JP4573798B2 - Lumbar support device - Google Patents

Description

  The present invention relates to a lumbar support device that assists in reducing the muscle strength of the lumbar region that is required when the body bends and stretches.

  For example, when assisting the excretion or bathing of a caregiver such as a bedridden elderly person, there are many transfer nursing care scenes such as transfer from a caregiver's bed to a wheelchair or transfer from a wheelchair to a toilet seat. The caregiver is required to hold, carry, or carry the cared person by hand. For this reason, it is caused by lifting heavy objects in an unnatural working posture such as bending forward, and the burden on the caregiver's waist is likely to be significant, and many caregivers complain of back pain. .

  In order to reduce such a physical burden on a caregiver's body, in recent years, an apparatus that is attached to the body and assists (supports) the movement and movement of the body has been developed.

  As one of this type of support device, for example, as shown in FIG. 6, it is attached to the left and right legs of the body and assists the rotational force between the lower leg and the thigh centered on the knee joint. Then, a mechanism a that supports the bending and stretching movements of each leg centered on the knee joint, a mechanism b that is attached to the torso and supports the bending and stretching movements of the lumbar part of the body, and an elbow joint that is worn on the left and right arms There has been proposed a muscle strength assisting device for nursing care that is integrally provided with a mechanism c that assists the bending and stretching operations of each arm by assisting the rotational force between the forearm portion and the upper arm portion centering on the portion. The mechanism b that supports the bending operation in the front-rear direction at the waist is as follows. That is, the waist that becomes the rotation fulcrum of the waist when the torso mounting part e for mounting on the torso part of the body is bent to the upper body without moving the leg on the waist side member d arranged on the waist of the body It is rotatably connected via a side joint part f. Further, a driving member g is fixed to the waist side member d so as to protrude rearward, and a lower end portion of the driving member h extending upward is rotatably connected to a protruding end portion of the driving member g. In addition, the distal end portion of the connecting member i that is rotatably connected to the upper end portion of the body mounting portion e is rotatably connected to the upper end portion of the driving member h. Further, a pneumatic actuator j is provided between the connecting portions of the connecting members g and h. As a result, the angle between the driving members g and h is expanded and contracted by the pneumatic actuator j, whereby the waist side member d and the waist mounting portion e are angle-changed around the waist side joint f. By assisting the rotational force between the waist side member d and the torso mounting part e, the movement of the waist part of the human body is supported (for example, see Patent Document 1).

  In addition, as a device for supporting the walking movement of a person who is difficult to walk independently, the lower end of the vertical frame to be worn on the waist and the frame to be worn along the outside of the thighs of both the left and right legs, respectively. The upper ends are connected to each other via thigh drive motors arranged at positions corresponding to the hip joints of the left and right legs, and further, the lower ends of the frames for mounting along the outer sides of the left and right thighs, There is a configuration in which the upper ends of the frames to be mounted along the outer sides of the left and right lower leg portions are respectively connected via knee drive motors arranged at locations corresponding to the left and right knee joints, The left and right thigh drive motors assist the rotational force between the hip and thigh centered on the hip joint, and the left and right knee drive motors support the thigh and lower thigh centered on the knee joint. To assist the mutual turning power Wearable action assisting apparatus has been conventionally proposed that.

  Further, in the wearable movement assist device, when the device is controlled, the hip joint detected from the rotation angle between the frame worn on the waist and the frame worn on the thigh The thigh drive motor is controlled from the angle and the surface myoelectric potential of the iliopsoas and gluteal muscles, and between the lower end of the frame to be attached to the thigh and the frame to be attached to the crus It has also been proposed to control the left and right knee drive motors from the joint angle of each knee joint detected from the rotation angle and the surface myoelectric potentials of the biceps and quadriceps ( For example, see Patent Document 2).

JP 2000-051289 A Japanese Patent Laid-Open No. 2005-23003

  However, the muscular strength assisting device for care shown in Patent Document 1 is a mechanism that supports the movement of the leg, waist, and arm by the pneumatic actuator j. Basically, one is provided for each degree of freedom in each joint. That is, the pneumatic actuators j are arranged in individually corresponding joints, and operations that can be supported are limited. Therefore, in the muscle strength assisting device for nursing, only the waist side joint part f positioned at the rotation fulcrum of the waist when only the upper body is bent without moving the legs, even in the waist part which becomes the joint between the upper body and the lower body. As described above, the waist side member d and the body mounting portion e that are relatively rotated support the bending and stretching operation of the upper body around the waist.

  Also in the wearable motion assisting device disclosed in Patent Document 2, the driving motor assists only the portions where the rotation fulcrum points of the hip joint and the knee joint are fixed.

  However, when the present inventors performed an image analysis of the bending and stretching operation of the upper body of the human body, when the human body bends and stretches the upper body, only the connecting part between the pelvis (sacrum) and the lumbar vertebra and the lumbar portion The portion of the thoracic vertebra located above is bent in the front-rear direction following the bending and stretching operation of the upper body. Therefore, when assisting the bending and stretching operation of the upper body of the human body, if there is only one rotation fulcrum at the waist, as in the device shown in Patent Document 1, the pneumatic actuator j rotates it back and forth. There is a possibility that the waist side member d and the torso mounting portion e which are made to move away from the body. Or in the state which fixed the said waist side member d and the trunk | drum mounting | wearing part e to the body without loosening, the free (natural) bending extension operation | movement of an upper body may be prevented.

