Lower limb support device

Abstract

To provide a lower limb support device that allows for easy execution of intended movements in the lower limbs during rehabilitation. [Solution] The lower limb support device 1 comprises a foot attachment 3 worn on the user's foot, a gimbal mechanism 5 that supports the user's lower limb via the foot attachment 3, and a movable mechanism 7 that movably supports the gimbal mechanism 5. The gimbal mechanism 5 has a first movable frame 14 that is rotatably supported around a first axis 11, and a second movable frame 20 that is disposed inside the first movable frame 14 and rotatably supported around a second axis 18 that is substantially perpendicular to the first axis 11, and the foot attachment 3 is configured to rotate along the inner peripheral edge of the annularly curved second movable frame 20.

Description

Technical Field

[0001] This invention relates to a lower limb support device for assisting lower limb rehabilitation in the medical and welfare fields.

Background Art

[0002] For example, in lower limb rehabilitation (hereinafter sometimes referred to as rehabilitation), repeated standing-up exercises, hip-lifting exercises in the supine position, range-of-motion training for each joint, and walking exercises are carried out for the purpose of maintaining and improving the function of the healthy lower limb. In addition, in order to improve the paralysis of the affected lower limb, hip flexion, extension, abduction, and adduction exercises and foot dorsiflexion exercises are carried out in the supine position. However, when the user has paralysis and it is difficult to move the heavy foot (lower limb) as intended, manual support by a therapist or support by a device is required.

[0003] However, devices for performing rehabilitation movements while unloading the weight of the user's foot mostly support only the plantar dorsiflexion movement at the ankle (ankle joint), as described in the following patent documents, etc. When there are movements other than the plantar dorsiflexion movement at the ankle joint, an undesirable resistance that hinders the movement is likely to occur, and there is a problem that it is difficult to realize the intended movement aimed at moving a predetermined muscle during rehabilitation.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] Against the backdrop of the above circumstances, the present invention aims to provide a lower limb support device that makes it possible to easily achieve intended movements of the lower limbs during rehabilitation. [Means for solving the problem]

[0006] The inventors of this invention have conducted extensive research to solve the above problems and have focused on the fact that the axes of motion of the three movements of the foot shown in Figure 13(A) (plantar flexion / dorsiflexion, pronation / supination, and adduction / abduction) intersect at the ankle. They have conceived that by rotatably supporting the user's ankle, where the axes of motion of these three movements intersect, it becomes possible to enable three-dimensional movement of the foot (for example, inversion and eversion of the foot shown in Figure 13(B)), and consequently, a wider range of motion can be secured for the knee and hip joints, which work in conjunction with the ankle joint. This invention was made based on this concept.

[0007] Therefore, the lower limb support device in the first aspect of this invention is defined as follows: It comprises a foot attachment worn on the user's foot, a gimbal mechanism that supports the user's lower limbs via the foot attachment, and a movable mechanism that movably supports the gimbal mechanism, The gimbal mechanism comprises a first movable frame rotatably supported around a first axis, and a second movable frame disposed inside the first movable frame and rotatably supported around a second axis substantially perpendicular to the first axis. The foot attachment is configured to be rotatable along the inner periphery of the second movable frame, which is curved in an arc or ring shape.

[0008] According to the first phase of the lower limb support device defined in this way, the user's foot is supported so as to be rotatable around the first and second axes of the gimbal mechanism and around the inner edge of the second movable frame, corresponding to the three movements of the foot (plantar flexion / dorsiflexion, pronation / supination, and adduction / abduction), allowing the foot to move freely in three dimensions (e.g., inversion and eversion). In addition, the first phase of the lower limb support device is equipped with a movable mechanism that supports the gimbal mechanism, ensuring a wide range of motion for the knee and hip joints that work in conjunction with the ankle joint. Therefore, the user can easily perform movements that intentionally move the lower limb in a predetermined direction during lower limb rehabilitation.

