Assist Device

Abstract

To provide an assist device which enables reduction of work labor of a worker and can be attached or detached easily.SOLUTION: An assist device 1 supports work involving bending and stretching of knees of a worker W and includes: a first member 10; a base member 2; a second member 20; a holding member 5; a connection part; and an auxiliary force generating mechanism 40 which generates rotational force for rotating a connection member of the connection part relative to the first member 10 and / or the second member 20 so that a force acting in a direction such that the base member 2 and the holding member 5 separate from each other is generated. The connection part includes a transmission mechanism which allows the rotational force generated by the auxiliary force generating mechanism 40 to cause rotation of a first end of the connection member relative to a second end of the first member 10 and rotation of a second end of the connection member relative to a second end of the second member 20 by the same angle in the same direction.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an assist device, and more particularly to an assist device that can reduce the labor of an operator. [Background technology]

[0002] In recent years, wearable assist devices have been developed that reduce the effort required by workers when performing tasks. When worn, the assist device can support the worker when lifting or lowering objects (hereinafter sometimes simply referred to as lifting and lowering work), thereby reducing the burden on the worker.

[0003] The movements of workers performing lifting tasks can be broadly divided into two: the Stoop method, in which lifting and lowering objects is performed by bending and straightening only the waist, and the Squat method, in which lifting and lowering objects is performed by bending and straightening the knees. While the Squat method is recommended from the perspective of preventing lower back pain, it is known that when the weight of the object being lifted or lowered exceeds 15% of the worker's body weight, the worker's movements unconsciously shift from the Squat method to the Stoop method. Therefore, it is desirable for workers to consciously use the Squat method even when the weight of the object being lifted or lowered exceeds 15% of the worker's body weight, and for the assist device to be one that allows the worker to perform lifting and lowering tasks without interfering with the Squat method. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-135080 [Patent Document 2] Japanese Patent Publication No. 2020-192667 Summary of the Invention [Problem to be solved by the invention]

[0005] However, with typical wearable assist devices, the mechanism presses the front of the thighs backward, which creates resistance to the movement of bending and straightening the knees, making it difficult to lift or lower an object using the Squat method. Patent Documents 1 and 2 provide a mechanism to support bending and straightening the knees, but because they are equipped with members that come into contact with the thighs, even though the force required to bend and straighten the knees can be reduced, the worker wearing the assist device cannot naturally bend and straighten the knees.

[0006] Furthermore, with wearable assisting devices, including those disclosed in Patent Documents 1 and 2, the worker must bear the weight of the assisting device. This reduces the burden of lifting and lowering an object, but still places a burden on the worker due to wearing the assisting device.

[0007] On the other hand, if an assisting device is worn only when performing lifting or lowering work, the burden on the worker caused by the weight of the assisting device can be reduced. However, conventional assisting devices require time and effort to put on and are not easy to put on or take off. For this reason, when performing lifting or lowering work and other work in a series of movements, or when performing lifting or lowering work and other work alternately with a certain frequency, the worker must perform the other work while wearing the assisting device. As a result, even though wearing the assisting device reduces the burden of lifting or lowering an object, it may increase the burden of the other work.

[0008] In view of the above circumstances, an object of the present invention is to provide an assist device that can reduce the labor required of an operator and can be easily attached and detached. [Means for solving the problem]

[0009] < Passive method> <Passive method (1)> The first inventionThe assist device is a device that supports work that requires bending and straightening the knees of a worker, and includes: a first member; a base member provided at a first end of the first member and placed between the sole of the worker's foot and the ground during work or connected to equipment worn by the worker during work; a second member; a holding member provided at the first end of the second member and brought into contact with the worker's armpit from below; a connecting section having a connecting member whose first end is rotatably connected to a second end of the first member and whose second end is rotatably connected to the second end of the second member; and an assist force generating mechanism that generates a rotational force that rotates the connecting member of the connecting section relative to the first member and / or the second member so as to generate a force in a direction that separates the base member and the holding member, and the connecting section includes a transmission mechanism that uses the rotational force generated by the assist force generating mechanism to rotate the first end of the connecting member relative to the second end of the first member and the second end of the connecting member relative to the second end of the second member simultaneously, by the same angle, and in the same rotational direction. the transmission mechanism of the connecting portion is a parallel link mechanism including a first link shaft made of the connecting member and a second link shaft that is arranged parallel to the first link shaft, has a first end rotatably connected to a second end of the first member, and a second end rotatably connected to a second end of the second member; the auxiliary force generating mechanism has an auxiliary force generating unit that is arranged between the first link shaft and the second link shaft, and / or between the first link shaft and / or the second link shaft and the first member and / or the second member; and the auxiliary force generating unit changes the angle between the first end of the connecting member and the second end of the first member and / or the angle between the second end of the connecting member and the second end of the second member so as to generate a force in a direction that separates the base member and the holding member when the distance between the base member and the holding member becomes shorter than a predetermined distance. It is characterized by: <Passive method (2)> The second invention The assist device is a first member; a base member provided at a first end of the first member and disposed between the sole of the worker's foot and the ground during work or connected to equipment worn by the worker during work; a second member; a holding member provided at the first end of the second member and brought into contact with the worker's armpit from below; a connecting section having a connecting member whose first end is rotatably connected to a second end of the first member and whose second end is rotatably connected to a second end of the second member; and an assist force generating mechanism that generates a rotational force that rotates the connecting member of the connecting section relative to the first member and / or the second member so as to generate a force in a direction separating the base member and the holding member, wherein the connecting section is provided with a transmission mechanism that causes the rotational force generated by the assist force generating mechanism to rotate the first end of the connecting member relative to the second end of the first member and the second end of the connecting member relative to the second end of the second member simultaneously, by the same angle, and in the same rotational direction; the transmission mechanism of the connecting portion includes a first rotating shaft that rotatably connects a first end of the connecting member to a second end of the first member; a second rotating shaft that is parallel to the first rotating shaft and rotatably connects the second end of the connecting member to a second end of the second member; a first rotating body that is rotatable about the first rotating shaft and whose rotation is fixed to the second end of the first member; a second rotating body that is rotatable about the second rotating shaft and whose rotation is fixed to the second end of the second member; and a belt member that is wound around the first rotating body and the second rotating body; and the assist force generating mechanism has an assist force generating unit that is provided between the connecting member and the first member and / or the second member, and the assist force generating unit changes the angle between the first end of the connecting member and the second end of the first member and / or the angle between the second end of the connecting member and the second end of the second member when the distance between the base member and the holding member becomes shorter than a predetermined distance so as to generate a force that moves the base member and the holding member apart. do. <Active method> The third invention The assist device is a first member; a base member provided at a first end of the first member and disposed between the sole of the worker's foot and the ground during work or connected to equipment worn by the worker during work; a second member; a holding member provided at the first end of the second member and brought into contact with the worker's armpit from below; a connecting section having a connecting member whose first end is rotatably connected to a second end of the first member and whose second end is rotatably connected to a second end of the second member; and an assist force generating mechanism that generates a rotational force that rotates the connecting member of the connecting section relative to the first member and / or the second member so as to generate a force in a direction separating the base member and the holding member, wherein the connecting section is provided with a transmission mechanism that causes the rotational force generated by the assist force generating mechanism to rotate the first end of the connecting member relative to the second end of the first member and the second end of the connecting member relative to the second end of the second member simultaneously, by the same angle, and in the same rotational direction; The assist force generating mechanism includes an assist force generating unit that generates a rotational force that rotates the first member and the connecting member of the connecting portion relatively and / or generates a rotational force that rotates the second member and the connecting member of the connecting portion relatively, and a control unit that controls the operation of the assist force generating unit, and the control unit has a function of operating the assist force generating unit so as to change the distance between the holding member and the base member. R . The assist device of the fourth invention is the second or third invention, The transmission mechanism of the connecting portion is a parallel link mechanism. 。 The assist device of the fifth invention is the first, second or third invention, The first member is characterized in that the length between the first end and the second end is adjustable and / or the second member is characterized in that the length between the first end and the second end is adjustable. 。 The assist device of the sixth aspect of the invention is the first or second aspect of the invention, The auxiliary force generating portion is formed of a spring member. 。 The assist device of the seventh aspect of the present invention is the third aspect of the present invention, The transmission mechanism of the connecting portion is characterized in that it is a parallel link mechanism including a first link shaft consisting of the connecting member, and a second link shaft arranged parallel to the first link shaft, having a first end rotatably connected to a second end of the first member and a second end rotatably connected to a second end of the second member. The assist device of the eighth aspect of the invention is the third aspect of the invention, The transmission mechanism of the connecting portion is characterized by comprising a first rotating shaft that rotatably connects a first end of the connecting member to a second end of the first member, a second rotating shaft that is parallel to the first rotating shaft and rotatably connects the second end of the connecting member to a second end of the second member, a first rotating body that is rotatable about the first rotating shaft and whose rotation is fixed to the second end of the first member, a second rotating body that is rotatable about the second rotating shaft and whose rotation is fixed to the second end of the second member, and a belt member that is wound around the first rotating body and the second rotating body. The assist device of the ninth aspect of the present invention is the third, seventh or eighth aspect of the present invention,The auxiliary force generating unit is characterized by having a rotating member whose rotation is fixed to a first end of the connecting member of the connecting unit, a cord-like member attached to the rotating member so that the rotating member rotates when moved in the axial direction, and a drive unit provided on the first member that moves the cord-like member in the axial direction. The assist device of the tenth invention is any one of the third and seventh to ninth inventions, The auxiliary force generating unit is characterized by having a rotating member whose rotation is fixed to the second end of the connecting member of the connecting unit, a cord-like member attached to the rotating member so that the rotating member rotates when moved in the axial direction, and a drive unit provided on the second member that moves the cord-like member in the axial direction. The assist device of the eleventh invention is the same as that of the ninth or tenth invention. The drive unit includes a main body having a hollow cylindrical space, and a movable member that is movable axially within the cylindrical space of the main body between a first axial end and a second axial end of the main body and separates the cylindrical space of the main body into a first space and a second space. The cord-like member has one end connected to the rotating member and the other end inserted from the first axial end of the main body and connected to the movable member, a first cord-like portion that rotates the rotating member when moved in the axial direction, and a second cord-like portion that is connected to the rotating member and the other end inserted from the second axial end of the main body and connected to the movable member, a second cord-like portion that rotates the rotating member when moved in the axial direction. The control unit includes a fluid source that supplies working fluid to the drive unit, and a control mechanism that controls the supply and discharge of working fluid to the first space and the second space of the drive unit. The assist device of the 12th invention is any one of the 3rd or 7th to 11th inventions, The control unit is equipped with an operation input unit that allows the operator to instruct the operation of the auxiliary force generating unit, and has the function of operating the auxiliary force generating unit so that a predetermined support force that moves the holding member in a direction away from the base member is generated, stopped, or continuously changed based on input from the operation input unit. The assist device of the thirteenth aspect of the present invention is any one of the third and seventh to twelfth aspects,The control unit has a detection unit that detects the relative rotation angle between the first member and the connecting member of the connecting unit and / or a detection unit that detects the relative rotation angle between the second member and the connecting member of the connecting unit, and is characterized by having a function of activating the auxiliary force generating unit so as to generate a rotational force corresponding to the rotation angle detected by the detection unit. [Effects of the Invention]

