The present application claims priority from Japanese application No. 2005-143422 filed May 17, 2005, and the contents of this Japanese patent application are incorporated in the present application by reference.
The present invention relates to a walking assistance device provided with a power actuator for providing an assist force for assisting the muscular force of a person having a deficiency in the functions of his lower limbs, and in particular to a walking assistance device equipped with a femoral support member that can secure a free end of an assist force transmitting arm for transmitting an assist force of the power actuator to a femoral region of a wearer without causing any discomfort.
Various walking assistance devices have been proposed (see Japanese patent laid open publication No. 07-163607, for instance) for the purpose of providing an assistance to a person who has a difficulty in walking by himself owing to the lack of muscular force, and such a device typically includes a power actuator such as an electric motor fitted on the wearer near his hip joint or knee joint to assist the movement of the lower limbs of the wearer.
In the walking assistance device disclosed in Japanese patent laid open publication No. 07-163607, a femoral support member is worn around a femoral region of the wearer, and an actuating force of the power actuator is transmitted to the femoral region of the wearer via the femoral support member. The femoral support member is provided with a cylindrical shape so as to surround the femoral region and be firmly secured thereto, and is made of soft and flexible material such as elastic fabric, leather and plastic sheet. The femoral support member is configured to be opened at a part thereof so as to be detachably fitted around the femoral region.
However, according to the structure disclosed in Japanese patent laid open publication No. 07-163607, because the femoral support member is made of soft material and has a low rigidity, the actuating force of the power actuator tends to concentrate in the joint between the power transmitting arm and femoral support member, and this prevents the actuating force from being transmitted evenly to the entire femoral region. For this reason, some discomfort was inevitable for the wearer because of a localized application of pressure to the femoral region.
To effectively transmit the actuating force evenly to the entire femoral region, it is necessary to increase the rigidity of the femoral support member and have the actuating force of the power actuator to be transmitted evenly to the entire femoral support member. However, in such an exoskeletal walking assistance device, it is not possible to precisely coincide the point of attachment between the power actuator/power transmitting arm and the body with the pivot center (articulation joint) of the body, and this inevitably causes a relative movement between the support member and body. In other words, increasing the rigidity of the femoral support member limits the freedom of movement of the wearer.
To increase the rigidity of the support member without obstructing the freedom of movement of the wearer, a relative movement between the support member and body must be accommodated by using a sliding mechanism or link mechanism between the power actuator and femoral support member. This leads to an increase in the complexity in the structure of the device and adds to the weight of the device.
An assistance device of this kind is designed for a person having limited bodily capabilities, and it is therefore not desirable if the femoral support member is not easy to wear or is too heavy.
The present invention was made in view of such problems of the prior art, and has a primary object to provide a walking assistance device equipped with a femoral support member that can favorably accommodate a relative movement between the support member and a human body while increasing the rigidity of a power transmitting portion as well as the femoral support member.
According to the present invention, such an object can be accomplished by providing a walking assistance device, comprising a hip support member secured to a hip of a wearer, a power actuator secured to the hip support member and having a drive shaft, an assist force transmitting arm extending radially from the drive shaft and a femoral support member for securing a free end of the assist force transmitting art to a femoral region of the wearer, characterized in that: the femoral support member engages the femoral region via a pad including a bag and rolling granules filled in the bag.
Thereby, the fact that the femoral region of the wearer is allowed to make a sliding contact with the femoral support member. This accommodates the relative movement between the support member and body owing to the disagreement between the axis of body movement (center of an articulate joint) and the point at which the power actuator/power transmitting arm engages the wearer's body. It further permits the flexing movement and twisting movement of the lower limb, and would not prevent natural movement of the lower limb. Therefore, the present invention is highly effective in minimizing the discomfort to the wearer.
If the assist force transmitting arm consists of a member that is substantially rigid with respect to a rotational direction thereof, the distance between the power actuator secured adjacent to the hip joint and the femoral support member so that the femoral support member would not shift during use.
If the femoral support member further comprises a stay that supports the pad on a free end of the assist force transmitting member and at least partly surrounds the femoral region of the wearer, the femoral region can be secured to a free end of the assist force transmitting arm in a stable manner. In particular, if the femoral support member comprises a front support plate attached to the stay so as to oppose a front face of the femoral region and a rear support plate attached to the stay so as to oppose a rear face of the femoral region, each of the support plate being provided with a pad so as to engage a corresponding part of the femoral region via the pad, the pressure supporting surface area can be maximized. In view of the anatomy of a human body, it is preferable if the front support plate is vertically longer than the rear support plate and/or the rear support plate is wider than the front support plate.
To favorably accommodate the movement of the femoral region, it is preferable if each support plate is rotatably attached to the stay and/or each support plate is attached to the stay via a spring joint. In particular, it is important to permit a relative sliding movement between the femoral region and femoral support member in a favorable manner. For this purpose, the bag is preferably divided into a plurality of cells each of which is filled with the rolling granules. For the granules to be light in weight and capable rolling in a favorable manner, the rolling granules preferably comprise plastic material. From the view point of comfort, the rolling granules may comprise foamed plastic material so as to be easily deformable.
