Joint motion assist device

Abstract

To provide a joint motion assist device capable of enabling a patient to learn normal walking posture and walking motion.SOLUTION: A joint motion assist device 1, 40, 90 includes: a joint pressing member 3, 42 provided so as to be capable of pressing a joint-vicinity portion located near a joint of an animal including a human; a pressing-force imparting unit 4, 43 which imparts pressing force to press the joint-vicinity portion to the joint pressing member 3, 42; and a control unit 8 which controls the pressing-force imparting unit 4, 43 so as to impart a pressing force sufficient to cause transition of the joint to an extended state or a flexed state to the joint pressing member 3, 42.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a joint movement assist device that assists the extension or flexion movement of a joint in an animal, including a human. [Background technology]

[0002] Patients who have difficulty bending and straightening their joints due to injury, illness, aging, or other factors undergo rehabilitation to restore joint function. For example, a patient who has difficulty walking due to hemiplegia caused by a stroke requires rehabilitation of one of their lower limbs. More specifically, in normal walking, hip joint flexion (swinging the leg forward) and extension (stretching the leg back after landing) are performed at the appropriate timing. However, patients who have difficulty walking face the problem of being unable to properly move the hip joint on the paralyzed side. Therefore, in hip joint rehabilitation, physical therapists have traditionally used manual assistance to ensure proper hip joint movement. However, this manual assistance method requires the physical therapist to have high skill in providing assistance at the appropriate timing and with the appropriate amount of force. Therefore, there is a problem that effective rehabilitation is not always possible, depending on the physical therapist's level of proficiency in the rehabilitation.

[0003] Therefore, as a means for enabling effective rehabilitation, a joint movement assist device that can be worn on the patient's body to assist joint movement has been proposed (see, for example, Patent Document 1). With this joint movement assist device, for example, hip joint movement is assisted by applying a pulling force of appropriate timing and magnitude to the patient's leg. This allows the patient to undergo hip joint rehabilitation while receiving appropriate assistance without being affected by human factors. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-094654 Summary of the Invention [Problem to be solved by the invention]

[0005] However, conventional joint movement assist devices have the problem of not being able to help patients acquire normal walking posture and movements. More specifically, for example, in the case of a patient who has difficulty walking due to hemiplegia caused by a stroke, the patient is unable to properly extend the hip joint on the paralyzed side, i.e., brace the landing leg backward. Because of this, the patient often walks with the paralyzed hip pulled back and dragging the leg. When performing hip rehabilitation for such patients, it is effective to help the patient acquire normal walking posture and movements that propel the paralyzed hip forward. However, conventional joint movement assist devices, while capable of compensating for the patient's lack of muscle strength by applying a pulling force to the leg, have the problem of not being able to help the patient acquire normal walking posture and movements that propel the paralyzed hip forward.

[0006] The present invention was devised in light of the above circumstances, and its purpose is to provide a joint movement assist device that enables patients to acquire normal walking posture and movement by pushing the paralyzed hip forward. [Means for solving the problem]

[0007] A joint movement assisting device according to one aspect of the present invention is a joint movement assisting device that assists in extension or flexion movements of a joint of an animal, including a human, and includes a joint pressing member that is capable of pressing a region near the joint that is close to the joint, a pressing force applying unit that applies a pressing force to the joint pressing member to press the region near the joint, and a control unit that controls the pressing force applying unit to the joint pressing member so as to apply a pressing force sufficient to transition the joint to an extension state or a flexion state.

[0008] In addition, in a joint movement assist device according to one aspect of the present invention, the pressing force applying unit may have one end attached to one of the parts sandwiching the joint and the other end attached to the other part sandwiching the joint, and may have an intermediate part including a wire that is capable of pressing the joint pressing member, and an actuator that applies a tensile force to the wire.

[0009] The joint movement assist device according to one aspect of the present invention may further include a pressing direction adjustment mechanism that can adjust the direction in which the joint pressing member presses the area near the joint.

[0010] Furthermore, a joint movement assist device according to one aspect of the present invention may further include a device main body that houses the actuator and is attached to the animal's body, and the pressing direction adjustment mechanism may include a first string having one end attached to the device main body and the other end attached to the joint pressing member, and a string length adjuster that can adjust the length of the first string.

[0011] In the joint movement assist device according to one aspect of the present invention, the pressing direction adjustment mechanism may be configured so that the joint pressing member is detachable from the device body.

[0012] In the joint movement assist device according to one aspect of the present invention, the joint may be a hip joint of a person, and the pressing direction adjustment mechanism may adjust the pressing direction of the joint pressing member so that it is parallel to the direction of travel of the person. Depending on the patient's condition, the pressing direction may be adjusted so that it intersects with the direction of travel of the person and faces diagonally upward.

[0013] The joint movement assist device according to one aspect of the present invention may further include a pressing position adjustment mechanism that can adjust the position of the area near the joint that is pressed by the joint pressing member.

[0014] Furthermore, the joint movement assist device according to one aspect of the present invention may further include a device main body that houses the actuator and is attached to the body of the animal, and the pressing position adjustment mechanism may have at least one of left-right position changing means that changes the relative position of the joint pressing member with respect to the device main body in the left-right direction, and up-down position changing means that changes the relative position of the joint pressing member with respect to the device main body in the up-down direction.

[0015] In the joint movement assist device according to one aspect of the present invention, the pressing position adjustment mechanism may be configured so that the joint pressing member is detachable from the device body.

[0016] Furthermore, in a joint movement assist device according to one aspect of the present invention, the left-right position changing means may include a first hook-and-loop fastener provided on the device body, a second string having one end attached to the joint pressing member, and a second hook-and-loop fastener provided on the other end of the second string and detachable from the first hook-and-loop fastener.

[0017] Furthermore, in a joint movement assist device according to one aspect of the present invention, the up-down position changing means may include a third hook-and-loop fastener provided on the joint pressing member, a second string having one end attached to the device body, and a fourth hook-and-loop fastener provided on the other end of the second string and detachable from the third hook-and-loop fastener.

[0018] In addition, in a joint movement assist device according to one aspect of the present invention, the joint may rotatably connect one limb to another limb on either side of the joint, and the pressing force applying unit may include a wire having one end attached to the other limb, a rigid member having higher rigidity than the wire, supporting the wire so as to extend in a tangent direction to the rotation of the other limb, and being capable of pressing the joint pressing member, and an actuator that applies a tensile force to the wire.

[0019] The joint movement assist device according to one aspect of the present invention may further include a pressing position adjustment mechanism that can adjust the position of the area near the joint that is pressed by the joint pressing member.

[0020] In addition, in the joint movement assist device according to one aspect of the present invention, the pressing position adjustment mechanism may have at least one of a left-right position change means that changes the position of the area near the joint pressed by the joint pressing member in the left-right direction, and a up-down position change means that changes the position of the area near the joint pressed by the joint pressing member in the up-down direction.

[0021] Furthermore, in a joint movement assist device according to one aspect of the present invention, the left-right position changing means may include a fixed frame that constitutes the rigid member and is fixed to the one limb so as to extend along its circumferential surface, and a movable frame that constitutes the rigid member and is attached to the fixed frame so as to be able to change its position in the extension direction, and that presses the joint pressing member.

[0022] In addition, in a joint movement assist device according to one aspect of the present invention, the vertical position changing means may have a plurality of mounting portions provided on the moving frame at predetermined intervals in the vertical direction, and a frame mounting portion provided on the joint pressing member and detachable from each of the mounting portions.

[0023] In addition, in a joint movement assist device according to one aspect of the present invention, the moving frame may have a slide frame that is slidably arranged along the extension direction of the fixed frame, and a rotating frame that is rotatably supported by the slide frame so as to move closer to or away from the area near the joint.

[0024] In the joint movement assist device according to one aspect of the present invention, the rotating frame may be detachably attached to the slide frame.

[0025] In addition, in the joint movement assist device according to one aspect of the present invention, the rotating frame may be provided so as to be fixable to and separable from the slide frame via an insertable / removable pin member.

[0026] The joint movement assist device according to one aspect of the present invention may further include a pressing direction adjustment mechanism that can adjust the direction in which the joint pressing member presses the area near the joint.

