Assistware

Abstract

To prevent transmission loss of assisting force and exert the assisting force efficiently.SOLUTION: An assist wear includes: first drive parts each disposed at a portion facing a hip joint of a side waist part of a wearer; arms 22 each of which is connected at a base end part to the first drive part and exerts driving force of the first drive part on a thigh part with its tip; second drive parts each disposed at an outer part of a knee part of the wearer; and arms 32 each of which is connected at a base end part to the second drive part and exerts driving force of the second drive part on a lower leg part with its tip. Each arm 22, 32 is configured to restrict deformation in a first direction which is a driving direction of each drive part and allow deformation in a second direction which excludes the first direction.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to assistive wear for assisting the wearer's movements.

Background Art

[0002] As this type of assistive wear, an assistive wear system disclosed in Patent Document 1 below is known. This assistive wear system includes wear, a hip joint assist device, and a knee joint assist device. In this assistive wear system, the driving force of the hip joint assist device is transmitted to the thigh through the second assist force transmission plate, and the driving force of the knee joint assist device is transmitted to the lower leg through the first assist force transmission plate and the second assist force transmission plate, thereby assisting the wearer's movements.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the above-described conventional assistive wear system has the following problems to be solved. Specifically, in the above-described assistive wear system, in order to improve the transmission efficiency of the assistive force and prevent the transmission loss of the assistive force due to the deformation of each transmission plate (the first assist force transmission plate and the second assist force transmission plate), the transmission plate is configured to be difficult to deform. On the other hand, the shapes of the thigh and the lower leg vary depending on the wearer, and in order to efficiently apply the assistive force, it is preferable that the transmission plate deforms to some extent along the shapes of the thigh and the lower leg. However, in the conventional configuration in which the transmission plate is difficult to deform, this point is difficult, and improvement is desired.

[0005] The present invention has been made in view of such problems, and a main object thereof is to provide assistive wear that can efficiently apply an assistive force while preventing transmission loss of the assistive force.

Means for Solving the Problems

[0006] The assistive wear according to claim 1 for achieving the above object is assistive wear for assisting the movement of a wearer, and includes a first drive unit disposed at a portion facing the hip joint at the side waist of the wearer, a first arm having a proximal end connected to the first drive unit and applying the driving force of the first drive unit to the thigh at the distal end, a second drive unit disposed at the outer side of the knee of the wearer, and a second arm having a proximal end connected to the second drive unit and applying the driving force of the second drive unit to the lower leg at the distal end. Each of the arms is composed of a strip-shaped body integrally formed such that a thick portion and a thin portion are arranged side by side along the length direction, and the thicknesses of the adjacent thick portion and the thin portion gradually decrease and increase to form a cross-sectional curve. It is configured to restrict deformation in a first direction which is the driving direction of each drive unit and to allow deformation in a second direction which is a direction other than the first direction. Note that the assistive wear in the present application includes devices called by other names (for example, assistive suit, assistive robot, powered suit (registered trademark), etc.) as long as they have a function of assisting the movement of the wearer in a state where the wearer is wearing them.

Effects of the Invention

[0012] This According to the assistive wear, by configuring each arm so as to restrict deformation in the first direction (the driving direction of the drive unit) and allow deformation in the second direction (a direction other than the driving direction), each arm can be deformed in the second direction along the shapes of the thigh and the lower leg. Therefore, the driving force (assistive force) generated by the drive unit can be efficiently applied to the thigh and the lower leg. In addition, since deformation of each arm in the first direction can be restricted, transmission loss of the driving force due to deformation can be sufficiently reduced.

[0013] Also, This According to the assistive wear, each arm is constituted by a belt-shaped body in which a thick portion and a thin portion are arranged side by side along the length direction and integrally formed. Thus, while having a simple configuration, each arm can be easily deformed in the second direction, and the deformation of each arm in the first direction can be reliably restricted.

Brief Description of the Drawings

[0018]

Figure 1

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Embodiments for Carrying Out the Invention

[0019] Hereinafter, embodiments of the assistive wear will be described with reference to the accompanying drawings.

[0020] First, the configuration of the assistive wear 1 shown in FIG. 1 as an example of the assistive wear will be described. The assistive wear 1 has a walking motion assist function for assisting the walking motion of the wearer 200.

