阅读说明：本技术 辅助装置 (Auxiliary device ) 是由 小林祐纪 尾崎光晴 太田浩充 服部円 于 2021-05-25 设计创作，主要内容包括：本公开涉及一种辅助装置,该辅助装置包括：致动器；第一身体穿戴单元,第一身体穿戴单元包括带本体；右臂和左臂；以及第二身体穿戴单元,第二身体穿戴单元附接至臂的远端部分并且被穿戴在使用者的大腿上。带本体包括设置在使用者的背侧的上带和下带,上带和下带分别沿着使用者的臀部的上侧和下侧延伸。辅助装置包括约束带,约束带将第二身体穿戴单元连接至下带并且约束下带以免向上移动。(The present disclosure relates to an auxiliary device, including: an actuator; a first body worn unit comprising a belt body; a right arm and a left arm; and a second body worn unit attached to the distal end portion of the arm and worn on the thigh of the user. The belt body includes upper and lower belts provided at a back side of the user, the upper and lower belts extending along upper and lower sides of the buttocks of the user, respectively. The assist device includes a restraining band that connects the second body worn unit to the lower band and restrains the lower band from moving upward.)

1. An accessory device, characterized in that the accessory device comprises:

an actuator including a right activation unit and a left activation unit configured to generate a torque around an imaginary line passing through a hip of a user in a right and left direction;

a first body worn unit including a band body connecting the right and left activation units to each other, the actuator being worn on the user's body by using the first body worn unit;

right and left arms that oscillate under the action of the torque; and

a second body worn unit attached to the distal end portions of the right and left arms and worn on the user's thighs, wherein:

the belt body includes upper and lower belts provided on a back side of the user, the upper and lower belts extending along upper and lower sides of buttocks of the user, respectively, and

the assist device includes a restraining band that connects the second body worn unit to the lower band and restrains the lower band from moving upward.

2. The assistive device according to claim 1, characterized in that the restraint band includes a left restraint band connecting a left second body wearing unit of the second body wearing units to the lower band and a right restraint band connecting a right second body wearing unit of the second body wearing units to the lower band, the left second body wearing unit being worn on the thigh of the left leg of the user and the right second body wearing unit being worn on the thigh of the right leg of the user.

3. The assistance device according to claim 2, characterized in that:

the left restraining band includes an inclined portion extending from the left second body wearing unit toward the lower band to be inclined toward the center in the left-right direction, and

the right restraining band includes an inclined portion extending from the right second body wearing unit toward the lower band to be inclined toward the center in the left-right direction.

4. The assistive device of claim 1, wherein the restraining band comprises:

a common belt portion connected to a central portion of the lower belt in the left-right direction;

a left belt portion connected to a left second one of the second body worn units worn on the thigh of the user's left leg;

a right belt portion connected to a right second body wearing unit of the second body wearing units worn on a thigh of a right leg of the user; and

a coupling portion coupling the left and right belt portions to the common belt portion.

5. The assistance device according to claim 4, characterized in that:

the left belt portion and the right belt portion are continuous with each other; and is

The coupling portion supports a continuous portion including the left belt portion and the right belt portion that are continuous with each other in a state where the continuous portion is folded back at an intermediate point so as to allow the continuous portion to move in a longitudinal direction of the continuous portion.

6. An aid as claimed in any one of claims 1 to 5 wherein said restraining band includes an extensible and contractible elastic portion disposed in at least a portion thereof.

Technical Field

The present disclosure relates to an assist device.

Background

Various auxiliary devices that are worn on the body of a user (human) to assist the user in performing tasks have been proposed. For example, when lifting a heavy object, the user of the aid can perform this task with less force (with less burden). Such an auxiliary device is disclosed, for example, in japanese patent application laid-open No.2018-199205(JP 2018-199205A).

Disclosure of Invention

The assist device disclosed in JP 2018-199205A includes a frame made of metal or the like to be worn by a user. The output of the actuator mounted in the frame is transmitted to the upper and lower bodies of the user through a link mechanism. This assists, for example, the user in the lifting of a heavy object.

