JP2007130234A - Human body motion assist device - Google Patents

Abstract

An object of the present invention is to provide a highly safe human body motion assisting device that can assist the operation with certainty and can easily remove the assisting device from the body when an abnormality occurs.
A motion assisting tool 21 for applying power to a motion part of a user M, a detection means for detecting the motion of the user M, and a control for controlling the motion of the motion assisting tool 21 based on a detection signal from the detection means. The movement assisting tool 21 is worn while the user M holds the foot holding part 8 and the hand holding part 15 in at least two places of the movement assisting tool 21 in a detachable manner.
[Selection] Figure 1

Description

  The present invention relates to a human body motion assisting device capable of power assisting the motion of a human body by being attached to the human body.

  The human body movement assist device can be used not only when assisting the movement by wearing a disabled person or elderly person, but also when supporting the movement by wearing a caregiver or other healthy person In recent years, research and development has been actively promoted.

  As a conventional human body motion assist device, there are a frame mounted on the human body, a first lever connected to the frame via a first support shaft corresponding to the hip joint, and a second lever corresponding to the knee joint. And a second lever connected to the first lever via the support shaft and attached to the lower leg, and the first lever and the second lever are driven to rotate around the first support shaft and the second support shaft by a motor, respectively. Therefore, an artificial walking device that assists walking is known (for example, see Patent Document 1).

  In addition, in order for the caregiver who cares for the care recipient such as a patient to wear, the muscle strength is assisted so that the leg mounting unit including the lower limb mounting unit and the thigh mounting unit, the torso mounting unit, and the upper arm mounting unit And an arm mounting part comprising a forearm mounting part, and a care for assisting the rotational force between the mounting parts by an air actuator attached between the respective mounting parts rotatably connected by joint parts. A muscle strength assisting device is also known (see, for example, Patent Document 2).

  In addition, as a walking assistance device that attaches to the lower limbs of the pedestrian and assists walking, an electric actuator is placed on the side of the lower limb of the pedestrian, a link connected to the actuator is attached to the lower limb of the pedestrian, 2. Description of the Related Art A power source for driving and control means are known that are housed in a backpack that is worn on the back of a pedestrian (see, for example, Patent Document 3).

Further, as shown in FIG. 16, an upper arm 63 is joined to a waist portion 61 wound around and fixed to a wearer's torso via a waist joint 62 and its actuator 62 a, and the knee joint 64 is joined to the upper arm 63. The lower arm 65 is joined via the actuator 64a, the collar 67 is joined to the lower arm 65 via the collar joint 66, and the upper arm 63 and the lower arm 65 are respectively connected to the thigh and the surface fasteners 63a and 65a. The control device and the power source are accommodated in a bag 68 that the wearer bears on the back, and the load of the bag 68 is applied to the waist portion 61 at the engagement portions 69a and 69b at the lower end of the bag 68 and the upper end of the waist portion 61. A motion assisting device 60 configured to transmit is known (see, for example, Patent Document 4). Further, in this motion assisting device 60, a biological signal of the thigh or the like is detected, a nerve transmission signal and a myoelectric potential signal are obtained from the biological signal, and the motive power according to the intention of the wearer is based on these signals An optional control means for generating a command signal to be generated is described.
Japanese Patent Publication No. 50-34355 JP 2000-51289 A JP 2002-301124 A JP 2005-95561 A

  By the way, in any of the devices described in any of the above patent documents, it is assumed that the corresponding movable part of the device is fixedly mounted on each part of the human body that should support or assist the operation of the pedestrian or the wearer. However, in that case, when an abnormality occurs during use, the device operates regardless of the movement of the human body, the abnormal movement affects the movement of the human body, and in the worst case damages the human body. There was a problem with safety because of fear.

  In addition, if an unexpected dangerous event such as a fall occurs while the device is in use, the device is fixed to the user's body so that it cannot follow the movement of the heel and avoid the dangerous event. And there was a problem that the body could not take a defense posture.

  In view of the above-described conventional problems, an object of the present invention is to provide a highly safe human body motion assisting device that can reliably assist the operation and can easily remove the assisting device from the body when an abnormality occurs. .

  The human body motion assisting device of the present invention controls the motion of the motion assisting tool based on the motion assisting tool for applying power to the user's motion part, the detecting means for detecting the user's motion, and the detection signal from the detecting means. And a control unit, and the user wears the motion assisting tool while detachably holding at least two holding parts of the motion assisting tool.