[0021] Specifically, as shown in FIGS. 1 to 3, the assist wear 1 includes a waistband 11a, suspenders 11b, a pair of hip joint units 12, a pair of knee joint units 13, a battery 15, a control device 16, and a control box 50 that houses the battery 15 and the control device 16.

[0022] The waistband 11a is, for example, a band in which a hard material is used in part and an elastic material is used in part, and connecting members (for example, hook-and-loop fasteners) disposed at both ends of the band, and is configured to be adjustable in length. As shown in FIGS. 1 to 3, it is wound around and worn on the waist (upper part of the hip joint) of the wearer 200.

[0023] As shown in FIG. 2, the suspenders 11b are members for sharing the load of the control box 50 attached to the waistband 11a by the shoulders of the wearer 200, and each tip is composed of a shoulder strap connected to the control box 50.

[0024] Each hip joint unit 12 is configured to include a hip joint actuator 21, an arm 22, and a fixing band 23, as shown in FIGS. 1 to 3. The hip joint actuator 21 corresponds to a first drive unit, and includes a motor that rotates a rotation shaft to generate a rotational force (driving force), a speed reducer that decelerates the rotational speed of the rotation shaft of the motor to a rotational speed suitable for assistance, and a holding unit 21a that holds the motor and the speed reducer. Further, in each hip joint unit 12, the tip side (upper end side in FIGS. 1 to 3) of the holding unit 21a is fixed to the waistband 11a so that the rotation shaft of the speed reducer is positioned at a portion facing each of the left and right hip joints on the left and right side waists of the wearer 200.

[0025] The arm 22 corresponds to the first arm. As shown in FIGS. 1 to 3, the base end portion (the upper end portion in FIGS. 1 to 3) is connected to the rotation shaft of the speed reducer in the hip joint actuator 21. Further, the tip end portion of the arm 22 is fixed to the thigh portion 201 by the fixing band 23, and the rotational force generated by the hip joint actuator 21 is applied to the thigh portion 201 of the wearer 200 via the fixing band 23.

[0026] Further, the arm 22 is configured to restrict deformation in the driving direction of the hip joint actuator 21 (corresponding to the first direction, the direction along a plane substantially perpendicular to the paper surface of FIGS. 1 and 2) and allow deformation in a direction other than the driving direction (the second direction). Specifically, as shown in FIGS. 4 and 5, the arm 22 is formed of a belt-like body in which a thick portion 22a and a thin portion 22b are arranged side by side along the length direction and integrally formed. Further, the arm 22 is formed of a resin material having a relatively high hardness such as polycarbonate.

[0027] The fixing band 23 is attached to the tip end portion side of the arm 22. As shown in FIGS. 1 to 3, the fixing band 23 is worn so as to wrap around the thigh portion 201 (upper part of the knee) of the wearer 200, and has a function of fixing the tip end portion side of the arm 22 to the tip end portion side of the thigh portion 201.

[0028] Each knee joint unit 13 is configured to include a knee joint actuator 31, an arm 32, a fixing band 30, and a fixing band 33, as shown in FIGS. 1 to 3. The knee joint actuator 31 corresponds to the second driving portion, and includes a motor that rotates a rotation shaft to generate a rotational force (driving force), a speed reducer that reduces the rotational speed of the rotation shaft of the motor to a rotational speed suitable for assistance, and a holding portion 31a that holds the motor and the speed reducer. Further, in each knee joint unit 13, the tip end portion side (the upper end portion side in FIGS. 1 to 3) of the holding portion 31a is fixed to the fixing band 30 so that the rotation shaft of the speed reducer is positioned at a portion facing the outer sides of the left and right knees of the wearer 200. In the following description, the hip joint actuator 21 and the knee joint actuator 31 are also collectively referred to as "actuators 21, 31".

[0029] The fixing band 30 is attached to the tip side (the upper end side in FIGS. 1 to 3) of the holding portion 31a of the knee joint actuator 31 of the knee joint unit 13. As shown in FIGS. 1 to 3, this fixing band 30 is worn so as to wrap around the thigh portion 201 (upper knee portion) of the wearer 200, and has a function of fixing the tip side of the holding portion 31a of the knee joint actuator 31 to the tip side of the thigh portion 201.

