Assist device

Abstract

An assist device 10 comprises: a first mounting fixture 11 that is worn on the shoulders and / or the chest of a user; a second mounting fixture 12 that is worn on each of the left and right legs of the user; a belt body 13 that is provided along the back side of the user across the first mounting fixture 11 and the second mounting fixture 12; and an actuator 14 that enables winding and unwinding of a portion of the belt body 13. The second mounting fixture 12 comprises: a strip-shaped member 40 that is wound around each of the legs so as to be fixed thereon; and a coupling belt 42 that couples the belt body 13 and the strip-shaped member 40. A second surface 40s of the strip-shaped member 40 has a contact surface 40t that is provided to the entire widthwise region of the strip-shaped member 40 and that comes into contact with a lower-leg portion of the user.

Description

Assist Device

[0001] The present invention relates to an assist device.

[0002] For example, Patent Document 1 discloses an assist device including a first attachment device attached to the shoulders of a user, a second attachment device attached to the left and right legs of the user, a belt body provided along the back side of the user spanning the first and second attachment devices, and an actuator provided on the first attachment device. This assist device generates tension in the belt body by winding up a portion of the belt body with the actuator. This tension acts on the user as an assist force that assists the rotation of the user's waist and thighs.

[0003] Japanese Patent Application Laid-Open No. 2021-49601

[0004] The second attachment of the conventional assist device is attached to the user's knee. Therefore, there is a risk that the second attachment may hinder the user's knee bending and straightening. Furthermore, bending and straightening the knee may cause the second attachment to shift position, which may result in a loss of tension in the belt body.

[0005] The assist device according to an embodiment includes a first attachment to be worn on at least one of the shoulders and chest of a user, a second attachment to be worn on the left and right legs of the user, a belt extending from the first attachment to the second attachment along the back of the user, and an actuator for winding up and unwinding a portion of the belt. The second attachment includes a belt-shaped member wound and fixed around the leg, and a connecting belt connecting the belt and the belt-shaped member. One surface of the belt-shaped member has a contact surface extending across the entire width of the belt-shaped member that contacts the lower leg of the user.

[0006] According to the present disclosure, an assist force can be efficiently applied to the user without interfering with the bending and straightening movements of the knees.

[0007] FIG. 1 is a rear view of an assisting device according to an embodiment. FIG. 2 is a rear view of the assisting device attached to the body of a user. FIG. 3 is a side view of the assisting device attached to the body of a user. FIG. 4 is an explanatory diagram showing a state in which a user wearing the assisting device is in a forward-leaning posture (bending posture). FIG. 5 is a diagram showing the inside of a control box. FIG. 6 is an explanatory diagram of a case in which a user wearing the assisting device changes their posture. FIG. 7 is a diagram showing a second wearing device in FIG. 1. FIG. 8 is a diagram showing a main part of the second surface. FIG. 9 is a diagram showing a second wearing device worn by a user.

[0008] First, the contents of the embodiments will be listed and explained. [Outline of the Embodiments] (1) An assisting device according to an embodiment includes a first attachment attached to at least one of the shoulders and chest of a user, a second attachment attached to the left and right legs of the user, a belt provided along the back of the user across the first attachment and the second attachment, and an actuator that enables winding and unwinding of a portion of the belt. The second attachment includes a belt-shaped member that is wrapped around and fixed to the leg, and a connecting belt that connects the belt and the belt-shaped member. One surface of the belt-shaped member has a contact surface that contacts the lower leg of the user and is provided across the entire width of the belt-shaped member.

[0009] According to the above configuration, one surface of the belt-shaped member has a contact surface that contacts the user's lower leg, which is provided across the entire width (vertical direction) of the belt-shaped member, so that the belt-shaped member is attached to the user's lower leg without covering the knee. Therefore, the second wearing device does not impede the bending and stretching of the knee. Furthermore, although the muscles in the lower leg expand and contract, there is little change in the thickness of the thigh muscles that occurs with bending and stretching the knee. Therefore, the positional deviation of the second wearing device is suppressed, and the assist force can be efficiently applied to the user.

[0010] (2) In the assist device described above, the belt-shaped member preferably has holes that expose the user's calves. In this case, when the belt-shaped member is worn around the user's lower legs, the calves are exposed through the holes, allowing the holes to fit around the moderately bulging calves. As a result, displacement of the second wearing device can be effectively suppressed. Furthermore, exposing the calves can improve the breathability of the lower legs and improve the wearing comfort of the second wearing device.

[0011] (3) In the above assist device, when the connecting belt includes a pair of belt portions, each of which includes a connection portion connected to the belt body and a belt end portion connected to the belt-shaped member, the pair of belt ends of the pair of belt portions preferably connect to adjacent left and right portions of the hole in the belt-shaped member. In this case, the pair of belt portions connect the adjacent left and right portions of the hole in the belt-shaped member to the belt body located on the back side of the user. Therefore, the pair of belt portions extend from the left and right positions of the user's calves along the back side of the thighs, avoiding the left and right sides of the knees. As a result, the pair of belt portions can be prevented from contacting the left and right sides of the knees, where the bones are close to the skin. This prevents the user from feeling pain due to contact and improves the wearing comfort.

[0012] (4) In the assist device, the belt-shaped member preferably has a hook-and-loop fastener that fastens a first longitudinal edge of the belt-shaped member to a second longitudinal edge opposite the first longitudinal edge, making it easy to attach and detach the belt-shaped member to and from the lower leg.