  According to this configuration, the user can wear the operation assisting tool by holding the holding portion, and when the user operates in that state, the operation is detected, and the operation assisting tool is controlled to power the human body. Can be used to reliably assist the user's movement, and in the event of an abnormality, the user can immediately leave the movement assisting device by removing the holding part. Even during operation, the user is not affected by the movement, and even if a dangerous event such as a fall occurs, the user can easily take avoidance action and body defense posture, ensuring high safety can do.

  In addition, when the motion aid is mounted on the front side of the user and the center of gravity of the motion aid is positioned in front of the user's front surface, the user can immediately perform the detachment operation at the time of abnormality, and the motion aid is actually installed. It can be quickly and smoothly detached, and higher safety can be secured.

  When at least two holding portions of the movement assisting tool are a foot holding portion that inserts and holds the user's foot and a hand holding portion that holds the hand by inserting or holding the hand, The auxiliary tool can be easily mounted by holding the holding portions in two places, the foot and the hand.

  The motion assisting tool includes a main body disposed on the front surface of the torso of the user, a first actuator disposed on both lower sides of the main body, and extending and bending the user's hip joint, and the first actuator A first power transmission unit connected to the first power transmission unit, a second actuator connected to one end of the first power transmission unit, extending and bending the knee joint of the user, and a second actuator, A second power transmission unit to which the foot holding unit is connected, a third actuator which is disposed on both upper sides of the main body and extends and bends the shoulder joint of the user, and a third actuator which is connected to the third actuator. 3 is connected to one end of the third power transmission unit, the fourth actuator for extending and bending the user's elbow joint, and the fourth actuator, and the hand holding unit is connected to one end The fourth power transmission unit If the user holds the movement assisting tool with his / her feet and hands, the movement is completely assisted when the user freely moves his / her legs and hands in the front / rear direction. Although it can be easily worn, it can assist the movement of the user's entire limbs.

  In addition, when the first actuator is attached to a side swingable member provided in the lower part of the main body part, the user wearing the operation aid can arbitrarily open the leg. The leg can be moved smoothly and over a wide range without a sense of restraint, and the fall avoidance operation can be performed smoothly.

  In addition, if the third actuator is attached to a member that can be turned around the vertical axis provided at the upper part of the main body, the user wearing the operation assisting tool can arbitrarily rotate the shoulder back and forth. , The degree of freedom to move the arms and hands increases, and the work with the hands and arms can be performed smoothly.

  In addition, if the main body portion is an intermediate portion in the vertical direction and can be bent back and forth and / or relatively rotated around the vertical axis, the user can bend the torso forward while wearing the operation aid. Since the user can take a posture of crouching or twisting his / her body, the user can make a natural movement, improving the feeling of use and improving workability.

  Further, the human body motion assist device of the present invention operates a motion assist tool that applies power to the user's motion part, a detection means that detects the user's motion, and a detection signal from the detection means. And a control part for controlling, a connecting part is provided on a mounting member worn by a user, and a connecting part that is releasably connected to the connecting part in the event of an abnormality is provided in the operation assisting tool.

  According to this configuration, in order to assist only a part of the user's human body, such as the hand, arm, foot, and leg, the user can be provided when the movement assisting tool cannot be provided with at least two holding portions that the user holds. By attaching one or more mounting members to the connecting member, and connecting the operation assisting device by connecting the connecting portion of the mounting member to the connecting portion of the mounting member, the operation assisting device reliably assists the user's operation. When the abnormality occurs, the user can immediately leave the operation assisting device by detaching the connecting portion from the connection portion. Therefore, the user is affected by the movement even when the operation assisting device operates abnormally. Therefore, even when a dangerous event such as a fall occurs, the avoidance action and the body's defense posture can be easily taken, so that high safety can be ensured.

  In addition, if the connecting part is provided in front of the user and the center of gravity of the operation assisting device is located in front of the user's front, the user can immediately perform the disengagement operation at the time of abnormality, and the operation assisting device is actually installed. It can be quickly and smoothly detached, and higher safety can be secured.

  The motion assisting tool is connected to the main body having a coupling portion, a first actuator disposed on one side or both sides of the lower portion of the main body, and extending and bending the user's hip joint, and the first actuator. First power transmission unit, a second actuator connected to one end of the first power transmission unit, extending and bending the knee joint of the user, and a second power connected to the second actuator When the transmission portion and the foot holding portion connected to one end of the second power transmission portion and holding the user's foot are provided, the coupling portion of the main body portion is coupled to the connection portion, and the foot is By holding the foot holding portion, the movement assisting tool can be easily attached, and when the user moves the leg back and forth, the movement can be completely assisted.

