Walking assist device

Abstract

To provide a walking assist device that can be fixed to the body of a user sufficiently easily regardless of the body type of the user while suppressing an increase in costs, and hardly gives a feeling of discomfort to the user.SOLUTION: A waist orthosis 1 includes: a fixing belt 10 which extends forward from a waist part frame 2 and abuts on the front surface of a user; a spacer 11 whose thickness in a front-back direction can be changed and which abuts on the back surface of the waist part of the user on the front side; and an adjusting belt 12 connected to the waist part frame 2 and the fixing belt 10 for adjusting a distance in a front-back direction between the fixing belt 10 and the spacer 11. The fixing belt 10 includes a first fixing belt member 10a positioned on the front side, to which the adjusting belt 12 is connected, and a second fixing belt member 10b positioned on the back side and on the lateral side of the spacer 11, which can be folded more easily than the first fixing belt member 10a.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a walking assist device that applies an assist force to a user to assist them in walking. [Background technology]

[0002] BACKGROUND ART Conventionally, walking assist devices are known that are worn by a person (hereinafter referred to as a "user") who has difficulty walking due to a decline in muscle strength or the like, and that provide an assist force to the user to help the user walk.

[0003] Known walking assist devices of this type include a waist brace attached to the user's waist, a waist frame fixed to the user's waist via the waist brace, leg braces attached to the user's legs, a leg frame connecting the waist frame and the leg braces, and a motion assistance mechanism that moves the leg braces relative to the waist frame to apply an assist force to the user's legs via the leg braces (see, for example, Patent Document 1).

[0004] The walking assist device described in Patent Document 1 employs a belt-like member for the waist orthosis and also employs a belt-like member for part of the leg orthosis. By tightening these belt-like members, the waist frame connected to the waist orthosis is fixed to the user's waist, and the main body of the leg orthosis is fixed to the user's leg. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2020-058803 Summary of the Invention [Problem to be solved by the invention]

[0006] However, the walking assist device described in Patent Document 1 is designed assuming that it will be used by users with a similar body type to a certain extent. Therefore, if the walking assist device is designed assuming that it will be used by adults, it will be difficult for children, whose body types are significantly different from those of adults, to use the walking assist device.

[0007] Furthermore, if the walking assist device is attached to a user with an unexpected body type, there is a risk that the device may not be securely fastened to the user's body. As a result, the position of the waist orthosis (and thus the waist frame) or leg orthosis may shift during use, resulting in a problem that the device is unable to provide the appropriate assist force to the user.

[0008] One way to prevent such movement is to firmly fasten the belt or other component used to attach the prosthesis to the user, but such a strong fastening can cause discomfort to the user.

[0009] One possible way to solve these problems is to manufacture multiple types of walking assist devices with different shapes, sizes, etc. in advance according to the user's body type. However, manufacturing multiple types of walking assist devices in this way creates a new problem: increased production costs.

[0010] The present invention has been made in consideration of the above points, and aims to provide a walking assist device that is easy to secure to the user's body regardless of the user's body type, and that does not cause discomfort to the user, while suppressing increases in costs. [Means for solving the problem]

[0011] The walking assist device of the present invention comprises: A walking assist device that provides an assist force to a user to assist walking in forward and backward directions, a waist orthosis attached to the user's waist; a waist frame fixed to the user's waist via the waist orthosis; a leg brace attached to the leg of the user; a leg frame connecting the waist frame and the leg orthosis; a motion assist mechanism that moves the leg orthosis relative to the waist frame to apply the assist force to the user's leg via the leg orthosis, The waist orthosis includes a fixing belt that extends forward from the waist frame and abuts against the front of the user when worn; a spacer that is attached to the waist frame and has an adjustable thickness in the front-to-rear direction and abuts against the waist of the user from the rear side to the front side when worn; and an adjustment belt that is connected to the waist frame and the fixing belt and adjusts the distance in the front-to-rear direction between the fixing belt and the spacer when worn. the fixed belt has a first fixed belt member located on the front side and to which the adjustment belt is connected, and a second fixed belt member located on the rear side and to the side of the spacer, The second fixed belt member is characterized by being configured to be more easily foldable than the first fixed belt member.

[0012] As described above, the walking assist device of the present invention has a fixing belt that contacts the front of the user when worn, and a spacer that contacts the rear side of the user's waist when worn. Therefore, when worn, the fixing belt and the spacer contact the user so as to sandwich the user, and the waist orthosis (and by extension the entire walking assist device) is fixed to the user.

[0013] Here, the spacer is configured so that its thickness in the front-to-rear direction can be changed. Therefore, simply by changing the thickness, the shape of the lumbar orthosis can be easily adjusted to suit the user's abdominal circumference. Note that multiple spacers of different thicknesses may be prepared and replaced as needed, or the thickness may be changed as needed by injecting air, etc.

[0014] In other words, the walking assist device of the present invention can be sufficiently fixed even if the user's abdominal circumference varies greatly, simply by changing the thickness of the spacer that is part of the lumbar orthosis. Furthermore, since creating a structure that allows the thickness of the spacer to be changed is easier than manufacturing multiple types of walking assist devices with different shapes, sizes, etc., increases in production costs can be suppressed.

[0015] In addition, in the walking assist device of the present invention, the fixed belt that contacts the front of the user has a first fixed belt member located on the front side and to which the adjustment belt is connected, and a second fixed belt member located on the rear side and to the side of the spacer. Furthermore, the second fixed belt member is configured to be more easily foldable than the first fixed belt member.

[0016] Therefore, when the distance in the front-rear direction between the fixing belt and the spacer is shortened by the adjustment belt when the fixing belt is attached, the second fixing belt member is naturally folded before the first fixing belt member is deformed.

[0017] When worn, the spacer abuts the user's waist from the rear to the front, and the second fixing belt member is located to the side of the spacer. Therefore, the folded portion of the second fixing belt member is located to the side of the spacer, and is located behind the front surface of the spacer that abuts the user's waist. This prevents the folded portion from coming into contact with the user's waist, causing discomfort to the user.

[0018] Furthermore, because the folded portion maintains a moderate degree of elasticity, providing an easily foldable second fixing belt member makes it less likely that the user will feel excessive pressure compared to when the entire fixing belt is made of an elastic material, etc. As a result, it is possible to prevent the user from feeling uncomfortable due to the pressure from the fixing belt.

[0019] Furthermore, in the walking assist device of the present invention, the waist orthosis has a locking member provided on a first fixing belt member of the fixing belt and to which the adjustment belt is locked, the waist frame is an arc-shaped or annular member that is open at the front, One end of the adjustment belt is attached to a first attachment position that is farther from the spacer than the attachment position of the fixing belt on the inner surface of the waist frame, the other end of the adjustment belt is attached to a second attachment position on the inner surface of the waist frame, the second attachment position being farther from the spacer than the first attachment position; It is preferable that the side of the spacer and the second fixed belt member of the fixed belt are spaced apart so that a gap is formed between the virtual line connecting the first mounting position and the second mounting position and the side of the spacer.

