Motion support device

Abstract

The objective is to provide a motion support device that is easy to control in accordance with body movements, has a simple and versatile configuration with low energy consumption, and is easy to operate. [Solution] The motion support device 1 is equipped with a rotary pump 2 connected to the first muscle section 7a and the second muscle section 7b, and is attached to a body part 54 corresponding to a skeleton in which the first bone 51 and the second bone 52 are connected by a joint 53, thereby moving the working fluid 9 inside the first muscle section 7a and the second muscle section 7b to support the flexion and extension movements of the body part 54.

Description

Technical Field

[0001] The present invention relates to an operation support device that supports body movements.

Background Art

[0002] Conventionally, various operation support devices using actuators have been proposed (Patent Document 1: Japanese Patent Laid-Open No. 4-352961, Patent Document 2: Japanese Patent Laid-Open No. 2012-239709, Patent Document 3: Japanese Patent Laid-Open No. 2022-176100).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0004] A configuration in which a balloon is attached to the body and inflated or deflated is easier for the actuator to follow the movement of the muscles than a configuration in which a cylinder is attached to the body and reciprocated. On the other hand, control according to body movements has been an issue. Also, an operation support device with a simple and highly versatile configuration is desired.

Means for Solving the Problems

[0005] In view of the above circumstances, the present invention is made, and an object thereof is to provide an operation support device with a configuration that enables easy control according to body movements, is simple, has excellent versatility, and consumes less energy.

[0006] As one embodiment, the above problems are solved by the solutions disclosed below.

[0007] The motion support device according to the present invention is characterized by comprising a rotary pump connected to a first muscle section and a second muscle section, and being attached to a body part corresponding to a skeleton in which a first bone and a second bone are connected by a joint, thereby moving the working fluid inside the first muscle section and the second muscle section to support the flexion and extension movements of the body part.

[0008] With this configuration, the rotary pump circulates the working fluid within the first and second muscle sections, making it easy to control in accordance with body movements, while also resulting in a simple and versatile configuration with reduced energy consumption.

[0009] The rotary pump can be a screw pump, vane pump, gear pump, swashplate pump, screw pump, or any other known rotary pump. In particular, screw pumps can be made small while still providing a large stroke, making it easy to increase the volume of working fluid transported.

[0010] As an example, the rotary pump is a screw pump equipped with an electric motor, wherein the first muscle section is connected via a first pipe to a first connecting port near the base of the screw section in the housing, and the second muscle section is connected to a second connecting port near the tip of the screw section in the housing. With this configuration, it is easy to attach to the body and easy to increase the amount of working fluid transported.

[0011] The electric motor can be a DC motor, an AC motor, or any other known electric motor. Brushless motors, in particular, allow for easy speed control and extend the lifespan of the device.

[0012] As an example, the electric motor has a control unit that controls its speed in a variable manner. With this configuration, it is easy to control the motor in accordance with the flexion and extension movements of body parts.

[0013] The aforementioned variable speed control can be PLL control (Phase Locked Loop control), F / V control (Frequency / Voltage control), servo control, or other known variable speed control methods. In particular, F / V control makes it easy to continuously control the rotational speed of an electric motor and allows for a simple device.

[0014] According to the present invention, control can be easily performed in accordance with body movements, and a simple and versatile configuration can be achieved with reduced energy consumption. Therefore, a simple and versatile motion support device can be realized. [Brief explanation of the drawing]

[0015] [Figure 1] Figure 1 is a schematic structural diagram illustrating an embodiment of the operation support device of the present invention, showing the state in which the electric motor is rotated forward and the first amount of working fluid is moved to the first muscle section. [Figure 2] Figure 2 shows the state in the motion support device of Figure 1, where the electric motor is rotated in reverse, and half of the first volume of the working fluid is moved to the second muscle section. [Figure 3] Figure 3 shows the state in the motion support device of Figure 1, where the electric motor is rotated in reverse to move the first portion of the working fluid to the second muscle portion. [Figure 4] Figure 4A is a schematic structural diagram illustrating the state in which the motion support device of this embodiment is attached to a body part and walking movement A1 is performed. Figure 4B is a schematic structural diagram illustrating the state in which the motion support device of this embodiment is attached to a body part and walking movement B1 is performed. Figure 4C is a schematic structural diagram illustrating the state in which the motion support device of this embodiment is attached to a body part and bending movement C1 is performed. [Modes for carrying out the invention]

