Power assist suit

Abstract

The present invention provides a power assist suit having a restoring force with respect to compound actions performed by the wearer including twisting and rotation, the power assist suit being capable of imparting an assisting force. A power assist suit according to the present invention comprises an elastic body 102 formed of a linear elastic member, and a mounting tool 103 for mounting the elastic body on the body of a wearer. The upper portion of the elastic body 102 is formed in a loop shape and is mounted on the back. The lower portion of the elastic body 102 is divided into right and left parts, which are linearly formed and are mounted on the thighs. An intersection part near the center of the elastic body 102 is mounted on the waist. This makes it possible to obtain an assisting force with respect to left / right and front / rear twisting and rotating motions centered on the waist.

Description

Power Assist Suit

[0001] The present invention relates to a power assist suit that assists the movements of a worker.

[0002] At workplaces in nursing care, logistics, construction, agriculture, and other fields, workers are required to lift and transport heavy objects, placing a great physical burden on them. For this reason, power-assisted suits are being developed to assist workers' movements and reduce their workload.

[0003] Power assist suits are broadly divided into electric and non-electric types. Electric power assist suits are equipped with an electric drive unit such as a motor and can provide a large amount of assistive power to the worker. For this reason, they are useful in work sites that require a relatively large amount of assistive power, such as when transporting heavy objects. However, the suit itself is heavy, making it difficult to wear and expensive.

[0004] Therefore, in recent years, the development of non-electric power assist suits has attracted attention. Non-electric power assist suits have a structure that assists the worker's movements using, for example, the restoring force of a spring, and the assisting force is not as large as that of electric suits. However, because they are relatively easy to wear and are available at a lower cost than electric suits, they are expected to be applied to tasks such as lifting light loads, repetitive carrying tasks, and various tasks in daily life.

[0005] For example, Patent Document 1 discloses a power assist suit in which linear members are formed into a loop shape. Patent Document 2 also discloses a power assist suit in which elastic bodies are crossed. Both power assist suits can assist a worker in bending forward or in relatively light twisting movements that use only the upper body. However, because they are configured to be worn only on the worker's back, they do not provide sufficient assistance for twisting or rotating movements that use the whole body.

[0006] JP 2021-145711 A JP 2023-130729 A

[0007] The present invention provides a power assist suit that has a restoring force against complex movements, including twisting and rotation, of the wearer and can provide support.

[0008] The power assist suit of the present invention is a power assist suit that has an elastic body formed from an elastic material and is worn on the wearer's body, the elastic body having a first elastic portion that is worn on the wearer's back, a second elastic portion that is worn from the wearer's waist to thighs, and a connecting portion that connects the first elastic portion and the second elastic portion and is worn on the wearer's waist, the first elastic portion being formed by a loop-shaped elastic material, and the second elastic portion being formed by an elastic material stretched in the longitudinal direction, and the width of the connecting portion in the short side direction is smaller than the maximum width of the first elastic portion in the short side direction and also smaller than the maximum width of the second elastic portion in the short side direction.

[0009] According to the present invention, a power assist suit can be provided that has a restoring force against complex movements including twisting and rotation by the wearer and can provide assistive force.

[0010] Schematic diagram of a power assist suit being worn in this embodiment;Figure showing the shape of the elastic body used in the power assist suit;Figure showing other shapes of the elastic body used in the power assist suit;Figure explaining the operation when the power assist suit is worn;Figure showing a series of actions to move luggage;Schematic diagram of a mold for manufacturing the elastic body used in the power assist suit;Figure showing another wearing example in this embodiment;Schematic diagram of the adjustment mechanism of the waist belt;Figure showing an example where a part of the loop shape of the elastic body includes a convex portion or a concave portion;Figure showing a series of actions to move luggage by the wearer;Figure showing an example where the first elastic portion has a shape having a convex portion facing forward of the wearer;Figure showing a series of actions to move luggage by the wearer;Figure showing an example where the first elastic portion has a shape having multiple convex portions and concave portions;Figure showing an example where the elastic member is extended along the inside of the thighs of both legs;Figure showing a series of actions to move luggage by the wearer;Figure showing another example where thigh attachment parts are provided;Figure showing an example of an elastic body where multiple elastic members are connected;Figure showing another example of an elastic body where multiple elastic members are connected;Figure showing another example of an elastic body where multiple elastic members are connected;

[0011] Hereinafter, embodiments of the present invention will be described, but the present invention is not limited to the following embodiments.

[0012] (Embodiment)

[0013] [1. Overview] In this embodiment, a non-electric power-assisted suit using an elastic body will be described. The elastic body uses an elastic member made of thermosetting carbon fiber reinforced plastic (CFRP).

[0014] FIG. 1 is a schematic diagram of a power-assisted suit according to this embodiment. It shows the back view of a wearer 100 wearing the power-assisted suit 101. The power-assisted suit 101 is composed of an elastic body 102 made of CFRP, a wearing device 103, and a waist belt 104. The elastic body 102 is a linear elastic member made of CFRP. The upper portion is formed in a loop shape, and the lower portion is formed by dividing into left and right halves and extending linearly in the longitudinal direction (vertical direction) so as to fit along the thighs of both legs. The elastic members are formed to intersect slightly above the center. The elastic body 102 is fixed to the wearing device 103, and by wearing the wearing device 103, the elastic body 102 is attached to the body. The waist portion of the wearing device 103 is fixed to the body by the waist belt 104. In this embodiment, the up-down direction, left-right direction, and front-to-back direction refer to directions seen from the viewpoint of the wearer 100, with the elastic body 102 being attached to the wearer 100 as the reference. In Fig. 1, the horizontal direction is the left-to-right direction (also referred to as the lateral direction), the vertical direction is the up-to-down direction (also referred to as the longitudinal direction), and the depth direction is the front-to-back direction.

[0015] To maximize the assist effect of the power assist suit 101, the positional relationship between the elastic body 102 and the body is also an important factor. In order to transmit the elastic force of the elastic body 102 to the wearer 100, it is desirable that the loop portion at the top of the elastic body 102 is located on the back of the wearer 100, the crossing portion of the elastic body 102 is located on the waist, and the straight portion at the bottom of the elastic body 102 is located on the thigh. The elastic body 102 is fixed at a predetermined position on the wearing device 103, and when the wearing device 103 is worn, the elastic body 102 is located at the aforementioned position.