[0020] By configuring the position of the locking member to which the adjustment belt is locked and the attachment positions between the waist frame and both ends of the adjustment belt in this manner, when the length of the adjustment belt is shortened, the locking member (and therefore the first fixed belt member to which the locking member is attached) moves closer to the line segment connecting the attachment positions of the waist frame and both ends of the adjustment belt on an imaginary line passing through these attachment positions.

[0021] Here, the second fixed belt member is connected at one end to the first fixed belt member and at the other end to the waist frame. Therefore, when the first fixed belt member moves in this manner, the second fixed belt member is pressed by the first fixed belt member and the waist frame and is folded. The folded portion then protrudes from the imaginary line.

[0022] However, if the adjustment belt is attached at a position farther away from the spacer than the fixing belt so as not to interfere with the contact between the fixing belt and the spacer and the user's body, the movement of the folded part is restricted by the adjustment belt, so that the folded part is only present on the side closer to the spacer than the imaginary line.

[0023] Therefore, it is preferable to configure the side surface of the spacer and the second fixed belt member so that a gap is formed between the virtual line and the side surface of the spacer, and the folded portion is naturally accommodated in the gap.

[0024] Furthermore, in the walking assist device of the present invention, an additional holding member that is detachably attached to the leg frame and to which the leg brace can be detachably attached; the leg frame has a holding portion to which the leg orthosis can be detachably attached, When worn, the leg orthosis is held by either the holding portion or the additional holding member, It is preferable that the position at which the leg orthosis is held by the additional holding member is shifted in the up-down direction from the position at which the leg orthosis is held by the holding portion.

[0025] The wearing position of the leg orthosis (i.e., the distance from the waist frame to the leg orthosis) is designed based on the vertical length from the waist to a predetermined position on the leg (e.g., above the knee) for a specific user's body type. However, like abdominal circumference, this length can vary greatly depending on the user.

[0026] Therefore, with this configuration, even if a user wears the leg orthosis whose length is significantly different from the expected length, the position of the leg orthosis can be easily adjusted to suit the user simply by providing an additional holding member and having the additional holding member hold the leg orthosis.

[0027] Furthermore, since providing an additional holding member is easier than manufacturing multiple types of walking assist devices with different shapes, sizes, etc., increases in production costs can be suppressed.

[0028] Furthermore, in the walking assist device of the present invention, when the device is configured to include an additional holding member, the leg orthosis is positioned on the front side of the user's thigh when worn, a holding position of the leg orthosis by the additional holding member is located above a holding position of the leg orthosis by the holding part, It is preferable that the position at which the additional holding member holds the leg orthosis in the front-rear direction is located rearward of the position at which the holding portion holds the leg orthosis in the front-rear direction.

[0029] If the leg orthosis is positioned in front of the user's thigh when worn and the additional holding member is positioned higher than the original holding part, when the leg orthosis is held by the additional holding part, there is a risk that the holding part that is not holding the leg orthosis will come into contact with a part of the user's leg below the part to which the leg orthosis is worn when worn.

[0030] Therefore, it is preferable to configure the leg orthosis so that the position where the additional holding member holds the leg orthosis in the front-to-rear direction is located further rearward than the position where the holding unit holds the leg orthosis in the front-to-rear direction. This configuration makes it easier to ensure a sufficient distance between the holding unit and the user's leg even when the leg orthosis is held by the additional holding member and worn. This in turn makes it easier to prevent contact between the holding unit and the user's leg and to prevent the user from feeling uncomfortable.

[0031] Furthermore, in the walking assist device of the present invention, It is preferable that the thickness of the spacer in the front-rear direction at the upper side and the thickness of the spacer in the front-rear direction at the lower side can be changed independently.

[0032] Generally, the shape of a user's lower back (more specifically, pelvis) in the up-down direction is more likely to vary than the shape in the left-right direction. Therefore, with this configuration, the shape of the back side of the lower back orthosis can be easily adjusted to suit the user's lower back.

[0033] The walking assist device of the present invention further comprises: A walking assist device that provides an assist force to a user to assist walking in forward and backward directions, a waist orthosis attached to the user's waist; a waist frame fixed to the user's waist via the waist orthosis; a leg brace attached to the leg of the user; a leg frame connecting the waist frame and the leg orthosis; a motion assist mechanism that moves the leg orthosis relative to the waist frame to apply the assist force to the user's leg via the leg orthosis; an additional holding member that is detachably attached to the leg frame and to which the leg brace can be detachably attached; the leg frame has a holding portion to which the leg orthosis can be detachably attached, When worn, the leg orthosis is connected to either the holding portion or the additional holding member and is positioned on the front side of the user's thigh, a holding position of the leg orthosis by the additional holding member is located above a holding position of the leg orthosis by the holding part, The position at which the additional holding member holds the leg orthosis in the front-rear direction is located rearward of the position at which the holding portion holds the leg orthosis in the front-rear direction.

[0034] The wearing position of the leg orthosis (i.e., the distance from the waist frame to the leg orthosis) is designed based on the vertical length from the waist to a predetermined position on the leg (e.g., above the knee) for a specific user's body type. However, like abdominal circumference, this length can vary greatly depending on the user.

[0035] Therefore, with this configuration, even if a user wears the leg orthosis whose length is significantly different from the expected length, the position of the leg orthosis can be easily adjusted to suit the user simply by providing an additional holding member and having the additional holding member hold the leg orthosis.

[0036] Furthermore, since providing an additional holding member is easier than manufacturing multiple types of walking assist devices with different shapes, sizes, etc., increases in production costs can be suppressed.

[0037] However, if the leg orthosis is positioned in front of the user's thigh when worn and the additional holding member is positioned higher than the original holding part, when the leg orthosis is held by the additional holding part, there is a risk that the holding part that is not holding the leg orthosis will come into contact with a part of the user's leg below the part to which the leg orthosis is worn when worn.

[0038] Therefore, by positioning the position where the additional holding member holds the leg orthosis in the front-to-rear direction further rearward than the position where the holding unit holds the leg orthosis in the front-to-rear direction, it becomes easier to ensure a sufficient distance between the holding unit and the user's leg even when the leg orthosis is held by the additional holding member and worn, which in turn reduces contact between the holding unit and the user's leg and prevents the user from feeling uncomfortable. [Brief explanation of the drawings]

[0039] [Figure 1] 1 is a side view showing an assist device according to an embodiment of the present invention worn by a user; [Figure 2] 2 is an enlarged perspective view showing the structure around the waist frame of the assist device of FIG. 1. FIG. [Figure 3A] FIG. 2 is a plan view of the assist device of FIG. 1, showing a state in which a spacer is not attached. [Figure 3B] FIG. 2 is a plan view of the assist device of FIG. 1, showing a state in which a spacer is attached. [Figure 3C] FIG. 2 is a plan view of the assist device of FIG. 1, showing a state in which the length of the lumbar orthosis has been adjusted after the spacer has been attached. [Figure 3D] 2 is a plan view of the assist device of FIG. 1, showing the state in which the assist device is worn by a user after spacers are attached and the length of the waist orthosis is adjusted. FIG. [Figure 4] FIG. 10 is a plan view of a modified example of the assist device of FIG. 1, showing a state in which a thin spacer is attached. [Figure 5] FIG. 10 is a perspective view of a spacer of an assisting device according to a modified example. [Figure 6]6 is a side view showing the movable range of a mounting portion that is a part of the spacer of the assisting device shown in FIG. 5. [Figure 7] FIG. 2 is a perspective view showing the structure around the leg frame of the assist device of FIG. 1. [Figure 8A] 2 is a perspective view of the structure around the attachment of the assist device of FIG. 1, seen from the front side. FIG. [Figure 8B] 2 is a perspective view of the structure around the attachment of the assist device of FIG. 1, seen from the rear side. [Figure 9] FIG. 2 is an enlarged side view showing the structure around the attachment of the assist device of FIG. 1. DETAILED DESCRIPTION OF THE INVENTION

[0040] An assist device A (walking assist device) according to an embodiment will be described below with reference to the drawings.

