JP6786719B2 - How to make a joint movement assist device - Google Patents

Description

The present invention relates to a method for manufacturing a joint movement assist device, and more particularly to a method for manufacturing a joint movement assist device that assists the joint movement of a predetermined object.

Conventionally, various devices used for rehabilitation have been proposed. Some of these devices, on behalf of physiotherapists and the like, assist in therapeutic gymnastics exercises to restore the patient's basic movement functions.

As one of the devices that assists the movement of such patients, when the fingers are paralyzed and contracted due to a central nervous system disorder such as cerebral infarction, the expansion and contraction of the bellows is used to assist the joint movement of the fingers. (See Patent Document 1: Hereinafter referred to as "conventional example 1"). As in the conventional example 1, the joint movement assist device using the bellows is lighter than the device using the actuator driven by the motor and the wire, and is therefore highly practical. Further, since the joint movement assist device using the bellows can be driven at a low pressure, a low vibration and low noise pump such as a diaphragm type pump or a vane type pump can be used. From this point as well, it can be said that the joint movement assist device using the stretchable bellows is highly practical.

In the technique of Conventional Example 1, a stretchable bellows is arranged at a joint to be assisted. Then, the transmission member on one side connected to one end of the bellows is attached to the connection portion on one side connected to the joint to be assisted. Further, the transmission member on the other side connected to the other end of the bellows is attached to the connection portion on the other side connected to the joint to be assisted. When air is forcibly discharged from the bellows under such a wearing state, the bellows contracts to assist the joint movement that changes from the joint flexion state to the joint extension state. Further, when air is forcibly supplied to the bellows, the bellows expands to assist the joint movement that changes from the joint extension state to the joint flexion state.

Here, in the joint movement assist device of the technique of the prior art example 1, the transmission member is directly arranged at the corresponding connection portion, and the transmission member is attached to the connection portion. Therefore, in order to attach the joint movement assist device of the technique of the conventional example 1 to the hand, the thumb, index finger, middle finger, ring finger and little finger (hereinafter, also referred to as "five fingers") are connected to each joint of the five fingers. The transmission member must be placed directly on the connecting part and the arranged transmission member must be attached to the connecting part. As a result, in the joint movement assist device of the technique of the conventional example 1, it takes time and effort to attach the device to the hand portion, and it may take time to complete the attachment.

Therefore, a technique has been proposed in which the transmission member is not directly arranged at the connection portion and the joint movement assist device can be easily attached (see Patent Document 2: hereinafter referred to as "conventional example 2"). In the technique of the conventional example 2, a cloth finger mounting member having a transmission member connected to the bellows fixed is prepared for every five fingers, and a hand mounting portion to be mounted on the palm and the back of the hand is prepared. Then, after the hand attachment portion is attached to the palm and the back of the hand, the joint movement assist device is attached to the hand portion by arranging and attaching the finger attachment member for each of the five fingers to the corresponding fingers. As described above, in the technique of Conventional Example 2, the joint movement assist device can be easily attached by indirectly arranging the transmission member at the connection portion via the cloth-made finger attachment member and attaching the finger attachment member to the finger. I have to.

International Publication No. 2011/043095 International Publication No. 2016/135857

By the way, the shape of the hand such as the length of the fingers and the size of the palm differs depending on the individual. Therefore, the joint movement assist device that assists the joint movement of the fingers must be suitable for the shape of the wearer's hand.

Therefore, in order to manufacture the joint movement assist device according to the technique of Conventional Example 2, first, the shape of the wearer's hand is measured. Next, a finger mounting member that matches the length of each finger of the wearer and a transmission member that matches the length of the connection portion (inter-articular distance) connected to the joints of the fingers are prepared, and the wearer's Prepare a hand mounting part that matches the size of the palm. Then, the transmission member is fixed to the finger mounting member. Here, when the transmission member is sewn to the finger portion mounting member with a thread and fixed, it takes a lot of time and effort, and it takes a considerable amount of time to manufacture the joint movement assist device. As described above, in order to manufacture the joint movement assist device of the technique of the conventional example 2, a very time-consuming process such as measuring the shape of the hand part and sewing the transmission member to the hand part mounting member is required. It was.

Therefore, there is a demand for a technique capable of easily manufacturing a joint movement assist device that is easy to wear by reviewing the time-consuming process. Responding to such a request is one of the problems to be solved by the present invention.

The present invention has been made in view of the above circumstances, and is a new joint movement assist device capable of easily producing a joint movement assist device that is easy to wear while having an optimum shape for an individual user. It is an object of the present invention to provide a method for producing the above.

The present invention is prepared for each joint that should assist joint movement in a predetermined object, and a bellows that generates a force that assists the joint movement; a connection portion that is connected to the end of the bellows and is connected to the joint. It is a method of manufacturing a joint movement assist device including a transmission member that transmits a force for assisting the joint movement caused by the expansion and contraction of the bellows to the joint when the bellows is arranged in the joint. A photographing step of photographing a symmetric object having a structure having either joint symmetry or left-right symmetry with the predetermined object when the predetermined object is present; imaging information of the symmetric object and the predetermined object. A replication step of creating a duplicate image of the predetermined object when the joint is extended based on the symmetry with the symmetrical object; a solid material that is plastically deformable with reference to the duplicate image. And a molding step of creating a plastically deformable shaped object having the shape of the duplicate image; and a transmission member preparation step of preparing the transmission member suitable for the shape of the connection portion with reference to the duplicate image; The transmission member prepared in the transmission member preparation step is attached to a position corresponding to the connection portion in the plastically deformable shape, and the transmission member is coated with the solid material; the plastically deformable shape. It is a method of manufacturing a joint movement assist device, which comprises a mounting portion manufacturing step of manufacturing a flexible mounting portion by subjecting a shaped object to a predetermined process;

In the method of manufacturing the joint movement assist device, first, in the imaging step, a symmetric object having a structure having either congruent symmetry or left-right symmetry with a predetermined object when the joint is extended is formed. Take a picture with a shooting means such as a camera. Next, in the duplication step, the joint is based on the imaging information such as the imaging magnification at the time of imaging by the imaging means, the distance between the imaging means and the symmetrical object, and the symmetry between the predetermined object and the symmetrical object. Creates a duplicate image of a predetermined object when is stretched. Next, in the molding step, a plastically deformable solid material is molded with reference to the duplicated image to create a plastically deformable shaped object in the shape of the duplicated image. Here, when creating a plastically deformable shape, the solid material may be placed on the duplicate image, and then the solid material may be molded to create the plastically deformable shape. Here, in creating the plastic deformable shape, the plastic deformable shape may be created by automatic work by mechanization, or the plastic deformable shape may be created manually. .. The thickness of the plastically deformable shape is preferably about 1 to 3 mm.

Next, in the transmission member preparation step, a transmission member suitable for the shape of the connection portion is prepared with reference to the duplicate image. Here, when preparing the transmission member, in consideration of the shape of the bellows at the time of contraction, a transmission member having a length similar to the length of the connection portion and shorter than the length of the connection portion may be prepared. .. In this way, in the transmission member preparation step, a transmission member suitable for the shape of the connection portion is selected with reference to the duplicate image. As a result, the transmission member can be prepared without directly measuring the shape of the wearer's hand. Therefore, it is possible to reduce the burden on the person who measures the shape of the hand and the person who wears the joint movement assist device.

Subsequently, in the mounting process, the transmission member prepared in the transmission member preparation step is mounted at a position corresponding to the connection portion in the plastic deformable shape, and the transmission member is a solid material of the same material as the plastic deformable shape. Cover with. As a result, the transmission member can be attached to the plastically deformable shape in a manner of embedding the transmission member in the plastically deformable shape.

Then, in the mounting portion manufacturing step, a plastically deformable shaped object to which the transmission member is mounted is subjected to a predetermined treatment to manufacture a flexible mounting portion. As a result, a mounting portion to which the transmission member is attached is manufactured. When the mounting portion is manufactured in this way, the end portion of the bellows is connected to the end portion of the transmission member attached to the mounting portion.

As a result, a joint movement assist device including a bellows and a transmission member connected to the bellows is produced. Therefore, when manufacturing the joint movement assist device, the joint movement assist device can be easily manufactured without performing a time-consuming step such as direct measurement of the shape of the hand portion. Further, in the produced joint movement assist device, the transmission member is indirectly arranged at the connection portion via the attachment portion, and the attachment portion is attached to the hand portion. Therefore, the joint movement assist device can be easily attached.

Therefore, according to the method for manufacturing the joint movement assist device of the present invention, it is possible to easily manufacture the joint movement assist device having the optimum shape for each user.

Here, the predetermined object may be a part of the human body or an object other than the human body having a skeletal structure.

In the method for manufacturing the joint movement assist device of the present invention, a transmission member fixing member that is performed between the transmission member preparation step and the attachment step to fix the transmission member to the connection portion is prepared, and the transmission member is fixed. The first fixing member preparation step of fixing the member to the transmission member; the process was performed between the mounting step and the mounting portion manufacturing step, and the member was fixed to the transmission member prepared in the first fixing member preparation step. The transmission member fixing member may further be provided with a first coating step of coating the solid material. In this case, the transmission member fixing member fixed to the transmission member can be attached to the plastic deformable shape by embedding it in the plastic deformable shape. Therefore, it is possible to manufacture a joint movement assist device that can be securely attached by fixing the transmission member to the connection portion.