The applicant of the invention to be disclosed herein has proposed an auxiliary device that is made more lightweight and compact (for example, japanese patent application No. 2018-230920). As shown in fig. 9, the assist device includes an actuator 90, and the actuator 90 includes: a left-right actuator unit 91, the left-right actuator unit 91 generating a torque around an imaginary line Li passing through the hip BW of the user in the left-right direction; a first body worn unit 92 through which the actuator 90 is worn on the user's body; left and right arms 93, the left and right arms 93 being swung by the torque; and a second body wearing unit 94, the second body wearing unit 94 being attached to the distal end portion of the arm 93 and worn on the thigh BF of the user. The first body wearing unit 92 includes a belt body 95 connecting the left and right activating units 91 to each other.

The belt body 95 includes an upper belt 97 and a lower belt 98 provided on the back side of the user in addition to a front belt 96 provided to extend along the abdomen of the user. The upper belt 97 is positioned along the upper side of the user's buttocks and the lower belt 98 is positioned along the lower side of the user's buttocks. The upper and lower belts 97 and 98 cooperating with the front belt 96 can make the belt body 95 closely contact with the user by being positioned at both sides of the buttocks in the up-down direction. The belt body 95 stabilizes the left and right activation units 91, and thus, it is possible to provide a desired assisting force to the user by using the torque generated by the activation units 91.

The lower belt 98 is held in a state in which the lower belt 98 extends along the lower side of the buttocks, for example, when a user wearing the assisting apparatus as described above performs an action including bending and stretching his or her both legs placed apart by about a shoulder width to lift a load or to put down a load. However, when the user performs a squatting motion in such a manner that his or her legs are separated in the left-right direction by more than the shoulder width, the lower belt 98, which has been positioned along the lower side of his or her buttocks, may be displaced upward. Then, when the user performs another action to perform a task from the squat state, the activation unit 91 is unstable with respect to the hip BW of the user, and may not provide the desired assisting force to the user.

The present disclosure provides an assisting device that can restrict displacement of a band body and provide a desired assisting force to a user.

An assist apparatus according to an aspect of the present disclosure includes: an actuator including a right activation unit and a left activation unit configured to generate a torque around an imaginary line passing through the hip of the user in left and right directions; a first body worn unit including a band body connecting the right and left activation units to each other, the actuator being worn on the body of the user by using the first body worn unit; the right arm and the left arm swing under the action of torque; and a second body worn unit attached to the distal end portion of the arm and worn on the thigh of the user. The belt body includes upper and lower belts provided at a back side of the user, the upper and lower belts extending along upper and lower sides of the buttocks of the user, respectively. The assist device includes a restraining band that connects the second body worn unit to the lower band and restrains the lower band from moving upward.

The assisting device can restrict the upward displacement of the lower belt of the belt body even in the case where, for example, the user takes a squatting posture. Therefore, the assisting force of the assisting device can be appropriately provided to the user. Therefore, the belt body can be restricted from being displaced and a desired assisting force can be provided to the user irrespective of the posture of the user.

The restraining band may include a left restraining band connecting the left second body wearing unit of the second body wearing units to the lower band, and a right restraining band connecting the right second body wearing unit of the second body wearing units to the lower band, the left second body wearing unit being worn on the thigh of the left leg of the user, and the right second wearing unit being worn on the thigh of the right leg of the user. In this case, the left and right restraining bands function independently of each other when the user takes a posture in which his or her right and left legs are bent differently from each other. This can enhance the function of restricting upward displacement of the lower belt.

The lower belt can be freely offset in the up-down direction to the maximum extent at the center thereof in the left-right direction. In the case where the restraining band includes the left and right restraining bands as described above, the left restraining band may include an inclined portion extending from the left second body worn unit toward the lower band to be inclined toward the center in the left-right direction; and the right restraining band may include an inclined portion extending from the right second body wearing unit toward the lower band to be inclined toward the center in the left-right direction. In this configuration, the left and right restraining belts are connected to the lower belt at a position closer to the center of the lower belt. This can further enhance the function of restricting the displacement of the lower belt.

As another form of the restraining strip, the restraining strip may include: a common belt portion connected to a central portion of the lower belt in the left-right direction; a left belt part connected to a left second body wearing unit among the second body wearing units, the left second body wearing unit being worn on the thigh of the left leg of the user; a right belt portion connected to a right second body wearing unit of the second body wearing units, the right second body wearing unit being worn on the thigh of the right leg of the user; and a coupling portion that couples the left belt portion and the right belt portion to the common belt portion. The lower belt can be freely offset in the up-down direction to the maximum extent at the center thereof in the left-right direction. Therefore, in this configuration, the common belt portion is connected to the central portion of the lower belt, which can further enhance the function of restricting the displacement of the lower belt.

