U.S. patent application number 13/932553 was filed with the patent office on 2013-10-31 for device for assisting joint exercise.
The applicant listed for this patent is KYUSHU UNIVERSITY, NATIONAL UNIVERSITY CORPORATION, TOKAI RUBBER INDUSTRIES, LTD.. Invention is credited to Kazunobu HASHIMOTO, Masanori SATO, Shin-ichiro TAKASUGI, Motoji YAMAMOTO.
Application Number | 20130288863 13/932553 |
Document ID | / |
Family ID | 46830414 |
Filed Date | 2013-10-31 |
United States Patent
Application |
20130288863 |
Kind Code |
A1 |
YAMAMOTO; Motoji ; et
al. |
October 31, 2013 |
DEVICE FOR ASSISTING JOINT EXERCISE
Abstract
Provided is a device having a novel configuration and adapted to
assist joint exercise. A device for assisting joint exercise that
assists bending and extending of a joint including: a flexible
assist force transmission section; a first mounting section and a
second mounting section, which are provided at both end portions of
the assist force transmission section, the first mounting section
adapted to be mounted on one site and the second mounting section
adapted to be mounted on another site sandwiching a user's joint; a
drive source provided that exerts tensile force between the first
mounting section and the second mounting section through the assist
force transmission section, wherein at least a portion of the
assist force transmission section is elastically deformable in an
acting direction of the tensile force by the drive source.
Inventors: |
YAMAMOTO; Motoji; (Fukuoka,
JP) ; TAKASUGI; Shin-ichiro; (Fukuoka, JP) ;
SATO; Masanori; (Fukuoka, JP) ; HASHIMOTO;
Kazunobu; (Aichi, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
TOKAI RUBBER INDUSTRIES, LTD.
KYUSHU UNIVERSITY, NATIONAL UNIVERSITY CORPORATION |
Aichi
Fukuoka |
|
JP
JP |
|
|
Family ID: |
46830414 |
Appl. No.: |
13/932553 |
Filed: |
July 1, 2013 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
PCT/JP2012/001792 |
Mar 14, 2012 |
|
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13932553 |
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Current U.S.
Class: |
482/124 |
Current CPC
Class: |
A63B 21/4011 20151001;
A63B 2220/51 20130101; A61H 2230/605 20130101; A63B 2230/605
20130101; A61H 2201/5071 20130101; A63B 23/0494 20130101; A61H
2201/1215 20130101; A63B 2022/0094 20130101; A63B 23/0482 20130101;
A63B 21/4009 20151001; A63B 21/068 20130101; A63B 21/4047 20151001;
A63B 23/03541 20130101; A61H 3/00 20130101; A61H 2201/14 20130101;
A63B 69/0028 20130101; A63B 21/0058 20130101; A63B 21/151 20130101;
A61H 2201/149 20130101; A63B 71/0009 20130101; A63B 21/02 20130101;
A61H 1/024 20130101; A61H 1/0244 20130101; A63B 21/00181
20130101 |
Class at
Publication: |
482/124 |
International
Class: |
A63B 21/02 20060101
A63B021/02 |
Foreign Application Data
Date |
Code |
Application Number |
Mar 16, 2011 |
JP |
2011-057470 |
Claims
1. A device for assisting joint exercise comprising: a flexible
assist force transmission section; a first mounting section and a
second mounting section, which are provided at both end portions of
the assist force transmission section, the first mounting section
adapted to be mounted on one site and the second mounting section
adapted to be mounted on another site sandwiching a user's joint so
that the assist force transmission section is arranged across at
least one of a hip joint and a knee joint of a user; and a drive
source that exerts tensile force between the first mounting section
and the second mounting section through the assist force
transmission section, wherein at least a portion of the assist
force transmission section is elastically deformable in an acting
direction of the tensile force by the drive source.
2. The device for assisting joint exercise according to claim 1,
wherein the first mounting section is attached to at least one of a
thigh and the knee joint of the user while the second mounting
section is attached to a lower back of the user so that the assist
force transmission section is arranged across the hip joint.
3. The device for assisting joint exercise according to claim 1,
wherein the portion of the assist force transmission section which
is elastically deformable is an item for which, compared to
elasticity in the acting direction of the tensile force by the
drive source, elasticity in a direction orthogonal to that is
smaller.
4. The device for assisting joint exercise according to claim 1,
wherein the portion of the assist force transmission section which
is elastically deformable has the elasticity of 0.3 kgf/cm or
greater and 0.5 kgf/cm or less in the acting direction of the
tensile force by the drive source.
5. The device for assisting joint exercise according to claim 1,
wherein the assist force transmission section comprises: a
band-shaped first traction band extending from the first mounting
section; a band-shaped second traction band extending from the
second mounting section; and a connecting fitting connecting the
first and second traction bands with each other.
6. The device for assisting joint exercise according to claim 5,
wherein the first mounting section is worn wound on the knee joint
of the user and the second mounting section is worn wound on a
lower back of the user; wherein the first traction band is
elastically deformable in a lengthwise direction which is the
acting direction of the tensile force, while extending from the
first mounting section and being arranged so as to cover a front
surface of a thigh of the user; wherein the connecting fitting is
attached to a top end of the first traction band; and wherein a
lengthwise middle part of the second traction band is inserted in
the connecting fitting while both lengthwise end parts of the
second traction band are attached to the second mounting section so
that the assist force transmission section including the first
traction band and the second traction band is arranged across the
hip joint of the user, and an assisting force exerted involving
elastic deformation of the assist force transmission section
assists bending and extending of the hip joint.
7. The device for assisting joint exercise according to claim 1,
wherein the assist force transmission section is provided as an
integral unit with a main unit in clothing form, and by wearing the
main unit, the assist force transmission section is arranged across
the user's joint.
8. The device for assisting joint exercise according to claim 1,
further comprising: a sensor that can detect bending and extending
of the user's joint based on force exerted on the sensor in
accordance with the bending and extending of the user's joint, the
sensor including at least one of a capacitance type sensor and a
resistance change type sensor; and a control device arranged for
controlling the drive source based on detection results of the
sensor.
9. The device for assisting joint exercise according to claim 1,
wherein the assist force transmission section is in a band form
that extends in a force transmission direction.
10. The device for assisting joint exercise according to claim 1,
wherein the drive source is attached to the second mounting
section.
11. The device for assisting joint exercise according to claim 1,
wherein the tensile force by the drive source acts as an assist
force that reinforces force necessary for joint bending and
extending exercise.
12. The device for assisting joint exercise according to claim 1,
wherein the tensile force by the drive source acts as a resist
force resisting force necessary for joint bending and extending
exercise.
Description
INCORPORATED BY REFERENCE
[0001] The disclosure of Japanese Patent Application No.
2011-057470 filed on Mar. 16, 2011 including the specification,
drawings and abstract is incorporated herein by reference in its
entirety. This is a Continuation of International Application No.
PCT/JP2012/001792 filed on Mar. 14, 2012.
BACKGROUND OF THE INVENTION
[0002] 1. Field of the Invention
[0003] The present invention relates to a device for assisting
joint exercise which, when a user is bending and extending his
joints, exerts on the user an assist force which makes it possible
to realize bending and extending, or exerts a load (resist force)
for efficiently strengthening the muscle strength required for
bending and extending.
[0004] 2. Description of the Related Art
[0005] From the past, to support movement such as walking or the
like for physically disabled persons who have lost muscle strength
or for elderly persons whose muscle strength has diminished,
wearable type movement assistance devices like that shown in U.S.
Publication No. US 2008/0234608 have been proposed.