  Therefore, the present invention is intended to provide a waist support device that can reduce the burden on the waist while allowing the upper body to bend and stretch more naturally around the waist.

In order to solve the above-mentioned problems, the present invention corresponds to claim 1 and corresponds to claim 1 wherein the upper body mounting tool for mounting on the upper body of the human body and the pair of left and right thighs for mounting on the thighs of both legs, respectively. and attachment, has a joint that can be bent and stretched in the longitudinal direction by rotating in a vertical direction of the plurality of positions, and for each respective joint, an actuator for applying a force in a direction to extend the joint from the bent state A load transmitting device comprising: the upper body wearing tool and each thigh wearing device are connected via the load transmitting device, and the load acting on the upper body wearing device is loaded with the load transmitting device. It is set as the structure which enabled it to transmit to each thigh mounting device via.

One or a plurality of the load transmission devices described above may be provided between an upper mounting frame that is attached to each of the left and right positions of the upper body wearing device and a lower mounting frame that is attached to each of the left and right outer positions of the left and right thigh wearing devices. by placing a number of the connecting frame, and the ends of the frame adjacent the vertical direction is the even ing formed by pivotally connected to the front-rear direction at the joint configuration.

  Further, the upper mounting frame in the above configuration has a shape having a lower end inclined surface inclined downward from the front to the rear at the lower end, and a lower mounting frame has a shape having an upper end inclined surface inclined upward from the front to the rear at the upper end. Further, each frame connected in the vertical direction has a shape in which the connecting frame has an upper end inclined surface inclined upward from the front to the rear at the upper end and a lower end inclined surface inclined downward from the front to the rear at the lower end. A wedge-shaped gap opened between the two is formed with an actuator that can be expanded and contracted in the vertical direction.

  In each of the above-described configurations, each joint portion of the load transmitting device is provided with an angle sensor that detects a bending angle at each joint portion, the upper body wearing device is attached to the upper body, and each thigh wearing device is attached to the left and right thighs. It is equipped with a device for detecting the force generated at the waist of the wearer that is worn on the part, and further detects the signal input from the angle sensor and the force generated at the waist of the wearer And a control device for controlling the force applied by the corresponding actuator to each joint portion of the load transmission device based on the signal input from the device.

  Further, the above-described control device is required for the waist to detect the posture of the upper body of the wearer based on the input from each angle sensor and to support the weight of the upper body when taking the detected posture. Torque is calculated, and the torque required at the waist and the force generated at the waist of the wearer obtained based on a signal input from a device that detects the force generated at the waist of the wearer. From the difference, the magnitude of the load acting on the waist other than the weight of the upper body of the wearer is calculated, and the load of the load is applied to each thigh wearing device via the upper body wearing device and the load transmitting device. It is set as the structure which has a function which controls the force made to act from each actuator corresponding to each joint part of a load transmission device so that it can be transmitted to.

The upper body wearing device in each of the above-mentioned configurations shall be provided with a flexible and strong plastic belt-like member that can be wound around the upper body, and each thigh wearing device is attached to the thigh. A flexible and strong plastic band-like member that can be wound and mounted is used.