[0027] Furthermore, in a joint movement assist device according to one aspect of the present invention, the rigid member may comprise a fixed frame to which the rigid member is fixed so as to extend along the circumferential surface of the one limb, and a movable frame that is attached to the fixed frame so as to be able to change its position in the extension direction and presses the joint pressing member, and the pressing direction adjustment mechanism may comprise a slide frame that constitutes the movable frame and is provided so as to be able to slide along the extension direction of the fixed frame, and a rotating frame that is rotatably supported by the slide frame about a first axis so as to move closer to or away from the area near the joint, and is also rotatably supported about a second axis that intersects with the first axis.

[0028] In addition, in a joint movement assist device according to one aspect of the present invention, the joint may be a human hip joint, the one limb may be a torso, and the other limb may be a leg.

[0029] In addition, in one aspect of the joint movement assist device of the present invention, the slide frame may have a left slide frame that is attached to the fixed frame on the left half of the person's body, and a right slide frame that is attached to the fixed frame on the right half of the person's body, and the rotating frame may be detachably attached to either the left slide frame or the right slide frame. [Effects of the Invention]

[0030] According to the joint movement assist device according to one aspect of the present invention, it is possible to enable a patient to learn normal walking posture and walking movements. [Brief explanation of the drawings]

[0031] [Figure 1] 1 is a schematic side view showing the overall configuration of a joint movement assist device 1 according to a first embodiment of the present invention. [Figure 2] 1 is a schematic rear view showing the overall configuration of a joint movement assist device 1 according to a first embodiment of the present invention. [Figure 3] 1 is a schematic front view of a joint movement assist device 1 according to a first embodiment of the present invention, as seen from inside a waist pouch 9. FIG. [Figure 4] 5 is a schematic diagram for explaining the function of the vertical position changing means 24. FIG. [Figure 5] 4 is a flowchart showing the flow of processing by the control unit 8 in the joint movement assist device 1. [Figure 6] FIG. 10 is a schematic perspective view showing the overall configuration of a joint movement assist device 40 according to a second embodiment of the present invention. [Figure 7] FIG. 10 is a side view schematically showing the overall configuration of a joint movement assist device 40 according to a second embodiment of the present invention. [Figure 8] 5 is a schematic diagram for explaining the function of a pressing direction adjustment mechanism 80. FIG. [Figure 9] 4A to 4C are explanatory diagrams for explaining the operation of the joint operation assist device 40. [Figure 10] FIG. 10 is a schematic enlarged plan view showing characteristic parts of a joint movement assist device 90 according to a third embodiment of the present invention. [Figure 11] FIG. 10 is an enlarged exploded plan view showing characteristic parts of a joint movement assist device 90 according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0032] Hereinafter, a joint movement assisting device according to an embodiment of the present invention will be described with reference to the drawings. Here, as an example of the joint movement assisting device according to the present invention, a joint movement assisting device that assists hip joint extension movement and is used in the rehabilitation of patients who have difficulty walking due to hemiplegia caused by a stroke or the like will be described.

[0033] (Configuration of the joint movement assist device according to the first embodiment) First, the configuration of a joint movement assisting device 1 according to a first embodiment of the present invention will be described. Figures 1 and 2 are diagrams schematically showing the overall configuration of the joint movement assisting device 1 according to the first embodiment of the present invention, with Figure 1 being a schematic side view and Figure 2 being a schematic rear view. The joint movement assisting device 1 includes a device main body 2, a joint pressing member 3, a pressing force imparting unit 4, a pressing direction adjusting mechanism 5, a pressing position adjusting mechanism 6, a state detection sensor 7, and a control unit 8.

[0034] (Device body) The device main body 2 is worn on the patient's body and houses various components of the joint movement assist device 1. As shown in Figures 1 and 2, the device main body 2 has a waist pouch 9 and a pair of waist belts 10 on the left and right.

[0035] The waist pouch 9 is used to store components of the pressing force imparting unit 4. The waist pouch 9 is a hollow bag member made of a fiber material or the like. A pair of left and right waist belts 10 are used to attach the device main body 2 around the waist of the patient P. As shown in FIG. 2, the pair of left and right waist belts 10 extend from both left and right end portions of the waist pouch 9, respectively, and their tip ends can be connected to each other using a belt connector (not shown).

[0036] (Joint pressing member) The joint pressing member 3 serves to press a region adjacent to the hip joint K of the patient P, more specifically, the buttocks H located behind the greater trochanter. As shown in FIG. 1, this joint pressing member 3 has a box-shaped member 11 and a buffer material 12. Note that the "greater trochanter" in this specification means the portion that protrudes outward from the top of the femur, although this is not shown in detail in the drawings.

[0037] The box-shaped member 11 serves to apply a pressing force to the buttocks H of the patient P. This box-shaped member 11 is a hollow housing made of resin or the like, and as shown in FIG. 1, its longitudinal cross-sectional shape is an elongated hole shape, i.e., a rectangular shape with both longitudinal ends formed into arcs. Also, as shown in FIG. 2, the width of the box-shaped member 11, i.e., the width dimension in a direction perpendicular to the longitudinal cross-section, is set to a size sufficient to press the buttocks H on either the left or right side of the patient P. Note that the longitudinal cross-sectional shape, width, number, etc. of the box-shaped members 11 are not limited to those in this embodiment, and can be appropriately modified in design depending on the physique of the patient P, the size and number of areas to be pressed, etc. Furthermore, although the box-shaped member 11 is configured as a hollow housing to reduce weight, it is not limited thereto and may be a solid member.

[0038] The cushioning material 12 serves to prevent injury to the buttocks H of the patient P due to direct contact with the box-shaped member 11. This cushioning material 12 is a sheet-like member made of, for example, urethane foam, and as shown in Fig. 1, is fixed to the inside of the box-shaped member 11, i.e., the arc-shaped part on the side that presses against the patient P. The material, shape, etc. of the cushioning material 12 can be changed as needed.

[0039] (Pressure force applying unit) The pressing force imparting unit 4 serves to impart a pressing force to the joint pressing member 3 to press the vicinity of the hip joint K. As shown in FIGS. 1 and 2, the pressing force imparting unit 4 has an electric motor 13 (corresponding to the "actuator" according to the present invention), a pulley 14, a thigh attachment 15, and a wire 16.

[0040] The electric motor 13 serves as a drive source for the pressing force applying unit 4, and is controlled to rotate with a predetermined output at a predetermined timing when the hip joint K should be extended. As shown by the dashed line in FIGS. 1 and 2, the electric motor 13 is housed inside a waist pouch 9 that constitutes the device main body 2. The pulley 14 rotates in conjunction with the electric motor 13, thereby serving to wind or unwind the wire 16. As shown by the dashed line in FIGS. 1 and 2, the pulley 14 is fixed to the rotation shaft of the electric motor 13 inside the waist pouch 9. The number and housing positions of the electric motors 13 and pulleys 14 can be modified as needed.

[0041] The thigh attachment 15 serves to fix the lower end of the wire 16 to a position below the hip joint K of the patient P. As shown in Figs. 1 and 2, this thigh attachment 15 has a supporter part 17 that can be attached around the thigh of the patient P, and a wire fixing part 18 that protrudes from this supporter part 17. Note that this thigh attachment 15 can have any configuration that allows the lower end of the wire 16 to be fixed below the hip joint K of the patient P.

[0042] The wire 16 serves to transmit the tension as a pressing force to the joint pressing member 3. As shown in FIGS. 1 and 2, the wire 16 is a string-like member made of chemical fiber or the like, and its middle portion passes through the outer arc-shaped portion of the box-shaped member 11 and extends in the vertical direction. The upper end of the wire 16 is drawn into the waist pouch 9 and fixed to the circumferential surface of the pulley 14. Meanwhile, the lower end of the wire 16 is fixed to a wire fixing portion 18 of the thigh attachment 15. The material, shape, length, etc. of the wire 16 can be freely changed in design.