[0006] However, the wearable type movement assistance device noted
in US 2008/0234608 is a so-called exoskeleton type assistance
device, and by a hard exoskeleton arm arranged at the side of the
user's body being driven by a motor at the joint sections, the arm,
leg or the like of the user wearing the exoskeleton arm moves
together with the exoskeleton arm.
[0007] However, with assistive devices using this kind of hard
exoskeleton, it was necessary to accurately measure the physical
build of the user (thigh and lower leg length and the like) and to
precisely adjust the length of the exoskeleton arm, and when this
adjustment was not done appropriately, excessive force could be
applied to the joints during exercise, which could lead to a very
dangerous situation. Also, the work of putting on and taking off
the exoskeleton type assistance device is not easy for a user who
requires assistance to move, and a great deal of effort and time is
required to put it on and take it off. Because of that, it was
difficult to wear and use for everyday purposes with the goal of
supplementing reduced muscle strength to make movement easier. In
fact, when using an assistance device having a large exoskeleton,
it is virtually impossible for the user to move in resistance to
the drive force of the exoskeleton with his own muscle strength,
and there was absolutely no consideration taken for using this kind
of assistance device for walking training or the like with the goal
of efficient strengthening of muscle strength. Also, to control the
movement of the assistance device, it is necessary to perform
measurement of the surface electromyography, so there was also the
problem of the user having to wear numerous surface electrodes
(normally 18).
[0008] In U.S. Publication No. US 2011/0218466, proposed is a
walking assistance device with a relatively simple and light
structure. However, with this kind of structure of US 2011/0218466
as well, a hard exoskeleton (arm) that extends along the side
surface of the thigh is required, so there were cases when device
simplification and lightening were still not sufficient.
SUMMARY OF THE INVENTION
[0009] The present invention has been developed with the
circumstances described above as the background, and the problem it
addresses is to provide a device for assisting joint exercise with
a novel structure which can be easily put on and taken off by the
user with a simple structure that is light, and which can also be
used to effectively perform muscle strength strengthening training
rather than solely movement assistance.
[0010] Specifically, a first mode of the present invention is a
device for assisting joint exercise comprising: a flexible assist
force transmission section; a first mounting section and a second
mounting section, which are provided at both end portions of the
assist force transmission section, the first mounting section
adapted to be mounted on one site and the second mounting section
adapted to be mounted on another site sandwiching a user's joint so
that the assist force transmission section is arranged across at
least one of a hip joint and a knee joint of a user; and a drive
source that exerts tensile force between the first mounting section
and the second mounting section through the assist force
transmission section, wherein at least a portion of the assist
force transmission section is elastically deformable in an acting
direction of the tensile force by the drive source.
[0011] With this kind of device for assisting joint exercise noted
in the first mode, by the assist force transmission section having
flexibility and allowing deformation, the user can put on and take
this off more easily than with a device for assisting joint
exercise having a hard exoskeleton. Because of that, when movement
is difficult due to a decrease in muscle strength or the like due
to aging or disability, with a simple task for putting on and
taking off the device for assisting joint exercise, it is possible
to realize performing of a target movement using the force obtained
from the device for assisting joint exercise as an assist force,
and efficient strengthening of the muscle strength necessary for a
target movement with the force obtained from the device for
assisting joint exercise as a load. As a result, it is possible to
prevent on an everyday basis the restriction of activities in the
elderly or the like due to locomotive syndrome (musculoskeletal
system syndrome) due to movement disorders, and it is also possible
to perform high efficiency muscle strength strengthening training
even during daily activities. Thus, it is possible to quickly
eliminate temporary muscle strength decreases and the like due to
various injuries or illnesses and bed rest.
[0012] Furthermore, by the assist force transmission section being
flexible, it is less likely for the user to be given a sense of
being restrained, and the wearing comfort is improved. Because of
that, the physical and mental burden on the user due to wearing of
the device for assisting joint exercise is reduced, and it becomes
possible to wear it continuously over a long period.
[0013] Also, by having at least a portion of the assist force
transmission section be able to elastically deform in the tensile
force acting direction, the tensile force exerted by the drive
source is eased by the elasticity of the assist force transmission
section between the first mounting section and the second mounting
section. Because of that, it is possible to have the assisting
force act with a buffering effect so as not to apply an excessive
load on the user's joints or the like.
[0014] A second mode of the present invention is the device for
assisting joint exercise according to the first mode, further
comprising a sensor for detecting bending and extending of the
user's joint, and a control device arranged for controlling the
drive source based on detection results of the sensor.
[0015] With the second mode, the assisting force is automatically
controlled based on the sensor detection results, so it is possible
to obtain suitable assistance at a suitable time without requiring
a troublesome operation such as a switch operation or the like.
[0016] A third mode of the present invention is the device for
assisting joint exercise according to the second mode, wherein the
sensor can detect bending and extending of the user's joint based
on force exerted on the sensor in accordance with the bending and
extending of the user's joint.
[0017] With the third mode, since bending and extending of the
joints is detected based on the force exerted on the sensor, high
precision detection is possible, and it is possible to efficiently
assist user's movement.
[0018] A fourth mode of the present invention is the device for
assisting joint exercise according to the third mode, wherein the
sensor includes at least one of a capacitance type sensor and a
resistance change type sensor.
[0019] With the fourth mode, by using the capacitance type sensor,
it is possible to detect the force exerted on the sensor with high
precision, and possible to suitably assist movement. Furthermore,
the decrease in detection precision is small even when force is
repeatedly input, and since the reproducibility of the detection
results are good, durability is improved. Yet further, with the
capacitance type sensor, the variation range of the detection
precision in relation to temperature change is small, and it is
easy to correct the detection precision by adjusting the initial
value in relation to temperature change. Therefore, even when the
temperature change is large, stable detection is realized.
[0020] Meanwhile, if the resistance change type sensor is used, the
resistance value changes sharply in relation to the force exerted
on the sensor, so it is possible to have control with little time
delay, making it possible to realize movement assistance with
suitable timing. Furthermore, the resistance change type sensor can
do detection across a broad range from cases when the force acting
on the sensor is small to cases when it is large, so it is possible
to obtain effective detection results both in cases when the
bending of the joints is small and in cases when it is large.
[0021] A fifth mode of the present invention is the device for
assisting joint exercise according to any one of the first through
fourth modes, wherein the assist force transmission section is in a
band form that extends in a force transmission direction.
[0022] With the fifth mode, by having the assist force transmission
section be in band form, the mass of the assist force transmission
section is small, and it is possible to make the device for
assisting joint exercise lighter. As a result, an improvement in
the ease of wearing and a decrease in the burden due to wearing are
realized, so it is possible to obtain a device for assisting joint
exercise that is easier to handle.
[0023] Also, by having the assist force transmission section be
thin, it is easy to allow bending in the thickness direction, so by
the assist force transmission section deforming according to the
surface shape of the user's body, the sense of the device as a
foreign object is reduced, and the wearing comfort is increased.
Furthermore, if the assist force transmission section is thin, when
clothing is worn after putting on the device for assisting joint
exercise, bumps in the clothing due to the assist force
transmission section do not occur easily, and because the device
for assisting joint exercise is prevented from standing out, it is
easier to make daily use of it for everyday activities.
[0024] A sixth mode of the present invention is the device for
assisting joint exercise according to any one of the first through
fifth modes, wherein the assist force transmission section is
provided as an integral unit with a main unit in clothing form, and
by wearing the main unit, the assist force transmission section is
arranged across the user's joint.