Now the present invention is described in the following with reference to the appended drawings, in which:
Now the present invention is described in the following in more detail in terms of a concrete embodiment with reference to the appended drawings.
Referring to
The support plates 22F and 22R are configured so as to interpose the femoral region T between the opposing surfaces thereof via the pads 23 from front and rear. The front support plate 22F engaging the front surface of the femoral region T is vertically more elongated than the rear support plate 22R engaging the rear surface of the femoral region T, and the rear support plate 22R is wider than the front support plate 22F. As shown in
The rear support plate 22R engages the hamstring of the wearer that includes a femoral biceps, and the front support plate 22F engages the femoral quadriceps of the wearer. To avoid the rear support plate 22R from interfering with the back of the knee of the wearer when the wearer squats, the rear support plate 22R has a raised lower edge is shorter by the front support plate F by the corresponding length. Because the muscular force of the femoral quadriceps is about 1.6 times greater than that of the hamstring when supporting the human weight, the efficiency of the force transmission from the torque arm 5 can be increased by increasing the vertical dimension of the front support plate 22F so as to increase the load supporting capability and arranging the central path of force transmission in parallel with the femoral bone.
The pad 23 that engages the femoral region T consists of a bag made by sewing sheet material and filled with foamed plastic granules (beads).
The sheet material for the bag is desired to be pliant and low in friction. In terms of a capability to retain shape, thermoplastic plastic such as nylon, polyester, polypropylene is preferred. In particular, non-woven fabric, knit fabric and woven fabrics made of fibers of such plastic material are preferred. Absorption property is also important in view of the inevitable sweating of the wearer, but as this pad 23 is typically worn over a garment worn by the wearer, the material is required to be highly air permeable at least.
The beads filled in the bag may be readily formed by shaping plastic material into granules while the plastic material is being foamed or by breaking lumps of suitably foamed plastic material into fine particles. The plastic material may consist of those that have a molecular structure free from polar groups and are low in friction, such as polystyrene and polypropylene. If the particle size is too small, comfort to the wearer is impaired because the particles would not readily undergo elastic deformation and the wearer may feel the particles to be too hard. If the particle size is too great, the bag demonstrates an irregular outer contour, and this impairs the appearance of the pad 23. Based on such considerations, the particle size is desired to be in the range of 0.2 mm to 2 mm.
If the amount of the beads that fill the bag is too small, the bag is unable to properly conform to the outer surface of the femoral region T. Therefore, the amount of the beads that fill the bag should be such that the beads can freely move inside the bag and a layer of beads having a suitable thickness may be always present between the femoral region T and pad 23 when the pad 23 is pressed against the femoral region T.
Even though the beads are extremely light in weight, the beads tend to sink downward under their own weight when the pad 23 is not worn by the wearer. It is therefore preferable to divide the bag into a number of small cells by sewing so that the beads may be favorably distributed over the entire bag as illustrated in
When there is a relative movement between the femoral support member 3 and femoral region T owing to the movement of the femoral region T, because the beads inside the pad 23 are in rolling contact with one another, the beads can move freely within the bag. Therefore, even when the pad 23 is in close contact with the femoral region T, the friction between the femoral region T and each of the support plates 22F and 22R is reduced by the rolling of the beads so that the relative movement between the femoral support member 3 and femoral region T can be favorably accommodated. Therefore, the movements of the femoral region T, in particular the flexing movement and twisting movement of the femoral region T, can be effected without obstruction.
To the inner surface of the front support plate 22F is secured an air pad 27 by using a backup plate 26 having a substantially same shape as the front support plate 22F. This air pad 27 consists of a flattened blister made of soft elastomer material, and is provided with a part that is connected to a hand pump 29 via an air hose 28 as shown in
The air cushioning action of the air pad 27 allows the air pad 27 to deform to such an extent as to accommodate deformation of the outer surface of the femoral region T owing to the swelling of the muscles such as when the user squats. Also, the securing force of the support member 3 can be readily adjusted by pumping air into and out of the air pad 27. These factors contribute to making the femoral support member 3 comfortable to wear. Because the femoral support member 3 can accommodate a large range of differences in the build of the user by using a simple structure, the femoral support member 3 can fit almost any person if it comes with a small number of different sizes such as S, M and L. Therefore, the femoral support member can be mass produced so that the manufacturing cost can be reduced as compared with the conventional femoral support member which is custom made for the build of each particular user.
Although the present invention has been described in terms of a preferred embodiment thereof, it is obvious to a person skilled in the art that various alterations and modifications are possible without departing from the scope of the present invention which is set forth in the appended claims.
Number | Date | Country | Kind |
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2005-143422 | May 2005 | JP | national |
Filing Document | Filing Date | Country | Kind | 371c Date |
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PCT/JP2006/308550 | 4/24/2006 | WO | 00 | 10/23/2007 |