JP7024940B2 - Walking aid - Google Patents
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- JP7024940B2 JP7024940B2 JP2019186345A JP2019186345A JP7024940B2 JP 7024940 B2 JP7024940 B2 JP 7024940B2 JP 2019186345 A JP2019186345 A JP 2019186345A JP 2019186345 A JP2019186345 A JP 2019186345A JP 7024940 B2 JP7024940 B2 JP 7024940B2
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Description
本発明は、股関節や膝関節の運動に補助力を与えるための歩行補助装置に関するものである。 The present invention relates to a walking assist device for imparting an assisting force to the movement of a hip joint or a knee joint.
外傷や疾病、あるいは加齢による筋力低下で自力歩行が困難になった人のために、股関節や膝関節にアクチュエータを装着し、アクチュエータが発生する動力で下肢の運動を補助するようにした歩行補助装置が種々提案されている。 For those who have difficulty walking on their own due to trauma, illness, or muscular weakness due to aging, walking assistance is provided by attaching actuators to the hip and knee joints and assisting the movement of the lower limbs with the power generated by the actuators. Various devices have been proposed.
従来、これらの歩行補助装置は、左右の股関節用アクチュエータを１枚の剛体製の背当て部の両端に固定（例えば特許文献１参照）、もしくは上半身および大腿部に固定する装具を介して固定する（例えば特許文献２参照）ことが一般的であった。
アクチュエータの駆動力を生かして歩行補助するには、装着者が違和感を感じないようにアクチュエータの回転軸と股関節の中心を一致して固定し、かつ駆動トルクを損失なく下肢に伝達することが重要である。
特許文献１にあるように、アクチュエータを１枚の剛体製脊当て（バックフレーム）の両端に固定することにより、歩行補助時に左右の下肢で発生する逆向きの反力を相殺することができる。しかしトルクに耐える高強度なバックフレームが必要なため、装置が大型で重くなる。また、剛体製背当てを腰部に違和感なく固定するために、腰部装具も別途必要となる。また、回転軸と股関節の中心を一致させる配慮がなされていない。
一方、特許文献２にあるように、アクチュエータを上半身および大腿部に固定する装具を介して固定する方法においては、回転軸と股関節の中心を一致させる配慮がなされておらず、かつ、駆動トルクを損失なく伝達する具体的構造も開示されておらず、したがって、円滑な歩行補助は困難である。In order to utilize the driving force of the actuator to assist walking, it is important to align and fix the rotation axis of the actuator and the center of the hip joint so that the wearer does not feel discomfort, and to transmit the driving torque to the lower limbs without loss. Is.
As described in Patent Document 1, by fixing the actuator to both ends of one rigid body back frame, it is possible to cancel the reverse reaction force generated in the left and right lower limbs during walking assistance. However, the equipment is large and heavy because it requires a high-strength back frame that can withstand torque. In addition, a lumbar orthotic device is also required to fix the rigid backrest to the lumbar region without discomfort. In addition, no consideration is given to aligning the axis of rotation with the center of the hip joint.
On the other hand, as described in Patent Document 2, in the method of fixing the actuator via an orthotic device for fixing the actuator to the upper body and the thigh, consideration is not given to aligning the center of the rotation axis with the center of the hip joint, and the drive torque is not taken into consideration. No specific structure has been disclosed to transmit without loss, and therefore smooth walking assistance is difficult.
このような課題を解決して、かつ体型の違いに対応できるため、本発明では左右のアクチュエータ（１）の回転軸が、股関節の中心線と一致する位置になるよう、それぞれ、左右の剛体製サイドフレーム（２Ｌ）と（２Ｒ）に固定し、前記フレームの腰に接する面の水平面への投影形状を、腸骨部の外周に接するよう成形することにより、左右の腰をそれぞれ別個に前後から挟み込み、かつ、前記フレームの前部および後部に設けた腰ベルト取付け部（３）に取り付けた長さ調節可能なバックル付ベルトでしっかりと腰に固定する。さらに前記フレームの下部前方に大腿部との干渉を避けるための切込み（４）を設ける。 In order to solve such a problem and cope with the difference in body shape, in the present invention, the left and right rigid bodies are made so that the rotation axes of the left and right actuators (1) are aligned with the center line of the hip joint. By fixing to the side frames (2L) and (2R) and forming the projected shape of the surface of the frame in contact with the waist on the horizontal plane so as to be in contact with the outer periphery of the iliac part, the left and right hips can be separated from the front and back. It is sandwiched and firmly fixed to the waist with a belt with a length-adjustable buckle attached to the waist belt attachment portion (3) provided at the front and rear portions of the frame. Further, a notch (4) is provided in front of the lower part of the frame to avoid interference with the thigh.
