JP2008278921A - Walking aid device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a walking aid device capable of making a user perform excellent walking exercise. <P>SOLUTION: A lower limb frame 14 to be mounted on the lower limb of a walking trainee is connected to a lower back frame 12 to be mounted on the lower back of the walking trainee so as to be turned in a walking direction and a shoulder width direction by a first joint part 16. Also, one end side of an air pressure type first actuator 58 is supported on the side of the lower back frame 12 on the inner side in the shoulder width direction from the swing shaft in the shoulder width direction of the lower limb frame 14, and the other end side of the first actuator 58 is supported at the lower end part of a thigh frame 20 at the lower part of the one end side. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a walking assist device that assists a user's walking motion.

2. Description of the Related Art A walking assistance device that is attached to a user's lower back and lower limbs and assists the user's walking motion is known (see, for example, Patent Document 1). In this walking assist device, the frame attached to the thigh can be swung not only in the walking direction but also in the shoulder width direction, and the degree of freedom of movement of the hip joint of the user is widened.
JP 2006-87478 A

  Here, when a human walks, he moves his standing leg (landing leg) toward the center of the body in order to move his / her weight to the left and right (in the shoulder width direction). However, since the walking assist device does not have a function of assisting the movement of the stance to the center of the body, there is room for improvement in order to make the user walk in a balanced manner.

  In view of the above facts, an object of the present invention is to provide a walking assist device capable of walking a user in a balanced manner.

  The walking assist device according to claim 1, a waist mounting portion to be mounted on a user's lower back, a lower leg mounting portion to be mounted on a user's lower limb, and the lower limb mounting portion to the waist mounting, It has the 1st joint part connected so that rocking | swiveling to the shoulder width direction was possible, and the 1st actuator which provides the auxiliary force to a shoulder width direction inner side with respect to the said lower limbs mounting part, It is characterized by the above-mentioned.

  In the walking assist device according to claim 1, the waist mounting portion and the lower limb mounting portion are connected by the first joint portion so as to be swingable in the walking direction and the shoulder width direction, and the waist mounting portion is connected to the user's waist. When the user performs a walking motion with the lower limb mounting part mounted on the user's lower limb, the lower limb mounting part swings in the walking direction and the shoulder width direction following the movement of the user's hip joint. .

  Here, an auxiliary force inward in the shoulder width direction is applied to the lower limb wearing portion by the first actuator. Thereby, since the movement to the center side of the body of a standing leg at the time of a user's walking exercise is assisted, it is possible to make a user walk with good balance.

  The walking assist device according to claim 2 is the walking assist device according to claim 1, wherein the first actuator is mounted on the waist on the inner side in the shoulder width direction of the swinging shaft in the shoulder width direction of the lower limb mounting portion. One end side is supported on the part side, and the other end side is supported on the lower limb wearing part side below the one end side, and generates a force in a shortening direction while shortening in the operating state.

  In the walking assist device according to claim 2, one end side of the first actuator is supported on the waist mounting portion side in the shoulder width direction from the swinging shaft in the shoulder width direction of the lower limb mounting portion, and the other end side of the first actuator is The lower limb is supported on the lower limb mounting part side below one end side. The first actuator generates a force in a shortening direction while shortening in the operating state.

  For this reason, during the operation of the first actuator, an auxiliary force inward in the shoulder width direction is applied from the first actuator to the lower limb wearing portion. Thereby, since the movement to the center side of the body of a standing leg at the time of a user's walking exercise is assisted, it is possible to make a user walk with good balance.

  The walking assist device according to claim 3 is the walking assist device according to claim 2, wherein the one end side of the first actuator is connected to a user's foot from a swing axis in the walking direction of the lower limb wearing portion. It is arranged on the rear side.

  In the walking assist device according to the third aspect, one end side of the first actuator is disposed on the rear side of the user with respect to the swing axis in the walking direction of the lower limb wearing portion. For this reason, when the first actuator is operated, the lower limb mounting portion swings from the front side to the rear side of the user.

  That is, since the first actuator exhibits a function of assisting the user's greater gluteus, the user can be satisfactorily walked.

  The walking assist device according to claim 4 is the walking assist device according to claim 3, wherein one end side of the lower limb mounting portion on the waist mounting portion side on the front side of the user with respect to the swing axis in the walking direction. And a second actuator that is supported on the lower limb mounting portion side below the one end side and generates a force in a shortening direction while shortening in the operating state.