  In addition, when the first actuator is attached to a side swingable member provided in the lower part of the main body part, the user wearing the operation aid can arbitrarily open the leg. The leg can be moved smoothly and over a wide range without a sense of restraint, and the fall avoidance operation can be performed smoothly.

  The motion assisting tool includes a main body having a coupling portion, a third actuator disposed on one side or both sides of the upper portion of the main body, and extending and bending a user's shoulder joint, and a third actuator. A third power transmission unit connected, a fourth actuator connected to one end of the third power transmission unit, extending and bending the user's elbow joint, and a fourth actuator connected to the fourth actuator When the power transmission unit and a hand holding unit that is connected to one end of the fourth power transmission unit and holds the user's hand inserted or held by the hand, the coupling portion of the main body is used as the connection unit. By linking and holding the hand on the hand holding part, the movement assisting tool can be easily attached, and when the user moves the arm or hand back and forth, the movement can be completely assisted.

  In addition, if the third actuator is attached to a member that can be turned around the vertical axis provided at the upper part of the main body, the user wearing the operation assisting tool can arbitrarily rotate the shoulder back and forth. , The degree of freedom to move the arms and hands increases, and the work with the hands and arms can be performed smoothly.

  In addition, when the connecting portion and the coupling portion are coupled with a coupling force that is separated by the action of a force that is greater than or equal to a predetermined value, the user can reliably remove the motion assisting tool by applying a detachment force that is greater than or equal to the predetermined value when an abnormality occurs. be able to.

  In addition, if the connection part and the connection part are provided with means for releasing the connection by a command signal from the control part in the event of an abnormality, the operation assisting tool can be automatically detached in the event of an abnormality, so that even a user without power can easily You can leave.

  In addition, when the abnormality is determined by determining whether or not the force detected by the detection means at the control unit has exceeded a predetermined value, there is no possibility of detachment in the normal use state, and the abnormal force Since it is detached at the time of the action, it is possible to achieve both stable auxiliary operation and safety.

  In addition, when the mounting member is mounted around the user's waist and the operation assisting device is provided with a coupling portion and a holding portion that the user can detachably hold, the operation assisting device is disposed around the user's waist. By wearing, a stable wearing state is ensured, and the stability of operation assistance can be improved.

  Further, when the holding part is one or both of a foot holding part for inserting and holding a user's foot and a hand holding part for holding and inserting a hand, It is easy to use and can assist the overall movement of the arms and legs.

  Further, in the human body motion assist device described above, when the control unit is installed in a part of the motion assisting tool, the motion assisting tool itself has a complete configuration and does not need to be connected to the outside. The degree is improved.

  In addition, when the detection means and the control unit are equipped with wireless communication means for wirelessly transmitting a detection signal from the detection means, the movement is suppressed due to the complexity of the wiring or the wiring being obstructed, or malfunction or operation due to wiring damage. There is no need for stoppage, and operability and reliability can be improved.

  According to the human body motion assisting device of the present invention, the user can wear the motion assisting tool by holding the holding portion, and the motion assisting tool is controlled in accordance with the user's motion in that state. The user's movement can be reliably assisted, and the user can immediately remove the movement assisting tool by removing the holding part in the event of an abnormality. Even when a dangerous event such as a fall occurs, it is possible to easily take the avoidance action and the body's defense posture and to ensure high safety.

(First embodiment)
Hereinafter, a first embodiment of the human body movement assist device of the present invention will be described with reference to FIGS.

  In FIG. 1, reference numeral 1 denotes a human body movement assist device configured to be worn by a user M on the front side. The human body motion assist device 1 includes a main body 2 that is disposed on the front side of the torso from the waist of the user M to the shoulder.

  A first actuator 3 that extends and bends the user's M hip joint back and forth is disposed on both sides of the lower part of the main body 2, and the first actuator 3 is attached to the front of the upper leg (thick thigh) of the user M. The 1st power transmission part 4 arrange | positioned along is connected. A second actuator 5 that extends and bends the knee joint of the user M forward and backward is disposed on the outer side of the lower end of the first power transmission unit 4, and the lower leg of the user M is connected to the second actuator 5. The 2nd power transmission part 6 arrange | positioned along a part (burnt) front is connected. A slipper-like foot holding portion 8 that can be held by inserting the foot of the user M via the movable connecting portion 7 is connected to the lower end of the second power transmission portion 6.