[0025] With the sixth mode, by having the assist force transmission
section provided as an integral unit with the main unit in clothing
form, wearing and arranging in a designated position of the assist
force transmission section can be completed easily by putting the
main unit on in the same manner as clothing. Because of that, even
for an elderly or disabled person with decreased muscle strength,
it is easy to use for daily life, and it is also possible to
effectively obtain movement assistance with the goal of
appropriately transmitting tensile force by the drive source.
[0026] A seventh mode of the present invention is the device for
assisting joint exercise according to any one of the first through
sixth modes, wherein the portion of the assist force transmission
section which is elastically deformable is an item for which,
compared to elasticity in the acting direction of the tensile force
by the drive source, elasticity in a direction orthogonal to that
is smaller.
[0027] With the seventh mode, in the length direction which is the
tensile force acting direction, by having the tensile force by the
drive source transmitted with sufficient buffering, it is possible
to suppress the load on the user's joints and the like. Also, by
suppressing deformation in the width direction orthogonal to the
tensile force acting direction, selective transmission of force is
realized, and it is also possible to improve shape stability and
durability.
[0028] Besides, with the device for assisting joint exercise
according to the first mode of the present invention, the assist
force transmission section is arranged across at least one of a hip
joint and a knee joint of the user.
[0029] With the first mode, by having assisting force exerted on
the leg, bending and extending is assisted for at least one of the
hip joint or the knee joint. Because of that, for example, it is
possible to realize easing of leg exercise or strengthening of leg
muscle strength by an assisting force (assist force) that
supplements insufficient muscle strength necessary for bending and
extending the joints, or an assisting force (resist force) acting
as a resistive load on the muscle strength necessary for bending
and extending the joints.
[0030] An eighth mode of the present invention is the device for
assisting joint exercise according to any one of the first through
seventh modes, wherein the first mounting section is attached to at
least one of a thigh and the knee joint of the user while the
second mounting section is attached to a lower back of the user so
that the assist force transmission section is arranged across the
hip joint.
[0031] With the eighth mode, the tensile force by the drive source
acts as an assist force for reinforcing the muscle strength needed
for bending and extending the hip joint, or as resist force for
effectively strengthening the muscle strength of the muscles
surrounding the hip joint or the like, so walking movement that
involves hip joint bending and extending exercise and the like is
assisted by the device for assisting joint exercise.
[0032] A ninth mode of the present invention is the device for
assisting joint exercise according to any one of the first through
eighth modes, wherein the drive source is attached to the second
mounting section.
[0033] With the ninth mode, the drive source is supported by the
second mounting section attached to the lower back which has
smaller movement than the thigh during bending and extending of the
hip joint. Accordingly, the drive source is supported stably, and
also, the drive source which can easily become relatively heavy is
arranged at the lower back which has smaller movement, so inertia
or the like acting on the drive source is prevented from becoming a
load on the user's leg.
[0034] Also, the first mounting section is attached to the thigh or
knee joint, and the second mounting section that supports the drive
source is attached to the lower back, so both the first mounting
section and the second mounting section are arranged at positions
near the hip joint. Because of that, it is possible to shorten the
length of the assist force transmission section arranged across the
hip joints, advantageously lightening or making more compact the
device for assisting joint exercise, and also making it possible to
easily put on the device for assisting joint exercise.
[0035] A tenth mode of the present invention is the device for
assisting joint exercise according to any one of the first through
ninth modes, wherein the tensile force by the drive source acts as
an assist force that reinforces force necessary for joint bending
and extending exercise.
[0036] With the tenth mode, when there has been a decrease in the
muscle strength needed for joint bending and extending exercise,
the tensile force by the drive force is transmitted via the assist
force transmission band, and by acting as an assist force,
supplements the insufficient muscle strength, making it possible to
perform the target joint bending and extending exercise. By doing
this, for example, when exercise is difficult due to decreased
muscle strength in an elderly person or the like, it is possible to
supplement the user's movement as needed, and to easily maintain a
state for which exercise is possible. As a result, it is possible
to prevent limitation of activities due to reduced muscle strength
as well as to prevent further reduction of muscle strength, making
it possible to prevent worsening of the condition.
[0037] An eleventh mode of the present invention is the device for
assisting joint exercise according to any one of the first through
tenth modes, wherein the tensile force by the drive source acts as
a resist force resisting the force necessary for joint bending and
extending exercise.
[0038] With the eleventh mode, for example, when there is a
temporary decrease in the muscle strength needed for joint bending
and extending exercise due to injury or illness or the like, the
assisting force by the drive source acts as a load (resist force)
daringly in the direction resisting the force necessary for the
movement. Accordingly, it is possible to efficiently implement
rehabilitation in an attempt to recover function by strengthening
reduced muscle strength. Also, it is possible to effectively
strengthen muscle strength by the action of the resist force, so it
is possible to efficiently achieve the goal of preventing a
decrease in muscle strength due to insufficient amount of exercise
or the like when used by healthy persons.
[0039] With the present invention, by exerting tensile force via
the assist force transmission section between the first mounting
section and the second mounting section arranged at each side
sandwiching the joint, bending and extending of the joint is
assisted. Therefore, it is possible to supplement insufficient
muscle strength, or to try to efficiently strengthen muscle
strength. In fact, the assist force transmission section can be
elastically deformed in the acting direction of the tensile force
by the drive source, so that the tensile force by the drive source
is buffered when exerted on the user. Thus, excess load on the
joints is prevented, reducing the burden on the user. Furthermore,
by the assist force transmission section having flexibility,
attachment and detachment can be done easily as necessary, making
it possible to use for long periods because of the excellent
wearing comfort.
BRIEF DESCRIPTION OF THE DRAWINGS
[0040] The foregoing and/or other objects, features and advantages
of the invention will become more apparent from the following
description of a preferred embodiment with reference to the
accompanying drawings in which like reference numerals designate
like elements and wherein:
[0041] FIG. 1 is a front view showing a device for assisting joint
exercise according to a first embodiment of the present
invention;
[0042] FIG. 2 is a back view of the device for assisting joint
exercise shown in FIG. 1;
[0043] FIG. 3 is a perspective view of a capacitance type sensor
constituting the device for assisting joint exercise shown in FIG.
1;
[0044] FIG. 4 is a drawing showing an internal structure of a drive
device with the back view of the device for assisting joint
exercise shown in FIG. 2;
[0045] FIG. 5 is a front view showing a device for assisting joint
exercise according to a second embodiment of the present
invention;
[0046] FIG. 6 is a back view of the device for assisting joint
exercise shown in FIG. 5;
[0047] FIG. 7 is a front view showing a device for assisting joint
exercise according to a third embodiment of the present
invention;
[0048] FIG. 8 is a back view of the device for assisting joint
exercise shown in FIG. 7;
[0049] FIG. 9 is a front view showing a device for assisting joint
exercise according to a fourth embodiment of the present
invention;
[0050] FIG. 10 is a front view showing a device for assisting joint
exercise according to another embodiment of the present invention;
and
[0051] FIG. 11 is a back view showing a device for assisting joint
exercise according to yet another embodiment of the present
invention.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
[0052] FIG. 1 and FIG. 2 show a device for assisting joint exercise
10 as a first embodiment of the present invention. The device for
assisting joint exercise 10 is for assisting bending and extending
of the hip joints, and has a constitution including assist force
transmission bands 12, 12 as a pair of assist force transmission
sections at left and right extending across the hip joints, and a
first mounting section 14 and a second mounting section 16
respectively attached to both end parts of the assist force
transmission bands 12, 12 so that the first mounting section 14 is
attached to one side and the second mounting section 16 is attached
to the other side sandwiching the hip joints. In FIG. 1 and FIG. 2,
the device for assisting joint exercise 10 is shown in a state worn
by the user, and the outline of the user is shown by a
double-dot-dash line. Also, in the description hereafter, the front
surface means the surface on the user's abdominal side (front
surface), the rear surface means the surface on the user's back
side (back surface), and the vertical direction means the vertical
direction in FIG. 1, which coincides with the vertical direction.