[0009] Here, the foot support can be configured to include a footrest on which the user's foot rests, and a rotating wheel that surrounds the user's foot and engages with the inner edge of the second movable frame. In this case, the footrest can be attached to the rotating wheel in such a manner that the footrest surface, which contacts the sole of the user's foot, is inclined to approach the central axis of the rotating wheel as it moves from the heel side towards the toe side (second aspect). By doing so, it is possible to avoid interference with the foot support while accommodating the size of the user's foot and the height of the instep, and to adjust the axis of ankle plantarflexion and dorsiflexion near the second axis, allowing the foot to move freely in three dimensions.

[0010] Here, the foot mount can have an inner diameter of the rotating wheel of 140 to 200 mm and an inclination angle of the footrest surface with respect to the central axis of 40 to 50 degrees (third aspect).

[0011] The fourth aspect of this invention is defined as follows: In the first phase, the moving mechanism includes a first guide rail that supports the gimbal mechanism so as to be movable in the X-axis direction, and a second guide rail that supports the first guide rail so as to be movable in the Y-axis direction intersecting the X-axis direction. The gimbal mechanism is configured to be movable within a horizontal plane defined by the X-axis and Y-axis directions. This method allows for rehabilitation movements that involve moving the foot within a horizontal plane.

[0012] Furthermore, if the moving mechanism is configured to include a suspension device that suspends the second guide rail so that it can be raised and lowered, the height of the user's feet can be adjusted as needed (fifth aspect).

[0013] The sixth aspect of this invention is defined as follows: In the first phase, the gimbal mechanism is connected to the movement mechanism above the second axis and is configured to support the user's feet in a suspended state. This approach ensures ample space beneath the user's feet, free from obstructions to their movements, thereby increasing the freedom of movement during rehabilitation.

[0014] The seventh aspect of this invention is defined as follows: In the first phase, the second movable frame is provided with a plurality of guide rollers arranged circumferentially to support the outer peripheral edge of the foot attachment and to rotate in contact with the outer peripheral edge. This reduces frictional resistance between the second movable frame and the foot attachment, allowing for smoother rotation of the foot attachment. [Brief explanation of the drawing]

[0015] [Figure 1] This figure shows the overall configuration of a lower limb support device according to the first embodiment of the present invention. [Figure 2] Figure 1 shows the gimbal mechanism and foot attachment. [Figure 3] This figure shows the second movable frame of Figure 2 separately. [Figure 4] This diagram shows the second movable frame and rotating wheel in their assembled state. [Figure 5] This is a perspective view showing the footrest and rotating wheel, which make up the foot support device, separated from each other. [Figure 6]A side view of the footgear shown together with the user's foot [Figure 7] A diagram showing a schematic configuration of the suspension device [Figure 8] A diagram showing an example of the usage mode of the lower limb support device of this embodiment [Figure 9] A diagram showing an example of a usage mode different from that of FIG. 8 [Figure 10] A diagram showing a modification example of the second movable frame [Figure 11] A diagram showing the configuration of the lower limb support device according to the second embodiment of the present invention [Figure 12] A diagram showing an example of the usage mode of the lower limb support device of this embodiment [Figure 13] An explanatory diagram of three movements of the foot

Mode for Carrying Out the Invention

[0016] Next, embodiments of the present invention will be described in detail below with reference to the drawings FIG. 1 is a diagram showing the overall configuration of the lower limb support device according to the first embodiment of the present invention, and FIG. 2 is a diagram showing the gimbal mechanism part and the footgear of FIG. 1. In FIGS. 1 and 2, the X-axis direction (left-right direction) and the Y-axis direction (front-back direction) are directions orthogonal to each other. Also, the Z-axis direction (up-down direction, vertical direction) is a direction orthogonal to the X-axis direction and the Y-axis direction

[0017] The lower limb support device 1 of this embodiment includes a footgear 3 worn on the user's foot (specifically, near the ankle thereof), a gimbal mechanism part 5 that supports the user's foot (lower limb) via the footgear 3, and a moving mechanism part 7 that supports the gimbal mechanism part 5 movably, and is capable of supporting the user's lower limb in a suspended state

[0018] As shown in FIG. 2, the gimbal mechanism part 5 includes a base 10, a first movable frame 14 formed integrally with the base 10, and a second movable frame 20 disposed inside thereof The first movable frame 14 has a pair of arms 15, 15 extending downward in roughly parallel directions, and a connecting portion 16 that connects the upper ends of the arms 15 to each other, and is roughly U-shaped with an opening downward. A base portion 10, to which a first axis 11 extending upward in the figure is integrally provided, is attached to the center of the connecting portion 16 in the left-right direction (X-axis direction) in the figure.