[0013] (5) In the assist device described above, if the first edge has a first upper edge, a first lower edge, and a first notch provided between the first upper edge and the first lower edge, and the second edge has a second upper edge, a second lower edge, and a second notch provided between the second upper edge and the second lower edge, the hook-and-loop fastener may have an upper fastener that fastens the first upper edge and the second upper edge, and a lower fastener that fastens the first lower edge and the second lower edge. In this case, the degree of fastening to the lower leg can be adjusted independently by the first hook-and-loop fastener and the second hook-and-loop fastener. In particular, if the vertical positions of the first lower edge and the second lower edge are near the position of the lower part of the calf, the first lower edge and the second lower edge can be tightened more tightly with the lower fastener, and the periphery of the lower part of the calf can be tightened more tightly with the belt-shaped member, effectively preventing the second attachment from shifting upward.

[0014] (6) Preferably, the widthwise dimensions of the first lower edge and the second lower edge are smaller than the widthwise dimensions of the first upper edge and the second upper edge. In this case, when the first lower edge and the second lower edge are tightened, the tightening width of the belt-shaped member around the lower part of the calf becomes relatively narrow, thereby increasing the tightening surface pressure around the lower part of the calf. This more effectively prevents the second wearing device from shifting upward.

[0015] (7) In the assisting device, it is preferable that the connecting belt is made of a non-elastic material and the belt-shaped member is made of an elastic material. In this case, the non-elastic connecting belt can reduce the transmission loss of the tension of the belt body, and the assisting force can be applied to the user more efficiently. Furthermore, by using an elastic material for the belt-shaped member, it is possible to allow the muscles in the lower leg to expand and contract, and to alleviate the feeling of pressure on the user.

[0016] (8) In the assisting device, the stretchable material may be a mesh material. In this case, the breathability of the lower leg can be further improved, and the wearing comfort of the second wearing device can be further improved.

[0017] [Details of the embodiment] A preferred embodiment will now be described with reference to the drawings. [Overall configuration of assist device 10] Fig. 1 is a rear view of the assist device according to the embodiment. Fig. 2 is a rear view of the assist device attached to the body of a user. Fig. 3 is a side view of the assist device attached to the body of a user. Fig. 4 is an explanatory diagram showing a state in which a user wearing the assist device is in a forward-leaning posture (forward-bending posture).

[0018] In the assisting device 10 of the present disclosure, left and right refer to the left and right of a user wearing the assisting device 10 and standing upright, front and back refer to the front and back of the user, and up and down refer to the up and down of the user. Up is the user's head side, and down is the user's foot side.

[0019] The assist device 10 shown in FIG. 1 includes one first attachment 11 and two second attachments 12. The first attachment 11 is attached to the left and right shoulders BS, which are part of the user's (person's) body. The first attachment 11 may be attached to at least one of the user's shoulders and chest, and may have a configuration other than that shown in the figure. The second attachments 12 are attached to the left and right legs BL, which are other parts of the user's body. In the present disclosure, the second attachments 12 are attached to the lower legs BLL of the legs BL. The left and right second attachments 12 are symmetrical but have the same configuration. The second attachments 12 may also have a configuration other than that shown in the figure. In this embodiment, the lower legs BLL refer to the parts of the legs BL below the knees BN (including the calves). The first attachment 11 and the two second attachments 12 are attached to two locations spaced apart from each other across the waist BW and the hip joints, that is, the shoulders BS and the legs BL (lower legs BLL).

[0020] The first wearing device 11 has a base 21, a pair of shoulder belts 22, and a pair of armpit belts 23. The base 21 includes a control box 30 that houses the control unit 15 (described later) and other components. The base 21 is worn on the user's back by the pair of shoulder belts 22 and the pair of armpit belts 23. The pair of shoulder belts 22 are provided on the upper part of the base 21 (control box 30). The pair of armpit belts 23 are connected to the distal ends 22a of the pair of shoulder belts 22. The pair of armpit belts 23 connect the base 21 (control box 30) to the distal ends 22a of the pair of shoulder belts 22. The length of the armpit belts 23 is adjustable. By adjusting the length of the armpit belts 23, the base 21 is fitted closely to the user's back (backside) BB. As a result, the first wearing device 11 is attached to the shoulders BS without being able to move in the front-to-back, left-to-right, or up-and-down directions. The first wearing device 11 may include, for example, a hard member as a portion to be hung on the shoulders BS. Although not shown, the first wearing device 11 may further include, as an accessory, a member (waist belt) to be worn on the waist BW of the user. The waist belt is connected to the base 21.

[0021] The second wearing device 12 has a belt-shaped member 40 and a connecting belt 42. The belt-shaped member 40 is worn around the user's legs BL (FIGS. 2 and 4). The belt-shaped member 40 is wrapped around and fixed to the user's lower legs BLL (FIGS. 2 and 4). The connecting belt 42 connects the belt-shaped member 40 to the belt body 13. The belt body 13 (described in detail later) is a member that connects the first wearing device 11 and the second wearing device 12. The second wearing device 12 will be described in detail later.

