WO1998000087A1

WO1998000087A1 - Human body assisting device

Info

Publication number: WO1998000087A1
Application number: PCT/JP1996/001795
Authority: WO
Inventors: Akihiko Sakai; Tomoyuki Tani; Toshihiko Wada
Original assignee: Hitachi, Ltd.
Priority date: 1996-06-28
Filing date: 1996-06-28
Publication date: 1998-01-08

Abstract

A human body assisting device which assists a trainee in gait training or migration without confining a trainee's upper body or causing any pain, can give the trainee supports appropriate to the extend of recovery, and is highly safe. The device is provided with a support arm (20) for supporting the front and lateral lumbar region of a trainee U and a backward fall preventing belt (21) for supporting the rear lumbar region or a body holding belt (23) for holding the lumbar region and the hip without fail, whereby the trainee U is held at the lumbar region alone or at both the lumbar region and the hip. Further, the device is provided with a handle (19) for supporting the body by oneself, a crouching preventing belt (22) for supporting the lower part of the hip, and an anteversion preventing means (42) for preventing the fall of the upper body, whereby the trainee can walk safely with the upper body being freely movable.

Description

Specification

Human body assist device

Technical field

The present invention relates to a human body assisting device for assisting a trainee, such as an elderly person or a person with a walking dysfunction, in performing walking training or moving.

Background art

In recent years, an increasing number of elderly people have lost their leg strength. In addition, the number of people with walking dysfunction due to illness or accident is increasing. When performing walking training or moving assistance for such people, an assistance device that supports the trainee is required.

2. Description of the Related Art Conventionally, as a device for supporting exercise therapy, there is a support device described in Japanese Patent Application Laid-Open No. 2-1856566. In this support device, air is supplied to a pair of left and right arms, and the arms are shaped into a shape that matches the patient's body while being pressed against the torso of the trainee, and are configured to support the trainee. Have been. In addition, the arm is provided with an arm support provided with an armrest, so that the trainee can support a considerable amount of weight with the elbow during walking training.

However, in the above-described support device S, the arm is closely attached to the torso of the trainee and supported, and the arm of the trainee is fixed by the arm supporting member. When trying to perform function recovery training according to the walking ability of a person, there is a possibility that the device does not function sufficiently.

In other words, in the case of trainees who are actively conducting training to restore walking function and trainees whose walking function has recovered to some extent, the upper body movement of trainee to assist walking can be performed. There is a problem that the trainee is restrained, and the trainee cannot exercise his walking motion sufficiently.

In particular, the form of walking of the trainee changes from the beginning to the end of recovery training, to the use of upper body movement. With the device described above Was not considered in this regard.

Disclosure of the invention

An object of the present invention has been made based on the above-mentioned matters, and has been developed to provide a highly safe human body assisting device capable of supporting a trainee without causing pain and walking by utilizing the motion of the upper body. To provide.

In order to achieve this object, according to the present invention, in a walking motion, a support arm that supports the upper body without obstructing the movement thereof, a means for preventing the trainee from falling backward, and a Z or a trainee's Means for preventing sinking.

At this time, the support arm supports the trainee's lower back to support the trainee without hindering the movement of the upper body. The lumbar region is the range between the left and right bowel crests and the left and right most protruding parts of the forearm. In addition, the intestinal crest point refers to the site of the iliac crest described on pages 412 and 413 of “Basic Kinematics 4th Edition” (by Nakamura and Saito, Itoyaku Shuppan). Say.

The support arm is not mounted on the trainee so as not to hinder the movement of the trainee, but is provided on the human-body assistance device so as to be positioned at the waist level of the trainee. Then, the trainee can change the position where his or her weight is left with respect to the support arm.

In addition, the sinking of the trainee refers to an operation of lowering the waist of the trainee, such as an operation of crouching down or an operation of putting a butt cake.

Preferred embodiments are described below.