[0019] As shown in the blown-out diagram of Figure 2, the first shaft 11 is held vertically (in the Z-axis direction) by being inserted into the holding hole 49a formed in the holder portion 49 of the moving mechanism 7, and the first movable frame 14 is supported so as to be rotatable around the first shaft 11, as indicated by the arrow in Figure 2. Furthermore, the tip of the first shaft 11 is provided with a flange portion 12 that is larger in diameter than the holding hole 49a of the holder portion 49, so that the first shaft 11 does not fall out of the holder portion 49.

[0020] A second axis 18 extends from the lower ends of a pair of downwardly extending arms 15, 15 of the first movable frame 14 in a horizontal direction substantially perpendicular to the first axis 11 and toward the center of the first movable frame 14. The second movable frame 20 is supported so as to be rotatable around this second axis 18, as indicated by the arrow in Figure 2. Here, substantially perpendicular means forming an angle of approximately 90°, which may include a range of 90°±5°, preferably within a range of 90°±2°.

[0021] Figure 3 shows the second movable frame alone, and Figure 4 shows the second movable frame and the rotating wheel assembled. The second movable frame 20 is an annular member that is rotatably supported around the second axis 18, while also rotatably supporting the rotating wheel 30 of the foot attachment 3 which is assembled inside it. In this embodiment, a plurality of guide rollers 22 are attached to the second movable frame 20 at intervals in the circumferential direction. The guide rollers 22 are configured to rotate around a roller shaft 23 that extends in the direction of the third axis 25 (perpendicular to the plane of the paper in Figure 3), and when the rotating wheel 30 of the foot attachment 3 is assembled inside it (see Figure 4), the guide rollers 22 contact the outer edge of the rotating wheel 30 and are able to rotate as the rotating wheel 30 rotates. In other words, in this embodiment, a virtual circle 24 (see Figure 3) that contacts the inner top of each guide roller 22 corresponds to the inner periphery 20a of the second movable frame 20 that rotatably supports the rotating wheel 30, and the rotating wheel 30 is rotatably supported around a third axis 25 which corresponds to the central axis of the inner periphery 20a, based on the inner periphery 20a which is curved with a predetermined curvature ρ.

[0022] Next, the foot support device 3, which is attached to the user's foot, will be described. The foot support device 3 comprises a footrest 35 on which the user's foot rests and a rotating wheel 30 that surrounds the user's foot. Figure 5 is a perspective view showing the footrest 35 and rotating wheel 30 of the foot support device 3 separately, and Figure 6 is a side view of the foot support device 3 together with the user's foot. The rotating wheel 30 is an annular member that is rotatably assembled inside the second movable frame 20. A groove 31 is formed on its outer circumference, which curves circumferentially with a curvature approximately the same as that of the inner circumference 20a of the second movable frame 20. The bottom 31a of the groove 31 and the guide roller 22 of the second movable frame 20 come into contact, thereby supporting the foot attachment 3 so that it can rotate inside the second movable frame 20 (see Figure 4). The inside of the rotating wheel 30 is designated as a space where the user's feet are placed, and a plate-shaped mounting piece 33 extends from the rotating wheel 30 for attaching the footrest 35.

[0023] As shown in Figure 5, the footrest 35 comprises a plate-shaped footrest portion 36 having a footrest surface 36a that contacts the sole of the user's foot, and a heel support portion 37 provided on one end of the footrest portion 36 in the longitudinal direction. Reference numeral 40 denotes a mounting hole provided in the footrest portion 36. In this embodiment, the footrest 35 is attached and fixed to the mounting piece 33 of the rotating wheel 30 with fasteners such as bolts, with the mounting hole 40 on the footrest 35 side and the guide hole 34 on the mounting piece 33 side aligned to be approximately concentric.