[0010] < Passive assist device> 1st or 2nd According to the invention, a force that supports the bending and stretching movements of the worker can be applied to the worker's sides, making it easier for the worker to bend and stretch. Also, although the base member and the holding member come into contact with the worker, the assist device does not have any members that restrain the worker, making it easier for the worker to bend and stretch. Furthermore, the transmission mechanism can be simplified in structure, and the assist force generating unit can generate an appropriate assist force in accordance with the worker's movements. <Active assist device> No. 3 According to the invention, a force that supports the bending and stretching movements of the worker can be applied to the worker's sides, making it easier for the worker to bend and stretch. Also, although the base member and the holding member come into contact with the worker, the assist device does not have any members that restrain the worker, making it easier for the worker to bend and stretch. Furthermore, since the operation of the assist force generating unit is controlled by the control unit, it is possible to appropriately apply a force to support the worker. No. 4 According to the present invention, the transmission mechanism can have a simple structure. No. 5 According to the invention, the device can be adapted to the physique of the worker. No. 6 According to the present invention, the structure of the assist force generating section can be simplified. No. 7 Invention, No. 8 According to the present invention, the transmission mechanism can have a simple structure. No. 9 According to the invention, the drive unit operates the cord-like member to rotate the rotating member, so that the configuration for relatively rotating the first member and the connecting member of the connecting unit can be simplified. No. 10According to the invention, the drive unit operates the cord-like member to rotate the rotating member, so that the configuration for relatively rotating the second member and the connecting member of the connecting unit can be simplified. No. 11 According to the invention, the rope-like member is directly moved by the moving member provided in the cylindrical space of the main body, so that the configuration for moving the rope-like member can be simplified. No. 12 According to the present invention, a predetermined support force can be generated when the worker needs an assisting force. No. 13 According to the present invention, an appropriate support force can be generated in accordance with the movement of the worker. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a schematic explanatory diagram of a passive assist device 1P of a first embodiment. [Figure 2] 1 is a schematic explanatory diagram showing a state in which a worker W using a passive assist device 1P of the first embodiment is lifting an object M with knees and waist extended. FIG. [Figure 3] 1 is a schematic explanatory diagram showing a state in which a worker W using a passive assist device 1P of the first embodiment is lifting an object M with his knees and waist bent. FIG. [Figure 4] 1 is a schematic explanatory diagram of an active assist device 1A of a first embodiment, seen from the front in a bent state. [Figure 5] 1 is a schematic explanatory diagram of an active assist device 1A of a first embodiment, seen from behind in a bent state. [Figure 6] 1 is a schematic explanatory diagram of an active assist device 1A of a first embodiment, seen from the front in an extended state. [Figure 7] 1 is a schematic explanatory diagram of an active assist device 1A of a first embodiment, seen from behind in an extended state. FIG. [Figure 8]3 is a schematic explanatory diagram of an auxiliary force generating section 50 provided on the first member 10. FIG. [Figure 9] 4 is a schematic explanatory diagram of an auxiliary force generating section 50 provided on the second member 20. FIG. [Figure 10] 1 is a schematic explanatory diagram showing a state in which a worker W using the active assist device 1A of the first embodiment is lifting an object M with his knees and waist bent. FIG. [Figure 11] 1 is a schematic explanatory diagram showing a state in which a worker W using the active assist device 1A of the first embodiment is lifting an object M with knees and waist extended. FIG. [Figure 12] FIG. 10 is a schematic explanatory diagram of a passive assist device 1BP according to a second embodiment. [Figure 13] FIG. 2 is a schematic block diagram of an active assist force generating mechanism 40. [Figure 14] FIG. 10 is a diagram showing the positions where myoelectric potential sensors were attached in the experiment. [Figure 15] FIG. 10 is a diagram showing experimental results when an active assist device is used. [Figure 16] FIG. 10 is a diagram showing experimental results when a passive assist device is used. DETAILED DESCRIPTION OF THE INVENTION

[0012] Next, an embodiment of the present invention will be described with reference to the drawings. The assisting device of this embodiment is an assisting device that can reduce the burden on the worker, and is characterized by making it easier for the worker to bend and straighten their knees, and being easy for the worker to use.

[0013] The tasks that can be reduced by the assisting device of this embodiment are not particularly limited as long as they involve bending and straightening the knees, such as squatting and standing up from a squatting position. For example, the assisting device of this embodiment can reduce the burden of lifting products or agricultural produce at work sites such as factories and farms. Tasks that can be reduced by the assisting device of this embodiment also include tasks in hospitals, nursing homes, homes, etc., where a caregiver lifts a non-caregiver up and down a bed. Hereinafter, tasks that involve bending and straightening the knees will simply be referred to as tasks.

[0014] <Passive assist device 1P of the first embodiment> The passive assist device 1P of the first embodiment (hereinafter referred to as the passive assist device 1P) can apply a force to push the armpit AP upward or support the armpit AP from below when the worker W performs work. Furthermore, the passive assist device 1P can be used without the worker W having to wear any of the components of the passive assist device 1P on his or her body, except for the base member 2 described below, and since the base member 2 is in contact with the ground as described below, the worker W can work without having to bear the weight of the assist device 1 of this embodiment. Furthermore, since the passive assist device 1P is not attached to the worker W's body except for the base member 2 (or except for the base member 2 and the holding member 5), it can be quickly put into a usable state when assistance from the passive assist device 1P is needed, and can be quickly put into a non-usable state when it is no longer needed.

[0015] <Base member 2> As shown in FIGS. 1 to 3, the passive assist device 1P has a base member 2. This base member 2 is placed between the soles of the feet of the worker W and the ground during work. In other words, the base member 2 is provided so that the worker W steps on it to fix the movement of the passive assist device 1P during work. The structure of the base member 2 is not particularly limited as long as it can be structured so that the worker W can step on it to fix the movement of the passive assist device 1P. Furthermore, to more reliably prevent the passive assist device 1P from moving relative to the feet of the worker W, the base member 2 may be formed in the shape of a sandal by providing a plate-like member with a strap or the like into which the toes of the worker W can be inserted, or the base member 2 may simply be formed from a loop of cloth or the like. The base member 2 may also be an orthosis that the worker can wear, such as a shoe, or a belt that can be fastened to such an orthosis. If the base member 2 is fixed to a shoe or the like, the base member 2, i.e., the passive assist device 1P, can be moved together with the feet of the worker W, making it easier for the worker W using the passive assist device 1P to move.

[0016] <First member 10> As shown in FIGS. 1 to 3, a lower end 10a (first end) of a first member 10 is swingably connected to the base member 2. Specifically, when a worker W uses the passive assisting device 1P, the lower end 10a of the first member 10 is connected to the base member 2 so as to be swingable in the front-to-rear direction of the worker W using the passive assisting device 1P (the left-to-right direction in FIGS. 1 to 3, hereinafter sometimes simply referred to as the front-to-rear direction). For example, if the base member 2 is a plate or a harness, when the worker W uses the assisting device 1 of the first embodiment, the lower end 10a of the first member 10 is connected to the base member 2 by a rotation shaft 2a that is parallel to the left-to-right direction of the worker W using the passive assisting device 1P (the direction perpendicular to the paper surface in FIGS. 1 to 3, hereinafter sometimes simply referred to as the left-to-right direction). This allows the first member 10 to swing in the front-to-rear direction relative to the base member 2, with the rotation shaft 2a as a fulcrum.

[0017] 1, the passive assist device 1P uses an axial member such as a pipe or a rod as the first member 10, but there are no particular limitations on the member used as the first member 10. In order to reduce the weight of the passive assist device 1P, it is desirable to use a pipe as the first member 10.