  In the walking assist device according to claim 4, one end side of the second actuator is supported on the waist mounting portion side on the front side of the user from the swing axis in the walking direction of the lower limb mounting portion. The end side is supported on the lower limb attachment part side below the one end side. The second actuator generates a force in a shortening direction while shortening in the operating state. For this reason, when the second actuator is operated, the lower limb mounting portion swings from the rear side to the front side of the user.

  That is, since the second actuator exhibits a function of assisting the user's quadriceps muscle, the user can walk well.

  The walking assist device according to claim 5 is the walking assist device according to claim 4, wherein the first actuator and the second actuator are in an operating state when air is supplied therein. It is a pneumatic actuator.

  In the walking assist device according to claim 5, the first actuator and the second actuator are pneumatic actuators that are activated when air is supplied to the inside, so that a large structure can be obtained. A function of assisting muscles and quadriceps muscles can be obtained.

  The walking assist device according to claim 6 is the walking assist device according to any one of claims 1 to 5, wherein the lower limb mounting portion is mounted on a thigh of a user. And a lower leg mounting part that is attached to the user's lower leg and expands and contracts along the lower leg, and a second joint part that connects the lower leg attachment to the thigh mounting part so as to be swingable in the walking direction. Features.

  In the walking assist device according to claim 6, the thigh attachment portion and the crus attachment portion are coupled to be swingable in the walking direction by the second joint portion, and the thigh attachment portion is connected to the user's thigh. When the user performs a walking motion in a state where the mounting part is mounted on the user's lower leg, the lower leg mounting part swings in the walking direction following the movement of the user's knee joint.

  Here, since the lower leg attachment part expands and contracts along the user's lower leg, when the user wears the lower leg attachment part on the lower leg or when the user is walking, the second leg part from the lower leg attachment part The length is automatically adjusted. Therefore, it is possible to facilitate the user's operation of attaching the lower leg to the lower leg and to allow the user to walk well.

  The walking assist device according to claim 7 is the walking assist device according to claim 6, wherein an adjustment is made to adjust a length between the first joint portion and the second joint portion of the thigh mounting portion. It has the means.

  In the walking assist device according to the seventh aspect, the length between the first joint portion and the second joint portion of the thigh mounting portion can be adjusted by the adjusting means. For this reason, the walking assistance device of the present invention can be worn by various users with different heights.

  The walking assist device according to claim 8 is the walking assist device according to claim 6 or 7, wherein one end of the walking assist device is located on the thigh mounting portion side on the rear side of the user from the swing shaft of the lower leg mounting portion. A third actuator that is supported on the other side and is supported on the lower leg mounting portion side below the one end side, and generates a force in a shortening direction while shortening in the operating state; and One end side is supported on the thigh wearing part side on the front side of the user from the swing shaft, and the other end side is supported on the lower thigh wearing part side below the one end side, and shortened while shortening in the operating state. And a fourth actuator for generating a force on the head.

  In the walking assist device according to claim 8, one end side of the third actuator is supported on the thigh mounting portion side on the rear side of the user from the swinging shaft of the lower leg mounting portion, and the other end side of the third actuator is It is supported on the lower leg attachment part side below one end side. The third actuator generates a force in a shortening direction while shortening in the operating state. For this reason, when the third actuator is actuated, the lower leg mounting portion swings from the front side to the rear side of the user.

  Further, one end side of the fourth actuator is supported on the thigh mounting part side on the front side of the user from the swinging shaft of the crus mounting part, and the other end side of the fourth actuator is on the crus mounting part side below the one end side. It is supported by. The fourth actuator generates a force in a shortening direction while shortening in the operating state. For this reason, when the fourth actuator is actuated, the lower leg mounting portion swings from the rear side to the front side of the user.

  That is, the third actuator exerts a function of assisting the user's hamstring, and the fourth actuator exhibits a function of assisting the user's quadriceps, thus allowing the user to walk well. be able to.

  The walking assist device according to claim 9 is the walking assist device according to claim 8, wherein the third actuator and the fourth actuator are activated by supplying air therein. It is characterized by being a pneumatic actuator.

  In the walking assist device according to claim 9, the third actuator and the fourth actuator are pneumatic actuators that are activated when air is supplied to the inside thereof. A function of assisting the string and the quadriceps muscle can be obtained.

  As described above, according to the present invention, it is possible to provide a walking assistance device that allows a user to walk in a balanced manner.

Next, an embodiment of the walking assist device of the present invention will be described with reference to FIGS.
For convenience of explanation, the walking direction of the walking trainer (user) indicated by the arrow W in the figure is the front side, and the vertical and horizontal directions are based on the direction when the walking direction is viewed. Further, the left-right direction in this case corresponds to the shoulder width direction of the walking trainer indicated by the arrow S.