[0024] Furthermore, the footrest 36 and heel support 37 are provided with multiple sets of band-passing holes 38 along their longitudinal direction, allowing a flexible band 39 to be inserted. As shown in Figure 6, by wrapping the band 39 around the user's foot placed on the footrest 35, it is possible to prevent the user's foot from shifting from its predetermined position.

[0025] As shown in Figure 6, the footrest 35, which is fixed to the mounting piece 33 of the rotating wheel 30, is mounted such that the footrest surface 36a is inclined to approach the central axis P of the rotating wheel 30 as it moves from the heel side towards the toe side. In order to prevent interference between the user's foot and the foot support 3, and to allow the user to easily move their foot in any direction during rehabilitation, in this embodiment the inner diameter D1 of the rotating wheel 30 is set to 120 to 220 mm (preferably 140 to 200 mm), and the inclination angle θ of the footrest surface 36a with respect to the central axis P is set to 30 to 60 degrees (preferably 40 to 50 degrees).

[0026] With the lower limb support device 1 configured in this way, the user's lower limb is supported by the gimbal mechanism 5 while the ankle joint portion, where the three motion axes of the user's foot intersect, is in close proximity to the point O (see Figure 2) where the three rotation axes of the gimbal mechanism 5 intersect. Here, the plantarflexion and dorsiflexion movements shown in Figure 13 are supported by rotation around the second axis 18 of the second movable frame 20, the adduction and abduction movements are supported by rotation around the first axis 11 of the first movable frame 14, and the pronation and supination movements are supported by rotation of the foot attachment 3 along the inner periphery 20a of the second movable frame 20. As a whole, the three-dimensional movement of the foot (e.g., inversion and eversion) is supported, and consequently, a wide range of internal and external rotation movements of the knee and hip joints, which work in conjunction with the ankle joint, can also be ensured.

[0027] Next, the moving mechanism 7 will be described. As shown in Figure 2, the moving mechanism 7 has a guide rail 45, a movable body 47 that moves along the guide rail 45 (specifically the first guide rail 45A), and a holder part 49 that holds the gimbal mechanism 5, and supports the gimbal mechanism 5 so that it can move in a predetermined direction. The guide rails 45 are rod-shaped members that extend in a straight line. In this case, as shown in Figure 1, they include a first guide rail 45A extending in the X-axis direction (left-right direction in the figure), a second guide rail 45B extending in the Y-axis direction (front-back direction in the figure) intersecting the X-axis direction, and a third guide rail 45C extending in the Z-axis direction (up-down direction in the figure) intersecting the X-axis and Y-axis directions. These guide rails 45 are included to form a rectangular parallelepiped frame 50 that supports the gimbal mechanism 5.

[0028] As shown in Figure 1, the gimbal mechanism 5 is suspended from the first guide rail 45A via the movable body 47 and the holder 49, and is slidable in the X-axis direction. Both ends of the first guide rail 45A are supported by the second guide rail 45B via the engaging block 46A, and the gimbal mechanism 5 is slidable in the Y-axis direction together with the first guide rail 45A. As a result, the gimbal mechanism 5 is slidable within a horizontal plane defined by the X-axis and Y-axis directions. In other words, the lower limb support device 1 enables rehabilitation movements while moving the user's feet within a horizontal plane.

[0029] The ends of the second guide rail 45B are slidable vertically along the third guide rail 45C via engaging blocks 46B. In this embodiment, the second guide rail 45B (specifically the engaging blocks 46B provided at both ends thereof) is suspended and supported by a suspension device 51 (see Figure 7).

[0030] Figure 7 shows a schematic configuration of the suspension device. The suspension device 51 comprises a plurality (four in this case) of wires 52, one end of which is connected to the engagement block 46B; a manual winch 55 connected to the other end of these wires 52 via a connecting fitting 53; and a pulley 57 attached to the frame 50 for changing the direction of the wires 52. With the lower limb support device 1 configured in this way, the gimbal mechanism 5 can be slid vertically (in the Z-axis direction) together with the first guide rail 45A and the second guide rail 45B by rotating the handle 55a of the manual winch 55 attached to the column portion 56 of the frame 50 and adjusting the position of the hook (mounting part) 55b extended from the manual winch 55.