[0043] (Pressing direction adjustment mechanism) The pressing direction adjustment mechanism 5 serves to adjust the pressing direction of the joint pressing member 3 against the buttocks H. As shown in Figs. 1 and 2, the pressing direction adjustment mechanism 5 has two buckles 19 (corresponding to the "string length adjuster" according to the present invention) and two first strings 20.

[0044] The two buckles 19 are used to adjust the lengths of the two first strings 20 and fix them immovably at appropriate positions. These two buckles 19 are fasteners made of resin or the like that allow the length of the string-like member to be adjusted. As shown in Figures 1 and 2, these two buckles 19 are attached to two different positions on the waist pouch 9. The attachment positions of the two buckles 19 on the waist pouch 9 can be changed to any positions depending on the shape of the box-shaped member 11 and the waist pouch 9, etc.

[0045] The two first strings 20 serve to adjust the angle of the box-shaped member 11 that constitutes the joint pressing member 3. As shown in FIGS. 1 and 2 , each of the two first strings 20 has a string body 21 and a string fastener 22. The string body 21 is a long, strip-shaped member made of a fiber material or the like. The string fastener 22 is used to detachably fasten the first string 20 to the box-shaped member 11. One end of one of the two first strings 20 configured in this manner is inserted into one buckle 19, and the string fastener 22 at the other end is fixed to the outer, arc-shaped portion of the box-shaped member 11. On the other hand, one end of the other of the two first strings 20 is inserted into the other buckle 19, and the string fastener 22 at the other end is fixed to the outer, arc-shaped portion of the box-shaped member 11 at a position spaced apart from the one first string 20.

[0046] In the pressing direction adjustment mechanism 5 configured as above, as shown in FIG. 1 , the lengths of the two first strings 20 are adjusted by two buckles 19 so that the box-shaped member 11 constituting the joint pressing member 3 extends in a substantially horizontal direction in a side view, i.e., so that the box-shaped member 11 presses the buttocks H of the patient P substantially parallel to the direction of movement of the patient P. Note that the number of first strings 20 is not limited to that in this embodiment and may be one or three or more. Furthermore, the number of buckles 19 can be changed as appropriate depending on the number of first strings 20.

[0047] (Pressing position adjustment mechanism) The pressing position adjustment mechanism 6 serves to adjust the pressing position of the joint pressing member 3 on the buttocks H. As shown in FIGS. 1 and 2, the pressing position adjustment mechanism 6 has a left-right position change means 23 and a up-down position change means 24.

[0048] The left-right position changing means 23 serves to change the relative position of the joint pressing member 3 with respect to the device main body 2 in the left-right direction. Here, Fig. 3 is a schematic front view of the joint movement assist device 1 as seen from the inside of the waist pouch 9. As shown in Figs. 1 and 3, the left-right position changing means 23 has a first hook-and-loop fastener 25, a second string 26, a second hook-and-loop fastener 27, a first square ring 28, and a second square ring 29.

[0049] The first hook-and-loop fastener 25 is detachable from the second hook-and-loop fastener 27, and is used to change the attachment position of the second string 26 to the device main body 2 in the left-right direction. As shown in Figs. 1 and 3, the first hook-and-loop fastener 25 is provided on the inner surface of the waist pouch 9, i.e., the lower part of the surface that comes into contact with the patient P, so as to extend in the left-right direction. The shape of the first hook-and-loop fastener 25 and its position on the waist pouch 9 can be modified as needed.

[0050] The second string 26 serves to connect the joint pressing member 3 and the device main body 2 to each other. As shown in Figures 1 and 2, the second string 26 is a long, strip-shaped member made of a fiber material or the like. The thickness and width of the second string 26 are set to such an extent that it can be inserted through the first square ring 28 and the second square ring 29.

[0051] The second hook-and-loop fastener 27 is detachable from the first hook-and-loop fastener 25, and is used to change the attachment position of the second string 26 to the device body 2 in the left-right direction. As shown in Figs. 1 and 3, the length of this second hook-and-loop fastener 27 is set to be approximately the same as or slightly larger than the width of the first hook-and-loop fastener 25. The second hook-and-loop fastener 27 configured in this manner is provided on one surface of the other end of the second string 26. The shape of the second hook-and-loop fastener 27 and the position where it is provided on the second string 26 can be modified as appropriate.

[0052] The first square ring 28 is used to attach the second string 26 to the joint pressing member 3. Although not shown in detail in the drawings, the first square ring 28 is an annular member made of resin or the like and having a rectangular outer shape. As shown in FIG. 1, one side of the first square ring 28 is attached to the inner arc-shaped portion of the box-shaped member 11. The material and outer shape of the first square ring 28 can be modified as needed.

[0053] The second square ring 29 is used to change the direction in which the second string 26 extends while avoiding contact with the box-shaped member 11. Although not shown in detail in the drawings, the second square ring 29 is an annular member made of resin or the like and having a rectangular outer shape. As shown in FIG. 1, one side of the second square ring 29 is attached to the middle of the second string 26. The material and outer shape of the second square ring 29 can be changed as needed.

[0054] According to the left-right position changing means 23 configured as described above, for example, in the present embodiment in which the joint pressing member 3 presses the left buttock H, which is behind the left greater trochanter of the patient P, the second hook-and-loop fastener 27 is attached to a position to the left of the center of the first hook-and-loop fastener 25 extending in the left-right direction (i.e., a position to the right of the center as viewed in FIG. 3 ). This allows the joint pressing member 3 to be disposed below a portion to the left of the center of the device main body 2 (the right side as viewed in FIG. 3 ), enabling the joint pressing member 3 to press the left buttock H of the patient P. Note that the position at which the second hook-and-loop fastener 27 is attached to the first hook-and-loop fastener 25 can be appropriately changed in the left-and-right direction depending on the left-and-right position to be pressed near the hip joint K of the patient P. For example, as shown by the two-dot chain line in FIG. 3 , if the second hook-and-loop fastener 27 is attached to a position to the right of the center of the first hook-and-loop fastener 25 (the left side as viewed in FIG. 3 ), the right buttock H of the patient P can be pressed by the joint pressing member 3.

[0055] The vertical position changing means 24 plays a role in changing the position of the joint pressing member 3 relative to the device main body 2 in the vertical direction. As shown in Figures 1 and 2, this vertical position changing means 24 has a third hook-and-loop fastener 30, a second string 26, a fourth hook-and-loop fastener 31, and a pull tab 32. Note that the second string 26 has been described above, so its description will be omitted here.

[0056] The third hook-and-loop fastener 30 is detachable from the fourth hook-and-loop fastener 31, and is used to change the attachment position of the second string 26 to the joint pressing member 3. As shown in Figs. 1 and 2, this third hook-and-loop fastener 30 is provided on the bottom surface of the box-shaped member 11 that constitutes the joint pressing member 3 so as to extend in the front-to-rear direction. Note that the shape of the third hook-and-loop fastener 30 and the position where it is provided on the box-shaped member 11 can be modified as appropriate.

[0057] The fourth hook-and-loop fastener 31 is detachable from the third hook-and-loop fastener 30, and is used to change the attachment position of the second string 26 to the joint pressing member 3. As shown in FIGS. 1 and 2, the width of this fourth hook-and-loop fastener 31 is approximately the same as the width of the second string 26, and the length is approximately the same as the length of the third hook-and-loop fastener 30 in the front-to-rear direction. The fourth hook-and-loop fastener 31 configured in this manner is provided on the other surface of one end of the second string 26, i.e., the surface opposite to the second hook-and-loop fastener 27. The shape of the fourth hook-and-loop fastener 31 and the position where it is provided on the second string 26 can be modified as appropriate.

[0058] The pull tab 32 is used by a physical therapist assisting the rehabilitation, the patient P, or the like to operate the up-down position changing means 24. As shown in FIG. 1 , this pull tab 32 is a ring-shaped member made of a fiber material or the like, and is provided at one end of the second string 26. The physical therapist assisting the rehabilitation, the patient P, or the like can attach or detach the fourth hook-and-loop fastener 31 provided at one end of the second string 26 to or from the third hook-and-loop fastener 30 by holding this pull tab 32 and applying force to the second string 26.