In the case where the restraining strip includes a common strip portion, the left and right strip portions may be continuous with each other; also, the coupling portion may support a continuous portion including a left belt portion and a right belt portion that are continuous with each other in a state where the continuous portion is folded back at an intermediate point so as to allow the continuous portion to move in a longitudinal direction of the continuous portion. In this configuration, the length of each of the left and right belt portions may be freely changed when the user takes a posture in which his or her right and left legs are bent differently from each other. This can further enhance the function of restricting the displacement of the lower belt.

The restraining strip may include an extensible and contractible elastic portion disposed in at least a portion of the restraining strip. In this configuration, the length of the restraining strip can be varied, and thus, the restraining strip can easily accommodate changes in the posture of the user to improve the comfort of wear. Furthermore, the restraining strap does not interfere with the walking movement of the user.

The assistive devices disclosed herein may limit the band body displacement and provide a desired assistive force to the user.

Drawings

Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like reference numerals represent like elements, and in which:

fig. 1 is a perspective view showing an overall configuration of one example of an auxiliary device;

FIG. 2 is an exploded perspective view of the supplemental device shown in FIG. 1;

fig. 3 is a side view showing a user wearing the assistive device shown in fig. 1;

fig. 4 is a side view showing a user wearing the assistive device shown in fig. 1;

fig. 5 is a rear view showing a schematic configuration of the assist device;

FIG. 6 is a rear view showing a modified example of the restraining strip;

FIG. 7 is a rear view showing a modified example of the restraining strip;

fig. 8 is a perspective view showing a modified example of the assist apparatus; and

fig. 9 is a view illustrating an auxiliary device that has been proposed.

Detailed Description

Fig. 1 is a perspective view showing an overall configuration of one example of the assist device. Fig. 2 is an exploded perspective view of the auxiliary device shown in fig. 1. Fig. 3 and 4 are side views illustrating a user wearing the assistive device shown in fig. 1. In fig. 3, the user is in an upright standing position, and in fig. 4, the user is in a squatting position, wherein his or her hip BW is greatly reduced. The upright standing posture shown in fig. 3 is a posture in which: in this position, the longitudinal direction of the user's upper body, from hip BW towards head BH, extends along a vertical line.

The auxiliary device 10 is a device that: the device assists the user in rotating his or her leg (thigh BF) relative to his or her hip BW when the user lifts or lowers a load, and assists the user in rotating his or her leg (thigh BF) relative to his or her hip BW when the user walks. The operation of the assisting apparatus 10 to give the body assistance to the user will be referred to as "assisting operation".

The X-axis, Y-axis, and Z-axis in the drawing are orthogonal to each other, and the X-axis direction, Y-axis direction, and Z-axis direction correspond to the forward direction, the leftward direction, and the upward direction, respectively, for a user who wears the assisting apparatus 10 and is in an upright standing posture. In terms of the auxiliary operation, the rotation of the auxiliary leg (thigh BF) relative to the hip BW is the same as the rotation of the auxiliary hip BW relative to the leg (thigh BF). The assist operation is an assist operation that provides the user with a torque around an imaginary line Li that passes through the hip BW of the user in the left-right direction of the user. This torque will also be referred to as "assist torque".

The assistive device 10 shown in fig. 1 includes a first body wearing unit 11, right and left second body wearing units 12R and 12L, an actuator 13, and right and left arms 14R and 14L.

The actuator 13 of the present embodiment includes one driving source unit 31, right and left activation units 32R and 32L, and a frame 33. The frame 33 is formed of, for example, a highly rigid member such as a metal member, and the frame 33 couples the drive source unit 31 with the right and left activation units 32R and 32L. The driving source unit 31 is integrally combined with the right and left activation units 32R and 32L through a frame 33. The actuator 13 generates a torque around the imaginary line Li. This torque causes the right arm 14R and the left arm 14L to swing in the front-rear direction about the imaginary line Li. The specific configuration in which the actuator 13 swings the arms 14R, 14L will be described later.

The first body worn unit 11 is a member including a belt body 21 for the hip BW of the user and a vest (jack) 22 for the shoulder BS of the user, and the actuator 13 is worn on the user through the member. The first body worn unit 11 further comprises a back cushion 27. The back cushion 27 is interposed between the drive source unit 31 and the back of the user.