Further, in the method for manufacturing the joint movement assist device of the present invention, after the molding step, a cloth material sticking step of sticking a cloth member to a surface of the plastically deformable shape opposite to the surface to which the transmission member is attached. Can be further prepared. In this case, when the joint movement assist device is attached to the predetermined object, the cloth member directly hits the predetermined object. Therefore, the tactile sensation (touch) for the wearer is improved as compared with the case where the cloth member is not attached to the joint movement assist device.

In the method for producing the joint movement assist device of the present invention, the predetermined object can be one hand part of the human body, and the symmetrical object can be the other hand part of the human body. In this case, it is possible to manufacture a joint movement assist device that assists the joint movements of the finger joints and wrist joints to be attached to the hands of the human body. Here, as a situation where the predetermined object is one hand part of the human body and the symmetrical object is the other hand part of the human body, the finger of one hand part of the wearer who wears the joint movement assist device or It is assumed that the wrist is contracted and the fingers and wrists of the other hand are not contracted. At this time, one hand and the other hand show very good left-right symmetry. Therefore, it is possible to manufacture a joint movement assist device that matches the shape of one hand based on the imaging information of the other hand and the left-right symmetry of one hand and the other hand.

Further, in the method for manufacturing the joint movement assist device of the present invention, the joint to assist the joint movement is at least one joint of the wrist, which is after the transmission member preparation step and before the attachment step. A second fixing member preparation step of preparing a palm portion fixing member for fixing the palm portion and a wrist portion fixing member for fixing the wrist portion, and fixing the palm portion fixing member to the transmission member arranged on the back portion of the palm. After the mounting step and before the mounting portion manufacturing step, the palm portion fixing member and the wrist portion fixing member are attached to the plastically deformable shape, and the palm portion fixing member and the wrist portion fixing are fixed. A second coating step of coating the solid material on the member; can be further provided.

In this case, a joint movement assist device that assists the joint movement of the fingers can be manufactured. Further, in this case, the palm part fixing member fixed to the transmission member arranged on the back part of the hand (more specifically, the back part covering the metacarpal bone) is embedded in a plastically deformable shape. It can be attached to possible shapes. As a result, it is possible to manufacture a joint movement assist device capable of assisting the movement of the third joint of the finger (the second joint in the case of the thumb).

Further, in this case, the joint movement assist device can be manufactured so as to be firmly attached to the palm portion by fixing the joint movement assist device to the palm portion. Further, in this case, the joint movement assist device can be manufactured so as to be firmly attached to the wrist portion by fixing the joint movement assist device to the wrist portion. Therefore, it is possible to manufacture a joint movement assist device that can be securely attached to the hand portion.

In the method for producing the joint movement assist device of the present invention, in the imaging step, the four fingers of the index finger, the middle finger, the drug finger and the small finger, and the mother finger are extended, and the fingertip of the mother finger is separated from the display finger on the palm side. The abduction is performed from the dorsal side of the fingers, which is the dorsal side of the four fingers, to the ventral side of the fingers, which is the palm side of the four fingers, and from the dorsal side of the fingers, which is the dorsal side of the mother fingers. In the first photographing step in which the hand portion including the four fingers is photographed in the first direction in a state where the second direction toward the ventral side of the finger, which is the palm side of the mother finger, is orthogonal to each other; In the second photographing step in which the hand portion including the finger is photographed in the second direction; from the photographed image taken in the second photographing step, the hand portion passes through the center of the dorsal part and the ventral side of the finger. An image processing step of removing the captured image portion on the back side of the four fingers with respect to the line in the direction in which the indicating finger extends; the captured image captured in the first photographing step and the processed image processed in the image processing step. After joining, it is possible to include a joining step of removing the finger portion in the processed image;

By the way, the metacarpal bones of the thumb are connected to the carpal bones by "saddle joints", which are biaxial joints that move in directions orthogonal to each other. On the other hand, each of the index finger, middle finger, ring finger and little finger (hereinafter, also referred to as "the other four fingers such as the index finger" or "four fingers") is connected to the carpal bone by a half joint. Due to the structure of the hand, the direction from the dorsal side to the ventral side of the thumb is different from the direction from the dorsal side to the ventral side of the other four fingers such as the index finger.

During the imaging process, the four fingers and the thumb of the hand of the symmetrical object are extended, and the thumb is abducted on the palm side. In this state, in the first imaging step, the hand part including the four fingers is photographed in the direction from the dorsal side to the ventral side of the four fingers, and in the second imaging step, the direction from the dorsal side to the ventral side of the thumb. Then, take a picture of the hand including the thumb and index finger. Then, in the image processing step, the back side of the four fingers is photographed with respect to the line in the direction in which the index finger extends through the center of the back side portion and the ventral side portion of the index finger from the photographed image captured in the second imaging step. Remove the image part. Then, in the joining step, the captured image captured in the first photographing step and the processed image processed in the image processing step are joined to create a bonded image in which the finger portion in the processed image is removed. Therefore, a joint movement assist device suitable for the structure of the hand can be manufactured.

Further, in the method for producing the joint movement assist device of the present invention, the predetermined object is a finger including a metacarpal bone covering the metacarpal bone in one hand of the human body, and the symmetric object is the symmetric object. It is possible that the fingers include the metacarpal bone covering the metacarpal bones in the other hand of the human body, and the joint to assist the joint movement is at least one joint of the fingers. In this case, it is possible to manufacture a joint movement assist device that assists the joint movement of the fingers to be attached to the fingers of the human body.

Here, as a situation where the predetermined object is a finger in one hand of the human body and the symmetrical object is a finger in the other hand of the human body, one hand of the wearer who wears the joint movement assist device is used. It is assumed that the fingers in the part are contracted and the fingers in the other hand are not contracted. At this time, a joint movement assist device suitable for the shape of the finger on one hand can be manufactured based on the left-right symmetry between the finger on one hand and the finger on the other hand.

In the method for manufacturing the joint movement assist device of the present invention, after the molding step, an opening forming step for forming an opening in the joint-corresponding portion of the finger in the plastically deformable shape can be further provided. In this case, it is possible to manufacture a joint movement assist device in which an opening is formed in the joint-corresponding portion of the finger.

When such an opening is formed, the joint movement assist device can be easily attached to the hand by aligning the joint with the opening. Further, when such an opening is formed, the joint is fitted into the opening at the time of joint flexion to supplement the insufficient extension of the mounting portion. As a result, the feeling of pressure that the joint receives from the mounting portion can be reduced, and the occurrence of deviation between the joint and the mounting portion can be reduced, which improves convenience for the wearer. Therefore, the joint movement assist device having the above-mentioned convenience can be manufactured.

Further, in the method for producing the joint movement assist device of the present invention, the solid material is made of a material having a property of changing from a plastically deformable state to a flexible state when heated, and the predetermined treatment is performed. It can be heat-treated. In this case, a plastically deformable solid member before heating can be molded to easily create a plastically deformable solid member having a predetermined object shape. Further, in this case, a flexible mounting portion can be produced by a simple process called heat treatment.

In the method for producing a joint movement assist device of the present invention, the solid material has a property of not being plastically deformed at room temperature, changes to a state in which it can be plastically deformed when heated, and then becomes flexible when left in a room temperature environment. It is composed of a material having a property of changing to a state of possession, and is further provided with a plastic deformation step of changing a material material in a non-plastically deformable state into the solid material which can be plastically deformed before the molding step. The treatment can be such that the treatment is left in a room temperature environment. In this case, the material that is not plastically deformed by heat treatment is changed to a plastically deformable solid material, and then the plastically deformable solid material is molded to simply plasticize the shape of the predetermined object. A deformable shape can be created. Further, in this case, a flexible mounting portion can be produced by a very simple treatment of natural leaving in a normal temperature environment.

As described above, according to the method for manufacturing the joint movement assist device of the present invention, it is possible to easily create a joint movement assist device that is easy to wear while having an optimum shape for each user. Play.

It is an external view of the joint movement assist device manufactured by the manufacturing method of the joint movement assist device which concerns on one Embodiment of this invention. It is a figure for demonstrating the structure of the thumb joint exercise assist part of FIG. It is a figure for demonstrating the structure of the finger joint exercise assist part for the index finger of FIG. It is a figure for demonstrating the structure of the adjustment part of FIG. It is an external view of the manufacturing apparatus for manufacturing the joint movement assisting apparatus of FIG. FIG. 5 is a diagram for explaining a state when the left hand of the wearer is put into the internal space of the hand part photographing member of FIG. 5 and the four fingers are photographed. FIG. 5 is a diagram for explaining a state when the left hand of the wearer is put into the internal space of the hand part photographing member of FIG. 5 and the thumb is photographed. It is a figure for demonstrating the image processing process and the image joining process by the photographing apparatus of FIG. It is a figure for demonstrating the junction image created by the photographing apparatus of FIG. It is a figure for demonstrating the duplicate image created by the photographing apparatus of FIG. It is a figure for demonstrating the plastic deformable shape of a molded right hand. It is a figure for demonstrating the apparatus before attaching a bellows. It is a figure for demonstrating the manufactured joint movement assist device. It is an external view of the joint movement assist device attached to a finger which is a modification.