[0016] In FIG. 1 , the wearing device 103 has a shape that covers the elastic body 102, but this shape is not limited to this. For example, it may be clothing such as underwear, or clothing such as a short-sleeved or long-sleeved shirt. A belt or the like that fastens any number of points of the elastic body 102 to the wearer 100 may also be used. Any other shape may be used as long as it can fasten the elastic body 102 and be worn by the wearer 100. Preferably, the wearing device should be able to fit closely to the body of the wearer 100 so that the position of the elastic body 102 does not shift even when the body moves. This is because it is desirable for the positional relationship between the elastic body 102 and the body to be fixed in order to maximize the restoring force and support force of the elastic body 102.

[0017] Furthermore, in order to prevent the elastic body 102 from shifting out of position, the crossing portions of the elastic body 102 may be fixed to the waist belt 104. The waist belt 104 is fastened near the lumbar vertebrae and is in close contact with the body, so if the crossing portions of the elastic body 102 are fixed to the waist belt 104, the elastic body 102 can be prevented from shifting out of position. Although not shown, the elastic body 102 may also be fixed by a belt-like member near the thighs or the back. This can prevent the elastic body 102 from shifting out of position.

[0018] [2. Structure of Elastic Body] Figure 2 shows the shape of the elastic body used in the power-assisted suit. Figure 2(a) is a front view of the elastic body 200, which is an elastic member made of CFRP. In this embodiment, a member with a cross-sectional outer diameter of approximately 4 mm to 6 mm is used. The elastic body 200 represents the elastic body 102 incorporated into the power-assisted suit 101. The elastic body 200 has a first elastic portion 201 in which the elastic member is formed into a loop shape, and a second elastic portion 202 in which the elastic member is split into left and right parts and stretched in the longitudinal direction (vertical direction). The first elastic portion 201 and the second elastic portion 202 are connected by a connecting portion. In this case, the intersection 203 where the elastic members intersect serves as the connecting portion. In Figure 2(a), if the upper end of the elastic body 200 is p, the intersection is q, and the lower end is r, the first elastic portion 201 refers to the area from the upper end p to the intersection q, and the second elastic portion 202 refers to the area from the intersection q to the lower end r.

[0019] 2B is a side view of the elastic body 200, with the left side being the wearing direction. When viewed from the side of the elastic body 200, the first elastic portion 201 is formed to be located behind the wearer compared to the second elastic portion 202.

[0020] In the elastic body 200 configured in this manner, the first elastic portion 201 is attached to the wearer's back, and the second elastic portion 202 is attached from the waist to the sides of the thighs. The crossing portion 203 is attached to the wearer's waist. By attaching the crossing portion 203 to the waist, an assist force can be obtained for forward / backward and left / right movements and twisting movements centered on the waist.

[0021] FIG. 3 shows other shapes of elastic bodies used in power-assisted suits. FIG. 3( a) is a front view of elastic body 300, which is an elastic member made of the same CFRP as described above. Elastic body 300 has a first elastic portion 301 in which the elastic member is formed into a loop shape and a second elastic portion 302 in which the elastic member is split into left and right halves and stretched in the longitudinal direction. The first elastic portion 301 and the second elastic portion 302 are connected by a connecting portion. In this case, the connecting portion is a proximal portion 303 where the elastic members are close to each other. The proximal portion 303 is the portion where the elastic members are close to each other, and its width (horizontal width) in the short side (lateral direction) is smaller than the maximum value (maximum horizontal width) of the first elastic portion 301 and also smaller than the maximum horizontal width of the second elastic portion 302. In other words, the proximal portion 303 is located between the first elastic portion 301 and the second elastic portion 302 and has a constricted shape. The term "loop-shaped" as used herein means a ring shape, and includes not only a completely closed ring shape but also a ring shape with a portion missing.

[0022] 3(b) is a side view of the elastic body 300, with the left side being the wearing direction. As described above, the first elastic portion 301 is formed to be located further back of the wearer than the second elastic portion 302. The wearing positions are also the same as described above, with the first elastic portion 301 worn on the wearer's back, and the second elastic portion 302 worn from the waist to the sides of the thighs. The proximal portion 303 is worn on the wearer's waist. By wearing this proximal portion 303 on the waist, an assist force can be obtained for forward / backward / left / right movements and twisting movements centered on the waist, as described above.

[0023] In this embodiment, the elastic body 200 and the elastic body 300 are formed using a continuous elastic member, so that, for example, the first elastic portion 201, the second elastic portion 202, and the intersecting portion 203 are formed from a single member. However, this is not limiting, and each may be formed from a separate member.

[0024] Furthermore, multiple elastic members may be used for the elastic body 200 and the elastic body 300. As the number of elastic members increases, the restoring force of the elastic body increases, and the assisting force to the wearer increases. Therefore, the number of elastic members can be selected according to the required assisting force.

[0025] 4A and 4B are diagrams illustrating the operation of the power assist suit when worn. Fig. 4A is a diagram showing the wearer 400 bending forward from behind. The elastic body 401 curves along the posture of the wearer 400.

[0026] FIG. 4B is a side view of the elastic body 401. The figure shows the wearer 400 slightly leaning forward with only the upper body, as if attempting to lift a load off a table. When the wearer 400 leans forward, the first elastic portion 402 attached to the back curves along the wearer's back. Because only the upper body is leaning forward, the crossing portion 404 attached to the waist and the second elastic portion 403 attached from the waist to the thighs remain in almost the same positions. Restoring forces act on the curved elastic body 401 to return it to its original shape. For example, restoring forces act on the first elastic portion 402 with the crossing portion 404 as a fulcrum, and restoring forces act on the curved first elastic portion 402 to return it to its original shape. These restoring forces act as assist forces to return the wearer 400 to its original position, allowing the wearer 400 to easily lift the load off the table.