[0018] Furthermore, the lower end 10a of the first member 10 may be connected to the base member 2 so as to be able to swing in the left-right direction of the worker W (a direction perpendicular to the plane of the paper in FIGS. 1 to 3; hereinafter, this may be simply referred to as the left-right direction). For example, the lower end 10a of the first member 10 may be able to swing in the left-right direction relative to the base member 2 about an axis perpendicular to the rotation axis 2a, that is, an axis that is approximately parallel to the ground when the worker W is wearing the passive assisting device 1P. With this configuration, even if the worker W wearing the passive assisting device 1P tries to lift an object M while leaning slightly to the left or right, the passive assisting device 1P can adequately support the lifting operation, and the passive assisting device 1P can be prevented from acting as a resistance to the operation.

[0019] <Retaining member 5> As shown in FIGS. 1 to 3, the passive assist device 1P has a holding member 5. This holding member 5 is arranged so as to abut against the underarm AP of the worker W from below during work. In other words, the holding member 5 comes into contact with the underarm AP of the worker W when pushing up the underarm AP of the worker W from below or supporting the underarm AP of the worker W from below. The structure of this holding member 5 is not particularly limited as long as it has a structure that performs the above function. For example, as shown in FIGS. 1 to 3, if an arc-shaped holding member 5 with an opening at the top is used, the underarm AP of the worker W can be stably held. In other words, if the underarm AP of the worker W is arranged in a space surrounded by the upper surface of the holding member 5, the underarm AP of the worker W can be prevented from coming off the holding member 5 when pushing up the underarm AP of the worker W from below. Furthermore, to make it difficult for the underarm AP of the worker W to come off the holding member 5, a string 5b or the like (see FIG. 4) may be provided to be hung around the armpit of the worker W. By providing the string 5b or the like, it is possible to maintain a constant distance between the armpit of the worker W and the holding member 5, and it becomes easier to synchronize the movements of the worker W and the holding member 5.

[0020] <Second member 20> 1 to 3, an upper end 20a (first end) of a second member 20 is connected to the holding member 5. The holding member 5 is fixed relative to the upper end 20a of the second member 20 so as to be unable to move in the front-to-rear direction, but is connected to the second member 20 so as to be able to rotate around the axis of the second member 20.

[0021] 1, in the passive assist device 1P, an axial member such as a pipe or a rod is used as the second member 20, but there are no particular limitations on the member used as the second member 20. In order to reduce the weight of the passive assist device 1P, it is desirable to use a pipe as the second member 20.

[0022] The holding member 5 may be fixed in its relative movement with respect to the upper end 20a of the second member 20. However, if the holding member 5 is connected to the second member 20 so as to be rotatable about its axis as described above, the holding member 5 can be made to follow the movement even when the worker W wearing the passive-type assist device 1P twists his / her body while working. This prevents the passive-type assist device 1P from acting as a resistance to the movement of the worker W even when the worker W twists his / her body while working.

[0023] <Connection part> 1 to 3, a parallel link mechanism 30, which is a connecting part that connects the upper end 10b (second end) of the first member 10 and the lower end 20b (second end) of the second member 20, is provided between them. The parallel link mechanism 30 has a first end 30a (the lower end in FIGS. 1 to 3) connected to the upper end 10b of the first member 10 so as to be rotatable relative to the upper end 10b of the first member 10, and a second end 30b (the upper end in FIGS. 1 to 3) connected to the lower end 20b of the second member 20 so as to be rotatable relative to the lower end 20b of the second member 20.

[0024] More specifically, the parallel link mechanism 30 has a first link shaft 31 and a second link shaft 32 that are arranged parallel to each other. As shown in FIG. 1 , a first end 31a of the first link shaft 31 is coupled to a bracket 11 that is provided at an upper end 10b of the first member 10. Specifically, the first end 31a of the first link shaft 31 is rotatably coupled to the bracket 11 via a rotation shaft 11a. Similarly, a first end 32a of the second link shaft 32 is rotatably coupled to the bracket 11 via a rotation shaft 11b. The rotation shafts 11a and 11b are arranged parallel to each other. When a rotation shaft 2a that swingably couples the first member 10 and the base member 2 is provided, the rotation shafts 11a and 11b are arranged parallel to the rotation shaft 2a.

[0025] Furthermore, the second end 31b of the first link shaft 31 of the parallel link mechanism 30 is coupled to a bracket 21 provided at the lower end 20b of the second member 20. Specifically, the second end 31b of the first link shaft 31 is rotatably coupled to the bracket 21 via a rotation shaft 21a. Similarly, the second end 32b of the second link shaft 32 is rotatably coupled to the bracket 21 via a rotation shaft 21b. The rotation shafts 21a and 21b are arranged parallel to the above-mentioned rotation shafts 11a and 11b. In other words, the first member 10, the first link shaft 31 and the second link shaft 32 of the parallel link mechanism 30, and the second member 20 are coupled so that the rotation shafts 11a, 11b, and the rotation shafts 21a, 21b are all parallel to each other.

[0026] In addition, when a rotation shaft 2a is provided to swingably connect the above-mentioned first member 10 and base member 2, the first member 10, the first link shaft 31 and the second link shaft 32 of the parallel link mechanism 30, the second member 20, and the base member 2 are connected so that the rotation shafts 11a, 11b, the rotation shafts 21a, 21b, and the rotation shaft 2a are all parallel to each other. 1, in the passive assist device 1P, shaft-shaped members such as pipes or rods are used as the first link shafts 31 and second link shafts 32 of the parallel link mechanism 30, but there are no particular limitations on the members used for the first link shafts 31 and second link shafts 32 of the parallel link mechanism 30. In order to reduce the weight of the passive assist device 1P, it is desirable to use pipes as the first link shafts 31 and second link shafts 32 of the parallel link mechanism 30. The first link shaft 31 of the parallel link mechanism 30 corresponds to the connecting member in the claims.

[0027] <Assistive force generating mechanism 40> 1 to 3, the passive assist device 1P has an assist force generating mechanism 40 that generates a rotational force that rotates the parallel link mechanism 30 relative to the first member 10 and the second member 20. Specifically, the assist force generating mechanism 40 has a spring member 41, which is a coil spring, provided between the first link shaft 31 and the second link shaft 32 of the parallel link mechanism 30. The spring member 41 is connected to the first link shaft 31 and the second link shaft 32 of the parallel link mechanism 30 so that the spring member 41 is in a contracted state, i.e., a natural length, when the passive assist device 1P is in a maximum length state (see FIGS. 1 and 2; hereinafter, this may be referred to as an extended state of the passive assist device 1P), and is in an extended state when the passive assist device 1P is in a contracted state (see FIG. 3).

[0028] <Operation of passive assist device 1P> Since the passive assist device 1P has the basic configuration as described above, by rotating the parallel link mechanism 30 relative to the first member 10 and the second member 20 using the assist force generating mechanism 40, it is possible to push up the armpits AP from below or to support the armpits AP of the worker W from below.

[0029] In other words, when the worker W wearing the passive assist device 1P squats down while stepping on the base member 2, the passive assist device 1P changes from an extended state to a contracted state (FIG. 2 → FIG. 3). In other words, the passive assist device 1P deforms so that the base member 2 and the holding member 5 approach each other, and the parallel link mechanism 30 rotates relative to the first member 10 and the second member 20. Specifically, the parallel link mechanism 30 rotates relative to the first member 10 and the second member 20 so that the angle θ2 that the parallel link mechanism 30 makes with respect to the first member 10 and the angle θ1 that the parallel link mechanism 30 makes with respect to the second member 20 decrease by the same angle at the same time. As a result, in the parallel link mechanism 30, the distance between the connection position of the spring member 41 and the first link shaft 31 and the connection position of the spring member 41 and the second link shaft 32 increases, causing the spring member 41 to expand, and the spring member 41 experiences a large restoring force (contraction force) that attempts to return the spring member 41 to its natural length. Therefore, when the worker W changes his / her posture from a crouching position to a standing position, the spring member 41 contracts due to the restoring force, generating a force that returns the parallel link mechanism 30 to its original state, i.e., the passive-type assist device 1P to its extended state. This force rotates the parallel link mechanism 30 so that the angle θ2 that the parallel link mechanism 30 makes with respect to the first member 10 and the angle θ1 that the parallel link mechanism 30 makes with respect to the second member 20 increase by the same angle at the same time. As a result, the passive-type assist device 1P deforms so that the distance between the base member 2 and the holding member 5 increases. That is, in the passive assisting device 1P, the holding members 5 deform so as to push upward the armpits AP of the worker W, and the contracting force of the spring members 41 becomes a force that pushes upward the armpits AP of the worker W from below. Therefore, the passive assisting device 1P can assist the worker W wearing the passive assisting device 1P in standing up from a crouching position, that is, in the task of straightening the knees from a bent position.

[0030] Moreover, when using the assisting device 1 of the first embodiment, the worker W simply steps on the base member 2 and places the holding member 5 under the armpit AP of the worker W, so the assisting device 1 of the first embodiment does not resist the movement of the worker W. Therefore, the assisting device 1 of the first embodiment does not resist the bending and stretching movements of the worker W, making it easier for the worker W to perform bending and stretching movements. As a result, even when using the assisting device 1 of the first embodiment, the worker W can lift an object using the Squat method without resistance.

[0031] <Regarding the spring member 41> Although the installation posture of the spring member 41 is not particularly limited, it is desirable to install the spring member 41 so that the angle formed between the extension direction of the spring member 41 and the axial direction of the first link shaft 31 and the second link shaft 32 is small when the passive assist device 1P is in an extended state (see FIG. 1). With such a configuration, a large amount of extension of the spring can be obtained, which results in the advantage of a large restoring force.

