Action support device

Abstract

To provide an action support device which can inhibit tangling of a string-like member while inhibiting complication of its structure.SOLUTION: An action support device 10 includes: an actuator 20a which generates force for supporting an action of a wearer P1; an action member 18a which is attached to a body of the wearer P1 and on which the force generated by the actuator 20a acts; and a string-like member 88 which connects the actuator 20a with the action member 18a. The actuator 20a has a drum 80 around which the string-like member 88 is wound. The diameter of a winding surface of the drum 80 is gradually reduced in a rotation axis C direction of the drum 80.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present disclosure relates to a motion assistance device. [Background technology]

[0002] Conventionally, Patent Document 1 discloses a winding device that includes a drum on which a wire is wound, a cylindrical body arranged so that the wire passes through the inside of the drum before being wound around the drum, and a swivel support means that swivelably supports one end of the cylindrical body so that the other end of the cylindrical body movably abuts on the drum. In the winding device of Patent Document 1, the wire can be wound by rotating the drum. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2002-179337 A Summary of the Invention [Problem to be solved by the invention]

[0004] When the winding device of Patent Document 1 is used in a motion assistance device that winds up a string-like member such as a wire to assist the wearer in moving, there is a problem that the structure of the motion assistance device becomes complicated.

[0005] Therefore, the present disclosure provides a motion assistance device that can prevent the string-like member from becoming tangled and wear out while preventing the structure from becoming complicated. [Means for solving the problem]

[0006] A motion support device according to one aspect of the present disclosure comprises an acting member attached to the wearer's body, an actuator that generates a force acting on the acting member, and a string-like member that connects the acting member and the actuator, the actuator having a drum that winds up the string-like member, and the winding surface of the drum gradually reduces in diameter in the direction of the drum's rotational axis. Effect of the Invention

[0007] The motion support device disclosed herein can prevent the string-like member from becoming tangled and worn out while preventing the structure from becoming complicated. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a front view of a motion support device according to an embodiment. [Diagram 2] FIG. 2 is a rear view of the motion support device of FIG. [Diagram 3] FIG. 3 is a diagram showing an intention estimating sensor and an action member of the action support device of FIG. [Figure 4] FIG. 4 is a diagram showing a mounting member, a bag member, and a tubular member of the intention estimating sensor of the action support device of FIG. [Diagram 5] FIG. 5 is a front view of the action member of the motion support device of FIG. [Figure 6] FIG. 6 is a rear view of the action member of the motion support device of FIG. [Figure 7] FIG. 7 is a diagram showing an actuator of the movement support device of FIG. [Figure 8] FIG. 8 is a cross-sectional view parallel to the rotation axis showing the actuator of the motion support device of FIG. [Figure 9] FIG. 9 is a cross-sectional view perpendicular to the rotation axis, showing the actuator of the motion support device of FIG. [Figure 10] FIG. 10 is a diagram showing a protective member of the movement support device of FIG. [Figure 11] FIG. 11 is a block diagram showing a functional configuration of the movement support device of FIG. [Figure 12] FIG. 12 is a diagram showing a state in which the movement support device of FIG. 1 supports the movement of the wearer. [Figure 13] FIG. 13 is a diagram showing another example of the action member. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] In order to solve the above problems, a motion assistance device according to one aspect of the present disclosure comprises an actuator that generates a force to assist the motion of a wearer, an acting member that is worn on the body of the wearer and on which the force generated by the actuator acts, and a string-like member that connects the actuator and the acting member, wherein the actuator has a drum that winds up the string-like member, and the winding surface of the drum gradually reduces in diameter in the direction of the rotational axis of the drum.

[0010] According to this, the winding surface of the drum gradually reduces in diameter in the direction of the rotation axis of the drum, so that when the string-like member is wound by the drum, the string-like member slides on the winding surface and is wound up successively on the winding surface with a smaller diameter, which makes it possible to suppress tangling of the string-like member and wear of the string-like member. Specifically, by the string-like member sliding on the winding surface and being wound up successively on the winding surface with a smaller diameter, the string-like member is easily aligned in the direction of the rotation axis, and the string-like member is prevented from folding over and rubbing against each other in the radial direction around the rotation axis, which makes it possible to suppress tangling of the string-like member and wear of the string-like member. In this way, it is possible to suppress tangling of the string-like member and wear of the string-like member while preventing the structure from becoming complicated.

[0011] The actuator may further have a housing that accommodates the drum, and the dimension of the gap between the winding surface and the housing in a radial direction centered on the rotation axis may be smaller than twice the diameter of the string-shaped member.

[0012] This prevents the string-like member from overlapping and being wound up in the radial direction around the rotation axis, thereby preventing the structure from becoming complicated and further preventing the string-like member from becoming tangled.

[0013] The device may further include a tubular member through which the string-like member is inserted and which supports the string-like member in a slidable state, and the end of the tubular member on the actuator side may open in a tangential direction of the winding surface.

[0014] According to this, the end of the tubular member on the actuator side is open in the tangent direction of the winding surface, thereby preventing the string-like member from bending and further preventing the string-like member from becoming tangled while preventing the structure from becoming complicated.

[0015] The end portion may be opposed to a maximum diameter portion of the winding surface in a radial direction centered on the rotation axis.

[0016] This makes it easy to wind the string-like member sequentially from the smallest diameter portion to the largest diameter portion on the winding surface, thereby preventing the structure from becoming complicated and further preventing the string-like member from becoming tangled.

[0017] The device may further include an intention estimation sensor that is worn on the wearer's body and that estimates the wearer's intention when handling an object, a control unit that controls the actuator based on the detection result of the intention estimation sensor, an electric wire member that electrically connects the intention estimation sensor and the control unit, and a protective member that protects a portion of the string-like member between the tubular member and the acting member, wherein the protective member has an inner member that covers the portion, and an outer member that covers the inner member and the electric wire member that is wrapped around the portion via the inner member.