  1 and 2 show the walking assistance device 10 worn by a walking trainer, and FIGS. 3 to 7 show the walking assistance device 10 not worn. As shown in these drawings, the walking assist device 10 includes a waist frame 12 as a waist mounting portion to be mounted on a human waist and a lower limb frame 14 as a lower limb mounting portion to be mounted on a lower limb of a human body. The first joint portion 16 is connected to the hip joint of the human body.

  The waist frame 12 is a substantially semicircular (U-shaped) frame that opens forward in plan view, and is in contact with the back waist of the human body on the front surface of the waist frame 12 in the center in the left-right (shoulder width) direction. A waist plate 12A is attached. The waist frame 12 is attached to the waist of the human body by waist belts 18 (see FIG. 2) connected to the left and right ends, respectively, and the hips of the human body support the waist frame 12 from below. It is supposed to be. Note that the waist belt 18 is not shown in FIGS. 1 and 3 to 7.

  In addition, a first joint portion 16 is disposed at both left and right ends of the waist frame 12, and the upper end of the lower limb frame 14 having a substantially vertical direction as a longitudinal direction is connected via the first joint portion 16. The lower limb frame 14 includes a thigh frame 20 as a thigh attachment portion to be attached to the thigh of the human body, and a lower thigh frame 22 as a crus attachment portion to be attached to the lower thigh of the human body corresponding to a knee joint of the human body. The parts 24 are connected to each other.

  The thigh frame 20 is a long frame whose longitudinal direction is substantially vertical, and the upper end of the thigh frame 20 is connected to the left and right ends of the waist frame 12 by the first joint portion 16. A thigh abutment plate 26, which is a plate-like frame curved in an arc shape, is attached to the middle portion in the longitudinal direction of the thigh frame 20. The thigh abutment plate 26 protrudes from the middle in the longitudinal direction of the thigh frame 20 toward the body center, and contacts the rear side of the human thigh. Further, both ends of the thigh belt 28 (see FIG. 2) are connected to the left and right ends of the thigh contact plate 26, and the thigh frame 20 is attached to the thigh of the human body by the thigh belt 28. It is like that. In addition, illustration of the thigh belt 28 is omitted in FIGS. 1 and 3 to 7.

  The lower leg frame 22 is a long frame whose longitudinal direction is substantially vertical, and the upper end thereof is connected to the lower end of the thigh frame 20 by the second joint portion 24. Further, a crus abutment plate 30, which is a plate-like frame curved in an arc shape, is attached to an intermediate portion in the longitudinal direction of the crus frame 22. The lower leg contact plate 30 protrudes from the middle part in the longitudinal direction of the lower leg frame 22 toward the center of the body and abuts on the rear side of the lower leg of the human body. Further, both ends of a crus belt 32 (see FIG. 2) are connected to the left and right ends of the crus abutment plate 30, and the crus frame 22 is attached to the crus of the human body by the crus belt 32. It is like that. Furthermore, the lower end of the lower leg frame 22 can be attached to shoes. In FIG. 1 and FIGS. 3 to 7, illustration of the crus belt 32 is omitted.

  As shown in FIGS. 8 to 11, the first joint portion 16 includes a hinge shaft 34 erected outward from the left and right ends of the waist frame 12, and a pulley 36 disposed in the axial direction of the hinge shaft 34. 38 and a rotating body 40 disposed between the pulley 36 and the pulley 38.

  The hinge shaft 34 is a cylindrical body extending substantially along the left-right direction. The pulleys 36 and 38 are disk bodies whose shaft core portions are fixed to the hinge shaft 34, and these are arranged from the body center side (base end side of the hinge shaft 34) to the outside (tip end side of the hinge shaft 34). Are arranged in order. The pulley 36 has a larger diameter than the pulley 38. The rotating body 40 is formed with a circular hole 40A into which the hinge shaft 34 is fitted so as to be relatively rotatable. That is, the rotator 40 is rotatable between the pulley 36 and the pulley 38 around the axis X extending substantially in the left-right direction. It is not essential that the pulley 36 has a larger diameter than the pulley 38, and the pulley 36 may have the same diameter as the pulley 38, or the pulley 36 may have a smaller diameter than the pulley 38.