(1) A human body assisting device including a gripping means for supporting a trainee's body, wherein the gripping means includes a support arm for adjusting and supporting a trainee's waist with an adjusting means.

(2) In (1), the support arm is a means for supporting the trainee's waist from the front and both sides, and the support arm supports the trainee's waist. A rear fall prevention belt that supports the rear of the waist is provided.

(3) In (2), the gripping means includes a sunken-down prevention belt for limiting the waist of the trainee. To this end, anti-subduction belts should be able to adjustably support under the trainee's education section.

(4) In (3), the support arm includes a pair of left and right grips, and the adjusting means adjusts the distance between the pair of left and right grips.

(5) In (4), the rear fall prevention belt has a length adjusting means and a means for attaching and detaching to and from a pair of left and right grips.

(6) In the constitution (5), the adjusting means can adjust an inner space between the pair of left and right grips in a range of 300 mm to 400 mm.

(7) In the constitution (6), the length adjusting means can adjust the total length in a range from 300 mm to 550 mm.

(8) In a human body assisting device including a gripping means for supporting a body of a trainee, the gripping means includes a support arm for adjusting and supporting a waist of the trainee with adjusting means, and a waist and / or a crotch. A body holding belt to be attached to the unit, and a restraint adjustment belt connecting the support arm and the body holding belt. This body retention belt prevents the trainee from falling backwards and limits sinking.

(9) In (8), the support arm includes a pair of left and right grips, and the adjusting means adjusts the distance between the pair of left and right grips.

(10) In the constitution (9), the adjusting means can adjust an inner space between the pair of left and right grips in a range of 300 mm to 400 mm.

(11) In the human body assisting device according to (5) or (9), an annular belt forming a walking surface of the trainee, a driving unit for changing the vertical and horizontal positions of the gripping unit, and a trainee A force sensor for detecting a force exerted by the person on the gripping means, and a control means for controlling the driving means based on a detection result of the force sensor. Is provided.

(12) In (11), the driving means is a motor, a link mechanism driven by the motor, an angle sensor and an angular velocity sensor for detecting a rotation angle and an angular velocity of a rotating shaft of the link mechanism. The control means presets the output of each of the sensors and a target value of a force supporting the trainee as a function of a deviation from a reference posture of the trainee, and this function Based on this, the tip of the link mechanism is made to follow the target value.

(13) In (12), a handle for grasping a trainee is provided on the opposite side of the grasping means via the force sensor of the driving means. Since the handle is provided on the driving means side, that is, on the base side of the device, relative to the force sensor when viewed from the trainee, even if the trainee suddenly applies a large force to the handle, the force is The sensor does not detect this force, and the control means does not drive the gripping means suddenly and largely.

(14) The device for assisting a human body according to (13), further comprising a forward lean preventing means extending in front of the trainee and above the support arm to prevent the upper body from falling forward. . The forward lean prevention means not only prevents forward leaning but also serves as a criterion for the trainee to judge the degree of forward lean, and will facilitate the trainee's posture correcting operation.

(15) A human body assisting device comprising: gripping means for supporting a body of a trainee; and an annular belt forming a walking surface of the trainee, wherein the gripping means includes a pair of left and right grips. A support arm that supports the trainee's waist from the front and side, and can adjust the inner width of the pair of left and right grips within the range of 300 mm to 400 mm, and the rear end of the pair of left and right grips A rear fall prevention belt that is detachably mounted on the trainee and that can be adjusted to a total length in the range of 300 mm to 550 mm, and a body holding belt that is attached to the trainee's waist and crotch, A length-adjustable restraint adjustment belt that is detachably connected to the pair of left and right grips. A forward tilt preventing means provided on the gripping means for preventing the upper body from falling forward, a link mechanism supporting the gripping means and driven by a motor, the gripping means and the link mechanism A force sensor for detecting a force exerted by the trainee on the gripping means, an angle sensor for detecting a rotation angle of the link mechanism, and an angular velocity for detecting a rotation angle of the link mechanism at a rotation shaft of the link mechanism. An angular velocity sensor, a control device that drives the motor based on detection results of the force sensor, the angle sensor, and the angular velocity sensor to control a support force of the trainee by the gripping unit; And the provided handle.

