Wear-type joint drive device

Wearable joint drive device

Technical field

The present invention relates to a wearable joint drive device that is worn on a human body and can move on joints.

Background technique

A wearable joint drive device that can be worn on the human body and can move at the joints is disclosed in JP 2002-103270 A. In this conventional wearable joint driving device, a plurality of pneumatic actuators that generate driving force by supplying air to reduce the length of the clothes worn on the human body are installed. That is, the above-mentioned device utilizes the reduced length of the pneumatic actuator to generate contraction force between the connecting bodies formed on the clothing, and thereby drive the joints of the human body.

However, in this conventional wear-shaped joint drive device, since the force from the pneumatic actuator acts on the clothes connecting body made of soft materials such as cloth, wrinkles or slack are generated on the clothes, or the clothes are relative to Since the human body is displaced, the movement amount of the pneumatic actuator cannot be properly transmitted to the human body, and there is a possibility that a sufficient movement amount and driving force may not be obtained in actual use.

Summary of the invention

In order to solve the above-mentioned problems, the object of the present invention is to provide a wearable joint drive device that can improve the transmission efficiency of driving force and can obtain an increased amount of motion and driving force.

The wearable joint drive device of the present invention is worn on a driven body that has a plurality of worn bodies and at least one joint that rotatably connects the worn bodies to each other, and the wearable joint The drive device can drive the joint; the wearable joint drive device has: a plurality of frame bodies with predetermined rigidity mounted on the wear body in contact with the outside of the wear body; at least one fluid pressure type actuator, The fluid pressure type actuator has an expansion and contraction body that expands and contracts by supplying and discharging fluid, and a mesh covering body covering the outer periphery of the expansion and contraction; the fluid pressure type actuator is installed between the frame bodies and The expansion and contraction of the expansion and contraction body shorten the length to generate a driving force; and a control unit that controls the supply or discharge of fluid to the fluid pressure actuator.

In addition, the wearable joint drive device of the present invention can be worn on a driven body, which has first and second worn bodies and joints that rotatably connect the first and second worn bodies to each other The wearable joint drive device can drive the joint portion; the wearable joint drive device has: a first frame body mounted on the first worn body, and a second frame mounted on the second worn body. A frame body, a rotation auxiliary member rotatably connected to the first frame body, provided between at least one of the first frame body and the rotation auxiliary member and the second frame body, and the second frame body is rotated relative to the first frame body The actuator for the second frame body and the actuator for the auxiliary part that is provided between the first frame body and the rotation auxiliary part and rotates the rotation auxiliary part relative to the first frame body; the second frame body is actuated The actuators and rotary auxiliary components are fluid pressure type actuators. The fluid pressure type actuator has an expansion and contraction body that expands and contracts by supplying and discharging fluid, and an expansion and contraction body that covers the expansion and contraction outer periphery. The net-shaped covering body is shortened by the expansion and contraction of the body to generate driving force; the second frame body is rotated from the first position to the second position by the driving force of the actuator for the second frame body relative to the first frame body Position, when the second frame body is in the second position, the second frame body is rotated together with the rotation auxiliary member by driving the auxiliary component actuator, so that the angle of the second frame body relative to the first position is, Rotate to the 3rd position which is larger than the 2nd position.

Description of the drawings

Fig. 1 is a front view of a wearable joint driving device according to Embodiment 1 of the present invention.

Fig. 2 is a side view of the actuator in Fig. 1.

Fig. 3 is a side view of the expanded state of the actuator in Fig. 1.

Fig. 4 is a block diagram of the wearable joint driving device of Fig. 1.

Fig. 5 is a front view of a state in which the upper arm frame in Fig. 1 is rotated to a second position.

Fig. 6 is a front view of a state in which the upper arm frame in Fig. 5 is rotated to a third position.

Fig. 7a is a side view of the wearable joint driving device according to the second embodiment of the present invention.

Fig. 7b is a cross-sectional view taken along line AA of Fig. 7a.