[0030] The arm 32 corresponds to the second arm. As shown in FIGS. 1 to 3, the base end portion (the upper end portion in FIGS. 1 to 3) is connected to the rotation shaft of the speed reducer in the knee joint actuator 31. Further, the tip of the arm 32 is fixed to the lower leg portion 202 by a fixing band 33, and the rotational force generated by the knee joint actuator 31 is applied to the lower leg portion 202 of the wearer 200 via the fixing band 33.

[0031] Further, the arm 32 has the same structure as the above-described arm 22, restricts deformation in the driving direction of the knee joint actuator 31 (corresponding to the first direction, the direction along a plane substantially perpendicular to the paper surface of FIGS. 1 and 2), and allows deformation in a direction other than the driving direction (the second direction). Specifically, as shown in FIGS. 4 and 5, the arm 32 is formed of a belt-like body in which a thick portion 22a and a thin portion 22b are arranged side by side along the length direction and integrally formed. Further, the arm 22 is formed of a resin material having a relatively high hardness, such as polycarbonate.

[0032] The fixing band 33 is attached to the tip side (the lower end side in FIGS. 1 to 3) of the arm 32 of the knee joint unit 13. As shown in FIGS. 1 to 3, this fixing band 33 is worn so as to wrap around the tip side of the lower leg portion 202 of the wearer 200, and has a function of fixing the tip side of the arm 32 of the knee joint actuator 31 to the tip side of the lower leg portion 202.

[0033] The battery 15 outputs electric power for driving the hip joint actuator 21, the knee joint actuator 31, and the control device 16. Further, as shown in FIG. 2, the battery 15 is housed together with the control device 16 in a control box 50 attached to the waistband 11a and the suspender 11b.

[0034] The control device 16 controls the hip joint actuator 21 and the knee joint actuator 31. Specifically, the control device 16 controls the hip joint actuator 21 so as to generate a rotational force in a direction in which the angle between the upper body of the wearer 200 and the thigh 201 expands and contracts in synchronization with the movement of the wearer 200, and at the same time, controls the knee joint actuator 31 so as to generate a rotational force in a direction in which the angle between the thigh 201 and the lower leg 202 expands and contracts, and executes synchronous control to assist the movement of the wearer 200.

[0035] Further, as an example, the control device 16 includes a control PC, an amplifier, an AD converter, an I / O interface, a D / A converter, and a motor driver. In this control device 16, the control PC executes a synchronous control program (motion assistance program), functions as a gain adjustment unit, an analysis unit, and a PID control unit for synchronous control, and performs synchronous control using neural oscillators on the actuators 21, 31 of the assistive ware 1.

[0036] Specifically, the interaction torque between the wearer 200 and the actuators 21, 31 detected by the torque sensors of the actuators 21, 31 is amplified via an amplifier, converted into a digital signal by an AD converter, and then taken into the control PC via an I / O interface. The captured interaction torque is input to the analysis unit via a gain adjustment unit that adjusts the degree of synchronization between the wearer 200 and the assistive ware 1. In the analysis unit, it is analyzed by a neural oscillator model to obtain the target angle of the angle between the upper body of the wearer 200 and the thigh 201, and the target angle of the angle between the thigh 201 and the lower leg 202, and outputs the difference between the current angles and the target angles to the PID control unit.

[0037] The PID control unit uses the torque sensor to detect again the interaction torque obtained as a result of driving the motor, sets a new target angle by the analysis unit, and drives and controls the motor again. By repeatedly performing such an operation of correcting and controlling the driving of the motor (PID control), synchronization control is performed. Further, the control PC supplies the command voltage output from the PID control unit to the motor driver via the D / A converter, and drives the motors of the actuators 21 and 31 by the motor driver based on the command voltage.

[0038] Next, the usage method of the assist ware 1 and the operation of the assist ware 1 at that time will be described with reference to the drawings.

[0039] First, the method of wearing the assist ware 1 will be described. First, with the wearer 200 standing up, the suspender 11b to which the control box 50 is attached is put on the shoulder of the wearer 200 and the length is adjusted. Next, the waist band 11a is wound around the waist of the wearer 200 and tightened, and both ends are connected by a connecting member.