In the above means for achieving the object of the present invention, the gripping means changes a distance between a pair of left and right gripping parts, a backward fall prevention belt, a sunken prevention belt, and the like according to a recovery state of the trainee. It is recommended that you use a combination of body-holding belts.

In the case of mild trainees whose walking function has recovered considerably, the support arm provided in the gripping means supports the trainee's front and left and right waist, and falls backward with both ends connected to the support arm. The prevention belt supports the back of the lumbar region at the intestinal crest of the trainee. At this time, the support arm and the backward fall prevention belt adjustably support the degree of freedom or restraint of the trainee's waist movement.

With the above gripping means, the trainee can be supported without restraining the upper body, so that walking using the movement of the upper body becomes possible. In other words, the upper body is freer than when the armpit is supported, and a more natural walking motion is possible. Also, the trainee can be supported without causing pain compared to the case of supporting the armpit.

In addition, the anti-submersion belt with both ends connected to the support arm is adjusted in length so that it is located below the forehead, and it is likely that slime and the like will occur. In such a case, it acts to support the forehead and is effective for safety measures.

If the trainee is unable to stand or heavily supports the trainee and walks with reduced weight, hold the trainee's waist and crotch with a body-supporting belt to ensure support. Go ahead. The support arm supports the trainee's lower back, and the restraint adjustment belt connects the support arm and the body holding belt to prevent the trainee from falling over while walking using the upper body movement. Is possible.

In addition, the forward lean prevention means is provided at the upper limit of the allowable movement of the upper body in the forward direction, and calls attention to the fall of the upper body forward, and when the upper body falls beyond the allowable movement limit. Acts to prevent falls. Therefore, walking using the motion of the upper body can be safely performed within the allowable movement range of the trainee.

A gripping means configured to make use of the above-described movement of the trainee's upper body is attached via a force sensor to the tip of a link mechanism provided with an angle sensor and an angular velocity sensor in a rotation mechanism. The tip of the link mechanism is controlled to follow the target value based on the output of each sensor and the preset target value of force, and as a result, the force is applied to the trainee's waist or waist and crotch. And helped.

Further, the auxiliary gripping means is composed of, for example, a handle, and the trainee can walk while holding the handle. This handle is attached to a part other than the gripping means that is a component that comes into contact with the trainee, that is, a part that is not detected by the force sensor. As a result, even in an emergency when the trainee is about to fall, the force acting on the trainee does not change suddenly, so that the trainee can grasp the handle by himself and prevent the fall without giving any sway.

When the above-mentioned body holding belt is used, a backward fall prevention belt may be used together. This gives the trainee a sense of security during the training, Good training can be implemented. Supporting the lower back to increase the freedom of the upper body means supporting the lower part of the body, and the trainee easily loses balance and feels anxious about falling. At this time, it is effective to provide a means to prevent falls so that the trainee can easily balance.

The rear fall prevention belt also prevents the trainee's body from coming too far from the support arm and prevents the force sensor from functioning.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a diagram showing one embodiment of the configuration of the human body assisting apparatus of the present invention. FIG. 2 is a perspective view showing the configuration of a preferred embodiment of the sabotom of the present invention. FIG. 3 is a diagram showing a configuration example of a rear fall prevention belt according to the present invention. FIG. 4 is a diagram showing an example of a partial cross-sectional structure of the belt for preventing rearward falls according to the present invention.

FIG. 5 is a configuration perspective view showing an example of the body holding belt and the restraint adjusting belt according to the present invention.

FIG. 6 is a diagram showing a configuration example of the gripping means according to the present invention.

