Walking assistance device provided with a force sensor
In walking assistance device, a force detector ( 21 ) is provided between thigh retaining member ( 9 ) that directly retain the thigh of the user and a thigh support member ( 2 ) that is actuated by an actuator (TA 1 ) provided in hip coupling portion. Thereby, the load acting on the hip coupling portion can be accurately detected, and the output of the force detector can be favorably used for the purpose of controlling the actuator so as to minimize the force that is applied to the thigh of the user. In particular, to the end of providing a suitably rigidity to the thigh retaining member so that the force produced by the actuator may be evenly applied to the entire thigh, and facilitating the effort required for the wearer to wear the walking assistance device, the thigh retaining member comprises a base portion ( 9 a ) connected to the thigh support member and two pairs of resilient arms ( 9 b, 9 c ) extending laterally from either side of the base portion so that the thigh retaining member generally defines a shape of letter-C in plan view.
1. A walking assistance device, including;
a pelvis support member adapted to be worn by a pelvis of a user;
a thigh support member having an upper end pivotally connected to the pelvis support member via a hip coupling portion and provided with a thigh retaining member;
a leg support member having an upper end pivotally connected to a lower end of the thigh support member via a knee coupling portion and provided with a leg retaining member;
an actuator provided at least in one of the hip coupling portion and knee coupling portion for applying an assisting torque to the two members that are joined by the coupling portion; and
a force detector provided between the thigh retaining member and thigh support member when the actuator is provided in the hip coupling portion or between the leg retaining member and leg support member when the actuator is provided in the knee coupling portion.
2. The walking assistance device according to claim 1 , wherein the actuator is provided in the hip coupling portion to apply an assisting torque between the pelvis support member and thigh support member, and the force detector is provided between the thigh retaining member and thigh support member.
3. The walking assistance device according to claim 2 , wherein the thigh support member includes an axially elongated rod member, and the thigh retaining member is connected to the thigh support member in an axially slidable manner.
4. The walking assistance device according to claim 1 , wherein the actuator is provided in the knee coupling portion to apply an assisting torque between the thigh support member and leg support member, and the force detector is provided between the leg retaining member and leg support member.
5. The walking assistance device according to claim 4 , wherein the leg support member includes an axially elongated rod member, and the leg retaining member is connected to the leg support member in an axially slidable manner.
6. The walking assistance device according to claim 1 , wherein the force detector comprises a plate member having a cross shaped part having four arms defined by four L-shaped cuts and a strain sensor attached to each of the four arms.
7. The walking assistance device according to claim 1 , further comprising a foot support member having an upper end pivotally connected to a lower end of the leg support member via an ankle coupling portion.
8. The walking assistance device according to claim 7 , wherein a force detector is provided in the ankle coupling portion to detect a load acting between the leg support member and foot support member.
9. The walking assistance device according to claim 1 , wherein the thigh retaining member comprises a base portion connected to the thigh support member and at least a pair of resilient arms extending laterally from either side of the base portion so that the thigh retaining member generally defines a shape of letter-C in plan view.
10. The walking assistance device according to claim 9 , wherein the thigh retaining member comprises two pairs of resilient arms extending laterally from either side of an upper end of the base portion and from either side of a lower end of the base portion, respectively.
11. The walking assistance device according to claim 10 , wherein the thigh retaining member is adapted to extend over a part of a thigh corresponding to an expanse of a femur.
12. The walking assistance device according to claim 9 , wherein a width W 1 of a space between free ends of the arms is smaller than an inner diameter W 2 of the thigh retaining member in a natural state of the thigh retaining member.