[0027] FIG. 4C illustrates the state of the elastic body 401 when the wearer 400 bends significantly at the waist and leans forward. For example, this is an action like trying to lift a load placed on the floor. When the wearer 400 leans forward, the first elastic portion 402 attached to the back leans forward and curves along the wearer's back. The crossing portion 404 attached to the waist and the second elastic portion 403 attached from the waist to the thighs also curve in accordance with the movement of the body. As described above, a restoring force acts on the curved elastic body 401 to return it to its original shape. For example, in addition to the restoring forces that attempt to restore the respective curves generated in the first elastic portion 402 and the second elastic portion 403, restoring forces also act with the lower end of the second elastic portion 403, the crossing portion 404, and other portions as fulcrums. These restoring forces act as assist forces that return the wearer 400 to their original posture, allowing the wearer 400 to easily lift a load placed on the floor.

[0028] Although the elastic body 200 shown in Fig. 2 has been used as an example of the elastic body 401 in the description, the elastic body 300 shown in Fig. 3 may also be used. Since an elastic member is in proximity to the proximal portion 303 of the elastic body 300, a restoring force can be applied to the first elastic portion 301 with the proximal portion 303 as a fulcrum. Therefore, even when the elastic body 300 is used, an assist force equivalent to that described above can be obtained.

[0029] 5A and 5B show a series of actions in which a wearer 500 lifts a load and moves it from left to right. Fig. 5A shows a person lifting a load placed on the left side. Fig. 5B shows a person moving the lifted load to the front. Fig. 5C shows a person placing the load on the right side.

[0030] In Figure 5(a), the wearer 500 leans his / her body downward and leftward, and this movement causes the elastic body 501 to bend downward and leftward. Therefore, a restoring force acts on the elastic body 501, which tries to return it to its original shape. This restoring force acts as an assisting force to return the wearer 500 to their original posture, allowing them to easily lift luggage placed on the floor. The assisting force continues until the wearer 500 reaches the state shown in Figure 5(b).

[0031] Next, the wearer 500 places the luggage 502 on the right side, as shown in FIG. 5( c). As the wearer 500 moves the luggage 502 to the right, the elastic body 501 gradually bends. As a result, the restoring force of the elastic body 501, which tries to return to its original shape, gradually increases. This restoring force acts as an assisting force that returns the wearer 500 to their original position, offsetting the weight of the luggage 502. This allows the wearer 500 to place the luggage 502 on the floor without feeling excessive weight. Furthermore, because the restoring force of the elastic body 501 continues even after the luggage 502 is placed, the wearer 500 can return to their original position while receiving the assisting force. In this way, the wearer 500 can obtain the assisting force from the elastic body 501 both when lifting and putting down luggage, thereby reducing the strain on the back and waist.

[0032] In the power assist suit of this embodiment, elastic bodies 501 are attached from the back to the thighs of the wearer, which allows for assisting not only the forward and backward bending of the back as described in Fig. 4, but also the left and right twisting motions using the whole body as described in Fig. 5.

[0033] [4. Manufacturing of the Power-Assisted Suit] Figure 6 is a schematic diagram of a mold for manufacturing the elastic body of the power-assisted suit in this embodiment. Figure 6(a) is a top view of the mold 600, and a groove 601 is formed in the mold 600. A carbon fiber substrate is placed in this groove 601, resin is injected, and the resin is hardened by applying heat to manufacture the elastic body. The substrate used may be a bundle of twisted carbon fibers, or a bundle of carbon fibers braided into a cord. Since the assist force of the elastic body changes depending on the carbon fiber substrate, the substrate can be selected depending on the required assist force.

[0034] Near the center of groove 601, there are intersecting grooves 602 whose central portions intersect, and adjacent grooves 603 whose central portions are close to each other. When carbon fibers are placed along intersecting grooves 602, elastic body 200 whose central portions intersect as shown in FIG. 2 can be produced. When elastic members are placed along adjacent grooves 603, elastic body 300 whose central portions are close to each other as shown in FIG. 3 can be produced. In other words, by using mold 600, it is possible to produce both the intersecting type elastic body 200 shown in FIG. 2 and the adjacent type elastic body 300 shown in FIG. 3.

[0035] Figure 6(b) is a side view of the mold 600. The dashed lines 604 to 606 correspond to the positions of the upper end 604, the intersection and adjacent portion 605, and the lower end 606 in Figure 6(a), respectively, and the mold 600 is formed so that the height of the upper end 604 is higher than the lower end 606. By providing an inclination to the mold 600 in this way, it is possible to manufacture an elastic body in which the first elastic portion is located further behind the wearer than the second elastic portion.

[0036] Depending on the wearer's height and build, the size of the elastic body may not fit, making it impossible to wear the suit in the specified position. Therefore, elastic bodies of different sizes may be prepared in advance. In this case, for example, multiple molds may be prepared with different spacing between 604 and 605, as indicated by the dashed lines in FIG. 6(a). The heights of 604 to 606 shown in FIG. 6(b) may also be varied. By preparing multiple molds in this way to fit different wearer heights, a power assist suit can be provided that matches the wearer's height and build.

[0037] Although carbon fiber is used as the raw material for the elastic member, this is not a limitation. Any material having elasticity may be used, and fiber materials other than carbon may be solidified with resin or the like. The width of the groove 601 may be changed to adjust the assist force. For example, increasing the width of the groove 601 increases the diameter of the elastic body 200, thereby increasing the assist force. Therefore, the width of the groove 601 may be adjusted depending on the required assist force. The dashed lines 604 to 606 in FIG. 6 are shown for illustrative purposes and are not actually engraved on the mold 600.

[0038] Furthermore, the elastic member does not necessarily have to be made of fiber; instead, it can be made of resin alone, metal alone, or natural elastic materials such as bamboo, depending on the specifications. While the elastic member is depicted as a linear body with a circular cross section, it may also be elliptical, triangular, or polygonal. Furthermore, by forming the elastic member into a plate-like (approximately rectangular cross section) or belt-like shape, the flat portion faces the body, improving adhesion. Furthermore, by forming the elastic member into a plate-like (approximately rectangular cross section) or belt-like shape, it is possible to adjust the elasticity to a desired level by alternately layering, for example, a flat metallic elastic member and a sheet-like resin material. Furthermore, a separate coating such as a resin can be applied to the surface of the elastic member to prevent chipping.