[0041] In the following description, the "front-to-back direction" refers to the front-to-back direction of the user U wearing the assist device A when the user U is standing upright (i.e., the walking direction mainly assisted by the assist device A), and the "left-to-right direction" refers to the left-to-right direction of the user U. Furthermore, the "inner surface" and "outer surface" refer to the surface of a certain component that is closer to the body of the user U as the "inner surface" and the surface that is farther away as the "outer surface."

[0042] In the following description, an axis "extending in the left-right direction" includes not only an axis extending along the left-right direction as described above, but also an axis extending in the left-right direction and tilted forward / backward or up / down.

[0043] [Outline of the assist device] First, with reference to FIGS. 1 and 2, the schematic configuration of the assist device A of this embodiment and the assist force applied to the user U will be described.

[0044] As shown in Figures 1 and 2, the assist device A includes a waist brace 1 attached to the waist of the user U, a waist frame 2 fixed to the waist of the user U via the waist brace 1, a pair of left and right leg braces 3 attached to the thighs of the left and right legs of the user U, a pair of left and right leg frames 4 connecting the waist frame 2 and the leg braces 3, and a pair of left and right actuators 5 (motion assistance mechanisms) that apply an assist force to the legs of the user U.

[0045] In the assist device A, the actuator 5 rotates each of the left and right leg orthoses 3 in the front-rear direction relative to the waist frame 2 at different times around a first axis a1 extending in the left-right direction (see the directions of the arrows in FIG. 1). As a result, an assist force, which is a force that moves the legs of the user U forward or backward, is applied to the legs of the user U via the leg orthoses 3. This assist force then assists the user U in walking in the front-rear direction.

[0046] The walking assist device of the present invention is not limited to a device that applies an assist force to each of the thighs of the left and right legs of the user U, like the assist device A of this embodiment, but may be any device that applies an assist force to the user's legs via leg orthoses.

[0047] Therefore, for example, the walking assist device may apply an assist force to only one of the left or right leg, or the part to which the assist force is applied may be a part of the user's leg other than the thigh, such as the lower leg or the flat part of the foot.

[0048] [Components of the assist device] Next, the components of the assist device A will be described in detail with reference to FIGS.

[0049] [Lumbar frame configuration] As shown in Figures 2 and 3A, the waist frame 2 has a main body 20, which is a curved, arc-shaped member with an open front side, and an attachment part 21 located on the inner surface of the main body 20.

[0050] 1 and 2, when worn, both end portions 20a of main body 20 are positioned to the sides of the waist or upper thighs of user U. One of a pair of actuators 5 (left and right) is attached to the lower side of each of end portions 20a. A base end portion of second buckle member 12b of adjustment belt 12 of waist orthosis 1 (described later) is attached to the inner surface of each of end portions 20a.

[0051] 2 and 3A, a base end portion of a second fixing belt member 10b of a fixing belt 10 of a lumbar orthosis 1 (described later) is attached to the inner surface of central portion 20b of main body portion 20 at a position to the side of attachment portion 21. Furthermore, a base end portion of a first buckle member 12a and a base end portion of an adjustment belt member 12c of an adjustment belt 12 of lumbar orthosis 1 (described later) are attached to the inner surface of central portion 20b at a position farther from attachment portion 21 than the position at which the base end portion of second fixing belt member 10b is attached.

[0052] A spacer 11 of the waist orthosis 1, which will be described later, is detachably attached to the attachment portion 21 (see FIGS. 4B to 5).

[0053] The lumbar frame of the present invention is not limited to this configuration, but may be any type that is fixed to the user's lumbar region via a lumbar brace. Therefore, for example, the lumbar frame may be an annular member, rather than a curved, arc-shaped member with an open front side, as in the lumbar frame 2 of this embodiment. Also, the motion-assist mechanism may be attached to another component of the walking assist device, rather than to the lumbar frame.

[0054] [Lumbar brace configuration] As shown in Figures 2 and 3B, the lumbar orthosis 1 has a fixing belt 10 extending forward from the lumbar frame 2, a spacer 11 that can be detachably attached to the lumbar frame 2, and an adjustment belt 12 that is connected to the lumbar frame 2 and the fixing belt 10.

[0055] [Configuration of the lumbar brace fixing belt] The fixing belts 10 are a pair of left and right belt-like members. Each fixing belt 10 has a first fixing belt member 10a located on the front side, a second fixing belt member 10b located on the rear side and located to the side of the spacer 11 when the spacer 11 is attached, and a fastening mechanism 10c provided at the tip of the first fixing belt member 10a.

[0056] The first fixed belt member 10a is made of a fabric having a certain degree of rigidity, and has a cushioning material inside. A fastening / locking member 10c1 (locking member) of the fastening mechanism 10c, which will be described later, is attached to the outer surface of the tip of the first fixed belt member 10a.

[0057] The second fixed belt member 10b is made of a fabric that is softer and easier to fold than the first fixed belt member 10a. Therefore, when a force is applied to the first fixed belt member 10a to move it closer to the second fixed belt member 10b, the second fixed belt member 10b deforms so as to be folded before the first fixed belt member 10a deforms (see FIGS. 3C, 3D, etc.).

[0058] The base end of the second fixing belt member 10b (the end opposite to the end on the first fixing belt member 10a side) is attached to the inner surface of the central part 20b of the main body part 20 of the waist frame 2, at a position to the side of the mounting part 21 of the waist frame 2.

[0059] The fastening mechanism 10c is composed of a pair of left and right fastening and locking members 10c1 attached to the outer surface of each tip of the first fixed belt member 10a, and a belt-shaped fastening belt member 10c2. The fastening belt member 10c2 can be detachably fastened to each of the pair of left and right fastening and locking members 10c1 at both ends. The length of the fastening belt member 10c2 can be freely changed.

[0060] When worn, the first fixing belt member 10a contacts the user U's waist from the side to the front side, and the fastening belt member 10c2 of the fastening mechanism 10c contacts the front of the user U (specifically, the center of the abdomen) (see Figure 1).

[0061] Furthermore, when worn, the second fixed belt member 10b may contact the user U's waist from the side to the side of the back, or may not contact the user U's waist, depending on the length adjusted by the adjustment belt 12 and the front-to-back thickness of the spacer 11.