[0059] With the vertical position changing means 24 configured as described above, the position of the joint pressing member 3 relative to the device main body 2 can be changed in the vertical direction by changing the position where the fourth hook-and-loop fastener 31 is attached on the third hook-and-loop fastener 30 in the front-to-rear direction. Here, FIG. 4 is a schematic diagram for explaining the function of the vertical position changing means 24. In this embodiment, as shown in FIG. 4( a), the fourth hook-and-loop fastener 31 is attached to a front position of the third hook-and-loop fastener 30, thereby disposing the joint pressing member 3 in a state where it is close to the device main body 2 in the vertical direction. Therefore, the joint pressing member 3 can be brought into contact with the upper side of the buttocks H of the patient P to press that position. On the other hand, as shown in FIG. 4( b), by attaching the fourth hook-and-loop fastener 31 to a rear position of the third hook-and-loop fastener 30, it is also possible to dispose the joint pressing member 3 in a state where it is separated in the vertical direction from the device main body 2 compared to FIG. 4( a). In this case, the joint pressing member 3 can be brought into contact with the lower side of the buttocks H of the patient P to press that position.

[0060] (Status detection sensor) The condition detection sensor 7 serves to detect the extension or flexion state of the hip joint K of the patient P. As shown in FIGS. 1 and 2, the condition detection sensor 7 has a first sensor 33 and a second sensor 34. The first sensor 33 is housed in the waist pouch 9 and detects the condition of the patient P's lower back, etc. Meanwhile, the second sensor 34 is fixed to the thigh attachment 15 and detects the condition of the patient P's thighs, etc. The number and arrangement of the condition detection sensors 7 can be modified as needed.

[0061] The control unit 8 plays a role in controlling the operation of each component constituting the joint movement assist device 1. As shown in Figs. 1 and 2, this control unit 8 is housed in a waist pouch 9 and is electrically connected to the first sensor 33 and second sensor 34 constituting the state detection sensor 7, the electric motor 13 constituting the pressing force imparting unit 4, etc. The number and arrangement of the control units 8 can be changed as appropriate.

[0062] (Actions and Effects of the Joint Movement Assist Device According to the First Embodiment) Next, the operation and effect of the joint movement assist device 1 according to the first embodiment of the present invention will be described. FIG. 5 is a flowchart showing the flow of processing by the control unit 8 in the joint movement assist device 1. For example, when rehabilitation for recovering walking function is started by patient P whose left side is paralyzed, the control unit 8 acquires detection signals from the first sensor 33 and the second sensor 34 constituting the condition detection sensor 7 (step S1). The control unit 8 then determines whether or not the extension movement of the hip joint K (the movement of bracing the leg that has landed backward) has started (step S2). As a result, if the control unit 8 determines that the extension movement has not started yet (S2: No), the control unit 8 returns to S1 to repeat output acquisition and determination. On the other hand, if the control unit 8 determines that the extension movement has started (S2: Yes), the control unit 8 drives the electric motor 13 with appropriate timing and output (step S3). As a result, when the wire 16 is wound by the pulley 14, which rotates in conjunction with the electric motor 13, as shown in Figure 1, the horizontal component force Th of the tension T applied to the wire 16 acts as a forward pressing force on the box-shaped member 11 of the joint pressing member 3.

[0063] As described above, in this embodiment, the pressure position adjustment mechanism 6 adjusts the box-shaped member 11 so that it contacts the posterior side of the patient P's greater trochanter, and the pressure direction adjustment mechanism 5 adjusts the box-shaped member 11 so that it extends in a substantially horizontal direction in side view. Therefore, the box-shaped member 11, which receives a forward pressing force from the wire 16, presses the posterior side of the patient P's greater trochanter in a direction substantially parallel to the patient P's direction of travel. As a result, the patient P's left buttocks H are pushed in the direction of travel, thereby sending the paralyzed left hip forward and enabling the patient P to perform an extension movement of the hip joint K in the correct posture. This extension movement thereby produces sufficient eccentric contraction of the iliopsoas muscle, allowing a smooth transition to the next flexion movement of the hip joint K, i.e., swinging the leg forward.

[0064] Thereafter, the control unit 8 acquires the output of the state detection sensor 7 (step S4) and determines whether the extension movement of the hip joint K has ended (step S5). As a result, if it is determined that the extension movement has not ended yet (S5: No), the control unit 8 returns to S4 to repeat the output acquisition and determination. On the other hand, if it is determined that the extension movement has ended (S5: Yes), the control unit 8 stops the electric motor 13 (step S6). By performing the extension movement with correct posture, the patient P can obtain a sufficient amount of eccentric contraction of the iliopsoas muscle, and by utilizing this contraction of the iliopsoas muscle, the patient P can smoothly perform the next flexion movement of the hip joint K, i.e., the movement of swinging the leg forward.

[0065] Thereafter, the control unit 8 acquires the output of the state detection sensor 7 (step S7) and determines whether or not the patient P's walking movement has ended (step S8). As a result, if it is determined that the walking movement has not ended (S8: No), the control unit 8 returns to S1 to prepare for the start of the next extension movement of the hip joint K. On the other hand, if it is determined that the walking movement has ended (S8: Yes), the control unit 8 ends the processing. As described above, the patient P can naturally acquire normal walking posture and walking movement by repeatedly performing the extension movement of the hip joint K in the correct posture with the assistance of the joint movement assist device 1.

[0066] Furthermore, in the joint movement assist device 1 according to the first embodiment of the present invention, as described above, the first string 20 is detachably fixed to the joint presser member 3 by the string fixing device 22 that constitutes the pressing direction adjustment mechanism 5. Furthermore, the second string 26 is detachably fixed to the joint presser member 3 by the third hook-and-loop fastener 30 and the fourth hook-and-loop fastener 31 that constitute the pressing position adjustment mechanism 6. Therefore, by detaching the first string 20 and the second string 26 from the joint presser member 3, respectively, the joint presser member 3 can be removed from the device main body 2. Therefore, by removing the joint presser member 3 from the device main body 2, the patient P undergoing rehabilitation can sit in a chair without the joint presser member 3 getting in the way.

[0067] (Configuration of the joint movement assist device according to the second embodiment) Next, the configuration of a joint movement assisting device according to a second embodiment of the present invention will be described. Figures 6 and 7 are diagrams schematically showing the overall configuration of a joint movement assisting device 40 according to a second embodiment of the present invention, with Figure 6 being a schematic perspective view and Figure 7 being a schematic side view. The joint movement assisting device 40 includes a waist belt 41, a joint pressing member 42, a pressing force imparting unit 43, a pressing position adjusting mechanism 44, a pressing direction adjusting mechanism 80, a state detection sensor 7, and a control unit 8.

[0068] (Waist belt) The waist belt 41 serves to attach the joint movement assist device 40 around the waist of the torso B of the patient P. As shown in FIG. 6, the waist belt 41 is a belt-shaped member made of a fiber material or the like, and both ends of the belt can be connected to each other using a belt connector (not shown). Note that the waist belt 41 is not an essential component of the present invention and can be omitted, but using the waist belt 41 has the advantage of being able to distribute the load applied to the waist of the patient P by the weight of the joint movement assist device 40.

[0069] (Joint pressing member) The joint pressing member 42 serves to press a region adjacent to the hip joint K of the patient P, more specifically, the buttocks H located behind the greater trochanter. As shown in FIGS. 6 and 7, the joint pressing member 42 has a pressing plate 45 and a buffer material 46.

[0070] The pressure plate 45 serves to apply a pressure force to the buttocks H of the patient P. As shown in Fig. 7, the pressure plate 45 is a plate-shaped member made of resin or the like, and has a curved shape so as to fit the buttocks H of the patient P. The shape, thickness, number, etc. of the pressure plate 45 are not limited to this embodiment, and the design can be modified as appropriate depending on the body shape of the patient P, the size of the area to be pressed, the number of places, etc.

[0071] The cushioning material 46 serves to prevent injury to the buttocks H of the patient P due to direct contact with the pressure plate 45. The cushioning material 46 is a sheet-like member made of, for example, urethane foam, and as shown in Fig. 7, is fixed to the curved outer side of the pressure plate 45, i.e., the curved surface on the side that presses against the patient P. The material, shape, etc. of the cushioning material 46 can be modified as needed.