[0022] The assist device 10 includes a first wearing device 11, left and right second wearing devices 12, a belt 13, an actuator 14, a control unit 15, a battery 37, and a sensor 38. The belt 13 is provided along the back side of the user. As described above, the belt 13 connects the first wearing device 11 and the second wearing device 12. The belt 13 includes a first belt 16, a second belt 17, and a connecting member 18. The first belt 16 is provided on the upper body side of the user. The second belt 17 is provided on the lower body side of the user. The connecting member 18 connects the first belt 16 and the second belt 17. The first belt 16 and the second belt 17 are each long and flexible. As will be described later, the connecting member 18 is composed of a rectangular ring-shaped body 27, such as a "flat ring" or "square ring," and a fastener 28, such as a buckle.

[0023] The first belt 16 and the second belt 17 are belt-like members made of cloth or leather, and can bend to fit the shape of the body. The first belt 16 and the second belt 17 may also be string-like belts (wire-like members). The first belt 16 and the second belt 17 of the present disclosure are formed from a non-stretchable material. That is, the first belt 16 and the second belt 17 have the property of being difficult to stretch or not stretching in the longitudinal direction. The second belt 17 may have stretchability by using flat rubber in part.

[0024] The actuator 14, control unit 15, battery 37, and sensor 38 are housed in a control box 30, which is a casing. Fig. 5 is a diagram showing the inside of the control box 30. The control box 30 has a back plate 31 and a cover 32 that covers the back plate 31. In Fig. 5, the cover 32 is shown by a virtual line (two-dot chain line). An opening (notch) 32a is provided at the bottom end of the cover 32. The first belt 16 passes through the opening 32a.

[0025] The actuator 14 allows a portion of the belt body 13 to be wound up and let out. In other words, the actuator 14 expands and contracts the belt body 13 between the first attachment device 11 and the second attachment device 12. The actuator 14 has a motor 33, a reducer unit 34, and a drive pulley 35. The motor 33 is a brushless DC motor. The motor 33 rotates at a predetermined torque and a predetermined number of rotations based on a control command given from the control unit 15. The motor 33 can also rotate forward and reverse based on the control command.

[0026] Parameters related to rotation of the motor 33, such as the rotation angle, rotation speed, or number of rotations, are detected by a rotation detector 36. The rotation detector 36 is provided on the motor 33. The rotation detector 36 in the present disclosure is a rotary encoder, but may also be a Hall sensor or a resolver. The output of the rotation detector 36 is provided to the control unit 15.

[0027] The reducer unit 34 is composed of a plurality of gears. The reducer unit 34 reduces the rotation speed of the motor 33 to rotate an output shaft 34a of the reducer unit 34. A drive pulley 35 is connected to the output shaft 34a so as to be rotatable integrally therewith. One end 16a of the first belt 16 is fixed to the drive pulley 35. When the drive pulley 35 rotates in one direction due to the forward rotation of the motor 33, the first belt 16 is wound around the drive pulley 35. When the drive pulley 35 rotates in the other direction due to the reverse rotation of the motor 33, the first belt 16 is unwound from the drive pulley 35. In this way, the actuator 14 can wind and unwound the first belt 16, which is part of the belt body 13.

[0028] The control unit 15 includes, for example, a computer and a drive circuit for the motor 33. The control unit 15 has a function of controlling the actuator 14 based on the output of the rotation detector 36 and the output of the sensor 38. The processing performed by the control unit 15 will be described later.

[0029] The sensor 38 includes, for example, a three-axis acceleration sensor. The output of the sensor 38 is provided to the control unit 15. The sensor 38 may be configured with one sensor unit or multiple sensor units. Furthermore, the sensor 38 may be an inclination sensor, a gyro sensor, or a combination of these, other than an acceleration sensor. Furthermore, the sensor 38 may be provided outside the control box 30. The battery 37 supplies power to each part of the assist device, such as the control unit 15 and the motor 33.

[0030] [Regarding the Belt 13] As described above, the belt 13 includes the first belt 16, the second belt 17, and the connecting member 18. One end 16a of the first belt 16 is wound around and fixed to the drive pulley 35. The other end 16b of the first belt 16 is fixed to the connecting member 18. When the first belt 16 is wound around the drive pulley 35, the connecting member 18 is pulled up. When the connecting member 18 is forcibly pulled down, the first belt 16 is unwound (pulled out) from the drive pulley 35. There is a correlation between the amount of winding or unwinding (pulling out) of the first belt 16 around the drive pulley 35 and the rotation amount of the output shaft of the motor 33. Therefore, the amount of winding or unwinding of the first belt 16 can be obtained based on parameters related to the rotation of the motor 33.

[0031] As shown in Figure 5, the connecting member 18 includes a ring-shaped body 27 and a fastener (buckle) 28. The fastener 28 has a first member 28a and a second member 28b. The first member 28a and the second member 28b are connectable and detachable. The first member 28a is attached to the other end 16b of the first belt 16. The second member 28b and the ring-shaped body 27 are connected by a short belt 29. The second belt 17 is inserted through the ring-shaped body 27.

[0032] The second belt 17 is folded back at the annular body 27 and hung on the annular body 27. The annular body 27 supports the folded second belt 17. As a result, the second belt 17 is supported by the annular body 27 without being fixed to the annular body 27. Therefore, the second belt 17 is movable in both directions along its longitudinal direction (the directions of arrows X in FIG. 4 ).