[0018] According to this, since the inner member covers the portion of the string-shaped member between the tubular member and the action member, it is possible to prevent the electric wire member electrically connecting the intention estimation sensor and the control unit from coming into contact with the string-shaped member and damaging the string-shaped member. Also, since the outer member covers the inner member and the electric wire member, it is possible to prevent the inner member and the electric wire member from being damaged.

[0019] In addition, when the intention estimation sensor estimates that there is no intention to perform the action, the control unit may control the actuator to apply a predetermined tension to the string-like member.

[0020] According to this, when the wearer has no intention of performing an action when handling an object, i.e., when the wearer has no intention of handling luggage, a predetermined tension is applied to the string-like member, preventing the string-like member from slackening, thereby preventing the structure from becoming complicated and further preventing the string-like member from becoming tangled.

[0021] In addition, the actuator may have a motor that provides power to the drum, and the motor rotates together with the drum to generate electricity as the drum rotates in the direction in which the string-like member is unwound, and the control unit may control the motor based on the power generated by the motor to brake the rotation of the drum when the drum rotates in the direction in which the string-like member is unwound.

[0022] According to this, when the wearer pulls the string-like member to unleash it, the speed at which the string-like member is unleashed can be prevented from increasing, thereby improving safety. Also, when the drum rotates in the direction in which the string-like member is unleashed, the control unit controls the motor based on the power generated by the motor rotating to brake the rotation of the drum. Therefore, for example, even if the battery supplying power to the motor is broken or the battery is depleted, the motor can be driven based on the power generated by the motor to prevent the speed at which the string-like member is unleashed from increasing, thereby improving safety.

[0023] Hereinafter, a motion assistance device according to one aspect of the present disclosure will be specifically described with reference to the drawings.

[0024] Note that the embodiments described below each show a specific example of the present disclosure. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Furthermore, among the components in the following embodiments, components that are not described in an independent claim showing a top concept are described as optional components.

[0025] (Embodiment) A motion support device according to an embodiment will be described with reference to Figs.

[0026] [composition] In this embodiment, in a state where the motion support device 10 is worn by the wearer P1, the left-right direction of the body of the wearer P1 is the X-axis direction, the front-rear direction of the body of the wearer P1 is the Y-axis direction, and the up-down direction of the body of the wearer P1 is the Z-axis direction. In addition, the left side of the body of the wearer P1 is the positive side of the X-axis direction, and the right side of the body of the wearer P1 is the negative side of the X-axis direction. In addition, the front side of the body of the wearer P1 is the positive side of the Y-axis direction, and the rear side of the body of the wearer P1 is the negative side of the Y-axis direction. In addition, the upper side of the body of the wearer P1 is the positive side of the Z-axis direction, and the lower side of the body of the wearer P1 is the negative side of the Z-axis direction. In each figure, the directions indicated by the arrows indicating the X-axis direction, Y-axis direction, and Z-axis direction are the positive side in each direction, and the direction opposite to the arrow is the negative side in each direction. The above is the same in the following embodiments.

[0027] Fig. 1 is a front view of a motion support device 10 according to an embodiment of the present invention, and Fig. 2 is a rear view of the motion support device 10 in Fig. 1.

[0028] As shown in Figures 1 and 2, the action support device 10 includes a body member 12, two harnesses 14a, 14b, two intention estimation sensors 16a, 16b, two status sensors 17a, 17b, two acting members 18a, 18b, two actuators 20a, 20b, two connecting members 22a, 22b, two tubular members 24a, 24b, two protective members 26a, 26b, a control unit 28 (see Figure 11), and two electric wire members 29a, 29b.

[0029] The trunk member 12 is a member that is attached to the trunk of the wearer P1. The trunk member 12 has a back section 30 that is attached to the rear of the trunk of the wearer P1, that is, the back of the wearer P1, and a waist section 32 that is attached to the waist of the wearer P1. The back section 30 is disposed along the spine of the wearer P1 and is a member that is long in the Z-axis direction. Two actuators 20a, 20b are provided on the upper part of the back section 30. The waist section 32 is long in the X-axis direction and has a curved shape that covers the sides and rear of the waist of the wearer P1, that is, the left side, right side, and rear side of the wearer P1. The waist section 32 is connected to the lower end of the back section 30 and is integral with the back section 30. That is, the back section 30 and the waist section 32 have an inverted T shape when viewed from behind. The trunk member 12 is not limited to an inverted T shape, but may be an I shape or another shape.

[0030] The body member 12 is a member having rigidity, and is made of, for example, a lightweight metal such as aluminum, or a synthetic material such as hardened resin or carbon fiber. A shock-absorbing material such as a cushion may be disposed on the surface of the body member 12 facing the wearer P1.

[0031] The two harnesses 14a, 14b are connected to the trunk member 12 in order to place the trunk member 12 on the back of the wearer P1. The two harnesses 14a, 14b are members that are hung on the shoulders of the wearer P1 to maintain the state in which the wearer P1 carries the trunk member 12 on his / her back (the state in which the trunk member 12 is placed on the back of the wearer P1). That is, the two harnesses 14a, 14b are an example of a shoulder brace that is worn on the shoulders of the wearer P1. The two harnesses 14a, 14b are a pair of members that are provided at positions corresponding to both shoulders of the wearer P1. For example, the two harnesses 14a, 14b are made of resin such as nylon or silicone, metal, leather (including artificial leather), or the like. The shoulder brace is not limited to a harness, and may be any member that is placed on the shoulders of the wearer P1.

[0032] Fig. 3 is a diagram showing the intention estimating sensor 16a and the acting member 18a of the action support device 10 in Fig. 1. Fig. 4 is a diagram showing the mounting member 34, the bag member 36, and the tubular member 38 of the intention estimating sensor 16a of the action support device 10 in Fig. 1. Fig. 4(a) shows cross sections of the mounting member 34, the bag member 36, and the tubular member 38, and Fig. 4(b) shows the bag member 36 as viewed from the palm side of the fingers of the wearer P1.