[0062] However, the fixing belt of the present invention is not limited to this configuration, and when worn, it may have a first fixing belt member that abuts against the front of the user and is located on the front side to which the adjustment belt is connected, and a second belt portion that is located on the rear side and to the side of the spacer, and the second fixing belt member is configured to be easier to fold than the first fixing belt member.

[0063] Therefore, for example, in the assist device A of this embodiment, the fastening mechanism 10c may be omitted, and the first fixed belt member 10a consisting of two members may be combined into one member. Also, either one of the two second fixed belt members 10b may be omitted.

[0064] [Spacer configuration for lumbar brace] As shown in FIG. 2, the spacer 11 has a cushion portion 11a and an attachment mechanism (not shown) that is detachably attached to the attachment portion 21 of the waist frame 2.

[0065] 3B and 4, the assisting device A is provided with a plurality of spacers 11 having different thicknesses in the front-to-rear direction when the cushion portion 11a is attached. When the assisting device A is in use, one spacer 11 selected from the plurality of spacers 11 according to the body type of the user U is attached to the lumbar frame 2. In other words, the assisting device A allows the thickness of the spacer 11 in the front-to-rear direction to be changed.

[0066] As shown in FIG. 2, the cushion portion 11a is composed of a first layer 11a1 that is located at the front end when worn and that abuts against the back of the user U's waist when worn, a second layer 11a2 that is attached to the back side of the first layer 11a1, and a third layer 11a3 that is located at the rear end when worn and that is attached to the back side of the second layer 11a2.

[0067] The first layer 11a1, the second layer 11a2, and the third layer 11a3 are all made of elastic materials, but the hardness of the first layer 11a1 is lower than the hardness of the second layer 11a2, which is lower than the hardness of the third layer 11a3.

[0068] The attachment mechanism is a plurality of pins provided on the back side of the third layer 11a3. The spacer 11 is detachably attached to the waist frame 2 by engaging the pins with grooves or holes (see FIG. 5) provided in the attachment portion 21 of the waist frame 2.

[0069] The attachment mechanism is not limited to this configuration, but may be any mechanism capable of fixing the spacer 11 to the attachment portion 21 of the waist frame 2. Therefore, for example, instead of the attachment mechanism of the type that locks a pin as in the assist device A, an attachment mechanism that uses a hook-and-loop fastener may be used.

[0070] As shown in Figure 3B, before attachment, the side of the spacer 11 is spaced apart from the second fixing belt member 10b of the fixing belt 10 so that a gap S is formed between the virtual line L described below and the side of the spacer 11.

[0071] [Configuration of the lumbar brace adjustment belt] 2 and 3B, two adjustment belts 12 are provided on the left and right, one attached to each of the pair of left and right belt-like members, the fixed belts 10. In the assist device A, by operating at least one of the two adjustment belts 12, it is possible to adjust the distance D in the front-to-rear direction between the fixed belts 10 and the spacer 11 when the assist device A is worn (see FIG. 3D).

[0072] Each of the adjustment belts 12 has a first buckle member 12a attached to the inner surface of the central portion 20b of the main body portion 20 of the waist frame 2, a second buckle member 12b attached to the inner surface of both end portions 20a of the main body portion 20, and an adjustment belt member 12c inserted through the second buckle member 12b and the fastening / locking member 10c1 of the fastening mechanism 10c of the fixing belt 10 and locked to the first buckle member 12a.

[0073] The first buckle member 12a is constructed by attaching a buckle to the tip of a piece of low-stretch fabric.

[0074] The base end of the first buckle member 12a is attached to the inner surface of the central portion 20b of the main body portion 20 of the waist frame 2 at a position (first attachment position P1) farther from the spacer 11 than the attachment position of the base end of the second fixing belt member 10b of the fixing belt 10.

[0075] The overall length of the first buckle member 12a is longer than that of the second fixed belt member 10b of the unfolded fixing belt 10. Therefore, the buckle at the tip of the first buckle member 12a is located on the outer surface side of the first fixed belt member 10a of the fixing belt 10, regardless of the state of the second fixed belt member 10b.

[0076] The second buckle member 12b is formed by attaching a buckle to the tip of a fabric with low elasticity. The elasticity of the fabric that forms the second buckle member 12b is lower than the elasticity of the fabric that forms the adjustment belt member 12c.

[0077] The base end of the second buckle member 12b is attached to the inner surface of each of both end portions 20a of the main body portion 20 of the waist frame 2. That is, the base end of the second buckle member 12b is attached to a position (second attachment position P2) farther from the spacer 11 than the first attachment position P1.

[0078] The adjustment belt member 12c is made of the same fabric as that used for the first buckle member 12a.

[0079] The base end of adjustment belt member 12c is attached to the inner surface of central portion 20b of main body 20 of waist frame 2, at a position below the position (first attachment position P1) where the base end of first buckle member 12a is attached. Therefore, in a plan view, the position where the base end of adjustment belt member 12c is attached and the position where the base end of first buckle member 12a is attached almost overlap each other in a plan view.

[0080] The center portion of the adjustment belt member 12c is slidably engaged with the fastening / locking member 10c1 of the fixed belt 10. In addition, the center portion of the adjustment belt member 12c, which is on the base end side and the tip end side of the portion engaged with the fastening / locking member 10c1, is slidably inserted into the buckle at the tip end of the second buckle member 12b.

[0081] The tip of the adjustment belt member 12c is slidably inserted into the buckle at the tip of the first buckle member 12a, and this buckle can fix the adjustment belt member 12c at any sliding position.

[0082] The adjustment belt of the present invention is not limited to this configuration, but may be any belt that is connected to the waist frame and the fixed belt and adjusts the front-to-rear distance between the fixed belt and the spacer when worn. Therefore, for example, the second buckle member 12b may be omitted from the assist device A of this embodiment. Also, for example, the fixing position of the adjustment belt may be set appropriately depending on the shapes of the other components.

[0083] [Adjustment when wearing a lumbar brace] 3A to 3D, we will now explain the operations performed when adjusting the lumbar orthosis 1 to fit the body shape of the user U, and the operations performed when putting the lumbar orthosis 1 on the user U. As an example, we will explain the operations performed when an assist device A originally manufactured for adults is used by a child with a smaller waist circumference than that of an adult.

[0084] As shown in Fig. 3A, when assist device A is used by an adult with the originally intended body type, it is used without spacer 11 attached to lumbar orthosis 1. However, when assist device A is used by user U, who is a child with a smaller abdominal circumference than an adult, the distance D (see Fig. 3D) in the front-to-back direction between fixing belt 10 and spacer 11 when worn becomes too large, and it becomes impossible to sufficiently fix lumbar orthosis 1 (and thus assist device A) to the body of user U.

[0085] 3B, first, a spacer 11 is attached to the attachment portion 21 located at the center of the inner surface of the waist frame 2 according to the body type (abdominal circumference size) of the child user U. As described above, this spacer 11 is appropriately selected from among multiple types of spacers prepared according to the abdominal circumference size of the user U (see FIGS. 3B and 4).

[0086] Next, as shown in Fig. 3C, the adjustment belt 12 is shortened. Specifically, the tip of the adjustment belt member 12c of the adjustment belt 12 is slid so as to be pulled out of the buckle of the first buckle member 12a (see Fig. 2, etc.).