Also, in the description hereafter, "assist force" means the
assisting force acting in the direction supplementing the force
required for movement, and "resist force" means the assisting force
acting in the direction resisting the force required for
movement.
[0053] In more detail, the assist force transmission band 12 has a
constitution whereby a first traction band 18 and a second traction
band 20 which are respectively formed using fabric are connected by
a connecting fitting 22 made of metal, and the part constituted by
the first traction band 18 and the second traction band 20 is
flexibly deformable.
[0054] The first traction band 18 is formed with a thin band shaped
fabric which gradually has a narrower width toward one end part
side (in FIG. 1, the top side), and in the state with the device
for assisting joint exercise 10 worn, is arranged so as to cover
the front surface of the user's thighs. Also, the first traction
band 18 can be elastically deformed in the lengthwise direction (in
FIG. 1, the vertical direction) which is the direction of action of
the tensile force by an electric motor 40 described later, and has
smaller elasticity and limited deformation in the width direction
(in FIG. 1, the horizontal direction), and also has anisotropy of
the deformation volume in relation to input in the lengthwise
direction and width direction. The first traction band 18
preferably has elasticity of 0.3 kgf/cm or greater and 0.5 kgf/cm
or less in the lengthwise direction.
[0055] Also, a ring shaped connecting fitting 22 is attached to the
top end of the first traction band 18, and the first traction band
18 is connected to the second traction band 20 via the connecting
fitting 22. The second traction band 20 is a band shape having a
generally fixed width dimension, and is formed with fabric using
fibers with low stretch properties. The second traction band 20 is
connected with the first traction band 18 with the middle part
inserted in the connecting fitting 22, thus constituting the assist
force transmission band 12. The second traction band 20 does not
absolutely have to be an item with suppressed stretch properties,
and it is also possible to use an item having the same stretch
properties formed using elastic fibers or the like the same as with
the first traction band 18.
[0056] Also, the first mounting section 14 is provided underneath
the first traction band 18 of the assist force transmission band
12. The first mounting section 14 is a sports supporter band used
for protecting knee joints, and is formed with fabric or the like
having stretch properties, and is worn wound on the user's knee
joint. Also, the first mounting section 14 is formed as an integral
unit with the first traction band 18, and the first traction band
18 faces upward extending from the front surface part of the first
mounting section 14. A partial through hole 24 is provided on the
first mounting section 14, and by the partial through hole 24 being
aligned with the user's kneecap, it is made not to obstruct bending
and extending of the knee joint.
[0057] Also, both end parts of the second traction band 20 of the
assist force transmission band 12 are attached to the second
mounting section 16. The second mounting section 16 has a
transmission band support belt 26 and a drive device support belt
28 respectively worn on the lower back, with one end part of the
second traction band 20 attached to the transmission band support
belt 26 and the other end part attached to the drive device support
belt 28.
[0058] The transmission band support belt 26 is formed by a band
shaped fabric with low stretch properties, and is worn on the lower
back of the user by being wound onto the lower back of the user and
having both end parts connected using a surface fastener, snap,
hook or the like. Also, a pair of guide fittings 30, 30 exhibiting
a ring shape are provided on the transmission band support belt 26.
In a state with the transmission band support belt 26 worn on the
lower back, the guide fittings 30, 30 are arranged at both the left
and right sides of the lower back. Then, one end part of the second
traction band 20 is attached to the front part of the transmission
band support belt 26 using mean such as sewing, adhesion, a snap,
hook, surface fastener or the like.
[0059] Furthermore, a pair of capacitance type sensors 32 are
attached as the sensor to the transmission band support belt 26.
The capacitance type sensor 32 is a flexible capacitance change
type sensor which allows elastic deformation as shown for example
in U.S. Pat. No. 7,958,789 and U.S. Publication No. US
2009/0015270, and as shown in FIG. 3, has a constitution by which a
pair of electrode films 36a, 36b formed using a conductive, elastic
material are provided on both surfaces of a dielectric layer 34
formed using a dielectric elastic material. Also, the capacitance
type sensor 32 is attached to the transmission band support belt 26
by one electrode film 36a being fixed to the inner surface of the
back part of the transmission band support belt 26.
[0060] Then, in the state with the transmission band support belt
26 worn, the capacitance type sensor 32, with the other electrode
film 36b overlapping the user's buttocks, is sandwiched between the
buttocks and the transmission band support belt 26. By doing this,
the capacitance type sensor 32 detects changes in the acting
pressure by bending and extending of the hip joint as changes in
the capacitance that accompanies closeness and distance of the pair
of electrode films 36a and 36b, and outputs the detection results
to a control device 46 of a drive device 38 described later. As
shown by the dotted line in FIG. 2, the capacitance type sensors 32
are arranged as a left and right pair, and one capacitance type
sensor 32 each is overlapped on the left and right buttock. Also,
in FIG. 3, the thickness dimension of the dielectric layer 34 and
the pair of electrode films 36a and 36b is shown to be more
enlarged than the length dimension and the width dimension, but
preferably, the dielectric layer 34 as well as the pair of
electrode films 36a and 36b have a thin film shape, and can be
arranged without giving a sense of discomfort to the buttocks.
[0061] Meanwhile, as shown in FIG. 1 and FIG. 2, the drive device
support belt 28, the same as with the transmission band support
belt 26, is formed with a band shaped fabric with low stretch
properties, and is worn on the lower back of the user by being
wound onto the lower back of the user and having both end parts
connected using a surface fastener, snap, hook or the like. Also,
with the drive device support belt 28, the back surface part
extends downward further than the front surface part so as to have
a large surface area, and the drive device 38 is fixed at that back
surface part.
[0062] As shown in FIG. 4, the drive device 38 has the electric
motor 40 as a drive source, a rotation shaft 42 that is
rotationally driven by the electric motor 40, a power supply device
44 such as a battery or the like that supplies power to the
electric motor 40, and the control device 46 for controlling the
electric motor 40 based on the detection results of the capacitance
type sensor 32.
[0063] The electric motor 40 is a typical electric motor, and
generates rotational drive force of the drive shaft 48 by power
being conducted from the power supply device 44. Also, the
rotational drive force exerted on the drive shaft 48 of the
electric motor 40 is transmitted to the rotation shaft 42 via a
speed reducing gear train (not illustrated). The rotation shaft 42
is a circular shaft shaped member supported so as to allow rotation
in the circumference direction, and the other end part of the
second traction band 20 is fixed to the outer circumference surface
of the rotation shaft 42. By doing this, the other end part of the
second traction band 20 is attached to the drive device support
belt 28 via the drive device 38, and thus the assist force
transmission band 12 is arranged across the hip joints.
[0064] Then, by the rotation shaft 42 being rotated in one
circumference direction by the drive force exerted from the drive
shaft 48 of the electric motor 40, the second traction band 20 of
the assist force transmission band 12 is wound onto the rotation
shaft 42. By doing this, the drive force by the electric motor 40
is transmitted in the lengthwise direction of the assist force
transmission band 12 (lengthwise direction of the first traction
band 18 and the second traction band 20), and is exerted as tensile
force between the first mounting section 14 and the second mounting
section 16. As is clear from the description above, the assist
force transmission band 12 extends in the transmission direction of
the drive force of the electric motor 40. Meanwhile, when the
rotation shaft 42 is rotated in the other circumference direction
by the electric motor 40, winding of the assist force transmission
band 12 by the rotation shaft 42 is cancelled, and the tensile
force between the first mounting section 14 and the second mounting
section 16 is cancelled.