[0033] 1 and 2, the second belt 17 is attached to the second wearing device 12. Specifically, the second belt 17 is composed of a single belt-shaped member. One end 17a of the second belt 17 is attached to the left second wearing device 12. The other end 17d of the second belt 17 is attached to the right second wearing device 12. An intermediate portion 17c of the second belt 17 is hung on a connecting member 18.

[0034] In addition to the intermediate portion 17c, the second belt 17 includes a left leg belt portion 19 extending from the connecting member 18 (intermediate portion 17c) to the left second wearing device 12, and a right leg belt portion 20 extending from the connecting member 18 (intermediate portion 17c) to the right second wearing device 12. As described above, the second belt 17 is not fixed to the annular body 27, so the lengths of the left leg belt portion 19 and the right leg belt portion 20 can be freely changed. However, the sum of the lengths of the left leg belt portion 19 and the right leg belt portion 20 is constant. With this configuration, the second belt 17 does not restrict the user's walking, allowing the user to walk comfortably.

[0035] The second belt 17 further includes a connecting member 39. The connecting member 39 connects the left leg belt portion 19 and the right leg belt portion 20. The provision of the connecting member 39 makes it possible to prevent the lateral gap between the left leg belt portion 19 and the right leg belt portion 20 from widening when, for example, the user changes their posture from an upright position to a bent-forward position as shown in FIG. 4. In other words, it makes it possible to prevent the left leg belt portion 19 and the right leg belt portion 20 from misaligning with the back side of the user's leg BL.

[0036] [Regarding Processing by Control Unit 15] As described above, the control unit 15 controls the actuator 14 based on the output of the rotation detector 36 and the output of the sensor 38. The control unit 15 can detect the user's movement or posture based on the output of the sensor 38. Therefore, the sensor 38 functions as a detector for detecting the user's movement or posture. Postures that the control unit 15 can detect include a forward-leaning posture in which the upper body leans forward, an upright posture, a crouching posture, etc.

[0037] Furthermore, there is a correlation between the amount of winding and feeding of the belt 13 on the drive pulley 35 by the motor 33 and the user's posture. Therefore, the control unit 15 can estimate the user's posture based on the rotation angle of the motor 33 detected by the rotation detector 36. Therefore, the rotation detector 36 can be said to be a sensor for detecting the posture and movement of the user.

[0038] The control unit 15 generates a control command based on at least one of the output of the rotation detector 36 and the output of the sensor 38, and provides the control command to the actuator 14 (motor 33). In this way, the control unit 15 controls the actuator 14. The actuator 14 is controlled according to the user's posture. The actuator 14 operates based on the control command, and performs operations such as winding and unwinding the belt body 13, and pausing the operation.

[0039] When the assist device 10 is worn by the user and is not generating an assisting force, the control unit 15 controls the motor 33 to operate in a direction to retract the belt 13. The control unit 15 controls the motor 33 with a torque that is lower than when generating an assisting force. This applies a weak tension to the belt 13, preventing the belt 13 from loosening.

[0040] For example, when a user in an upright position starts to change their posture to lean forward, tension is generated in the belt 13 due to the position change. Here, the weak tension applied to the belt 13 is smaller than the tension due to the position change. Therefore, the tension in the belt 13 caused by the position change forcibly rotates the motor 33 in the direction to unwind the belt 13. The belt 13 is unwound without the output of the actuator 14. Alternatively, when a user in an upright position starts to change their posture to lean forward, the actuator 14 operates in the direction to unwind the belt 13.

[0041] Conversely, when a user in a forward-leaning posture begins to change posture toward an upright posture, the belt 13 tends to loosen due to the posture change. Meanwhile, the control unit 15 applies weak tension to the belt 13, and thus retracts the belt 13 in response to the posture change. At this time, the control unit 15 can determine that the user is changing posture from a forward-leaning posture toward an upright posture based on at least one of the output of the rotation detector 36 and the output of the sensor 38. When it is determined that the user is changing posture from a forward-leaning posture toward an upright posture, the control unit 15 causes the actuator 14 to generate a torque higher than the torque for generating the weak tension described above, thereby retracting the belt 13 while applying a higher tension to the belt 13. In this way, the control unit 15 retracts or unretracts the belt 13 while controlling the torque output by the actuator 14 (motor 33) in response to the user's posture change.

[0042] 6 is an explanatory diagram of a case where a user wearing the assist device 10 changes their posture. In response to this change in posture, the assist device 10 can apply an assist force to the user.

[0043] When the first belt 16 is wound around the drive pulley 35 by the actuator 14 (the motor 33 thereof), the connecting member 18 pulls the second belt 17 toward the actuator 14, i.e., upward. The second belt 17 has both ends 17a, 17d attached to the left and right second wearing devices 12. The second wearing devices 12 are fixed to the lower leg portions BLL. Therefore, when the first belt 16 is wound around the drive pulley 35, tension acts on the first belt 16 and the second belt 17. This tension acts as an assist force (auxiliary force) on the user. In other words, the actuator 14 generates an assist force between the first wearing device 11 and the second wearing device 12.

[0044] A case will be described in which a user in an upright position changes his / her position to a forward leaning position. When the position change from an upright position to a forward leaning position starts, the belt body 13 is unwound without the output of the actuator 14. This allows the user to assume a forward leaning position without strain. When the forward leaning angle of the user's upper body relative to the vertical line reaches θ and the user maintains the forward leaning position at the forward leaning angle θ, the unwinding (unwinding) of the belt body 13 is stopped. The start and end of the position change can be detected by the rotation detector 36 or the sensor 38.