[0016] Embodiments of the present invention will be described in detail below with reference to the drawings. As shown in Figures 1 to 3, the operation support device 1 of this embodiment comprises a rotary pump 2, a drive unit 4, a first muscle unit 7a, and a second muscle unit 7b. The rotary pump 2 has a screw unit 5 built into a cylindrical housing 3. The drive unit 4 has an electric motor 4a connected to the screw unit 5, a control unit 4b that controls the electric motor 4a at a variable speed, and a battery 8 that supplies power to the electric motor 4a and the control unit 4b. The shaft of the screw unit 5 is connected on axis P1.

[0017] As an example, the working fluid 9 is an inert gas such as nitrogen gas or air. In addition to the above, the working fluid 9 may also be a flame-retardant hydraulic oil or antifreeze. In all the figures used to explain the embodiments, components having the same function are denoted by the same reference numeral, and repeated explanations may be omitted.

[0018] The rotary pump 2 has a first pipe 6a connected to a first connecting port 3a of the housing 3, and a second pipe 6b connected to a second connecting port 3b of the housing 3. The first muscle section 7a has a first balloon 31 and a first net 21 that covers the first balloon 31 and is attached to a body part 54. The first balloon 31 expands when it is filled with working fluid 9 and increases in volume, and contracts when the working fluid 9 decreases in volume. The second muscle section 7b has a second balloon 32 and a second net 22 that covers the second balloon 32 and is attached to a body part 54. The second balloon 32 expands when it is filled with working fluid 9 and increases in volume, and contracts when the working fluid 9 decreases in volume.

[0019] As an example, elastic rubbers such as butyl rubber, synthetic rubber latex, polyurethane, and silicone rubber are formed into columns to form the first balloon 31 and the second balloon 32 having a structure that is easy to expand and contract. Also, as an example, it is made of a cylindrical fabric of synthetic fibers such as para-aramid fiber, ultra-high molecular weight polyethylene fiber, high-strength polyarylate fiber, PBO fiber, and carbon fiber. The cylindrical fabric has a plurality of filamentous fibers each drawn out at equal intervals from the entire circumference of both ends, and the filamentous fibers are made into the first net 21 and the second net 22 having a configuration capable of interlocking with the cylindrical fabric. Then, the first net 21 is covered on the first balloon 31 connected to the first pipe 6a to form a structure that is easy to expand and contract together with the first balloon 31. Similarly, the second net 22 is covered on the second balloon 32 connected to the second pipe 6b to form a structure that is easy to expand and contract together with the second balloon 32.

[0020] In FIGS. 1 and 3, the advancing directions of the working fluid 9 in the screw portion 5 of the housing 3 are indicated by arrows x1 and x2. Also, the advancing directions of the working fluid 9 at the first connection port 3a and the second connection port 3b of the housing 3 are indicated by arrows z1 and z2. And the operating directions at positions away from the joint 53 of the second bone 52 are indicated by arrows y1 and y2.

[0021] As an example, when the screw portion 5 rotates forward, as shown in FIG. 1, the working fluid 9 in the screw portion 5 advances in the direction of arrow x1, the working fluid 9 at the second connection port 3b advances in the direction of arrow z1, the working fluid 9 sucked from the second connection port 3b moves into the housing 3 and the second balloon 32 contracts, and at the same time, the working fluid 9 at the first connection port 3a advances in the direction of arrow z2, and the working fluid 9 discharged from the first connection port 3a moves to the first balloon 31 and the first balloon 31 expands.

[0022] As an example, for the bending operation, when the electric motor 4a rotates forward, the position away from the joint 53 of the second bone 52 moves in the y1 direction.

[0023] As an example, when the screw section 5 rotates in the reverse direction, as shown in Figure 3, the working fluid 9 in the screw section 5 moves in the direction of arrow x2, the working fluid 9 in the first connecting port 3a moves in the direction of arrow z1, the working fluid 9 sucked in from the first connecting port 3a moves into the housing 3 and the first balloon 31 contracts, and at the same time, the working fluid 9 in the second connecting port 3b moves in the direction of arrow z2, the working fluid 9 discharged from the second connecting port 3b moves into the second balloon 32 and the second balloon 32 expands.