Fig. 7c is a cross-sectional view of a state in which air is supplied to the frame tube of Fig. 7b. Fig. 8 is a block diagram of the wearable joint driving device of Fig. 7a.

Fig. 9 is a perspective view of the wearable joint driving device according to the third embodiment of the present invention seen from the front side obliquely to the right.

Fig. 10 is a perspective view of the wearable joint drive device of Fig. 9 seen from the front side obliquely to the left.

Fig. 11 is a perspective view of the wearable joint drive device of Fig. 9 seen obliquely to the left from the back side.

Fig. 12 is an exploded perspective view of the left arm side frame structure of the wearable joint drive device of Fig. 9;

Fig. 13 is a perspective view of the joining part of Fig. 9;

Fig. 14 is a perspective view of the torso frame of the wearable joint driving device according to the fourth embodiment of the present invention.

detailed description

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

Embodiment 1 FIG. 1 is a front view of a wearable joint driving device according to Embodiment 1 of the present invention. This embodiment shows a device that is worn on the upper body of the human body and drives the shoulder joint and elbow joint of one arm. In addition, the driven body of this embodiment is a part of the human body, the trunk (body) is the first body to be worn, the upper arm is the second body to be worn, and the forearm is the third body to be worn. Connect the torso and upper arm with the shoulder joint, and connect the upper arm and the forearm with the elbow joint.

In the figure, the trunk frame 1 as the first frame body is worn on the trunk. The torso frame body 1 is provided with a cuff 1a for passing through the arm. In addition, in the trunk frame 1, a fixing belt (not shown) that prevents the trunk frame body 1 from moving relative to the trunk is provided.

On the upper arm, the upper arm frame 2 as the second frame body is worn. That is, the upper arm passes through the cylindrical lower arm frame 2. The upper arm frame 2 is rotatably connected to the torso frame 1 by the connecting portion 3. The torso frame 1 is rotatably connected to the shoulder frame 4 as a rotation auxiliary member through the connection part 5. The connecting parts 3 and 5 are arranged to have a distance from each other. That is, the respective rotation center positions of the upper arm frame 2 and the shoulder frame 4 deviate from each other.

On the forearm, the forearm frame 6 is worn. That is, the forearm passes through the cylindrical forearm frame 6. The torso frame 1, the upper arm frame 2 and the forearm frame 6 are respectively worn on the outside of the torso, the upper arm and the forearm in a contactable manner. In addition, the torso frame 1, the upper arm frame 2, the shoulder frame 4, and the forearm frame 6 have a predetermined rigidity capable of performing the same actions as those in the worn state even when they are not worn on the human body. Specifically, as the frames 1, 2, 4, and 6, non-metallic soft frames made of hard resin or foamed plastic covered with cloth were used.

Between the trunk frame 1 and the upper arm frame 2, a tubular first actuator 7 as a second frame body actuator capable of rotating the upper arm frame 2 with respect to the trunk frame 1 is provided. Both ends of the first actuator 7 are fixed to the other shoulder of the trunk frame 1 and the vicinity of the elbow joint of the upper arm frame 2, respectively.

Between the shoulder frame 4 and the upper arm frame 2, there is provided a tubular second actuator 8 as an actuator for the second frame body that pulls the upper arm frame 2 toward the shoulder frame 4. Both ends of the second actuator 8 are fixed to the vicinity of the shoulder of the shoulder frame 4 and the vicinity of the elbow joint of the upper arm frame 2, respectively. The shoulder frame 4 is provided with guide portions (guide holes) 4a that pass through the first and second actuators 7, 8.

Between the trunk frame 1 and the shoulder frame 4, there is provided a third tubular actuator 9 as an actuator for auxiliary components that allows the shoulder frame 4 to rotate relative to the trunk frame 1. Both ends of the third actuator 9 are fixed to the other shoulder of the trunk frame 1 and the vicinity of the front end of the shoulder frame 4, respectively.