  On both upper sides of the main body 2, there are provided shoulder members 9 that can turn around the vertical axis, and a third actuator 10 that extends and bends the shoulder joint of the user M forward and backward is disposed on the shoulder members 9. The third actuator 10 is connected to the third power transmission unit 11 disposed along the front surface of the upper arm of the user M. A fourth actuator 12 that extends and bends the elbow joint of the user M is disposed outside the lower end of the third power transmission unit 11, and the fourth actuator 12 is disposed on the front surface of the lower arm of the user M. The 4th power transmission part 13 arrange | positioned along is connected. A grip-like or glove-like or hand-like hand holding portion 15 that can be held by a user M's hand or inserted and held through the movable connecting portion 14 is connected to the tip of the fourth power transmission portion 13. . The motion assisting tool 21 of the human body motion holding device 1 is configured by the above mechanical components.

  The main unit 2 is provided with a control unit 16 for driving and controlling the actuators 3, 5, 10, and 12 and a driving power source (not shown). As shown in FIG. 2A, detection signals from the detection means 17 disposed in the power transmission units 4, 6, 11, and 13 are input to the control unit 16 through the connection cable 18. As the detection means 17, a pressure sensor, a force sensor, etc. can be used, and it arrange | positions so that the force and direction of the operation | movement of the user M can be detected. Further, as shown in FIG. 2 (b), an operation detection means 19 that can detect the movement of the muscle of the user M such as a myoelectric potential sensor is attached to or attached to the leg or arm of the user M. The detection signal processed by the motion detection processing unit 19 is attached to the motion detection processing unit 20 attached to the user M, and the detection signal processed by the motion detection processing unit 19 is wirelessly provided in the motion detection processing unit 19 and the control unit 16. You may make it transmit to the control part 16 by a communication means (not shown).

  As shown in FIG. 3, the human body motion assisting device 1 configured as described above is self-supporting in a forward bent posture in which the foot holding portion 8 and the hand holding portion 15 are in contact with the floor surface, as shown in FIG. The control unit 16 is initially set as such. When the user M wears the human body motion assisting device 1, the control unit 16 is turned on, and the foot support unit 8 and the hand support unit 15 of the motion assisting tool 21 are attached to the two support units. It is possible to easily attach the movement assisting tool 21 of the whole body simply by inserting and holding the hand or holding it with the hand.

  When the user M operates in a state in which the operation assisting tool 21 is worn in this manner, the operation is detected by the detection means 17 or 19, and the first to first operations of the operation assisting tool 21 are performed by the control unit 16 based on the detection signal. The operation of the four actuators 3, 5, 10, and 12 is controlled, power is applied to the first to fourth power transmission units 4, 6, 11, and 13, and the operation of the user M is reliably assisted. When the user M stands upright, as shown in FIG. 4, the motion assisting tool 21 is mounted on the front side of the user M, and the center of gravity 22 of the motion assisting tool 21 is positioned in front of the front surface of the user M. .

  When the user M performs a desired operation in this state, the operation is assisted by the operation assisting tool 21. For example, as shown in FIG. 5, even when a heavy load 23 is carried on an arm, the weight 23 is supported by the operation assisting tool 21 so that the load 23 is It can be transported easily. Thus, when the user M moves the foot and hand freely in the front-rear direction while holding the motion assisting tool 21 with the foot and hand, the movement is completely assisted, so that the user can easily While being wearable, it can assist the movement of the user's entire limbs. In addition, since the third actuator 10 that assists the movement of the arm of the user M is attached to the shoulder member 9 that can turn around the vertical axis around the upper part of the main body 2, Since the person M can arbitrarily rotate the shoulder back and forth, the degree of freedom to move the arm and hand is increased, and the work with the hand and arm can be performed smoothly.

  When an abnormality occurs, such as when the operation assisting tool 21 operates abnormally during the above operation or when the user M is about to fall down with the operation assisting tool 21 attached, FIG. As shown, when the user M removes the holding parts such as the hand holding part 15 and the foot holding part 8, the user M can immediately leave the operation assisting tool 21 as indicated by an arrow. In particular, since the center of gravity 22 of the motion assisting tool 21 is positioned in front of the front surface of the user M, the motion assisting tool 21 can be moved quickly and smoothly even if the user M immediately unconsciously performs a disengagement operation in the event of an abnormality. Can be withdrawn. Thus, the user M does not need to be affected by the movement of the movement assisting device 21 in an abnormal operation, and can easily take the avoidance action and the body defense posture even when a dangerous event such as a fall occurs. Therefore, high safety can be ensured.