[0065] Also, control of the electric motor 40 is executed by the
presence or absence of power conduction to the electric motor 40
from the power supply device 44 and the conductivity direction
(rotation direction of the drive shaft 48) being controlled by the
control device 46. The control device 46 is equipped with a CPU,
RAM, ROM or the like, and based on the capacitance type sensor 32
detection results (output signals), it detects hip joint bending
exercise and extending exercise by the user, and controls power
conduction to the electric motor 40 according to the detected hip
joint exercise. By doing this, the tensile force exerted between
the first mounting section 14 and the second mounting section 16
based on the drive force of the electric motor 40 is adjusted by
the control device 46. With this embodiment, the control device 46
identifies the walking movement stage (e.g. the stage of bending
the hip joint and carrying the back leg to the front, or the stage
of extending the hip joint and kicking the front leg to the ground
or the like), and controls the power conduction to the electric
motor 40 according to the identified walking movement stage.
[0066] If the device for assisting joint exercise 10 constituted as
described above is used, when bending the hip joint, assisting
force (assist force) that reinforces the force required for the hip
joint's bending exercise is exerted, and the movement accompanied
with hip joint bending and extending is assisted. Specifically,
when the control device 46 identifies that the user is trying to
bend the hip joint based on the detection results of the
capacitance type sensor 32, power is conducted to the electric
motor 40 from the power supply device 44, and the rotation shaft 42
is rotated in one circumference direction. By doing this, the
second traction band 20 is wound by the rotation shaft 42, and the
substantial length of the second traction band 20 becomes shorter,
so the connecting fitting 22 externally fitted around the middle
part of the second traction band 20 is pulled toward the second
mounting section 16 side (top side) and displaced. Then, tensile
force is exerted on the first mounting section 14 through the first
traction band 18 attached to the connecting fitting 22, and the
first mounting section 14 worn on the knee joint is pulled toward
the second mounting section 16 side worn on the lower back. As a
result, assist force acts so as to pull the knee joint to the lower
back side in resistance to gravity, and assists the hip joint
bending exercise. Based on the detected value of the capacitance
type sensor 32, if the control device 46 adjusts the rotation
volume of the rotation shaft 42 (power conduction time to the
electric motor 40), just enough assist force is provided for the
movement the user is trying to perform.
[0067] Meanwhile, when the control device 46 identifies that the
user is trying to extend the hip joint based on the detection
results of the capacitance type sensor 32, power is conducted to
the electric motor 40 from the power supply device 44 and the
rotation shaft 42 is rotated in the other circumference direction.
By doing this, the winding of the second traction band 20 by the
rotation shaft 42 is cancelled, and the substantial length of the
second traction band 20 becomes longer, so the connecting fitting
22 externally fitted around the middle part of the second traction
band 20 is displaced to the direction separating from the second
mounting section 16 (bottom side) by its own weight or the like.
Then, the tensile force exerted on the first mounting section 14
through the first traction band 18 attached to the connecting
fitting 22 is cancelled, and the first mounting section 14
separates from the second mounting section 16 based on
gravitational action or the like. As a result, the hip joint
extending exercise being obstructed by the device for assisting
joint exercise 10 is prevented.
[0068] In this way, if the device for assisting joint exercise 10
is worn, a part of the force required when bending the hip joint is
supplemented by the force generated by the electric motor 40, so
for example when doing the movement of carrying the back leg to the
front by bending the hip joint when walking, it is possible to
perform the goal movement with small muscle strength. Therefore,
using the device for assisting joint exercise 10, even when
sufficient muscle strength is not available for performing movement
by the user due to being elderly or disabled, it is possible to
smoothly perform the target movement, and it becomes possible to
prevent restriction of activities by the user.
[0069] Also, the first traction band 18 of the assist force
transmission band 12, which is provided on the path for
transmitting the generated drive force of the electric motor 40 as
an assist force to the user's leg, can be elastically deformed in
the force transmission direction. By doing this, the generated
force of the electric motor 40 is exerted on the user's leg after
being eased by the elastic deformation of the first traction band
18. Because of that, compared to when the generated drive force of
the electric motor 40 is transmitted directly, the load on the
user's joints and the like is reduced, and it is possible to
prevent the problem of muscle pain and the like. In particular with
this embodiment, the assist force exerted on the user's leg is 2
kgf to 5 kgf which is a relatively small force, and rather than
forcibly causing movement, it is always based on the concept of
supplementing insufficient muscle strength required for movement.
Therefore, it is possible to perform the necessary assistance
without placing a burden on the user's body.
[0070] In fact, with this embodiment, the elasticity in the force
transmission direction of the first traction band 18 is set between
0.3 kgf and 0.5 kgf. By doing this, the generated drive force of
the electric motor 40 is sufficiently buffered, and it is possible
to avoid excess loads acting on the user's leg. At the same time,
effective assist force in an amount that allows sufficient
realization of movement by the user is transmitted to the leg of
the user, and it is possible to effectively assist movement.
[0071] Furthermore, the first traction band 18 has deformation
limited in the direction roughly orthogonal to the force
transmission direction. Thus, the first mounting section 14 formed
as an integral unit with the first traction band 18 is restrained
from stretching in the circumference direction (diameter expansion
deformation or diameter reduction deformation), and the shape
stability is increased. By doing this, during acting of the tensile
force by the electric motor 40, the first mounting section 14 is
held without coming off from the knee joint, and the assist force
is transmitted effectively to the leg.
[0072] Also, the assist force by the device for assisting joint
exercise 10 is exhibited when doing hip joint bending exercise,
whereas it is canceled when doing hip joint extending exercise. By
doing this, if the device for assisting joint exercise 10 is worn,
while it assists hip joint bending exercise which requires exercise
in resistance to gravity in a standing state, with hip joint
extending exercise which is assisted by the action of gravity in a
standing state, there is no acting of the assist force as a resist
force, but instead smooth movement is realized. Therefore, even
with walking movement performing repeated hip joint bending and
extending or the like, there is no obstruction of the movement, and
it is possible to provide the necessary assist force at appropriate
times and to give appropriate assistance for movement.
[0073] With the device for assisting joint exercise 10 of this
embodiment, this kind of switching of assistance according to the
user movement state is executed automatically by the control device
46 based on the detection results of the capacitance type sensor
32. Because of that, the user is able to obtain suitable assistance
at a suitable time without requiring manual control by the user of
the timing at which assist force is given, of the size of the
assist force or the like.
[0074] In fact, by using the capacitance type sensor 32 as the
sensor, it is possible to obtain high precision detection results.
Because of that, for example, if the assist force size or the like
is adjusted based on the detection results, more appropriate
assistance is possible. Furthermore, with the capacitance type
sensor 32, the reduction in detection precision in relation to
temperature change is small, and correction in relation to
temperature change is easy, so it is possible to stably obtain
correct detection results even when the temperature change is big.
In addition, with the capacitance type sensor 32, since the
detection precision decrease in relation to repeated input is
small, it is possible to ensure sufficient durability, and daily
use with everyday activities or the like can be realized.