[0045] When a user in a forward-leaning posture begins to change posture toward an upright posture and the controller 15 determines that the user is changing posture from the forward-leaning posture to an upright posture, the controller 15 controls the actuator 14 to generate a torque higher than the torque for generating the weak tension described above, thereby winding up the belt 13 while generating a higher tension in the belt 13. This tension in the belt 13 generates a rearward acting force F1 in the first wearing device 11. That is, the acting force F1 is generated to pull the upper body of the user in a forward-leaning posture upward. At the same time, this tension generates an acting force F2 that pushes the user's left buttocks and right buttocks forward. This allows the user to easily return from a forward-leaning posture to an upright posture. The acting forces F1 and F2 reduce the muscle load on the user's back muscles, quadriceps, and other muscles when the user is in a forward-leaning posture, thereby assisting the user's movement.

[0046] 4, the assist device 10 can also provide an assist force to the user when the user leans forward with their upper body bent and knees bent. When the user changes from a bent position to an upright position, for example, when lifting an object or a part of the body of the person being assisted, the actuator 14 retracts the belt 13. This generates tension in the belt 13.

[0047] This tension generates an acting force F1 that pulls the upper body of the user in a forward-leaning posture upward. At the same time, an acting force F2 that pushes the user's left and right buttocks forward is generated. Furthermore, as shown in FIG. 4 , the second attachment 12 generates an acting force F3 that pulls the user's knees BN backward. These acting forces F1, F2, and F3 reduce the muscle load on the user's back muscles, quadriceps, and other muscles in a bent posture, thereby assisting the user in lifting a load. As described above, the assist device 10 of the present disclosure reduces the muscle load on the lower back in a bent-forward posture, making it possible to prevent lower back pain.

[0048] [Regarding the Second Wearing Device 12] FIG. 7 is a diagram illustrating the second wearing device 12 in FIG. 1. While FIG. 7 illustrates the left-side second wearing device 12, the right-side second wearing device 12 has a similar configuration. As described above, the second wearing device 12 includes a belt-shaped member 40 and a connecting belt 42. The upper end 42a of the connecting belt 42 is connected to the second belt 17 (belt body 13). More specifically, a connecting device 44 is provided between the upper end 42a of the connecting belt 42 and one end 17a of the second belt 17 of the belt body 13. The connecting device 44 includes a buckle or the like. The connecting device 44 is positioned near the back of the knee region BN. The connecting device 44 includes a first member 44a and a second member 44b. The first member 44a and the second member 44b are separable and connectable. The first member 44a is attached to one end 17a of the second belt 17. The second member 44b is attached to the upper end 42a of the connecting belt 42. Thus, the connector 44 separably connects the connecting belt 42 and the second belt 17 (belt body 13).

[0049] The connecting belt 42 includes a single belt body 43. The belt body 43 is made of a non-stretchable material. Therefore, the belt body 43 has the property of being difficult to stretch or not stretching in the longitudinal direction. The belt body 43 is inserted through a hole 44b1 in the second member 44b. The belt body 43 is folded back at the hole 44b1 to form a pair of belt portions 46, 47. The pair of belt portions 46, 47 extend from the second member 44b to the belt-shaped member 40. The pair of belt portions 46, 47 have connecting portions 46a, 47a and belt end portions 46b, 47b. The connecting portions 46a, 47a are connected to the second member 44b by folding back the belt body 43. The belt end portions 46b, 47b are connected to the belt-shaped member 40.

[0050] The belt-shaped member 40 is made of a stretchable mesh material. The belt-shaped member 40 has a rectangular outer shape. In the following description, the direction along the long sides of the belt-shaped member 40 is referred to as the longitudinal direction, and the direction along the short sides of the belt-shaped member 40 is referred to as the width direction. In FIG. 7 , the longitudinal direction is also the left-right direction, and the width direction is also the up-down direction. Furthermore, the longitudinal dimension refers to the dimension along the long sides of the belt-shaped member 40, and the width dimension refers to the dimension along the short sides of the belt-shaped member 40.

[0051] The belt-shaped member 40 has a first edge 40a, a second edge 40b, an upper edge 40c, and a lower edge 40d. The upper edge 40c and the lower edge 40d are edges along the longitudinal direction. The upper edge 40c and the lower edge 40d are parallel to each other. The first edge 40a and the second edge 40b are edges along the width direction. The first edge 40a and the second edge 40b are parallel to each other. The first edge 40a is an edge on one side in the longitudinal direction. The second edge 40b is an edge on the opposite side of the first edge 40a. The upper edge 40c connects the upper ends of the first edge 40a and the second edge 40b. The lower edge 40d connects the lower ends of the first edge 40a and the second edge 40b. The first edge 40a, the second edge 40b, the upper edge 40c, and the lower edge 40d are connected by smooth curves.

[0052] The first edge 40a has a first upper edge 51, a first lower edge 52, and a first notch 53. The first notch 53 is provided between the first upper edge 51 and the first lower edge 52. The first notch 53 is formed by cutting out the first edge 40a so as to be recessed from the first upper edge 51 and the first lower edge 52 toward the second edge 40b.