Between the upper arm frame 2 and the lower arm frame 6, there are provided fourth and fifth tubular actuators 10 and 11 that can rotate the lower arm frame 6 relative to the upper arm frame 2. Both ends of the fourth and fifth actuators 10 and 11 are fixed to the vicinity of the elbow joint of the upper arm frame 2 and the elbow joint of the forearm frame 6 and the front end of the forearm frame 6 respectively.

In addition, on the frames 1, 2, 4, and 6, according to the direction of movement of each joint or the required driving force, multiple actuators can be installed in the other parts mentioned above, but only the first is shown here for the sake of simplicity. ~The fifth actuator 7-11.

Fig. 2 is a side view of the actuators 7 to 11 of Fig. 1, and Fig. 3 is a side view of the actuators 7 to 11 of Fig. 1 in an expanded state. In Fig. 1, the first to fifth actuators 7 to 11 are shown in simple curves, but the actuators 7 to 11 have the structures shown in Figs. 2 and 3, respectively. In addition, in FIG. 2 and FIG. 3, in order to show the internal structure, the mesh cover is partially cut away and shown.

In the figure, as the first to fifth actuators 7 to 11, pneumatic actuators such as fluid pressure actuators are used. A supply and discharge pipe 15 for supplying and discharging air as a fluid in the inner pipe 12 is connected to one end in the longitudinal direction of the inner pipe 12 as an expansion and contraction body. A sleeve (not shown) is inserted into the other end in the longitudinal direction of the inner tube 12 and is sealed and blocked. The inner tube 12 is made of, for example, an elastomer such as silicone rubber or butyl rubber.

The outer circumference of the inner tube 12 is covered by a mesh cover 13 of a mesh covering body. The mesh cover 13 is composed of, for example, filaments (wires) such as high-tensile fibers such as non-stretchable nylon or polyester fibers. The mesh of the mesh cover 13 is woven with fibers that cross in the longitudinal direction of the mesh cover 13. Both ends of the mesh cover 13 in the longitudinal direction are fixed by fastening fittings 14a and 14b, and thus are fixed to both ends of the inner tube 12 in this way.

The inner tube 12 expands by supplying air to the inside. At this time, since the filaments constituting the mesh cover 13 have no elasticity, the expansion of the inner tube 12 is converted into a shortening of the entire length of the actuator. That is, when the actuators 7 to 11 are supplied with air, the diameter is enlarged and the length is shortened. The shortening of the length causes the actuators 7 to 11 to generate driving force (stretching force).

Hereinafter, FIG. 4 is a block diagram of the structure of the drive control unit of the wearable joint drive device of FIG. 1. For example, air is supplied to the actuators 7 to 11 from a compressed air supply unit 16 constituted by a small air compressor. The pressure of the air supplied from the compressed air supply unit 16 to the actuators 7 to 11 is adjusted by one or more pressure controllers 17. In addition, the air supply to the actuators 7 to 11 is performed selectively or in parallel by the output selector 18. The compressed air supply unit 16, the pressure controller 17 and the output selector 18 are controlled by the control computer 19. The control unit has a pressure controller 17 and an output selector 18.

The operation will be described below. By supplying air to the first and second actuators 7, 8, the lengths of the first and second actuators 7, 8 are shortened, and as shown in FIG. 5, the upper arm frame 2 is raised. From this state, by supplying air to the third actuator 9, as shown in FIG. 6, the upper arm frame 2 and the shoulder frame 4 can be further raised together.

That is, the upper arm frame 2 is rotated from the first position (FIG. 1) to the second position (FIG. 5) with respect to the trunk frame 1 by the driving force of the first and second actuators 7 and 8. Then, with the upper arm frame 2 in the second position (FIG. 5 ), the upper arm frame 2 is rotated together with the shoulder frame 4 by the driving force of the third actuator 9. Therefore, the upper arm frame 2 is rotated to a third position that is greater than the angle of the second position with respect to the first position (FIG. 6 ).