The belt body 21 is worn around the hip BW of the user, particularly around the abdomen and buttocks of the user. The belt body 21 is formed of a flexible member such as a fabric or leather member. The belt body 21 may include a hard core such as a resin core as a part of the belt body 21. The belt body 21 is configured such that the length of the belt body 21 around the hip BW can be changed, and thereby the belt body 21 is brought into close contact with the abdomen and the buttocks. The right and left activation units 32R and 32L are attached to the belt body 21. The vest 22 comprises shoulder straps 23 which are worn over the shoulders BS of the user. The shoulder belt 23 is attached to the drive source unit 31 and the frame 33, for example. The shoulder strap 23 is formed of a flexible member such as a fabric or leather member. The user can carry the drive source unit 31 on his or her back by using the shoulder straps 23, and can wear the activation units 32L, 32R on the left and right sides of his or her hip BW by using the belt body 21.

The right and left second body wearing units 12R and 12L are worn on the thighs BF of the right and left legs of the user. The second body wearing unit 12L for the left thigh BF and the second body wearing unit 12R for the right thigh BF have shapes that are inverted from each other in the left-right direction, but have the same configuration. As shown in fig. 2, the second body-worn unit 12R (12L) includes a main portion 25 and a strap member 26, the main portion 25 being formed of a hard core such as a metal or resin core, and the strap member 26 being formed of a flexible member such as a fabric or leather member. The main portion 25 is coupled to the distal end portion of the arm 14R (14L). The main portion 25 includes a pad 25a that contacts the front side of the thigh BF. The strap member 26 is attached to the main portion 25 and serves to fix the main portion 25 to the thigh BF. At least a part of the strap member 26 is elastically deformable, and the length of the second body wearing unit 12R (12L) around the thighs BF is changeable. The strap member 26 includes, for example, a touch-close fastener (i.e., a hook-and-loop fastener), and the strap member 26 is fixed in a state of being wound around the thigh BF. Therefore, the second body wearing unit 12R (12L) is worn so as not to be displaced with respect to the thighs BF.

As described above, the actuator 13 includes one driving source unit 31, right and left activation units 32R and 32L, and the frame 33. The drive source unit 31 is carried on the back of the user by using the first body worn unit 11. The right and left activation units 32R and 32L are worn on the left and right sides of the hip BW of the user by using the belt body 21. The left activation unit 32L and the right activation unit 32R have shapes that are inverted from each other in the left-right direction, but have the same configuration and the same function. Left activation unit 32L and right activation unit 32R may operate independently of each other and may perform different operations as well as perform the same operations in synchronization. The assist device 10 assists the user in rotating his or her thigh BF relative to his or her hip BW by using the torque (assist torque) output by the right and left activation units 32R and 32L. In the following, a specific configuration of the actuator 13 will be described.

The drive source unit 31 includes: a motor 40, a speed reducer 41 that reduces the rotation speed of the motor 40, a right drive pulley 42R and a left drive pulley 42L that are rotated by the output of the speed reducer 41, and a housing 44 fixed to the frame 33. The motor 40, the speed reducer 41, and the drive pulleys 42R, 42L are disposed inside the housing 44. A motor 40 and a speed reducer 41 for the left driving pulley 42L and a motor 40 and a speed reducer 41 for the right driving pulley 42R are provided, and the right driving pulley 42R and the left driving pulley 42L can rotate independently of each other. A battery for supplying electric power to the motor 40 and the like is also accommodated inside the housing 44.

The right activation unit 32R includes: a housing 45R fixed to the frame 33, a driven pulley 43R provided inside the housing 45R, and an output shaft 35R attached to the driven pulley 43R. The left activation unit 32L includes: a housing 45L fixed to the frame 33, a driven pulley 43L provided inside the housing 45L, and an output shaft 35L attached to the driven pulley 43L. Each of the right and left driven pulleys 43R and 43L is provided to be rotatable in one direction and the other direction around an imaginary line Li passing through the hip BW of the user in the left-right direction.