[0053] The second edge 40b has a second upper edge 54, a second lower edge 55, and a second cutout 56. The second cutout 56 is provided between the second upper edge 54 and the second lower edge 55. The second cutout 56 cuts out the second edge 40b so as to be recessed from the second upper edge 54 and the second lower edge 55 toward the first edge 40a.

[0054] The width direction dimensions of the first upper edge 51 and the second upper edge 54 are the same. The width direction dimensions of the first lower edge 52 and the second lower edge 55 are the same. Furthermore, the width direction dimensions of the first lower edge 52 and the second lower edge 55 are smaller than the width direction dimensions of the first upper edge 51 and the second upper edge 54.

[0055] The belt-shaped member 40 has a first surface 40f and a second surface 40s. The second surface 40s is the surface behind the first surface 40f. Fig. 7 shows the first surface 40f side of the belt-shaped member 40.

[0056] The belt-shaped member 40 has a hook-and-loop fastener 58 for fastening the first edge 40a and the second edge 40b together. The hook-and-loop fastener 58 includes an upper fastener 59 and a lower fastener 60. The upper fastener 59 includes an upper male fastener portion 59a and an upper female fastener portion 59b. The upper female fastener portion 59b is rectangular and provided on the first surface 40f. The fastening surface of the upper female fastener portion 59b exposed on the first surface 40f is brushed in a fine loop pattern. The upper female fastener portion 59b is disposed along the second upper edge 54. The widthwise dimension of the upper female fastener portion 59b is smaller than the widthwise dimension between the upper edge 40c and the second notch 56. The upper female fastener portion 59b is provided in the region of the first surface 40f between the upper edge 40c and the second cutout portion 56. The upper female fastener portion 59b has a substantially square shape overall.

[0057] The upper male fastener portion 59a is rectangular and is provided on the second surface 40s. Figure 8 shows a main portion of the second surface 40s. The locking surface of the upper male fastener portion 59a exposed on the second surface 40s is raised in a fine hook shape. The upper male fastener portion 59a is arranged along the first upper edge 51. The widthwise dimension of the upper male fastener portion 59a is smaller than the widthwise dimension between the upper edge 40c and the first notch 53. The upper male fastener portion 59a is provided in the region of the second surface 40s between the upper edge 40c and the first notch 53. The widthwise dimension of the upper male fastener portion 59a and the widthwise dimension of the upper female fastener portion 59b are approximately the same.

[0058] When the locking surfaces of the upper male fastener portion 59a and the upper female fastener portion 59b come into contact with each other, the upper male fastener portion 59a and the upper female fastener portion 59b are locked together, thereby locking the first upper edge 51 and the second upper edge 54 of the upper fastener 59.

[0059] The lower fastener 60 includes a lower male fastener portion 60a and a lower female fastener portion 60b. As shown in FIG. 7 , the lower female fastener portion 60b is rectangular and provided on the first surface 40f. The locking surface of the lower female fastener portion 60b exposed on the first surface 40f is brushed with fine loops. The lower female fastener portion 60b is disposed along the second lower edge 55. The widthwise dimension of the lower female fastener portion 60b is smaller than the widthwise dimension between the lower edge 40d and the second notch 56. The lower female fastener portion 60b is provided in the region of the first surface 40f between the lower edge 40d and the second notch 56. The longitudinal dimension of the lower female fastener portion 60b and the longitudinal dimension of the upper female fastener portion 59b are approximately the same.

[0060] As shown in Figure 8, the lower male fastener portion 60a is rectangular and is provided on the second surface 40s. The locking surface of the lower male fastener portion 60a exposed on the second surface 40s is raised in a fine hook-like pattern. The lower male fastener portion 60a is arranged along the first lower edge 52. The width dimension of the lower male fastener portion 60a is smaller than the width dimension between the lower edge 40d and the first notch 53. The lower male fastener portion 60a is provided in the region of the second surface 40s between the lower edge 40d and the first notch 53. The longitudinal dimension of the lower male fastener portion 60a is approximately the same as the longitudinal dimension of the upper male fastener portion 59a. The width dimension of the lower male fastener portion 60a is approximately the same as the width dimension of the lower female fastener portion 60b.

[0061] When the locking surfaces of the lower male fastener portion 60a and the lower female fastener portion 60b come into contact with each other, the lower male fastener portion 60a and the lower female fastener portion 60b are locked together, thereby locking the first lower edge 52 and the second lower edge 55 of the lower fastener 60 together.

[0062] As shown in FIG. 7 , a hole 64 is provided in the central portion of the belt-shaped member 40 in the width direction and the length direction. This hole 64 is a hole for exposing the user's calf when the second wearing device 12 is worn on the lower leg BLL. The edge 66 of the hole 64 includes an upper edge 66a, a lower edge 66b, a right edge 66c, and a left edge 66d. The upper edge 66a and the lower edge 66b are linear and substantially parallel to the upper edge 40c and the lower edge 40d. The lower edge 66b is longer than the upper edge 66a. The right edge 66c and the left edge 66d connect the left and right ends of the upper edge 40c and the lower edge 40d with smooth curves.

[0063] The widthwise dimension between the lower edge portion 66b and the lower edge 40d is approximately the same as the widthwise dimension of the first lower edge 52 and the second lower edge 55.