[0072] (Pressure force applying unit) The pressing force imparting unit 43 serves to impart a pressing force to the joint pressing member 42 to press the vicinity of the hip joint K. As shown in FIGS. 6 and 7, the pressing force imparting unit 43 has a rigid member 47, an electric motor unit 48 (corresponding to the "actuator" according to the present invention), the thigh attachment 15, a wire 50, and a wire tube 51.

[0073] The rigid member 47 serves to press the joint pressing member 42. The rigid member 47 is made of a material, such as resin, that has higher rigidity than the wire 50. As shown in FIGS. 6 and 7, the rigid member 47 has a fixed frame 52 and a moving frame 53.

[0074] The fixed frame 52 serves to fix and attach the rigid member 47 to the torso B of the patient P. As shown in Figs. 6 and 7, the fixed frame 52 is a long frame member made of resin or the like and having a rectangular cross section, and its planar shape is U-shaped so as to fit the waist of the patient P. The fixed frame 52 configured in this manner is fixed to the outer surface of the waist belt 41. The material and shape of the fixed frame 52 can be modified as appropriate depending on the body shape of the patient P, etc.

[0075] The moving frame 53 serves to change the relative position of the joint pressing member 42 with respect to the fixed frame 52. The moving frame 53 has a slide frame 54 and a rotating frame 55, as shown in FIGS.

[0076] The slide frame 54 serves to change the relative position of the joint pressing member 42 in the left-right direction with respect to the fixed frame 52. As shown in FIGS. 6 and 7, the slide frame 54 has a frame main body 81, a frame insertion hole 56, a frame support part 57, and an angle adjustment button 82.

[0077] The frame insertion hole 56 is a hole through which the fixed frame 52 is inserted. As shown in FIGS. 6 and 7 , the frame insertion hole 56 is formed by penetrating the base end of the frame main body 81 and has a cross-sectional shape that is slightly larger than the cross-sectional shape of the fixed frame 52. The frame support part 57 serves to support the rotating frame 55. The frame support part 57 is provided to protrude laterally from the tip of the frame main body 81 and, although not shown in detail in the drawings, is supported by the frame main body 81 so as to be rotatable about a vertical axis (corresponding to the "second axis" according to the present invention). The angle adjustment button 82 serves to adjust the rotation angle of the frame support part 57 relative to the frame main body 81. The angle adjustment button 82 is provided to protrude upward from the tip of the frame main body 81 and, although not shown in detail in the drawings, pressing the angle adjustment button 82 allows the rotation angle of the frame support part to be changed in 15° increments. The slide frame 54 configured in this manner is provided so as to be slidable along the extension direction of the fixed frame 52 by inserting the fixed frame 52 into the frame insertion hole 56. Note that in this embodiment, one slide frame 54 is provided that is slidable over the entire length of the fixed frame 52, but this is not limiting, and multiple slide frames 54 may be provided. For example, although not shown in detail in the drawings, two slide frames 54 may be provided separately, each consisting of a left slide frame that slides along the fixed frame 52 on the left half of the body of the patient P, and a right slide frame that slides along the fixed frame 52 on the right half of the body of the patient P.

[0078] The rotating frame 55 serves to change the relative position of the joint pressing member 42 with respect to the fixed frame 52 in a direction toward or away from the hip joint K. As shown in FIGS. 6 and 7 , the rotating frame 55 is a long, plate-like frame whose base end extends linearly in a plan view while its tip end extends curvedly in a plan view, so that the base end and the tip end are spaced apart in the width direction. The rotating frame 55 has a frame receiving portion 58 formed by cutting out the base end, and a wire passing hole 59 formed through the tip end. The rotating frame 55 configured in this manner is supported by the frame support portion 57 of the slide frame 54 at its frame receiving portion 58 so as to be rotatable around a horizontal axis (corresponding to the "first axis" according to the present invention).

[0079] The electric motor unit 48 serves as a drive source for the pressing force application unit 43. As shown in FIGS. 6 and 7 , the electric motor unit 48 has an electric motor 60, a battery 61, and a pulley 62 (shown by a dashed line in FIG. 6 ). The electric motor 60 is drive-controlled to rotate with a predetermined output at a predetermined timing when the hip joint K should be extended. The electric motor 60 is fixed to one surface of the rotating frame 55. The battery 61 supplies power to the electric motor 60. The battery 61 is fixed to the outer surface of the waist belt 41, above the fixed frame 52. The pulley 62 rotates in conjunction with the electric motor 60, thereby winding or unwinding the wire 50. Although not shown in detail in the drawings, the pulley 62 is fixed to the rotation shaft of the electric motor 60. The components of the electric motor unit 48 and the installation positions of the components are not limited to those described in this embodiment and can be modified as appropriate.

[0080] The thigh attachment 15 has a supporter part 17 and a wire fixing part 18, as in the first embodiment, and since their roles and configurations are the same as in the first embodiment, their explanation will be omitted here, and the same reference numerals as in the first embodiment will be used in Figures 6 and 7.

[0081] Like the wire 16 of the first embodiment, the wire 50 is a string-like member made of chemical fiber or the like, and serves to transmit its tension as a pressing force to the joint pressing member 42. As shown in FIGS. 6 and 7 , the wire 50 has its middle portion inserted into a wire-passing hole 59 of the rotating frame 55 and extends in the vertical direction. Although not shown in detail in the figures, the upper end of the wire 50 is drawn into the electric motor unit 48 and wound around the periphery of a pulley 62. Meanwhile, the lower end of the wire 50 is fixed to the wire fixing portion 18 of the thigh attachment 15. Here, as shown in FIG. 7 , the wire 50 extending from the thigh attachment 15 toward the rotating frame 55 is arranged to extend in a tangential direction to the direction of rotation of the leg L about the hip joint K (shown by a dashed line in FIG. 7 ) in the initial state when no tensile force from the electric motor unit 48 is acting on it.

[0082] The wire tube 51 serves to protect the wire 50 from damage due to contact with the rotating frame 55 and the like. The wire tube 51 is a tubular member made of a relatively hard resin or the like, and its inner diameter is set to a size that allows the wire 50 to be inserted therethrough. As shown in Figures 6 and 7, one end of the wire tube 51 configured in this manner is connected to the electric motor unit 48, and the other end is connected to the tip of the rotating frame 55, with the wire 50 being inserted therethrough. Note that the wire tube 51 is not an essential component of the present invention and may be omitted.

[0083] (Pressing position adjustment mechanism) Similar to the pressing position adjustment mechanism 6 of the first embodiment, the pressing position adjustment mechanism 44 serves to adjust the pressing position of the joint pressing member 42 on the buttocks H. As shown in Figs. 6 and 7, the pressing position adjustment mechanism 44 has a left-right position change means 63 and a up-down position change means 64.

[0084] The left-right position changing means 63 serves to change the relative position of the joint pressing member 42 with respect to the fixed frame 52 in the left-right direction. As shown in FIGS. 6 and 7 , the left-right position changing means 63 has an engagement groove 65 that forms a part of the fixed frame 52 and an engagement claw (not shown) that forms a part of the movable frame 53. A plurality of engagement grooves 65 are formed by cutting out the side surface of the fixed frame 52 at predetermined intervals along the extension direction of the fixed frame 52. On the other hand, although not shown in detail in the drawings, the engagement claw has a shape that can be fitted into the engagement groove 65 and is provided inside the slide frame 54 that forms the movable frame 53 so as to be able to fit into and disengage from the engagement groove 65. With the left-right position changing means 63 configured in this manner, the movable frame 53 can be freely slid along the fixed frame 52 by disengaging the engagement claw from the engagement groove 65. Then, by engaging the engagement claw with the engagement groove 65, the movable frame 53 can be immovably positioned at a predetermined position on the fixed frame 52.

[0085] The shapes, positions, and numbers of the engaging grooves 65 and engaging claws are not limited to those in this embodiment and can be modified as appropriate. Furthermore, the left-right position changing means 63 is not limited to the combination of the engaging grooves 65 and engaging claws, and any configuration can be adopted that allows the slide frame 54 to be moved relative to the fixed frame 52 and to be positioned at a predetermined position. Furthermore, the left-right position changing means 63 is not limited to the combination of the fixed frame 52 and the movable frame 53, and any configuration can be adopted that allows the relative position of the joint pressing member 42 to be changed in the left-right direction.

