Patent Description:
For example, when a user such as a hemiplegic patient does walking training, a knee movement support device is worn on the affected leg of the user in order to reduce buckling of the knee (knee suddenly giving way) of the affected leg. As disclosed in <CIT> (<CIT>), such a knee movement support device includes: an upper leg link that is fastened to the upper leg of the affected leg of the user; a lower leg link that is connected to the upper leg link via a knee joint portion and fastened to the lower leg of the affected leg; and a motor unit that drives the knee joint portion. The knee movement support device is configured to generate resistance to reduce buckling of the knee of the affected leg of the user using a driving force of the motor unit.

<CIT> refers to an orthotic brace, <CIT> refers to knee joint orthosis, <CIT> refers to a mobility aid, and <CIT> refers to an orthopedic device.

Since typical knee movement support devices are configured to generate resistance by a motor unit, the resistance cannot be easily adjusted by a person from the outside.

The present disclosure implements a knee movement support device in which resistance can be easily adjusted by a person from the outside.

An aspect of the present disclosure relates to a knee movement support device that is worn on a leg of a user. The knee movement support device includes: a damper that provides resistance against a direction in which a knee joint of the leg bends; and an adjuster that is operated by a person and is configured to adjust the resistance from the damper.

In the above aspect, the adjuster may be located above the damper.

In the above aspect, the knee movement support device may further include a driver connected to the damper such that the resistance from the damper is changed. The adjuster may be located on an output shaft of the driver.

The support device includes a case surrounding the damper. The case has an opening that allows the adjuster to be operated from outside of the case.

In the above aspect, the opening may be located in an opposite portion of the case from the user wearing the knee movement support device on the leg. The opening may be located on a front side of the case or on a rear side of the case, the front side is a front side in a front-rear direction of the user, the rear side is a rear side in the front-rear direction of the user.

In the above aspect, the case may have a plurality of holes that is smaller than a preset size.

According to the present disclosure, it is possible to implement a knee movement support device in which resistance can be easily adjusted by a person from the outside.

Hereinafter, a specific embodiment to which the present disclosure is applied will be described in detail with reference to the drawings. However, the present disclosure is not limited to the following embodiment. The following description and the drawings have been simplified as appropriate for clarity.

<FIG> shows a knee movement support device of an embodiment worn on a user's leg. As shown in <FIG>, a knee movement support device <NUM> of the present embodiment includes a knee movement support device body <NUM>, a case <NUM>, an upper leg fastening unit <NUM>, a lower leg fastening unit <NUM>, and a support belt <NUM>. The knee movement support device <NUM> is worn on an affected leg L of a user U such as a hemiplegic patient in order to reduce buckling of the knee of the affected leg L when, for example, the user U does walking training.

In the following description, the side of the knee movement support device <NUM> that faces the affected leg L of the user U when the knee movement support device <NUM> is worn on the affected leg L is referred to as the inner side of the knee movement support device <NUM>, and the opposite side of the knee movement support device <NUM> from the inner side is referred to as the outer side of the knee movement support device <NUM>. <FIG> is a perspective view of a knee movement support device body of the embodiment as viewed from the rear. <FIG> is a front view of the knee movement support device body of the embodiment as viewed from the front. <FIG> is a side view of the knee movement support device body of the embodiment as viewed from the inner side. <FIG> is a perspective view of the knee movement support device body of the embodiment as viewed from the rear. <FIG> is a block diagram showing a configuration of the knee movement support device of the embodiment. <FIG> illustrates a knee angle of the user. <FIG> illustrates a lower leg angle and an upper leg angle.

As shown in <FIG>, the knee movement support device body <NUM> includes an upper leg link <NUM> and a lower leg link <NUM>. The lower end of the upper leg link <NUM> and the upper end of the lower leg link <NUM> are mechanically connected to each other so that the upper leg link <NUM> and the lower leg link <NUM> can rotate relative to each other about a rotation axis Y1. The upper end of the lower leg link <NUM> has a cam surface 12a.

The rotation angle between the upper leg link <NUM> and the lower leg link <NUM> is, for example, <NUM> (zero) degrees or more and <NUM> degrees or less. When the knee movement support device <NUM> is worn on the affected leg L of the user U, the upper leg link <NUM> is fastened to the upper leg UL of the affected leg L of the user U, and the lower leg link <NUM> is fastened to the lower leg LL of the affected leg L of the user U.

As shown in <FIG>, the upper leg link <NUM> or the lower leg link <NUM> includes a detection unit <NUM>. The detection unit <NUM> is an angle sensor and detects the angle between the upper leg link <NUM> and the lower leg link <NUM>.