[0033] As shown in FIG. 1 to FIG. 4, each of the two intention estimation sensors 16a and 16b has a mounting member 34 mounted on the body of the wearer P1, and is a sensor used to estimate the motion intention of the wearer P1 when the wearer P1 handles an object. The mounting member 34 of the intention estimation sensor 16a is mounted on the left half of the body of the wearer P1, and the mounting member 34 of the intention estimation sensor 16b is mounted on the right half of the body of the wearer P1. In this embodiment, the mounting member 34 of the intention estimation sensor 16a is mounted on the thumb of the left hand of the wearer P1, and the mounting member 34 of the intention estimation sensor 16b is mounted on the thumb of the right hand of the wearer P1. The mounting member 34 may be mounted on a finger other than the thumb. In addition, the mounting member 34 may be configured to be mountable on the palm or leg, or may be mounted on the palm or leg. Each of the two intention estimation sensors 16a and 16b detects the pressure between the hand of the wearer P1 and an object. By detecting the pressure between the hand and the object, it is possible to estimate the motion intention of the wearer P1, for example, whether or not the wearer P1 is trying to lift an object with his or her hand.

[0034] The intention estimating sensor 16 a has a mounting member 34 , a bag member 36 , a tubular member 38 , and a pressure sensor 40 .

[0035] The wearing member 34 is a member that is worn on the body of the wearer P1. The coefficient of friction between the back surface 42 of the wearing member 34, which is the surface that contacts the wearer P1 when the wearing member 34 is worn by the wearer P1, and the wearer P1 is greater than the coefficient of friction between the front surface 44, which is the surface opposite to the back surface 42, and an attachment that is worn by the wearer P1 from above the wearing member 34 and comes into contact with the front surface 44. For example, the attachment is a glove or a garment that is worn by the wearer P1 from above the wearing member 34 worn by the wearer P1. For example, when the wearing member 34 is worn on the finger of the wearer P1 and gloves are further worn on top of the wearing member 34, the back surface 42 is made of rubber or the like that has a high coefficient of friction with the finger of the wearer P1, and the front surface 44 is made of a cloth material or the like that has a relatively low coefficient of friction with the glove. The wearing member 34 is in the shape of a finger cot, in other words, in the shape of a sheath, and is worn on the finger by inserting the finger into the inside of the wearing member 34. The mounting member 34 does not have to be in the shape of a finger cot, and may be in the shape of a tube or a belt that is wrapped around the wearer P1 and worn by the wearer P1, etc. The mounting member 34 has flexibility.

[0036] The bag member 36 is attached to the wearing member 34. In this embodiment, the bag member 36 is attached to the back surface 42 of the wearing member 34. The bag member 36 may be attached to the front surface 44 of the wearing member 34. The internal space 46 of the bag member 36 is filled with a fluid. In this embodiment, the internal space 46 of the bag member 36 is filled with a gas, for example, air. The internal space 46 of the bag member 36 may be filled with a liquid, such as machine oil, instead of a gas. The bag member 36 has an elliptical shape, and the longitudinal direction of the elliptical shape extends along the longitudinal direction of the finger of the wearer P1 when the wearing member 34 is worn on the finger of the wearer P1 (see arrow H in FIG. 4). Specifically, when viewed from the palm side of the finger, the bag member 36 has an elliptical shape, and the longitudinal direction of the elliptical shape extends along the longitudinal direction of the finger. In other words, the longitudinal direction of the bag member 36 is parallel to the longitudinal direction of the finger of the wearer P1. The bag member 36 does not have to be elliptical, and may be circular or the like. The wearing member 34 is worn so that the bag member 36 is located on the palm side, i.e., the ventral side, of the finger. The wearing member 34 may be worn so that the bag member 36 is located on the side of the finger. Furthermore, when the wearing member 34 is worn on the index finger of the wearer P1, the bag member 36 may be provided so as to straddle from the first joint to the second joint of the index finger.

[0037] The tubular member 38 connects the bag member 36 and the pressure sensor 40 in a state where the internal space 46 of the bag member 36 is sealed. Specifically, the tubular member 38 connects the bag member 36 and the pressure sensor 40 so that the internal space 46 of the bag member 36 and the space for detecting pressure of the pressure sensor 40 communicate with each other in a sealed state. The tubular member 38 has a spiral or wavy (zigzag) stretchable portion 48, and is stretchable and bendable at the stretchable portion 48. In other words, the tubular member 38 is in the form of a flexible curled cord, for example.

[0038] The pressure sensor 40 is a pressure sensor that detects the pressure of the fluid filled in the internal space 46 of the bag member 36. Specifically, the pressure sensor 40 is an air pressure sensor that detects the air pressure in the internal space 46. The pressure sensor 40 is housed in a controller 49a that is detachably attached to the main body 54 of the action member 18a. The pressure sensor 40 does not have to be housed in the controller 49a, and may be housed in a member that is separately attached to the body of the wearer P1. In addition, when the internal space 46 is filled with liquid, the pressure sensor 40 may be a sensor that detects the pressure of the liquid. For example, the pressure sensor 40 may be a piezoresistance type air pressure sensor, or may be another type of air pressure sensor.

[0039] The status sensor 17a is a sensor that detects the physical status of the wearer P1, which is at least one of the posture and the movement of the hand. For example, the status sensor 17a is configured to include an IMU (Inertial Measurement Unit) including an acceleration sensor and a gyro sensor. The status sensor 17a may be configured to include only one of the acceleration sensor and the gyro sensor. The status sensor 17a is housed in the controller 49a. The status sensor 17a may not be housed in the controller 49a, and may be housed in a member that is separately attached to the body of the wearer P1. The status sensor 17a may not be a sensor that detects the physical status of the wearer P1, and may be, for example, an image sensor such as a camera that detects the size of the baggage held by the wearer P1.

[0040] As described above, the pressure sensor 40 is connected in a sealed state to the internal space 46 of the bag member 36 in order to detect the air pressure in the bag member 36. Therefore, the pressure sensor 40 can detect that the internal space 46 of the bag member 36 has been crushed and deformed to become smaller by detecting an increase in air pressure in the internal space 46. For example, the pressure sensor 40 detects that the bag member 36 has been pinched between the hand of the wearer P1 and an object and deformed by detecting the pressure in the internal space 46.