FIG. 7 is a diagram showing another configuration example of the gripping means according to the present invention.

FIG. 8 is a configuration perspective view showing another example of the support arm according to the present invention.

FIG. 9 is a diagram showing a configuration example of the handle according to the present invention.

FIG. 10 is a diagram showing an example of setting the force of the human body assisting apparatus according to the present invention. FIG. 11 is a diagram showing an example of the configuration of the control system according to the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a diagram showing an overall configuration of the human body assisting device 1. The human body assistance device 1 includes a gripping unit 2 for supporting the body of the trainee U, a driving unit 3 for changing the posture of the gripping unit 2, a control unit 4 for controlling a supporting force of the gripping unit 2, The trainee U is composed of a force sensor 5 for detecting the force applied to the grasping means 2. The force is applied to the trainee U via the grasping means 2 to reduce the load and correct the posture. Here, the reduction of the load is called weight release, and means that the trainee U is supported by applying a vertical force to reduce the weight to be supported. The posture correction means, for example, applying a force in a direction in which the trainee pulls back when the posture is tilted so that the trainee U's trunk is vertical.

The driving means 3 includes a link mechanism 6, a rotation mechanism 7, and a base 8. The bottom of the base 8 is fixed to the walking surface device 9 of the fixed walking training machine, and functions as a fixed support of the human body assisting device 1.

The walking surface device 9 includes a rotatable annular belt forming a walking surface, on which the trainee can perform training including walking without moving. At this time, one belt may be used, or one belt may be provided on each of the left and right sides so as to operate according to the movement of the right and left feet. Further, the belt may be rotated by receiving the force of the trainee kicking the walking surface backward and walking, and the belt is forcibly rotated by providing rotation speed control means or drive means. Is also good.

A rotating mechanism 7 for moving the link mechanism 6 is provided above the base 8. The rotation mechanism 7 has a right rotation shaft 10 and a left rotation shaft 11 that rotate independently of each other. The right rotation shaft 10 and the left rotation shaft 11 are connected to one ends of the drive links 12 and 13 of the link mechanism 6, and are driven to rotate by a motor via a belt, for example. That is, the drive link 12 moves laterally as indicated by the arrow according to the rotation of the right rotation shaft 10, and the drive link 13 moves up and down as indicated by the arrow according to the rotation of the left rotation shaft 11. Although not shown, the rotating mechanism 7 includes a left and right angle sensor 14 for measuring a rotation angle and an angular velocity, and a left and right angular velocity sensor 15. The other ends of the driving links 12 and 13 of the link mechanism 6 are connected to the short driven link 16 and the long driven link 17 via a rotatable joint 18 and the other end of the short driven link 16 is connected. Is also connected to a long driven link 17 by a rotatable joint 18. By adopting such a mechanism, the long driven link 17 follows the movement of the two drive links 12 and 13 and the long driven link 17 is moved in the sagittal plane (the traveling direction and the vertical direction of the trainee U). It operates within the plane formed by.

A force sensor 5 is connected to the tip of the long driven link 17. The force sensor 5 has a function of measuring a force in each axial direction (a direction of a line intersecting the sagittal plane and the horizontal plane) and a moment around each axis. Measure the force acting between the kneader U and the body assistance device 1.

A handle 19 is attached near the tip of the long driven link 17. The trainee U directly grasps the handle 19 and performs walking training or movement. When walking using the swing of the arm, do not use it. In addition, since the handle 19 is attached to a part that is not detected by the force sensor 5, even when the trainee is likely to fall, the force acting on the trainee U does not change suddenly, so that the trainee can be trained without giving any sway. Person U can grasp handle 19 by himself and prevent falling.