A wire 47R is wound around the driving pulley 42R and the driven pulley 43R on the right side of the actuator 13. A wire 47L is wound around the driving pulley 42L and the driven pulley 43L on the left side of the actuator 13. The wires 47R, 47L are each accommodated in a guide 46, and the guide 46 is disposed between the drive source unit 31 and the right and left activation units 32R, 32L. The guide 46 and the frame 33 may be a unitary structure.

When the motor 40 rotates the right and left driving pulleys 42R, 42L in one direction, the right and left driven pulleys 43R, 43L rotate in the one direction, with the wires 47R, 47L serving as power transmission members. When the motor 40 rotates the driving pulleys 42R, 42L in the other direction, the driven pulleys 43R, 43L are rotated in the other direction, wherein the lines 47R, 47L function as power transmission members. The output shaft 35L is coaxially attached to the left driven pulley 43L, and the driven pulley 43L and the output shaft 35L rotate integrally. The output shaft 35R is coaxially attached to the right driven pulley 43R, and the driven pulley 43R and the output shaft 35R rotate integrally. The output shafts 35R, 35L are shafts whose centers are located on the imaginary line Li.

The base portion of the right arm 14R is attached to the right output shaft 35R, and the output shaft 35R and the arm 14R move integrally. The base portion of the left arm 14L is attached to the left output shaft 35L, and the output shaft 35L and the arm 14L move integrally. The second body worn units 12R, 12L are attached to the distal end portions of the arms 14R, 14L, respectively. When the output shafts 35R, 35L rotate, a torque that causes the right arm 14R and the left arm 14L to swing around the imaginary line Li is provided to the user as an assist torque.

Therefore, the drive source unit 31 and the activation units 32R, 32L integrated by the frame 33 are worn on the upper body of the user by using the first body worn unit 11, and the second body worn units 12R, 12L fixed to the arms 14R, 14L are worn on the thighs BF of the user. Based on the rotation of the motor 40, the angle between the drive source unit 31 and the activation units 32R, 32L located on one side about the imaginary line Li and the arms 14R, 14L located on the other side changes. The assisting operation of providing the assisting force to the user through the first and second body wearing units 11, 12R, 12L is performed by the actuator 13 including the driving source unit 31 and the activating units 32R, 32L configured as already described. For example, when the user changes his or her posture from a squat, forward-leaning posture (see fig. 4) to an upright-standing posture (see fig. 3) to lift the heavy object, the change of the posture is easily achieved due to the assist torque.

The auxiliary device 10 also includes a controller 16 located inside the housing 44. The controller 16 includes a processing section including: a Central Processing Unit (CPU), a storage device formed of a nonvolatile memory or the like that stores information such as various programs and databases, and a motor driver. The processing section obtains an assist parameter (assist torque) for assisting the operation. The motor driver operates the actuator 13 (motor 40) based on the signal according to the assist parameter (assist torque). The assist torque obtained by the processing portion is, for example, torque that rotates the output shafts 35R, 35L.

The auxiliary device 10 further comprises an operating unit (not shown). The operation unit is a so-called remote controller, and is a device for a user to input specifications of the auxiliary operation and the like. The specification of the assist operation includes an action mode for the assist operation, the intensity of the assist operation, and the speed of the assist operation. Examples of action modes include "walk," drop action, "and" lift action. The operation unit is provided with a selection button by which a user selects a specification of the auxiliary operation. The operation unit is provided in the frame 33, the vest 22, and the like. The operation unit and the controller 16 are connected to each other via wires or in a wireless manner and can communicate with each other. The controller 16 controls the operation of the actuator 13 (motor 40) according to information input into the operation unit.

As shown in fig. 1 and 3, the belt body 21 includes a front belt 50. The front belt 50 is arranged to extend along the abdomen of the user. Fig. 5 is a rear view showing a schematic configuration of the assisting apparatus 10. As shown in fig. 3 and 5, the belt body 21 further includes an upper belt 51 and a lower belt 52. The upper belt 51 is disposed on the back side of the user and extends along the upper side of the buttocks of the user. The lower belt 52 is disposed on the back side of the user and extends along the underside of the user's buttocks.

The upper and lower belts 51 and 52 cooperating with the front belt 50 can bring the belt body 21 into close contact with the user by being positioned at both sides of the user's buttocks in the up-down direction. The belt body 21 stabilizes the right and left activation units 32R, 32L, and therefore, a desired assisting force can be provided to the user by the torque generated by the activation units 32R, 32L.