100,100B _j (j = 1, ..., 5) ... Joint movement assist device, 110 ... Mounting part, 111 _k (k = 2, ..., 5) ... Opening, 112 _j , 113 _j (j = 1, ..., 5) 5) ... Opening, 130 ₁ ... Mother finger joint movement assist part, 130 ₂ , 130 ₃ , 130 ₄ , 130 ₅ ... Finger joint movement assist part, 150 ... Palm part fixing member, 160 ... Wrist part fixing member, 180 ... Adjustment Unit, 181 ... Pressurized pump, 182 ... Depressurized pump, 183 ... Electric-pneumatic control valve, 184 ... Control unit, 185, 186 ... Pipe, 221 _j (j = 1, ..., 5) ... Transmission member 222 _k ( k = 2, ..., 5) ... Transmission member, 223 _j , 224 _j (j = 1, ..., 5) ... Transmission member, 231 _k (k = 2, ..., 5) ... Pipe, 232 _j , 233 _j ( j = 1, ..., 5) ... Piping, 241 _k (k = 2, ..., 5) ... Bellows, 242 _j , 243 _j (j = 1, ..., 5) ... Bellows, 252 _j (j = 1, ... , 5) ... Tip fixing part, 253 _j (j = 1, ..., 5), 256 _k (k = 2, ..., 5) ... Transmission member fixing member, 500 ... Manufacturing device, 510 ... Imaging device, 515 ... Hand part imaging member, 515U, 515L, 515R ... Flat plate part, 520 ... Stage device, 521 ... Display part, 522 ... Cover sheet, 530 ... Heat treatment device, HDR ... Right hand (predetermined object), HDL ... Left hand (symmetrical) Object), CIM ... Duplicate image, SHP ... Shaped object (plastically deformable shaped object)

Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 1 to 13. In this embodiment, a method of manufacturing the joint movement assist device will be described by exemplifying a joint movement assist device attached to the “right hand of the human body” as a predetermined object. Further, in the following description and drawings, the same or equivalent elements are designated by the same reference numerals, and duplicate description will be omitted.

[Structure of joint movement assist device]
Prior to the description of the method for manufacturing the joint movement assist device according to the present embodiment, the configuration of the joint movement assist device manufactured by the manufacturing method will be described.

FIG. 1 shows an external view of the joint movement assist device 100 manufactured by the method for manufacturing the joint movement assist device. FIG. 1 is an external view of the joint movement assist device 100 mounted on the right hand HDR as viewed from the back of the hand (back of the hand) when the joints of the fingers are in the extended state. As shown in FIG. 1, the joint movement assist device 100 includes a mounting portion 110, a thumb joint movement assist portion 130 _1, and a finger joint movement assist portion 130 ₂ , 130 ₃ , 130 ₄ , 130 _5. There is. Further, the joint movement assist device 100 includes an adjusting unit 180.

In the following description, the thumb joint movement assist unit 130 ₁ and the finger joint movement assist unit 130 ₂ , 130 ₃ , 130 ₄ , 130 ₅ are collectively referred to as “finger joint movement assist unit 130 _j (j = 1,”. …, 5) ”. Further, in the following description, when the finger joint movement assist units 130 ₂ , 130 ₃ , 130 ₄ , 130 ₅ other than the thumb joint movement assist unit 130 ₁ are collectively referred to, “finger joint movement assist unit 130 _k (k). = 2, ..., 5) ”.

<Mounting part 110>
The mounting portion 110 will be described. In this embodiment, the mounting portion 110 is a flexible silicone member. A transmission member is attached to the mounting portion 110 in a manner of embedding a plurality of transmission members described later. Further, the palm portion fixing member 150 is attached to the mounting portion 110 in a manner in which the palm portion fixing member 150 is embedded. Further, the wrist portion fixing member 160 is attached to the mounting portion 110 in a manner in which the wrist portion fixing member 160 is embedded.

The mounting portion 110 is mounted on the back and palm of the right hand HDR, is arranged on the back of the fingers, which is the back side of the five fingers, and is mounted on the five fingers. An elliptical opening is formed in the joint-corresponding portion of the mounting portion 110 (not shown in FIG. 1. See FIGS. 2, 3, and 12 described later).

<Structure of thumb joint movement assist unit 130 ₁ >
The configuration of the thumb joint movement assist unit 130 ₁ described above will be described. The thumb joint movement assist unit 130 ₁ assists the joint movement of the thumb. The thumb joint movement assist portion 130 ₁ is adapted to be mounted on the fingers of the thumb (distal phalanx region, proximal phalanx region) and the middle hand region while the attachment portion 110 is attached to the hand portion. ..

As shown in FIG. 2, the thumb joint movement assist unit 130 ₁ includes bellows 242 ₁ , 243 ₁ , pipes 232 ₁ , 233 ₁ , and transmission members 221 ₁ , 223 ₁ , 224 ₁ . Further, the thumb joint movement assist portion 130 ₁ includes a tip portion fixing portion 252 ₁ and a transmission member fixing member 253 ₁ .

In the coordinate system (X ₁ , Y ₁ , Z ₁ ) in FIG. 2, with the thumb extended, the fingertip direction is + Y ₁ direction, and the pad of the finger on the palm side of the finger (hereinafter, "finger pad"). The direction from the side to the back side of the finger (hereinafter also referred to as "finger back") is orthogonal to the + Z ₁ direction, the Y ₁ direction, and the Z ₁ direction, and heads toward the little finger side. It is a coordinate system with the direction as + X ₁ direction. Here, FIG. 2 is a view of the thumb joint movement assist portion 130 ₁ attached to the thumb as viewed from the −X ₁ direction side.

The bellows 242 ₁ is a stretchable resin member having annular grooves at equal intervals, and is arranged on the dorsal side of the finger along the circumference of the joint axis of the first joint of the thumb. One end of the bellows 242 ₁ (“−Y ₁ direction side” in FIG. 2) is a connecting portion formed on the other end side (“+ Y ₁ direction side” in FIG. 2) of the transmission member 223 ₁ . The other end of the bellows 242 ₁ is connected to the connection formed on the one end side of the transmission member 221 ₁ . The bellows 242 ₁ thus arranged generates a force that assists the joint movement of the first joint.

Like the bellows 242 ₁ , the bellows 243 ₁ is a stretchable resin member having annular grooves at equal intervals, and is located on the dorsal side of the finger along the circumference of the joint axis of the second joint of the thumb. Be placed. One side end portion of the bellows 243 ₁ is connected to the connection portion formed on the end side of the other side of the transmission member 224 ₁ (bellows 243 ₁ side), the other end of the bellows 243 _1, the transfer It is connected to a connecting portion formed on one end side of the member 223 ₁ . The bellows 543 ₁ thus arranged generates a force that assists the joint movement of the second joint.

Here, the bellows 242 _1, the flexible piping 232 ₁ made of a resin having mounted the bellows 242 ₁ is communicated with the adjustment unit 180 via a pipe 232 _1. Then, when the air pressure in the bellows 242 ₁ changes, the bellows 242 ₁ expands and contracts. As a result, the bellows 242 ₁ generates a force that assists the joint movement described above.

Further, the bellows 243 _1, the flexible piping 233 ₁ made of a resin having mounted the bellows 243 ₁ is communicated with the adjustment unit 180 via a pipe 233 _1. Then, when the air pressure in the bellows 243 ₁ changes, the bellows 243 ₁ expands and contracts. As a result, the bellows 243 ₁ generates a force that assists the joint movement described above.

Transmission member 221 ₁ of the above is, for example, a steel member, and has a long plate portion. The long plate portion is formed with an annular connecting portion that is substantially upright at one end and extends along the direction of the finger back. The end of one side of the long plate portion of the transmission member 221 ₁ via a bellows 242 _1, the transmission member 223 ₁ is connected. The connecting portion of one end of the transmission member 221 ₁ is connected to the other end of the bellows 242 ₁ . Here, the end portion of one side of the long plate portion of the transmission member 221 ₁ is in when the articulation assist device 100 to the right is mounted, and the joint axis of the first joint of the thumb to the rotation axis, It is rotatably connected to the transmission member 223 ₁ . Long plate portion of the transmission member 221 ₁ in a manner embedded in the mounting portion 110 is attached to the mounting portion 110. The long plate portion of the transmission member 221 ₁ via the mounting portion 110 is mounted on the end joint portion of the thumb.

The transmission member 223 ₁ is, for example, a member made of steel and has a long plate portion. At both ends of the long plate portion, annular connecting portions that are substantially upright and extend along the direction of the back of the finger are formed. A transmission member 224 ₁ is connected to _one end of a long plate portion of the transmission member 223 ₁ via a bellows 243 ₁ . The connection portion of one end of the transmission member 223 ₁ is connected to the other end of the bellows 243 ₁ . Here, _one end of the long plate portion of the transmission member 223 ₁ has the joint axis of the second joint of the thumb as the rotation axis when the joint movement assist device 100 is attached to the right hand. It is rotatably connected to the transmission member 224 ₁ .