[0031] It is also possible to configure the system so that the weight of the suspended objects, including the user's feet, is supported by spring balancers or counterweights. In this way, the height of the user's feet during rehabilitation can be easily adjusted to the user's preference by, for example, lightly moving the first guide rail 45A up and down by hand.

[0032] The lower limb support device 1 configured in this way can be suitably used, for example, in facilitative repetitive therapy. Facilitative repetitive therapy is a rehabilitation method that reconstructs and strengthens related neural circuits by frequently repeating a target movement pattern, thereby promoting the recovery of paralyzed areas and the use of the lower limbs, including the feet, in daily life. In facilitative repetitive therapy, the therapist supports the paralyzed foot and simultaneously stimulates the related muscles, allowing the patient to easily achieve and repeat the intended foot movements. According to the lower limb support device 1 of this embodiment, the foot is not unnecessarily fixed, and there is no resistance that would hinder the three foot movements shown in Figure 13. Therefore, the user can easily perform the intended movements, and by concentrating and repeating these movements, facilitated repetitive therapy can be performed efficiently. The effectiveness of facilitated repetitive therapy has been demonstrated in randomized controlled trials and is normally performed in individual rehabilitation sessions by therapists, but with the lower limb support device 1 of this embodiment, it can be done through self-practice, and similar clinical effects can be expected at a low cost.

[0033] Figures 8 and 9 illustrate examples of how the lower limb support device 1 of this embodiment is used. Figure 8 shows a user lying on a bench, performing exercises that combine hip flexion / extension, abduction / adduction, internal / external rotation, knee flexion / extension, and ankle inversion / eversion while lying face up. Figure 9 shows a user lying on a bench, practicing walking while lying on their side. As shown in the examples in Figures 8 and 9, the user's lower limbs are supported with their weight relieved during rehabilitation, making it easy to move the lower limbs in a predetermined direction. Furthermore, to increase the range of motion of the joints, static stretching can be applied to the hip flexor / extensor muscles by holding the lower limb still near the end of the range of motion, or dynamic stretching can be performed on the hip flexor / extensor muscles by moving the lower limb with momentum to near the end of the range of motion.

[0034] As described above, with the lower limb support device 1 of this embodiment, the user's lower limb is supported at the foot in a state where the weight of the lower limb is relieved, and the user's foot is supported so as to be rotatable around the first axis 11 and second axis 18 of the gimbal mechanism 5, and also around the inner peripheral edge 20a of the second movable frame 20, in accordance with the three movements of the foot, so that the user can move their foot freely in three dimensions while the weight of the lower limb is relieved. In addition, the lower limb support device 1 is equipped with a movable mechanism 7 that movably supports the gimbal mechanism 5, so that a wide range of motion of the knee joint and hip joint which work in conjunction with the ankle joint can be secured. For this reason, the user can easily perform movements that intentionally move the lower limb in a predetermined direction during lower limb rehabilitation.

[0035] Furthermore, in the lower limb support device 1 of this embodiment, the foot attachment 3 is configured to include a footrest 35 on which the user's foot rests, and a rotating wheel 30 that surrounds the user's foot and engages with the inner peripheral edge 20a of the second movable frame 20. The footrest 35 is attached to the rotating wheel 30 in such a manner that the footrest surface 36a, which the user's sole contacts, is inclined to approach the central axis P of the rotating wheel 30 as it moves from the heel side to the toe side, allowing the user to move their foot freely in three dimensions while avoiding interference with the foot attachment 3. In this case, it is preferable that the inner diameter D1 of the rotating wheel 30 be 140 to 200 mm, and the inclination angle θ of the footrest surface 36a with respect to the central axis P be 40 to 50 degrees.

[0036] Furthermore, in the lower limb support device 1 of this embodiment, the moving mechanism 7 includes a first guide rail 45A that supports the gimbal mechanism 5 so that it can move in the X-axis direction, and a second guide rail 45B that supports it so that it can move in the Y-axis direction which intersects with the X-axis direction. The gimbal mechanism 5 is configured to move within a horizontal plane defined by the X-axis and Y-axis directions, enabling rehabilitation movements while moving the foot within the horizontal plane.