[0041] In addition, since the pressure sensor 40 is connected to the bag member 36 via the tubular member 38, the pressure sensor 40 can be disposed at a position away from the part that is pinched between the hand of the wearer P1 and an object. This reduces the risk of the pressure sensor 40 coming into contact with an object and being damaged. In addition, since the pressure sensor 40, which is powered and operates, can be disposed at a position away from the part that is pinched between the hand of the wearer P1 and an object, electrical safety can be improved.

[0042] The controller 49a has a button 50 and a light-emitting unit 52. The button 50 accepts an operation by the wearer P1 to change the mode of the action support device 10. When the button 50 is pressed once, the light-emitting unit 52 emits blue light, and the mode is set to a mode in which a force corresponding to the magnitude of the pressure detected by the pressure sensor 40 is applied to the acting member 18a. For example, in this mode, the greater the pressure detected by the pressure sensor 40, the greater the force acting on the acting member 18a.

[0043] When the button 50 is pressed once more, the light emitting section 52 emits green light, and the mode is entered in which the force acting on the acting member 18a can be turned on and off regardless of the pressure detected by the pressure sensor 40. For example, in this mode, when the bag member 36 is touched once, the force generated by the actuator acts on the acting member 18a at all times, and when the bag member 36 is touched once more, the force generated by the actuator does not act on the acting member 18a.

[0044] Further, when the button 50 is pressed once, the light emitting unit 52 emits purple light, and the mode is set to a mode in which a force is applied to the acting member 18a based on the detection result of a sensor (not shown) that detects the posture of the waist of the wearer P1. For example, in this mode, when the sensor detects that the wearer P1 is standing up from a leaning forward posture, a force is applied to the acting member 18a.

[0045] The intention estimation sensor 16b has a symmetrical configuration with the intention estimation sensor 16a, and therefore the detailed description of the intention estimation sensor 16b will be omitted by referring to the description of the intention estimation sensor 16a described above. Also, the status sensor 17b has a symmetrical configuration with the status sensor 17a, and the controller 49b has a symmetrical configuration with the controller 49a, and therefore the detailed description of the status sensor 17b and the controller 49b will be omitted by referring to the description of the status sensor 17a and the controller 49a described above.

[0046] FIG. 5 is a view of the acting member 18a of the motion support device 10 of FIG. 1 as seen from the front side. FIG. 6 is a view of the acting member 18a of the motion support device 10 of FIG. 1 as seen from the back side. As shown in FIG. 1 to FIG. 3, FIG. 5, and FIG. 6, each of the two acting members 18a, 18b is attached to the body of the wearer P1. The acting member 18a is attached to the left half of the body of the wearer P1, and the acting member 18b is attached to the right half of the body of the wearer P1. Specifically, the acting member 18a is attached to the left wrist of the wearer P1, and the acting member 18b is attached to the right wrist of the wearer P1.

[0047] The action member 18 a has a main body portion 54 , a folding tool 56 , a fixing tool 58 , and an attachment holder 60 .

[0048] The main body 54 is attached to the body of the wearer P1. In this embodiment, the main body 54 is attached to the left wrist of the wearer P1, and is attached to a part of the wearer P1 other than the hand. The main body 54 may be attached to a part other than the wrist, or may be attached to a part of the hand or the forearm other than the wrist. A force generated by the actuator 20a acts on the main body 54 via a fixing device 58 or the like. The main body 54 is separate from the two intention estimation sensors 16a and 16b. Specifically, the main body 54 is separate from the mounting members 34 of the two intention estimation sensors 16a and 16b, and is attached to a part different from the mounting members 34 of the two intention estimation sensors 16a and 16b. The main body 54 has a base 62, a belt-shaped part 64, and a hook-and-loop fastener 66.

[0049] The belt-like portion 64 is belt-like, connected to one end of the base portion 62, and formed integrally with the base portion 62. The fold-back tool 56 is provided at the other end of the base portion 62. The hook-and-loop fastener 66 has a loop portion 68 and a hook portion 70 provided on the belt-like portion 64. The belt-like portion 64 is wrapped around the wrist, the belt-like portion 64 wrapped around the wrist is folded back with the fold-back tool 56, and the loop portion 68 and the hook portion 70 are attached together, whereby the main body portion 54 is worn on the wrist of the wearer P1. In this way, the action member 18a is belt-like and worn by wrapping it around the wearer P1.

[0050] The acting member 18a is configured to be cylindrical and gradually shrink toward the hand of the wearer P1 when worn on the wrist of the wearer P1. In other words, when the acting member 18a is worn on the wrist of the wearer P1, the acting member 18a is cylindrical, and the diameter of the acting member 18a gradually decreases toward the hand of the wearer P1. The angle θ between the direction A in which the fold-back tool 56 protrudes from the base 62 and the direction B in which the band-shaped part 64 protrudes from the base 62 is smaller than 180 degrees. As a result, the acting member 18a is cylindrical and gradually shrinks toward the hand of the wearer P1 when worn on the wrist of the wearer P1.

[0051] The base 62 has a laminated portion 72 and a non-laminated portion 74. The laminated portion 72 is a laminated portion and has a higher rigidity than the non-laminated portion 74. The laminated portion 72 is provided between the folding tool 56 and the band-shaped portion 64, between the folding tool 56 and the fixing tool 58, and between the band-shaped portion 64 and the fixing tool 58, and is provided in a substantially triangular shape. The non-laminated portion 74 is a portion that is not laminated. The non-laminated portion 74 is surrounded by the laminated portion 72, and is located closer to the hand of the wearer P1 than the fixing tool 58 when the main body portion 54 is worn on the wrist. In this way, by providing the laminated portion 72 and the non-laminated portion 74, the base 62 becomes easier to expand and contract when the wearer P1 twists his or her wrist, and it is possible to suppress the interference with the movement of the wearer P1. Furthermore, when a force is applied to the main body portion by the actuator 20a, the base portion 62 can be prevented from expanding and contracting, and the force can be easily applied to the main body portion .