[0086] The vertical position changing means 64 serves to change the position of the joint pressing member 42 relative to the fixed frame 52 in the vertical direction. As shown in FIGS. 6 and 7 , the vertical position changing means 64 has an attached portion 67 that forms part of the moving frame 53 and an attaching portion 68 that forms part of the joint pressing member 42. The attached portion 67 has a substantially cylindrical shape and is provided at the middle of the rotating frame 55 that forms the moving frame 53 so as to extend in the extension direction of the rotating frame 55. The attached portion 67 has a plurality of screw holes 69 formed at predetermined intervals. On the other hand, the attaching portion 68 is provided to protrude from the outer surface of the presser plate 45 that forms the joint pressing member 42. The attached portion 67 has a substantially cylindrical shape that can be fitted into the attached portion 67 and has a screw hole 70 formed therein. The vertical position changing means 64 configured in this manner allows the attaching portion 68 to be freely moved along the attached portion 67. Then, by screwing the mounting portion 68 and the mounted portion 67 together using the screw holes 69 and 70, the mounting portion 68 can be immovably positioned at a predetermined position on the mounted portion 67. That is, the joint pressing member 42 can be immovably positioned at a predetermined position on the moving frame 53. Note that the shapes and positions of the mounted portion 67 and the mounting portion 68 are not limited to this embodiment and can be modified as appropriate. Furthermore, the vertical position changing means 64 is not limited to the combination of the mounted portion 67 and the mounting portion 68, and any configuration can be adopted that allows the joint pressing member 42 to be moved relative to the moving frame 53 and to be positioned at a predetermined position.

[0087] (Pressing direction adjustment mechanism) Like the pressing direction adjustment mechanism 5 of the first embodiment, the pressing direction adjustment mechanism 80 serves to adjust the pressing direction of the joint pressing member 42 on the buttocks H. As shown in FIGS. 6 and 7 , the pressing direction adjustment mechanism 80 has a slide frame 54 and a rotating frame 55. Here, the slide frame 54 and the rotating frame 55 each have the configurations as described above. As a result, the rotating frame 55 is supported by the slide frame 54 so as to be rotatable about a horizontal axis so as to move closer to or away from the buttocks H, and is also supported so as to be rotatable about a vertical axis. Here, FIG. 8 is a diagram for explaining the function of the pressing direction adjustment mechanism 80 and is a schematic plan view of the joint movement assist device 40. For ease of explanation, the waist belt 41 and the thigh attachment 15 are not shown in FIG. 8.

[0088] With the pressing direction adjustment mechanism 80 configured in this manner, the rotating frame 55 is fixed so as not to rotate around the vertical axis, for example, at the position shown in FIG. 8( a). When the patient P or the like presses the angle adjustment button 82 from this state, the rotating frame 55 becomes rotatable around the vertical axis. When the patient P or the like rotates the rotating frame 55 clockwise in this state and stops pressing the angle adjustment button 82, the rotating frame 55 becomes fixed so as not to rotate around the vertical axis at the position shown in FIG. 8( b), rotated by 15°. When the patient P or the like further presses the angle adjustment button 82 from this state, the rotating frame 55 becomes rotatable around the clockwise. When the patient P or the like rotates the rotating frame 55 clockwise in this state and stops pressing the angle adjustment button 82, the rotating frame 55 becomes fixed so as not to rotate around the vertical axis at the position shown in FIG. 8( c), rotated by a further 15°. In this way, by changing the positional relationship of the rotating frame 55 with respect to the slide frame 54 around the vertical axis, the pressing direction of the joint pressing member 42 on the buttocks H can be adjusted around the vertical axis. Note that the rotation direction, rotation angle, and number of movable positions of the rotating frame 55 are not limited to this embodiment, and can be modified in design as appropriate depending on the body shape of the patient P, etc.

[0089] (Status detection sensor) 6 and 7, the status detection sensor 7 differs from the first embodiment only in that the first sensor 33 is fixed to the waist belt 41, but other configurations and effects are the same as those of the first embodiment. Therefore, the description thereof will be omitted here, and the same reference numerals as those of the first embodiment will be used.

[0090] (Control unit) 7, the control unit 8 is different from that of the first embodiment in that it is housed in the electric motor unit 48, but other configurations are the same as those of the first embodiment. Therefore, the description thereof will be omitted here, and the same reference numerals as those of the first embodiment will be used.

[0091] (Actions and Effects of the Joint Movement Assist Device According to the Second Embodiment) Next, the effects of the joint movement assist device 40 according to the second embodiment of the present invention will be described. For example, when performing rehabilitation to restore walking function on patient P whose left side is paralyzed, the patient P or a physical therapist will attach the joint movement assist device 40 to the left side of the body and then adjust the left / right position change means 63 and the up / down position change means 64 that constitute the pressure position adjustment mechanism 44 to position the left / right and up / down positions of the joint pressing member 42 appropriately according to the patient P's body shape, etc. In this embodiment, the joint pressing member 42 is formed in a plate shape and is smaller and lighter than the box-shaped member of the first embodiment. This has the advantages of reducing the physical burden on the patient P during use and making the joint movement assist device 40 easier to carry.

[0092] When rehabilitation begins, the control unit 8 executes steps S1 to S3 shown in the flowchart of FIG. 5 , similarly to the first embodiment. As a result, when the wire 50 is wound around the pulley 62, which rotates in conjunction with the electric motor 60, the middle portion of the wire 50 contacts the inner circumferential surface of the wire passage hole 59 of the rotating frame 55, and a pressing force is applied from the wire 50 to the rotating frame 55 in a direction perpendicular to the inner circumferential surface, as shown in FIG. 7 . Then, due to a component of this pressing force, the rotating frame 55 rotates around its base end as a fulcrum, bringing its distal end closer to the hip joint K, as shown in FIG. 9 . Accordingly, the joint pressing member 42 attached to the distal end of the rotating frame 55 presses the posterior side of the greater trochanter of the patient P in a direction substantially parallel to the patient's direction of movement. Furthermore, when the wire 50 is wound around the pulley 62, a tensile force is applied from the lower end of the wire 50 to the leg L of the patient P via the thigh attachment 15, thereby pulling the leg L backward. This allows the patient P to perform the extension movement of the hip joint K in the correct posture, similar to the first embodiment.

[0093] In this embodiment, as described above, the wire 50 extending from the thigh attachment 15 toward the rotating frame 55 is arranged to extend in a tangential direction relative to the rotation direction of the leg L about the hip joint K in the initial state when no tensile force from the electric motor unit 48 is acting. Therefore, the tensile force acting on the leg L from the wire 50 acts in the same direction as the rotation direction of the leg L, and all of the tensile force of the wire 50 is used as a rotational force for the leg L. This makes it possible to efficiently realize an extension movement of the hip joint K in the correct posture by utilizing the driving force of the electric motor unit 48 without waste.

[0094] Thereafter, the control unit 8 executes steps S4 to S8 shown in the flowchart of Fig. 5, as in the first embodiment, and ends the process. This provides the same effects as in the first embodiment. That is, the patient P can naturally acquire normal walking posture and walking movements by repeatedly performing extension and flexion movements of the hip joint K in a correct posture.

[0095] (Configuration of the joint movement assist device according to the third embodiment) Next, the configuration of a joint movement assisting device according to a third embodiment of the present invention will be described. Figures 10 and 11 are views showing characteristic parts of a joint movement assisting device 90 according to a third embodiment of the present invention, with Figure 10 being a schematic enlarged plan view and Figure 11 being an enlarged exploded plan view. Compared to the joint movement assisting device 40 according to the second embodiment, the joint movement assisting device 90 differs only in the configuration of the moving frame 91, and the other components are the same. Therefore, the same reference numerals as in the second embodiment are used for the components other than the moving frame 91, and their description will be omitted here.