[0037] Here, the moving mechanism 7 is configured to include a suspension device 51 that suspends the second guide rail 45B so that it can be raised and lowered, and the height of the user's feet can be adjusted arbitrarily as needed while the weight of the user's feet is relieved.

[0038] Furthermore, in the lower limb support device 1 of this embodiment, the gimbal mechanism 5 is connected to the movement mechanism 7 above the second axis 18, and the user's feet are supported in a suspended state. This ensures a large space below the user's feet that does not obstruct the user's movements, thereby increasing the degree of freedom in rehabilitation movements.

[0039] Furthermore, in the lower limb support device 1 of this embodiment, a plurality of guide rollers 22 that support the outer edge of the foot attachment 3 and rotate in contact with the outer edge of the foot attachment 3 are arranged in the circumferential direction of the second movable frame 20. This reduces frictional resistance between the second movable frame 20 and the foot attachment 3, enabling smooth rotation of the foot attachment 3.

[0040] Furthermore, the annular second movable frame 20 shown in the above embodiment can also be composed of two halves that are connected in a way that allows for relative rotation, as shown in the example in Figure 10. In the second movable frame 20 shown in Figure 10, the first half 61A and the second half 61B are connected at one end of each half via a pin 62 so that they can rotate relative to each other. In this second movable frame 20, the foot attachment 3 can be attached and detached through an upward opening created by separating the other end of the unpinned half 61A from the other end of the opposing half 61B.

[0041] As shown in Figure 10(B), the other end of the first half 61A that is not pinned (right side in the figure) has a first engaging portion 64 with an engaging piece 63 protruding in the circumferential direction, and the other end of the opposing second half 61B has a second engaging portion 70 with a side cutout that can receive the engaging piece 63. A projection 70a is also formed on this second engaging portion 70, which protrudes radially outward. Reference numeral 72 in the figure indicates a fixing piece that securely fastens the other ends of the two halves together. The fixing piece 72 has an elongated opening 73 that can engage with the projection 70a of the half 61B, and a through hole 74 through which a mounting bolt (not shown) passes. As shown in Figure 10(A), by fastening the fixing piece 72 to the half 61A with the opening edge of the elongated opening 73 engaged with the projection 70a of the half 61B, the first engaging portion 64 and the second engaging portion 70 are engaged, and the two halves 61A and 61B are secured together, making the second movable frame 20 annular in shape.

[0042] Figure 11 shows a lower limb support device 1B according to a second embodiment of the present invention. In the lower limb support device 1B shown in the figure, the moving mechanism 7 is composed of a first guide rail 45A extending linearly in the X-axis direction, a movable body 47 that moves along the first guide rail 45A, and a holder part 49 that holds the gimbal mechanism 5. In this embodiment, the gimbal mechanism 5 is attached to the holder part 49 in such a manner that the first axis 11 is oriented sideways (in the Y-axis direction). In this embodiment, the first movable frame 14 of the gimbal mechanism 5 is rotatable around the axis of the first axis 11 extending in the Y-axis direction, and the second movable frame 20 is rotatable around the axis of the second axis 18 which is substantially perpendicular to the first axis 11.

[0043] In this embodiment, both ends of the first guide rail 45A are slidable vertically along the third guide rail 45C via engaging blocks 46B, and the first guide rail 45A (specifically the engaging blocks 46B provided at both ends thereof) is suspended and supported by a suspension device 51B. In this second embodiment, the same reference numerals are used for components that are the same as in the first embodiment, and their descriptions are omitted.

[0044] In this embodiment, the gimbal mechanism 5 is positioned horizontally, and when the rotating wheel 30 is projected and observed horizontally, it is positioned to overlap with the first axis 11. In this case, the vertical dimension of the gimbal mechanism 5 is reduced, so the foot attachment 3, which is worn on the user's foot, can be positioned near the floor.

[0045] As shown in Figure 12, the lower limb support device 1B of this embodiment is suitable for use when a user is standing (or sitting in a chair) while holding onto the support frame 50B and performing lower limb rehabilitation exercises. The user can stand or sit and practice lower limb movements necessary for walking, including kicking a ball and other sports. This device allows for plantarflexion, dorsiflexion, inversion, and eversion of the foot, as well as internal and external rotation of the hip and knee joints. Furthermore, if the first guide rail 45A is able to move freely up and down, repetitive practice can be performed in accordance with the required lower limb movement form.