The assistance device 10 of this embodiment further includes a strap-like restraining band 53, and the restraining band 53 connects the second body wearing units 12R, 12L and the lower band 52 in the up-down direction. The restraining band 53 restrains the lower band 52 from moving upward. In the case of the assist device 10 shown in fig. 5, the restraint band 53 includes a left restraint band 54L and a right restraint band 54R. The left restraining band 54L connects the left second body wearing unit 12L worn on the thigh of the user's left leg to the left portion 52L of the lower band 52. The right restraining band 54R connects the right second body wearing unit 12R worn on the thigh of the user's right leg to the right portion 52R of the lower band 52. Left and right restraining strips 54L, 54R are not directly connected to one another, and left and right restraining strips 54L, 54R are disposed independently of one another.

The assisting apparatus 10 shown in fig. 5 can restrict the upward displacement of the lower belt 52 even when the user performs a squat action in such a manner that his or her legs are separated in the left-right direction by more than the shoulder width, and for example, takes a squat posture as shown in fig. 4. Therefore, the assisting force generated by the assisting apparatus 10 can be appropriately provided to the user thereafter.

In the form shown in fig. 5, constraining tape 53 comprises a left ribbon-like constraining tape 54L and a right ribbon-like constraining tape 54R as described above. In this case, left and right restraining bands 54L, 54R function independently of each other when the user assumes a posture in which his or her right and left legs are bent differently from each other. This can enhance the function of restricting upward displacement of the lower band 52.

Lower strap 52 is provided to connect right activation unit 32R and left activation unit 32L to each other. Therefore, the lower belt 52 can be freely offset in the up-down direction to the maximum extent at the center thereof in the left-right direction. To further reduce the possibility of center displacement of the lower band 52 in the left-right direction, in the form shown in fig. 5, the left restraining band 54L includes an inclined portion 55L. The inclined portion 55L is a portion extending from the left second body wearing unit 12L toward the lower belt 52 to be inclined toward the center (right side) in the left-right direction. Similarly, right restraining band 54R includes an angled portion 55R. The inclined portion 55R is a portion extending from the right second body wearing unit 12R toward the lower belt 52 to be inclined toward the center (left side) in the left-right direction.

As described above, the lower band 52 can be freely offset in the up-down direction to the maximum extent at the center thereof in the left-right direction. However, in the configuration including the inclined portions 55L, 55R, the left and right constraining belts 54L, 54R are connected to the lower belt 52 at a position closer to the center of the lower belt 52, which may further enhance the function of restricting the displacement of the lower belt 52. In the form shown in fig. 5, a portion of the left restraining band 54L constitutes the inclined portion 55L, and a portion of the right restraining band 54R constitutes the inclined portion 55R. Although not shown, the entire left restraining band 54L may constitute the inclined portion 55L, and the entire right restraining band 54R may constitute the inclined portion 55R.

Each restraining band 53 includes an extensible and contractible elastic portion 56, and the elastic portion 56 is provided in at least a part of the restraining band 53. An example of the elastic portion 56 is a rubber band. In the form shown in FIG. 5, left restraining strip 54L includes an elastic portion 56 that is part of left restraining strip 54L, and right restraining strip 54R includes an elastic portion 56 that is part of right restraining strip 54R. The elastic portion 56 allows the length of the left and right restraining strips 54L, 54R to be varied, and therefore, the left and right restraining strips 54L, 54R can easily accommodate the variation in the posture of the user to improve the wearing comfort. In addition, neither left restraint strap 54L nor right restraint strap 54R interferes with the user's walking motion.

Fig. 6 is a rear view showing a modified example of the restraining strip 53 shown in fig. 5. Constraining tape 53 shown in FIG. 6 is the same as constraining tape 53 shown in FIG. 5 in that both constraining tapes 53 comprise a left ribbon of constraining tape 54L and a right ribbon of constraining tape 54R. The constraining tape 53 shown in fig. 6 does not include the inclined portions 55L, 55R. Thus, left restraining strip 54L is attached to a left portion of lower strip 52 and right restraining strip 54R is attached to a right portion of lower strip 52. As in the case of the form shown in fig. 6, it is possible for the left and right constraining belts 54L, 54R to be shielded by the arms 14R, 14L, respectively, and therefore a configuration simplified in terms of appearance can be obtained. That is, when the user is viewed from the left (or right), there is a possibility that left restraint band 54L (right restraint band 54R) overlaps with the position of arm 14L (14R) and thus becomes less visible. Further, because left and right restraining strips 54L, 54R are positioned along (proximate to) the user's legs, these strips are not apparent when the user is viewed from the front or back side.