The other end of the force sensor 5 is provided with a gripping means 2 for supporting the trainee U's body. The gripping means 2 has one end connected to the force sensor 5 to support the waist of the trainee U, and the back fall prevention belt 21 supporting the waist at the intestinal crest point, and the back arm 21 and the tongue. It consists of a variety of belt orthoses, such as the anti-subduction belt 22 that supports the lower position, the body-holding belt 23 that securely holds the waist and the crotch, and this belt orthosis recovers the walking function of the trainee U It is used depending on the condition.

The control device 4 includes a CRT 50, input means 51, and arithmetic means 52. Next, basic components of the gripping means 2 will be described with reference to FIGS.

FIG. 2 is a perspective view of the support arm 20. The sabot arm 20 attached to the force sensor 5 has left and right grips 24, 25 and an adjustment mechanism 26 for adjusting the width of the grips 24, 25 to the body shape of the trainee U. Consisting of The left and right grips 24 and 25 have a symmetrical structure, and have a substantially L-shaped shape in which one end of a support member 27 is supported by an adjustment mechanism 26, and the other end of the support member 27. The connection port 28 for connecting the rearward fall prevention belt 21 and the sunken-down prevention belt 22 and the connection port 30 for connecting the restraint adjustment belt 29 are fixed. The support member 27 is configured to be covered with the cushion material 31.

The adjustment mechanism 26 supports the support member 27 with a bearing and is formed so as to be slidable as indicated by an arrow. Although not shown, after adjusting the holding portions 24 and 25 to a desired width, a stopper mechanism for fixing the support member 27 and an outer periphery of the adjustment mechanism 26 are closed. Shoned wood is provided.

The inner width of the left and right grips 24, 25 is the minimum value calculated from the iliac crest width by the `` average value-1 X standard deviation '' and the `` average value '' + 2 X standard deviation '', which is determined from the allowance for giving freedom of movement around the waist and the thickness of clothing, and ranges from 300 mm to 400 mtn Adjustable with 內. Of course, it may be possible to have a larger adjustment range. For example, the iliac crest width and groin width described in “Measurement Design Material: Measuring the Human Body” (Ohara, Uchida, Ueno, Hatta, Japan Publishing Service, 1996, First Edition Publishing) The average and standard deviation for each gender are listed.

FIG. 3 is a configuration diagram showing an example of the backward fall prevention belt 21, and FIG. FIG. 3 is a partial cross-sectional perspective view showing a partially cutaway view. The backward fall prevention belt 21 and the sinking prevention belt 22 are structurally similar, and will be described using the backward fall prevention belt 21. The rear fall prevention belt 21 includes a cushion material 32 applied to the trainee U's waist, an adjustment unit 33 that adjusts the length of the belt 21 to the trainee U's waist, and An attachment / detachment portion 34 is provided for attaching / detaching to / from a connection port 28 provided in the servo arm 20.

The length of the back-up prevention belt 21 is determined by the waist or abdomen thickness considering the clothes and the position of the connection port 28, etc., and is adjusted within the range of 3 OO mm force and 550 mm. It is possible.

The belt 21 has a structure passing through a part of the cushion material 32, and a sliding material 35 is provided between the belt 21 and the cushion material 32 to provide a cushion material. 3 2 makes it possible to slide with a belt 2 1 內. As a result, even if the length of the belt 21 is adjusted by the adjusting section 33, the cushion material 32 can be moved to an arbitrary position such as near the waist center of the trainee U. It is composed. FIG. 5 is a configuration perspective view showing an example of the body holding belt 23 and the restraint adjustment belt 29. The body holding belt 23 is a waist belt 36 attached to the trainee U's waist, a crotch belt 37 connected to an annular member attached to the base of the left and right legs, and a waist belt 36 from the front and back. And a connecting belt 38 connecting the crotch belt 37 to the crotch belt 37. The waist belt 36 has an adjusting portion 39 so that the length can be adjusted. Accordingly, the body holding belt 23 can securely hold the trainee U at the waist or the waist and the crotch.