According to the lower back support device of the present invention, the following excellent effects are exhibited.
(1) An upper body mounting tool for mounting on the upper body of a human body, a pair of left and right thigh mounting tools for mounting on the thighs of both legs, and a joint that can bend and stretch in the front-rear direction by rotating. has the vertical direction of a plurality of points, and for each respective joint, and a load transmission device in which comprises an actuator for imparting a force in a direction to extend the joint from the bent state, the upper body mounting device And each thigh attachment device are connected via the load transmission device, and the load acting on the upper body attachment device can be transmitted to each thigh attachment device via the load transmission device. One of the loads acting on the waist from the upper body when the wearer who wears the upper body wearer on the upper body and each thigh wearer on the left and right leg thighs bends the upper body. The upper body wearing device, load Through the device, it can be supported tell thighs of the wearer that is fitted with the thigh attachment. For this reason, the torque which acts on a waist | hip | lumbar part by the load of a wearer's upper body can be reduced, and the burden of this waist | hip | lumbar part can be reduced. Therefore, the effect of preventing the possibility of the occurrence of back pain in the wearer can be expected.
(2) Since the load transmission device includes a plurality of bendable joints, the body part that bends in the front-rear direction not only in the lumbar vertebrae but also in the thoracic vertebrae as the wearer bends the upper body It can be made to follow easily. For this reason, it is possible to prevent the upper body's natural bending and stretching operation from being hindered even if the upper body wearing device is attached to the upper body and each thigh wearing device is attached to the left and right thighs without looseness. Become.
(3) One or a plurality of load transmission devices between an upper mounting frame that is attached to each of the left and right positions of the upper body wearing device and a lower mounting frame that is attached to each of the left and right thigh wearing devices. by placing a connecting frame of, by making the ends of the frame adjacent the vertical direction is the even ing formed by pivotally connected to the front-rear direction at the joint arrangement, a plurality of joints It is possible to easily configure a load transmission device that can be bent in the front-rear direction.
(4) The upper mounting frame has a shape having a lower end inclined surface inclined downward from the front to the rear at the lower end, and the lower mounting frame has a shape having an upper end inclined surface inclined upward from the front to the rear at the upper end. The connecting frame has an upper end inclined surface that is inclined upward from the front to the rear at the upper end, and a lower end inclined surface that is inclined downward from the front to the rear at the lower end. By interposing an actuator that can be expanded and contracted vertically in a wedge-shaped gap opened in the front, the joints are extended from the bent state by the actuators to the joints of the load transmission device. A configuration for applying force in the direction can be easily realized.
(5) Each joint part of the load transmitting device is provided with an angle sensor for detecting a bending angle at each joint part, and the upper body wearing tool is attached to the upper body and each thigh wearing tool is attached to the left and right thighs. A device for detecting the force generated at the waist of the wearer, and a signal input from the angle sensor and a device for detecting the force generated at the waist of the wearer. Based on the input signal, it is configured to include a control device for controlling the force applied by the corresponding actuator to each joint portion of the load transmission device, and more specifically, the control device includes Based on the input from the angle sensor, the posture of the upper body of the wearer is detected, the torque required for the waist to support the weight of the upper body when the detected posture is taken, and the waist is required. Torque and the waist of the wearer From the difference with the force generated at the waist of the wearer obtained based on the signal input from the device that detects the generated force, it acts on the waist other than the weight of the wearer's upper body. Corresponding to each joint of the load transmission device so that the load of the load can be calculated and transmitted to each thigh wearing device via the upper body wearing device and the load transmitting device. By having the function of controlling the force applied by the actuator, the load transmission device can be used when the loader lifts and lowers the load while holding the required load with the upper body bent. Thus, it is possible to automatically control the load transmitted from the upper body wearing tool to the left and right thigh wearing tools.
(6) the upper body attachment, shall become comprises a plastic strip member having a flexible and intensity can be mounted by winding the upper body, further, each thigh attachment, respectively wound on the thigh By adopting a structure that is a flexible and strong plastic belt-like member that can be worn by the user, the upper body wearer is attached to the chest and each thigh wearer is attached to the left and right thighs without looseness. Even in the state, it is possible to cope with the twisting operation of the upper body of the wearer and the opening / closing operation of the legs to some extent.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  1 to 4 show an embodiment of a lower back support apparatus of the present invention. The lower back support device 1 of the present invention includes an upper body mounting device 2 that can be mounted on the upper body of a human body, a pair of left and right thigh mounting devices 3 that can be mounted on the thighs of both legs, It consists of a pair of left and right load transmission devices 4 extending in the direction and connecting the left and right side positions of the upper body wearing device 2 and the left and right outer positions of the left and right thigh wearing devices 3. Further, the left and right load transmission devices 4 are provided with joint portions 5a, 5b, 5c at a predetermined interval at a plurality of positions in the vertical direction so that the entire shape of the load transmission device 4 can bend and stretch by rotating in the front-rear direction. For example, pneumatic actuators 6a, 6b, and 6c are individually provided as actuators for applying a force to the corresponding joint portions 5a, 5b, and 5c in the direction of extending the bent state for each of the joint portions 5a, 5b, and 5c. It is set as the structure which comprises. As a result, the upper body wearer 2 is worn on the upper body of the wearer 7 as shown by a two-dot chain line in FIG. 1, and each of the thigh wearers 3 is worn on the left and right thighs. When the lumbar support device 1 is put on, when the wearer 7 takes a posture in which the upper body is bent forward as shown in FIG. 2, the upper body of the wearer 7 is bent. Necessary force in the extending direction from the corresponding pneumatic actuators 6a, 6b, 6c to the respective joint portions 5a, 5b, 5c of the left and right load transmission devices 4 bent forward by the joint portions 5a, 5b, 5c. As a result, a part of the load on the upper body of the wearer 7 is transmitted from the upper body wearer 2 to the left and right thigh wearers 3 via the left and right load transmission devices 4 to the left and right of the wearer 7. So that it can be supported by the thigh.

  More specifically, the upper body wearing device 2 is a flexible and strong plastic belt-like (plate-like) member 2a that can be wound around the outer circumference of the chest of the wearer 7 in the circumferential direction, and the belt-like member. From the shoulder member 2b which can be hung on the shoulder of the wearer 7 by connecting the positions of the belt-like member 2a on the front and back sides in the circumferential direction with the same material as the member 2a in the front-rear direction. The configuration is as follows. Further, in order to allow the wearer 7 to easily wear the upper body wearing tool 2, the belt-like member 2a is provided at a required position in the circumferential direction excluding the left and right side positions, for example, near the central portion on the front side in the circumferential direction. The left and right end portions of the divided portion are overlapped with each other, for example, and can be detachably connected by a connecting member (not shown) such as a hook-and-loop fastener, a snap, or a buckle. is there. Accordingly, the upper body wearing tool 2 is disposed at the chest height position so as to be wound from the back side of the wearer 7 in a state where the front side divided portion of the belt-like member 2a is opened left and right, and the left and right shoulder members 2b. Are respectively hung on the shoulder of the wearer 7, and the left and right ends of the divided portion of the band-like member 2 a are closed on the front side of the chest of the wearer 7 and connected via a connecting member. It is designed to be attached to the outer periphery of the chest almost in close contact.

  The thigh attachment device 3 has a flexible and strong plastic belt-like structure like the belt-like member 2a of the upper body attachment device 2, and the left thigh attachment device 3 has a left outer position. The right thigh attachment device 3 is divided in the circumferential direction except the circumferential position where the right side is required, and the ends of the respective divided portions are, for example, required The dimensions are overlapped so that they can be detachably connected by connecting members (not shown) such as hook-and-loop fasteners, snaps, and buckles. Therefore, the upper body wearer 2 is worn on the chest of the wearer 7 as described above, and the left and right thigh wearers 3 are arranged to be wound around the left and right thighs of the wearer 7, The waist support device 1 can be attached to the wearer 7 by closing the ends of the circumferentially divided portions and attaching each of the thigh attachment devices 3 to the thigh of the wearer 7. It is like that.