Further, an end portion of the other side of the long plate portion of the transmission member 223 _1, through the bellows 242 _1, the transmission member 221 ₁ is connected. The connection portion on the other end side of the transmission member 223 ₁ is connected to the one side end portion of the bellows 242 ₁ . The long plate portion of the transmission member 223 ₁ is attached to the mounting portion 110 in a manner of being embedded in the mounting portion 110. Then, the long plate portion of the transmission member 223 ₁ is attached to the proximal phalanx portion of the thumb via the attachment portion 110.

The transmission member 224 ₁ is, for example, a member made of steel and has a long plate portion. The long plate portion is formed with an annular connecting portion that is substantially upright at the other end and extends along the direction of the finger back. A transmission member 223 ₁ is connected to the other end of the long plate portion of the transmission member 224 ₁ via a bellows 243 ₁ . The connecting portion of the other end of the transmission member 224 ₁ is connected to the one end of the bellows 243 ₁ . The long plate portion of the transmission member 224 ₁ is attached to the mounting portion 110 in a manner of being embedded in the mounting portion 110. Then, the long plate portion of the transmission member 224 ₁ is attached to the middle hand portion of the thumb via the attachment portion 110.

In the present embodiment, the tip fixing portion 252 ₁ is a flexible silicone member, and is fixed to the tip side portion of the thumb of the mounting portion 110. Then, the tip fixing portion 252 ₁ is fixed to the finger tip when the thumb joint movement assisting portion 130 ₁ is attached to the thumb.

The transmission member fixing member 253 ₁ is a plastically deformable metal long plate-shaped member. The transmission member fixing member 253 ₁ is fixed to the transmission member 223 ₁ and is attached to the mounting portion 110 in a manner of being embedded in the mounting portion 110.

As described above, in the mounting portion 110, an opening 112 ₁ is formed in the portion corresponding to the first joint of the thumb, and an opening 113 ₁ is formed in the portion corresponding to the second joint of the thumb (see FIG. 12). ).

<Structure of finger joint movement assist unit 130 _k (k = 2, ..., 5)>
The configuration of the finger joint movement assist portion 130 _k (k = 2, ..., 5) will be described. The finger joint movement assist unit 130 ₂ assists the joint movement of the index finger. In addition, the finger joint movement assist unit 130 ₃ assists the joint movement of the middle finger. In addition, the finger joint movement assist unit 130 ₄ assists the joint movement of the ring finger. In addition, the finger joint movement assist unit 130 ₅ assists the joint movement of the little finger. Each of the finger joint movement assist portions 130 _k (k = 2, ..., 5) has the fingers of these fingers (end segment region, middle segment region, proximal phalanx region) in a state where the attachment portion 110 is attached to the hand portion. ) And it is designed to be mounted on the middle part.

FIG. 3 shows a configuration diagram of the finger joint movement assist unit 130 ₂ as a representative of the finger joint movement assist unit 130 _k . In the coordinate system (X ₂ , Y ₂ , Z ₂ ) in FIG. 3, with the index finger extended, the fingertip direction is + Y ₂ direction, and the direction from the finger pad side to the finger dorsal side is + Z ₂ direction, Y. It is a coordinate system that is orthogonal to the _two directions and the Z ₂ direction, and the direction toward the little finger side is the + X ₂ direction.

Here, FIG. 3 is a diagram of the finger articulation assist unit 130 ₂ attached to the index finger, viewed from -X ₂ direction. In the present embodiment, the finger joint movement assist units 130 ₃ , 130 ₄ , 130 ₅ are also configured in the same manner as the finger joint movement assist unit 130 ₂ .

As shown in FIG. 3, the finger joint movement assisting portions 130 _k (k = 2, ..., 5) have bellows 241 _k , 242 _k , 243 _k , pipes 231 _k , 232 _k , 233 _k , respectively. It includes transmission members 221 _k , 222 _k , 223 _k , and 224 _k . Further, each of the finger joint movement assist portion 130 _k includes a tip portion fixing portion 252 _k and a transmission member fixing member 253 _k and 256 _k , respectively.

The bellows 241 _k is a stretchable resin member having annular grooves at equal intervals, and is arranged on the dorsal side of the finger along the circumference of the joint axis of the first joint. One end of the bellows 241 _k (“−Y _k direction side” in FIG. 3) is a connecting portion formed on the other end side (“+ Y _k direction side” in FIG. 3) of the transmission member 222 _k . The other end of the bellows 241 _k is connected to a connection formed on the one end side of the transmission member 221 _k . The bellows 241 _k thus arranged generates a force that assists the joint movement of the first joint.

Like the bellows 241 _k , the bellows 242 _k is a stretchable resin member having annular grooves at equal intervals, and is arranged on the dorsal side of the finger along the circumference of the joint axis of the second joint. .. One side end portion of the bellows 242 _k is connected to the connection portion formed on the end side of the other side of the transmission member 223 _k, the other end of the bellows 242 _k, one side of the transmission member 222 _k It is connected to the connection part formed on the end side of the. The bellows 242 _k thus arranged generates a force that assists the joint movement of the second joint.

Like the bellows 241 _k and 242 _k , the bellows 243 _k is a stretchable resin member having annular grooves at equal intervals, and is formed on the joint axis along the circumference of the joint axis of the third joint. It is arranged on the side substantially orthogonal to the direction. One side end portion of the bellows 243 _k is connected to the connection portion formed on the end side of the other side of the transmission member 224 _k (Bellows 243 _k side), the other end of the bellows 243 _k, the transfer It is connected to a connecting portion formed on one end side of the member 223 _k . The bellows 243 _k thus arranged generates a force that assists the joint movement of the third joint.

Here, the internal space of the bellows 241 _{k and} the internal space of the bellows 242 _k communicate with each other via a flexible resin pipe 231 _k . Further, the bellows 242 _k, flexible pipe 232 _k made of resin having attached, the bellows 242 _k communicates with the adjusting unit 180 through a pipe 232 _k. Then, when the air pressure in the bellows 241 _k and 242 _k changes, the bellows 241 _k and 242 _k expand and contract. As a result, the bellows 241 _k and 242 _k generate the above-mentioned force to assist the joint movement.

Further, the bellows 243 _k, flexible pipe 233 _k made of resin having attached, the bellows 243 _k communicates with the adjusting unit 180 through a pipe 233 _k. Then, when the air pressure in the bellows 243 _k changes, the bellows 243 _k expands and contracts. As a result, the bellows 243 _k generates a force that assists the joint movement described above.

The transmission member 221 _k is, for example, a member made of steel and has a long plate portion. The long plate portion is formed with an annular connecting portion that is substantially upright at one end and extends along the direction of the finger back. A transmission member 222 _k is connected to one end of a long plate portion of the transmission member 221 _k via a bellows 241 _k . The connection portion on one end side of the transmission member 221 _k is connected to the other end portion of the bellows 241 _k . Here, one end of the long plate portion of the transmission member 221 _k can rotate with the joint axis of the first joint as the rotation axis when the joint movement assist device 100 is attached to the right hand. It is designed to be connected to the transmission member 222 _k . The long plate portion of the transmission member 221 _k is attached to the mounting portion 110 in a manner of being embedded in the mounting portion 110. Then, the long plate portion of the transmission member 221 _k is attached to the end node portion of the finger via the attachment portion 110.

Transmission member 222 _k described above, for example, a steel member, and has a long plate portion. At both ends of the long plate portion, annular connecting portions that are substantially upright and extend along the direction of the back of the finger are formed. A transmission member 223 _k is connected to one end of a long plate portion of the transmission member 222 _k via a bellows 242 _k . The connection portion on one end side of the transmission member 222 _k is connected to the other end portion of the bellows 242 _k . Here, one end of the long plate portion of the transmission member 222 _k can rotate with the joint axis of the second joint as the rotation axis when the joint movement assist device 100 is attached to the right hand. Is connected to the transmission member 223 _k .

Further, the transmission member 221 _k is connected to the other end of the long plate portion of the transmission member 222 _k via a bellows 241 _k . The connection portion on the other end side of the transmission member 222 _k is connected to the one side end portion of the bellows 241 _k . The long plate portion of the transmission member 222 _k is attached to the mounting portion 110 in a manner of being embedded in the mounting portion 110. Then, the long plate portion of the transmission member 222 _k is attached to the intermediate phalanx portion of the finger via the attachment portion 110.

The transmission member 223 _k is, for example, a member made of steel and has a long plate portion. At both ends of the long plate portion, annular connecting portions that are substantially upright and extend along the direction of the back of the finger are formed. A transmission member 224 _k is connected to one end of a long plate portion of the transmission member 223 _k via a bellows 243 _k . The connection portion on one end side of the transmission member 223 _k is connected to the other end portion of the bellows 243 _k . Here, one end of the long plate portion of the transmission member 223 _k can rotate with the joint axis of the third joint as the rotation axis when the joint movement assist device 100 is attached to the right hand. It is designed to be connected to the transmission member 224 _k .