The restraint adjustment belts 29 are provided one each on the left and right sides of the trainee U. One end is fixed to the body holding belt 23, and the other end is attached to and detached from the connection port 30 provided on the sabot arm 20. The attachment / detachment part 40 for attachment is provided. In addition, it has an adjustment section 41 for adjusting the length of the restraint adjustment belt 29, and connects the support arm 20 and the body holding belt 23. Next, the configuration and function of the holding means 2 will be described with reference to FIGS.

The gripping means 2 is changed according to the recovery state of the trainee U.

In the case of a mild trainee whose walking function has recovered considerably, the grasping means 2 is composed of a support arm 20 and a rearward fall prevention belt 21 as shown in FIG. The support arm 20 supports the front and left and right waist of the trainee U, and the rear fall prevention belt 21 connected to the support arm 20 supports the rear waist at the intestinal crest. The support arm 20 and the rear fall prevention belt 21 surround the trainee U's waist, and fall prevention except in the vertical direction is realized. In addition, the support arm 20 and the rear fall prevention velvet 21 function as means for adjusting the degree of freedom of waist movement or the degree of restraint according to the recovery state of the trainee U. .

By configuring the gripping means 2 as described above, the trainee can be supported without restraining the upper body, so that walking using the movement of the upper body becomes possible. Also, they can support without pain.

In human walking, the walking method, especially called dynamic walking, is a walk that makes use of its own inertia.At this time, the upper body of the human performs large movements, such as turning his arms around the spine. ing. That is, since the gripping means 2 does not restrict the movement of the upper body, it is effective for assisting dynamic walking.

Further, the gripping means 2 is provided with an anti-subduction belt 22 according to the purpose of the trainee U. The anti-subduction belt 22 connected to the support arm 20 is adjusted in length so as to be positioned below the buttocks of the trainee U. This makes it possible to support the forehead when a condition such as stickiness is likely to occur, which is effective for safety measures.

In the case of severe trainees who cannot stand on their own or to reduce the load, the gripping means 2 should be supported by a support arm 20 and a body support as shown in Fig. 7. It consists of a note 23 and a restraint adjustment belt 29. The body holding belt 23 in the configuration of Fig. 7 holds the waist when the trainee supports the overall weight by himself, and holds the waist and crotch to reduce the load. Function to reliably support the person U. The body holding belt 23 is connected to the support arm 20 supporting the waist of the trainee U by adjusting the length thereof by the restraint adjustment belt 29.

In the configuration shown in FIG. 7, the backward falling belt 21 shown in FIG. 1 is not always necessary, but may be used in combination. This will help the trainee balance the body and prevent the body from being too far from the support arm, making it difficult for the force sensor to detect the trainee's condition. Can be done. Further, a combination of the anti-subduction belt 2 and 2 may be used to prevent the waist from escaping backward.

FIG. 8 is a diagram showing another configuration example of the servo arm 20. As shown in FIG. It is provided with means for preventing forward lean 42 attached according to the purpose of the trainee U. The forward tilt prevention means 42 includes two stays 43 attached to the support arm 20 and a fall prevention band 44 connecting between the stays 43. Fall prevention band 4 The band 4 is made of a fiber with low tensile strength and tensile strength. Also, the stay 43 is adjusted so that the trainee U is set at the allowable motion limit for the trainee U against the fall of the upper body in the forward direction. For this reason, the forward lean prevention means 4 2 serves as a function to call attention to the fall of the upper body.If the limit of the trainee U is exceeded, the fall prevention band 44 prevents the fall. Work. Therefore, within the allowable movement range of the trainee U, walking using the motion of the upper body can be safely performed.

FIG. 9 is an external view of the handle 19. The handle 19 is fixed to the long follower link 17 while leaning forward with respect to the trainee U. Grip 45, which is the part held by trainee U, and emergency stop Switches 46 are provided. The emergency stop switch 46 is used for emergency stop of the human assist device 1 by the trainee U in case of danger or the like, and one emergency stop switch 46 is provided at the center of the handle 19, or left and right. There are two of them. Thereby, for example, even a person whose left or right body is paralyzed can be operated by himself. Although the shape of the handle 19 is a semicircle, the grip 45 may be horizontal like a parallel bar.