[0039] [5. Wearing on the Human Body] As mentioned above, it is desirable for this power assist suit to have the elastic body worn at a desired position on the wearer's body. For this reason, a wearing device 103 such as that shown in FIG. 1 is required. The elastic body 102 is fixed to the wearing device 103, and by wearing the wearing device 103, the elastic body 102 can be placed at a desired position. Specifically, the wearing device 103 is worn by the wearer 100 with the first elastic portion of the elastic body 102 worn on the back, the second elastic portion worn on the thighs, and the crossing portion worn on the waist. Note that the wearing device 103 is not limited to this form, and may be, for example, the one shown in FIG. 7.

[0040] 7A and 7B are diagrams showing other examples of wearing the device according to this embodiment. Fig. 7A is a diagram showing the wearer 100 as seen from the back. The wearing device has three wearing parts. The first wearing part includes a left shoulder belt 700, a right shoulder belt 701, a left chest belt 702, and a right chest belt 703, and the first elastic part of the elastic body 102 is worn around the wearer's back. The second wearing part includes a left leg belt 705 and a right leg belt 706, and the second elastic part of the elastic body 102 is worn around the wearer's thighs. The third wearing part includes a waist belt 704, and the crossing part of the elastic body 102 is worn around the wearer's waist.

[0041] 7(b) is a front view of the first wearing part when worn. The first wearing part further includes a belt connecting part 707 and a fastener 708, to which the aforementioned left shoulder belt 700, right shoulder belt 701, left chest belt 702, and right chest belt 703 are connected. The belt connecting part 707 is fixed by the fastener 708, and the first elastic part of the elastic body 102 is worn on the back of the wearer 100. In addition, the waist belt 704, left leg belt 705, and right leg belt 706 are looped around the waist and thighs, respectively, and these belts fasten the elastic body 102 to the waist and thighs of the wearer 100.

[0042] [6. Adjustment Mechanism] In order to maximize the assisting power of this power assist suit, it is preferable to be able to more accurately adjust the attachment position of the elastic body 102. For this purpose, an adjustment mechanism may be provided.

[0043] FIG. 8 is a schematic diagram of the waist belt adjustment mechanism. A ball screw 801 is fixed to the waist belt 704, and a fixing device 800 is connected to the ball screw 801. An elastic body 102 is also fixed to the fixing device 800. As a result, when the ball screw 801 is rotated, the fixing device 800 moves up and down, allowing the vertical position of the elastic body 102 to be adjusted. If the elastic body 102 is slightly misaligned when wearing the power assist suit, it can be corrected to the correct position by operating this adjustment mechanism. Note that although the vertical adjustment mechanism has been described in this embodiment, a similar mechanism can also be provided in the horizontal direction. If both adjustment mechanisms are provided, the left and right, top and bottom positions can also be adjusted.

[0044] This adjustment mechanism can also be applied if the wearing position of this power assist suit shifts while in use. Even if the suit is set in the correct position when worn, repeated movements such as those shown in Figure 5 may cause the suit to shift position, reducing the assisting force. In such cases, using the adjustment mechanism to adjust the wearing position can provide a good assisting force.

[0045] In this embodiment, an adjustment mechanism using a ball screw has been described, but the invention is not limited to this. Any structure capable of linear movement is sufficient, and the fixing device 800 may be connected by a wire and the wire may be wound up. A linear actuator or the like may also be used. Furthermore, the adjustment mechanism is not limited to manual operation, and an electric adjustment mechanism equipped with a motor or the like may also be used.

[0046] A gyro sensor that detects the wearer's posture may also be installed. For example, when performing the movement shown in Figure 5, there is a possibility that the position of the elastic body may shift when bending forward deeply. In this case, the gyro sensor detects the wearer's posture and controls the elastic body to return to its original position when bending forward deeply, thereby maintaining the elastic body in a good position regardless of the wearer's posture. Note that although this adjustment mechanism has been described as being provided on the waist belt 704, it may also be provided on other belts.

[0047] [7. Effects, etc.] The power assist suit 101 in this embodiment is a power assist suit 101 that includes an elastic body 102 formed of an elastic material and is worn on the body of a wearer, and the elastic body 102 (200, 300) includes a first elastic part 201 (301) that is worn on the back of the wearer 100, and a second elastic part 202 (302) that is worn from the waist to the thighs of the wearer 100, and the first elastic part 201 (301) and the second elastic part 202 (302) and a connecting portion (intersection portion 203, adjacent portion 303) that connects the first elastic portion 201 (301) and is attached to the waist of the wearer, the first elastic portion 201 (301) being formed by a loop-shaped elastic member, the second elastic portion 202 (302) being formed by an elastic member stretched in the longitudinal direction, and the width in the short side direction of the connecting portion (intersection portion 203, adjacent portion 303) being smaller than the maximum width in the short side direction of the first elastic portion 201 (301) and also smaller than the maximum width in the short side direction of the second elastic portion 202 (302).

[0048] Because the back is loop-shaped, a restoring force is generated even for various bending angles of the back. In addition, because the connecting part attached to the waist is narrow, a restoring force is generated even for twisting and rotation movements in all directions around the waist. And because the elastic body extends to the thighs, a restoring force is generated even for large movements including those of the waist. These restoring forces can provide an assisting force for complex movements including twisting and rotation of the entire body.

[0049] The second elastic portion 202 (302) may be formed by stretching an elastic member separately to the left and right in the longitudinal direction. Because the elastic body 102 (200, 300) is worn on both legs of the wearer, a greater restoring force can be expected against twisting and rotation movements to the left and right around the waist.

[0050] The first elastic portion 201 (301) may be formed further rearward than the second elastic portion 202 (302) in the direction in which the device is attached to the wearer, so that the first elastic portion 201 (301) can be attached to the back, and the second elastic portion 202 (302) can be attached to the side of the thigh.

[0051] The elastic body 200 (300) may be formed of a continuous linear elastic member. Since it can be integrally molded using a mold 600 or the like, it can be easily manufactured.

[0052] The elastic member may be made of carbon fiber reinforced plastic, which can improve the strength of the elastic body 200 (300).

[0053] The connecting portion (intersection portion 203) may be formed by the intersection of continuous linear elastic members, connecting the first elastic portion 201 and the second elastic portion 202. This allows the elastic body 200 to be formed from a continuous elastic member.

[0054] The elastic body 200 (300) may be formed by bundling multiple continuous linear elastic members. By bundling multiple elastic members, a power assist suit with the desired strength can be realized.