Further, a transmission member 222 _k is connected to the other end of the long plate portion of the transmission member 223 _k via a bellows 242 _k . The connection portion on the other end side of the transmission member 223 _k is connected to the one side end portion of the bellows 242 _k . The long plate portion of the transmission member 223 _k is attached to the mounting portion 110 in a manner of being embedded in the mounting portion 110. Then, the long plate portion of the transmission member 223 _k is attached to the proximal phalanx portion of the finger via the attachment portion 110.

The transmission member 224 _k is, for example, a member made of steel and has a long plate portion. The long plate portion is formed with an annular connecting portion that is substantially upright at the other end and extends along the direction of the finger back. A transmission member 223 _k is connected to the other end of the long plate portion of the transmission member 224 _k via a bellows 243 _k . The connecting portion of the other end of the transmission member 224 _k is connected to the one end of the bellows 243 _k . The long plate portion of the transmission member 224 _k is attached to the mounting portion 110 in a manner of being embedded in the mounting portion 110. Then, the long plate portion of the transmission member 224 _k is attached to the middle hand portion of the finger via the attachment portion 110.

In the present embodiment, the tip fixing portion 252 _k is a flexible silicone member, and is fixed to the tip end side portion of the corresponding finger in the mounting portion 110. Then, the tip fixing portion 252 _k is fixed to the finger tip when the finger joint movement assist portion 130 _k is attached to the corresponding finger.

The transmission member fixing member 253 _k is a plastically deformable metal long plate-shaped member. The transmission member fixing member 253 _k is fixed to the transmission member 222 _k and attached to the mounting portion 110 in a manner of being embedded in the mounting portion 110.

The transmission member fixing member 256 _k is a plastically deformable metal long plate-shaped member. The transmission member fixing member 256 _k is fixed to the transmission member 223 _k and is attached to the mounting portion 110 in a manner of being embedded in the mounting portion 110.

As described above, in the mounting portion 110, an opening 111 _k is formed in the portion corresponding to the first joint, an opening 112 _k is formed in the portion corresponding to the second joint, and an opening 113 _k is formed in the portion corresponding to the third joint. (See FIG. 12).

<Structure of adjustment unit 180>
The configuration of the adjustment unit 180 will be described. Adjustment unit 180 communicates with the bellows 242 ₁ of thumb articulation assist unit 130 ₁ via the piping 232 _1. Further, the adjusting unit 180 communicates with the bellows 243 _{1 of the} thumb joint movement assisting unit 130 ₁ via the pipe 233 ₁ . Further, the adjusting unit 180 communicates with the bellows 241 _k and 242 _{k of the} finger joint movement assisting unit 130 _k via the pipe 232 _k . Further, the adjusting unit 180 communicates with the bellows 243 _{k of the} finger joint movement assisting unit 130 _k via the pipe 233 _k . In the following description, these bellows are collectively referred to as "bellows".

As shown in FIG. 4, the adjusting unit 180 having such a communication relationship includes a pressurizing pump 181, a depressurizing pump 182, an electric-pneumatic control valve 183, a control unit 184, and pipes 185 and 186. There is.

The pressurizing pump 181 is connected to one side of the pump side connection port of the electric-pneumatic control valve 183 via a pipe 185. The pressurizing pump 181 is used to forcibly supply air to the bellows. The pressure reducing pump 182 is connected to the other side of the pump side connection port of the electric-pneumatic control valve 183 via a pipe 186. This decompression pump 182 is used when forcibly discharging air from the bellows.

The electric-pneumatic control valve 183 is configured to include a flow path switching valve and a pressure control valve (proportional solenoid valve). One of the inlet side of the flow path switching valve is connected to the pressurizing pump 181 and the other on the inlet side is connected to the pressure reducing pump 182.

Then, the flow path switching valve communicates with the pipe 185 connected to the pressurizing pump 181 and the designated bellows when forcibly supplying air to the bellows under the control of the control unit 184. A flow path is formed by connecting the pipes. Further, the flow path switching valve communicates with the pipe 186 connected to the decompression pump 182 and the designated bellows when the air is forcibly discharged from the bellows under the control of the control unit 184. A flow path is formed by connecting the pipes.

For example, when forcibly supplying air to the bellows 242 _{1 of the} thumb joint movement assist unit 130 ₁ , the flow path switching valve connects the pipe 185 and the pipe 232 ₁ to form a flow path. Further, when the air is forcibly discharged from the bellows 242 ₁ , the flow path switching valve connects the pipe 186 and the pipe 232 ₁ to form a flow path. Further, when forcibly supplying air to the bellows 243 ₁ , the flow path switching valve connects the pipe 185 and the pipe 233 ₁ to form a flow path. Further, when the air is forcibly discharged from the bellows 243 ₁ , the flow path switching valve connects the pipe 186 and the pipe 233 ₁ to form a flow path.

Further, when forcibly supplying air to the bellows 241 _k and 242 _{k of the} finger joint movement assist portion 130 _k , the flow path switching valve connects the pipe 185 and the pipe 232 _k to form a flow path. To do. Further, when the air is forcibly discharged from the bellows 241 _k and the bellows 242 _k , the flow path switching valve connects the pipe 186 and the pipe 232 _k to form a flow path. Further, when forcibly supplying air to the bellows 243 _k , the flow path switching valve connects the pipe 185 and the pipe 233 _k to form a flow path. Further, when the air is forcibly discharged from the bellows 243 _k , the flow path switching valve connects the pipe 186 and the pipe 233 _k to form a flow path.

The control unit 184 performs forced discharge of air from the bellows, switching of forced supply of air to the bellows, and control of the air pressure in the bellows. In the case of forcibly supplying air to the bellows during such control, the control unit 184 forms a flow path in which the electric-pneumatic control valve 183 connects the pressurizing pump 181 and the bellows that performs joint movement. Control to adjust the air pressure in the bellows. Further, in the case of forcibly discharging air from the bellows, the control unit 184 forms a flow path in which the electric-pneumatic control valve 183 connects the decompression pump 182 and the bellows that performs joint movement, and the inside of the bellows is formed. Control to adjust the air pressure.

Such control has come to be performed based on biological information on brain waves and muscular strength based on experiments, simulations, experiences, and the like. Here, the biological information on the electroencephalogram and the muscle strength can be acquired by the detection unit (not shown) detecting the electroencephalogram, the electromyogram, the hardness of the muscle and the like.

[Manufacturing device for joint movement assist device]
Next, a manufacturing device for manufacturing the joint movement assist device will be described.

FIG. 5 shows an external view of a manufacturing device 500 for manufacturing the joint movement assisting device 100. As shown in FIG. 5, the manufacturing device 500 includes a photographing device 510, a hand photographing member 515, a stage device 520, and a heat treatment device 530. The coordinate system (U, V, W) in FIG. 5 is a coordinate system in which the W-axis direction is vertically upward and the top plate of the desk DSK is a UV plane, and is defined as shown in the figure.

The photographing device 510 is configured to include a camera and a data processing unit. The photographing device 510 is attached to the attachment member FIX fixed to the desk DSK and is arranged above the desk DSK. The camera shoots vertically downward. The data processing unit converts the shooting result of the camera into digital image data. Then, the data processing unit performs a predetermined process on the digital image data to generate the image data. The image data thus generated is transmitted to the stage device 520 by wire. The details of the processing by the data processing unit will be described later.

In the present embodiment, the hand photography member 515 is a transparent acrylic member, and a rectangular parallelepiped internal space extending in the V-axis direction is formed, and openings are formed at both ends in the V-axis direction. There is. At the time of photographing the hand portion, the hand portion photographing member 515 is placed on the stage device 520 as shown in FIG. 5, and the hand portion is inserted into the internal space of the hand portion photographing member 515 through the opening. You can do it. In the following description, the flat plate portion on the + W direction side parallel to the UV plane of the hand part photographing member 515 is referred to as a flat plate portion 515U, and the flat plate portion on the −U direction side parallel to the VW plane is referred to as a flat plate portion 515L. The flat plate portion on the + U direction side parallel to the plane is referred to as a flat plate portion 515R.

It should be noted that the hand portion photographing member 515 is removed from the stage device 520 except when the hand portion is photographed.

The stage device 520 is configured to include a display unit 521 and a cover sheet 522. The stage device 520 is fixed to the top plate of the desk DSK. The display unit 521 receives the image data sent from the photographing device 510. Then, the display unit 521 displays an image corresponding to the image data. The cover sheet 522 is a transparent member and is arranged on the upper surface of the display unit 521 so as to cover the display unit 521. A part of the production of the joint movement assist device is performed on the cover sheet 522.

The heat treatment device 530 has a storage unit capable of accommodating an object. Then, the object housed in the storage part is heat-treated. In the present embodiment, the heat treatment device 530 heat-treats a shaped object obtained by molding clay-like silicone.

[How to make a joint movement assist device]
Next, a method of manufacturing the joint movement assist device 100 using the manufacturing device 500 will be described.

As a premise, it is assumed that 14 bellows, a plurality of transmission members of various lengths, a pipe, a plurality of transmission member fixing members, a palm part fixing member and a wrist part fixing member, and a cloth member are prepared. .. Further, clay-like silicone (a solid material that is plastically deformable and changes from a plastically deformable state to a flexible state when heat-treated), which is a raw material of the mounting portion 110, is used. It shall be prepared. Further, initially, the hand photographing member 515 is mounted on the stage device 520 (see FIG. 5).