[0032] 1 to 3 show the case where three spring members 41 are provided, but the number of spring members 41 is not particularly limited. The number of spring members 41 can be adjusted depending on the force required by the worker W when working. Note that the greater the number of spring members 41 provided, the greater the force that can assist the worker W by the passive assist device 1P. On the other hand, the force required to deform the passive assist device 1P when the worker W crouches down, in other words, the force required to stretch the spring members 41, becomes greater. However, because the worker W's weight can be used when crouching down, the strain on the worker W when crouching down can be prevented from becoming too great.

[0033] 1 to 3, the spring member 41 is provided between the first link shaft 31 and the second link shaft 32. The position and method of installing the spring member 41 are not particularly limited. The spring member 41 only needs to be provided so that when the passive assist device 1P changes from an extended state to a contracted state, the restoring force (contractile force) that tries to return the spring member 41 to its natural length becomes large. For example, the spring member 41 may be provided between the first link shaft 31 and the first member 10 and / or the second member 20, or between the second link shaft 32 and the first member 10 and / or the second member 20 (see FIG. 12).

[0034] Furthermore, in the above example, the spring member 41 of the assist force generating mechanism 40 is a coil spring. However, a leaf spring or a torsion spring may also be used as the spring member 41. When a leaf spring is used, it can be provided between the first link shaft 31 and the second link shaft 32, between the first link shaft 31 and the first member 10 and / or the second member 20, or between the second link shaft 32 and the first member 10 and / or the second member 20, just like a coil spring, to provide the same function as a coil spring. When a torsion spring is provided, it is provided at the connection portion between the first link shaft 31 or the second link shaft 32 and the bracket 11, or at the connection portion between the first link shaft 31 or the second link shaft 32 and the bracket 21. Specifically, the torsion spring is provided so that the restoring force due to the spring force increases as the angle θ2 between the first member 10 and the first link shaft 31 (or the second link shaft 32) or the angle θ1 between the second member 20 and the first link shaft 31 (or the second link shaft 32) decreases. This allows force to be accumulated in the torsion spring when the worker W crouches down, and the force accumulated in the torsion spring can assist the worker W in standing up from a crouched position.

[0035] <Regarding the first member 10 and the second member 20> The length between the lower end 10a and the upper end 10b of the first member 10 is preferably adjustable, more specifically, the length from the connection between the first member 10 and the base member 2 to the second link shaft 32 at the rotation axis 11b (hereinafter simply referred to as the length of the first member 10). Similarly, the length between the lower end 20b and the upper end 20a of the second member 20 is preferably adjustable, more specifically, the length from the connection between the second member 20 and the holding member 5 to the rotation axis 21a (hereinafter simply referred to as the length of the second member 20). Making the lengths of the first member 10 and the second member 20 adjustable allows the device to be tailored to the physique of the worker W, making it easier for the worker W to use the assist device 1 of this embodiment. For example, the lengths of the first member 10 and the second member 20 are adjusted so that, when the passive assist device 1P is extended, the height of the upper surface of the holding member 5 is the same as or slightly lower than the height of the worker W's armpits AP. This makes it easier for the worker W to use the passive assist device 1P. For example, if the length of the first member 10 is adjusted so that its upper end 10b is at the height of the knees of the worker W, and the length of the second member 20 is adjusted so that its upper end 20a is at the position of the armpit AP of the worker W or slightly lower than the armpit AP, the movement of the assisting device 1 of the first embodiment can be made to follow the movement of the worker W. In other words, even when using the passive-type assisting device 1P, it becomes easier for the worker W to perform work. In this case, the length of the first member 10 and the length of the second member 20 may be the same, or they may be different lengths.

[0036] Not only the first member 10 and the second member 20, but also the parallel link mechanism 30 may be configured to have an adjustable length between the first end 30a and the second end 30b, more specifically, the length between the rotation axis 11a and the rotation axis 21a of the first link shaft 31 (or the length between the rotation axis 11b and the rotation axis 21b of the second link shaft 32) (hereinafter simply referred to as the length of the parallel link mechanism 30). In this case, when the worker W uses the assisting device 1 of this embodiment, it becomes easier to prevent the assisting device 1 of the first embodiment from acting as a resistance to the movement of the worker W. For example, the length of the first member 10 is adjusted so that its upper end 10b is at the height of the worker W's knees. Furthermore, the length of the parallel link mechanism 30 is adjusted so that its second end 30b is at the level of the worker W's waist. Furthermore, the length of the second member 20 is adjusted so that its upper end 20a is at the position of the worker W's armpit AP or slightly lower than the armpit AP. This further improves the ability of the passive assisting device 1P to follow the movement of the worker W.

[0037] <Active assist device 1A> Next, an active assisting device 1A of the first embodiment (hereinafter may be simply referred to as the active assisting device 1A) will be described.

[0038] Like the passive assist device 1P, the active assist device 1A can apply a force to push the armpit AP upward or support the armpit AP from below when the worker W is working. Like the passive assist device 1P, the active assist device 1A can be used without the worker W having to wear any of the components of the active assist device 1A on his or her body, except for the base member 2 described below, and the worker W can work without having to bear the weight of the active assist device 1A. Furthermore, like the passive assist device 1P, the active assist device 1A does not require the worker W to wear anything on his or her body other than the base member 2 and the holding member 5, so it can be quickly put into a usable state when assistance from the assist device 1 of the first embodiment is needed, and can be quickly put into a usable state when it is no longer needed.

[0039] In the following description, the description of the configuration common to the passive assist device 1P will be omitted as appropriate.

[0040] <Base member 2> As shown in Figures 4 to 7, the active assist device 1A has a base member 2. This base member 2 is placed between the soles of the feet of the worker W and the ground during work. In other words, the base member 2 is provided so that the worker W steps on it during work to fix the movement of the active assist device 1A.

[0041] <Retaining member 5> 4 to 7, the active assist device 1A has a holding member 5. This holding member 5 is arranged so as to come into contact with the armpit AP of the worker W from below during work. In other words, the holding member 5 comes into contact with the armpit AP of the worker W when pushing the armpit AP of the worker W upward from below or supporting the armpit AP of the worker W from below.

[0042] <First member 10> 4 to 7, a lower end 10a (first end) of the first member 10 is swingably connected to the base member 2. Specifically, the lower end 10a of the first member 10 is connected to the base member 2 so as to be swingable in the front-to-rear direction of the worker W when the worker W uses the assist device 1 of the first embodiment (the left-to-right direction in FIGS. 4 to 7, hereinafter sometimes simply referred to as the front-to-rear direction). Note that the lower end 10a of the first member 10 may also be connected to the base member 2 so as to be swingable in the left-to-right direction of the worker W.

[0043] 4 to 7, the first member 10 is formed from a pair of shaft-like members 12, 12 arranged parallel to each other, and members 13, 13 connecting the upper and lower ends of the pair of shaft-like members 12, 12. For the pair of shaft-like members 12, 12, for example, shaft-like members such as pipe material or rod material can be used, and for the members 13, 13, for example, shaft-like members such as pipe material or rod material or plate material can be used so that they can be fixed perpendicular to the pair of shaft-like members 12, 12.

[0044] It should be noted that the members 13, 13 do not necessarily have to be fixed so as to be perpendicular to the pair of shaft members 12, 12, as long as they can connect the pair of shaft members 12, 12. There are no particular limitations on the materials used for the pair of shaft-shaped members 12, 12. In order to reduce the weight of the passive assist device 1P, it is desirable to use a pipe material for the pair of shaft-shaped members 12, 12.

[0045] <Second member 20> 4 to 7, an upper end 20a (first end) of the second member 20 is connected to the holding member 5. This holding member 5 is fixed relative to the upper end 20a of the second member 20 so as to be unable to move in the front-to-rear direction, but is connected so as to be able to rotate around the axis of the second member 20 (around an axis parallel to a pair of shaft-shaped members 22, 22 described later).

[0046] 4 to 7, similar to the first member 10, the second member 20 is formed from a pair of shaft-like members 22, 22 arranged parallel to each other, and members 23, 23 connecting the upper and lower ends of the pair of shaft-like members 22, 22. For the pair of shaft-like members 22, 22, for example, shaft-like members such as pipe material or rod material can be used, and for the members 23, 23, for example, shaft-like members such as pipe material or rod material or plate material can be used so that they can be fixed perpendicular to the pair of shaft-like members 22, 22.

[0047] It should be noted that the members 23, 23 do not necessarily have to be fixed so as to be perpendicular to the pair of shaft-like members 22, 22, as long as they can connect the pair of shaft-like members 22, 22. There are no particular limitations on the materials used for the pair of shaft members 22. In order to reduce the weight of the passive assist device 1P, it is desirable to use a pipe material for the pair of shaft members 12. Furthermore, the holding member 5 may be fixed so that its movement relative to the upper end 20a of the second member 20 is fixed.

[0048] <Connection part> 4 to 7, a parallel link mechanism 30, which is a connecting part that connects the upper end 10b (second end) of the first member 10 and the lower end 20b (second end) of the second member 20, is provided between them. The parallel link mechanism 30 has a first end 30a (the right end in FIG. 4) connected to the upper end 10b of the first member 10 so as to be rotatable relative to the upper end 10b of the first member 10, and a second end 30b (the left end in FIG. 4) connected to the lower end 20b of the second member 20 so as to be rotatable relative to the lower end 20b of the second member 20.