Such a wearable joint drive device has a predetermined rigidity that enables the torso frame 1, the upper arm frame 2, the shoulder frame 4, and the forearm frame 6 to perform the same actions as in the worn state even when the human body is not worn. It can prevent wrinkles or bending on the frames 1, 2, 4, 6, and can improve the transmission efficiency of driving force, and increase the amount of movement and driving force.

That is, the frames 1, 2, 4, and 6 have the function of the outer bone grid of crustaceans such as insects as an armor-like bone grid. Regarding the combination or configuration of the frame, considering the actual configuration of the bones, joints and muscles of the human body, it is best not to overload the skin, bones, and joints at various limb positions, and the rotation center of the joints Can be the same as or equivalent to the human body's movements.

In addition, since the shoulder frame 4 and the third actuator 9 capable of rotating the movable shoulder frame 4 are used, the rotation range of the upper arm frame 2 can be expanded. That is, only the first actuator 7 can only rotate the upper arm frame 2 outward by about 70°, but the third actuator 9 can rotate the upper arm frame 2 outward by 90° or more together with the shoulder frame 4.

In this way, by adding the shoulder frame 4 and the third actuator 9, not only can the joints of the shoulder and its surroundings be used as a joint having only one rotation axis, but also the movement of the rotation center can be realized in accordance with the movement, which is the same as that of the human body.

In addition, since the torso frame 1 is provided with a fixing belt for fixing the torso frame 1 to the human body, it is possible to prevent the movement of the torso frame 1 from absorbing the driving force of the actuators 7 to 11, and it is possible to further increase the driving force. Transmission efficiency. In addition, since the force from the actuators 7 to 11 is received by the trunk frame 1 but not by the fixing belt, the wearer does not receive the load from the fixing belt.

In addition, in the above example, the shoulder frame 4 and the third actuator 9 are used to extend the rotation range of the upper arm frame 2, but other rotation auxiliary components and auxiliary component actuators for extending the rotation range of the frame may also be used .

In addition, in the above example, a wearable joint drive device that drives a single arm is shown, but it may be worn on other parts of the human body and drive other joints.

Example 2 Below, Fig. 7a is a side view of the wearable joint driving device of Example 2 of the present invention, Fig. 7b is a cross-sectional view of AA in Fig. 7a, and Fig. 7c is a cross-sectional view of the state of supplying air to the frame tube of Fig. 7b. 8 is a block diagram that constitutes the motion control unit of the wearable joint driving device of FIG. 7a. In this example, it is a device that is worn on the knees of the human body to flex and extend the knee joints. In addition, the thigh and calf, which are the to-be-weared body, are rotatably connected by the knee, which is a joint.

In the figure, the frame body 21 has a support body 22 that supports a thigh and a lower leg, and first and second frame pipes 23 and 24 mounted in the support body 22. Through the supply and discharge pipe 25, air is supplied to the first and second frame pipes 23 and 24. The frame body 21 obtains a predetermined rigidity by supplying air to the first and second frame pipes 23 and 24, and is flexible in a state where the air is discharged.

The support body 22 has: a first storage portion 22a for storing the first frame pipe 23, a second storage portion 22b for storing the second frame pipe 24, a first actuator insertion portion 22c, and a second actuator insertionunit22d. The first storage portion 22a and the second storage portion 22b, as shown in the cross section on FIG. 7b, can be connected to the upper side of each pipe arranged in parallel.

The first actuator 26 is inserted into the first actuator insertion portion 22c. Both ends of the first urging 26 are fixed to the support 22. The second actuator 27 is inserted into the second actuator insertion portion 22d. Both ends of the second urging 27 are fixed to the support 22. The structures of the first and second actuators 26 and 27 are the same as those shown in FIGS. 2 and 3.