Fig. 7 is a rear view showing a modified example of the restraining strip 53 shown in fig. 5 and 6. Also, in the assisting apparatus 10 shown in fig. 7, the belt body 21 includes an upper belt 51 and a lower belt 52 in addition to the front belt 50 (not shown). The upper belt 51 is disposed on the back side of the user and extends along the upper side of the buttocks of the user. The lower belt 52 is disposed on the back side of the user and extends along the underside of the user's buttocks. The form of the belt body 21 is the same in fig. 5 as in fig. 7.

The supplemental device 10 shown in fig. 7 further includes a restraining band 53 in a band shape, the restraining band 53 connecting the second body wearing units 12R, 12L and the lower band 52 to each other in the up-down direction. The restraining band 53 restrains the lower band 52 from moving upward. This is also the same in fig. 5 and 7. In the case of the assist device 10 shown in fig. 7, the restraint band 53 includes a common band portion 57, a left band portion 58L, a right band portion 58R, and a coupling portion 59 that connects these portions to each other.

The common belt portion 57 is a strip-like portion connected to the central portion 52c in the left-right direction of the lower belt 52. The left belt portion 58L is a strip-like portion connected to the left second body wearing unit 12L worn on the thigh of the user's left leg. The right belt portion 58R is a belt-like portion connected to the right second body wearing unit 12R worn on the thigh of the user's right leg. The coupling portion 59 is a portion that couples the left band portion 58L and the right band portion 58R to the common band portion 57. In the present embodiment, the coupling portion 59 is formed by a ring-shaped member made of resin or metal. The common band portion 57 is attached to the upper side of the ring-like member, and the left and right band portions 58L and 58R are attached to the lower side of the ring-like member.

As described above, the lower band 52 can be freely offset in the up-down direction to the maximum extent at the center thereof in the left-right direction. However, since the restraining band 53 of the configuration shown in fig. 7 includes the common band portion 57 connected to the central portion 52c of the lower band 52, the function of restricting the displacement of the lower band 52 can be further enhanced.

Further, in the form shown in fig. 7, the left belt portion 58L and the right belt portion 58R are continuous with each other at the side of the coupling portion 59. That is, the left belt portion 58L and the right belt portion 58R are continuous with each other and formed of a single strip-like member. The coupling portion 59 supports a continuous portion (i.e., a single strip-like member) including the left belt portion 58L and the right belt portion 58R continuous with each other in a state where the continuous portion is folded back (i.e., bent) at an intermediate point. Therefore, a continuous portion including the left belt portion 58L and the right belt portion 58R continuous to each other is supported by the coupling portion 59 so as to be movable in the longitudinal direction of the continuous portion. The coupling portion 59 has a ring shape such that the left and right band portions 58L and 58R are hung on the coupling portion 59 and supported by the coupling portion 59.

With the restraining band 53 having such a configuration, the length of each of the left and right band portions 58L and 58R can be freely changed when the user takes a posture in which his or her right and left legs are bent differently from each other. This can further enhance the function of restricting the displacement of the lower belt 52. When the user takes a posture in which his or her right and left legs are bent differently from each other, the length of the left belt portion 58L and the length of the right belt portion 58R may become different from each other, but the total length of the left and right belt portions 58L and 58R remains the same. The restraining band 53 makes it easier for the user to walk because the length of the left band portion 58L and the length of the right band portion 58R automatically change according to the walking motion.

Likewise, in the form shown in fig. 7, the restraining strip 53 includes an elastic portion 56 that is stretchable and contractible, and the elastic portion 56 is provided in at least a portion of the restraining strip 53. An example of the elastic portion 56 is a rubber band. In the form shown in fig. 7, the common band portion 57 includes an elastic portion 56 as a part of the common band portion 57, but the elastic portion may be provided at another part. The elastic portion 56 allows the length of the common belt portion 57 to be varied, and therefore, the restraining belt 53 as a whole can easily accommodate variations in the posture of the user to improve the wearing comfort. Furthermore, the restraining band 53 does not interfere with the walking movement of the user.

The portions of the restraining band 53 of the corresponding form shown in fig. 5, 6 and 7, except for the elastic portion 56, are formed of a member (a strip-like member) which does not expand or contract. The restraining band 53 and the second body-worn unit 12R, 12L may be attached to each other by stitching, or alternatively by using touch-close fasteners or fasteners such as lobster clasps, so as to be detachable from each other. Similarly, the lower band 52 and the restraint band 53 may be attached to each other by stitching, or alternatively by using touch-close fasteners or fasteners such as lobster clasps, so as to be detachable from each other.

As has been described above, the assisting apparatus 10 of the corresponding form includes the actuator 13, the first body-worn unit 11, the right and left arms 14R, 14L, and the second body-worn units 12R, 12L. The actuator 13 includes a right activating unit 32R and a left activating unit 32L, and the right activating unit 32R and the left activating unit 32L generate a torque around an imaginary line Li passing through the hip of the user in the right and left directions. The right arm 14R and the left arm 14L are swung by the torque. The first body worn unit 11 is a body worn unit including the belt body 21 connecting the right and left activation units 32R and 32L to each other. The actuator 13 is worn on the user's body by using the first body worn unit 11. The second body wearing units 12R, 12L are body wearing units attached to the distal end portions of the arms 14R, 14L and worn on the thighs BF of the user.

The belt body 21 includes an upper belt 51 and a lower belt 52, and the upper belt 51 and the lower belt 52 are disposed on the back side of the user and extend along the upper and lower sides of the buttocks of the user, respectively. The assisting apparatus 10 further includes a restraining band 53, and the restraining band 53 connects the second body wearing units 12R, 12L and the lower band 52 to each other and serves to restrain the lower band 52 from moving upward.

The assisting apparatus 10 having this configuration can restrict the upward displacement of the lower band 52 of the band body 21 even when, for example, the user takes a squatting posture as shown in fig. 4. Meanwhile, the upper belt 51 and the front belt 50 are hardly affected by the posture of the user and thus do not shift. Therefore, the assisting force generated by the assisting apparatus 10 can be appropriately provided to the user thereafter. Therefore, the displacement of the band body 21 can be restricted and a desired assisting force can be provided to the user irrespective of the posture of the user.

The first body-worn unit 11, the second body-worn units 12R, 12L, the actuator 13, the arms 14R, 14L, and the restraint band 53 may have a form different from that shown in the drawings. Fig. 8 is a perspective view showing a modified example of the assisting apparatus 10. The actuator 13 shown in fig. 8 includes a right activating unit 32R and a left activating unit 32L, and the right activating unit 32R and the left activating unit 32L generate a torque around an imaginary line Li passing through the hip of the user in the right and left directions. The activation units 32R, 32L are worn on the right and left sides of the hip of the user by using the belt body 21. This is the same as the auxiliary device 10 shown in fig. 1.

In the form shown in fig. 8, a motor 40 that causes the output shaft 35L (35R) of the activation unit 32L (32R) to generate torque is provided in the activation unit 32L (32R). A speed reducer formed of a gear mechanism that reduces the rotation speed of the motor 40 is provided in the activation unit 32L (32R), and the arm 14L (14R) is attached to an output shaft 35L (35R) of the speed reducer. Actuator 13 also includes a backpack 61 carried on the back of the user and a highly rigid frame 62 that couples backpack 61 with right and left activation units 32R and 32L. A battery for supplying electric power to the motor 40 and the like and the controller 16 are housed in the backpack 61.

The belt body 21 shown in fig. 8 includes an upper belt 51 and a lower belt 52 provided on the back side of the user in addition to the front belt 50. The upper belt 51 extends along the upper side of the buttocks of the user. The lower belt 52 extends along the underside of the buttocks. The assisting apparatus 10 includes a restraining band 53, and this restraining band 53 connects the second body wearing units 12R, 12L and the lower band 52 to each other and thereby restrains the lower band 52 from moving upward. One of the forms shown in fig. 5, 6 and 7 is adopted as the restraining band 53. The supplemental device 10 shown in fig. 8 can also limit the displacement of the lower band 52 and provide the user with a desired supplemental force.

The presently disclosed embodiments are intended in all respects to be illustrative rather than restrictive. The scope of the present invention is not limited to the above embodiments, but includes all changes within the scope equivalent to the configuration described in the claims.