[0087] Here, the center portion of the adjustment belt 12 (the center portion of the adjustment belt member 12c) is fastened to a fastening / fastening member 10c1 provided on the outer surface of the tip portion of the first fixed belt member 10a of the fixing belt 10.

[0088] One end of the adjustment belt 12 (the base end of the first buckle member 12a) is attached to a first attachment position P1 on the inner surface of the central portion 20b of the main body portion 20 of the waist frame 2. The other end of the adjustment belt 12 (the base end of the second buckle member 12b) is attached to a second attachment position P2 on the inner surface of each end portion 20a of the main body portion 20 of the waist frame 2 (i.e., a position farther from the spacer 11 than the first attachment position P1).

[0089] Therefore, when the length of the adjustment belt 12 is shortened, the fastening / locking member 10c1 (and thus the first fixed belt member 10a on which the fastening / locking member 10c1 is provided) moves closer to the line segment connecting the first and second mounting positions on the virtual line L passing through those mounting positions.

[0090] Here, the second fixed belt member 10b is connected to the first fixed belt member 10a at one end thereof and to the waist frame 2 at the other end thereof.

[0091] Therefore, when the first fixed belt member 10a moves closer to that line segment, the second fixed belt member 10b is compressed and folded by the first fixed belt member 10a and the waist frame 2. Furthermore, when the amount of operation of the adjustment belt 12 is large, the first fixed belt member 10a begins to curve after the second fixed belt member 10b has been folded to a certain extent.

[0092] At this time, the folded portion protrudes from the imaginary line L. However, since the adjustment belt 12 is attached at a position farther from the spacer 11 than the fixing belt 10 (i.e., on the outer surface side of the fixing belt 10), the movement of the folded portion is restricted by the adjustment belt 12. Therefore, the folded portion exists only on the side closer to the spacer 11 than the imaginary line L.

[0093] In the assist device A, the side surface of the spacer 11 and the second fixing belt member 10b are configured to be separated so that a gap S is formed between the virtual line L and the side surface of the spacer 11. Therefore, the folded portion is naturally accommodated in the gap S. This prevents the folded portion from interfering with the contact between the fixing belt 10 and the spacer 11 and the body of the user U.

[0094] The operation described with reference to FIG. 3C is repeated until it is determined that the distance D1 has been adjusted to a state suitable for the waist circumference of the user U.

[0095] Then, after it is determined that the distance D1 has been adjusted to a state appropriate for the waist circumference of the user U, as shown in FIG. 3D, an operation is performed to shorten the length of the fastening belt member 10c2 fastened to the fastening / locking member 10c1, thereby fastening the waist orthosis 1 around the waist of the user U, thereby completing the attachment of the assist device A to the user U.

[0096] As described above, the assist device A has the fixing belt 10 that contacts the front of the user U when worn, and the spacer 11 that contacts the waist of the user U from behind when worn. Therefore, when worn, the fixing belt 10 and the spacer 11 contact so as to sandwich the user U, and the waist orthosis 1 (and therefore the entire assist device A) is fixed to the user U.

[0097] Here, spacer 11 is configured so that its thickness in the front-to-rear direction can be changed, and therefore, the shape of lumbar orthosis 1 can be easily adjusted to suit the abdominal circumference of user U simply by changing the thickness.

[0098] That is, assist device A can be sufficiently fixed even if the abdominal circumference of user U varies greatly, simply by changing the thickness of spacer 11, which is part of waist orthosis 1. Furthermore, since creating a structure in which the thickness of spacer 11 can be changed is easier than manufacturing multiple types of walking assist devices with different shapes, sizes, etc., increases in production costs can be suppressed.

[0099] In the assist device A, the fixed belt 10 that contacts the front of the user U has a first fixed belt member 10a located on the front side and to which the adjustment belt 12 is connected, and a second fixed belt member 10b located on the rear side and to the side of the spacer 11. The second fixed belt member 10b is configured to be easier to fold than the first fixed belt member 10a.

[0100] Therefore, when the adjustment belt 12 shortens the front-to-rear distance D1 between the fixing belt 10 and the spacer 11 when they are attached, the second fixing belt member 10b is naturally folded before the first fixing belt member 10a is deformed.

[0101] Here, when worn, the spacer 11 abuts against the waist of the user U from the rear to the front surface, and the second fixing belt member 10b is located to the side of the spacer 11. Therefore, the folded portion of the second fixing belt member 10b is located to the side of the spacer 11, and is located behind the front surface of the spacer 11 that abuts against the waist of the user U. This prevents the folded portion from coming into contact with the waist of the user U, causing discomfort to the user U.

[0102] Furthermore, since the folded portion maintains a moderate degree of elasticity, providing the easily foldable second fixing belt member 10b makes it less likely that the user U will feel an excessive sense of pressure compared to when the entire fixing belt 10 is made of an elastic material, etc. As a result, it is possible to prevent the user U from feeling uncomfortable due to a sense of pressure from the fixing belt 10.

[0103] [Modification of the fixing belt] In the assist device A of this embodiment, the second fixed belt member 10b is made of a softer cloth than the first fixed belt member 10a, which makes the second fixed belt member 10b easier to fold than the first fixed belt member 10a.

[0104] However, the second fixed belt member of the present invention is not limited to such a configuration, and may be configured by other methods to be easier to fold than the first fixed belt member.

[0105] Therefore, for example, the second fixed belt member may be configured by alternately connecting plate materials and foldable soft materials, or by connecting a plurality of plate materials to each other so that they can rotate freely.

[0106] Using plate materials in this way makes it easy to fold while maintaining rigidity. In addition, the folded shape can be controlled, further reducing the possibility of the folded part coming into contact with the user.

[0107] Furthermore, when using plates in this way, it is preferable to use magnets for the plates, as this configuration causes adjacent plates to attract each other when folded, eliminating any flex in the fixing belts and making it easier to fix the device to the user's body.

[0108] Furthermore, for example, in the assist device A of this embodiment, as shown in Figures 1 and 2, the first attachment position P1 where one end of the adjustment belt 12 is attached and the second attachment position P2 where the other end is attached are located at positions that are offset in the vertical direction, and the adjustment belt 12 extending from these positions is folded back and fastened by the fastening / locking member 10c1 provided at the tip of the fixed belt 10.

[0109] That is, the fixed belt 10 is subjected to a resultant force from the adjustment belt 12, which is a combination of a tension force from the fastening / locking member 10c1 toward the first mounting position P1 and a tension force from the fastening / locking member 10c1 toward the second mounting position P2.

[0110] Therefore, although not adopted in the assist device A, when a crease that induces folding is provided in the second fixed belt member 10b of the fixed belt 10, it is advisable to configure the crease in a shape that extends in a direction perpendicular to the resultant force. With such a configuration, simply by adjusting the adjustment belt 12 to be shorter, the force generated during the adjustment can be used without waste, and the second fixed belt member 10b can be easily folded.

[0111] Furthermore, in cases where the fold position of the second fixed belt member can be set in advance, as in these modified examples, it is preferable to configure the fold so that it contacts the front end of the spacer when folded.