[0064] As described above, the pair of belt portions 46, 47 have belt end portions 46b, 47b. The belt end portions 46b, 47b are connected to the belt-shaped member 40. The belt end portion 46b of the belt portion 46 of the pair of belt portions 46, 47 is connected to a portion of the first surface 40f adjacent to the left side of the hole 64. The belt end portion 46b is connected to the portion adjacent to the left side of the hole 64 by being sewn in a square shape along the edge of the belt end portion 46b. The portion adjacent to the left side of the hole 64 is the portion (area) between the hole 64 and the upper male fastener portion 59a and the lower male fastener portion 60a when the belt-shaped member 40 is viewed in plan.

[0065] Of the pair of belt portions 46, 47, the belt end 47b of the belt portion 47 is connected to a portion of the first surface 40f adjacent to the right side of the hole 64. The belt end 47b is connected to the portion adjacent to the right side of the hole 64 by being sewn in a square shape along the edge of the belt end 47b. The portion adjacent to the right side of the hole 64 is the portion (area) between the hole 64 and the upper female fastener portion 59b and the lower female fastener portion 60b when the belt-shaped member 40 is viewed in plan.

[0066] In this way, the pair of belt portions 46, 47 connect adjacent left and right portions of the hole portion 64 to the second belt 17 (belt body 13) located on the back side of the user.

[0067] In the second wearing device 12 configured as described above, after the belt-shaped member 40 is wrapped around the lower leg BLL, the first edge 40a and the second edge 40b are fastened together by the hook-and-loop fastener 58. By fastening the first edge 40a and the second edge 40b together, the second wearing device 12 is attached to the lower leg BLL.

[0068] Here, the belt-shaped member 40 is wrapped with the second surface 40s facing the user. Therefore, the second surface 40s includes a contact surface 40t that contacts the user's lower leg BLL. The belt-shaped member 40 is worn so that the user's calf BC is exposed through the hole 64. This allows the belt-shaped member 40 to be wrapped around the lower side of the user's knee BN. Therefore, the contact surface 40t included in the second surface 40s extends across the entire width of the belt-shaped member 40. Furthermore, the upper male fastener portion 59a and the lower male fastener portion 60a are in contact with the upper female fastener portion 59b and the lower female fastener portion 60b, respectively, and therefore do not contact the lower leg BLL. Therefore, the contact surface 40t is provided in the longitudinal direction in a range from the second edge 40b to the area just before the upper male fastener portion 59a and the lower male fastener portion 60a.

[0069] According to the above configuration, the second surface 40s of the belt-shaped member 40 has a contact surface 40t that contacts the user's lower leg BLL and is provided across the entire width of the belt-shaped member 40, so the belt-shaped member 40 is attached to the user's lower leg BLL without covering the knee BN. Therefore, the second attachment 12 does not hinder the bending and stretching of the knee BN. Furthermore, although muscle expansion and contraction occurs in the lower leg BLL, there is little change in the thickness of the thigh muscles that occurs when the knee BN is flexed and stretched. This prevents the second attachment 12 from shifting position, allowing the assist force to be applied efficiently to the user.

[0070] Furthermore, the belt-shaped member 40 of this embodiment is provided with holes 64 that expose the user's calf region BC. Therefore, when the belt-shaped member 40 is attached to the user's lower leg region BLL, the holes 64 can fit around the bulging calf region BC while exposing the calf region BC through the holes 64. As a result, displacement of the second wearing device 12 can be effectively suppressed. Furthermore, exposing the calf region BC can improve the breathability of the lower leg region BLL, improving the wearing comfort of the second wearing device 12.

[0071] In this embodiment, the pair of belts 46, 47 connect adjacent left and right portions of the hole 64 to the second belt 17 (belt body 13) located on the back side of the user. Therefore, the pair of belts 46, 47 extend from the left and right positions of the user's calves BC along the back side of the thighs, avoiding the left and right sides of the knees BN. As a result, it is possible to prevent the pair of belts 46, 47 from coming into contact with the left and right sides of the knees BN, where the bones are close to the skin. This prevents the user from feeling pain due to contact and improves the wearing comfort.

[0072] FIG. 9 is a diagram showing the second wearing device 12 worn by a user. FIG. 9 shows a state in which the user's knee BN is bent. As shown in FIG. 9, the belt end 46b is located on the left side of the user's calf BC. Although not shown in FIG. 9, the other belt end 47b is located on the right side of the user's calf BC. Thus, the pair of belt portions 46, 47 extend from the left and right positions of the user's calf BC along the back side of the thigh. At this time, the pair of belt portions 46, 47 extend toward the back side so as to avoid the side portions BN1 of the knee BN. This prevents the pair of belt portions 46, 47 from contacting the left and right sides of the knee BN, preventing the user from feeling pain due to contact and improving the wearing comfort.

[0073] In this embodiment, the second wearing device 12 has an upper fastener 59 that fastens the first upper edge 51 and the second upper edge 54, and a lower fastener 60 that fastens the first lower edge 52 and the second lower edge 55. Therefore, the degree of fastening to the lower leg BLL can be independently adjusted by the upper fastener 59 and the lower fastener 60. Furthermore, because the second wearing device 12 has the first notch 53 and the second notch, it becomes easier to independently adjust the degree of fastening of both the upper fastener 59 and the lower fastener 60. In particular, since the positions of the first lower edge 52 and the second lower edge 55 are near the position of the lower part of the calf portion BC, by tightening the first lower edge 52 and the second lower edge 55 more tightly with the lower fastener 60, the periphery of the lower part of the calf portion BC is tightened more tightly by the belt-shaped member 40, effectively preventing the second attachment 12 from shifting upward.