[0046] Although embodiments of the present invention have been described in detail above, this is merely an example. For example, in the above embodiment, the inner periphery of the second movable frame is convex and the outer periphery of the foot attachment is concave, but in some cases, the inner periphery of the second movable frame is concave and the outer periphery of the foot attachment is convex, and the foot attachment is engaged with the second movable frame. Also, in the above embodiment, a guide roller is attached to the side of the second movable frame, but in some cases, a guide roller is attached to the side of the foot attachment and configured to rotate in contact with the inner periphery of the second movable frame. Furthermore, the guide roller used here is not limited to the configuration of the above embodiment, and a configuration that can reduce contact resistance during rotation (for example, a configuration in which a thin needle-shaped roller is interposed between the second movable frame and the attachment member) can be appropriately adopted. Furthermore, although an annular second movable frame was used in the above embodiment, it is also possible to use an arc-shaped second movable frame in which a part of the circumferential direction is cut out, depending on the circumstances.

[0047] Furthermore, the above embodiments were examples of cases where the first axis is positioned vertically above the user's foot and the user's foot is suspended and supported by the gimbal mechanism, and where the first axis is positioned horizontally and the user's foot is supported from the side by the gimbal mechanism. However, the present invention is not limited to these, and it is also possible to position the first axis below the user's foot to support the user's foot from below, or to configure the first axis to support the user's foot at an oblique angle. The present invention can be configured in various modified forms without departing from its spirit. [Explanation of Symbols]

[0048] 1.1B Lower Limb Support Device 3 Foot brace 5. Gimbal mechanism 7 Moving mechanism section 11 1st axis 14. First movable frame 18 Second axis 20. Second movable frame 20a Inner periphery 22 Guide rollers 25 3rd axis 30 Rotating Wheels 35 Footrest 36a Foot rest surface 51,51B Suspension system θ Tilt angle D1 Inner diameter P center axis

Claims

1. It comprises a foot attachment worn on the user's foot, a gimbal mechanism that supports the user's lower limbs via the foot attachment, and a movable mechanism that movably supports the gimbal mechanism, The gimbal mechanism comprises a first movable frame rotatably supported around a first axis, and a second movable frame disposed inside the first movable frame and rotatably supported around a second axis substantially perpendicular to the first axis. A lower limb support device in which the foot attachment is configured to be rotatable along the inner periphery of the second movable frame, which is curved in an arc or ring shape.

2. The foot rest comprises a footrest on which the user's foot rests, and a rotating wheel that surrounds the user's foot and engages with the inner edge of the second movable frame. The lower limb support device according to claim 1, wherein the footrest is attached to the rotating wheel in such a manner that the footrest surface, which contacts the sole of the user's foot, is inclined to approach the central axis of the rotating wheel as it moves from the heel side towards the toe side.

3. The lower limb support device according to claim 2, wherein the foot attachment is configured such that the inner diameter of the rotating wheel is 140 to 200 mm and the inclination angle of the footrest surface with respect to the central axis is 40 to 50 degrees.

4. The moving mechanism includes a first guide rail that supports the gimbal mechanism so that it can move in the X-axis direction, and a second guide rail that supports the first guide rail so that it can move in the Y-axis direction intersecting the X-axis direction. The lower limb support device according to claim 1, wherein the gimbal mechanism is configured to be movable within a horizontal plane defined by the X-axis and Y-axis directions.

5. The lower limb support device according to claim 4, wherein the moving mechanism further comprises a suspension device that suspends the second guide rail so that it can be raised and lowered.

6. The lower limb support device according to claim 1, wherein the gimbal mechanism is connected to the moving mechanism above the second axis and is configured to support the user's feet in a suspended state.

7. The lower limb support device according to claim 1, wherein the second movable frame is provided with a plurality of guide rollers arranged circumferentially to support the outer peripheral edge of the foot attachment and to rotate in contact with the outer peripheral edge.

Images