このように本発明によれば、腸骨部の外周を前後から剛体製サイドフレームで挟み込むことによって、サイドフレームをしっかりと左右の腰の同じ位置に再現性良く固定することができる。股関節と中心軸を一致させてアクチュエータを駆動することが可能となるので、装着者の歩行時の股関節の動作いわゆる歩行パターン（ゲイトサイクル）と、アクチュエータによる歩行補助動作（歩行パターン、ゲイトサイクル）を同一とすることができ、違和感のない歩行補助が可能となった。一方、股関節の中心軸の延長線上にアクチュエータの回転軸がない場合は、アクチュエータの回転軸と、回転トルクを大腿部に伝える固定点つまり作用点までの距離が、歩行周期中に変化してしまうため、装着者は違和感を感じてしまう。
また、駆動トルクの反力を腰全体で支持することが可能となり、駆動トルクの損失を最小限とすることができる。さらにベルトの長さを調節することによって、また、フレームと腰部の接触面に適度な厚さのクッションを設けることにより、容易に体型の違いに対応できる。
また、切込み（４）を設けたことにより、大腿部前部との干渉がなくなり、立位での歩行補助に加えて、着席して休息することも可能となった。
さらに本発明によればサイドフレームの腰部固定方式によって大きなトルクを支持することが可能となり、平地歩行に比べて大きな駆動力が必要とされる階段昇降や、重量物を背負っての歩行にも有利である。
また、左右のアクチュエータを固定する強靭なバックフレームや複雑な腰部装具が不要となったので、装置の小型・軽量化と加工の容易化、部品点数の減少によるコストダウンが可能となった。As described above, according to the present invention, by sandwiching the outer periphery of the iliac portion from the front and back with the rigid side frame, the side frame can be firmly fixed to the same position on the left and right hips with good reproducibility. Since it is possible to drive the actuator by aligning the hip joint with the central axis, the movement of the hip joint when the wearer is walking, the so-called walking pattern (gate cycle), and the walking assisting movement by the actuator (walking pattern, gate cycle) can be performed. It can be made the same, and walking assistance without discomfort is possible. On the other hand, when the rotation axis of the actuator is not on the extension of the central axis of the hip joint, the distance between the rotation axis of the actuator and the fixed point that transmits the rotation torque to the thigh, that is, the point of action, changes during the walking cycle. Therefore, the wearer feels uncomfortable.
Further, the reaction force of the drive torque can be supported by the entire waist, and the loss of the drive torque can be minimized. Further, by adjusting the length of the belt and by providing a cushion having an appropriate thickness on the contact surface between the frame and the waist, it is possible to easily cope with the difference in body shape.
In addition, by providing the notch (4), there is no interference with the front part of the thigh, and in addition to assisting walking in a standing position, it is possible to sit down and rest.
Further, according to the present invention, it is possible to support a large torque by the waist fixing method of the side frame, which is advantageous for climbing stairs that require a large driving force compared to walking on level ground and walking with a heavy object on the back. Is.
In addition, since a tough back frame for fixing the left and right actuators and complicated lumbar equipment are no longer required, it is possible to reduce the size and weight of the device, facilitate processing, and reduce the number of parts.
以下に本発明の歩行補助装置の一つの実施形態を図１、図２、図３を用いて説明する。
図１は歩行補助装置の全体の構成を示す。左右２枚の剛体製サイドフレーム（２Ｌ）と（２Ｒ）を、腰ベルト取付け部（３）に設けた長さ調整可能なバックル付ベルトで、腰部に固定する。（１）は歩行補助の駆動トルクを供給するアクチュエータで、駆動トルクはポール（５）と固定ベルト（６）を介して、大腿部に伝達される。Hereinafter, one embodiment of the walking assist device of the present invention will be described with reference to FIGS. 1, 2, and 3.