  In the example shown in FIG. 1, the main body 2 is configured as an integral structure that does not deform / displace. However, as shown in FIG. 7, the main body 2 is bent back and forth around the horizontal axis 24 a in the middle in the vertical direction. A configuration in which a flexible bending portion 24 and a fifth actuator 25 for assisting a bending operation are provided, and a turning portion 26 that can rotate around an up-and-down shaft 26a and a sixth actuator 27 for assisting the turning operation are provided. It is preferable to do this. When the bending portion 24 and the turning portion 26 are provided in the main body 2 in this way, the user M takes a posture of bending the trunk forward and bending the body while wearing the movement assisting tool 21 or twisting the body. The fifth and sixth actuators 25 and 27 are provided to assist the operation, so that the user can move naturally and improve the feeling of use and work. Also improves.

  In addition, the first actuator 3 is not disposed directly below the main body 2 but swings laterally around the horizontal axis 28a in the front-rear direction on both sides of the lower portion of the main body 2 as shown in FIG. It is preferable that a swing member 28 that can be used is provided, and the first actuator 3 is disposed on the swing member 28. By arranging the first actuator 3 so as to be swingable in the lateral direction in this way, the user M wearing the operation assisting tool 21 can arbitrarily open the leg, so that the leg can be smoothly moved without a sense of restraint. In addition, it can be moved in a wide range, and in particular, the user M can smoothly perform the fall avoidance operation.

  In the description of the embodiment shown in FIG. 1, an example has been described in which the movement assisting tool 21 is mounted only by being held at the two positions of the foot holding portion 8 and the hand holding portion 15. Needless to say, as shown schematically in FIGS. 3 to 5, a suitable holding portion may be additionally provided, such as a holding portion 29 that can be held by the jaw of the user M. Furthermore, as shown in the following embodiment, a connecting portion is provided on the mounting member attached to the user M, and a connecting portion that is separated from the connecting portion in the event of an abnormality is provided in the main portion 2, so that the main portion 2 is also provided. You may make it mount | wear with the operation | movement assistance tool 21 in the state hold | maintained so that separation | detachment is possible.

(Second Embodiment)
Next, a second embodiment of the human body movement assist device of the present invention will be described with reference to FIGS. In the following description of the embodiment, the same components as those in the preceding embodiment are denoted by the same reference numerals, description thereof is omitted, and only differences will be mainly described.

  In FIG. 9, the motion assisting tool 31 of the human body motion assisting device 1 in this embodiment assists the motion of one leg of the lower body of the user M. The main body 32 of the motion holder 31 has a shape extending from the front of the abdomen of the human body to the hip joint on one side. The main body 32 includes the first actuator 3, the first power transmission unit 4, the second actuator 5, The power transmission unit 6, the movable connection unit 7, and the foot holding unit 8 are sequentially connected to each other to form an operation holding tool 31. In this motion holder 31, since the holding part is only the foot holding part 8, it is necessary to hold the main body part 32 detachably from the human body. Therefore, a belt-type attachment member 33 is attached to the waist of the user M, and a connection portion 34 is provided on the front surface of the attachment member 33 for releasably connecting the main portion 32. On the main body 32 side, a coupling portion 35 that is detachably coupled to the connection portion 34 in the event of an abnormality is provided.

  According to this configuration, the user M wears the mounting member 33, connects the coupling portion 35 of the main body 32 of the motion assisting tool 31 to the connecting portion 34, and holds the foot on the foot holding portion 8, thereby assisting the motion assisting tool. 31 can be easily mounted, and when the user M moves the leg back and forth in the mounted state, the movement can be completely assisted. In addition, since the mounting member 33 mounted around the waist of the user M holds the main body portion 32 of the motion assisting tool 31, a stable mounting state is ensured and the stability of motion assist can be improved.

  Further, in the event of an abnormality, as shown in FIG. 10, the coupling unit 35 is detached from the connection unit 34 and the foot is detached from the foot holding unit 8, so that the user M can immediately operate as shown by the arrow. 31 can be removed, so that the user M does not need to be affected by the movement of the movement assisting tool 31 in an abnormal operation. Also, when a dangerous event such as a fall occurs, the user M can perform the avoidance operation and the body defense posture. It can be easily taken and high safety can be ensured. In particular, by positioning the connecting portion 34 in front of the user M and positioning the center of gravity of the operation assisting tool 31 in front of the front of the user M, the user M can immediately perform the detachment operation in the event of an abnormality, The auxiliary tool 31 can actually be removed quickly and smoothly, and higher safety can be ensured.