  The left and right load transmission devices 4 include an upper mounting frame 8 that is attached to each of the left and right positions of the upper body wearing device 2 and a lower mounting frame 9 that is attached to each of the left and right thigh wearing devices 3 at outer positions in the left and right directions. One or a plurality of connecting frames, for example, two upper and lower connecting frames 10 and 11 are arranged between them, and the lower end of the upper mounting frame 8 and the upper end of the upper connecting frame 10, A lower end portion and an upper end portion of the lower connection frame 11, and a lower end portion of the lower connection frame 11 and an upper end portion of the lower mounting frame 9 are connected to each other so as to be rotatable in the front-rear direction. Between the frames 10 and 11, and between the frames 11 and 9, joints 5a, 5b and 5c that can bend and stretch in the front-rear direction are formed at three locations in the vertical direction. There as. As a result, the joints 5a, 5b, and 5c formed in multiple stages in the vertical direction are relatively rotated in the front-rear direction between the frames 8 and 10, the frames 10 and 11, and the frames 11 and 9, respectively. By changing the angle, the wearer 7 responds to the bending in the front-rear direction of the trunk portion centering on the waist between the chest and thigh when the wearer 7 bends and stretches the upper body. The overall shape of the load transmitting device 4 can be bent or extended in the front-rear direction at the left and right side positions of the body portion.

  Further, specifically, the upper mounting frame 8 has a side surface shape, for example, a substantially right triangle shape so that the lower end surface becomes a lower end inclined surface 8a inclined downward from the front to the rear. One end portion in the direction is integrally fixed to the outer surfaces of the left and right end portions in the circumferential direction of the upper body wearing tool 2.

  Further, the lower mounting frame 9 has a side surface shape, for example, a substantially right-angled triangle shape so that the upper end surface is an upper end inclined surface 9a inclined upward from the front to the rear. The left and right thigh attachment devices 3 are fixed integrally to the outer surface of the outer end in the left-right direction.

  The connection frames 10 and 11 have upper end inclined surfaces 10a and 11a whose upper end surfaces are inclined upward from the front to the rear, and lower end inclined surfaces 10b and 11b whose lower end surfaces are inclined downward from the front to the rear. For example, the shape of the side surface is an isosceles triangle.

  Further, the frames 8 and 10, the frames 10 and 11, and the frames 11 and 9 are arranged in the vertical direction with their lower ends and upper ends close to each other, and as shown in FIG. A support shaft 13 extending in the left-right direction is attached to the upper end of each frame 10, 11, 9 located below 5a, 5b, 5c via an attachment member 12, and above each joint 5a, 5b, 5c. A bracket 14 provided at the lower end portion of each of the frames 8, 10, 11 located at is attached to the support shaft 13 so as to be rotatable and connected to each other. As a result, the upper connecting frame is provided between the lower inclined surface 8a of the upper mounting frame 8 and the upper inclined surface 10a of the upper connecting frame 10 that are connected to each other so as to be rotatable in the front-rear direction around the respective support shafts 13. 10 between the lower end inclined surface 10b of the lower connection frame 11 and the upper end inclined surface 11a of the lower connecting frame 11, and between the lower end inclined surface 11b of the lower connecting frame 11 and the upper end inclined surface 9a of the lower mounting frame 9, respectively. This gap is formed.

  A gap between the lower end inclined surface 8a of the upper mounting frame 8 and the upper end inclined surface 10a of the upper connecting frame 10, and a gap between the lower end inclined surface 10b of the upper connecting frame 10 and the upper end inclined surface 11a of the lower connecting frame 11 And the bellows-like pneumatic actuators 6a, 6b, 6c that can be vertically expanded and contracted by air pressure in the gap between the lower end inclined surface 11b of the lower connecting frame 11 and the upper end inclined surface 9a of the lower mounting frame 9. Are arranged so as to interpose, respectively, the upper end portions of the pneumatic actuators 6a, 6b, 6c on the lower inclined surfaces 8a, 10b, 11b of the frames 8, 10, 11 located on the upper side thereof, The lower end portions of the pneumatic actuators 6a, 6b, 6c are moved to the upper inclined surfaces 10a, 11a, 9a of the frames 10, 11, 9 positioned below the pneumatic actuators 6a, 6b, 6c. Install it is. The pneumatic actuators 6a, 6b, and 6c are respectively connected to the pneumatic actuators 6a, 6b, and 6c via the air supply / discharge pipes 16 so that air can be supplied while performing pressure control. , 6c is supplied with air 17 having a required pressure from the electropneumatic regulator 15 through the air supply / exhaust pipe 16, so that the pneumatic actuators 6a, 6b, 6c respectively support the frames 8 and 10 positioned above and below. Force is applied in the direction of pushing open the gap between the frames 10 and 11, and the gap between the frames 11 and 9, respectively. In this way, the left and right load transmission devices 4 are in a bent state by applying a force in a direction extending from the bent state to each joint portion 5a, 5b, 5c in each of the left and right load transmission devices 4. The upper body wearing tool 2 and each thigh wearing tool 3 can be made to act as they are.