[0096] As shown in FIG. 10, the moving frame 91 of this embodiment includes a slide frame 92, a rotating frame 93, and a pin member 94.

[0097] 10 and 11, the slide frame 92 has a frame main body 81, a frame support portion 95, and an angle adjustment button 82. The frame main body 81 and the angle adjustment button 82 have the same configuration and effect as those in the second embodiment, and therefore the same reference numerals as in the second embodiment are used and a description thereof will be omitted here. The frame support portion 95 has a pair of left and right protrusions 96 that face each other at a predetermined distance, and pin insertion holes 97 (shown by dashed lines in the figures) are formed through each of the pair of protrusions 96.

[0098] 10 and 11, the rotating frame 93 has a pin passing hole 98 (shown by a dashed line in the figures) formed to penetrate its base end, and a wire passing hole 59 (not shown) formed to penetrate its tip end. Since the wire passing hole 59 has the same configuration as in the second embodiment, it is designated by the same reference numeral as in the second embodiment and will not be described here. The rotating frame 93 configured in this manner has its base end disposed between the pair of protruding pieces 96 such that the pin passing hole 98 communicates with each of the pair of pin insertion holes 97 of the frame support portion 95.

[0099] The pin member 94 serves to support the rotating frame 93 rotatably and detachably from the slide frame 92. This pin member 94 is a fastener known as a push pin, and as shown in FIG. 11 , includes a shaft 99, a head 100, a retaining protrusion 101, and a protrusion operation button 102. The retaining protrusion 101 serves to prevent or allow axial movement of the shaft 99. The retaining protrusion 101 is provided at the tip of the shaft 99 so as to be retractable from the circumferential surface. The protrusion operation button 102 is used to operate the protrusion / retraction of the retaining protrusion 101. More specifically, when the protrusion operation button 102 is not pressed and no external force is applied, it protrudes from the head 100. At this time, the retaining protrusion 101 protrudes from the circumferential surface of the shaft 99. On the other hand, when the protrusion operation button 102 is pressed and retracted into the head 100, the retaining protrusion 101 retracts into the shaft 99 in conjunction with this. 10 , the pin member 94 configured in this manner rotatably supports the rotating frame 93 by having its shaft portion 99 inserted through a pair of pin insertion holes 97 in the slide frame 92 and a pin passing hole 98 in the rotating frame 93. Furthermore, the pin member 94 is prevented from moving in the axial direction by having its anti-slip protrusion 101 protrude from the circumferential surface of the shaft portion 99 and come into contact with the outer surface of the protruding piece 96. This prevents the pin member 94 from falling out of the pair of pin insertion holes 97 and pin passing hole 98, thereby enabling the rotating frame 93 to be securely fixed to the slide frame 92.

[0100] (Actions and Effects of the Joint Movement Assist Device According to the Third Embodiment) Next, the effects of the joint movement assist device 90 according to the third embodiment of the present invention will be described. The configuration of the moving frame 91 as described above allows the rotating frame 93 to be easily attached to and detached from the slide frame 92. More specifically, as shown in FIG. 11 , when a patient P or the like (not shown) presses the protrusion operation button 102 of the pin member 94 to retract it into the head 100, the retaining protrusion 101 retracts in conjunction with this into the shaft portion 99. This allows the pin member 94 to move in the axial direction, allowing the patient P or the like to remove the pin member 94 from the pair of pin insertion holes 97 and pin passing holes 98. This releases the rotating frame 93 from being fixed to the slide frame 92, allowing the patient P or the like to easily remove the rotating frame 93 from the slide frame 92.

[0101] In this way, the rotating frame 93 can be easily detached from the sliding frame 92 by simply operating the pin member 94, allowing the patient P or the like to separate the joint movement assist device 90 between the sliding frame 92 and the rotating frame 93. Therefore, even a patient P who has paralysis on one side of his or her body and finds it difficult to stand for long periods of time can wear the waist belt 41 or the like around his or her waist while sitting comfortably in a chair or the like, without the rotating frame 93 or the like extending in the vertical direction getting in the way. The patient P then stands up from the chair or the like, and uses the pin member 94 to fix the rotating frame 93 to the sliding frame 92 attached to the waist belt 41, thereby allowing the entire joint movement assist device 90 to be worn on his or her body.

[0102] Furthermore, because the joint movement assist device 90 can be separated between the slide frame 92 and the rotating frame 93, the patient P or the like can easily carry the separated, compact joint movement assist device 90 by storing it in a storage container (not shown). Furthermore, although not shown in detail in the drawings, when a left slide frame that slides along the fixed frame 52 on the left half of the patient P's body and a right slide frame that slides along the fixed frame 52 on the right half of the body are separately provided as described above, the rotating frame 93 can be attached and detached to either the left slide frame or the right slide frame. Therefore, there is also the advantage that the position of the rotating frame 93 can be appropriately changed depending on whether the patient P is paralyzed on the left side of the body or the right side of the body.

[0103] (Variation) The technical scope of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention as defined by the claims. For example, the following modifications can be considered as embodiments of the present invention.

[0104] In each embodiment, the case has been described in which the extension movement of the hip joint K is assisted by pressing the vicinity of the hip joint K of the patient P forward in the direction of travel with the joint pressing members 3, 42. However, conversely, it is also possible to assist the flexion movement of the hip joint K by pressing the vicinity of the hip joint K of the patient P backward in the direction of travel with the joint pressing members 3, 42.

[0105] In each embodiment, the joint movement assist device 1, 40 has been described as assisting the movement of the hip joint K. However, the joint movement assist device 1, 40 according to the present invention can also assist the movement of joints in the human body other than the hip joint K, such as the neck joint, shoulder joint, elbow joint, wrist joint, finger joint, waist joint, knee joint, ankle joint, and toe joint. In this case, the joint pressing member 3, 42 can be positioned so that it can press on areas near these joints.

[0106] In each embodiment, the electric motors 13 and 60 are used as the actuators constituting the pressing force imparting units 4 and 43. However, as the actuators, it is possible to use conventionally known actuators such as hydraulic, pneumatic, piezoelectric, and electromagnetic types in addition to electric types.

[0107] In the first embodiment, the buckle 19 constituting the pressing direction adjustment mechanism 5 is provided on the waist pouch 9 constituting the device main body 2. However, this buckle 19 may also be provided on the box-shaped member 11 constituting the joint pressing member 3. Furthermore, the string length adjuster constituting the pressing direction adjustment mechanism 5 is not limited to the buckle 19 of this embodiment, and any conventionally known mechanism capable of adjusting the length of the first string 20 can be used.

[0108] In the first embodiment, the pressing direction adjustment mechanism 5 adjusts the pressing direction of the joint pressing member 3 so that it is parallel to the direction of travel of the person. However, depending on the condition of the patient, the pressing direction adjustment mechanism 5 can also adjust the pressing direction of the joint pressing member 3 so that it intersects with the direction of travel of the person and faces diagonally upward.

[0109] In the first embodiment, the left / right position change means 23 constituting the pressing position adjustment mechanism 6 is provided on the side of the waist pouch 9, and the up / down position change means 24 is provided on the side of the box-shaped member 11. However, conversely, the left / right position change means 23 may be provided on the side of the box-shaped member 11, and the up / down position change means 24 may be provided on the side of the waist pouch 9. Also, in each embodiment, the pressing position adjustment mechanism 6, 44 has been described as having both the left / right position change means 23 and the up / down position change means 24. However, it is sufficient for the pressing position adjustment mechanism 6, 44 to have at least either the left / right position change means 23 or the up / down position change means 24, and it is also possible for the pressing position adjustment mechanism 6, 44 to be configured so as to have only the left / right position change means 23 or only the up / down position change means 24.

[0110] In the first embodiment, left-right position alteration means 23 and up-down position alteration means 24 are each configured using a pair of detachable hook-and-loop fasteners. However, left-right position alteration means 23 and up-down position alteration means 24 can also be configured using other conventionally known mechanisms, such as a pair of detachable magnets, or a claw and a plurality of grooves that can engage with the claw.