  Also in the present embodiment, as shown in FIG. 8, the user M wearing the operation assisting tool 31 is attached by attaching the first actuator 3 to the swinging member 28 provided at the lower part of the main body portion 32. Since the leg can be arbitrarily opened, the leg can be moved smoothly and in a wide range without a sense of restraint, and the fall avoidance operation can be performed smoothly.

  By the way, as shown in FIG. 11, the connecting portion 34 and the connecting portion 35 can be separated from each other by engaging the engaging claw 36 b provided on the connecting portion 35 with the elastic locking device 36 a provided on the connecting portion 34. It is possible to employ a coupling configuration in which the mechanical elastic coupling mechanism 36 and the like are separated when a force exceeding a predetermined value is applied. According to such a configuration, as shown in FIG. 11 (b), when the user M applies a detaching force of a predetermined value or more from the coupled state of FIG. Thus, the operation assisting tool 31 can be reliably detached.

  Also, as shown in FIG. 12, a locking means 37b that can be engaged / disengaged in accordance with a command from the control unit 16 is provided in the coupling unit 35 with respect to the engagement claw 37a provided in the connection unit 34, thereby coupling operation mechanism 37, the lock means 37b is released by a command signal from the control unit 16 in the abnormal state from the coupled state shown in FIG. 12A, thereby automatically assisting the operation as shown in FIG. The tool 31 may be detachable. In this case, the operation assisting tool 31 can be removed immediately upon detection of various abnormal states by the control unit 16. In addition, regarding the determination at the time of abnormality by the control unit 16, the control unit 16 monitors the detection values by the detection means 17 and 19, and as shown in FIG. 13, whether or not the detection value has become a predetermined limit value A or more. It is preferable to carry out by determining whether or not. Thereby, in the normal use state, there is no possibility that the operation assisting tool 31 is detached, and the operation assisting tool 31 is detached when an abnormal force is applied, so that both stable assist operation and safety can be achieved.

(Third embodiment)
Next, a third embodiment of the human body movement assist device of the present invention will be described with reference to FIG.

  The motion holder 41 of the human body motion assist device 1 in this embodiment assists the motion of one arm of the upper body of the user M, and the main body 42 of the motion holder 41 is located on one side from the front of the abdomen of the human body. The shoulder member 9, the third actuator 10, the third power transmission unit 11, the fourth actuator 12, the fourth power transmission unit 13, and the movable connection unit 14 are formed on the main body 42. In addition, the hand holding unit 15 is sequentially provided to constitute the operation holding tool 41. In this motion holder 41, since the holding part is only the hand holding part 15, it is necessary to hold the main body part 42 detachably from the human body. Therefore, as in the second embodiment, a belt-type mounting member 33 is mounted on the waist of the user M, and a connection for detachably connecting the main body 42 to the front surface of the mounting member 33 is performed. A portion 34 is provided. On the main body 42 side, there is provided a coupling portion 35 that is detachably coupled to the connection portion 34 in the event of an abnormality.

  According to this embodiment, the operation assisting device 41 can be easily worn by coupling the coupling portion 35 of the main body portion 42 to the connection portion 34 and holding the hand on the hand holding portion 15, and the user M can If you move your hand back and forth, that movement can be fully assisted. In addition, since the third actuator 10 is attached to the shoulder member 9 that can turn around the vertical axis, the user M wearing the motion assisting tool 41 can arbitrarily rotate the shoulder back and forth, so that the arm and hand The degree of freedom to move is increased, and work with hands and arms can be performed smoothly. Moreover, since the main part 42 of the operation | movement assistance tool 41 is hold | maintained by the mounting member 33 with which the user M was mounted | worn around the waist, the stable mounting | wearing state is ensured and stability of operation assistance can be improved.

  Further, in the event of an abnormality, the user M can immediately leave the motion assisting tool 41 by detaching the connecting portion 35 from the connecting portion 34 and releasing the hand from the hand holding portion 15 in the same manner as in the second embodiment. Therefore, even when the motion assisting tool 41 is abnormally operated, the user M does not need to be affected by the movement, and even when a dangerous event such as a fall occurs, the user M easily takes the avoidance action and the body's defense posture. And high safety can be ensured.

(Fourth embodiment)
Next, a fourth embodiment of the human body movement assist device of the present invention will be described with reference to FIG.