  Furthermore, each joint part 5a, 5b, 5c of each said load transmission apparatus 4 is equipped with the angle sensor 18 for detecting the bending angle of the front-back direction in each said joint part 5a, 5b, 5c separately. Specifically, the bending angles at the joints 5a, 5b, and 5c are the frames 8 and 10, the frames 10 and 11, and the frames 11 that are adjacent in the vertical direction at the joints 5a, 5b, and 5c. Therefore, the angle sensors 18 are, for example, frames 10, 11, 9 positioned below the joints 5 a, 5 b, 5 c as shown in FIG. 4. The outer end portion of the support shaft 13 fixed to the upper end portion of the frame through the mounting member 12 is projected outward from the frames 10, 11, and 9 by a required dimension, and the projecting end portion has a required diameter. The driven gear 21 attached to the rotary encoder 20 installed on the outer side surface in the left-right direction at the lower end of the frames 8, 10, 11 located above the joints 5a, 5b, 5c is attached to the fixed gear 19. Fixed gear 1 It is engaged to become configured. As a result, the frames 8 and 10, the frames 10 and 11, and the frames 11 and 9 that are adjacent in the vertical direction across the joints 5 a, 5 b, and 5 c are relatively rotated about the support shaft 13. In this case, each of the rotary encoders 20 is used to rotate the driven gear 21 based on the rotation angle of the driven gear 21 when the driven gear 21 revolves around the outer periphery of the fixed gear 19 fixed to the support shaft 13. By detecting the relative rotation angles of the frames 8 and 10, the frames 10 and 11, and the frames 11 and 9, it can be output as a detection signal for the bending angle in the front-rear direction at the joints 5 a, 5 b, and 5 c. It is like that. Note that a cover (not shown) is provided at the left and right outer positions of the fixed gear 19 and the driven gear 21 so that the gears 19 and 21 are not exposed to the outside.

  Furthermore, the myoelectric potential detection electrode 22 is affixed to a position slightly deviated from the spine in the waist of the wearer 7, and input from the myoelectric potential detection electrode 22 through the preamplifier 23 and the biological amplifier 24. The electropneumatic regulator 15 is controlled by controlling the electropneumatic regulator 15 based on the myoelectric potential signal of the waist of the wearer 7 and the signals input from the angle sensors 18 of the joints 5a, 5b, and 5c of the load transmitting devices 4. By controlling the pressure of the air supplied from the electropneumatic regulator 15 to the pneumatic actuators 6a, 6b, 6c of the load transmission devices 4, the actuators corresponding to the joint portions 5a, 5b, 5c of the load transmission devices 4 A control device 25 is provided for controlling the force applied by 6a, 6b, 6c.

  Here, the principle of control in the control device 25 will be described.

  In the lumbar support device 1, when a wearer 7 who wears the upper body wearer 2 on the chest and the thigh wearer 3 on the left and right thighs bends or stretches the upper body in the front-rear direction, the operation is performed. Following this, the left and right load transmitting devices 4 are bent and stretched in the front-rear direction at the joints 5a, 5b, and 5c. Therefore, based on the detection signal of the bending angle for each joint part 5a, 5b, 5c input from the angle sensor 18 of each joint part 5a, 5b, 5c of the load transmission device 4, the waist support apparatus 1 is It is possible to obtain information on how to bend the upper body of the wearer 7 wearing the wearer.

  On the other hand, when a person takes a posture in which the upper body is bent at a certain angle, the load applied to the waist from the upper body, such as the weight of the head, left and right arms, and upper body, can be calculated from the dynamic model of the human body. The torque required for the waist to support the load can be calculated. Furthermore, information on the degree of force generated at the waist can be obtained from the myoelectric potential signal at the waist of the human body.

  In view of these matters, the control device 25 wears the waist support device 1 based on signals input from the angle sensors 18 of the joint portions 5a, 5b, and 5c of the load transmission devices 4. After obtaining information on how to bend the upper body of the wearer 7, when referring to the dynamic model of the human body and taking the posture of bending the upper body as described above, the load on the upper body of the wearer 7 is applied to the waist Calculate the torque required for the lower back when supporting with. Further, the weight of the upper body of the wearer 7 is calculated based on the difference between the calculated torque and the force actually generated at the waist of the wearer 7 obtained based on the signal from the myoelectric potential detection electrode 22. Besides, calculate how much load is acting on the waist. In addition, a part of the actual load on the upper body of the wearer 7 including the above load is worn by each thigh wearing device 3 via the upper body wearing device 2 and each load transmitting device 4. 7 so that the left and right thighs can be supported by the left and right thighs so that the left and right load transmitting devices 4 are stretched between the upper body wearing tool 2 and each thigh wearing tool 3. The supply air pressure to each pneumatic actuator 6a, 6b, 6c of each said load transmission apparatus 4 required is calculated | required, and the supply of air to each pneumatic actuator 6a, 6b, 6c is performed with this calculated | required supply pressure. As described above, the electropneumatic regulator 15 is controlled. When controlling the supply air pressure to each of the pneumatic actuators 6a, 6b, 6c, the supply pressure of air to the three pneumatic actuators 6a, 6b, 6c provided for each of the load transmission devices 4 is individually set. The bending angles in the front-rear direction of the joint portions 5a, 5b, 5c provided in the longitudinal direction of the load transmission device 4 at three locations in the longitudinal direction are set to the joint portions 5a, 5b, If the control is performed every 5c, the upper body wearing device 2 and each thigh wearing device are obtained in a state in which each load transmitting device 4 is bent along the posture of the wearer 7 with the upper body being bent. The air pressure supplied to the three pneumatic actuators 6a, 6b, 6c of each load transmission device 4 is more preferable because it can act so as to be stretched between the three pneumatic actuators 6a, 6b, 6c. Even if the control is uniformly performed, the load transmission device 4 is in a bent state substantially conforming to the posture in which the upper body of the wearer 7 is bent. It can act to stretch between.