[0111] In the second and third embodiments, the first axis according to the present invention, which is the reference axis for rotation of the rotating frames 55, 93, is set to a horizontal axis. However, this first axis can be set to an axis extending in any direction depending on the position of the joint whose movement is to be assisted. Also, in the second and third embodiments, the second axis according to the present invention, which is the reference axis for rotation of the rotating frames 55, 93, is set to a vertical axis. However, this second axis can be set to an axis extending in any direction as long as it intersects with the first axis, i.e., is not parallel to the first axis.

[0112] In each embodiment, the control unit 8 drives or stops the electric motors 13, 60 based on the detection results of the condition detection sensor 7. However, without providing the condition detection sensor 7, it is also possible for the patient P or a physical therapist to manually drive or stop the electric motor 13 at an appropriate timing while visually checking the movement of the joints.

[0113] In each embodiment, a string-like member made of chemical fiber or the like is used as the wire 16, 50 according to the present invention. However, the wire 16, 50 according to the present invention means a long member capable of transmitting the driving force of the electric motor 13, and is not limited to the present embodiment, but is a concept that includes a string, rope, cord, cable, belt, chain, etc. [Industrial Applicability]

[0114] The joint movement assist device according to the present invention can also be applied to the joints of animals other than humans, and to the joints of robots. [Explanation of symbols]

[0115] 1. Joint movement assist device 2. Device body 3. Joint pressing member 4 Pressing force applying unit 5. Pressure direction adjustment mechanism 6. Pressing position adjustment mechanism 8 Control Unit 13 Electric motor ("actuator" according to the present invention) 16 wires 19 Buckle ("string length adjuster" according to the present invention) 20 First string 23 Left and right position change means 24 Vertical position change means 25 First hook-and-loop fastener 26 Second string 27 Second hook-and-loop fastener 30 Third hook-and-loop fastener 31 Fourth hook-and-loop fastener 40 Joint movement assist device 41 Waist belt 42 Joint pressing member 43 Pressing force applying unit 44 Pressing position adjustment mechanism 47 Rigid members 50 wire 52 Fixed Frame 53 Moving Frame 54 Slide Frame 55 Rotating Frame 63 Left and right position change means 64 Vertical position change means 67 Mounting part 68 Mounting part 80 Pressing direction adjustment mechanism 90 Joint movement assist device 92 Slide Frame 93 Rotating Frame 94 Pin member P patient K hip joint H Buttocks B Body part L leg

Claims

1. A joint movement assist device that assists extension or flexion movements of a joint of an animal, including a human, comprising: a joint pressing member provided so as to be able to press a portion near the joint; a pressing force applying unit that applies a pressing force to the joint pressing member to press a portion near the joint; a control unit that controls the pressing force application unit to apply a pressing force to the joint pressing member that is sufficient to transition the joint to an extension state or a flexion state; A joint movement assist device comprising:

2. The pressing force applying unit is a wire having one end attached to one of the portions sandwiching the joint and the other end attached to the other portion sandwiching the joint, and an intermediate portion thereof provided so as to be able to press the joint pressing member; an actuator that applies a tensile force to the wire; 2. The joint movement assist device according to claim 1, further comprising:

3. 3. The joint movement assist device according to claim 1, further comprising a pressing direction adjustment mechanism that adjusts the direction in which the joint pressing member presses against the area near the joint.

4. a device body that houses the actuator and is attached to the body of the animal; 4. The joint movement assist device according to claim 3, wherein the pressing direction adjustment mechanism includes a first string having one end attached to the device body and the other end attached to the joint pressing member, and a string length adjuster that can adjust the length of the first string.

5. 5. The joint movement assist device according to claim 4, wherein the pressing direction adjustment mechanism is configured so that the joint pressing member is detachable from the device body.

6. 4. The joint movement assist device according to claim 3, wherein the joint is a hip joint, and the pressing direction adjustment mechanism adjusts the pressing direction of the joint pressing member so that it is parallel to the direction of travel of the person or so that it intersects with the direction of travel of the person and faces diagonally upward.

7. 3. The joint movement assist device according to claim 1, further comprising a pressing position adjustment mechanism that adjusts the position of the area near the joint that is pressed by the joint pressing member.

8. a device body that houses the actuator and is attached to the body of the animal; 8. The joint movement assist device according to claim 7, wherein the pressing position adjustment mechanism has at least one of a left-right position changing means that changes the position of the joint pressing member relative to the device body in the left-right direction, and a up-down position changing means that changes the position of the joint pressing member relative to the device body in the up-down direction.

9. 9. The joint movement assist device according to claim 8, wherein the pressing position adjustment mechanism is configured so that the joint pressing member is detachable from the device body.

10. 9. The joint movement assist device according to claim 8, wherein the left-right position changing means comprises: a first hook-and-loop fastener provided on the device body; a second string having one end attached to the joint pressing member; and a second hook-and-loop fastener provided on the other end of the second string and detachable from the first hook-and-loop fastener.

11. 9. The joint movement assist device according to claim 8, wherein the up-down position changing means comprises a third hook-and-loop fastener provided on the joint pressing member, a second string having one end attached to the device body, and a fourth hook-and-loop fastener provided on the other end of the second string and detachable from the third hook-and-loop fastener.

12. the joint rotatably connects one limb to the other limb across the joint, The pressing force applying unit is a wire having one end attached to the other limb; a rigid member having higher rigidity than the wire, supporting the wire so as to extend in a rotation tangential direction of the other limb, and being capable of pressing the joint pressing member; an actuator that applies a tensile force to the wire; 2. The joint movement assist device according to claim 1, further comprising:

13. 13. The joint movement assist device according to claim 12, further comprising a pressing position adjustment mechanism that can adjust the position of the area near the joint that is pressed by the joint pressing member.

14. 14. The joint movement assist device according to claim 13, wherein the pressing position adjustment mechanism includes at least one of a left-right position changing means that changes in a left-right direction the position of the area near the joint that is pressed by the joint pressing member, and a up-down position changing means that changes in a up-down direction the position of the area near the joint that is pressed by the joint pressing member.

15. The left-right position changing means a fixed frame that constitutes the rigid member and is fixed to the one limb so as to extend along a circumferential surface thereof; a movable frame that constitutes the rigid member, is attached to the fixed frame so as to be able to change its position in the extension direction, and presses the joint pressing member; 15. The joint movement assist device according to claim 14, further comprising:

16. The vertical position changing means a plurality of mounting portions provided at predetermined intervals in the vertical direction on the moving frame; a frame attachment portion provided on the joint pressing member and detachable from each of the attachment portions; 16. The joint movement assist device according to claim 15, further comprising:

17. The moving frame is a slide frame provided so as to be slidable along the extension direction of the fixed frame; a rotating frame rotatably supported by the slide frame so as to move toward or away from the area near the joint; 16. The joint movement assist device according to claim 15, further comprising:

18. 18. The joint movement assist device according to claim 17, wherein the rotating frame is detachably attached to the sliding frame.

19. 19. The joint movement assist device according to claim 18, wherein the rotating frame is provided so as to be fixable to and separable from the slide frame via an insertable / removable pin member.

20. 13. The joint movement assist device according to claim 12, further comprising a pressing direction adjustment mechanism that can adjust the direction in which the joint pressing member presses against the area near the joint.

21. the rigid member has a fixed frame that is fixed to the one limb so as to extend along the circumferential surface of the one limb, and a movable frame that is attached to the fixed frame so as to be able to change its position in the extension direction and that presses the joint pressing member, The pressing direction adjustment mechanism is a slide frame that constitutes the moving frame and is provided so as to be slidable along the extension direction of the fixed frame; a rotating frame supported by the slide frame so as to be rotatable about a first axis so as to move close to or away from the area near the joint, and also supported so as to be rotatable about a second axis intersecting the first axis; 19. The joint movement assist device according to claim 18, further comprising:

22. 22. The joint movement assist device according to claim 12, wherein the joint is a human hip joint, the one limb is a torso, and the other limb is a leg.

23. 23. The joint movement assist device according to claim 22, wherein the slide frame comprises a left slide frame attached to the fixed frame on the left half of the person's body and a right slide frame attached to the fixed frame on the right half of the person's body, and the rotating frame is detachably attached to either the left slide frame or the right slide frame.

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