[0052] The fixing device 58 is a member for fixing the connecting member 22a to the acting member 18a. The fixing device 58 is attached to the base 62 so as to be located on the opposite side of the base 62 from the hand of the wearer P1 when the main body 54 is worn on the wrist.

[0053] The mounting holder 60 is a member for detachably mounting the controller 49a, and is provided on a base 62.

[0054] For example, the action member 18a is made of a resin such as nylon or silicone, a metal, leather (including artificial leather), or the like.

[0055] The acting member 18b has a configuration symmetrical to the acting member 18a, and therefore, the detailed description of the acting member 18b will be omitted by referring to the above description of the acting member 18a.

[0056] FIG. 7 is a diagram showing the actuator 20a of the motion support device 10 of FIG. 1. FIG. 8 is a cross-sectional view parallel to the rotation axis C showing the actuator 20a of the motion support device 10 of FIG. 1. FIG. 9 is a cross-sectional view perpendicular to the rotation axis C showing the actuator 20a of the motion support device 10 of FIG. 1. As shown in FIG. 1 and FIG. 7 to FIG. 9, each of the two actuators 20a, 20b generates a force to support the motion of the wearer P1. The actuator 20a generates a force acting on the action member 18a, and the actuator 20b generates a force acting on the action member 18b. Specifically, the actuator 20a generates a force acting on the action member 18a by winding up the string-like member 88 of the connecting member 22a, and the actuator 20b generates a force acting on the action member 18b by winding up the string-like member 88 of the connecting member 22b.

[0057] The actuator 20 a includes a housing 78 , a drum 80 , a planetary gear unit 82 , and a motor 84 .

[0058] The housing 78 constitutes a part of the body member 12, and houses the portion of the string-like member 88 that is wound around the drum 80, the drum 80, etc.

[0059] The drum 80 is a pulley that rotates upon receiving power from a motor 84 as a driving part of the actuator 20a to wind up the string-like member 88. Specifically, the other end of the string-like member 88 is fixed to the drum 80, and the drum 80 winds up the string-like member 88 by driving the drum 80, thereby adjusting the length of the string-like member 88 between the tubular member 24a and the acting member 18a. The drum 80 is substantially conical, and the diameter of the winding surface 86 of the drum 80 gradually decreases in the direction of the rotation axis C. In other words, the diameter of the winding surface 86 gradually decreases in the direction of the rotation axis C.

[0060] The dimension D of the gap between the winding surface 86 and the housing 78 in the radial direction centered on the rotation axis C is smaller than twice the diameter of the string-like member 88. Specifically, the dimension D of the gap between the minimum diameter portion of the winding surface 86 and the housing 78 in the radial direction is smaller than twice the diameter of the string-like member 88, and the dimension D of the gap between the maximum diameter portion of the winding surface 86 and the housing 78 in the radial direction is also smaller than twice the diameter of the string-like member 88, and the dimension D is smaller than twice the diameter of the string-like member 88 from the minimum diameter portion to the maximum diameter portion of the winding surface 86.

[0061] The planetary gear portion 82 transmits the rotation of the motor 84 to the drum 80. Also, a spur gear, a harmonic gear, or the like may be used in place of this planetary gear portion 82. Alternatively, this planetary gear portion 82 may be omitted, and the power of the motor 84 need not be reduced.

[0062] The motor 84 applies power to the drum 80 to rotate the drum 80 in order to wind up the string-like material 88. The motor 84 also brakes the rotation of the drum 80 when the string-like material 88 is unwound. The body member 12 houses a battery (not shown) that supplies power to the motor 84. The motor 84 rotates together with the drum 80 as the drum 80 rotates in the direction in which the string-like material 88 is unwound, generating electricity.

[0063] With the above-described configuration, the actuator 20a can wind and unwind the string-like member 88.

[0064] Although the driving part of the actuator 20a is the motor 84 in the above description, it is not limited to the motor 84 and may be an artificial muscle, a hydraulic actuator, a gas actuator, or the like.

[0065] Since the actuator 20b has a configuration symmetrical to that of the actuator 20a, the detailed description of the actuator 20b will be omitted by referring to the above description of the actuator 20a.

[0066] As shown in FIGS. 1 and 2, the connecting member 22a connects the actuator 20a and the acting member 18a, and the connecting member 22b connects the actuator 20b and the acting member 18b.

[0067] The connecting member 22 a includes a string-like member 88 and a fastener 90 .

[0068] The string-like member 88 is a string-like member that connects the actuator 20a and the acting member 18a. One end of the string-like member 88 is fixed to the acting member 18a via a fixing device 90, and the other end of the string-like member 88 is fixed to the drum 80. For example, the string-like member 88 is a resin wire. Note that the string-like member 88 may also be a metal wire.

[0069] The fastener 90 is removably engaged with the fastener 58. By engaging the fastener 90 with the fastener 58, the connecting member 22a connects the actuator 20a and the action member 18a.

[0070] Since the connecting member 22b has a configuration symmetrical to the connecting member 22a, the detailed description of the connecting member 22b will be omitted and the above description of the connecting member 22a will be referred to.

[0071] The tubular member 24a supports the string-like member 88 in a slidable state through which the string-like member 88 of the connecting member 22a is inserted. The tubular member 24a is a hollow pipe (tube) and has flexibility. The tubular member 24a is fixed to the harness 14a and the housing 78, and is provided so as to be curved above the left shoulder of the wearer P1. As shown in FIG. 9, an end 92 of the tubular member 24a on the actuator 20a side opens in the tangent E direction of the winding surface 86. That is, the end 92 opens when viewed from the tangent E direction. The tangent E extends in a direction parallel to a cross section perpendicular to the rotation axis C. The tubular member 24a extends from the end 92 in the tangent E direction. The end 92 faces the maximum diameter part of the winding surface 86 in the radial direction centered on the rotation axis C. For example, the tubular member 24a is made of a material such as olefin, soft polyvinyl chloride, or silicone rubber.