FIG. 1 shows the overall configuration of the walking assist device. The two rigid side frames (2L) and (2R) on the left and right are fixed to the waist with a belt with a buckle that can adjust the length provided in the waist belt mounting portion (3). (1) is an actuator that supplies a driving torque for walking assistance, and the driving torque is transmitted to the thigh via a pole (5) and a fixed belt (6).
図２は、このときのアクチュエータ回転軸と股関節の中心線の位置関係を示す、骨盤の上面図である。歩行補助においては、アクチュエータの回転軸が常に股関節の中心線上にあるよう保持することが重要である。図示のごとく、成人の平均的な骨盤の幅は約３０ｃｍであり、腸骨稜の外周は、股関節の中心線を通る直径ｄが約１０ｃｍの円の一部となる。アクチュエータ（１）の回転軸が左右股関節の中心線の延長線上となるように、左用剛体製サイドフレーム（２Ｌ）に固定し、左用剛体製サイドフレーム（２Ｌ）が前記直径ｄ＝１０ｃｍの円に、中心および腰の前後の少なくとも３点で接する形状とすることによって、アクチュエータの回転軸を股関節の延長線上に固定することが可能となる。より具体的には、サイドフレーム（２Ｌ）の１辺の長さを前記円の半径ｄ／２とし、これ３枚を頂角が１２０°となるよう組み合わせれば、左用剛体製サイドフレーム（２Ｌ）は外径がｄの円と３点で外接し、アクチュエータ（１）の回転軸は、股関節の中心線の延長線上に固定される。なお、この形状は直径ｄの円に外接する正六角形の３辺に等しい。 FIG. 2 is a top view of the pelvis showing the positional relationship between the actuator rotation axis and the center line of the hip joint at this time. In walking assistance, it is important to keep the axis of rotation of the actuator always on the center line of the hip joint. As shown, the average pelvic width of an adult is about 30 cm, and the outer circumference of the iliac crest is part of a circle with a diameter d of about 10 cm passing through the centerline of the hip joint. The actuator (1) is fixed to the left rigid body side frame (2L) so that the rotation axis of the actuator (1) is on the extension of the center line of the left and right hip joints, and the left rigid side frame (2L) becomes a circle with a diameter d = 10 cm. By forming the shape so that it touches at least three points in the center and the front and back of the waist, the rotation axis of the actuator can be fixed on the extension line of the hip joint. More specifically, if the length of one side of the side frame (2L) is set to the radius d / 2 of the circle and these three pieces are combined so that the apex angle is 120 °, the left rigid body side frame (2L) is used. ) Is circumscribed at three points with a circle having an outer diameter of d, and the rotation axis of the actuator (1) is fixed on an extension of the center line of the hip joint. This shape is equal to the three sides of a regular hexagon circumscribing a circle with a diameter d.