In such a wearable joint drive device, by supplying air to the first and second frame pipes 23, 24, the first and second housing portions 22a, 22b are formed into a concave shape as shown in FIG. The thigh and calf of the load. In addition, by supplying and discharging air to the first and second actuators 26 and 27, a tensile force can be applied to the frame body 21 to perform bending and extension of the knee joint. At this time, since the frame body 21 has a predetermined rigidity due to the supply of air to the frame pipes 23 and 24 (the same rigidity as in the worn state even when the human body is not worn), the driving force transmission efficiency can be improved, and Can increase the amount of movement and driving force. In addition, since the frame body 21 is soft in a state where air is discharged, the comfort during use can be improved. In addition, it can be easily stored or transported when not in use. In addition, the overall weight can be reduced, and the wearing mood when worn on the human body can be improved.

In addition, in this embodiment, as shown by the dashed line in FIG. 7b, the support 22 may be formed with a pocket 28 into which arms or feet are inserted on the front or back of the frame tubes 23 and 24.

Below Example 3, FIG. 9 is a perspective view of the wearable joint drive device of Embodiment 3 of the present invention seen from the front side obliquely to the right, and FIG. 10 is a perspective view of the wearable joint drive device of FIG. 9 seen from the front side obliquely to the left 11 is a perspective view of the wearable joint drive device of FIG. 9 seen obliquely to the left from the back side, and FIG. 12 is an exploded perspective view showing the left arm side frame structure of the wearable joint drive device of FIG. 9. In FIGS. 9 to 11, for simplicity, only the actuator for driving the left arm is shown, but actually, the actuator for driving the right arm is also symmetrically arranged.

In the figure, a torso frame 31 as a first frame body is worn on the torso. The torso frame 31 is provided with a head penetration hole 31a for passing the head. In addition, the torso frame 31 has a torso frame main body 32 supported by the shoulders, a chest frame 33 rotatably connected to the torso frame main body 32 by a plurality of hinges 34 and in contact with the chest, and protruding upward from the back of the torso frame main body 32 Protruding out and facing the raised part 35 of the neck or the back of the head.

In this way, the torso frame 31 does not cover the entire upper body, and only sandwiches the upper part of the chest and the back from the front and rear. The breast frame 33 can rotate relative to the trunk frame main body 32 according to the body shape of the wearer.

Each shoulder portion of the trunk frame body 32 is connected to a shoulder frame 37 as a rotation auxiliary member through a joint portion 36. The shoulder frame 37 has an annular shoulder frame body 38 connected to the joint portion 36 and is rotatably fitted in The ring-shaped shoulder frame turning part 39 in the shoulder frame main body 38.

The shoulder frame body 38 is provided with a projecting portion 38a having an arc-shaped cross-section extending outward. In addition, on the inner peripheral surface of the shoulder frame main body 38, there is provided a protrusion 38b for guiding the rotation of the shoulder frame rotating part 39 (FIG. 12).

On the shoulder frame rotating portion 39, a pair of upper arm frame continuous portions 39a are provided. On the outer peripheral surface of the shoulder frame rotating portion 39, a guide groove 39b (FIG. 12) into which the protrusion 38b is inserted is provided. When the shoulder frame rotating portion 39 rotates relative to the shoulder frame body 38, the protruding portion 38b relatively slides in the guide groove 39b.

To the shoulder frame turning portion 39, a cylindrical upper arm frame 41 as a second frame body is connected by a pair of upper arm frame connection belts 40. The upper end portion of each upper arm frame connecting belt 40 is fixed to the upper arm frame continuous portion 39a.

The upper arm frame 41 has a cylindrical upper arm frame main body 42 connected to the upper arm frame connecting belt 40 and an annular upper arm frame rotating portion 43 rotatably fitted to the outer peripheral portion of the upper arm frame main body 42.

On the outer peripheral surface of the upper arm frame main body 42, a pair of protrusions 42a for guiding the upper arm frame rotating portion 43 are provided (FIG. 12). The upper arm frame rotating part 43 is provided with a pair of guide grooves 43a into which the boss 42a is inserted. When the upper arm frame rotating portion 43 rotates relative to the upper arm frame body 42, the protruding portion 42a can relatively slide in the guide groove 43a.