It is assumed that the right hand HDR of the wearer (hereinafter, also simply referred to as “wearer”) who wears the joint movement assist device 100 is contracted. Then, it is assumed that the left hand HDL of the wearer is in a healthy state.

When manufacturing the joint movement assist device 100, the wearer first inserts a healthy left hand HDL (symmetrical object) into the internal space of the hand imaging member 515 from the −V direction side. Next, as shown in FIG. 6, the index finger, the middle finger, the four fingers of the index finger and the little finger, and the mother finger are extended, and the fingertips of the mother fingers are separated from the index finger by palmar abduction (the back of the mother finger). Exercise of the carpal middle wrist joint on the index finger to make the side surface perpendicular to the palm surface), press the four fingers against the flat plate portion 515U of the hand imaging member 515, and press the mother finger against the flat plate portion 515R. Press against. Then, the creator of the joint movement assist device (hereinafter, also simply referred to as “creator”) uses the imaging device 510 to capture the left-hand HDL in the state shown in FIG. 6 as the first captured image.

When the shooting of the first captured image is completed, as shown in FIG. 7, the four fingers and the thumb are extended, the tip of the thumb is abducted on the palm side away from the index finger, and the thumb is handed. The four fingers are pressed against the flat plate portion 515L while pressing the flat plate portion 515U of the part photographing member 515. Then, the creator uses the photographing device 510 to photograph the left-hand HDL in the state shown in FIG. 7 as the second photographed image. When the shooting of the second shot image is completed in this way, the creator removes the hand part shooting member 515 from the stage device 520.

Next, the data processing unit of the imaging device 510 extends the line A-in the direction in which the index finger extends from the second captured image through the center of the back side portion and the ventral side portion of the index finger (the center of the flexion side of the index finger). A processed image is created by removing the captured image portion on the back side of the four fingers with respect to A (see FIG. 7), that is, the captured image portion on the −U direction side with respect to the line AA. Next, as shown in FIG. 8, the data processing unit is connected to the end portion in the + U direction in the first captured image and the end portion in the −U direction in the processed image, so that the first Join the captured image and the processed image. Then, the data processing unit removes the index finger portion of the processed image and performs a process of smoothly connecting the first captured image and the processed image to create a joined image. FIG. 9 shows an example of the junction image thus created.

When the joint image is created, the data processing unit assumes that the joint is extended based on the imaging magnification of the imaging device 510 and the distance between the imaging device 510 and the hand imaging member 515. Generates a duplicate image of the same shape as the wearer's right hand HDR. Then, the data processing unit sends the image data of the generated duplicated image to the stage device 520. The stage device 520 that receives the image data sent from the data processing unit displays the duplicate image CIM corresponding to the image data on the display unit 521. FIG. 10 shows a duplicate image CIM displayed on the display unit 521.

Next, the creator refers to the duplicate image CIM displayed on the display unit 521, molds clay-like silicone (hereinafter, also referred to as “silicone clay”) on the cover sheet 522 of the stage device 520, and forms the duplicate image CIM. Create a plastically deformable shaped object SHP (hereinafter, also simply referred to as “shaped object”) having the shape of. In this embodiment, the thickness of the created shaped object SHP is about 1 to 3 mm. FIG. 11 shows a plastically deformable shapefile SHP molded by the creator.

Next, the creator refers to the duplicate image CIM displayed on the display unit 521 to obtain a transmission member that matches the shape of the connection portion connected to each joint of each of the five fingers, that is, the shape of the bellows at the time of contraction. Taking into consideration, a transmission member having a length similar to the length of the connection portion and shorter than the length of the connection portion is prepared.

Specifically, for the thumb, a transmission member 221 ₁ that matches the length of the distal phalanx, a transmission member 223 ₁ that matches the length of the proximal phalanx, and a transmission member 224 ₁ that matches the length of the middle hand. Prepare. Further, the preparer, with reference to the duplicated image CIM, to prepare a transfer member fixing member 253 ₁ fixing the transmission member fixing member 253 ₁ to the transmitting member 223 _1.

For four fingers such as index finger, preparer, the transfer member adapted transmission member 221 _k adapted to the length of the distal segment part, transmission adapted to the length of the middle section portions member 222 _k, the length of Motobushi site Prepare a transmission member 224 _k suitable for the length of the 223 _k and the middle part. Further, fabricators refers to the duplicated image CIM, to prepare a transfer member fixing member 253 _k fixed to the transmission member fixing member 253 _k to the transmitting member 222 _k, the preparing the transfer member fixing member 256 _k The transmission member fixing member 256 _k is fixed to the transmission member 224 _k .

In addition, the creator refers to the duplicate image CIM and prepares the palm portion fixing member 150 and the wrist portion fixing member 160. Then, the producer fixes the palm portion fixing member 150 to the transmission member 224 _k .

Next, the creator attaches each prepared member to the shaped object SHP with reference to the duplicate image CIM. Specifically, for the thumb, fitted with a transmission member 221 ₁ in a position corresponding to the end joint portion, attaching a transmission member 223 ₁ at the position corresponding to the Motobushi site, the corresponding transmission member 224 ₁ a metacarpal site Install in position. Then, the manufacturer coats these transmission members 221 ₁ , 223 ₁ , 224 ₁ with silicone clay. Further, fabricators can transfer member fixing member 253 ₁ fixed coated with silicone clay transmitting member 223 _1.

For the four fingers such as the index finger, the creator attaches the transmission member 221 _k to the position corresponding to the distal phalanx portion and the transmission member 222 _k to the position corresponding to the intermediate phalanx portion. Further, the maker attaches the transmission member 223 _k to the position corresponding to the proximal phalanx portion, and attaches the transmission member 224 _k to the position corresponding to the middle hand portion. Then, the producer coats these transmission members 221 _k , 222 _k , 223 _k , and 224 _k with silicone clay. Further, fabricators are a fixed transmission member fixed member 253 _k to the transmitting member 222 _k coated with a silicone clay, the transfer member fixing member 256 _k fixed to the transmitting member 223 _k is coated with a silicone clay. Further, the maker covers the palm portion fixing member 150 fixed to the transmission member 224 _k with silicone clay. Further, the creator attaches the wrist portion fixing member 160 to the shaped object SHP and coats it with silicone clay with reference to the duplicate image CIM.

Next, the maker molds silicone clay to create a tubular tip fixing portion 252 _j with both ends open. Then, the creator attaches the tip fixing portion 252 _j to a position corresponding to the fingertip in the shaped object SHP. Next, the producer molds the cloth member into the shape of the shaped object SHP, and attaches the molded cloth member to the surface opposite to the surface to which the transmission member is attached in the shaped object SHP (fabric member). Is not shown).

Subsequently, the creator stores the shaped object SHP in the storage portion of the heat treatment device 530. When the shape object SHP is housed in the heat treatment device 530 in this way, the heat treatment device 530 heat-treats the shape object SHP. By this heat treatment, the shaped object SHP that was plastically deformable becomes a member having a flexible property. As a result, the mounting portion 110 to be mounted on the HDR of the wearer's right hand is produced.

When the mounting portion 110 is manufactured in this way, the creator forms an elliptical opening in the joint-corresponding portion of each finger of the mounting portion 110. FIG. 12 shows the appearance of the device at this stage. The maker then connects the bellows to the transmission member attached to the mounting portion 110. Specifically relates thumb, the transfer member 221 _1, whereas the connection of the ends of the side connecting the other end of the bellows 242 _1. As for the transmission member 223 ₁ , the other end of the bellows 243 ₁ is connected to the connection of one end, and the one end of the bellows 242 ₁ is connected to the connection of the other end. To do. Further, for the transmission member 224 ₁ , one end of the bellows 243 ₁ is connected to the connection on the other end side. The fabricators are piping 232 ₁ attached to the bellows 242 _1, attaching the pipe 233 ₁ to the bellows 243 _1.

Regarding the four fingers such as the index finger, for the transmission member 221 _k , the other end of the bellows 242 _k is connected to the connection of the end on one side. Regarding the transmission member 222 _k , the other end of the bellows 242 _k is connected to the connecting portion of one end, and the one end of the bellows 241 _k is connected to the connecting portion on the other end side. To do. Regarding the transmission member 223 _k , the other end of the bellows 243 _k is connected to the connecting portion of one end, and the one end of the bellows 242 _k is connected to the connecting portion on the other end side. To do. Further, for the transmission member 224 _k , one end of the bellows 243 _k is connected to the connection on the other end side. Then, the maker attaches the pipe 231 _k to the bellows 241 _k and the bellows 242 _k , and attaches the pipe 232 _k to the bellows 242 _k . In addition, the maker attaches the pipe 233 _k to the bellows 243 _k .

As a result, the joint movement assist device 100 is manufactured. FIG. 13 shows the joint movement assist device 100 thus produced. In FIG. 13, the piping is not shown. Further, in order to fix the transmission member to the connection portion at both ends of the transmission member fixing member 253 _j (j = 1, ..., 5), 256 _k (k = 2, ..., 5) coated with silicone clay. A fixing means such as a hook-and-loop fastener is attached. Further, fixing means such as a hook-and-loop fastener for fixing the joint movement assist device 100 with the palm portion are attached to both ends of the palm portion fixing member 150 covered with silicone clay. Further, fixing means such as a hook-and-loop fastener for fixing the joint movement assist device 100 at the wrist portion are attached to both ends of the wrist portion fixing member 160 covered with silicone clay (both are shown in FIG. 13). Not shown).