[0040] Subsequently, with the wearer 200 sitting on a chair, both the left and right fixing bands 23 are wound around the thigh part 201 and tightened. Next, both the left and right fixing bands 30 are wound around the lower part of the thigh part 201 and tightened. Subsequently, the fixing band 33 is wound around the tip side of the lower leg part 202 and tightened. Thus, the wearing of the assist ware 1 is completed.

[0041] In this case, in this assist ware 1, the arms 22 and 32 are configured to allow deformation in a direction other than the driving direction of the actuators 21 and 31. For this reason, as shown in FIG. 6, the arms 22 and 32 are deformed along the shapes of the thigh part 201 and the lower leg part 202 (in the direction along the paper surface of the figure), and the arms 22 and 32 fit to the thigh part 201 and the lower leg part 202 (in the figure, only the arm 32 is shown).

[0042] Next, turn on the power of the battery 15. At this time, power is supplied to the control device 16 and the control device 16 operates. Next, the control device 16 starts the first synchronization control according to the lifting operation assist program.

[0043] In this state, when the wearer 200 starts a walking motion, the control device 16 of the assistive ware 1 detects the angle between the holding portion 21a of the hip joint actuator 21 corresponding to the angle θ1 between the upper body of the wearer 200 and the thigh portion 201 and the arm 22, based on the output signal from the encoder of the motor, and also detects the angle between the holding portion 31a of the knee joint actuator 31 corresponding to the angle θ2 between the thigh portion 201 and the lower leg portion 202 of the wearer 200 and the arm 32, based on the output signal from the encoder of the motor. Further, the control device 16 detects the interaction torque between the actuators 21, 31 and the wearer 200 based on the output signal from the torque sensors of the actuators 21, 31.

[0044] Further, the control device 16 determines from the change over time of the above-described angles θ1, θ2 that the wearer 200 has shifted to a walking motion, and executes synchronization control to assist the walking motion of the wearer 200. In this synchronization control, the control device 16 drives and controls the motors of the actuators 21, 31 by supplying a command voltage while performing correction control (PID control) based on the angles θ1, θ2 and the interaction torque. Thereby, the walking motion of the wearer 200 is assisted.

[0045] In this assistive ware 1, since the arms 22, 32 are configured to allow deformation in a direction other than the driving direction of the actuators 21, 31 (second direction), the arms 22, 32 can be deformed along the shapes of the thigh portion 201 and the lower leg portion 202. For this reason, the driving force (assist force) generated by the actuators 21, 31 can be efficiently applied to the thigh portion 201 and the lower leg portion 202. Further, since the arms 22, 32 are configured to restrict the deformation of the arms 22, 32 in the driving direction (first direction) of the actuators 21, 31, the transmission loss of the driving force of the actuators 21, 31 due to deformation can be sufficiently reduced.

[0046] In addition, in this assistive ware 1, each arm 22, 32 is configured by including strip-shaped bodies 22b, 32b formed of a flexible material and a plurality of plate members 22a, 32a formed of a non-deformable material and fixed to the strip-shaped bodies 22b, 32b in a state where the main surfaces face each other and are arranged side by side on one surface of the strip-shaped bodies 22b, 32b. Thus, although the configuration is simple, each arm 22, 32 can be easily deformed in the second direction, and the deformation of each arm 22, 32 in the first direction can be reliably restricted.

[0047] In the above-described embodiment, each plate member 22a (or each plate member 32a) is connected by one strip-shaped body 22b (or strip-shaped body 32b), but a configuration in which each plate member 22a (or each plate member 32a) is connected by a pair of strip-shaped bodies 22b (or a pair of strip-shaped bodies 32b) can also be adopted. In this configuration, since the deformation of each arm 22, 32 in the first direction can be more reliably restricted, the transmission loss of the driving force due to the deformation can be further reduced.

[0048] Next, another embodiment of the assistive ware will be described. In this assistive ware, instead of the above-described arms 22, 32, it is configured to include arms 122, 132 shown in FIG. 7.

[0049] The arm 122 corresponds to the first arm, the base end portion is connected to the rotation shaft of the speed reducer in the hip joint actuator 21, and the tip end portion is fixed to the thigh portion 201. The rotational force generated by the hip joint actuator 21 acts on the thigh portion 201 of the wearer 200.