The upper arm frame rotating portion 43 is connected to a cylindrical lower arm frame 45 through a pair of link bodies 44. Each link body 44 has a first link member 44a connected to the upper arm frame turning portion 43 and a second link member 44b connected to the lower arm frame 45. The first and second link members 44a and 44b are rotatably connected to each other.

The torso frame 31, the shoulder frame 37, the upper arm frame 41, and the forearm frame 45 are made of metal materials such as aluminum or aluminum alloy.

Between the upper end of the boss 35 and the front end of the extension 38a, there is provided a first actuator 51 as an auxiliary member actuator that rotates the shoulder frame 37 with respect to the trunk frame 31. Both ends of the first actuator 51 are fixed to the boss 35 and the extension 38a, respectively.

Between the breast frame 33 and the front end of the extension portion 38a, a second actuator 52 as an actuator for auxiliary components that rotates the shoulder frame 37 with respect to the trunk frame 31 is provided. Both ends of the second actuator 52 are fixed to the breast frame 33 and the extension part 38a, respectively.

Between the back of the trunk frame main body 32 and the front end of the extension 38a, there is provided a third actuator 53 as an auxiliary component actuator that rotates the shoulder frame 37 relative to the trunk frame 3 (only in Shown on Figure 11). Both ends of the third actuator 53 are fixed to the trunk frame main body 32 and the extension part 38a, respectively.

Between the back surface of the shoulder frame main body 38 and the front surface of the upper arm frame main body 42, a fourth actuator 54 that rotates the upper arm frame 41 and the shoulder frame rotation portion 39 relative to the shoulder frame main body 38 is provided. The fourth actuator 54 is arranged on the outer peripheral surface of the shoulder frame main body 38 so as to be windable. In addition, both ends of the fourth actuator 54 are fixed to the shoulder frame main body 38 and the upper arm frame main body 42 respectively.

Between the front surface of the shoulder frame main body 38 and the back surface of the upper arm frame main body 42, a fifth actuator 55 that rotates the upper arm frame 41 and the shoulder frame rotating portion 39 relative to the shoulder frame main body 38 is provided. The fifth actuator 55 is arranged on the outer peripheral surface of the shoulder frame main body 38 so as to be windable. In addition, both ends of the fifth actuator 55 are fixed to the shoulder frame main body 38 and the upper arm frame main body 42, respectively.

The directions of the driving forces generated by the fourth and fifth actuators 54 and 55 are opposite to each other.

Between the upper end of the boss 35 and the outer surface of the upper arm frame body 42 (the side opposite to the trunk), there is provided an actuator for the second frame body that rotates the upper arm frame 41 relative to the trunk frame 31 The sixth actuator 56. Both ends of the sixth actuator 56 are fixed to the boss 35 and the upper arm frame body 42 respectively.

Between the upper arm frame main body 42 and the upper arm frame rotating portion 43, seventh and eighth actuators 57, 58 are provided for rotating the upper arm frame rotating portion 43 and the small arm frame 45 with respect to the upper arm frame main body 42. The seventh and eighth actuators 57 and 58 are arranged on the outer peripheral surface of the upper arm frame 41 so as to be windable. Both end portions of the seventh and eighth actuators 57 and 58 are fixed to the upper arm frame main body 42 and the upper arm frame rotating portion 43, respectively.

In addition, the directions of the driving forces generated by the seventh and eighth actuators 57 and 58 are opposite to each other.

Between the first link member 44a and the front end (lower end) of the arm frame 45, ninth to twelfth actuators 59 to 62 that rotate the arm frame 45 with respect to the upper arm frame 41 are provided. Both ends of the ninth to twelfth actuators 59 to 62 are fixed to the first link member 44a and the arm frame 45, respectively.

Between the back surface of the upper arm frame rotating part 43 and the back surface of the lower arm frame 45, a thirteenth actuator 63 (only shown in FIG. 11) that rotates the lower arm frame 45 relative to the upper arm frame 41 is provided.