As described above, in the present embodiment, when the wearer's right hand HDR (predetermined object) is contracted and the left hand HDL (symmetrical object) is healthy, the joints of the fingers of the left hand HDL are extended. The photographing device 510 photographs the state at that time. When the imaging of the left-hand HDR is completed, the data processing unit of the imaging device 510 generates a duplicate image of the right-hand HDR when the joint is extended from the imaging result. Then, the data processing unit sends the image data of the generated duplicated image to the stage device 520. In the stage device 520 that has received the image data, the display unit 521 displays the duplicate image CIM corresponding to the image data.

When the duplicated image CIM is displayed on the display unit 521 in this way, the creator refers to the duplicated image CIM, molds silicone clay, and has the same shape as the right-hand HDR when the joint is extended. Create an object SHP. Next, the creator refers to the duplicate image CIM and prepares a transmission member that matches the shape of the connection portion connected to each joint of each of the five fingers. Next, the creator attaches each prepared member to the shaped object SHP with reference to the duplicate image CIM. Subsequently, the shaped object is heat-treated to produce a flexible mounting portion 110. When the mounting portion 110 is manufactured in this way, the manufacturer connects the bellows to the transmission member attached to the mounting portion 110. The maker then attaches the pipe to the bellows. As a result, the joint movement assist device 100 is manufactured.

Therefore, when manufacturing the joint movement assist device 100, the joint movement assist device can be easily manufactured without performing a time-consuming step such as direct measurement of the shape of the hand portion. Further, in the produced joint movement assist device 100, the transmission member is indirectly arranged at the connection portion via the attachment portion 110, and the attachment portion 110 is attached to the hand portion. Therefore, the joint movement assist device can be easily attached.

Further, in the present embodiment, when the four fingers and the thumb of a healthy hand (symmetrical object) are extended and the fingertips of the thumb are abducted on the palm side away from the index finger, the imaging device 510 Takes a picture of the four fingers from the dorsal side to the ventral side of the four fingers. Further, the photographing device 510 is in the state of the hand portion described above (a state in which the four fingers and the thumb are extended and the thumb is abducted on the palm side) in the direction from the back side to the ventral side of the thumb. Take pictures of the dorsal side of the thumb and the flexible side of the thumb. Subsequently, the photographing device 510 creates a duplicate image based on the joined image obtained by joining these photographed images. Therefore, the joint movement assist device 100 suitable for the structure of the hand can be manufactured.

Further, the joint movement assist device 100 of the present embodiment is attached with a transmission member fixing member, a palm portion fixing member, and a wrist portion fixing member. Therefore, it is possible to manufacture a joint movement assist device that can be securely attached to the hand portion.

Further, in the mounting portion 110 of the joint movement assist device 100 of the present embodiment, an opening is formed in the joint-corresponding portion of each finger. Therefore, the joint movement assist device 100 can be easily attached to the hand by aligning each joint with the opening. Further, since the opening is formed in the mounting portion 110, the joint is fitted into the opening when the joint is flexed in assisting the joint movement, and the insufficient extension of the mounting portion 110 is complemented. As a result, the feeling of pressure that the joint receives from the mounting portion 110 can be reduced. Further, as a result, it is possible to reduce the occurrence of deviation between the joint and the mounting portion 110. Therefore, the convenience of the wearer who wears the joint movement assist device can be improved, and the joint movement assist device capable of appropriately performing the joint movement can be manufactured.

Therefore, according to the present embodiment, it is possible to easily manufacture a joint movement assist device that has an optimum shape for each user and is easy to wear.

[Modification of Embodiment]
The present invention is not limited to the above embodiment, and various modifications are possible.

For example, in the above embodiment, the duplicated image is displayed on the display unit, but the duplicated image may be displayed on a paper medium such as a photo paper. In this case, a transparent cover sheet may be placed on a paper medium on which the duplicated image is displayed, and silicone clay may be molded on the cover sheet to create a shaped object.

Further, in the above embodiment, the photographing device photographed the hand portion twice, and created a duplicate image based on the first photographed image and the second photographed image. On the other hand, the result of shooting one hand may be analyzed to derive the above-mentioned first shooting device and the second shot image, and a duplicate image may be created. In this case, the hand portion is photographed in the photographing direction in which all the fingers are photographed when the four fingers and the thumb are extended and the fingertips of the thumb are swiveled away from the index finger.

Further, in the above embodiment, clay-like silicone is molded to create a plastically deformable shape, and the plastically deformable shape is heat-treated to prepare a flexible silicone mounting portion. did. On the other hand, it may be a solid material that is plastically deformable and may be another material as long as the fixing material can be subjected to a predetermined treatment to produce a flexible mounting portion.

For example, a solid material that does not undergo plastic deformation at room temperature, changes to a plastically deformable state when heated, and then changes to a flexible state when left in a room temperature environment. can do. Examples of such a material include a thermoplastic material such as polyethylene resin.

When polyethylene resin is used as the solid material, the producer first uses a solid material of polyethylene resin that does not plastically deform at room temperature by heat treatment such as heating with hot water or heating with an iron or iron, like clay. Change to a state of plastic deformation.

Next, the creator refers to the duplicated image of the hand to be assisted, molds the polyethylene resin in a plastically deformable state, and creates a plastically deformable shaped object in the shape of the duplicated image. Next, as in the case of the above-described embodiment, the creator attaches the prepared transmission member, transmission member fixing member, palm portion fixing member, and wrist portion fixing member to the plastically deformable shape, and attaches these members. Cover with clay-like polyethylene resin.

Next, the maker molds the cloth member into the shape of the plastically deformable shape, and attaches the molded cloth member (hereinafter, also referred to as "cloth material") to the transmission member in the plastically deformable shape. It is attached to the surface opposite to the surface (hereinafter, also referred to as "back surface"). At the time of such attachment, the producer applies a molded cloth material to the back surface of the plastically deformable shape. Next, the maker places an iron or iron on the cloth material, melts the plastically deformable shape by heat treatment using the iron or iron, and immerses the melted plastic deformable shape in the gap of the cloth material. By immersing it, the cloth material is attached to the back surface of a plastically deformable shape. Then, in a manner in which a member such as a transmission member is attached and the plastic deformable shape is impregnated into the gap between the cloth materials, the plastic deformable shape to which the cloth material is attached is placed in a room temperature environment. It may be left to stand naturally to produce a flexible mounting portion.

It should be noted that the attachment of the cloth material to the plastically deformable shape is not limited to the above-mentioned method, and it goes without saying that other methods such as attachment with an adhesive may be used.

Further, in the above-described embodiment and the above-mentioned deformation example, the cloth material is attached to the plastically deformable shape, but the cloth material may not be attached to the plastically deformable shape.

Further, in the above-described embodiment and the above-described deformation example, the cloth member is attached to the surface opposite to the surface to which the transmission member is attached in the plastically deformable shape. On the other hand, in addition to the surface on the opposite side, the cloth member may be attached to the surface to which the transmission member is attached in the plastically deformable shape. In this case, the durability of the mounting portion can be improved against the continuous flexible deformation of the mounting portion when the joint movement is assisted.

Further, in the above embodiment, the joint movement assist device that assists the movement of the fingers of the right hand of the human body has been described assuming that the fingers of the right hand of the human body are contracted and the left hand is healthy. On the other hand, when the left hand is contracted and the right hand is healthy, it is of course possible to manufacture a joint movement assist device that assists the movement of the fingers of the left hand.

Further, in the above embodiment, it is assumed that one hand of the assisted person is contracted and the other hand is healthy. On the other hand, when there is another person who has almost the same size as the hand part of the assisted person, the joint movement assist is performed by utilizing the congruent symmetry of the hand part of the assisted person and the hand part of the other person. The device may be made.

Further, in the joint movement assist device adopted in the present embodiment, a resin bellows is used, but if it is a material that can be expanded and contracted and does not impose a burden such as the weight of the device attached to the human body. , Other materials may be used.

Further, in the above embodiment, the finger joint movement assist portion is attached to each of the mother finger, index finger, middle finger, ring finger and little finger to assist the joint movement of the mother finger, index finger, middle finger, ring finger and little finger. On the other hand, the joint movement assist portion may be attached to any finger to assist the joint movement of the arbitrary finger.

Further, in the above embodiment, a joint movement assist device to be attached to the hand is produced. On the other hand, as shown in FIG. 14, the joint movement assist devices 100B ₁ , 100B ₂ , 100B ₃ , 100B ₄ , 100B ₅ to be attached to the fingers including the metacarpal bone covering the metacarpal bone are manufactured. It may be.