[0049] More specifically, a first end 31a of a first link shaft 31 of the parallel link mechanism 30 is connected to a member 13 provided at the upper end 10b of the first member 10. Specifically, the first end 31a of the first link shaft 31 is rotatably connected to the member 13 provided at the upper end 10b of the first member 10 via a rotation shaft 13a (see FIGS. 5 and 7). Similarly, a first end 32a of the second link shaft 32 is rotatably connected to the shaft-shaped member 12 of the first member 10 via a rotation shaft 12b parallel to the rotation shaft 13a (see FIGS. 5 and 7). Furthermore, a second end 31a of the first link shaft 31 of the parallel link mechanism 30 is connected to a member 23 provided at the lower end 20b of the second member 20. Specifically, the second end 31b of the first link shaft 31 is rotatably connected to the member 23 provided at the lower end 20b of the second member 20 via a rotation shaft 23a parallel to the rotation shaft 13a (see FIGS. 5 and 7). Similarly, the second end 32b of the second link shaft 32 is rotatably connected to the shaft-shaped member 22 of the second member 20 via a rotation shaft 22b that is parallel to the rotation shaft 12b (see FIGS. 5 and 7). The base member 2, the first member 10, the first link shaft 31 and the second link shaft 32 of the parallel link mechanism 30, and the second member 20 are connected so that the rotation shafts 12b and 13a, the rotation shafts 22b and 23a, and the rotation shaft 2a are all parallel to each other.

[0050] The first link shaft 31 of the parallel link mechanism 30 corresponds to the connecting member in the claims.

[0051] <Assistive force generating mechanism 40> The assisting force generating mechanism 40 of the active assisting device 1A is made up of an assisting force generating unit 50 and a control unit 60. Note that although the active assisting device 1A in FIGS. 4 to 7 shows a case where two assisting force generating units 50 having substantially the same structure are provided, the following description will be given assuming that only the assisting force generating unit 50 that rotates the parallel link mechanism 30 relative to the first member 10 is provided.

[0052] As shown in FIG. 8, the assist force generating unit 50 includes a driving unit 51, a rotating member 56, and a cord-like member 55.

[0053] The drive unit 51 includes a main body 52. ​​The main body 52 is fixed to the first member 10 so that its axial direction is parallel to the axial direction of the pair of shaft-shaped members 12, 12. A hollow cylindrical space 52h that is airtightly (or liquid-tightly) separated from the outside is provided within the main body 52. ​​A moving member 53 that airtightly (or liquid-tightly) divides the cylindrical space 52h into a first space ha and a second space hb is provided within the cylindrical space 52h. The moving member 53 is provided so as to be movable in the axial direction within the cylindrical space 52h.

[0054] The rotating member 56 is, for example, a pulley, and is fixed in rotation to the first end 31a of the first link shaft 31 of the parallel link mechanism 30 so that its central axis is coaxial with the rotation shaft 13a.

[0055] A rope-like member 55 is provided between the rotating member 56 and the moving member 53 of the main body 52 to connect them. The rope-like member 55 is formed by a first rope-like portion and a second rope-like portion. Specifically, one end of the first rope-like portion is connected to the rotating member 56, and the other end is inserted into the first axial end 52a of the main body 52 of the drive unit 51 and connected to the moving member 53. The second rope-like portion is connected to the rotating member 56, and its first end is inserted into the first axial end 52a of the main body 52 and connected to the moving member 53. The first rope-like portion and the second rope-like portion are arranged so as to be wound around the outer peripheral surfaces of the rotating member 56 on opposite sides of a plane passing through the central axis of the rotating member 56. For example, in FIG. 4 , the first rope-like portion is wound around the left side of the rotating member 56, and the second rope-like portion is wound around the right side of the rotating member 56.

[0056] Therefore, when the rope-like member 55 moves in its axial direction, the rotation member 56 rotates in accordance with the amount of movement of the rope-like member 55 . 4, when the movable member 53 moves downward, the first rope-like portion is pulled by the movable member 53 and moves downward along its axial direction, so that the rotating member 56 can be rotated counterclockwise by an angle equivalent to the amount of movement of the movable member 53. At this time, the second rope-like portion is pulled upward by the rotating member 56, so that slack in the second rope-like portion can be prevented. Conversely, when the moving member 53 moves upward, the second rope-like portion is pulled by the moving member 53 and moves downward along its axial direction, so that the rotating member 56 can be rotated clockwise by an angle equivalent to the amount of movement of the moving member 53. At this time, the first rope-like portion is pulled upward by the rotating member 56, so slack in the first rope-like portion can be prevented.

[0057] Since the rotating member 56 moves by being pulled by the rope-like member 55, adjusting the force with which the rope-like member 55 pulls the rotating member 56 makes it possible to adjust the rotational torque generated in the rotating member 56, i.e., the torque that rotates the first link shaft 31 of the parallel link mechanism 30 relative to the second end 10b of the second member 10. The force with which the rope-like member 55 pulls the rotating member 56 is the force that moves the moving member 53, i.e., the pressure difference between the pressure in the first space ha and the pressure in the second space hb multiplied by the area of ​​the moving member 53.

[0058] In addition, holes are formed in the first end 52a and the second end 52b of the main body 52, respectively, through which the first and second rope-like portions of the rope-like member 55 are inserted, but each hole is sealed so that the internal fluid (gas or liquid) does not leak from the cylindrical space 52h even if the first and second rope-like portions of the rope-like member 55 move. In addition, a tension roller or the like is provided between the rotating member 56 and the moving member 53 of the main body 52 of the drive unit 51 to prevent the first and second rope-like portions of the rope-like member 55 from sagging between the two (i.e., to keep them taut).

[0059] 8 and 13, the operation of the main body 52 of the drive unit 51 is controlled by a control unit 60. The control unit 60 includes a fluid source 61, a control mechanism 62, a detection unit 63, a controller 65, and a pressure sensor 67.

[0060] The fluid source 61 is a device that can supply a high-pressure working fluid such as high-pressure air. For example, a compressor or a cylinder can be used as the fluid source 61, but the fluid source 61 is not particularly limited as long as it can perform the above-mentioned function.

[0061] The fluid source 61 is connected to the first space ha and the second space hb of the main body 52 via a control mechanism 62. For example, the fluid source 61 is connected to the first space ha of the main body 52 via a flow path that penetrates the control mechanism 62 and the first end 52a of the main body 52, and is connected to the second space hb of the main body 52 via a flow path that penetrates the control mechanism 62 and the second end 52b of the main body 52. ​​The control mechanism 62 is, for example, a control valve, and has the function of continuously adjusting the flow rate from the fluid source 61 to the first space ha of the main body 52 and the discharge flow rate from the second space hb to the outside, and continuously adjusting the flow rate from the fluid source 61 to the second space hb of the main body 52 and the discharge flow rate from the first space ha to the outside, based on signals from a controller 65 (described later). In other words, by controlling the operation of the control mechanism 62, it is possible to supply working fluid to the first space ha and the second space hb of the main body portion 52, and to discharge working fluid from the first space ha and the second space hb of the main body portion 52.

[0062] The pressure sensor 67 detects the pressure in the first space ha and the second space hb of the main body 52. ​​The pressure sensor 67 has a pressure sensor 67a that measures the pressure in the first space ha of the main body 52, and a pressure sensor 67b that measures the pressure in the second space hb of the main body 52. ​​There are no particular limitations on the method for providing the pressure sensor 67, and for example, the pressure sensor 67a and the pressure sensor 67b can be provided in piping or the like that is connected to the first space ha and the second space hb of the main body 52.

[0063] The detection unit 63 detects the relative rotation angle (hereinafter sometimes simply referred to as the detected angle) between the second end 10b of the first member 10 and the second end 31a of the first link shaft 31 of the parallel link mechanism 30, and the rotation angle (θ3, see FIG. 8) of the first member 10 with respect to the base member 2. The detection unit 63 is, for example, a rotary encoder or a potentiometer, and is provided on the rotating shafts 13a, 23a, 2a, etc. The detection unit 63 has a function of transmitting a signal related to the detected angle to a controller 65, which will be described later. When the active assist device 1A is in use, the rotation angle (θ3) of the first link shaft 31 relative to the base member 2 substantially corresponds to the rotation angle of the first member 10 relative to the ground (or horizontal plane).

[0064] The controller 65 has a function of controlling the operation of the control mechanism 62. Specifically, the controller 65 has a function of controlling the operation of the control mechanism 62 to control the supply of working fluid to the first space ha and the second space hb of the main body portion 52 and the discharge of working fluid from the first space ha and the second space hb of the main body portion 52. Specifically, the controller 65 controls the operation of the control mechanism 62 so that the pressures in the first space ha and the second space hb of the main body portion 52 detected by the pressure sensor 67a and the pressure sensor 67b become predetermined pressures.

[0065] For example, when the movable member 53 of the main body 52 is moved toward the first end 52a, the controller 65 has a function to control the operation of the control mechanism 62 so that the working fluid is discharged from the first space ha and the working fluid is supplied from the fluid source 61 to the second space hb, and the pressure in the first space ha and the second space hb of the main body 52 becomes a predetermined pressure. When the movable member 53 of the main body 52 is moved toward the second end 52b, the controller 65 has a function to control the operation of the control mechanism 62 so that the working fluid is discharged from the second space hb and the working fluid is supplied from the fluid source 61 to the first space ha, and the pressure in the first space ha and the second space hb of the main body 52 becomes a predetermined pressure. When the movement of the movable member 53 of the main body 52 is stopped, the controller 65 has a function to control the operation of the control mechanism 62 so that the first space ha and the second space hb are airtightly isolated from the outside.