  The motion holder 51 of the human body motion assist device 1 in this embodiment assists the movement of the user M's both legs and arms, and the main part 52 of the motion holder 51 extends from the hip joint of the human body. The shape extends over the shoulder joint, and the first actuator 3, the first power transmission unit 4, the second actuator 5, the second power transmission unit 6, the movable connection unit 7, and the foot The holding portion 8 is sequentially provided, and a shoulder member 9, a third actuator 10, a third power transmission portion 11, a fourth actuator 12, a fourth power transmission portion 13, a movable connection are provided on both upper ends of the main body portion 52. The operation holder 51 is configured by sequentially connecting the unit 14 and the hand holding unit 15. Further, a connecting portion 34 for removably connecting the main body 52 is provided on the front surface of the belt-type mounting member 33 to be mounted on the waist of the user M, and the main body 52 is connected to the connecting portion 34 at the time of abnormality. On the other hand, a coupling portion 35 that is detachably coupled is provided.

  According to the present embodiment, the operation assisting tool 51 can be easily mounted by coupling the coupling portion 35 of the main body portion 52 to the connection portion 34 and holding the foot on the foot holding portion 8 and the hand on the hand holding portion 15. When the user M moves his / her legs, legs, arms and hands back and forth, the movement can be completely assisted. Also, in the event of an abnormality, the user M can be removed by detaching the connecting portion 35 from the connecting portion 34 and releasing the foot from the foot holding portion 8 and the hand from the hand holding portion 15 in the same manner as in the second embodiment. Can be detached from the motion assisting tool 51 immediately, so that high safety can be ensured.

  The present invention is not limited to the above-described embodiment, and can be implemented with a combination of various components shown in each embodiment based on the description of the claims.

  According to the human body motion assist device of the present invention, it is possible to reliably assist the user's motion with the motion assisting device mounted, and when the motion assisting device abnormally operates or when a dangerous event such as a fall occurs. The operation aids can be removed immediately in the event of abnormalities, ensuring high safety, and can be used effectively for operation assistance devices such as various disabled people, elderly people, patient nurses and caregivers. .

The perspective view which shows 1st Embodiment of the human body movement assistance apparatus of this invention. The arrangement | positioning / connection structure of the detection means of this embodiment and a control part is shown, (a) is explanatory drawing of an example, (b) is explanatory drawing of another example. The perspective view which shows typically the stationary attitude | position at the time of a stop of the embodiment. It is a schematic diagram which shows the structure of the embodiment, (a) is a front view, (b) is a side view. The perspective view which shows the operation state of the embodiment typically. The side view which shows typically the state at the time of detachment | leave of the embodiment. The principal part structure of the other suitable structural example of the main-body part of the embodiment is shown, (a) is a perspective view, (b) is a front view. The side view which shows the principal part structure of the other suitable structural example of the hip joint part of the embodiment. The 2nd Embodiment of the human body movement assistance apparatus of this invention is shown, (a) is a front view, (b) is a side view. The side view which shows the state at the time of detachment | leave of the embodiment. The connection part and coupling | bond part of the embodiment are shown, (a) is explanatory drawing of a coupling | bonding state, (b) is explanatory drawing of a detachment | leave state. The connection part and coupling | bond part of the other structural example of the embodiment are shown, (a) is explanatory drawing of a coupling | bonding state, (b) is explanatory drawing of a detachment | leave state. Explanatory drawing of the detected value of the detection means at the time of the detachment | leave control in the embodiment. The front view which shows 3rd Embodiment of the human body movement assistance apparatus of this invention. The front view which shows 4th Embodiment of the human body movement assistance apparatus of this invention. The perspective view of the human body movement assistance apparatus of a prior art example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Human body movement assistance apparatus 2, 32, 42, 52 Main part 3 1st actuator 4 1st power transmission part 5 2nd actuator 6 2nd power transmission part 7 Movable connection part 8 Foot holding part 9 Shoulder member 10 3rd actuator 11 3rd power transmission part 12 4th actuator 13 4th power transmission part 14 Movable connection part 15 Hand holding part 16 Control part 17 Detection means 19 Operation detection means 21, 31, 41, 51 Operation assistance Tool 22 Center of gravity 24 Bending part 26 Turning part 28 Oscillating member 33 Mounting member 34 Connection part 35 Coupling part 36 Elastic coupling mechanism 37 Coupling operation mechanism M User

Claims (20)

