body support device according to claim 1, wherein the support body includes a lower cushion member that is in contact with the plurality of fluid pressure actuators from below in the vertical direction.

5. 3. The human body support device according to claim 1, wherein the support body includes an upper cushion member that covers the plurality of fluid pressure actuators from above in the vertical direction.

6. The human body support device according to claim 1 or 2, further comprising a control unit capable of controlling the deformation of each of the plurality of fluid pressure actuators.

7. 7. The human body support device according to claim 6, wherein the control unit is capable of controlling the deformation of each of the plurality of fluid pressure actuators so that a predetermined movement is reproduced on the support surface by the plurality of fluid pressure actuators.

8. a sensor capable of detecting a state in which a human body is supported on the support surface; 7. The human body support device according to claim 6, wherein the control unit is configured to be able to start control to deform each of the plurality of fluid pressure actuators based on the detection results of the sensors.

9. The human body support tool according to claim 1 or 2, further comprising a fluid supply / drainage device capable of supplying and discharging fluid to each of the plurality of fluid pressure actuators.

10. A human body support set comprising a plurality of the human body support devices according to claim 1 or 2.

11. The human body support device according to claim 1 or 2; a cushion body, When the plurality of fluid pressure actuators are a plurality of first fluid pressure actuators, The cushion body is a cushion body that forms an outer surface of the cushion body; a plurality of second fluid pressure actuators covered by the cushion body and individually deformable by fluid pressure; The outer surface of the cushion body is configured to be responsive to deformation of the plurality of second fluid pressure actuators.

Images