[0075] Also, the assist force transmission section of this
embodiment is made to be the assist force transmission band 12
formed of a band shaped thin cloth. Accordingly, it has sufficient
flexibility, and compared to a device for assisting joint exercise
having a hard exoskeleton, it is possible to put it on and take it
off easily. Specifically, when the user wears the hard exoskeleton,
the user has to adjust the joint bending angle to match the shape
of the exoskeleton, and there are many cases when putting it on is
difficult when sitting. However, with the device for assisting
joint exercise 10 of this embodiment, the assist force transmission
band 12 that connects the first mounting section 14 and the second
mounting section 16 bends as needed. Therefore, if the assist force
transmission band 12 is made sufficiently long, regardless of the
degree of the bending angle of the user's joint, it is possible to
attach the first mounting section 14 and the second mounting
section 16 at respectively suitable positions. In fact, by the
assist force transmission band 12 being flexible, for example, it
is possible to respectively put on the first mounting section 14
and the second mounting section 16 in a seated posture with the hip
joint bent. Thus, it is possible to do the work of putting on and
taking off the item from a position of ease.
[0076] Furthermore, by using the assist force transmission band 12
formed with a thin, band shaped cloth, the device for assisting
joint exercise 10 is light, and it can be easily handled even by
elderly persons or the like for whom muscle strength has decreased.
In fact, with this embodiment, since both the first mounting
section 14 and the second mounting section 16 are also made of
cloth, the overall device for assisting joint exercise 10 is
lighter, and there are further improvements in handling including
the task of putting on and taking off the device and the like.
[0077] Yet further, by having the assist force transmission band 12
made of thin cloth, in the state when worn, the assist force
transmission band 12 curves easily in the thickness direction along
the shape of the user's body surface. Because of that, with the
device for assisting joint exercise 10, a good sense of wearing
comfort is realized. Also, when worn with clothing over the device
for assisting joint exercise 10, it is possible to prevent the
assist force transmission band 12 from having dents and bumps occur
which would make the device stand out, so it can be used easily for
everyday activities. With this embodiment, both the first mounting
section 14 and the second mounting section 16 are also thin.
Therefore, by avoiding an odd visual appearance when wearing with
clothing over the device for assisting joint exercise 10, it is
easy to use this on a daily basis.
[0078] Also, by having the first mounting section 14 attached to
the knee joint, and the second mounting section 16 attached to the
lower back, it is possible to efficiently exert assist force on the
leg while preventing making the length of the assist force
transmission band 12 longer than necessary, as well as making the
device for assisting joint exercise 10 smaller. Perhaps this is
because when the separation distance from the hip joint (the
fulcrum during swinging of the thigh) to the first mounting section
14 (the action point) is larger, the tensile force acts efficiently
on the first mounting section 14. In fact, by providing the drive
device 38 on the lower back for which there is little exercise
volume during walking, it is possible to prevent the drive device
38 from obstructing the walking movement.
[0079] FIG. 5 and FIG. 6 show a device for assisting joint exercise
50 as a second embodiment of the present invention. The device for
assisting joint exercise 50 is constituted including the assist
force transmission band 12 and the assist force transmission band
52 as the assist force transmission section, and the first mounting
section 14 and the second mounting section 16 provided at both ends
of that. With the description hereafter, for substantially the same
members and parts as those of the first embodiment, we will give
the same code number and omit an explanation.
[0080] In more detail, the assist force transmission band 52 is
constituted including a third traction band 54 and a fourth
traction band 56, and these are arranged across the hip joint on
the user's back surface side, connecting the first mounting section
14 and the second mounting section 16.
[0081] The third traction band 54 extends upward from the top end
of the back surface side of the first mounting section 14, with the
bottom end fixed on the first mounting section 14, and the top end
fixed to the connecting fitting 22. The third traction band 54 is
formed as a separate item from the first mounting section 14 and
connected by a means such as a seam or the like, and it is possible
to realize both of the required performance of the third traction
band 54 and the required performance of the first mounting section
14 at a high level. Also, the third traction band 54 has a
gradually narrower width facing upward, and has a shape that allows
deformation of the thigh muscle or the like when bending and
extending the hip joint. Besides, the third traction band 54 is
also elastically deformable in the lengthwise direction (in FIG. 6,
the vertical direction) which is the action direction of the
tensile force by the electric motor 40 of the drive device 38.
[0082] Also, the fourth traction band 56 is inserted through the
connecting fitting 22 attached to the third traction band 54. The
same as the second traction band 20, the fourth traction band 56 is
in a thin band form having a generally constant width dimension,
and is formed using fibers which do not stretch easily, so elastic
deformation is restricted. With this fourth traction band 56, while
the middle part is inserted through the connecting fitting 22, one
end part is fixed by a means such as a seam or the like to the
transmission band support belt 26, and the other end part is fixed
to the rotation shaft 42 of the drive device 38. By doing this, the
third traction band 54 is connected to the middle part of the
fourth traction band 56, and the first mounting section 14 and the
second mounting section 16 are connected to each other by the third
and fourth traction bands 54 and 56.
[0083] Then, the rotation shaft 42 is rotated to one circumference
direction side by the drive force of the electric motor 40 so that
the fourth traction band 56 is wound on the rotation shaft 42.
Consequently, tensile force is exerted between the first mounting
section 14 and the second mounting section 16 through the third and
fourth traction bands 54 and 56. Meanwhile, by the rotation shaft
42 rotating to the other circumference direction side, the winding
of the fourth traction band 56 by the rotation shaft 42 is
cancelled, so the aforementioned tensile force is cancelled. The
electric motor 40 for exerting tensile force on the fourth traction
band 56 may be provided separately from the electric motor 40 for
exerting tensile force on the second traction band 20, or
alternatively, it is also possible to have tensile force by a
common electric motor 40 selectively exerted on either one of the
second traction band 20 or the fourth traction band 56.
[0084] Then, when the user bends the hip joint, tensile force in
the direction that pulls the first mounting section 14 toward the
second mounting section 16 side is exerted through the third and
fourth traction bands 54 and 56. Accordingly, assisting force
(resist force) acting in the direction resisting in relation to the
force necessary for the hip joint bending exercise is exerted on
the leg. By doing this, the drive force of the electric motor 40
acts as a load (resistance) to the hip joint bending exercise, so
it efficiently strengthens the muscle strength necessary for
movement accompanied with hip joint exercise such as walking
movement or the like. Furthermore, when extending the hip joint,
the tensile force exerted between the first mounting section 14 and
the second mounting section 16 through the third and fourth
traction bands 54 and 56 is cancelled, and acting of the tensile
force as an assist force is prevented. By doing this, strengthening
of the muscle strength of the muscles around the hip joint and the
like is efficiently realized. If control is done so that tensile
force exerted on the first mounting section 14 through the first
and second traction bands 18 and 20 is canceled when the hip joint
is bent, and acts when the hip joint is extended, it is possible to
add a load in relation to the exercise of extending the hip joint.
It is possible to more effectively realize strengthening of the
muscle strength thereby.
[0085] Meanwhile, if the tensile force action and cancellation
control is reversed, it is also possible to effectively obtain
assisting force (assist force) for aiding movement. Specifically,
in addition to giving assist force by the first and second traction
bands 18 and 20 shown in the first embodiment, the tensile force
exerted on the first mounting section 14 through the third and
fourth traction bands 54 and 56 is cancelled when doing bending
exercise of the hip joint, while being acted when doing extending
exercise of the hip joint. By so doing, assist force is exerted
through the first and second traction bands 18 and 20 for hip joint
bending exercise, and assist force is exerted through the third and
fourth traction bands 54 and 56 for hip joint extending
exercise.