When producing such a joint movement assist device 100B _j (j = 1, ..., 5), the four fingers and the thumb are extended and the thumb is abducted on the palm side as in the above-described embodiment. In this state, in the first imaging step, the hand part including the four fingers is photographed in the direction from the dorsal side of the four fingers to the ventral side, and in the second imaging step, the direction from the dorsal side to the ventral side of the thumb. Then, the hand part including the thumb may be photographed. In addition, in the first imaging step, the hands including the four fingers were photographed in the direction from the dorsal side to the ventral side of the four fingers without extending the four fingers and the thumb and abducting the thumb side. In the second imaging step, the hand portion including the thumb may be imaged in the direction from the back side to the ventral side of the thumb.

In the case of producing a joint movement assist device to be attached to any of the four fingers, the hand portion including the four fingers may be photographed once in the direction from the dorsal side to the ventral side of the four fingers. Further, when only the joint movement assist device to be attached to the thumb is manufactured, the fingers including the thumb may be photographed once in the direction from the back side to the ventral side of the thumb.

Subsequent methods for manufacturing the joint movement assist device 100B _j (j = 1, ..., 5) are the above-described embodiments, except that the palm portion fixing member and the wrist portion fixing member are not attached to the plastically deformable shape. It is carried out in the same manner as the manufacturing method. Needless to say, the material of the mounting portion may be made of silicone or polyethylene resin.

When manufacturing the joint movement assist device 100B _j (j = 1, ..., 5) to be worn on each finger, for example, a cloth hand mounting part that can be mounted on the back of the hand and the palm is also manufactured. You may try to do it. When such a hand-mounted portion made of cloth is produced, first, the hand-mounted portion is attached to the hand portion. Next, the articulation assist device _{100B j (j = 1, ...} , 5) to each finger wearing the articulation assist device _{100B j (j = 1, ...} , 5) in a portion of the metacarpal site loop fastener It may be attached to the hand mounting part by such means.

Here, the joint movement assist device 100B ₁ is mounted on the fingers of the thumb (distal phalanx portion, proximal phalanx portion) and the middle hand portion in a state where the hand portion is attached to the hand portion. Then, the joint movement assist device 100B ₁ assists the joint movement of the thumb. Further, the joint movement assist device 100B ₂ is mounted on the index finger (terminal phalanx, intermediate phalanx, proximal phalanx) and the middle phalanx while the hand mounting portion is mounted on the hand. Then, the joint movement assist device 100B ₂ assists the joint movement of the index finger. Further, the joint movement assist device 100B ₃ is mounted on the middle finger (terminal phalanx, intermediate phalanx, proximal phalanx) and the middle finger while the hand mounting portion is mounted on the hand. Then, the joint movement assist device 100B ₃ assists the joint movement of the middle finger.

Further, the joint movement assist device 100B ₄ is mounted on the finger of the ring finger (terminal phalanx, intermediate phalanx, proximal phalanx) and the middle phalanx while the hand mounting portion is mounted on the hand. Then, the joint movement assist device 100B ₄ assists the joint movement of the ring finger. Further, the joint movement assist device 100B ₅ is mounted on the little finger (terminal phalanx, intermediate phalanx, proximal phalanx) and the middle hand while the hand mounting portion is mounted on the hand. Then, the joint movement assist device 100B ₅ assists the joint movement of the little finger.

When the method for manufacturing the joint movement assist device of the present invention is used in the fields of nursing care and welfare, not only when the joint movement assist device for rehabilitation is used, but also when the power assist is used by a person with weak power. It can also be used when using the joint movement assist device for. Further, the method for manufacturing the joint movement assist device of the present invention can also be used when manufacturing a joint movement assist device for power assist such as grasping an object, other than in the fields of nursing care and welfare.

Further, in the above embodiment, the present invention is applied to a method for manufacturing a joint movement assist device that assists the joint movement of the fingers of the human body. For example, the joint movement assist device that assists the joint movement of the fingers of the human body. The present invention may be applied to the method for producing the above.

Further, in the above embodiment, the present invention is applied to a method for manufacturing a joint movement assist device that assists the joint movement of the human body, but the present invention is applied to a method for manufacturing a joint movement assist device for a predetermined object such as an endoskeleton type robot. The present invention can also be applied.

As described above, the method for manufacturing the joint movement assist device of the present invention can be applied to the method for manufacturing the joint movement assist device that assists the joint movement of a predetermined object.

Claims (10)

A bellows that is prepared for each joint that should assist the joint movement in a predetermined object and generates a force that assists the joint movement; and is arranged at a connection site that is connected to the end of the bellows and is connected to the joint. In this case, it is a method of manufacturing a joint movement assist device including a transmission member that transmits a force for assisting the joint movement due to expansion and contraction of the bellows to the joint;
An imaging step of photographing a symmetric object having a structure having either congruent symmetry or left-right symmetry with the predetermined object when the joint is extended;
A duplication step of creating a duplicate image of the predetermined object when the joint is extended based on the photographing information of the symmetrical object and the symmetry between the predetermined object and the symmetric object. When;
A molding step of molding a plastically deformable solid material with reference to the duplicated image to create a plastically deformable shaped object having the shape of the duplicated image;
With reference to the duplicate image, a transmission member preparation step of preparing the transmission member suitable for the shape of the connection portion;
In the attachment step of mounting the transmission member prepared in the transmission member preparation step at a position corresponding to the connection portion in the plastically deformable shape, and coating the transmission member with the solid material;
A mounting portion manufacturing step of subjecting the plastically deformable shape to a predetermined treatment to prepare a flexible mounting portion;
A method for producing a joint movement assist device, which comprises the above. A first fixing member that is performed between the transmission member preparation step and the mounting step to prepare a transmission member fixing member that fixes the transmission member to the connection portion, and fixes the transmission member fixing member to the transmission member. With the preparation process;
A first coating for coating the solid material on the transmission member fixing member, which is performed between the mounting step and the mounting portion manufacturing step and is fixed to the transmission member prepared in the first fixing member preparation step. Further equipped with the process;
The method for manufacturing a joint movement assisting device according to claim 1. Claim 1 or 2 is characterized in that, after the molding step, a cloth material sticking step of sticking a cloth member is further provided on a surface of the plastically deformable shape opposite to a surface to which the transmission member is mounted. The method for manufacturing the joint movement assist device according to the above. The predetermined object is one hand part of the human body.
The symmetric object is the other hand of the human body.
The method for manufacturing a joint movement assist device according to claim 2 or 3, wherein the joint movement assist device is characterized. The joint that should assist the joint movement is at least one joint of the fingers.
After the transmission member preparation step and before the attachment step, a palm portion fixing member for fixing the palm portion and a wrist portion fixing member for fixing the wrist portion are prepared, and the palm portion fixing member is used as the back portion of the wrist. With the second fixing member preparation step of fixing to the transmission member arranged in
After the mounting step and before the mounting portion manufacturing step, the palm portion fixing member and the wrist portion fixing member are attached to the plastically deformable shape, and the palm portion fixing member and the wrist portion fixing member are attached. Further comprises a second coating step of coating the solid material;
The method for manufacturing a joint movement assisting device according to claim 4. The shooting process is
The four fingers of the index finger, middle finger, medicinal finger and small finger, and the mother finger are extended, and the fingertips of the mother finger are abducted on the palm side in a state separated from the display finger, and from the back side of the finger which is the back side of the four fingers. The first direction toward the ventral side of the finger, which is the palm side of the four fingers, and the second direction toward the ventral side of the finger, which is the palm side of the mother finger, from the back side of the finger, which is the dorsal side of the mother finger. In a state where
With the first photographing step of photographing the hand part including the four fingers in the first direction;
In the second imaging step of photographing the hand portion including the thumb and the index finger in the second direction;
From the captured image captured in the second imaging step, the captured image portion on the dorsal side of the four fingers with respect to the line in the direction in which the index finger extends through the center of the dorsal portion and the ventral side portion of the index finger. With the image processing process to remove;
A joining step of joining the captured image captured in the first photographing step and the processed image processed in the image processing step, and then removing the index finger portion in the processed image;
The method for manufacturing a joint movement assisting device according to claim 4 or 5. The predetermined object is a finger including a metacarpal bone covering the metacarpal bone in one hand of the human body.
The symmetric object is a finger including a metacarpal bone covering the metacarpal bone in the other hand of the human body.
The joint that should assist the joint movement is at least one joint of the fingers.
The method for manufacturing a joint movement assist device according to claim 2 or 3, wherein the joint movement assist device is characterized. The joint according to any one of claims 4 to 7, further comprising an opening forming step of forming an opening in a joint-corresponding portion of a finger in the plastically deformable shape after the molding step. How to make an exercise assist device. The solid material is made of a material having a property of changing from a plastically deformable state to a flexible state when heated.
The predetermined treatment is a heat treatment.
The method for manufacturing a joint movement assist device according to any one of claims 1 to 8, wherein the joint movement assist device is characterized. The solid material is a material material that does not undergo plastic deformation at room temperature, changes to a state in which it can be plastically deformed when heated, and then changes to a state of flexibility when left in a room temperature environment.
Prior to the molding step, a plastic deformation step of changing a material that is not plastically deformed into the solid material that can be plastically deformed is further provided.
The predetermined treatment is a treatment of leaving in a normal temperature environment.
The method for manufacturing a joint movement assist device according to any one of claims 1 to 8, wherein the joint movement assist device is characterized.

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