[0055] The power assist suit 101 may further include a first attachment part (700-703) for attaching the first elastic part 201 (301) to the wearer's back, second attachment parts (705, 706) for attaching the second elastic part 202 (302) to the wearer's thighs, and a third attachment part (704) for attaching the connecting part (intersection part 203, adjacent part 303) to the wearer's waist. This allows the elastic body 200 (300) to be more firmly fixed to the wearer's body.

[0056] The third mounting section (704) may include an adjustment mechanism (800, 801) for changing the position of the elastic body 200 (300). This allows the mounting position of the elastic body 200 (300) to be corrected to the correct position.

[0057] (Other Embodiments) As described above, the embodiments have been described as examples of the present invention. However, the present invention is not limited to these, and can be applied to embodiments in which modifications, substitutions, additions, omissions, etc. are made. Therefore, other embodiments will be exemplified below.

[0058] [1. Other Configuration Examples of the First Elastic Portion] In the embodiments, the first elastic portions 201, 301 have been described as being formed in a loop shape. However, the loop shape of the first elastic portions 201, 301 includes not only the circular and elliptical shapes shown in FIG. 2 or FIG. 3 but also other shapes. The loop shape may have a starting point and an ending point that are the same or close to each other and are connected by a straight line, a curve, or the like. Furthermore, a convex portion, a concave portion, or the like may be included in part of these straight lines, curves, or the like. Shapes in which part of these straight lines, curves, or the like is missing are also included.

[0059] FIG. 9 is a diagram showing an example in which a portion of the loop shape of an elastic body includes a convex portion and a concave portion. In FIG. 9, elastic body 850 has a first elastic portion 851, a second elastic portion 852, and an intersection portion 853, which is a connecting portion. First elastic portion 851 is located above intersection portion 853, and second elastic portion 852 is located below intersection portion 853. First elastic portion 851 has convex portions 854 and 855, which are protruding portions, and a concave portion 856, which is a recessed portion. Convex portions 854 and 855 are worn near the left and right shoulders of wearer 530, respectively, and concave portion 856 is worn near the left and right centers of wearer 530's back (near the spine). Note that the vertical position of concave portion 856 can be formed as desired. For example, the recess 856 may be formed at approximately the same height as the protrusions 854 and 855, or may be formed in the vicinity of the intersection 853. Of course, the recess 856 may also be formed in a position between them.

[0060] FIG. 10 is a diagram showing a series of actions taken by the wearer 530 to move luggage 532. The actions shown in FIGS. 10(a) to 10(c) are the same as those described in FIGS. 5(a) to 5(c). In FIG. 10(a), the wearer 530 leans downward and leftward, and the elastic body 850 also bends downward and leftward in response to this action. As a result, a restoring force acts on the elastic body 850 to return it to its original shape. This restoring force acts as an assisting force to return the wearer 530 to its original position, allowing the wearer 530 to easily lift the luggage 532 placed on the floor. At this time, because the elastic body 850 is worn near the left shoulder of the wearer 530, the wearer 530 receives an assisting force from the waist to the entire area around the left shoulder. The assisting force then continues until the state shown in FIG. 5(b).

[0061] Next, the wearer 530 places the luggage 532 on the right side, as shown in FIG. 10( c). As the wearer 530 moves the luggage 532 to the right, the elastic body 850 gradually bends. As a result, the restoring force of the elastic body 850 to return to its original shape gradually increases. This restoring force acts as an assisting force that returns the wearer 530 to its original position, offsetting the weight of the luggage 532. As a result, the wearer 530 can place the luggage 532 on the floor without feeling excessive weight of the luggage 532. Furthermore, since the restoring force of the elastic body 850 continues even after the luggage 532 is placed, the wearer 530 can return to its original position while receiving the assisting force. At this time, because the elastic body 850 is attached near the right shoulder of the wearer 530, the wearer 530 can receive the assisting force from the waist to the entire right area.

[0062] In this way, when the elastic body 850 is attached near both shoulders of the wearer 530, the wearer 530 can obtain an assist force from the waist to the entire shoulders in the series of movements shown in Figures 10(a) to (c), thereby reducing the burden on the back and waist.

[0063] Next, another configuration example will be described. Fig. 11 is a diagram showing an example of a shape in which a first elastic portion 861 has a convex portion facing forward of the wearer 550. In Fig. 11, the elastic body 860 has a first elastic portion 861, a second elastic portion 862, and an intersection portion 863 that is a connecting portion. The first elastic portion 861 is located above the intersection portion 863, and the second elastic portion 862 is located below the intersection portion 863. The first elastic portion 861 has a first curved portion 864 that extends upward from the intersection portion 863 along the back of the wearer 550, and a second curved portion 865 (convex portion) that extends from the back of the wearer 550 to the chest of the wearer 550. The first curved portion 864 is worn on the back of the wearer 550, and the second curved portion 865 is worn on the chest of the wearer 550. The first curved portion 864 and the second curved portion 865 may be formed of a continuous elastic member, or may be formed by connecting a plurality of elastic members.

[0064] FIG. 12 is a diagram showing a series of actions taken by a wearer 550 to move luggage 552. The actions shown in FIGS. 12(a) to 12(c) are similar to those described in FIGS. 5(a) to 5(c). In FIG. 12(a), the wearer 550 leans his or her body downward and leftward to lift luggage 552. As described above, the wearer 550 can obtain an assist force from the elastic body. Here, the elastic body 860 has a first curved portion 864 and a second curved portion 865, as shown in FIG. 11, and wraps around the chest of the wearer 550. In other words, the wearer 550 can receive the assist force from the elastic body 860 on both the back and chest. The same is true for FIG. 12(c). In this way, in the series of actions shown in FIGS. 12(a) to 12(c), the wearer 550 can receive an assist force from the waist to the back, and can also receive an assist force on the chest, thereby reducing the burden on the back and waist.

[0065] 9, the connecting portion connecting the first elastic portion 851 and the second elastic portion 852 is shown as an intersection portion 853, but this is not limited thereto and may be a proximity portion where elastic members are close to each other, as described in FIG. 3. The same applies to the intersection portion 863 shown in FIG. 11. Furthermore, in FIG. 9, the first elastic portion 851 has a shape including convex portions 854 and 855 and concave portion 856, but this is not limited thereto and may be a shape including, for example, a plurality of convex portions and concave portions.