[0074] Furthermore, in this embodiment, the widthwise dimensions of the first lower edge 52 and the second lower edge 55 are smaller than the widthwise dimensions of the first upper edge 51 and the second upper edge 54. Therefore, when the first lower edge 52 and the second lower edge 55 are tightened, the tightening width of the belt-shaped member 40 around the lower part of the calf region BC is narrowed, and the tightening surface pressure around the lower part of the calf region BC can be increased. This makes it possible to more effectively prevent the second wearing device 12 from shifting upward.

[0075] Furthermore, in this embodiment, the widthwise dimension between the lower edge 66b and the lower edge 40d is approximately the same as the widthwise dimension of the first lower edge 52 and the second lower edge 55. Therefore, the portion between the lower edge 66b and the lower edge 40d and the first lower edge 52 and the second lower edge 55 function as a single narrow belt, which can further increase the tightening surface pressure around the lower part of the calf region BC.

[0076] In this embodiment, the connecting belt 42 is made of a non-stretchable material. This reduces the transmission loss of tension in the belt body 13, allowing the assist force to be applied to the user more efficiently. On the other hand, the belt-shaped member 40 is made of a stretchable mesh material, which allows the muscles in the lower leg BLL to expand and contract, thereby reducing the feeling of pressure on the user. Furthermore, the use of a mesh material can further improve the breathability of the lower leg BLL.

[0077] In this embodiment, the hook-and-loop fastener 58 is provided so that the first edge 40a is positioned on the medial side of the shin when the belt-shaped member 40 is worn by the user. Therefore, when the user wears the assist device 10 and performs work, the first edge 40a is prevented from coming into contact with objects around the user, which can cause the hook-and-loop fastener 58 to become disengaged or loose.

[0078] [Others] The embodiments disclosed herein are illustrative in all respects and are not limiting. For example, in the above embodiment, the belt-shaped member 40 includes the holes 64, but the belt-shaped member 40 may be configured without the holes 64. However, providing the holes 64 can effectively prevent the second wearing device 12 from shifting, as described above, and can also improve breathability of the lower leg portion BLL. Furthermore, in the above embodiment, the connecting belt 42 includes a pair of belt portions 46, 47, but the connecting belt 42 may be configured as a single belt portion. Furthermore, in the above embodiment, the hook-and-loop fastener 58 includes the upper fastener 59 and the lower fastener 60, but the hook-and-loop fastener 58 may be configured as a single hook-and-loop fastener.

[0079] The scope of the present invention is not limited to the above-described embodiments, but includes all modifications within the scope of equivalents to the configurations described in the claims.

[0080] REFERENCE SIGNS LIST 10 Assist device 11 First attachment 12 Second attachment 13 Belt body 14 Actuator 40 Belt-shaped member 40a First edge 40b Second edge 40t Contact surface 42 Connecting belt 46 Belt portion 46a Connection portion 46b Belt end portion 47 Belt portion 47a Connection portion 47b Belt end portion 51 First upper edge 52 First lower edge 53 First notch portion 54 Second upper edge 55 Second lower edge 56 Second notch portion 58 Hook-and-loop fastener 59 Upper fastener 60 Lower fastener 64 Hole portion

Claims

1. A first wearing tool that is worn on at least one of a shoulder and a chest of a user; A second wearing device to be worn on the left and right legs of the user; A belt body provided along the back of the user across the first wearing tool and the second wearing tool; an actuator that allows a portion of the belt body to be wound up and unwound; The second attachment is A belt-shaped member that is wrapped around and fixed to the leg portion; a connecting belt connecting the belt body and the belt-shaped member, One surface of the belt-shaped member has a contact surface that is provided over the entire width of the belt-shaped member and that contacts the lower leg of the user, the belt-shaped member has a hook-and-loop fastener that fastens a first end edge of the belt-shaped member in a longitudinal direction and a second end edge opposite to the first end edge; The first edge has a first upper edge, a first lower edge, and a first notch provided between the first upper edge and the first lower edge, the second edge has a second upper edge, a second lower edge, and a second cutout portion provided between the second upper edge and the second lower edge; The hook and loop fastener is an upper fastener that engages the first upper edge and the second upper edge; a lower fastener that engages the first lower edge and the second lower edge. Assist device.

2. The belt-shaped member is provided with holes for exposing the calf of the user. The assist device according to claim 1 .

3. The connecting belt has a pair of belt portions, Each of the pair of belt portions is A connection portion connected to the belt body; a belt end portion connected to the belt-shaped member, The pair of belt ends of the pair of belt portions are connected to adjacent portions on the left and right of the hole in the belt-shaped member. The assist device according to claim 2 .

4. The widthwise dimension at the first lower edge and the widthwise dimension at the second lower edge are smaller than the widthwise dimension at the first upper edge and the widthwise dimension at the second upper edge. The assist device according to claim 1 .

5. The connecting belt is made of a non-elastic material, The belt-shaped member is made of an elastic material. The assist device according to claim 1 or 2.

6. The elastic material is a mesh material. The assist device according to claim 5.