  A recess 40B that accommodates the upper end of the thigh frame 20 is formed below the circular hole 40A of the rotating body 40. The recess 40B is a cylindrical body that extends substantially in the front-rear direction. A hinge shaft 42 is provided. At the upper end of the thigh frame 20, a circular hole 20 </ b> A that fits in a relatively rotatable manner with the hinge shaft 42 is formed.

  That is, the thigh frame 20 (lower limb frame 14) can be rotated (oscillated) about the axis Y extending substantially along the left-right direction by the first joint portion 16, and extends along substantially the front-rear direction. The waist frame 12 is connected to both left and right ends so as to be rotatable (swingable) about the axis line. The thigh frame 20 is capable of rotating (swinging) about 10 ° inward in the shoulder width direction and about 5 ° outward in the shoulder width direction from the suspended state with the hinge shaft 42 as a fulcrum.

  Also, as shown in FIG. 12, a cylindrical pipe adjuster 48 as an adjusting means is disposed on the lower end side of the thigh frame 20, and the length (axial length) of the thigh frame 20 in the longitudinal direction is adjusted. It is possible.

  As shown in FIG. 7, the second joint portion 24 includes a hinge shaft 44 erected from the lower end of the thigh frame 20 to the outside of the shoulder width, and a pulley 46 fixed to the hinge shaft 44. The hinge shaft 44 is a cylindrical body extending substantially along the left-right direction. Further, the pulley 46 is a disc body having an axial core portion fixed to the hinge shaft 44.

  Between the pulley 46 and the lower end of the thigh frame 20, the upper end of the crus frame 22 is disposed. A circular hole (not shown) is formed at the upper end of the lower leg frame 22 so as to be relatively rotatable with the hinge shaft 44. That is, the lower thigh frame 22 is connected to the lower end of the thigh frame 20 by the second joint portion 24 so as to be rotatable (swingable) about an axis extending substantially in the left-right direction.

  As shown in FIG. 13, the crus frame 22 is configured by connecting an upper frame 50 and a lower frame 52, both of which are long frames having a substantially vertical direction as a longitudinal direction, via a slide guide 54. Yes. The upper end of the upper frame 50 is connected to the lower end of the thigh frame 20 by the second joint portion 24 so as to be rotatable (swingable) about an axis extending substantially in the left-right direction. The lower leg 52 is attached to the inner side of the shoulder at the upper end of the lower frame 52, and the lower frame 52 is attached to the lower leg of the human body by the lower leg belt 32 (see FIG. 2).

  Here, the upper frame 50 and the lower frame 52 are disposed so that the longitudinal directions thereof are substantially parallel and most of the upper frame 50 and the lower frame 52 are overlapped when viewed in the left-right direction, and a slide guide 54 disposed therebetween. Are connected to each other so as to be relatively movable in the longitudinal direction. That is, the lower frame 52 can be moved toward and away from the second joint portion 24 along the lower limbs, and the lower leg frame 22 is extendable in the longitudinal direction (substantially up and down direction).

  As shown in FIGS. 1 to 7, the walking assist device 10 is provided with an assisting force applying mechanism 56. The auxiliary force applying mechanism 56 includes a first actuator 58, a second actuator 60, a third actuator 62, and a fourth actuator 64. In the description, the left and right actuators are distinguished from each other, and an “L” subscript is added to the left actuator code, and an “R” subscript is added to the right actuator code.

  The first to fourth actuators 58, 60, 62, and 64 are pneumatic actuators (fluid pressure actuators, so-called McKibben artificial muscles). As shown in FIGS. 14A and 14B, the pneumatic actuator AC includes an inner tube IC that is an expansion / contraction body, and a mesh sleeve MS that is a net-like covering body that covers the inner tube IC. The mesh sleeve MS is made of a wire material such as high-strength fiber that does not have stretchability, for example. Further, both end portions in the length (axis) direction of the mesh sleeve MS are fixed to both end portions in the length direction of the inner tube IC.

  As shown in FIG. 14B, the inner tube IC expands when air is supplied to the inside. The expansion of the inner tube IC is converted into a reduction in the overall length of the pneumatic actuator AC by the mesh sleeve MS. That is, when air is supplied, the pneumatic actuator AC is reduced in length while increasing in diameter. By reducing the length, the pneumatic actuator AC generates a force F in the shortening direction.

  As shown in FIG. 15, a compressor CP is connected to the first to fourth actuators 58, 60, 62, 64 via a switch SW. The switch SW is provided with an intake switch (not shown) and an exhaust switch (not shown). When the intake switch is turned on and the exhaust switch is turned off, first to fourth from the compressor CP. When compressed air is supplied to the actuators 58, 60, 62, 64, the exhaust switch is turned on, and the intake switch is turned off, the air in the first to fourth actuators 58, 60, 62, 64 Is exhausted. The switch SW is appropriately controlled by a control device (not shown) according to the walking motion of the walking trainer.