[0066] 13 is a diagram showing an example of a shape in which the first elastic portion 851 has a plurality of convex portions and concave portions. As such, the first elastic portion 851 may have a shape connected by straight lines or curves, etc., with the intersections 853 as the starting and ending points, and may include a plurality of convex portions and concave portions. In the example shown in FIG. 13 , it is desirable that one convex portion 854 be worn near the left shoulder of the wearer 570, and the other convex portion 855 be worn near the right shoulder of the wearer 570. This allows the first elastic portion 851 to be worn on both shoulders of the wearer 570, allowing the entire area from the waist to the shoulders to receive the assist force.

[0067] 2 and 3 have been described as being formed by separating the elastic member into left and right halves and extending in the longitudinal direction, and are attached along the outer sides of the thighs of both legs. However, the present invention is not limited to this, and the elastic member may extend along the inner sides of the thighs of both legs, for example.

[0068] FIG. 14 is a diagram showing an example in which elastic members are stretched along the inner sides of the thighs of both legs. The elastic body 870 has a first elastic portion 871, a second elastic portion 872, and a connecting portion, i.e., an intersection portion 873. The first elastic portion 871 is located above the intersection portion 873, and the second elastic portion 872 is located below the intersection portion 873. The second elastic portion 872 is formed by splitting the elastic member into left and right portions and extending in the longitudinal direction. The second elastic portion 872 is attached to the inner sides of the thighs of the wearer 560. The second elastic portion 872 also has a thigh attachment portion 874 at its lower end opposite the intersection portion 873. The thigh attachment portion 874 is made of an elastic member and is attached to the thighs of the wearer 560. The dashed lines in FIG. 14 indicate the state in which the thigh attachment portion 874 is attached to the front of the thighs of the wearer 560. The thigh attachment portion 874 can fix the second elastic portion 872 to the thigh of the wearer 560. The thigh attachment portion 874 may be formed integrally with the second elastic portion 872. Alternatively, the thigh attachment portion 874 may be formed separately from the second elastic portion 872 and connected to the second elastic portion 872 by, for example, a connecting member or the like. Note that although the thigh attachment portion 874 is shown as surrounding the front to part of the rear of the thigh of the wearer 560, it may also be formed to surround the entire periphery of the thigh.

[0069] FIG. 15 is a diagram showing a series of actions taken by the wearer 560 to move the luggage 562. The actions shown in FIGS. 15(a) to 15(c) are the same as those described in FIGS. 5(a) to 5(c). Because the thigh attachment portion 874 is attached so as to surround the thighs of the wearer 560, the elastic body 870 is fixed to the thighs of the wearer 560. This reduces the shifting of the elastic body 870, allowing a stable assist force to be transmitted to the wearer 560. FIG. 16 is a diagram showing another example in which a thigh attachment portion 884 is provided. As described above, the thigh attachment portion 884 may be provided even when the elastic body 880 is attached to the outside of the thighs. The elastic body 880 has a first elastic portion 881, a second elastic portion 882, and an intersection portion 883, which is a connecting portion. The first elastic portion 881 is located above the intersection portion 883, and the second elastic portion 882 is located below the intersection portion 883. As described above, the thigh attachment portion 884 is connected to the lower end of the second elastic portion 882. This reduces displacement of the elastic body 880, making it possible to transmit a stable assist force to the wearer 570.

[0070] 2 and 3 are described as being formed from a single elastic member. However, this is not limiting and the elastic member may be formed by connecting a plurality of elastic members.

[0071] FIG. 17 is a diagram showing an example of an elastic body formed by connecting multiple elastic members. In FIG. 17( a), a first elastic member 901 shown by a solid line and a second elastic member 902 shown by a dashed line are formed as separate members. The first elastic member 901 and the second elastic member 902 are connected by a connecting member 903. The connecting member 903 is an attachment made of, for example, resin. As shown in FIG. 17( b), the first elastic member 901 and the second elastic member 902 are connected by the connecting member 903. The elastic body 900 has a first elastic portion 905, a second elastic portion 906, and an intersection portion 907. Although not shown here, an attachment similar to the connecting member 903 may be provided at the intersection portion 907. This fixes the first elastic member 901 and the second elastic member 902 at the intersection portion 907. By connecting two elastic members separated into left and right in this way, the elastic body 900 can be manufactured using a short elastic member.

[0072] FIG. 18 shows another example of an elastic body formed by connecting multiple elastic members. In FIG. 18( a), a first elastic member 911, a second elastic member 912, and a third elastic member 913 are each formed as separate members. The first elastic member 911, the second elastic member 912, and the third elastic member 913 are connected by a connecting member 914. The connecting member 914 is an attachment made of, for example, resin. As shown in FIG. 18( b), the first elastic member 911, the second elastic member 912, and the third elastic member 913 are connected by the connecting member 914 to form an elastic body 910. The elastic body 910 has a first elastic portion 915, a second elastic portion 916, and a crossing portion 917, which is a connecting portion. By connecting three elastic members in this manner, the elastic body 910 can be manufactured using shorter elastic members. The number of connected elastic members is not limited to this, and elastic body 910 may be formed by connecting four or more elastic members.

[0073] Figure 19 is a diagram showing another example of an elastic body in which multiple elastic members are connected. Figures 19(a) to 19(d) each show a different embodiment. In Figure 19(a), the first elastic portion 926 is cross-shaped, and in Figure 19(b), the first elastic portion 926 is T-shaped. In Figure 19(c), the first elastic portion 926 is Y-shaped, and Figure 19(d) is an example in which a linear connecting member 944 is added to Figure 19(c).

[0074] FIG. 19( a) shows an example in which the first elastic portion 926 is formed in a cross shape. In FIG. 19( a), the first elastic member 921, the second elastic member 922, and the third elastic member 923 are each formed as separate members. The first elastic member 921 and the second elastic member 922 are connected by a connecting member 924. The first elastic member 921, the second elastic member 922, and the third elastic member 923 are connected by a connecting member 925. The elastic body 920 configured in this manner has a first elastic portion 926, a second elastic portion 927, and a connecting portion 928. The first elastic member 921 and the second elastic member 922 extend linearly upward from the connecting member 924 and intersect with the third elastic member 923. This gives the first elastic portion 926 a cross shape. The cross-shaped first elastic portion 926 is worn near the wearer's back. The wearer can obtain an assisting force from the elastic body 920 in which the cross-shaped first elastic portion 926 is formed. For convenience of explanation, in FIG. 19 , the first elastic member 921 (solid line) and the second elastic member 922 (dashed line) are shown slightly separated above the connecting member 924, but in reality they are integrally formed. Furthermore, the third elastic member 923 extends linearly in the horizontal direction, but may also be shaped to extend in the depth direction so as to wrap around the wearer's chest, as shown in FIG. 11 , for example.