Hereinafter, FIG. 13 is a perspective view of the joint portion 36 of FIG. 9. In the figure, the base 64 is fixed to the trunk frame body 32. A shaft 65 is provided on the base 64. The axis of the shaft 65 is parallel to the X axis of the figure. In addition, on the base 64, a rotating seat 66 that can rotate 360 degrees around the shaft 65 is mounted.

The rotating seat 66 is connected to the shoulder frame connecting member 68 through a hinge 67. The shoulder frame connecting member 68 can rotate 180 degrees relative to the rotating seat 66. In addition, the rotation axis of the shoulder frame connecting member 68 is parallel to the Y axis in the figure. On the shoulder frame connecting member 68, a shoulder frame body 38 is fixed.

The trunk frame 31 and the shoulder frame 37 are connected by such a joint portion 36, so that the shoulder frame 37 can be moved in accordance with the upward and downward direction of the upper arm relative to the trunk and the forward and backward movement direction of the upper arm.

In addition, the basic structures of the first to thirteenth actuators 51 to 63 are the same as those in FIGS. 2 and 3.

In addition, the control systems of the first to thirteenth actuators 51 to 63 are the same as those of the first embodiment (FIG. 4 ).

In addition, in order to prevent the clothes from being caught by the frame or the actuator from colliding with surrounding objects during actual wearing, it is more effective to use a protective cover that covers the entire outer and inner peripheral parts of the device. In this case, the protective cover can be made of cloth, for example.

The operation will be described below. By supplying air to the sixth actuator 56 from the state of FIGS. 9 to 11, the length of the sixth actuator 56 can be shortened, and the upper arm frame 41 can be raised. By supplying air to the first to third actuators 51 and 53 from this state, the upper arm frame 41 and the shoulder frame 37 can be raised together.

That is, the upper arm frame 41 is rotated from the first position to the second position with respect to the trunk frame 31 by the driving force of the sixth actuator 56. In a state where the upper arm frame 41 is located at the second position, the upper arm frame 41 can rotate together with the shoulder frame 37 by driving the first to third actuators 51 and 53. Therefore, the upper arm frame 41 can rotate to the third position which is larger than the second position angle with respect to the first position.

In addition, by supplying air to the second or third actuators 52 and 53 from the states of FIGS. 9 to 11, the shoulder frame 37 can be rotated around the shaft 65 of the joint portion 36 in the direction to move the shoulder back and forth.

In addition, by supplying air to the fourth or fifth actuators 54 and 55, the shoulder frame rotating portion 39 and the upper arm frame 41 can be rotated in the direction of swinging the arm forward and backward.

In addition, by supplying air to the seventh or eighth actuators 57 and 58, the upper arm frame rotating portion 43 and the lower arm frame 45 can be rotated relative to the upper arm in the direction of twisting the lower arm.

In addition, by selectively supplying air to the ninth to thirteenth actuators 59 to 63, the lower arm frame 45 can be rotated relative to the upper arm in the direction in which the lower arm is bent and extended.

In such a wearable joint drive device, the torso frame 31, the shoulder frame 37, the upper arm frame 41, and the forearm frame 45 have a predetermined rigidity with respect to the human body that can operate in the same manner as in the worn state even in the non-worn state, so It can prevent wrinkles or flexure on the frames 31, 37, 41, 45, and can improve the transmission efficiency of driving force, and increase the amount of movement and driving force.

In addition, since the shoulder frame 37 and the first and second actuators 51 and 52 capable of rotating the shoulder frame 37 are used, the rotation range of the upper arm frame 41 can be expanded.

In addition, since the torso frame 31 has the torso frame main body 32 supported by the shoulders of the torso, and the chest frame 33 rotatably connected to the torso frame main body 32 and in contact with the chest, it can be easily adapted regardless of the size of the wearer. Wear the overall device, and can greatly shorten the putting on and taking off time.

In addition, since the torso frame 31 is also provided with a protrusion 35 protruding from the back of the trunk frame main body 32, and the first and sixth actuators 51, 56 are connected to the protrusion 35, it is easy to perform The arrangement of the actuators 51 and 56 can effectively exert the driving force of the actuators 51 and 56.