[0086] In other words, with the device for assisting joint exercise
50, it is possible to selectively use, according to user's needs,
function as an assisting device for aiding movement such as walking
or the like, or function as an assisting device for efficiently
strengthening muscle strength of the muscles around the hip joints
during rehabilitation or the like. In fact, with the device for
assisting joint exercise 50, assisting force is exerted not only
for hip joint bending exercise but also for extending exercises, so
user movement is more effectively assisted.
[0087] Also, with the device for assisting joint exercise 50, the
third and fourth traction bands 54 and 56 are provided so as to
exhibit assisting force even for hip joint extending exercise.
Accordingly, when the device for assisting joint exercise 50 is put
on in a seated state, after putting it on, it is also possible to
start the movement assistance by the device while still in the
seated posture, and to assist the standing up movement.
[0088] Also, FIG. 7 and FIG. 8 show a device for assisting joint
exercise 60 as a third embodiment of the present invention. This
device for assisting joint exercise 60 has a main unit 62
exhibiting a pants (leggings) shape which adheres tightly to the
body surface covering from the lower back to below the knees. This
main unit 62 is formed with fabric that has excellent stretch
properties that allow elastic deformation according to the user's
body shape, and deforms according to the user's body shape or the
like.
[0089] Also, an assist force transmission section 64 is provided on
the main unit 62. The assist force transmission section 64 is a
thin band shaped fabric, and is equipped integrally with a first
traction section 66 extending vertically so as to cover the front
surface of the thigh, and a second traction section 68 extending
diagonally upward branching left and right at a designated angle
from the top end of the first traction section 66. Also, both the
first traction section 66 and the second traction section 68 of the
assist force transmission section 64 are allowed elastic
deformation in the lengthwise direction (in FIG. 7, the vertical
direction) which is the action direction of tensile force by the
electric motor 40 of the drive device 38, while being restricted
from elastic deformation in the width direction. This assist force
transmission section 64 is provided integrally during weaving and
formed as an integral unit with the main unit 62.
[0090] Also, a first mounting section 70 is provided below the
first traction section 66 of the assist force transmission section
64. The first mounting section 70 is generally ring shaped, and is
worn so as to generally cover across the entire circumference of
the knee joint. Also, the first mounting section 70 uses the same
fabric as the first traction section 66, and is provided as an
integral unit with the main unit 62 and the first traction section
66. Thus, the first mounting section 70 is restricted from elastic
deformation in the circumference direction, so displacement from
the knee joint is suppressed. Also, with the first mounting section
70, the part that covers the front surface of the knee joint is
interwoven as an integral unit with the main unit 62, and the parts
that cover the back surface from the side surface of the knee
joints extend in respective band forms separating from the main
unit 62 at the left and right side surface parts. Besides, surface
fasteners (not illustrated) are provided on the left and right pair
of band shaped parts of the first mounting section 70 separating
from the main unit 62 at the left and right side surface parts.
Then, by pulling those band shaped parts in the circumference
direction and tightening the knee joint when necessary and
connecting to each other by the surface fasteners, the first
mounting section 70 is aligned to the knee joint. A part formed by
a material that has excellent stretch properties the same as the
main unit 62 is provided on the front surface center part of the
first mounting section 70. By arranging that part so as to cover
the kneecap, restriction of the knee joint is prevented.
[0091] Also, with the second traction section 68 of the assist
force transmission section 64, the end part extending to the inside
branching laterally is held tightened by the drive device support
belt 28. Meanwhile, the side extending to the outside branching
laterally is separated from the main unit 62 at the side of the
lower back so the end part forms a band shape, and is fixed to the
rotation shaft 42 of the drive device 38. Though not shown in the
drawing, the drive device 38 of this embodiment is equipped with
one electric motor 40 for which the rotation direction of the drive
shaft 48 is controlled by the control device 46. The rotation
shafts 42 and 42 connected one each to the left and right assist
force transmission sections 64 and 64 are rotated by the one
electric motor 40. Also, with this embodiment, the left side assist
force transmission section 64 is inserted from the back surface
side in the drive device 38 and fixed to the rotation shaft 42,
while the right side assist force transmission section 64 is
inserted from between the drive device support belt 28 and the
drive device 38, and fixed to the rotation shaft 42. Based on the
above, with the assist force transmission section 64, the bottom
end part is attached to the first mounting section 14, and the top
end part is attached to the drive device support belt 28 as the
second mounting section, and arranged across the hip joints.
[0092] With the device for assisting joint exercise 60 constituted
in this way, the same as with the device for assisting joint
exercise 10 shown in the first embodiment, tensile force is exerted
between the first mounting section 70 and the second mounting
section 16 through the assist force transmission section 64, and it
is possible to assist hip joint exercise including walking.
[0093] In fact, the device for assisting joint exercise 60 has the
assist force transmission section 64 interwoven to be provided as
an integral unit with the pants shaped main unit 62, so it is
possible to easily put it on and take it off with a simple action
the same as with pants. Furthermore, simply by correctly putting on
the main unit 62, the assist force transmission section 64 is
arranged at an accurate position, and it is possible to efficiently
obtain assisting force. In addition, even when worn under clothing,
the problem of bumps and dents arising and causing bulkiness does
not occur easily, so other people are not given a strange visual
impression easily. Moreover, it is possible to avoid problems of
the movement of the user being restricted and the freedom of choice
of clothing being small.
[0094] When using the device for assisting joint exercise of the
present invention for assisting joint movement of the upper half of
the body, it is also possible to provide the assist force
transmission section as an integral unit with a shirt form main
unit in the same manner as with this embodiment. In other words,
the main unit in clothing form worn so as to cover the joints can
be prepared according to the joint for which movement is to be
assisted.
[0095] FIG. 9 shows a device for assisting joint exercise 80 as a
fourth embodiment of the present invention. The device for
assisting joint exercise 80 has a constitution by which an assist
force transmission band 82 as the assist force transmission section
connects the first mounting section 14 and the second mounting
section 16.
[0096] The assist force transmission band 82 is constituted
including a first traction band 84, a second traction band 86, and
a third traction band 88. The first through third traction bands
84, 86, and 88 are respectively formed with thin band shaped fabric
extending at a generally fixed width dimension. The first and
second traction bands 84 and 86 are made to be elastically
deformable in the lengthwise direction (in FIG. 9, the vertical
direction) which is the action direction of the tensile force by
the electric motor 40 of the drive device 38, while the third
traction band 88 has elastic deformation restricted in the
lengthwise direction. Also, an adjustable fitting 90 is provided on
the second traction band 86, and this makes it possible to easily
adjust the length of the second traction band 86 according to
physical build.
[0097] Then, the top end of the first traction band 84 and the
bottom end of the second traction band 86 are respectively attached
to a ring shaped first connecting fitting 92, and the first
traction band 84 and the second traction band 86 are connected via
the first connecting fitting 92. Furthermore, the top end of the
second traction band 86 is attached to a ring shaped second
connecting fitting 94, and the third traction band 88 is inserted
through the second connecting fitting 94, so that the top end of
the second traction band 86 and the middle part of the third
traction band 88 are connected via the second connecting fitting
94. It is possible to fix the first and second traction bands 84
and 86 to the first and second connecting fittings 92 and 94 so
they can't be removed, but it is preferable to attach them using a
hook, snap, surface fastener or the like so they are removable.
With this embodiment, they are attached in a removable state using
a snap 96.
[0098] Also, the bottom end of the first traction band 84 is
attached to the top end of the front surface part of the first
mounting section 14. The attachment of the first traction band 84
to the first mounting section 14 can be fixing by sewing or
adhesion, but it is preferable to attach it so as to be detachable
using a hook, snap, surface fastener or the like.