[0050] In addition, the arm 122 is configured to restrict deformation in the driving direction (first direction) of the hip joint actuator 21 and allow deformation in a direction (second direction) other than the driving direction. Specifically, as shown in FIGS. 7 and 8, the arm 122 is configured to include a plurality of plate members 122a and a strip-shaped body 122b.

[0051] As shown in FIG. 7, the plate member 122a is formed in a rectangular plate shape in plan view using a hard resin material (an example of a non-deformable material). Further, as shown in FIG. 8, the end surfaces in the length direction (the left-right direction in the figure) of the belt-like body 122b are formed as inclined surfaces that are inclined with respect to the thickness direction, and are configured to form a trapezoid in side view. The belt-like body 122b is formed in a belt shape using a soft resin material (an example of a flexible material).

[0052] In this arm 122, as shown in FIGS. 7 and 8, the main surfaces of the respective plate members 122a are opposed to each other and arranged side by side on one surface (the upper surface in FIG. 8) of the belt-like body 122b, and the respective plate members 122a are fixed to and connected to the belt-like body 122b. Further, in the arm 122, as shown in FIG. 8, the plate members 122a are arranged such that the end surfaces formed on the inclined surfaces are perpendicular to the length direction of the belt-like body 122b.

[0053] The arm 132 corresponds to the second arm, the base end portion is connected to the rotation shaft of the speed reducer in the knee joint actuator 31, and the tip end portion is fixed to the lower leg portion 202, and the rotational force generated by the knee joint actuator 31 is applied to the lower leg portion 202.

[0054] Further, the arm 132 has the same structure as the above-described arm 122, and is configured to regulate deformation in the driving direction (the first direction) of the knee joint actuator 31 and allow deformation in a direction (the second direction) other than the driving direction. Specifically, as shown in FIGS. 7 and 8, the arm 132 includes a plurality of plate members 132a and a belt-like body 132b.

[0055] As shown in FIG. 7, the plate member 132a is formed in a rectangular plate shape in plan view using a hard resin material (an example of a non-deformable material). Further, as shown in FIG. 8, the end surfaces in the length direction (the left-right direction in the figure) of the belt-like body 132b are formed as inclined surfaces that are inclined with respect to the thickness direction, and are configured to form a trapezoid in side view. The belt-like body 132b is formed in a belt shape using a soft resin material (an example of a flexible material).

[0056] In this arm 132, as shown in FIGS. 7 and 8, the main surfaces of the respective plate members 132a are opposed to one surface (the upper surface in FIG. 8) of the belt-like body 132b and arranged side by side, and the respective plate members 132a are fixed to and connected to the belt-like body 132b. Further, in the arm 132, as shown in FIG. 8, the respective plate members 132a are arranged such that the end surfaces formed on the inclined surface are perpendicular to the length direction of the belt-like body 132b.

[0057] Next, another embodiment of the assistive wear will be described. In this assistive wear, instead of the above-described arms 22 and 32, it is configured to include arms 222 and 232 shown in FIG. 7.

[0058] The arm 222 corresponds to the first arm, and a proximal end portion thereof is connected to the rotation shaft of the speed reducer in the hip joint actuator 21, and a distal end portion thereof is fixed to the thigh portion 201, and the rotational force generated by the hip joint actuator 21 is applied to the thigh portion 201 of the wearer 200.

[0059] Further, the arm 222 is configured to restrict deformation in the driving direction (the first direction) of the hip joint actuator 21 and allow deformation in a direction (the second direction) other than the driving direction. Specifically, as shown in FIGS. 7 and 8, the arm 222 includes a plurality of main plates 222a, connecting plates 222b (hereinafter also referred to as "plates 222a and 222b" when not distinguishing between the main plate 222a and the connecting plate 222b), and connecting shafts 222c. As an example, the main plate 222a is formed in a plate shape from a resin material and is provided with insertion holes through which the connecting shafts 222c are inserted. The connecting plate 222b is also formed in a plate shape from a resin material and is provided with insertion holes through which the connecting shafts 222c are inserted. The connecting shafts 222c are configured to be insertable into the insertion holes of the main plates 222a and the connecting plates 222b.