図３は本発明に係る左用剛体製サイドフレーム（２L）の平面図実施例を示す。剛体として厚さ1.5ｍｍのステンレス平板を、図のようにレーザー加工で切り出し、図中一点鎖線に沿って2か所を頂角120°に曲げ加工した。図中半径55ｍｍの切込みは、大腿部切込み（４）であり、大腿部との干渉を避けるためサイドフレームの下部前方に設け、固定力を保つために下部後方には設けない。一辺55ｍｍの板3枚が頂角120°で接する構成なので、図２に示した腸骨稜に接する直径10ｃｍの円に腰部の皮膚や下着の厚さを加えた、直径ｄが110ｍｍの円にサイドフレームが股関節の中心線を中心として3点で接することとなる。このように平板の簡単な成形加工で、図中のアクチュエータ回転軸を、図２の股関節中心線の延長上に固定することが可能となる。なお、右用剛体製サイドフレーム（２R）は、図３と左右対称である。図中の細長い穴5か所は、腰ベルト取付け部（３）である。また、図３の内面に厚さを調整したクッション層を貼り付けることによって、体型の違いにも、容易に対応できる。
なお、アクチュエータとしては直流モータ等を用い、アクチュエータ駆動用のセンサやコントローラ、バッテリー等を装備する。
FIG. 3 shows an example of a plan view of a rigid body side frame (2L) for the left according to the present invention. A stainless steel plate with a thickness of 1.5 mm as a rigid body was cut out by laser processing as shown in the figure, and bent at two points along the alternate long and short dash line in the figure to an apex angle of 120 °. The notch with a radius of 55 mm in the figure is a thigh notch (4), and is provided in front of the lower part of the side frame to avoid interference with the thigh, and is not provided in the lower rear part in order to maintain a fixing force. Since three plates with a side of 55 mm are in contact with each other at an apex angle of 120 °, a circle with a diameter d of 110 mm is obtained by adding the thickness of the skin and underwear at the waist to the circle with a diameter of 10 cm in contact with the iliac crest shown in FIG. The side frames will touch at three points around the center line of the hip joint. As described above, the actuator rotation axis in the figure can be fixed on the extension of the hip joint center line in FIG. 2 by a simple molding process of the flat plate. The right rigid body side frame (2R) is symmetrical with FIG. The five elongated holes in the figure are the waist belt attachment portions (3). Further, by attaching the cushion layer having an adjusted thickness to the inner surface of FIG. 3, it is possible to easily cope with the difference in body shape.
A DC motor or the like is used as the actuator, and a sensor for driving the actuator, a controller, a battery, or the like is installed.
本発明にかかる歩行補助装置は構造が単純で部品点数が少なく、体型の違いに対しても対応可能であり、平地歩行の支援のみならず、階段の昇降支援など、平地歩行より大きなトルクが必要な歩行にも有用である。 The walking assist device according to the present invention has a simple structure, has a small number of parts, and can cope with differences in body shape, and requires a larger torque than walking on flat ground, such as supporting walking on flat ground but also supporting climbing stairs. It is also useful for walking.
２Ｒ 右用剛体製サイドフレーム
２Ｌ 左用剛体製サイドフレーム
１ アクチュエータ
３ 腰ベルト取付け部
４ 大腿部切込み
５ ポール
６ 固定ベルト2R Rigid body side frame for right 2L Rigid body side frame for left 1
Claims (2)
The projected shape of the surface of the side frame in contact with the waist on the horizontal plane is centered on the center line of the hip joint of the person wearing the walking assist device, and the radius of the circle in contact with the outer circumference of the ilium is the length of one side. The walking assist device according to claim 1, wherein the walking assist device has three sides of a square shape.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013116206A (en) | 2011-12-02 | 2013-06-13 | Dainippon Printing Co Ltd | Walking assist device |
| JP2015002970A (en) | 2012-12-03 | 2015-01-08 | 国立大学法人信州大学 | Non-exoskeletal robotic wear |
| JP2016036902A (en) | 2014-08-07 | 2016-03-22 | 三星電子株式会社Ｓａｍｓｕｎｇ Ｅｌｅｃｔｒｏｎｉｃｓ Ｃｏ．，Ｌｔｄ． | Driving module, motion assistance apparatus including driving module, and method of controlling motion assistance apparatus |
| WO2019198269A1 (en) | 2018-04-13 | 2019-10-17 | 本田技研工業株式会社 | Walking assist device |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013116206A (en) | 2011-12-02 | 2013-06-13 | Dainippon Printing Co Ltd | Walking assist device |
| JP2015002970A (en) | 2012-12-03 | 2015-01-08 | 国立大学法人信州大学 | Non-exoskeletal robotic wear |
| JP2016036902A (en) | 2014-08-07 | 2016-03-22 | 三星電子株式会社Ｓａｍｓｕｎｇ Ｅｌｅｃｔｒｏｎｉｃｓ Ｃｏ．，Ｌｔｄ． | Driving module, motion assistance apparatus including driving module, and method of controlling motion assistance apparatus |
| WO2019198269A1 (en) | 2018-04-13 | 2019-10-17 | 本田技研工業株式会社 | Walking assist device |
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