[0099] Furthermore, with the third traction band 88, one of the end
parts extends circling around to the back part from the side part
of the lower back, and is fixed to the rotation shaft 42 of the
drive device 38 shown in FIG. 4. Meanwhile, the other end part of
the third traction band 88 is attached to the drive device support
belt 28 of the second mounting section 16 at the front of the lower
back. In more detail, a hook fitting 98 is attached to the other
end part of the third traction band 88, and that is attached in a
state that is detachable to a ring shaped or half ring shaped
attachment fitting 100 provided on the front surface part of the
drive device support belt 28. A plurality of the attachment
fittings 100 are provided aligned in the circumference direction on
the drive device support belt 28, and by suitably selecting from
among that plurality the attachment fitting 100 for attaching the
hook fitting 98, it is possible to adjust the length of the third
traction band 88.
[0100] By the description above, with the device for assisting
joint exercise 80, the first mounting section 14 and the second
mounting section 16 are connected by the assist force transmission
band 82 constituted by the first through third traction bands 84,
86, and 88. With this arrangement, tensile force is exerted between
the first mounting section 14 and the second mounting section 16
through the assist force transmission band 82. Then, the same as
with the first embodiment, when doing hip joint bending and
extending exercise, assist force is exerted using tensile force,
which assists walking.
[0101] Also, with this embodiment, the assist force transmission
band 82 is constituted by the first through third traction bands
84, 86, and 88, and they are respectively connected by the
connecting fittings 92 and 94. Because of that, in cases such as
when any of the first through third traction bands 84, 86, and 88
are damaged, it is possible to remove and replace just the damaged
part from the connecting fittings 92 and 94, so maintainability is
excellent.
[0102] Also, if replaced with an item for which the lengths of the
first to third traction bands 84, 86, and 88 are different
according to the physical build of the user (thigh length and the
like), it is possible for users with a wide range of physical
builds to use this. Therefore, it is possible to also handle cases
such as when a large number of unidentified users are using them in
a rehabilitation center of a hospital or the like, for example.
Furthermore, since a plurality of attachment fittings 100 are
provided aligned laterally, by changing the attachment position of
the hook fittings 98, it is possible to change the vertical
direction length of the assist force transmission band 82. Thus, it
is possible to easily perform adjustments according to differences
in physical build. In addition, since an adjustable fitting 90 is
provided on the second traction band 86, it is possible to easily
adjust the length of the assist force transmission band 82 by
adjusting the length of the second traction band 86.
[0103] Above, we gave a detailed description of embodiments of the
present invention, but the present invention is not limited by
those specific descriptions. For example, with the embodiments
noted above, the first mounting section for using the device for
assisting joint exercise for hip joint exercise assistance is
attached to the knee joint. However, it will suffice for the first
mounting section to be provided on the opposite side to the second
mounting section across the lower back, and when the second
mounting section is worn on the lower back, it is possible to
obtain generally the same effect even by the first mounting section
being attached to the thigh. Naturally, if the first mounting
attachment position is too close to the hip joint, it is difficult
for the assist force to act effectively, so when the first mounting
section is attached to the thigh, it is preferable to attach it to
a position near the knee joint.
[0104] Also, the arrangement position of the drive device is not
limited to being on the lower back. For example, when assisting
bending and extending exercise of the shoulder joint, by providing
the drive device on the user's back, it is possible to make the
device for assisting joint exercise more compact by shortening the
assist force transmission path without obstructing user's
movement.
[0105] Also, as a sensor for detecting user's movement, this is not
limited to being a capacitance type sensor. For example, it is also
possible to use a resistance change type sensor that detects user's
movement based on changes in the resistance value by action of a
force. If this kind of resistance change type sensor is used,
because it is possible to do measurement using DC voltage,
simplifying the measuring circuit is easy, and realizing smaller
size and lower costs is easy. In fact, since the resistance value
changes sharply even with the action of a small force, it is
possible to detect over a wide range, from tiny exercise to big
exercise of the joints. As the resistance change type sensor, for
example, an item having flexibility like that shown in U.S. Pat.
No. 7,563,393 can be suitably used. It is also possible to use a
combination of a plurality of different types of sensors with
different structures and detection methods, such as using the
capacitance type sensor and resistance change type sensor in
combination or the like.
[0106] Also, the sensor arrangement positions shown in the
embodiments noted above are simply examples, and as long as it is
possible to detect user's movement, the arrangement mode is not
particularly limited. In specific terms, for example as with a
device for assisting joint exercise 110 shown in FIG. 10, a
capacitance type sensor 112 is arranged on the back surface of the
first traction band 18 (surface overlaid on the thigh). By so
doing, it is also possible to detect the gripping pressure between
the first traction band 18 and the thigh, which comes with
deformation of the thigh muscle when bending the hip joint, as a
change in capacitance. Furthermore, for example as with the device
for assisting joint exercise 120 shown in FIG. 11, if the
capacitance type sensor 122 that expands from the user's buttocks
toward the thigh is used, it is possible to more directly detect
bending and extending of the hip joint. In this case, with the
device for assisting joint exercise 120, in addition to the assist
force transmission band 12 as well as the first and second mounting
sections 14 and 16 shown in the first embodiment, the structure
includes a pants (leggings) shaped sensor holding suit 124 equipped
with a capacitance type sensor 122. Then, the assist force
transmission band 12 as well as the first and second mounting
sections 14 and 16 are put on after putting on the sensor holding
suit 124. The capacitance type sensors 112 and 122 shown in FIG. 10
and FIG. 11 also have the basic structure that is the same as that
of the capacitance type sensor 32 shown in the embodiment, so their
explanation will be omitted here. Furthermore, it is also possible
to use a combination of the capacitance type sensor 112 and the
capacitance type sensor 122, making it possible to more precisely
detect movement.
[0107] Also, with the embodiments noted above, to effectively
assist bending and extending of the hip joint, the assist force
transmission section is provided at least at the front surface
side. However, for example in a case of assisting bending and
extending of the knee joint or the like, it is also possible to
provide the assist force transmission section only on the back
side. In other words, the assist force transmission section is
acceptable as long as it is suitably arranged considering the
mobility of the joints and the like.
[0108] Also, the assist force transmission section is not limited
to being an item having flexibleness (flexibility) for the entire
object, but can also have a hard part formed of metal, plastic or
the like as long as it is only partial. Furthermore, it is possible
to have the entire assist force transmission section be elastically
deformable in the force transmission direction, or alternatively to
have the assist force transmission section allow partial elastic
deformation in the force transmission direction.
[0109] Also, the transmission band support belt 26 and the drive
device support belt 28 do not absolutely have to be provided
independently. For example, there can also be cases of the end part
of the assist force transmission band 12 being fixed to the front
part of the drive device support belt 28, and simultaneously
equipping a function with the drive device support belt 28 as the
transmission band support belt. Also, the assist force transmission
band 12 does not have to be formed as a separate item in relation
to the transmission band support belt 26. It is also possible to
provide the second traction band 20 of the assist force
transmission band 12 as an integral unit so as to extend from the
front part of the transmission band support belt 26. As is clear
from the description above, when the drive device support belt 28
has a function as the transmission band support belt, the assist
force transmission band 12 can be formed as an integral unit with
the drive device support belt 28.
[0110] Also, with the embodiments noted above, the device for
assisting joint exercise for assisting hip joint bending and
extending exercise is shown, but the device for assisting joint
exercise of the present invention can also be used for assisting
bending and extending exercise of joints other than the hip joint,
such as the knee joint, shoulder joint, elbow joint and the
like.
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