  An operation assisting device that applies power to the user's operation part, a detection unit that detects the user's operation, and a control unit that controls the operation of the operation assisting device based on a detection signal from the detection unit. A human body motion assisting device, wherein the motion assisting tool is mounted in a state in which at least two holding portions of the motion assisting tool are detachably held.   The human body motion assisting device according to claim 1, wherein the motion assisting device is mounted on the front side of the user, and the center of gravity of the motion assisting device is located in front of the front surface of the user.   The at least two holding portions of the motion assisting tool are a foot holding portion that inserts and holds a user's foot and a hand holding portion that holds the hand by inserting or holding it by the hand. Or the human body movement assistance apparatus of 2 description.   The motion assisting tool is connected to the main body disposed on the front surface of the user's torso, the first actuator that is disposed on both lower sides of the main body, and extends and bends the user's hip joint. The first power transmission unit, the second actuator connected to one end of the first power transmission unit, extending and bending the knee joint of the user, and connected to the second actuator, holding the foot at one end A second power transmission unit to which the unit is connected, a third actuator that is disposed on both upper sides of the main unit and extends and bends the shoulder joint of the user, and a third actuator that is connected to the third actuator Connected to one end of the power transmission unit and the third power transmission unit, connected to the fourth actuator for extending and bending the elbow joint of the user, and connected to the fourth actuator, and connected to the hand holding unit at one end With a fourth power transmission unit Human motion assist device according to claim 3, wherein Rukoto.   5. The human body motion assisting device according to claim 4, wherein the first actuator is attached to a side swingable member provided at a lower portion of the main body.   6. The human body motion assisting device according to claim 4 or 5, wherein the third actuator is attached to a member that is pivotable about a vertical axis provided at an upper portion of the main body.   The human body motion assisting device according to any one of claims 4 to 6, wherein the main body portion is an intermediate portion in the vertical direction and can be bent back and forth and / or relatively rotated around the vertical axis.   An operation assisting device that applies power to the user's operation part, a detection unit that detects the user's operation, and a control unit that controls the operation of the operation assisting device based on a detection signal from the detection unit. A human body movement assist device, wherein a mounting portion is provided on a mounting member to be mounted, and a coupling portion that is detachably coupled to the connection portion in an abnormal state is provided in the motion assisting tool.   9. The human body motion assisting device according to claim 8, wherein the connecting portion is provided in front of the user, and the center of gravity of the motion assisting tool is positioned in front of the front surface of the user.   The movement assisting tool is connected to the main body having a coupling portion, a first actuator disposed on one side or both sides of the lower portion of the main body, and extending and bending the hip joint of the user, and the first actuator. A first power transmission unit; a second actuator connected to one end of the first power transmission unit for extending and bending a user's knee joint; and a second power transmission unit connected to the second actuator And a foot holding part connected to one end of the second power transmission part for inserting and holding a user's foot.   The human body motion assisting device according to claim 10, wherein the first actuator is attached to a laterally swingable member provided at a lower portion of the main body.   The movement assisting tool is connected to the main body having a coupling portion, a third actuator disposed on one side or both sides of the upper portion of the main body, and extending and bending the shoulder joint of the user, and the third actuator. A third power transmission unit, a fourth actuator connected to one end of the third power transmission unit for extending and bending the user's elbow joint, and a fourth power transmission connected to the fourth actuator And a hand holding part that is connected to one end of the fourth power transmission part and holds the user's hand inserted or held by the hand. The human body movement assist device according to 1.   13. The human body motion assisting device according to claim 12, wherein the third actuator is attached to a member that is pivotable about a vertical axis provided at an upper portion of the main body.   The human body motion assisting device according to any one of claims 8 to 13, wherein the connecting portion and the coupling portion are coupled with a coupling force that is released by the action of a force equal to or greater than a predetermined value.   The human body motion assisting device according to any one of claims 8 to 13, wherein the connecting portion and the connecting portion are provided with means for releasing the connection by a command signal from the control portion in the event of an abnormality.   16. The human body motion assisting device according to claim 15, wherein the determination at the time of abnormality is performed by determining whether or not the force detected by the detecting means in the control unit has become a predetermined value or more.   The human body movement assist according to claim 8 or 9, wherein the mounting member is mounted around the waist of the user, and the movement assisting tool is provided with a coupling portion and a holding portion that is detachably held by the user. apparatus.   18. The holding unit is any one or both of a foot holding unit that inserts and holds a user's foot and a hand holding unit that inserts or holds a hand with a hand. Human body movement assist device.   The human body motion assisting device according to claim 1, wherein the control unit is installed in a part of the motion assisting tool. The human body motion assisting device according to claim 1, wherein the detection unit and the control unit include a wireless communication unit that wirelessly transmits a detection signal from the detection unit.

Images