[0112] With this configuration, the front surface of the spacer (i.e., the surface that contacts the user's waist from the rear) and the surface of the second fixing belt member that contacts the user's waist tend to be continuous. Even if they are not continuous, it is easy to minimize any grooves or steps between those surfaces. This makes it possible to reduce the discomfort felt by the user even when the boundary between those surfaces contacts the user's waist.

[0113] [Spacer Modification] 2, in the assist device A of this embodiment, a plurality of spacers 11 with cushion portions 11a of different thicknesses are prepared, and an appropriate spacer 11 is selected from the spacers 11 according to the body type of the user U and attached to the lumbar frame 2 (see FIGS. 3B and 4). As a result, in the assist device A, the thickness of the spacer 11 in the front-to-rear direction is made variable.

[0114] However, the spacer of the present invention is not limited to such a configuration, but may be attached to the lumbar frame, have a thickness that can be changed in the front-to-back direction, and abut the front side against the back of the user's waist when worn.

[0115] Therefore, for example, as shown in Figures 5 and 6, in the assist device A of this embodiment, the mounting portion 21 of the lumbar frame 2 may be made part of the spacer 11, and the mounting portion 21 may be made movable so that the thickness of the spacer 11 can be adjusted.

[0116] Specifically, it is preferable that the mounting part 21 is located at its lower part and is pivotable about the second axis a2 extending in the left-right direction relative to the main body part 20 of the waist frame 2 and can be fixed at any position. This makes it possible to change the thickness of the spacer 11 not only by changing the thickness of the cushion part 11a itself but also by changing the posture of the mounting part 21.

[0117] Furthermore, in the assist device A of this embodiment, a plurality of mounting parts 21 that can be attached to and detached from the main body part 20 may be provided, and cushion parts 11a of different thicknesses may be integrated with each of the mounting parts 21 to form a plurality of spacers 11 of different thicknesses. With this configuration, it is possible to omit the attachment mechanism between the mounting parts 21 and the cushion parts 11a. Furthermore, in this configuration, it is preferable that the mounting parts 21 be configured to be attached to and detached from the main body part 20 with a single touch.

[0118] Although not adopted in the assist device A of this embodiment, the cushion section may be made of a thin sponge-like material that can be stacked in any number, and the thickness of the spacer may be changed by changing the number of stacked sheets depending on the user's body type.Also, the cushion section may be made of a bag material that contains a predetermined amount of bead material and into which any amount of gas can be injected, and the thickness of the spacer may be changed by changing the amount of air injected.

[0119] Furthermore, it is preferable that the spacer of the present invention is such that the thickness in the front-rear direction at the upper side and the thickness in the front-rear direction at the lower side can be changed independently.

[0120] This is because, in general, the shape of a user's lower back (more specifically, the pelvis) in the up-down direction is more likely to vary than the shape in the left-right direction, and therefore, with this configuration, the shape of the cushion part (and therefore the shape of the back side of the lower back orthosis) can be easily adjusted to a shape that is suitable for the user's lower back.

[0121] Specifically, for example, in the assist device A of this embodiment, the upper and lower parts of the cushion portion 11a may be prepared as independent components in multiple types, and each may be provided with an individual attachment mechanism so that they can be attached and detached independently to the attachment portion 21 of the lumbar frame 2.

[0122] Furthermore, for example, although not adopted in the assist device A of this embodiment, the cushion section may be formed by connecting two independent bags, each containing a predetermined amount of bead material and into which any amount of gas can be injected, one above the other. By adopting such a cushion section, the front-to-rear thickness of the upper side and the other below can be changed independently by simply adjusting the amount of gas to be injected.

[0123] In addition, in the assist device A of this embodiment, as shown in Figure 3D, etc., a gap S is formed between an imaginary line L passing through a first mounting position P1 where one end of the adjustment belt 12 is attached and a second mounting position P2 where the other end is attached, and the side of the spacer 11.

[0124] This is because, as mentioned above, the folded portion of the second fixing belt member 10b of the fixing belt 10 is structurally designed so that it can only move in the direction approaching the spacer 11 by the adjustment belt 12, and the folded portion that has moved is accommodated in the gap S so that it does not come into contact with the user U.

[0125] However, the spacer of the present invention is not limited to such a configuration. Therefore, for example, in the assist device A of this embodiment, if the folded portion of the second fixed belt member 10b of the fixed belt 10 can move in a direction away from the spacer 11, such a gap S does not need to be provided.

[0126] [Actuator configuration] As shown in Figures 1, 2, and 7, a pair of left and right actuators 5 are provided, one at each end 20a of the main body 20 of the waist frame 2, and are located above the thighs or to the sides of the waist of the user U when worn.

[0127] An arm 40 of the leg frame 4, which will be described later, is attached to a lower portion of the actuator 5 so as to be able to swing freely in the front-rear direction. The driving force output from the actuator 5 swings the arm 40 (and thus the leg orthosis 3 held by the leg frame 4) in the front-rear direction. As a result, the driving force output from the actuator 5 acts on the legs of the user U as an assist force to assist walking.

[0128] The motion assist mechanism of the present invention is not limited to this configuration, but may be any mechanism that moves the leg orthosis relative to the waist frame and applies an assist force to the user's leg via the leg orthosis. Therefore, for example, an elastic body such as a spring may be used instead of an electric actuator. The motion assist mechanism may also be attached to a component other than the waist frame.

[0129] [Leg frame configuration] 1 and 7, the leg frame 4 connects the waist frame 2 and the leg brace 3. The leg frame 4 has a bent rod-shaped arm 40 swingably attached to the actuator 5 at its base end, a first holding part 41 provided at the tip of the arm 40, and a second holding part 42 (additional holding material) detachably attached to the tip of the arm 40.

[0130] The arm 40 has a first arm portion 40a that extends along the side of the upper part of the user U's thigh when worn, a second arm portion 40b that curves from the side of the user U's thigh to the front when worn, and a third arm portion 40c that extends along the front of the lower part of the user U's thigh (e.g., above the knee) when worn.

[0131] The base end of the first arm portion 40a is connected to the actuator 5. The base end of the second arm portion 40b is connected to the tip end of the first arm portion 40a. The base end of the third arm portion 40c is connected to the tip end of the second arm portion 40b.

[0132] The tip of third arm portion 40c is configured as a hollow member, and a hole is formed in the end surface on the tip side of third arm portion 40c so as to connect the internal space with the external space.

[0133] The arm 40 is not limited to a member bent so as to be divided into three parts as described above, but may be any member that can connect the actuator 5 and the leg orthosis 3. Therefore, for example, the arm 40 may be a member that extends while curving from the side of the upper part of the thigh of the user U to the front or back of the lower part of the thigh when worn.

[0134] The first holding portion 41 has a rod-shaped portion 41a slidably inserted into the tip of the third arm portion 40c, and a holding portion 41b provided at the tip of the rod-shaped portion 41a.

[0135] The position of the rod-shaped portion 41a relative to the third arm portion 40c can be fixed at any position by a locking mechanism (not shown).