When the knee movement support device body <NUM> is worn on the affected leg L of the user U, the angle between the upper leg link <NUM> and the lower leg link <NUM> corresponds to a knee angle θ of the user U. As shown in <FIG>, the knee angle θ of the user U is formed by the intersection of a straight line S1 extending in the axial direction of the upper leg UL of the user U and a straight line S2 extending in the axial direction of the lower leg LL.

The detection unit <NUM> outputs the angle between the upper leg link <NUM> and the lower leg link <NUM> to a control device <NUM> as a knee angle detection value. The knee angle detection value has a waveform corresponding to the gait cycle. That is, the knee angle detection value changes periodically according to the gait cycle.

The detection unit <NUM> may include an inertial measurement unit etc. in addition to the angle sensor. The detection unit <NUM> can thus obtain a lower leg angle β and an upper leg angle γ based on the values detected by the inertial measurement unit and the angle sensor.

As shown in <FIG>, the lower leg angle β is formed by the intersection of a vertical axis AX1 and the straight line S2 extending in the axial direction of the lower leg LL. The upper leg angle γ is formed by the intersection of the vertical axis AX1 and the straight line S1 extending in the axial direction of the upper leg UL. The detection unit <NUM> outputs the lower leg angle β and the upper leg angle γ to the control device <NUM>.

The upper leg link <NUM> includes a drive unit <NUM>, an operation unit <NUM>, a damper <NUM>, and a roller <NUM>. The drive unit <NUM>, the operation unit <NUM>, the damper <NUM>, and the roller <NUM> are held by the upper leg link <NUM> in this order from top to bottom.

The lower leg link <NUM> includes the control device <NUM>. The control device <NUM> of the present embodiment is located on the inner surface of the lower leg link <NUM>. As shown in <FIG>, the hardware of the control device <NUM> is mainly composed of a microcomputer including a reception unit 14a, an arithmetic unit 14b, and a memory 14c.

For example, the reception unit 14a is connected to the detection unit <NUM> and a communication terminal <NUM> via communication means such as Bluetooth (registered trademark) Low Energy (BLE). The reception unit 14a receives the knee angle detection value from the detection unit <NUM>.

The communication terminal <NUM> is, for example, a smartphone. The communication terminal <NUM> shows resistance change patterns that can be selected by a person such as the user U or a helper, receives an input indicating the resistance change pattern selected by the person, and sends the selected resistance change pattern to the reception unit 14a.

The reception unit 14a thus receives the resistance change pattern from the communication terminal <NUM>. Various patterns can be used as the resistance change patterns. The resistance change patterns can be any patterns as long as they can reduce buckling of the knee of the affected leg L of the user U in a stance state.

The arithmetic unit 14b is, for example, a central processing unit (CPU) that performs arithmetic processing, control processing, etc. The memory 14c is, for example, a read-only memory (ROM) or a random access memory (RAM) that has stored therein arithmetic programs, control programs, etc. to be executed by the arithmetic unit 14b and that stores various kinds of data etc..

The arithmetic unit 14b can detect a gait timing based on the knee angle detection value etc. from the detection unit <NUM>. Specifically, the gait timing is the stance phase and swing phase of a gait cycle.

The arithmetic unit 14b generates a resistance control signal based on the resistance change pattern and the knee angle detection value. The resistance control signal indicates a change in resistance from the damper <NUM> with time. The arithmetic unit 14b sends the generated resistance control signal to the drive unit <NUM> using wired communication or wireless communication. The control device <NUM> may acquire the angle between the vertical axis AX1 and the lower leg link <NUM> (lower leg angle β) and the angle between the vertical axis AX1 and the upper leg link <NUM> (upper leg angle γ) as appropriate.

The drive unit <NUM> is a drive device that applies rotational power to the operation unit <NUM> based on the resistance control signal from the control device <NUM>. The drive unit <NUM> includes, for example, a motor and a driver circuit. The drive unit <NUM> may be located on the inner surface of the upper end of the upper leg link <NUM>, and applies rotational power to the operation unit <NUM> via a gear or a pulley.

For example, as shown in <FIG>, the basic form of the operation unit <NUM> is cylindrical, and the operation unit <NUM> is located between an output shaft of the drive unit <NUM> and a resistance changing shaft 17a protruding from the upper end of the damper <NUM>. That is, the upper end of the operation unit <NUM> is connected to the output shaft of the drive unit <NUM>, and the lower end of the operation unit <NUM> is connected to the resistance changing shaft 17a of the damper <NUM>. At this time, the operation unit <NUM> is located in the upper part of the knee movement support device <NUM>.