[0066] The controller 65 has a function of controlling the control mechanism 62 to adjust the pressure in the first space ha and the second space hb of the main body 52 and adjust the force (hereinafter referred to as assist force) that pushes up the armpit AP of the worker W from below via the holding member 5. In other words, the controller 65 has a function of controlling the control mechanism 62 to adjust the pressure in the first space ha and the second space hb of the main body 52 of the drive unit 51 so as to generate a rotational torque that generates a desired assist force, that is, a torque that rotates the first link shaft 31 of the parallel link mechanism 30 relative to the second end 10b of the second member 10 (hereinafter simply referred to as rotational torque τ1).

[0067] Here, assuming that the assist force is Fy and the force in the direction perpendicular to the assist force is Fx, the rotational torque τ1 required to generate the assist force Fy can be calculated based on the following equation (1). Formula (1) TIFF0007756870000001.tif27136 a: length of the second member 20 b: Length of the first link shaft 31 of the parallel link mechanism 30 c: length of the first member 10 Fx: Force that moves the base member 2 and the holding member 5 in the horizontal direction Fy: Force (assist force) that separates the base member 2 and the holding member 5 τ1: torque that rotates the first link shaft 31 of the parallel link mechanism 30 relative to the second end 10b of the second member 10 τ2: torque that rotates the first link shaft 31 of the parallel link mechanism 30 relative to the second end 10b of the first member 10 τ3: Torque that rotates the first member 10 relative to the base member 2 Here, θ1=θ2. If the length of the first member 10 and the length of the second member 20 are made the same, then τ1=τ2.

[0068] <Operation of the active assist device 1A> Because the active assist device 1A has the above-described configuration, it can apply a desired assist force to the armpit AP by rotating the parallel link mechanism 30 relative to the first member 10 and the second member 20 using the assist force generating mechanism 40. That is, if the controller 65 controls the control mechanism 62 to control the operation of the drive unit 51 and adjust the rotational torque τ1 and rotational torque τ2, it is possible to apply a desired assist force to the armpit AP of the worker W. For example, a function representing the relationship between the desired posture of the worker W, i.e., the posture of the active assist device 1A, and the desired assist force for that posture is stored in the controller 65. Then, when a signal related to the posture of the active assist device 1A is input to the controller 65, it is possible to generate a desired assist force according to the posture of the active assist device 1A by controlling the operation of the drive unit 51 to adjust the generated rotational torque τ1 and rotational torque τ2.

[0069] <An example of the operation of the active assist device 1A> Furthermore, in the case where the control unit 60 is provided with an operation input unit 66 through which the worker W commands the operation of the assist force generating unit 50, it is also possible to operate the active assist device 1A as follows.

[0070] For example, the control unit 60 has an input device as the activation input unit 66, which has a button that the worker W presses, and the controller 65 has the function of activating the assist force generating unit 50 so as to generate a predetermined support force that moves the holding member 5 in a direction away from the base member 2 while the input from this input device continues (i.e., while the button is pressed).

[0071] Furthermore, when there is no input from the actuation input unit 66, the controller 65 operates the assist force generating unit 50 to generate a constant weak assist force (for example, 100 N) on the holding member 5, regardless of the posture of the active assist device 1A. In other words, the controller 65 operates the assist force generating unit 50 so that the upper surface of the holding member 5 is in contact with the armpit AP of the worker W. On the other hand, while the input from the actuation input unit 66 continues, the controller 65 operates the assist force generating unit 50 to generate a constant strong assist force (for example, 345 N), regardless of the posture of the active assist device 1A.

[0072] In this case, if the worker W does not input from the input device of the actuation input unit 66, when the worker W wearing the active assist device 1A crouches down, the controller 65 activates the assist force generating unit 50 so as to generate a constant weak assist force that pushes the holding member 5 upward in any posture. The posture of the active assist device 1A can be determined by the controller 65 based on a signal from the detector 63.

[0073] A crouching worker W (see FIG. 10) needs the most strength when lifting the item M, so the worker presses the button on the input device of the actuation input unit 66. This activates the assist force generating unit 50 to generate a strong, constant assist force, and the holding member 5 presses the armpits AP of the worker W upward with the strong, constant assist force. This strong, constant assist force can then be used by the worker W to lift the item M, so the active assist device 1A can support the worker W in lifting the item M.

[0074] While the worker W continues to press the button on the input device, an assist force for supporting the work is applied to the armpit AP of the worker W from the active assist device 1A during that time.

[0075] When the worker W has lifted the item M to a certain extent and no longer needs support from the active assist device 1A, he or she releases the button on the input device of the actuation input unit 66. Then, the assist force applied to the armpit AP of the worker W becomes weak, and the upper surface of the holding member 5 comes into contact with the armpit AP of the worker W, meaning that the active assist device 1A provides almost no support in lifting the item M.

[0076] With the above-described configuration, the assist force generating unit 50 can generate a support force for only the required period when the worker W needs it. In other words, the worker W can receive support from the active assist device 1A for only the required period when the worker W needs it.

[0077] The worker W may stop receiving support once he has lifted the item M to a certain extent, or may continue to receive support from the active assist device 1A until the worker W's waist and knees are fully extended (see Figure 11).

[0078] <When the assist force generating unit 50 is provided on the second member 20> In the above description, the assistive force generating mechanism 40 is provided with an assistive force generating unit 50 that rotates the parallel link mechanism 30 relative to the first member 10, thereby generating a rotational force that rotates the parallel link mechanism 30 relative to the first member 10. The assistive force generating mechanism 40 may be provided with only an assistive force generating unit 50 that rotates the parallel link mechanism 30 relative to the second member 20, instead of the assistive force generating unit 50 that rotates the parallel link mechanism 30 relative to the first member 10. Below, a description will be given of a case where only an assistive force generating unit 50 that rotates the parallel link mechanism 30 relative to the second member 20 is provided.

[0079] As shown in FIG. 9 , when the assistive force generating unit 50 is provided on the second member 20, similar to when the assistive force generating unit 50 is provided on the first member 10, the drive unit 51 is fixed to the second member 20 so that the axial direction of the main body 52 is parallel to the axial direction of the pair of shaft-like members 22, 22. Then, a rotating member 56 is provided that is fixed to the second end 31b of the first link shaft 31 so that its central axis is coaxial with the rotation axis 23a, and the first and second cord-like portions of the cord-like member 55 are provided between the rotating member 56 and the moving member 53 of the main body 52. ​​Then, a detector 63 is provided that detects the relative rotation angle (detected angle) between the second end 20b of the second member 20 and the second end 31b of the first link shaft 31 of the parallel link mechanism 30. Then, the parallel link mechanism 30 can be rotated relative to the second member 20 by the assistive force generating unit 50. In this case as well, the parallel link mechanism 30 can rotate relative to the first member 10 by the same angle and in the same direction at the same timing as the rotation of the parallel link mechanism 30 relative to the second member 20 .

[0080] <When the assist force generating unit 50 is provided on both the first member 20 and the second member 20> Of course, as shown in FIGS. 4 to 7 , both an assisting force generating unit 50 that rotates the parallel link mechanism 30 relative to the first member 10 and an assisting force generating unit 50 that rotates the parallel link mechanism 30 relative to the second member 20 may be provided. That is, an assisting force generating unit 50 may be provided on both the first member 10 and the second member 20. As shown in FIGS. 4 to 7 , providing an assisting force generating unit 50 on both the first member 10 and the second member 20 can generate a rotational force that rotates the parallel link mechanism 30 relative to both the first member 10 and the second member 20. In this case, since an assisting force can be generated by two driving units 51, a larger assisting force can be generated compared to when only one assisting force generating unit 50 is provided. Furthermore, since the assisting force generated by one device can be reduced when the same assisting force is to be generated, each driving unit 51 can be made smaller, thereby enabling the device to be more compact.

[0081] <Operation input unit 66> When the actuation input unit 66 is provided, the controller 65 of the control unit 60 is only required to control the actuation of the assistive force generating unit 40 based on input from the actuation input unit 66, and there are no particular limitations on the input method from the actuation input unit 66 or how the assistive force generating unit 40 operates when the input is received. As in the above example, the controller 65 of the control unit 60 may operate the assistive force generating unit 50 to generate a predetermined support force that moves the holding member 5 in a direction away from the base member 2 while an input from the input device of the actuation input unit 66 is continuing, or may operate the assistive force generating unit 50 to generate a predetermined support force when an input from the input device of the actuation input unit 66 is received and stop generating the support force when the next input is received. Alternatively, the controller 65 of the control unit 60 may stop generating the support force while an input from the input device of the actuation input unit 66 is continuing, and generate a predetermined support force when the input from the input device of the actuation input unit 66 is stopped. Furthermore, the support force may be configured to change continuously depending on the input from the input device of the actuation input unit 66. For example, a support force may be generated according to the force with which a button on the actuation input unit 66 is pressed or the amount of movement of the button.

[0082] <Regarding the First Member 10 and the Second Member 20> The first member 10 and the second member 20 are not limited to the above-mentioned structure as long as they have a structure and strength that can hold the main body 51a of the drive unit 51 of the assist force generation unit 50.

[0083] <Regarding the cord-like member 55> In the above example, the case where the rope-like member 55 of the assistive force generating unit 50 is formed of two rope-like members, i.e., a first rope-like portion and a second rope-like portion, has been described. However, the rope-like member 55 may be formed of a single rope-like member. In this case, the first end of the rope-like member 55 may be inserted into the first axial end 52a of the main body 52 and connected to the moving member 53, and the second end of the rope-like member 55 may be inserted into the second axial end 52b of the main body 52 and connected to the moving member 53.