[0136] The holding part 41b has a first protrusion 41b1 on the rear side that protrudes towards the user U when worn. The first protrusion 41b1 has a bulging spherical tip that can be inserted into and removed from a hole in a pad 30 of the leg orthosis 3, which will be described later.

[0137] As shown in Figures 7, 8A and 8B, the second holding portion 42 has a fixing portion 42a for fixing to the third arm portion 40c, and a second protrusion 42b provided on the rear side of the fixing portion 42a.

[0138] The fixing portion 42a is composed of a pair of clamping members 42a1 that can clamp the outer periphery of the third arm portion 40c, and a fixing screw 42a2 that fixes the clamping members 42a1 together and fixes the fixing portion 42a to the third arm portion 40c.

[0139] The clamping member 42a1 can clamp the third arm portion 40c at a plurality of selectable positions in the vertical direction. Therefore, the fixing portion 42a (and therefore the second holding portion 42) is detachable from the third arm portion 40c and can be fixed to the third arm portion 40c at any position in the vertical direction.

[0140] The second protrusion 42b has a bulging spherical tip and can be inserted into or removed from a hole in a pad 30 of the leg orthosis 3, which will be described later. The length of the second protrusion 42b (the amount of protrusion toward the rear) is longer than the length of the first protrusion 41b1 of the holding part 41b.

[0141] [Leg brace configuration] 1 and 7, the leg orthosis 3 is a member attached to the thigh of the user U, and applies an assist force to the leg of the user U by pressing the front of the thigh of the user U with a driving force transmitted from the actuator 5 via the leg frame 4. The leg orthosis 3 has a pad 30 and a leg belt 31 for fixing the pad 30 to the thigh of the user U.

[0142] The pad 30 has a hole (not shown) on its outer surface (the surface opposite to the surface that abuts against the thigh of the user U when worn). Either the tip of the first protrusion 41b1 of the first holding portion 41 of the leg frame 4 or the second protrusion 42b of the second holding portion 42 is inserted into the hole and is locked by the holding portion having the protrusion.

[0143] Here, the tips of the first protrusion 41b1 and the second protrusion 42b are spherical. Therefore, even when the pad 30 is locked, it can tilt somewhat freely around its tips relative to the first holding part 41 and the second holding part 42 (i.e., the leg frame 4). As a result, even when the leg frame 4 is swinging to apply an assist force, the pad 30 naturally abuts against the front of the user U's thigh in an appropriate posture.

[0144] The base end of the leg belt 31 is attached to one side of the pad 30, and the other end can be fastened to the other side of the pad 30. When worn, the leg belt 31 abuts against both sides and the back of the user U's thighs, fixing the pad 30 to the front of the user U.

[0145] [Adjustment when wearing leg braces] 9, we will explain the operations performed when adjusting the leg orthosis 3 to fit the body shape of the user U, and the operations performed when putting the leg orthosis 3 on the user U. As an example, we will explain the operations performed when an assist device A originally manufactured for adults is used by a small child whose thighs are shorter than those of an adult.

[0146] The attachment position of the leg orthosis 3 (i.e., the distance from the waist frame 2 to the leg orthosis 3) is designed assuming the vertical length from the waist to a predetermined position on the leg (for example, above the knee) for a predetermined body type of a user U. As described above, the first holding part 41 that holds the pad 30 of the leg orthosis 3 is vertically slidable relative to the arm 40 of the leg frame 4, and can be fixed at any position.

[0147] Therefore, for example, when the assist device A is used by an adult, as originally intended, the position of the leg brace 3 when worn (strictly speaking, the position where the pad 30 abuts against the thigh) can be adjusted to an appropriate position for the user U simply by sliding and fixing the first holding part 41.

[0148] However, like the abdominal circumference, the length from the waist to a predetermined position on the leg may also vary greatly depending on the user U. For example, the length for a child is much shorter than that for an adult. Therefore, when such a child user U uses the assist device A, it may not be possible to position the leg orthosis 3 appropriately for the user U when wearing it, no matter how much the first holding part 41 is slid within the slidable range.

[0149] Therefore, in the assist device A, in addition to the first holding part 41 originally provided on the arm 40 of the leg frame 4, a second holding part 42 that can be attached and detached to the arm 40 is provided as a member for holding the leg orthosis 3.

[0150] As described above, the second holding part 42 is attached to the third arm part 40c of the arm 40, which is positioned higher than the first holding part 41. In other words, the position at which the leg orthosis 3 is held by the second holding part 42 is positioned higher than the position at which the leg orthosis 3 is held by the first holding part 41.

[0151] Therefore, with the assist device A, even if the length from the waist to a predetermined position on the leg is shorter than expected, the position of the leg orthosis 3 can be easily adjusted to a position suitable for the user U simply by having the second holding portion 42 hold the leg orthosis 3.

[0152] Furthermore, providing an additional, detachable second holding portion 42 on the arm 40 is easier than manufacturing multiple types of walking assist devices with different shapes, sizes, etc., and therefore can also help prevent increases in production costs.

[0153] However, if the leg orthosis 3 is configured to be positioned in front of the user U's thigh when worn, and the second holding part 42 is positioned higher than the original first holding part 41, when the leg orthosis 3 is held by the second holding part 42, there is a risk that the first holding part 41, which is not holding the leg orthosis 3, may come into contact with a part of the user U's leg below the part where the leg orthosis 3 is worn (such as the knee or lower leg) when worn.

[0154] Therefore, in the assist device A, the position at which the second holding part 42 holds the leg orthosis 3 in the front-rear direction is located further rearward than the position at which the first holding part 41 holds the leg orthosis 3 in the front-rear direction. Specifically, the length of the second protrusion 42b of the second holding part 42 in the front-rear direction is made longer than the length of the first protrusion 41b1 of the first holding part 41.

[0155] As a result, in the assist device A, even when the leg orthosis 3 is held by the second holding part 42 and worn, it is easy to ensure a distance between the first holding part 41 and the leg of the user U. As a result, contact between the first holding part 41 and the leg of the user is reduced, making it easy to reduce discomfort felt by the user U.

[0156] [Modifications of leg braces and leg frames] The leg orthosis of the present invention is not limited to the configuration described in this embodiment, but may be any type that is attached to the user's leg. The leg frame of the present invention is not limited to the configuration described in this embodiment, but may be any type that connects the waist frame and the leg orthosis.

[0157] Therefore, for example, the position where the leg orthosis is held by the additional holding member may be configured to be lower than the position where the leg orthosis is held by the existing holding part, which is the opposite of the assist device A of this embodiment. This makes it possible to easily adjust the position where the leg orthosis is worn to an appropriate position for the user, even when the user has a larger body type than originally intended.

[0158] Furthermore, for example, in the assist device A of this embodiment, the first holding part 41 may be omitted and only the second holding part 42 may be provided. In this case, the second holding part 42 may be configured to be fixed to any position on the arm 40 of the leg frame 4, as in this embodiment, or the second holding part 42 may be fixed to the arm 40 of the leg frame 4 at only one position, and the second protrusion 42b that holds the leg orthosis 3 may be configured to be movable in the vertical direction.