[0072] The tubular member 24b has a configuration symmetrical to the tubular member 24a, and therefore, the detailed description of the tubular member 24b will be omitted by referring to the above description of the tubular member 24a.

[0073] FIG. 10 is a diagram showing the protective member 26a of the motion support device 10 of FIG. 1. In FIG. 10, the outer member 96 is indicated by a two-dot chain line. As shown in FIG. 1 and FIG. 10, the protective member 26a protects a portion of the string-like member 88 of the connecting member 22a between the tubular member 24a and the acting member 18a, and the protective member 26b protects a portion of the string-like member 88 of the connecting member 22b between the tubular member 24b and the acting member 18b. In other words, the protective member 26a protects a portion of the string-like member 88 of the connecting member 22a that is closer to the acting member 18a than the tubular member 24a, and the protective member 26b protects a portion of the string-like member 88 of the connecting member 22b that is closer to the acting member 18b than the tubular member 24b.

[0074] The protective member 26 a has an inner member 94 and an outer member 96 .

[0075] The inner member 94 covers a portion of the string-like member 88 of the connecting member 22a between the tubular member 24a and the action member 18a. The outer member 96 covers the inner member 94 and the electric wire member 29a wound around the portion via the inner member 94. The electric wire member 29a electrically connects the intention estimation sensor 16a and the control unit 28, and is composed of, for example, a core wire and a covering member that covers the core wire. The electric wire member 29a is wound in a spiral shape around the string-like member 88 via the inner member 94, and is in the form of a curled cord. The inner member 94, the outer member 96, and the electric wire member 29a expand and contract as the length of the portion of the string-like member 88 between the tubular member 24a and the action member 18a changes.

[0076] The control unit 28 is built into the body member 12, and controls the actuator 20a based on the sensing result of the intention estimation sensor 16a, and controls the actuator 20b based on the sensing result of the intention estimation sensor 16b. The control unit 28 will be described in detail later.

[0077] FIG. 11 is a block diagram showing a functional configuration of the movement support device 10 of FIG.

[0078] As shown in FIG. 11, the control unit 28 is electrically connected to the two intention estimation sensors 16a and 16b, the two state sensors 17a and 17b, and the two actuators 20a and 20b. The control unit 28 estimates the intention of the wearer P1 according to the detection results of the two intention estimation sensors 16a and 16b. For example, the intention of the wearer P1 is to lift a load. The control unit 28 calculates inputs to the two actuators 20a and 20b according to the estimated intention of the wearer P1, and controls the two actuators 20a and 20b with the calculated inputs. Here, the inputs to the two actuators 20a and 20b are, for example, current values ​​for driving the two actuators 20a and 20b. The control unit 28 changes the magnitude of the force generated by the two actuators 20a and 20b by controlling the two actuators 20a and 20b with the calculated inputs.

[0079] Specifically, the control unit 28 controls the actuator 20a in response to the pressure in the internal space 46 detected by the intention estimation sensor 16a. The control unit 28 may change the magnitude of the force generated by the actuator 20a in response to the pressure detected by the intention estimation sensor 16a. In other words, the control unit 28 may control the actuator 20a so that the torque generated by the actuator 20a increases as the pressure detected by the intention estimation sensor 16a increases. As a result, a greater tension is applied to the string-like member 88 by the actuator 20a.

[0080] When the intention estimation sensor 16a detects that the pressure has exceeded a predetermined threshold value, or when an increase in pressure is detected, the control unit 28 drives the actuator 20a in a rotation direction in which the length of the string-like member 88 from the tubular member 24a to the action member 18a is shortened. As a result, the actuator 20a applies tension to the string-like member 88, and assists the wearer P1 in lifting up the baggage. In addition, when the intention estimation sensor 16a detects that the pressure has decreased below a predetermined threshold value, or when a decrease in pressure is detected, the control unit 28 does not need to drive the actuator 20a. As a result, tension is not applied to the string-like member 88 by the actuator 20a, so that the wearer P1 can easily stretch his / her arm and let out the string-like member 88 from the actuator 20a.

[0081] The control unit 28 estimates the state of the wearer P1 according to the detection results of the two state sensors 17a and 17b. For example, the state of the wearer P1 is the posture of both arms of the wearer P1. The control unit 28 may adjust the output of the actuators 20a and 20b according to the detection results of the state sensors 17a and 17b. For example, when the state sensors 17a and 17b detect that the upper arms of the operator P1 are "facing up," the control unit 28 may reduce the output of the actuators 20a and 20b calculated based on the values ​​of the intention estimation sensors 16a and 16b. This allows the wearer P1 to move his or her arms slowly when pulling out luggage from a high shelf, thereby improving safety.

[0082] When the intention estimation sensor 16a estimates that the wearer P1 has no intention to perform an action, the control unit 28 controls the actuator 20a to apply a predetermined tension to the string-like member 88. For example, when the pressure inside the internal space 46 is lower than a predetermined threshold, the control unit 28 estimates that the wearer P1 has no intention to perform an action to lift a load, and controls the actuator 20a to apply a predetermined tension to the string-like member 88. The predetermined tension is a tension that does not loosen the string-like member 88. For example, the control unit 28 obtains the tension applied to the string-like member 88 based on a tension sensor (not shown).

[0083] When the drum 80 rotates in the direction in which the string-like member 88 is unwound, the control unit 28 controls the motor 84 based on the electric power generated by the motor 84 to brake the rotation of the drum 80 and slow down the rotational speed of the drum 80. As described above, when the drum 80 rotates in the direction in which the string-like member 88 is unwound, the motor 84 also rotates accordingly and generates electric power. When the drum 80 rotates in the direction in which the string-like member 88 is unwound, the motor 84 rotates together with the drum 80 to generate electric power, and is driven by the electric power generated by the motor 84, braking the rotation of the drum 80.

[0084] For example, the control unit 28 may be configured by a processor that executes a predetermined program stored in a memory, and the memory. The control unit 28 may also be configured by a dedicated circuit, for example. In other words, the functions of the control unit 28 may be realized by software or hardware. The control unit 28 may be configured by combining multiple sets of processors and memories.