[0060] In this arm 222, as shown in FIGS. 7 and 8, connecting plates 222b are arranged on both sides of a plurality of main plates 222a aligned at equal intervals, and a connecting shaft 222c is inserted through the insertion holes of the plates 222a and 222b, so that the plates 222a and 222b are connected to be rotatable about the connecting shaft 222c as the second direction and the deformation in the driving direction is restricted.

[0061] The arm 232 corresponds to the second arm. The base end portion is connected to the rotating shaft of the speed reducer in the knee joint actuator 31, and the tip end portion is fixed to the lower leg portion 202, and the rotational force generated by the knee joint actuator 31 acts on the lower leg portion 202 of the wearer 200.

[0062] Also, as shown in FIGS. 7 and 8, the arm 232 has the same structure as the above-described arm 222, and is configured to restrict the deformation in the driving direction (the first direction) of the knee joint actuator 31 and allow the deformation in the direction (the second direction) excluding the driving direction.

[0063] Even in the assistive device including the arms 222 and 232, since the arms 222 and 232 are configured to allow the deformation in the direction (the second direction) excluding the driving direction of the actuators 21 and 31, the arms 222 and 232 can be deformed along the shapes of the thigh portion 201 and the lower leg portion 202. For this reason, the driving force (assistive force) generated by the actuators 21 and 31 can be efficiently applied to the thigh portion 201 and the lower leg portion 202. Further, since the arms 222 and 232 are configured to restrict the deformation of the arms 222 and 232 in the driving direction (the first direction) of the actuators 21 and 31, the transmission loss of the driving force of the actuators 21 and 31 due to the deformation can be sufficiently reduced.

[0064] In addition, in this assistive ware 1, a plurality of plates 222a, 222b, 232a, 232b connected by connecting shafts 222c, 232c are provided so as to be rotatable in the pivoting direction as the second direction with the connecting shafts 222c, 232c as the rotation axes and the deformation in the first direction is restricted, thereby constituting the arms 22, 32. With such a simple configuration, the arms 22, 32 in the second direction can be easily deformed, and the deformation of the arms 22, 32 in the first direction can be reliably restricted.

[0065] Note that the configuration of the assistive ware 1 described above is an example of the assistive ware of the present application, and a configuration modified as appropriate can be adopted. For example, as an example of an arm configured to restrict deformation in the driving direction of the driving unit and allow deformation in a direction other than the driving direction, two forms of arms 22, 32, 222, 232 have been described. However, the form of the arm in the present invention is not limited to these, and various forms having such functions are included.

[0066] In addition, although an example applied to the assistive ware 1 having a walking motion assist function has been described above, in addition to (or instead of) this function, a lifting motion assist function for assisting the wearer 200 in lifting a load, a sitting assist function for assisting the wearer 200 in sitting down from a standing state, and a standing assist function (standing up assist function) for assisting the wearer 200 in standing up (getting up) from a sitting state can also be applied to the assistive ware having such functions.

Explanation of Reference Numerals

[0067] 1 Assistive ware 21 Hip joint actuator 22, 32, 122, 132, 222, 232 Arms 22a, 32a Thick portions 22b, 32b Thin portions 31 Knee joint actuator 122a, 132a Plate materials Strips 122b, 132b Wearer 200 Thigh 201 Lower leg 202 Main plates 222a, 232a Connecting plates 222b, 232b Connecting shafts 222c, 232c

Claims

【Claim 1】 An assistive garment that assists the wearer's movements, a first drive unit disposed at a portion facing the hip joint at the side waist of the wearer, a first arm having a proximal end connected to the first drive unit and applying the driving force of the first drive unit to the thigh at the distal end, a second drive unit disposed at the outer side of the knee of the wearer, and a second arm having a proximal end connected to the second drive unit and applying the driving force of the second drive unit to the lower leg at the distal end, each of the arms is composed of a belt-like body in which a thick portion and a thin portion are arranged side by side along the length direction, and the thicknesses of the adjacent thick portion and the thin portion gradually decrease and increase to form a cross-sectional curve, and is configured to restrict deformation in a first direction which is the driving direction of each drive unit and allow deformation in a second direction which is a direction other than the first direction. An assistive garment.

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