[0024] For example, during extension, the electric motor 4a rotates in the reverse direction, causing the second bone 52 to move in the y2 direction, away from the joint 53.

[0025] Figure 2 shows the state after half of the first volume of working fluid 9 has been transferred to the second balloon 32. At this time, the electric motor 4a is stopped, and the amount of working fluid 9 in the first balloon 31 is equal to the amount of working fluid 9 in the second balloon 32.

[0026] The above operation is just one example; by having the control unit 4b control the electric motor 4a at a variable speed, various physical movements such as walking and bending / stretching can be easily performed at a desired speed.

[0027] Figure 4A is a schematic structural diagram illustrating the state in which the movement support device 1 is attached to a body part and walking movement A1 is performed. Figure 4B is a schematic structural diagram illustrating the state in which the movement support device 1 is attached to a body part and walking movement B1 is performed. Figure 4C is a schematic structural diagram illustrating the state in which the movement support device 1 is attached to a body part and flexion movement C1 is performed.

[0028] As an example, the first connection portion 25 between the first net 21 and the first connecting port 21a at the rear end of the first pipe 6a, and the second connection portion 26 between the second net 22 and the third end portion 22a at the rear end of the second net 22 of the second pipe 6b, are attached to the body part 54 by a strip-shaped first attachment 23. In addition, the second connecting port 21b at the front end of the first net 21 and the fourth end portion 22b at the front end of the second net 22 are attached to the body part 54 by a strip-shaped second attachment 24. The first attachment 23 and the second attachment 24 are strip-shaped members made of elastic bands or narrow woven fabrics, and are wrapped around the body part to fix their position. Alternatively, they are wrapped around the body part via clothing to fix their position. The first attachment 23 and the second attachment 24 are attached at a distance of 53 between them, in a position that has relatively little impact on the body, with a wrapping force that does not cause displacement.

[0029] According to the above-described embodiment, the control unit 4b controls the rotation direction and rotation speed of the screw section 5 in the rotary pump 2, thereby circulating the working fluid 9 within the first muscle section 7a and the second muscle section 7b. This allows for easy control in accordance with body movements and enables a simple and versatile configuration with reduced energy consumption.

[0030] In the embodiments described above, the rotary pump 2 was described as a screw pump. Other configurations include vane pumps, gear pumps, swashplate pumps, and screw pumps as the rotary pump. The present invention is not limited to the embodiments described above, and various modifications are possible without departing from the scope of the invention. [Explanation of Symbols]

[0031] 1 Movement support equipment 2 Rotary pump 3 Housing, 3a First connection port, 3b Second connection port 4 Drive unit, 4a Electric motor, 4b Control unit 5. Screw section 6a 1st pipe, 6b 2nd pipe 7a 1st muscle part, 7b 2nd muscle part 8 batteries 9 Working fluid 21 First Net, 21a First Connection Port, 21b Second Connection Port 22 Second net, 22a Third end, 22b Fourth end 23 First mounting fixture 24. Second mounting bracket 25 First connection section 26 Second connection section 31. Balloon 1 32. Second balloon 50 Skeleton 51 First bone 52 Second bone 53 joints 54 Body parts P1 axis x1 1st direction x2 2nd direction y1 bending direction y2 extension direction z1 3rd direction z2 4th direction

Claims

1. The device is equipped with a rotary pump connected to a first muscle section and a second muscle section, and is attached to a body part corresponding to a skeleton where a first bone and a second bone are connected by a joint, thereby moving the working fluid inside the first muscle section and the second muscle section to support the flexion and extension movements of the body part. A motion support device characterized by the following.

2. The rotary pump is a screw pump equipped with an electric motor, wherein the screw pump has a first muscle section connected via a first pipe to a first connecting port near the base of the screw section in the housing, and a second muscle section connected to a second connecting port near the tip of the screw section in the housing. The operation support device according to claim 1, characterized by the following:

3. The electric motor has a control unit that controls the speed of the electric motor in a variable manner. The operation support device according to claim 2, characterized by the following:

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