[0075] 19(b) shows a shape in which the third elastic member 923 shown in FIG. 19(a) intersects the ends of the first elastic member 921 and the second elastic member 922. By intersecting the third elastic member 923 at the ends of the first elastic member 921 and the second elastic member 922, the first elastic portion 926 becomes T-shaped. The T-shaped first elastic portion 926 is worn around the wearer's waist to shoulders. The wearer can obtain an assist force from the elastic body 930 in which the first elastic portion 926 is formed in a T-shape.

[0076] FIG. 19( c ) shows an example in which the first elastic portion 926 is formed in a Y-shape. In FIG. 19( c ), the first elastic member 941 and the second elastic member 942 are formed as separate members. The first elastic member 941 and the second elastic member 942 are connected by a connecting member 943. The elastic body 940 configured in this manner includes a first elastic portion 926, a second elastic portion 927, and a connecting portion 928. The first elastic member 941 and the second elastic member 942 extend linearly upward from the connecting member 943, then split into left and right portions and extend further upward. This results in the first elastic portion 926 being Y-shaped. The Y-shaped first elastic portion 926 is worn from the wearer's waist to shoulders. The wearer can obtain an assist force from the elastic body 940 in which the Y-shaped first elastic portion 926 is formed. Although the connecting member 943 is shown in a triangular shape, it may be rectangular like the connecting member 924, or may be another shape.

[0077] 19(d) shows an example in which a connecting member 944 is provided at the linearly extending portion of the first elastic member 941 and the second elastic member 942. The connecting member 944 fixes the first elastic member 941 and the second elastic member 942. This makes it possible to reduce misalignment between the first elastic member 941 and the second elastic member 942.

[0078] The elastic member described here is a thin, linear member with a circular or elliptical cross section. However, the cross section of the elastic member is not limited to this, and may be triangular, rectangular, or may be a rounded triangle or a rounded rectangular. The thickness of the cross section can also be arbitrarily shaped based on the strength of the required assist force.

[0079] Furthermore, the explanation has been given on the assumption that all elastic bodies, including the elastic body 200 shown in FIG. 2, are for both legs. However, this is not limited to this, and the power assist suit may also be made up of an elastic body for one leg. In this case, the second elastic part 202 may be configured on only one side, either the left or right. For example, if assist force is required only in a specific direction, the second elastic part 202 may be configured on only the right or left side, and worn only on the leg in the direction required by the wearer. Because the second elastic part 202 is halved, the weight of the power assist suit can be reduced.

[0080] [4. Effects, etc.] The first elastic portion 851 provided in the power assist suit 101 in this embodiment has a convex portion 854 (855) and a concave portion 856 in a part of a loop-shaped elastic member, and the convex portion 854 (855) may be attached to the shoulders of the wearer 530, and the concave portion 856 may be attached to the center of the left and right sides of the back of the wearer 530. Because the first elastic portion 851 is attached to the shoulders of the wearer 530, an assist force can be obtained from the entire area from the waist to the shoulders.

[0081] The first elastic portion 851 has a plurality of convex portions (854, 855), and of the convex portions 854 and 855, one convex portion 854 may be attached to the left shoulder of the wearer 570, and the other convex portion 855 may be attached to the right shoulder of the wearer 570. Because the first elastic portion 851 is attached to the shoulders of the wearer 570, an assist force can be obtained from the entire area from the waist to the shoulders.

[0082] The first elastic portion 861 may have a first curved portion 864 attached to the back of the wearer 550 and a second curved portion 865 attached to the chest of the wearer 550. Because the first elastic portion 861 is attached from the back to the chest of the wearer 550, an assist force can be obtained from the waist to the shoulders, and further an assist force can be obtained also in the chest.

[0083] The second elastic portion 872 may be attached to the inner thigh of the wearer 560. Alternatively, it may be attached to the outer thigh. An appropriate attachment position can be selected depending on the type of work. For example, if the wearer 560 mainly performs movements that involve large twists of the body, it is preferable to attach the second elastic portion 872 to the outer thigh of the wearer 560. This is because the restoring force in the rotational direction is greater than when the second elastic portion 872 is attached to the inner thigh, thereby providing a stronger assisting force. On the other hand, if the wearer 560 mainly performs forward bending movements, the restoring force in the rotational direction is not as necessary, so the second elastic portion 872 may be attached to the inner thigh of the wearer 560. The attachment position of the second elastic portion 872 can also be selected depending on the comfort when wearing the second elastic portion 872, the preference of the wearer 560, etc.

[0084] The second elastic portion 872 may include a thigh attachment portion 874 that is attached to the thigh of the wearer 560. The thigh attachment portion 874 fixes the second elastic portion 872 to the thigh of the wearer 560, and therefore, the second elastic portion 872 can be prevented from slipping off the thigh of the wearer 560.

[0085] The elastic body 900 may be formed by connecting multiple elastic members (first elastic member and second elastic member 902). By connecting and using short elastic members, the mold used to manufacture the power assist suit 101 can be made smaller, which is expected to reduce manufacturing costs.

[0086] The power assist suit is equipped with an elastic body 920 formed by an elastic member and is worn on the body of a wearer, the elastic body 920 having a first elastic portion 926 worn on the back of the wearer, a second elastic portion 927 worn from the waist to the thighs of the wearer, and a connecting portion 928 that connects the first elastic portion 926 and the second elastic portion 927 and is worn on the waist of the wearer, and the first elastic portion 926 is made of a first elastic member 921 and a second elastic portion 927. The support belt 920 has a first elastic member 921 and a second elastic member 922, which extend integrally in a straight line from the wearer's waist to the back starting from a connecting portion 928 (924), and the second elastic member 927 is formed by extending the elastic member in the longitudinal direction, and the width of the connecting portion 928 (924) in the lateral direction is smaller than the maximum width of the first elastic member 926 in the lateral direction and is also smaller than the maximum width of the second elastic member 927. Because the first elastic member 926 is attached to the wearer's back, an assist force can be obtained from the waist to the back.