  As shown in FIGS. 1 to 7, wires 66 are attached to both ends of the first to fourth actuators 58, 60, 62 and 64. The wire 66 attached to one end side of the first actuator 58 is fixed in a state of being wound around the peripheral surface of the pulley 36, and the one end side of the first actuator 58 is connected to the swing axis X (FIG. 9). It is supported by the pulley 36 on the rear side (refer to the back side of the gait trainer). In addition, it is not essential to attach the wire 66 to the other end side of the first to fourth actuators, and a U-shaped metal fitting or a male screw is attached to the other end side, You may support the other end side in the below-mentioned attachment part 68 grade | etc.,.

  As shown in FIGS. 3 and 4, an attachment portion 68 for attaching the other end side of the first actuator 58 is provided at the lower end portion (below the pipe adjuster 48) of the thigh frame 20. Yes. The attachment portion 68 includes a protrusion 70 that protrudes outward from the lower end of the thigh frame 20 in the shoulder width direction, and pins 72 and 74 that are erected on the protrusion 70. The pin 72 extends rearward from the protrusion 70, and the pin 74 extends forward from the protrusion 70. A wire 66 attached to the other end side of the first actuator 58 is fixed to the pin 72.

  That is, as shown in FIGS. 1 to 7, one end side of the first actuator 58 is on the rear side of the swing axis X and on the center side of the swing shaft Y (see FIGS. 8 and 9) (inside of the shoulder width direction). The other end side of the first actuator 58 is supported by the lower end portion of the thigh frame 20 below the one end side.

  For this reason, the 1st actuator 58 generate | occur | produces the force which rotates the thigh frame 20 to back side by shortening. That is, the actuator 58 generates a force corresponding to the great calf muscle C shown in FIG. 16, and assists the operation of pulling the lower limb of the walking trainer backward. Further, as shown in FIG. 11B, the first actuator 58 generates a force for rotating (swinging) the thigh frame 20 toward the body center side by shortening.

  As shown in FIGS. 1 to 7, the wire 66 attached to one end of the second actuator 60 is fixed in a state of being wound around the peripheral surface of the pulley 38. Is supported by the pulley 36 on the front side of the swing axis X (the front side of the gait trainer). A wire 66 attached to the other end of the second actuator 60 is fixed to the pin 74.

  That is, one end side of the second actuator 60 is supported on the waist frame 12 side on the front side of the swing axis X, and the other end side of the second actuator 60 is a lower end portion of the thigh frame 20 below the one end side. It is supported by.

  For this reason, the second actuator 60 generates a force for rotating (swinging) the thigh frame 20 forward by shortening. That is, the second actuator 60 generates a force corresponding to the quadriceps A of the human body shown in FIG. 16, and assists the operation of raising the thigh of the walking trainer.

  As shown in FIGS. 1 to 7, the wire 66 attached to one end side of the third actuator 62 is fixed in a state of being wound around the peripheral surface of the pulley 46, and one end of the third actuator 62 is fixed. The side is supported by the pulley 46 on the rear side of the swing axis Z (see FIGS. 3 and 4) of the lower limb frame 22.

  As shown in FIGS. 3 and 4, an attachment portion 76 for attaching the other end side of the third actuator 62 is provided at the lower end portion of the upper frame 50. The attachment portion 76 includes a protrusion 78 that protrudes outward in the shoulder width direction from the lower end of the thigh frame 20, and pins 80 and 82 that are erected on the protrusion 78. The pin 80 extends backward from the protrusion 78, and the pin 82 extends forward from the protrusion 78. A wire 66 attached to the other end side of the third actuator 62 is fixed to the pin 80.

  That is, one end side of the third actuator 62 is supported on the thigh frame 20 side behind the swing axis Z, and the other end side of the third actuator 62 is a lower end portion of the upper frame 50 below the one end side. It is supported by.

  For this reason, the third actuator 62 generates a force for rotating (swinging) the upper frame 50 backward by shortening. That is, the third actuator 62 generates a force corresponding to the hamstring B of the human body shown in FIG. 16, and assists the operation of bending the knee joint of the walking trainer.