[0085] [Usage example] When worn by a wearer P1, the motion support device 10 supports the wearer P1 in lifting a load 200 as an object with his / her arms, thereby reducing the burden on the wearer P1's arms. Next, the operation of the motion support device 10 when the wearer P1 lifts a load will be described with reference to FIG.

[0086] Fig. 12 is a diagram showing a state in which the movement of a wearer P1 wearing the movement support device 10 is supported. Specifically, Fig. 12 is a diagram showing a state in which the wearer P1 is lifting a load 200 placed on the ground.

[0087] As shown in FIG. 12, when the wearer P1 grasps the luggage 200, the bag member 36 of the intention estimation sensor 16a is deformed, and the pressure in the internal space 46 is increased by the pressure sensor 40, so that the actuator 20a is driven by the control unit 28, and tension is applied to the string-like member 88.

[0088] Specifically, for example, when the bag member 36 attached to the finger of the wearer P1 is not in contact with the baggage 200, the control unit 28 does not operate the actuator 20a because the pressure in the internal space 46 has not changed from the initial pressure, and the pressure sensor 40 detects a pressure below the predetermined threshold, or no increase in pressure has been detected. Therefore, no tension is applied to the string member 88.

[0089] On the other hand, when the bag member 36 of the intention estimation sensor 16a is sandwiched between the wearer P1 and the baggage 200 and deformed, the control unit 28 detects that the pressure sensor 40 has exceeded the predetermined threshold value or detects an increase in pressure. Therefore, the control unit 28 operates the actuator 20a to generate a force corresponding to the pressure detected by the pressure sensor 40. Therefore, tension is applied to the string-like member 88.

[0090] In this way, the wearer P1 can press the bag member 36 against the luggage 200 to cause the actuator 20a to apply tension to the string-like member 88. Therefore, the wearer P1 can easily obtain an assist force from the action support device 10.

[0091] [effect] The motion support device 10 of this embodiment comprises an actuator 20a that generates a force to support the motion of a wearer P1, an acting member 18a that is worn on the body of the wearer P1 and upon which the force generated by the actuator 20a acts, and a string-like member 88 that connects the actuator 20a and the acting member 18a, and the actuator 20a has a drum 80 that winds up the string-like member 88, and the winding surface of the drum 80 gradually reduces in diameter in the direction of the rotation axis C of the drum 80.

[0092] According to this, the winding surface 86 of the drum 80 gradually reduces in diameter in the direction of the rotation axis C of the drum 80, so that when the string-like member 88 is wound by the drum 80, the string-like member 88 slides on the winding surface 86 and is sequentially wound on the winding surface 86 with a smaller diameter, which makes it possible to suppress tangling of the string-like member 88 and wear of the string-like member 88. Specifically, the string-like member 88 slides on the winding surface 86 and is sequentially wound on the winding surface 86 with a smaller diameter, which makes it easier for the string-like member 88 to align in the direction of the rotation axis C, and prevents the string-like member 88 from folding over and rubbing against each other in the radial direction about the rotation axis C, which makes it possible to suppress tangling of the string-like member 88 and wear of the string-like member 88. In this way, it is possible to suppress tangling of the string-like member 88 and wear of the string-like member 88 while preventing the structure from becoming complicated.

[0093] In addition, in the motion support device 10, the actuator 20a further has a housing 78 that houses the drum 80, and the dimension D of the gap between the winding surface 86 and the housing 78 in the radial direction centered on the rotation axis C is smaller than twice the dimension of the diameter of the string-like member 88.

[0094] This prevents the string-like member 88 from overlapping and being wound up in the radial direction centered on the rotation axis C, thereby preventing the structure from becoming complicated and further preventing the string-like member 88 from becoming tangled.

[0095] In addition, the motion support device 10 further includes a tubular member 24a through which the string-like member 88 is inserted and which supports the string-like member 88 in a freely sliding state, and an end 92 of the tubular member 24a on the actuator 20a side opens in the direction of the tangent E of the winding surface 86.

[0096] According to this, the end 92 of the tubular member 24a on the actuator 20a side is open in the direction of the tangent E of the winding surface 86, thereby preventing the string-like member 88 from bending, and further preventing the string-like member 88 from becoming tangled while preventing the structure from becoming complicated.

[0097] Furthermore, in the motion support device 10, the end portion 92 faces the maximum diameter portion of the winding surface 86 in the radial direction about the rotation axis C as the center.

[0098] This makes it easy to wind the string-like member 88 sequentially from the smallest diameter portion to the largest diameter portion on the winding surface 86, thereby preventing the structure from becoming complicated and further preventing the string-like member 88 from becoming tangled.

[0099] The action support device 10 further includes an intention estimation sensor 16a that is worn on the body of the wearer P1 and that estimates the action intention of the wearer P1 when the wearer P1 handles an object, a control unit 28 that controls the actuator 20a based on the detection result of the intention estimation sensor 16a, an electric wire member 29a that electrically connects the intention estimation sensor 16a and the control unit 28, and a protective member 26a that protects the portion of the string-like member 88 between the tubular member 24a and the acting member 18a, and the protective member 26a has an inner member 94 that covers the portion, and an outer member 96 that covers the inner member 94 and the electric wire member 29a that is wrapped around the portion via the inner member 94.

[0100] According to this, since the inner member 94 covering the portion of the string-shaped member 88 between the tubular member 24a and the action member 18a is provided, it is possible to prevent the electric wire member 29a electrically connecting the intention estimation sensor 16a and the control unit 28 from coming into contact with the string-shaped member 88 and damaging the string-shaped member 88. Furthermore, since the outer member 96 covering the inner member 94 and the electric wire member 29a is provided, it is possible to prevent the inner member 94 and the electric wire member 29a from being damaged.

[0101] Furthermore, in the action support device 10, the control unit 28 controls the actuator 20a to apply a predetermined tension to the string member 88 when the intention estimation sensor 16a estimates that there is no intention to move.