The operation unit <NUM> adjusts the resistance F of the damper <NUM> based on the rotational power from the drive unit <NUM> and a human operation as will be described later. Specifically, the operation unit <NUM> receives the rotational power from the drive unit <NUM> and the human operation and rotates the resistance changing shaft 17a of the damper <NUM> so that the sectional area of a flow path of damper fluid in the damper <NUM> changes accordingly.

The relationship among the resistance F of the damper <NUM>, the damper coefficient k, and the rate v at which the damper fluid flows through the flow path is given by the following expression <NUM>.

When the resistance changing shaft 17a of the damper <NUM> is rotated in one direction via the operation unit <NUM> according to the rotational power from the drive unit <NUM> or the human operation and the sectional area of the flow path of the damper fluid in the damper <NUM> decreases accordingly, the damper coefficient k increases, and as a result, the resistance F from the damper <NUM> increases.

On the other hand, when the resistance changing shaft 17a of the damper <NUM> is rotated in the other direction via the operation unit <NUM> according to the rotational power from the drive unit <NUM> or the human operation and the sectional area of the flow path of the damper fluid in the damper <NUM> increases accordingly, the damper coefficient k decreases, and as a result, the resistance F from the damper <NUM> decreases.

The damper <NUM> transmits the resistance F to the lower leg link <NUM> via the roller <NUM>. As shown in <FIG>, the damper <NUM> has substantially the same configuration as a typical damper, and includes a rod 17b and a spring 17c.

The rod 17b and the spring 17c are disposed between a damper holding portion 11a of the upper leg link <NUM> and the roller <NUM> such that the rod 17b and the spring 17c can expand and contract. The roller <NUM> is disposed between the damper <NUM> and the upper end of the lower leg link <NUM> such that the roller <NUM> can rotate and move in the vertical direction of the upper leg link <NUM>.

As shown in <FIG>, the case <NUM> covers the knee movement support device body <NUM>. <FIG> shows the case <NUM> of the knee movement support device <NUM> of the embodiment covering the knee movement support device body <NUM>, as viewed from the outer side of the case <NUM>. <FIG> shows the knee movement support device body <NUM> housed in a case body <NUM> of the case <NUM> of the knee movement support device <NUM> of the embodiment, as viewed from the outer side of the case body <NUM>. <FIG> shows a cover <NUM> of the case <NUM> of the knee movement support device <NUM> of the present embodiment as viewed from the outer side. <FIG> is a perspective view of a part of the knee movement support device <NUM> of the present embodiment around an opening of the case body <NUM>. <FIG> is a perspective view of a part of the knee movement support device <NUM> of the present embodiment around an opening of the cover <NUM>. Although the knee movement support device body <NUM> covered by the case <NUM> is seen through the case <NUM>, the knee movement support device body <NUM> is not shown in <FIG> etc. for simplicity.

As shown in <FIG>, the case <NUM> includes the case body <NUM> and the cover <NUM>, and is configured to allow rotation of the lower leg link <NUM> with respect to the upper leg link <NUM>. As shown in <FIG>, the case body <NUM> includes a first case body 31a and a second case body 31b.

The first case body 31a houses at least a part of the upper leg link <NUM>, and the outer part of the first case body 31a is open. The lower end of the first case body 31a is also open, and the upper leg link <NUM> protrudes from the lower end of the first case body 31a.

The first case body 31a preferably has a cut 31c on the rear side of its lower end so that the lower leg link <NUM> does not interfere with the upper leg link <NUM> when the lower leg link <NUM> is rotated with respect to the upper leg link <NUM>.

As shown in <FIG>, the first case body 31a preferably has an opening 31d in its front surface. The opening 31d is preferably located at substantially the same height as the operation unit <NUM> with at least a part of the upper leg link <NUM> housed in the first case body 31a. The opening 31d is therefore located in the upper part of the front surface of the case <NUM>. The opening 31d may be located in the upper part of the rear surface of the case <NUM>.

The second case body 31b houses at least a part of the lower leg link <NUM>, and the outer part of the second case body 31b is open. The upper end of the second case body 31b is also open, and the upper end of the lower leg link <NUM> protrudes from the upper end of the second case body 31b.

As shown in <FIG>, the cover <NUM> includes a first cover 32a and a second cover 32b. The first cover 32a covers the outer part of the first case body 31a. As shown in <FIG>, the first cover 32a preferably has an opening 32c, and the opening 32c is preferably located at substantially the same height as the operation unit <NUM> with the outer part of the first case body 31a covered by the first cover 32a. The opening 32c is therefore located in the upper part of the outer side of the case <NUM>.