  As shown in FIGS. 1 to 7, the wire 66 attached to one end side of the fourth actuator 64 is fixed in a state of being wound around the peripheral surface of the pulley 46, and one end of the fourth actuator 64 is fixed. The side is supported by the pulley 46 on the front side of the swing shaft Z. A wire 66 attached to the other end of the fourth actuator 64 is fixed to the pin 82.

  That is, one end side of the fourth actuator 64 is supported on the thigh frame 20 side on the front side of the swing axis Z, and the other end side of the fourth actuator 64 is on the lower end of the upper frame 50 below the one end side. It is supported by.

  For this reason, the fourth actuator 64 generates a force for rotating (swinging) the upper frame 50 forward by shortening. That is, the fourth actuator 64 generates a force corresponding to the quadriceps D of the human body shown in FIG. 16, and assists the operation of extending the knee joint of the walking trainer.

  Next, the operation in this embodiment will be described.

  When a walking trainer performs walking training while wearing the walking assist device 10, as shown in the timing chart of FIG. 17, intake and exhaust are sequentially performed on the left and right actuators. The left and right actuators expand and contract, and the walking assist force by the walking assist device 10 is given to the walking trainer.

  First, the second leg 60R on the right leg side is shortened by being supplied with air, and the force that rotates the thigh frame 20 on the right leg side forward, that is, the quadriceps muscle of the right leg of the gait trainer. A force corresponding to A (see FIG. 16) is generated. Thereby, the thigh of the right leg of the walking trainer is raised.

  Then, with a slight delay (about 1 second) from the supply of air to the second actuator 60R, the third actuator 62R on the right leg side is shortened by the supply of air, and the lower leg frame 22 on the right leg side is shortened. A force for rotating backward, that is, a force corresponding to the hamstring B (see FIG. 16) of the right leg of the walking trainer is generated. As a result, the knee joint of the right leg of the gait trainer bends.

  Then, at approximately the same timing as the start of air supply to the third actuator 62R, the second actuator 60R extends by being exhausted, and the force corresponding to the quadriceps A of the right leg of the gait trainer Decrease. As a result, the right leg of the gait trainer falls with the knee joint bent, and lands on the walking surface in front of the upper body of the gait trainer.

  Also, the right leg actuator 58R supplies air at a timing slightly delayed (about 1 second) from the supply of air to the third actuator 62R and almost the same as the end of exhaust of the second actuator 60R. Thus, a force for rotating the thigh frame 20 on the right leg side rearward, that is, a force corresponding to the greater gluteal muscle C (see FIG. 16) of the right leg of the gait trainer is generated. As a result, the right leg of the gait trainer is pulled backward relative to the upper body, and the upper body of the gait trainer advances to the position of the right leg.

  Then, with a slight delay (about 1 second) from the supply of air to the first actuator 58R, the third actuator 62R is extended by being exhausted, and the force corresponding to the hamstring B of the right foot is reduced. . In addition, at substantially the same timing as the end of exhaust of the third actuator 62R, the fourth leg 64R on the right leg side is shortened by the supply of air, and the right leg side leg frame 22 is rotated forward. That is, a force corresponding to the quadriceps D of the right leg of the walking trainer (see FIG. 16) is generated. As a result, the knee joint of the right leg of the gait trainer is extended.

  The first actuator 58R and the fourth actuator 64R are extended by being exhausted slightly after the supply of air to the fourth actuator 64R (about 1 second), and the right leg of the walking trainer The force corresponding to the hamstring B and the quadriceps D is reduced.

  Further, at substantially the same timing as the supply of air to the first actuator 58R, the left leg side actuator 60L is shortened by being supplied with air, and the left leg side thigh frame 20 is rotated forward. That is, a force corresponding to the quadriceps A of the left leg of the gait trainer is generated. Thereby, the left leg of the gait trainer is raised at the same time as the upper body of the gait trainer moves forward.

  Thereafter, the third actuator 62L, the first actuator 58L, and the fourth actuator 64L on the left leg side are supplied and exhausted with the same phase difference as the right leg side, so that the left leg of the walking trainer is Apply the same auxiliary power as the right leg.

  By the way, humans are prevented from falling to the opposite side of the stance side (the side of the raised leg) by moving the center of gravity to the stance side during walking. Therefore, as shown in FIG. 18, during a human walking exercise, the hip joint K bends inward in the shoulder width direction, and the stance leg J moves toward the center of the body relative to the upper body.

  Here, the thigh frame 20 is provided at the first joint portion 16 by being connected to the waist frame 12 so as to be rotatable via a hinge shaft 42 having an axis extending substantially in the front-rear direction. The first joint portion 16 can be bent inward in the shoulder width direction with the swing axis Y as a fulcrum, and the thigh frame 20 is relatively positioned with respect to the waist frame 12. It can swing to the center in the shoulder width direction.