[0159] Furthermore, for example, in the assist device A of this embodiment, the second holding part 42 may be configured to be fixed to the first holding part 41 instead of the arm 40 of the leg frame 4. In this case, an arm-shaped member extending in the vertical direction may be provided between the fixing part 42a of the second holding part 42 and the second protrusion 42b.

[0160] Furthermore, for example, the structure of the leg orthosis may be devised so that it can be fixed to the leg frame at multiple different positions in the vertical direction. Specifically, for example, the hole of the leg orthosis 3 in the assist device A of this embodiment may be configured as a vertically long groove, and the leg orthosis 3 may be fixed to the leg frame 4 at any position in the groove. In this case, the leg frame may have only one holding part, or the holding part may be configured so as not to slide.

[0161] [Other embodiments] Although the illustrated embodiment has been described above, the present invention is not limited to this embodiment.

[0162] For example, in the above embodiment, the front-to-back width of the waist orthosis 1 is adjusted according to the size of the user U's abdominal circumference, and the vertical position of the leg orthosis 3 is adjusted according to the length of the user U's thighs.

[0163] However, the walking assist device of the present invention is not limited to this configuration and may, for example, adjust only the front-to-back width of the waist orthosis in accordance with the user's abdominal circumference, or adjust only the up-to-down position of the leg orthosis in accordance with the user's thigh length.

[0164] Also, for example, in the above embodiment, as shown in FIG. 2, the waist frame 2 is configured as a curved, arc-shaped member with an open front side, and the shape thereof does not change.

[0165] However, the lumbar frame of the present invention may be any frame that is fixed to the user's lumbar region via a lumbar support.

[0166] Therefore, for example, by referring to the configuration described in the specification of Patent No. 6270663, in the above embodiment, each of the end portions 20a of the waist frame 2 may be configured to be freely stretchable along the extension direction of the corresponding intermediate portion 20c, and may also be configured to be freely fixed at a predetermined position by a fixing belt, locking mechanism, etc.

[0167] With this configuration, even if the position of the first axis a1, which is the center of swing of the leg orthosis 3 and the leg frame 4, shifts from the appropriate position as a result of attaching the spacer 11 to the waist orthosis 1, the position of the first axis a1 can be easily adjusted to the appropriate position by adjusting the positions of both end portions 20a.

[0168] A preferred position of the first axis a1 is, for example, a position determined based on an axis passing through the center of the wearer's hip joint (see Japanese Patent No. 6985503, etc.). [Explanation of symbols]

[0169] 1...lumbar orthosis, 2...lumbar frame, 3...leg orthosis, 4...leg frame, 5...actuator (movement assist mechanism), 10...fixing belt, 10a...first fixing belt member, 10b...second fixing belt member, 10c...fastening mechanism, 10c1...fastening / locking member (locking member), 10c2...fastening belt member, 11...spacer, 11a...cushion portion, 11a1...first layer, 11a2...second layer, 11a3...third layer, 12...adjusting belt, 12a...first buckle member, 12b...second buckle member, 12c...adjusting belt member, 20...main body portion, 20a...both ends, 20b... Central portion, 20c...intermediate portion, 21...mounting portion, 30...pad, 31...leg belt, 40...arm, 40a...first arm portion, 40b...second arm portion, 40c...third arm portion, 41...first holding portion, 41a...rod-shaped portion, 41b...holding portion, 41b1...first protrusion, 42...second holding portion (additional holding member), 42a...fixing portion, 42a1...clamping member, 42a2...fixing screw, 42b...second protrusion, A...assist device (walking assist device), D...distance, L...virtual line, P1...first mounting position, P2...second mounting position, S...gap, U...user, a1...first axis, a2...second axis.

Claims

1. A walking assist device that provides an assist force to a user to assist walking in forward and backward directions, a waist orthosis attached to the user's waist; a waist frame fixed to the user's waist via the waist orthosis; a leg brace attached to the leg of the user; a leg frame connecting the waist frame and the leg orthosis; a motion assist mechanism that moves the leg orthosis relative to the waist frame to apply the assist force to the user's leg via the leg orthosis, The waist orthosis includes a fixing belt that extends forward from the waist frame and abuts against the front of the user when worn; a spacer that is attached to the waist frame and has an adjustable thickness in the front-to-rear direction and abuts against the waist of the user from the rear side to the front side when worn; and an adjustment belt that is connected to the waist frame and the fixing belt and adjusts the distance in the front-to-rear direction between the fixing belt and the spacer when worn. the fixed belt has a first fixed belt member located on the front side and to which the adjustment belt is connected, and a second fixed belt member located on the rear side and to the side of the spacer, A walking assist device, wherein the second fixed belt member is configured to be more easily foldable than the first fixed belt member.

2. The walking assist device according to claim 1, the waist orthosis has a locking member provided on a first fixing belt member of the fixing belt and to which the adjustment belt is locked, the waist frame is an arc-shaped or annular member that is open at the front, one end of the adjustment belt is attached to a first attachment position that is a position farther from the spacer than an attachment position of the fixing belt on the inner surface of the waist frame, the other end of the adjustment belt is attached to a second attachment position on the inner surface of the waist frame, the second attachment position being farther from the spacer than the first attachment position; a side surface of the spacer and the second fixed belt member of the fixed belt are spaced apart so that a gap is formed between an imaginary line connecting the first mounting position and the second mounting position and the side surface of the spacer.

3. 3. The walking assist device according to claim 1, an additional holding member that is detachably attached to the leg frame and to which the leg brace can be detachably attached; the leg frame has a holding portion to which the leg orthosis can be detachably attached, When worn, the leg orthosis is held by either the holding portion or the additional holding member, A walking assist device, wherein the position at which the leg orthosis is held by the additional holding member is shifted in the up-down direction from the position at which the leg orthosis is held by the holding portion.

4. 4. The walking assist device according to claim 3, the leg orthosis is positioned on the front side of the user's thigh when worn, a holding position of the leg orthosis by the additional holding member is located above a holding position of the leg orthosis by the holding part, a holding position of the leg orthosis by the additional holding member in the front-to-rear direction is located rearward of a holding position of the leg orthosis by the holding portion in the front-to-rear direction.

5. The walking assist device according to any one of claims 1 to 4, A walking assist device, wherein the spacer has an upper side and a lower side whose thickness in the front-to-rear direction can be changed independently.

6. A walking assist device that provides an assist force to a user to assist walking in forward and backward directions, a waist orthosis attached to the user's waist; a waist frame fixed to the user's waist via the waist orthosis; a leg brace attached to the leg of the user; a leg frame connecting the waist frame and the leg orthosis; a motion assist mechanism that moves the leg orthosis relative to the waist frame to apply the assist force to the user's leg via the leg orthosis; an additional holding member that is detachably attached to the leg frame and to which the leg brace can be detachably attached; the leg frame has a holding portion to which the leg orthosis can be detachably attached, When worn, the leg orthosis is connected to either the holding portion or the additional holding member and is positioned on the front side of the user's thigh, a holding position of the leg orthosis by the additional holding member is located above a holding position of the leg orthosis by the holding part, a holding position of the leg orthosis by the additional holding member in the front-to-rear direction is located rearward of a holding position of the leg orthosis by the holding portion in the front-to-rear direction.

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