[0087] The second elastic portion 927 may be formed by dividing the elastic member into left and right halves and extending in the longitudinal direction. By dividing the elastic member into left and right halves, the second elastic portion 927 can be worn on both legs of the wearer.

[0088] The first elastic portion 926 may further include a third elastic member 923, which may be formed to intersect with the first elastic member 921 and the second elastic member 922. Since the third elastic member 923 is attached at a higher position on the wearer's back, a greater assist force can be obtained.

[0089] The first elastic member 941 and the second elastic member 942 may be formed by extending separately to the left and right. Since the first elastic member 941 and the second elastic member 942 extend along the back of the wearer up to the shoulder position, an assist force can be obtained, particularly in the diagonal direction.

[0090] 100, 400, 500, 530, 550, 560, 570 Wearer 101 Power assist suit 102, 200, 300, 401, 501, 850, 860, 870, 880, 900, 910, 920, 930, 940 Elastic body 103 Wearing equipment 104, 704 Waist belt 201, 301, 402, 851, 861, 871, 881, 905, 915, 926 First elastic portion 202, 302, 403, 852, 862, 872, 882, 906, 916, 927 Second elastic portion 203, 404, 853, 863, 873, 883, 907, 917 Intersecting portion 303 Proximal portion 502, 532, 552, 562 Luggage 600 Mold 601 Groove 602 Intersecting groove 603 Proximal groove 604 Upper end portion 605 Intersecting portion and proximal portion 606 Lower end portion 700 Left shoulder belt 701 Right shoulder belt 702 Left chest belt 703 Right chest belt 705 Left leg belt 706 Right leg belt 707 Belt connecting portion 708 Fastener 800 Fixing portion 801 Ball screw 854, 855 Convex portion 856 Concave portion 864 First curved portion 865 Second curved portion 874, 884 Thigh attachment portion 901, 911, 921 941 First elastic member 902, 912, 922 942 Second elastic member 913, 923 Third elastic member 903, 914, 924, 925, 943, 944 Connecting member 928 Connecting portion

Claims

1. A power assist suit comprising an elastic body formed from an elastic member and to be worn on the body of a wearer, wherein the elastic body comprises a first elastic portion to be worn on the back of the wearer, a second elastic portion to be worn from the waist to the thighs of the wearer, and a connecting portion that connects the first elastic portion and the second elastic portion and is worn on the waist of the wearer, wherein the first elastic portion is formed by the elastic member being looped, and the second elastic portion is formed by the elastic member being stretched in the longitudinal direction, and the width of the connecting portion in the short side direction is smaller than the maximum width of the first elastic portion in the short side direction and is also smaller than the maximum width of the second elastic portion in the short side direction.

2. A power assist suit as described in claim 1, wherein the second elastic portion is formed by dividing the elastic member into left and right parts and stretching them in the longitudinal direction.

3. A power assist suit as described in claim 2, wherein the first elastic portion is formed further rearward than the second elastic portion in the direction of attachment to the wearer.

4. A power assist suit as described in claim 2, wherein the elastic body is formed from a continuous linear elastic member.

5. A power assist suit as described in claim 2, wherein the elastic member is made of carbon fiber reinforced plastic.

6. A power assist suit as described in claim 4, wherein the connecting portion is where the continuous linear elastic member intersects and connects the first elastic portion and the second elastic portion.

7. A power assist suit as described in claim 4, wherein the elastic body is formed by bundling together multiple continuous linear elastic members.

8. A power assist suit as described in claim 2, further comprising a first attachment part for attaching the first elastic part to the back of the wearer, a second attachment part for attaching the second elastic part to the thighs of both legs of the wearer, and a third attachment part for attaching the connecting part to the waist of the wearer.

9. A power assist suit as described in claim 8, wherein the third attachment part is equipped with an adjustment mechanism that changes the position of the elastic body.

10. A power assist suit as described in claim 2, wherein the first elastic portion has a convex portion and a concave portion in a part of the loop-shaped elastic member, the convex portion is attached to the shoulders of the wearer, and the concave portion is attached to the center of the left and right sides of the wearer's back.

11. The power assist suit of claim 10, wherein the first elastic portion has a plurality of protrusions, one of which is attached to the wearer's left shoulder and the other is attached to the wearer's right shoulder.

12. A power assist suit as described in claim 2, wherein the first elastic portion has a first curved portion that is attached to the wearer's back and a second curved portion that is attached to the wearer's chest.

13. The power assist suit according to claim 2, wherein the second elastic portion is attached to the inside of the wearer's thigh.

14. The power assist suit according to claim 2, wherein the second elastic portion is attached to the outside of the wearer's thigh.

15. A power assist suit as described in either claim 13 or claim 14, wherein the second elastic portion has a thigh attachment portion that is attached to the wearer's thigh.

16. The power assist suit of claim 2, wherein the elastic body is formed by connecting multiple elastic members.

17. A power assist suit comprising an elastic body formed from an elastic member and to be worn on the body of a wearer, wherein the elastic body comprises a first elastic portion worn on the back of the wearer, a second elastic portion worn from the waist to the thighs of the wearer, and a connecting portion that connects the first elastic portion and the second elastic portion and is worn on the waist of the wearer, wherein the first elastic portion has a first elastic member and a second elastic member, wherein the first elastic member and the second elastic member extend integrally in a straight line from the connecting portion in the direction from the waist to the back of the wearer, wherein the second elastic portion is formed by extending the elastic member in the longitudinal direction, and wherein the width of the connecting portion in the short side direction is smaller than the maximum width of the first elastic portion in the short side direction and is also smaller than the maximum width of the second elastic portion in the short side direction.

18. A power assist suit as described in claim 17, wherein the second elastic portion is formed by dividing the elastic member into left and right halves and stretching them in the longitudinal direction.

19. A power assist suit as described in claim 18, wherein the first elastic portion further has a third elastic member, and the third elastic member is formed to intersect the first elastic member and the second elastic member.

20. A power assist suit as described in claim 18, wherein the first elastic member and the second elastic member are formed by stretching them separately to the left and right.

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