[0102] According to this, when the wearer P1 has no intention of moving when handling an object, that is, when the wearer P1 has no intention of handling luggage, a predetermined tension is applied to the string-like member 88, preventing the string-like member 88 from slackening, thereby preventing the structure from becoming complicated and further preventing the string-like member 88 from becoming tangled.

[0103] Furthermore, in the motion support device 10, the actuator 20a has a motor 84 that provides power to the drum 80, and the motor 84 rotates together with the drum 80 to generate electricity as the drum 80 rotates in the direction in which the string-like member 88 is unwound, and the control unit 28 controls the motor 84 based on the power generated by the motor 84 to brake the rotation of the drum 80 when the drum 80 rotates in the direction in which the string-like member 88 is unwound.

[0104] According to this, when the wearer P1 pulls the string-like member 88 to unwind it, the speed at which the string-like member 88 is unwound can be prevented from increasing, thereby improving safety. Furthermore, when the drum 80 rotates in the direction in which the string-like member 88 is unwound, the control unit 28 controls the motor 84 based on the power generated by the rotation of the motor 84 to brake the rotation of the drum 80 when the drum 80 rotates in the direction in which the string-like member 88 is unwound, thereby driving the motor 84 based on the power generated by the motor 84 to prevent an increase in the speed at which the string-like member 88 is unwound, thereby improving safety, for example, even if the battery that supplies power to the motor 84 is broken or the battery runs out of power.

[0105] [Variations] 13 is a diagram showing another example of the acting member 98. As shown in FIG. 13, the acting member 98 has a pair of main body members 100, 102, a belt-shaped member 104, a swinging member 106, and a sliding member 108.

[0106] The pair of main body members 100, 102 are members arranged to sandwich the wrist of the wearer P1, and are configured to form a tubular shape that gradually reduces in diameter toward the hand of the wearer P1 when worn on the wrist of the wearer P1. The belt-shaped member 104 is a member for fastening the pair of main body members 100, 102 to the wrist. The swinging member 106 is swingably attached to the main body member 100 (see arrow F in FIG. 13), and the sliding member 108 is slidably attached to the swinging member 106 (see arrow G in FIG. 13). A connecting member (not shown) that connects an actuator (not shown) and the acting member 98 is fixed to the swinging member 106 via the sliding member 108. The motion support device 10 may be provided with the acting member 98 instead of the acting member 18a and the acting member 18b.

[0107] Although the motion support device according to one or more aspects of the present disclosure has been described based on the embodiment, the present disclosure is not limited to this embodiment. As long as it does not deviate from the gist of the present disclosure, various modifications conceived by a person skilled in the art to this embodiment and forms constructed by combining components in different embodiments may also be included within the scope of one or more aspects of the present disclosure. [Industrial Applicability]

[0108] The present disclosure is useful as a motion assistance device that assists the wearer in moving. [Explanation of symbols]

[0109] 10 Movement support equipment 12 Fuselage members 14a, 14b Harness 16a, 16b Intention estimation sensor 17a, 17b Status sensor 18a, 18b, 98 Working member 20a, 20b Actuator 22a, 22b Connecting member 24a, 24b Tubular members 26a, 26b Protective member 28 Control Unit 29a, 29b Electric wire member 30 Back 32 Lower back 34 Mounting material 36 Bag parts 38 Tubular members 40 Pressure Sensor 42 Back side 44 Surface 46 Interior Space 48 Telescopic part 49a, 49b Controller 50 Buttons 52 Light emitting part 54 Main body 56 Folding tool 58 Fixtures 60 Mounting holder 62 Base 64 Belt 66 Hook and Loop Fastener 68 Loop section 70 Hook part 72 Lamination Department 74 Non-laminated section 78 Case 80 Dram 82 Planetary gear section 84 Motor 86 Winding surface 88 Cord-like member 90 Fixtures 92 End 94 Inner member 96 Outer member 100, 102 Body member 104 Belt-shaped member 106 Swinging member 108 Sliding member

Claims

1. An actuator that generates a force to assist the wearer's movement; an acting member that is worn on the wearer's body and to which a force generated by the actuator acts; A string-like member that connects the actuator and the action member; a tubular member through which the string-like member is inserted and which supports the string-like member in a slidable state; The actuator has a drum that winds up the string-like member, The winding surface of the drum gradually decreases in diameter in the direction of the rotation axis of the drum, an end of the tubular member on the actuator side opens in a tangential direction of the winding surface; an intention estimation sensor that is worn on a body of the wearer and that estimates an intention of the wearer when the wearer handles an object; a control unit that controls the actuator based on a detection result of the intention estimation sensor; an electric wire member that electrically connects the intention estimation sensor and the control unit; and a protection member that protects a portion of the string-like member between the tubular member and the acting member, The protective member includes an inner member that covers the portion, and an outer member that covers the inner member and the electric wire member that is wound around the portion via the inner member. Movement support equipment.

2. An actuator that generates a force to assist the wearer's movement; an acting member that is worn on the wearer's body and to which a force generated by the actuator acts; a string-like member connecting the actuator and the action member, The actuator has a drum that winds up the string-like member, The winding surface of the drum gradually decreases in diameter in the direction of the rotation axis of the drum, The actuator further includes a housing that houses the drum, a dimension of a gap between the winding surface and the housing in a radial direction about the rotation axis is smaller than twice the dimension of the diameter of the string-shaped member; Movement support equipment.

3. The end portion faces the maximum diameter portion of the winding surface in a radial direction centered on the rotation shaft. The motion support device according to claim 1 .

4. the control unit controls the actuator to apply a predetermined tension to the string-like member when the intention estimation sensor estimates that there is no intention to operate the device. The motion support device according to claim 1 .

5. The actuator includes a motor that powers the drum; the motor rotates together with the drum to generate electricity as the drum rotates in the direction in which the string-like member is paid out; the control unit controls the motor based on the power generated by the motor to brake the rotation of the drum when the drum rotates in the direction in which the string-like member is paid out. The motion support device according to claim 1 or 3.

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