  For this reason, when the walking trainer performs a walking motion while moving the center of gravity to the stance side, the first joint portion 16 bends inward in the shoulder width direction following the waist joint, and the thigh frame 20 is Oscillates toward the center of the body relative to the upper body following the stance J.

  That is, the gait trainer can perform the walking exercise without being hindered by the walking assist device 10 from moving the center of gravity to the stance side. Therefore, it is possible to cause the walking trainer wearing the walking assist device 10 to perform a well-balanced walking exercise.

  Further, as described above, during the walking exercise of the walking trainer, the first actuator 58 is shortened by being supplied with air at approximately the same timing as the right leg or the left leg lands on the walking surface. A force corresponding to the gluteal muscle C is generated, and the stance leg is moved backward.

  Here, one end side of the first actuator 58 is supported on the waist frame 12 via the pulley 36 on the inner side in the shoulder width direction from the swing axis Y, and the other end side of the first actuator 58 is below the one end side. It is supported at the lower end of the thigh frame 20.

  Therefore, when the first actuator 58 is shortened by being supplied with air, the first joint portion 16 bends inward in the shoulder width direction and swings the thigh frame 20 toward the body center side (in the shoulder width direction).

  That is, during the walking exercise of the walking trainer, the first actuator 58 assists the movement of the stance to the center of the body and assists the movement of the center of gravity to the stance. It is possible to make the walking trainer perform a walking exercise with a better balance.

  By the way, as shown in FIG. 19, the angle change of the human knee joint H changes the node P between the femur E and the tibia I, and the lower end of the femur E (lower end of the thigh) to the lower end of the tibia I. The distance L to (ankle) is changed.

  Here, the lower leg frame 22 includes an upper frame 50 connected to the lower end of the thigh frame 20 by the second joint part 24 and a lower frame 52 attached to the lower leg along the lower leg by the slide guide 54. It is configured such that it can be moved relative to it, and is extendable along the lower leg.

  For this reason, when the angle of the knee joint H of the gait trainer changes, not only the position where the lower leg frame 22 and the lower leg are bound by the lower leg belt 32 is angularly displaced around the second joint part 24, but also the first The two joint portions 24 are in contact with and separated from each other. Thereby, the gait trainer can perform a walking exercise without the movement of the knee joint H being restricted by the lower leg frame 22. Therefore, it is possible to make the walking trainer wearing the walking assist device 10 perform better walking exercise.

  In addition, since the lower leg frame 22 is extendable and retractable along the lower leg of the walking trainee, when the lower leg frame 22 is attached to the lower leg, the length of the lower leg frame 22 from the second joint portion 24 is automatically set. Therefore, the gait trainer can wear the lower leg frame 22 on the lower leg while sitting down, and then can stand up. Therefore, the gait trainer can easily attach the lower leg frame 22 to the lower leg.

  In the walking assist device 10, the length between the first joint portion 16 and the second joint portion 24 of the thigh frame 20 can be adjusted by the pipe adjuster 48. Therefore, the walking assistance device 10 can be worn by various users with different heights.

  Further, in the walking assist device 10, since the first to fourth actuators 58, 60, 62, 64 are pneumatic actuators that are activated when air is supplied to the inside, with a simple structure, A function of assisting the greater gluteus, quadriceps, hamstring, and quadriceps can be obtained.

  The present invention has been described in detail with respect to specific embodiments. However, the present invention is not limited to such embodiments, and various other embodiments are possible within the scope of the present invention. It is clear to the contractor. For example, in the present embodiment, pneumatic actuators are used as the first to fourth actuators. However, the wires wound around the pulley by the operation of the motor or unwound from the pulleys are used as the first to fourth actuators. It may be used. It is not essential to provide the first to fourth actuators.

  In the present embodiment, the lower limb frame 14 includes the thigh frame 20 and the crus frame 22, but the lower limb frame 14 may include only the thigh frame 20.