[0084] <Assist device 1B of second embodiment> In the assist device 1 (passive-type assist device 1P, active-type assist device 1A) of the first embodiment described above, a parallel link mechanism 30 is used as the connecting portion. However, the transmission mechanism of the connecting portion is not limited to the parallel link mechanism 30 described above. The connecting portion may include a connecting member that connects the second end 10b of the first member 10 and the second end 20b of the second member 20, and a transmission mechanism having a predetermined function. The predetermined function of the transmission mechanism is a function that, when the first end (or the second end) of the connecting member rotates relative to the second end 10b of the first member 10 (the second end 20b of the second member 20) (referred to as a driving rotation), causes the second end (or the first end) of the connecting member to rotate in the same direction and by the same angle as the driving rotation.

[0085] For example, the connecting part can have the following mechanism. Note that an assisting device 1 having the following mechanism as a connecting part will be referred to as an assisting device 1B of the second embodiment below. In the following explanation, a passive type assisting device 1BP will be described as a representative of the assisting device 1B of the second embodiment.

[0086] The passive assist device 1BP has a connecting member 36 and a transmission mechanism 37 as shown in FIG. 12 as a connecting portion.

[0087] Specifically, the connecting member 36 is a shaft-shaped member that connects the second end 10b of the first member 10 and the second end 20b of the second member 20. A first end 36a of the connecting member 36 is rotatably connected to the second end 10b of the first member 10 by a first rotation shaft 38a of a transmission mechanism 37. The first rotation shaft 38a is rotatably connected to the second end 10b of the first member 10 and the first end 36a of the connecting member 36. Furthermore, a second end 36b of the connecting member 36 is rotatably connected to the second end 20b of the second member 20 by a second rotation shaft 38b of the transmission mechanism 37 that is provided parallel to the first rotation shaft 38a. The second rotation shaft 38b is rotatably connected to the second end 20b of the second member 20 and the second end 36b of the connecting member 36.

[0088] A first rotating body 39a of the transmission mechanism 37 is rotatably attached to the rotating shaft 38a. This first rotating body 39a is, for example, a gear or a pulley, and is fixed to rotate at the second end 10b of the first member 10. Note that the first rotating body 39a may be fixed to the first rotating shaft 38a so that the first rotating shaft 38a can rotate relative to the connecting member 36 but cannot rotate relative to the second end 10b of the first member 10.

[0089] A second rotating body 39b of the transmission mechanism 37 is rotatably attached to the rotating shaft 38b. This second rotating body 39b is, for example, a gear or a pulley, and is fixed to the second end 20b of the second member 20 in terms of rotation. This second rotating body 39b is substantially the same as the first rotating body 39a. For example, if the first rotating body 39a and the second rotating body 39b are gears, the first rotating body 39a and the second rotating body 39b have the same diameter and the same number of teeth. Alternatively, the second rotating body 39b may be fixed to the second rotating shaft 38b so that the second rotating shaft 38b can rotate relative to the connecting member 36 but cannot rotate relative to the second end 20b of the second member 20.

[0090] A belt member 39c is wound around the first rotor 39a and the second rotor 39b. The belt member 39c is wound around the first rotor 39a and the second rotor 39b so as not to slip. In other words, the belt member 39c is wound around the first rotor 39a and the second rotor 39b so that the first rotor 39a and the second rotor 39b rotate at the same timing, through the same angle, and in the same direction. For example, using gears for the first rotor 39a and the second rotor 39b and a toothed belt or chain for the belt member 39c can prevent slippage between the belt member 39c and the first rotor 39a and the second rotor 39b. Even if pulleys are used for the first rotor 39a and the second rotor 39b, a combination of a timing pulley and a timing belt can ensure that both rotors rotate at the same timing, through the same angle, and in the same direction.

[0091] With the connecting portion having the above-described structure, when the first end 36a of the connecting member 36 is rotated relative to the second end 10b of the first member 10 by the assist force generating mechanism 40, the second end 36b of the connecting member 36 and the second end 20b of the second member 20 can be rotated simultaneously and by the same angle in the same direction by the transmission mechanism 37. For example, in FIG. 12 , when the first end 36a of the connecting member 36 is rotated 30 degrees clockwise relative to the second end 10b of the first member 10, the second end 36b of the connecting member 36 can be rotated 30 degrees clockwise simultaneously relative to the second end 20b of the second member 20 by the transmission mechanism 37.

[0092] Note that the second end 36b of the connecting member 36 may be rotated relative to the second end 20b of the second member 20 by the assist force generating mechanism 40. In this case, by rotating the second end 36b of the connecting member 36 relative to the second end 20b of the second member 20, the transmission mechanism 37 can rotate the first end 36a of the connecting member 36 relative to the second end 10b of the first member 10 simultaneously and in the same direction and by the same angle as the rotation of the second end 36b of the connecting member 36 relative to the second end 20b of the second member 20.

[0093] Of course, the assisting force generating mechanism 40 may rotate the first end 36a of the connecting member 36 relative to the second end 10b of the first member 10, and may also rotate the second end 36b of the connecting member 36 relative to the second end 20b of the second member 20. In other words, the assisting force generating mechanism 40 may be configured to generate both a driving force that rotates the first end 36a of the connecting member 36 relative to the second end 10b of the first member 10, and a driving force that rotates the second end 36b of the connecting member 36 relative to the second end 20b of the second member 20.

[0094] In the case of the passive-type assist device 1BP described above, the configuration of the assist force generation mechanism 40 is not particularly limited. For example, as shown in Fig. 12, the second end 10b of the first member 10 and the second end 20b of the second member 20 may be provided with portions (portions 10c and 20c in Fig. 12) that protrude beyond the first rotation shaft 38a and the second rotation shaft 38b, and a spring member 41 made of a coil spring may be provided between the protruding portions 10c and 20c and the connecting member 36 to form the assist force generation mechanism 40. In this way, similar to the case where the connecting portion is the parallel link mechanism 30, when the worker W performs a squatting motion, a contraction force can be accumulated in the spring member 41, and the contraction force of the spring member 41 can assist the worker W in standing up from the squatting state.

[0095] Furthermore, in the passive assist device 1BP, as in the passive assist device 1P, a leaf spring or a torsion spring can be adopted as the assist force generating mechanism 40. When using a leaf spring, similar to a coil spring, if the leaf spring is provided between the first member 10 and / or the second member 20 and the connecting member 36, the same function as that of a coil spring can be achieved. Furthermore, in the case of a torsion spring, the torsion spring may be provided at the connecting portion between the first end 36a of the connecting member 36 and the second end 10b of the first member 10, or at the connecting portion between the second end 36b of the connecting member 36 and the second end 20b of the second member 20.

[0096] <Active assist device 1BA> 12, the active assist device 1BA may have an assist force generating mechanism 40 mounted on the first member 10 or the second member 20 in a manner substantially similar to that of the active assist device 1A. In this case, the rotation shaft 13a or the rotation shaft 23b on which the rotating member 56 is mounted may be the rotation shaft on which the first rotating body 39a or the second rotating body 39b is mounted, and the rotating member 56 may be arranged to be aligned with the first rotating body 39a or the second rotating body 39b in the axial direction of the rotation shaft 13a or the rotation shaft 23b. [Example]

[0097] It was confirmed that the assist device of the present invention can reduce the burden on the worker when lifting a heavy object.

[0098] In the experiment, the subject (male in his 20s, height: 170 cm, weight: 56 kg) performed the task of lifting a 10 kg weight using the Squat method, and the changes in the subject's muscle activity were compared when using the assist device of the present invention and when not using the assist device of the present invention.

[0099] In the experiment, the subject performed a lifting motion with the assist device of the present invention attached only to the right side. That is, the subject performed a lifting motion with the base member attached to the right foot and the holding member placed under the right armpit. The subject's muscle activity was measured by attaching electromyography sensors to the erector spinae muscles in the lower back, the trapezius muscles in the shoulders, the rectus femoris muscles in the thighs, and the vastus medialis muscles in the thighs. The positions where each electromyography sensor was attached are shown in Figure 14.

[0100] The assist device of the present invention used in the experiment adopted a parallel link mechanism as the transmission mechanism, and the first member, second member and each link member of the parallel link mechanism were adjusted to a length that matched the physique of the subject.

[0101] The assist force generating mechanism was configured as shown in Figure 1 for the passive system, and as shown in Figure 4 for the active system (a configuration in which two wire cylinders are provided as the assist force generating section).

[0102] The passive assist force generating mechanism uses three tension springs.

[0103] The active system was equipped with two wire cylinders capable of generating a maximum internal cylinder pressure of 450 kPa. When the two wire cylinders generated maximum pressure, it was confirmed that a force of 345 N or more could be generated to push the holding member upward, i.e., a force acting on the worker's armpits. In the assist device of the present invention used in the experiment, when the assist device was activated by pressing the switch, the target value of the force acting on the worker's armpits was set to 100 N.

[0104] The experimental results are shown in FIGS. 15 and 16 show the average values ​​of the integrated myoelectric potential IEMG during lifting movements, and are normalized to 100% as the average value of the integrated myoelectric potential IEMG measured during lifting movements without using the assist device of the present invention.