Next, the operation of the human body assisting device 1 will be described with reference to FIG. 1, FIG. 10 and FIG.

When the right rotation shaft 10 and the left rotation shaft 11 that rotate independently of each other are driven to rotate, the tip of the long follower link 17 follows the movement of the drive links 12 and 13 and the tip of the long follower link 17 becomes sagittal It can move in the area of the area. Accordingly, the gripping means 2 also operates in the sagittal plane 、, and the human body assisting device 1 exerts a force on the trainee U in the sagittal plane via the gripping means 2.

The rotation mechanism 7 is controlled so that the deviation between the information from the left and right angle sensors 14, the angular velocity sensor 15 and the force sensor 5 provided in the rotation mechanism 7 and the command value from the control device 4 falls within the opening. The control is performed, and as a result, the leading end of the long driven link 17, that is, the gripping means 2 performs the following operation.

Here, the method of correcting the posture and reducing the load during walking training using the human body assisting device 1 will be described. Since the movable range of the gripping means 2 is the sagittal plane 力, the force exerted on the trainee U is the combined force of the vertical force and the traveling force. Therefore, a function 47 showing the relationship between the initial standing position and the displacement between the position during exercise and the force is set for each of the two directions, the vertical direction and the traveling direction. In this example, as shown in Fig. 10, a combination of linear functions whose slope was changed according to the magnitude of the deviation was used. This has the effect of both correcting the posture and reducing the load. For the direction of the shear and force, the vertical direction is positive in the vertical direction and the forward direction is positive in the traveling direction. The origin of the displacement is the reference posture. function The factors that determine 4 7 are

F 0: Force applied when displacement is 0

a l, a 2, a 3: — slope of the following function

d l, d 2: Position of the shift where the slope switches (threshold)

It is.

When the force at the tip is set in this way, the controller 4 calculates a torque target value to the tip of the long driven link 17 and performs torque control to realize the set force. This will be described with reference to FIG.

The angle sensor information is converted into the posture of the trainee U by the angle-to-posture conversion unit 48, and the difference is obtained by calculating the difference from the reference posture that determines the origin of the difference. FO, al, a2, a3, dl, and d2 are input, and a deviation is input to the determined function 47 to obtain the target value of the force. The torque target value is determined. On the other hand, the force sensor information is also converted into the actual torque of the link mechanism 6 by the force-to-torque converter 49, and the rotation mechanism is controlled by the control system of the combination of the feedforward and the feedback. It becomes the command value to 7. As a result, the gripping means 2 is provided with a reaction force that balances with the target value of the force at the time of the operation.

In the human body assisting apparatus according to the present invention, a support arm for supporting the lower back of the trainee and a rear fall prevention belt for supporting the rear of the lower back or a body holding belt for holding the lower back and the crotch are provided. Auxiliary gripping means to hold the trainee by the waist or waist and crotch, and to support the body by the trainee himself; By installing the prevention means, it is possible to safely walk with freedom of movement of the upper body. In addition, by applying force to the waist or the waist and the crotch to assist the trainee, the burden on the trainee can be reduced. In addition, the rear fall prevention belt and the body holding belt can be changed and used. Depending on the recovery status of the trainee, assistance can be provided.

Claims

The scope of the claims

1. A human-body assisting device including gripping means for supporting a trainee's body, wherein the gripping means includes a support arm that adjustably supports the trainee's waist with adjusting means. Characteristic body care equipment.

2. The human body assisting device according to claim 1, wherein the support arm is a means for supporting the trainee's waist from the front and both sides, and the support arm is attached to the trainee's waist rear. A human body assisting device comprising: a rear-fall prevention belt for supporting the vehicle.