It is a perspective view which shows the use condition of the walking assistance apparatus which concerns on one Embodiment of this invention. It is a side view which shows the use condition of the walking assistance apparatus which concerns on one Embodiment of this invention. It is a perspective view which shows the walking assistance apparatus which concerns on one Embodiment of this invention. It is a perspective view which shows the walking assistance apparatus which concerns on one Embodiment of this invention. It is a front view which shows the walking assistance apparatus which concerns on one Embodiment of this invention. It is a rear view which shows the walking assistance apparatus which concerns on one Embodiment of this invention. It is a side view which shows the walking assistance apparatus which concerns on one Embodiment of this invention. It is a perspective view which expands and shows the 1st joint part and thigh frame with which the walking auxiliary device concerning one embodiment of the present invention is provided. It is a perspective view showing the 1st joint part with which the walk auxiliary device concerning one embodiment of the present invention is provided. It is front sectional drawing which shows the 1st joint part with which the walking assistance apparatus which concerns on one Embodiment of this invention is provided. (A), (B) is front sectional drawing which shows the 1st joint part with which the walking assistance apparatus which concerns on one Embodiment of this invention is provided. It is a perspective view which shows the pipe adjuster with which the walking assistance apparatus which concerns on one Embodiment of this invention is provided. It is a perspective view which shows the lower leg frame with which the walking assistance apparatus which concerns on one Embodiment of this invention is provided. (A), (B) is a figure which shows the outline of the actuator with which the walking assistance apparatus which concerns on one Embodiment of this invention is provided. It is a figure which shows the outline of the air supply / exhaust mechanism of the actuator with which the walking assistance apparatus which concerns on one Embodiment of this invention is provided. It is explanatory drawing which shows the muscle of the human body which each actuator with which the walking assistance apparatus which concerns on one Embodiment of this invention is equipped corresponds. It is a timing chart for demonstrating operation | movement of the auxiliary force provision mechanism which comprises the walking assistance apparatus which concerns on one Embodiment of this invention. It is explanatory drawing which shows the motion of the standing leg at the time of human walking movement. It is explanatory drawing which shows a motion of a human knee joint.

Explanation of symbols

10 Walking assistance device 12 Waist frame (waist wearing part)
14 Lower limb frame (lower limb wearing part)
16 First joint 20 Thigh frame (thigh wearing part)
22 Lower leg frame (lower leg wearing part)
24 Second joint 48 Pipe adjuster (adjustment means)
58 first actuator 60 second actuator 62 third actuator 64 fourth actuator

Claims (9)

A waist mounting portion to be mounted on the user's waist;
A lower limb wearing part to be worn on the user's lower limb;
A first joint part that connects the lower limb wearing part to the waist wearing so as to be swingable in the walking direction and the shoulder width direction;
A first actuator for applying an auxiliary force inward in the shoulder width direction with respect to the lower limb wearing portion;
A walking assistance device characterized by comprising:   The first actuator is supported at one end side on the waist mounting portion side on the inner side in the shoulder width direction from the swing axis in the shoulder width direction of the lower limb mounting portion, and on the other end side on the lower limb mounting portion side below the one end side. The walking assist device according to claim 1, wherein a force in a direction of shortening is generated while being shortened in an operating state.   The walking assist device according to claim 2, wherein the one end side of the first actuator is disposed on the rear side of the user with respect to a swing axis in a walking direction of the lower limb wearing portion.   One end side is supported on the waist mounting portion side on the front side of the user from the swinging axis in the walking direction of the lower limb mounting portion, and the other end side is supported on the lower limb mounting portion side below the one end side to operate. The walking assist device according to claim 3, further comprising a second actuator that generates a force in a shortening direction while shortening in a state.   The walking assist device according to claim 4, wherein the first actuator and the second actuator are pneumatic actuators that are activated when air is supplied therein. The lower limb wearing part is
A thigh attachment part to be attached to the user's thigh;
A lower leg attachment part that is attached to the user's lower leg and stretches along the lower leg;
A second joint part that connects the lower leg attachment to the thigh attachment part so as to be swingable in the walking direction;
The walking assist device according to claim 1, comprising:   The walking assist device according to claim 6, further comprising an adjusting unit that adjusts a length between the first joint portion and the second joint portion of the thigh mounting portion. One end side is supported on the thigh mounting part side on the rear side of the user from the swinging shaft of the lower leg mounting part, and the other end side is supported on the lower leg mounting part side below the one end side, and shortened in the operating state. A third actuator that generates a force in the direction of shortening,
One end side is supported on the thigh mounting part side on the front side of the user from the swinging shaft of the lower leg mounting part, and the other end side is supported on the lower leg mounting part side below the one end side, and shortened in the operating state. A fourth actuator that generates a force in the direction of shortening,
The walking assist device according to claim 6 or 7, characterized by comprising:   The walking assistance device according to claim 8, wherein the third actuator and the fourth actuator are pneumatic actuators that are activated when air is supplied therein.

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