[0105] As shown in Figure 15, it was confirmed that with the active method, the amount of muscle activity in the trapezius muscle in the shoulder of the right half of the body was significantly reduced. Also, with the active method, it was confirmed that the amount of muscle activity in the thighs was significantly reduced regardless of whether it was the right or left. In other words, it was confirmed that the active assist device of the present invention was able to support the lifting operation.

[0106] As shown in Figure 16, it can be seen that with the passive method, muscle activity in the entire upper body is significantly reduced. It can also be seen that with the passive method, muscle activity in the right leg of the thigh is significantly reduced. In other words, it was confirmed that the passive assisting device of the present invention can also support the lifting motion. [Industrial Applicability]

[0107] The assist device of the present invention is suitable as a device that supports the lifting action performed by a worker when lifting an object. [Explanation of symbols]

[0108] 1 Assist device 2 Base material 5. Retaining member 10 First member 10a bottom end 10b Top edge 20 Second member 20a top end 20b bottom end 30 Parallel link mechanism 30a First end 30b Second end 31 First link shaft 31a First end 31b Second end 32 Second link shaft 32a First end 32b Second end 36 Connecting member 36a First end 36b Second end 37 Transmission Mechanism 38a First rotation axis 38b Second rotation axis 39a First rotating body 39b Second rotating body 39c Belt member 40 Assist force generating mechanism 41 Spring member 50 Auxiliary force generating unit 51 Drive unit 52 Main body 52a First end 52b Second end 52h cylindrical space ha first space hb second space 55 Cable-like member 56 Rotating member 60 Control Unit 61 Fluid source 62 Control Mechanism 63 Detector 65 Controller 66 Operation input unit 67 Pressure Sensor SS shoes W Worker AP armpit

Claims

1. A device that supports work that requires bending and stretching of the knees of a worker, A first member; a base member provided at a first end of the first member, the base member being disposed between the sole of the worker's foot and the ground during work or being connected to an attachment worn by the worker during work; A second member; and a holding member provided at a first end of the second member and adapted to abut against the armpit of an operator from below; a coupling portion having a coupling member having a first end rotatably coupled to a second end of the first member and a second end rotatably coupled to a second end of the second member; an assist force generating mechanism that generates a rotational force that rotates the connecting member of the connecting portion relative to the first member and / or the second member so as to generate a force in a direction that separates the base member and the holding member, The connecting portion is a transmission mechanism that generates a rotational force generated by the auxiliary force generating mechanism to rotate the first end of the connecting member relative to the second end of the first member and to rotate the second end of the connecting member relative to the second end of the second member simultaneously, by the same angle, and in the same rotational direction; The transmission mechanism of the connecting portion is a first link shaft formed by the connecting member; a second link shaft that is provided parallel to the first link shaft, the first end of which is rotatably connected to the second end of the first member, and the second end of which is rotatably connected to the second end of the second member, The assist force generating mechanism includes: an auxiliary force generating unit is provided between the first link shaft and the second link shaft, and / or between the first link shaft and / or the second link shaft and the first member and / or the second member, The auxiliary force generating unit comprises: When the distance between the base member and the holding member becomes shorter than a predetermined distance, the angle formed between the first end of the connecting member and the second end of the first member and / or the angle formed between the second end of the connecting member and the second end of the second member is changed so that a force is generated in a direction that separates the base member and the holding member. An assist device characterized by:

2. A device that supports work that requires bending and straightening of the knees of a worker, A first member; a base member provided at a first end of the first member, the base member being disposed between the sole of the worker's foot and the ground during work or being connected to an attachment worn by the worker during work; A second member; and a holding member provided at a first end of the second member and adapted to abut against the armpit of an operator from below; a coupling portion having a coupling member having a first end rotatably coupled to a second end of the first member and a second end rotatably coupled to a second end of the second member; an assist force generating mechanism that generates a rotational force that rotates the connecting member of the connecting portion relative to the first member and / or the second member so as to generate a force in a direction that separates the base member and the holding member, The connecting portion is a transmission mechanism that generates a rotational force generated by the auxiliary force generating mechanism to rotate the first end of the connecting member relative to the second end of the first member and to rotate the second end of the connecting member relative to the second end of the second member simultaneously, by the same angle, and in the same rotational direction; The transmission mechanism of the connecting portion is a first rotation shaft that rotatably couples a first end of the coupling member to a second end of the first member; a second rotation axis parallel to the first rotation axis and rotatably connecting a second end of the connecting member to a second end of the second member; a first rotating body rotatable about the first rotation axis and fixed in rotation to a second end of the first member; a second rotating body rotatable about the second rotation axis and fixed in rotation to a second end of the second member; a belt member wound around the first rotating body and the second rotating body, The assist force generating mechanism includes: an auxiliary force generating unit provided between the connecting member and the first member and / or the second member, The auxiliary force generating unit comprises: When the distance between the base member and the holding member becomes shorter than a predetermined distance, the angle formed between the first end of the connecting member and the second end of the first member and / or the angle formed between the second end of the connecting member and the second end of the second member is changed so that a force is generated in a direction that separates the base member and the holding member. An assist device characterized by:

3. A device that supports work involving bending and straightening the knees of a worker, A first member; a base member provided at a first end of the first member, the base member being disposed between the sole of the worker's foot and the ground during work or being connected to an attachment worn by the worker during work; A second member; and a holding member provided at a first end of the second member and adapted to abut against the armpit of an operator from below; a coupling portion having a coupling member having a first end rotatably coupled to a second end of the first member and a second end rotatably coupled to a second end of the second member; an assist force generating mechanism that generates a rotational force that rotates the connecting member of the connecting portion relative to the first member and / or the second member so as to generate a force in a direction that separates the base member and the holding member, The connecting portion is a transmission mechanism that generates a rotational force generated by the auxiliary force generating mechanism to rotate the first end of the connecting member relative to the second end of the first member and to rotate the second end of the connecting member relative to the second end of the second member simultaneously, by the same angle, and in the same rotational direction; The assist force generating mechanism includes: an auxiliary force generating unit that generates a rotational force that relatively rotates the first member and the connecting member of the connecting portion and / or generates a rotational force that relatively rotates the second member and the connecting member of the connecting portion; a control unit that controls the operation of the assist force generating unit, The control unit The auxiliary force generating unit has a function of operating so as to change the distance between the holding member and the base member. An assist device characterized by:

4. The transmission mechanism of the connecting portion is a parallel link mechanism.

4. The assist device according to claim 2 or 3.

5. The first member has an adjustable length between a first end and a second end and / or the second member has an adjustable length between a first end and a second end.

4. The assist device according to claim 1, wherein the assist device is a device for assisting a vehicle.

6. The auxiliary force generating portion is formed of a spring member.

3. The assist device according to claim 1 or 2.

7. The transmission mechanism of the connecting portion is a first link shaft formed of the connecting member; and a second link shaft provided parallel to the first link shaft, the first end of which is rotatably connected to the second end of the first member, and the second end of which is rotatably connected to the second end of the second member.

4. The assist device according to claim 3.

8. The transmission mechanism of the connecting portion is a first rotation shaft that rotatably couples a first end of the coupling member to a second end of the first member; a second rotation axis parallel to the first rotation axis and rotatably connecting a second end of the connecting member to a second end of the second member; a first rotating body rotatable about the first rotation axis and fixed in rotation to a second end of the first member; a second rotating body rotatable about the second rotation axis and fixed in rotation to a second end of the second member; a belt member wound around the first rotating body and the second rotating body, 4. The assist device according to claim 3.

9. The auxiliary force generating unit is a rotating member fixed in rotation to a first end of the connecting member of the connecting portion; a cord-like member attached to the rotating member so that the cord-like member rotates when moved axially; a drive unit provided on the first member for moving the cord-like member in its axial direction; 9. The assist device according to claim 3, 7 or 8.

10. The auxiliary force generating unit is a rotating member fixed in rotation to a second end of the connecting member of the connecting portion; a cord-like member attached to the rotating member so that the cord-like member rotates when moved axially; a drive portion provided on the second member for moving the cord-like member in its axial direction.

10. The assist device according to claim 3 or any one of claims 7 to 9.

11. The drive unit is a main body having a hollow cylindrical space; a moving member that is axially movable within the cylindrical space of the main body portion and that separates the cylindrical space of the main body portion into a first space and a second space between a first end and a second end of the main body portion, The cord-like member is a first cord-like portion having one end connected to the rotating member and the other end inserted into a first axial end of the main body portion and connected to the moving member, the first cord-like portion being provided so that the rotating member rotates when moved in the axial direction; a second cord-like portion having one end connected to the rotating member and the other end inserted into a second axial end of the main body portion and connected to the moving member, the second cord-like portion being provided so that the rotating member rotates when moved in the axial direction; The control unit a fluid source that supplies a working fluid to the drive unit; a control mechanism for controlling the supply and discharge of the working fluid to and from the first space and the second space of the drive unit.

11. The assist device according to claim 9 or 10.

12. The control unit an operation input unit with which an operator instructs operation of the assist force generating unit, The assist force generating unit has a function of operating the assist force generating unit so that a predetermined support force that moves the holding member in a direction away from the base member is generated, stopped, or continuously changed based on an input from the actuation input unit.

12. The assist device according to claim 3 or any one of claims 7 to 11.

13. The control unit a detection unit that detects a relative rotation angle between the first member and a connecting member of the connecting portion and / or a detection unit that detects a relative rotation angle between the second member and a connecting member of the connecting portion, The detecting unit has a function of activating the assist force generating unit so as to generate a rotational force corresponding to the rotation angle detected by the detecting unit.

13. The assist device according to claim 3 or any one of claims 7 to 12.

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