3. The human body assisting apparatus according to claim 2, wherein the gripping means includes a sunken-down belt that limits the waist of the trainee.

4. The human body assisting device according to claim 3, wherein the support arm includes a pair of left and right grips, and the adjustment unit is a unit that adjusts an interval between the pair of left and right grips. Human body assistance device.

5. The human body assisting device according to claim 4, wherein the rearward fall prevention belt includes a length adjusting unit and a unit for attaching and detaching the belt to a pair of left and right grips. .

6. The human body assisting device according to claim 5, wherein the adjusting means is capable of adjusting an inner space between the pair of left and right grips in a range of 30 Omm to 40 Omm. To assist the human body.

7. The human body assisting device according to claim 6, wherein the length adjusting means is capable of adjusting a total length in a range of 30 Omm to 55 Omm.

8. A human body assisting apparatus provided with gripping means for supporting a trainee's body, wherein the gripping means includes a support arm for adjusting the lower back of the trainee with adjusting means, and a waist and a Z. Or a body holding bell attached to the crotch And a restraint adjusting belt for connecting the support arm and the body holding belt.

9. The human body assisting device according to claim 8, wherein the support arm includes a pair of left and right grips, and the adjustment unit adjusts a distance between the pair of left and right grips. Human body assistance device.

10. The human body assisting device according to claim 9, wherein the adjusting means is capable of adjusting the distance between the pair of left and right gripping portions in the range of 30 Omm to 40 Omm. To assist the human body.

11. The human body assisting device according to claim 5 or 9, wherein an annular belt forming a walking surface of the trainee, a driving unit for changing the vertical and horizontal positions of the gripping unit, and a trainee A human body assistance device, comprising: a force sensor for detecting a force exerted on the gripping means by the force sensor; and a control means for controlling the driving means based on a detection result of the force sensor.

12. The human body assisting device according to claim 11, wherein the driving means includes a motor, a link mechanism driven by the motor, a rotation angle of a rotation shaft of the link mechanism, An angular sensor for detecting an angular velocity and an angular velocity sensor, wherein the control means determines the output of each of the sensors and a target value of a force supporting the trainee as a function of a deviation from a reference posture of the trainee. A human body assistance device characterized in that the tip end of the link mechanism follows the target value based on the function.

13. The human body assisting device according to claim 12, further comprising a handle on the opposite side of the gripping means via the force sensor of the driving means, the handle being gripped by the trainee. 13. Human body assistance device.

14. The human body assisting device according to claim 13, further comprising a forward lean preventing means extending forward of the trainee and higher than the support arm to prevent the upper body from falling forward. Human body assistive equipment characterized by having Place.

15-A human-body assisting device comprising grip means for supporting a trainee's body and an annular belt forming a walking surface of the trainee,

The gripping means,

It has a pair of left and right grips to support the trainee's waist from the front and side, and the inner width of the pair of left and right grips can be adjusted in the range of 300 mm to 400 mm. Support arm,

A rear fall prevention belt which is detachably provided at the rear end of the pair of left and right grips, and whose total length is adjustable within a range of 300 mm to 55 mm.

A restraint adjusting belt having an adjustable length, which detachably connects a body holding belt to be attached to the waist and crotch of the trainee to the pair of left and right grips,

Forward tilt preventing means provided on the gripping means, for preventing the upper body from falling forward;

A link mechanism supporting the gripping means and driven by a motor; a force sensor provided between the gripping means and the link mechanism for detecting a force exerted by the trainee on the gripping means;

An angle sensor for detecting a rotation angle of the link mechanism and an angular velocity sensor for detecting an angular velocity on a rotation shaft portion of the link mechanism;

A control device that controls the support force of the trainee by the gripping means by driving the motor based on the detection results of the force sensor, the angle sensor, and the angular velocity sensor;

A handle provided on the link mechanism side,

A body assistance device characterized by comprising: