Power assist suit
A power assist suit includes a harness worn at least around hips of a wearer, an assist unit, a power unit, and a bearing roller. The assist unit includes an arm and a thigh-worn part. A rail is provided at a part of the arm in a longitudinal direction. The rail includes channel-shaped parts extending along the longitudinal direction. The thigh-worn part is connected to sliding movable parts or integrated with at least a portion of the sliding movable parts. The bearing roller is disposed between each of the channel-shaped parts in the rail and each of inner wall surfaces of the sliding movable parts facing the respective channel-shaped parts.
1. A power assist suit comprising:
a harness configured to be worn at least around hips of a wearer;
an assist unit configured to be worn on the harness and a thigh of the wearer, the assist unit being configured to assist a predetermined motion, the predetermined motion being at least either a motion of the thigh relative to the hips of the wearer or a motion of the hips relative to the thigh of the wearer;
a power unit configured to generate assisting torque to be transmitted to the assist unit; and
a first bearing and a second bearing, each of the first bearing and the second bearing including an inner ring and an outer ring, wherein
the assist unit includes an arm that is configured to swing by the assisting torque and a thigh-worn part that is configured to be worn on the thigh of the wearer,
the arm has an elongated shape extending from a side part of the hips of the wearer along a side part of the thigh of the wearer, and a rail is provided at a part of the arm in a longitudinal direction,
the rail has an H-shape in cross section orthogonal to the longitudinal direction and includes first and second channel-shaped parts extending along the longitudinal direction, each of the first and second channel-shaped parts including first and second channel side surfaces opposite each other and a bottom surface between the first and second channel side surfaces,
the thigh-worn part is connected to sliding movable parts or integrated with at least a portion of the sliding movable parts, and the sliding movable parts are configured to slide along the longitudinal direction of the rail and each including a supporting shaft provided on a surface of the sliding movable part facing the rail, and
the first and second bearings are respectively disposed in the first and second channel-Shaped parts with the inner ring of each of the first bearing and the second bearing being fitted on the supporting shaft of the sliding movable parts, and a roller being fitted on the outer ring of each of the first bearing and the second bearing, the outer rings of the first bearing and the second bearing being free of contact with the sliding movable parts.
2. The power assist suit according to claim 1 , further comprising a third bearing and a fourth bearing, the third bearing being disposed along the longitudinal direction from the first bearing, and the fourth bearing being disposed along the longitudinal direction from the second bearing.
3. The power assist suit according to claim 1 , wherein:
the assist unit includes an idler pulley;
the power unit includes a drive pulley and an actuator; and
the assisting torque generated by the actuator is transmitted from the drive pulley to the idler pulley through a cable, and a drive pulley shaft member forming a shaft of the drive pulley is supported, inside the power unit, at both ends in a direction of a drive pulley rotational axis that is a rotational axis of the drive pulley.
4. The power assist suit according to claim 3 , wherein the drive pulley and the idler pulley are disposed such that the drive pulley rotational axis and an idler pulley rotational axis that is a rotational axis of the idler pulley are not parallel to each other.
5. The power assist suit according to claim 3 , wherein:
the power unit has a cable hole into which the cable drawn out of the drive pulley is inserted; and
a cable guide that guides the cable drawn out of the drive pulley to the cable hole in a straight line is provided inside the power unit.
6. The power assist suit according to claim 1 , wherein a distance between the first and second channel side surfaces is greater than an outside diameter of the roller.