  Further, the control device 25 is in a posture in which the wearer 7 stands upright on the basis of a signal input from the angle sensor 18 of each joint portion 5a, 5b, 5c of each load transmission device 4. If it is determined, the supply air pressure to each pneumatic actuator 6a, 6b, 6c of each load transmission device 4 is released. Thereby, when the wearer 7 puts the upper body in an upright state, the load transmission device 4 is connected to the upper body wearer 2 of the chest of the wearer 7 and the thigh wearers 3 of the thighs of the left and right legs. The wearer 7 can walk while wearing the waist support device 1 so as not to act so as to be stretched between them.

  When using the lumbar support device 1 of the present invention having the above-described configuration, the upper body wearing device 2 and the left and right thigh wearing devices 3 are used as described above, and the chest of the wearer 7 and the thighs of both the left and right legs as described above. Install each part. The myoelectric potential detection electrode 22 is affixed to a position slightly deviated from the spine on the waist of the wearer 7. In this state, when the wearer 7 bends or stretches the upper body, the wearer 7 is positioned at both the left and right positions of the torso centered on the waist between the chest and thigh of the wearer 7. Based on the input from the angle sensor 18 of each joint part 5a, 5b, 5c of the left and right load transmission devices 4 bent and stretched along the posture of the upper body, the posture change of the wearer 7 is detected by the control device 25. At the same time, the torque required for the waist when the load on the upper body of the wearer 7 is supported by the waist according to the posture change is always calculated. On the other hand, based on the signal from the myoelectric potential detection electrode 22, the force actually generated at the waist of the wearer 7 is required. In this state, if the wearer 7 has a heavy object in a posture in which the upper body is bent, the load of the heavy object will act on the waist of the wearer 7 as a load other than the weight of the upper body. The force actually generated at the waist of the wearer 7 obtained based on the signal from the myoelectric potential detection electrode 22 is necessary for the waist when the load of only the upper body of the wearer 7 is supported by the waist. It will exceed the torque that is assumed. Therefore, a command is issued from the control device 25 to the electropneumatic regulator 15, and the air 17 is supplied to the pneumatic actuators 6a, 6b, 6c of the left and right load transmission devices 4 of the waist support device 1 at a required pressure. The load transmitting device 4 is supplied with a load other than the weight of the upper body acting on the waist of the wearer 7 between the upper body wearing device 2 and each thigh wearing device 3. It is made to act so as to stretch according to the size. As a result, a load exceeding the weight of the upper body of the wearer 7, that is, a load of the heavy object is mounted on each thigh mounting device 3 via the upper body mounting device 2 and each load transmitting device 4. Since the wearer 7 is supported by the left and right thighs of the wearer 7, the wearer 7 holds the heavy object with almost the same force as that of supporting only the weight of the upper body of the wearer 7 with the waist. It becomes possible to hold in.

  When the wearer 7 tries to lift a heavy object by gradually stretching the waist from a posture in which the upper body is bent, the force generated at the waist of the wearer 7 is similar to the above. The force generated at the waist is greater than the force required at the waist to maintain the height position of the heavy object at each point when the waist is gradually extended from a posture where the upper body is bent. The air pressure supplied to the pneumatic actuators 6a, 6b, and 6c of the left and right load transmitting devices 4 of the lower back support device 1 is increased in accordance with the increase of. As a result, the left and right load transmission devices 4 of the waist support device 1 use the left and right thighs on which the thigh attachment devices 3 are attached as fulcrums according to the stretching operation of the upper body of the wearer 7. Since the upper body wearing device 2 acts to push up, the wearer 7 can lift the heavy object only by slightly increasing the force generated at the waist.

  On the other hand, when the wearer 7 lowers the heavy load by gradually bending the upper body while holding the heavy load, the force generated at the waist of the wearer 7 is similar to the above. Since the force is smaller than the force required to maintain the height position of the heavy object at each time when the upper body is bent gradually, the lower back support according to the decrease in the force generated at the lower back. The supply air pressure to the pneumatic actuators 6a, 6b, 6c of the left and right load transmission devices 4 of the device 1 is reduced. As a result, the left and right thighs on which the thigh attachment devices 3 are attached are supported by the left and right load transmission devices 4 of the waist support device 1 being stretched to support the upper body attachment device 2. Since the force decreases according to the force generated at the waist of the wearer 7, the wearer 7 applies the load of the heavy object to each thigh via the upper body wearer 2 and each load transmission device 4. It is possible to perform the operation of lowering the heavy object while receiving and supporting the left and right thighs to which the unit mounting tool 3 is mounted.

  As described above, according to the lower back support apparatus of the present invention, when the wearer 7 holds a heavy object in a posture in which the upper body is bent, a part of the load that acts on the lower back from the upper body is mounted on the chest. Since the load can be supported on the thigh of the wearer 7 via each load transmission device 4 and the thigh mounting tool 3, the torque acting on the waist due to the load on the upper body of the wearer 7 is reduced. The burden on the waist can be reduced.

  Therefore, for example, if a caregiver who performs care for a caregiver such as a bedridden elderly person wears the waist support device 1, the burden on the waist of the caregiver can be reduced, and back pain can be reduced. The effect of preventing the occurrence can be expected.

  Further, since the load transmission device 4 includes a plurality of bendable joint portions 5a, 5b, and 5c, a body portion that bends not only in the lumbar vertebrae but also in the thoracic vertebrae as the wearer 7 flexes the upper body. Can be easily followed. Furthermore, since the load transmission device 4 is arranged along the body side of the wearer 7, it easily follows the bending action of the upper body of the wearer 7 without changing the overall length of the load transmission device 4. Can be made. Therefore, even if the upper body mounting tool 2 is mounted on the chest and each thigh mounting tool 3 is mounted on the left and right thighs without loosening, the natural bending and stretching operation of the upper body is not hindered. In addition, since the upper body wearing tool 2 and the thigh wearing tool 3 are both made of flexible and strong plastic, the upper body wearing tool 2 is placed on the chest and each thigh wearing tool 3 is placed on the left and right. Even in a state where the user is wearing the thigh without loosening, it is possible to cope with the twisting operation of the upper body of the wearer 7 and the opening / closing operation of the legs to some extent.

  In the above, the control device 25 applies the supply air pressure to the pneumatic actuators 6a, 6b, 6c of the left and right load transmitting devices 4 to the waist of the wearer 7 other than the weight of the upper body. So that the left and right load transmitting devices 4 are stretched between the upper body wearing device 2 and each thigh wearing device 3 so that the air supply pressure can be supported. Although it demonstrated as what controls, by making the load transmission apparatus 4 of right and left stretch between the said upper body mounting tool 2 and each thigh mounting tool 3, a part of self weight of the said wearer's 7 upper body is reduced. Also, the air pressure supplied to the pneumatic actuators 6a, 6b, 6c of the left and right load transmitting devices 4 may be controlled so as to be able to support. In this case, the force to be generated at the waist of the wearer 7 is smaller than the force required at the waist due to the weight of the upper body when the wearer 7 bends the upper body. The feedback control is appropriately performed based on the myoelectric potential signal of the lumbar region detected by the myoelectric potential detection electrode 22 affixed to the lumbar region. A torque smaller than the torque required for the waist to support the weight of the upper body at a certain angle is set in advance as a reference, and the difference between this and the torque calculated from the myoelectric potential signal of the actual waist is determined. A command may be given to the electropneumatic regulator 15 to appropriately control the pressure of the air 17 supplied to each actuator 6a, 6b, 6c of each load transmission device 4 to be reduced or increased.

  In this way, the burden on the lower back when the wearer 7 has a heavy load is further reduced, or even when the wearer 7 has no heavy load, It becomes possible to support the bending and stretching operation. Therefore, for example, it can be expected that it can be used as a treatment or rehabilitation device for a person who has already developed back pain and has difficulty in supporting the weight of the upper body at the waist during bending and stretching of the upper body. Furthermore, if a mechanism that can fix each load transmission device 4 so as not to bend is provided, when the lumbar vertebra and the lower thoracic vertebra are fractured in a state where each load transmission device 4 is first fixed so as not to bend. It is expected that it can be used as a cast having a function capable of gradually changing the amount of bending and stretching of the upper body according to the healing situation after being used as a fixture.

  Incidentally, according to a test conducted by the present inventors, as shown in FIG. 5, the wearer 7 wearing the lumbar support device 1 having the above-described configuration performs an operation of bending the upper body from an upright state and then extending it. In this case, the myoelectric potential detected at the waist when the waist support device 1 is functioned by appropriately controlling the air pressure supplied to the pneumatic actuators 6a, 6b, 6c of the load transmitting devices 4 (FIG. 5). Is clearly shown in comparison with the myoelectric potential detected by the lumbar region (shown by a broken line in FIG. 5) when each pneumatic actuator 6a, 6b, 6c is released and the operation of the lumbar support device 1 is canceled. It had fallen to. Therefore, it was confirmed that the waist support device 1 of the present invention has an effect of reducing the burden on the waist of the wearer 7.

  The present invention is not limited to the above embodiment, and the upper body wearing device 2 is shown to be worn on the outer periphery of the chest of the wearer 7, but acts on the waist from the upper body of the wearer 7. If a part of the load can be transmitted to the left and right load transmission devices 4 and the respective thigh attachment devices 3 and received by the wearer's 7 thighs, the upper body attachment device 2 is attached to the outer periphery of the wearer's 7 abdomen. You may make it attach to.

  Each of the load transmission devices 4 has been shown as including three joint portions 5a, 5b, and 5c that can be bent in the front-rear direction. For example, an upper mounting frame 8 that is attached to the upper body mounting tool 2 and In addition, the lower attachment frame 9 attached to each thigh attachment device 3 is connected so that only one connection frame is interposed, so that a joint portion that can be bent in the front-rear direction is formed in two upper and lower stages. Alternatively, three or more connecting frames may be connected between the mounting frames 8 and 9 to form four or more joints that can be bent in the front-rear direction. The joint portions 5a, 5b, 5c of the load transmitting devices 4 are shown as equipped with pneumatic actuators 6a, 6b, 6c. However, the joint portions 5a, 5b, 5c are extended from the bent state to the extending direction. Any type of actuator other than the pneumatic actuators 6a, 6b, 6c, such as a hydraulic actuator, a polymer actuator, and a motor, may be employed as long as the force can be applied individually. Furthermore, the joint portions 5a, 5b, and 5c may be formed of a shape memory alloy or a material that is thermally deformed. In this case, the load transmission device 4 is not configured to connect the frames 8, 10, 11 and 9 arranged in the vertical direction, but what is a member that linearly extends in the vertical direction such as a series of alloys. It is good also as a structure which enables a part to be bent.

  Furthermore, although each said load transmission apparatus 4 was shown as having the function to provide the force to the direction extended from the state bent forward by each joint part 5a, 5b, 5c by pneumatic actuator 6a, 6b, 6c, It may have a function that allows a force in the extending direction to be applied by a required actuator from a state bent in any direction of the front-rear direction. In this way, it is possible to support the force applied to the waist when the wearer 7 returns the upper body from the state in which the upper body is bent backward to the upright state.

  Furthermore, the load transmission device 4 is preferably arranged along the body side of the wearer 7, but the load acting on the upper body wearing device 2 can be transmitted to each thigh wearing device 3. If possible, it may be attached to the upper body attachment device 2 and each thigh attachment device 3 by interposing a required attachment member so as to be disposed in the front-rear direction position of the body of the wearer 7.

  In the control device 25, the force generated at the waist of the wearer 7 is measured based on the myoelectric signal of the waist of the wearer 7 input from the myoelectric potential detection electrode 22. The amount of deformation when the muscle generates force is detected from the pressure acting on the pressure sensor attached to the required part of the waist, and the force generated by the muscle is calculated from the detected amount of deformation. Also good.

  As long as the angle sensor 18 can detect the relative rotation angles of the frames 8 and 10, the frames 10 and 11, and the frames 11 and 9 positioned above and below the joints 5 a, 5 b, and 5 c, A type of angle sensor may be employed. Of course, various changes can be made without departing from the scope of the present invention.

It is a schematic side view which shows one Embodiment of the waist | hip | lumbar part assistance apparatus of this invention. It is a schematic side view which shows the state in which the wearer who mounted | weared the apparatus of FIG. It is a schematic front view of the apparatus of FIG. It is a side view which expands and shows the joint part of the apparatus of FIG. It is a figure which shows the result of the test which the present inventors etc. performed using the apparatus of FIG. It is a schematic diagram which shows the muscle strength assistance apparatus for care conventionally proposed.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Lumbar support apparatus 2 Upper body mounting tool 3 Thigh mounting tool 4 Load transmission device 5a, 5b, 5c Joint part 6a, 6b, 6c Pneumatic actuator (actuator)
7 Wearer 8 Upper mounting frame 8a Lower inclined surface 9 Lower mounting frame 9a Upper inclined surface 10 Upper connection frame (connection frame)
10a Upper end inclined surface 10b Lower end inclined surface 11 Lower connection frame (connection frame)
11a Upper end inclined surface 11b Lower end inclined surface 18 Angle sensor 22 Myoelectric potential detection electrode (device for detecting force generated at the waist of the wearer)
25 Control device

Claims (6)

An upper body mounting tool for mounting on the upper body of the human body, a pair of left and right thigh mounting tools for mounting on the thighs of both legs, and a joint that can bend and stretch in the front-rear direction by rotating has a plurality of locations, and each respective joint, and a load transmission device in which comprises an actuator for imparting a force in a direction to extend the joint from the bent state, the upper body mounting device and Kakudai a thigh attachment connects through the load transmission device, the load acting on the upper body mounting device, characterized in that to be able to transmit to the respective thigh attachment via the load transmission device lumbar Support device. One or more connecting frames between the upper mounting frame for attaching the load transmitting device to the left and right positions of the upper body wearing device and the lower mounting frame for attaching the load transmitting device to the left and right outer positions of the left and right thigh wearing devices, respectively. the arranged, also of the claims 1 lumbar support device according ing to form the ends of adjacent frames rotatably connected to the front-rear direction at the joint portion in the vertical direction.   The upper mounting frame has a lower end inclined surface inclined downward from the front to the rear at the lower end, the lower mounting frame has an upper end inclined surface inclined upward from the front to the rear, and a connecting frame. Is formed between the frames connected in the vertical direction as a shape having an upper end inclined surface inclined upward from the front to the rear at the upper end and a lower inclined surface inclined downward from the front to the rear at the lower end. The lower back support apparatus according to claim 2, wherein an actuator that can be expanded and contracted in a vertical direction is interposed in a wedge-shaped gap opened forward.   Each joint part of the load transmitting device is provided with an angle sensor for detecting the bending angle at each joint part, and the upper body wearing tool is attached to the upper body and each thigh wearing tool is attached to the left and right thighs. A device for detecting the force generated at the waist of the wearer is provided, and further, the signal input from the angle sensor and the device for detecting the force generated at the waist of the wearer are input. 4. The lumbar support device according to claim 1, further comprising a control device for controlling a force applied by a corresponding actuator to each joint portion of the load transmission device based on the signal.   The control device detects the posture of the upper body of the wearer based on the input from each angle sensor, and obtains the torque required for the waist to support the weight of the upper body when taking the detected posture, From the difference between the torque required at the waist and the force generated at the waist of the wearer obtained based on a signal input from a device that detects the force generated at the waist of the wearer, the above In addition to the weight of the wearer's upper body, the magnitude of the load acting on the waist can be calculated, and the load of the load can be transmitted to each thigh wearing device via the upper body wearing device and the load transmitting device. The lumbar region support device according to claim 4, wherein the lumbar region support device has a function of controlling a force exerted by a corresponding actuator on each joint portion of the load transmitting device. The upper body wearing device is provided with a flexible and strong plastic belt-like member that can be wound around the upper body, and each thigh device can be wound around the thigh. The waist support device according to claim 1, 2, 3, 4, or 5, wherein the belt-like member is made of a plastic material having flexibility and strength.

Images