In addition, since the joint portion 36 has a rotating seat 66 that can rotate about the shaft 65 and a shoulder frame connecting member 68 that is rotatably connected to the rotating seat 66 via a hinge 67, the freedom of movement of the shoulder frame 37 can be improved. And realize a variety of actions.

In addition, since the shoulder frame 37 is provided with a projecting portion 38a extending outward, and the first and second actuators 51, 52 are provided between the trunk frame 31 and the projecting portion 38a, it can be easily arranged The actuators 51 and 52 can effectively exert the driving force of the actuators 51 and 52.

In addition, since the shoulder frame 37 has the shoulder frame body 38 and the shoulder frame rotation portion 39 rotatably fitted to the shoulder frame body 38, the upper arm frame can be rotated in the direction to move the upper arm back and forth with a simple structure.

In addition, since the upper arm frame 41 has the upper arm frame main body 42 and the upper arm frame rotating portion 43 rotatably fitted to the upper arm frame main body 42, it is possible to use a simple structure to rotate the lower arm in a twisting direction relative to the upper arm. Arm frame.

The shoulder frame 37, the upper arm frame 41, and the forearm frame 45 can be operated individually or in combination by selectively or in parallel driving predetermined actuators of the actuators 51 to 63.

In addition, since the forearm frame 45 is connected to the upper arm frame 41 by the link body having the first and second link members 44a, 44b, the upper arm frame 41 and the forearm frame 45 can be miniaturized, and the overall lightness can be achieved. Quantify.

Embodiment 4 Below, FIG. 14 is a perspective view showing the torso frame of a wearable joint drive device according to Embodiment 4 of the present invention. In the figure, the torso frame 71 has a front part 72 covering the front of the torso and a back part 73 covering the back of the torso. The front part 72 and the back part 73 are rotatably connected by hinges (not shown) at the connecting parts 71a and 71b located on both shoulder parts.

In addition, the torso frame 71 is provided with cuffs 71c and 71d for passing through the arms and a neckline 71e for passing through the neck.

To the shoulders of the trunk frame 71, for example, shoulder frame attachment portions 74 and 75 to which the shoulder frame 37 shown in the third embodiment are attached are fixed.

When wearing the wearable joint driving device using the trunk frame 71 of the fourth embodiment, first, the front part 72 and the back part 73 are opened, the arms are passed through the cuffs 71c and 71d, and the trunk frame 71 is worn on the trunk. Then, the shoulder frame 37 is attached to the shoulder frame attachment portions 72, 73.

At this time, to the shoulder frame 37, the upper arm frame 41 and the forearm frame 45 shown in the third embodiment are connected in advance and assembled into an arm wearing assembly. In addition, the actuators 51 to 63 are also attached to the arm wearing assembly in advance.

Therefore, the attachment of the shoulder frame 37 to the shoulder frame attachment portions 72 and 73 is performed after the arm is inserted into the arm wearing assembly. Then, the actuators 51, 52, and 56 are connected to the trunk frame 71.

In this way, the trunk frame 71 and the arm wearing assembly can be put on and taken off, and they can also be worn separately.

As described above, the wearable joint drive device of the present invention can be worn by a person with a physical impairment, thereby enabling movement assistance. In addition, when a healthy person wears it, it can produce more muscle power than the wearer has and assist him in his work. Therefore, the burden on the body of the caregiver and supporter, for example, can be reduced. That is, even the elderly or women can perform heavy physical labor such as lifting. In addition, regardless of whether it is a healthy person or a handicapped person, they can assist the strength during physical work, and can maintain posture, maintain posture assistance, or increase strength.

In addition, the wearable joint drive device of the present invention can also be used as a drive source of the robot by wearing it on the robot.

In addition, for example, the frame body may be made of a material that can transmit X-rays and used for X-ray inspection in a state where external force is applied. In addition, it can also be used during MRI or CT examinations.