The second cover 32b covers the outer part of the second case body 31b. As described above, the case <NUM> is composed of: the first case body 31a and the first cover 32a that cover the upper leg link <NUM>; and the second case body 31b and the second cover 32b that cover the lower leg link <NUM>. This divided structure of the case <NUM> allows rotation of the lower leg link <NUM> with respect to the upper leg link <NUM>.

As shown in <FIG> etc., the case <NUM> preferably has a plurality of lightening holes <NUM> that is smaller than a preset size. For example, the preset size is preferably small enough that a human finger cannot be inserted into the lightening holes <NUM>. The lightening holes <NUM> may be formed in a part of the case <NUM> or may be formed over the entire case <NUM>.

This configuration reduces the weight of the case <NUM>, and as a result, reduces the weight of the knee movement support device <NUM>. This configuration also reduces the possibility of a person coming into contact with the knee movement support device body <NUM>, and therefore provides improved safety. Only a part of the lightening holes <NUM> is shown in <FIG> etc. for simplicity.

The case <NUM> preferably includes a tongue <NUM> that covers the cut 31c of the first case body 31a. The tongue <NUM> is preferably an elastic member so that the tongue <NUM> can follow rotation of the lower leg link <NUM> when the lower leg link <NUM> is rotated with respect to the upper leg link <NUM> and comes into contact with the tongue <NUM>.

This configuration further reduces the possibility of a person coming into contact with the knee movement support device body <NUM>, and therefore provides further improved safety. The case <NUM> is not limited to the above configuration, and may have any configuration as long as the case <NUM> can cover the knee movement support device body <NUM> and allow rotation of the lower leg link <NUM> with respect to the upper leg link <NUM>.

<FIG> is a perspective view of the knee movement support device <NUM> of the embodiment as viewed from the inner side. Although the knee movement support device body <NUM> covered by the case <NUM> is seen through the case <NUM>, the knee movement support device body <NUM> is not shown in <FIG> for simplicity. Only a part of the lightening holes <NUM> is shown in <FIG> for simplicity.

As shown in <FIG>, the upper leg fastening unit <NUM> fastens the upper leg link <NUM> of the knee movement support device body <NUM> to the upper leg UL of the user U. As shown in <FIG>, the upper leg fastening unit <NUM> includes, for example, a cup <NUM> and a cuff <NUM>. The cup <NUM> has a substantially half-cylindrical shape, and is open on its front side. That is, the cup <NUM> has a substantially U-shape when the cup <NUM> is viewed in the vertical direction.

The cup <NUM> has through holes 41a in its portion facing the upper leg link <NUM>. The through holes 41a are formed at intervals in the vertical direction and extend through the cup <NUM>. The cup <NUM> is fixed to the upper leg link <NUM> by inserting bolts <NUM> through the through holes 41a and screwing the bolts <NUM> into bolt holes in the upper leg link <NUM>.

A part of the upper leg link <NUM> that is located around the bolt holes is preferably exposed through an opening 31e in the first case body 31a of the case <NUM>. The cup <NUM> preferably has counterbores for the bolt heads of the bolts <NUM> around the through holes 41a.

The cuff <NUM> is a belt. For example, a part of the cuff <NUM> is fixed to the inner peripheral surface of the cup <NUM>. One of two parts of a hook-and-loop fastener, namely one of hook and loop parts of a hook-and-loop fastener, is provided near one end of the cuff <NUM>, and the other of the hook and loop parts of the hook-and-loop fastener is provided near the other end of the cuff <NUM>.

As shown in <FIG>, the lower leg fastening unit <NUM> fastens the lower leg link <NUM> of the knee movement support device body <NUM> to the lower leg LL of the user U. As shown in <FIG>, the lower leg fastening unit <NUM> includes, for example, a cup <NUM> and a cuff <NUM>. The cup <NUM> has a substantially half-cylindrical shape, and is open on its front side. That is, the cup <NUM> also has a substantially U-shape when the cup <NUM> is viewed in the vertical direction.

The cup <NUM> has through holes 51a in its portion facing the lower leg link <NUM>. The through holes 51a are formed at intervals in the vertical direction and extend through the cup <NUM>. The cup <NUM> is fixed to the lower leg link <NUM> by inserting bolts <NUM> through the through holes 51a and screwing the bolts <NUM> into bolt holes in the lower leg link <NUM>.

A part of the lower leg link <NUM> that is located around the bolt holes is preferably exposed through an opening 31f in the second case body 31b of the case <NUM>. The cup <NUM> preferably has counterbores for the bolt heads of the bolts <NUM> around the through holes 51a.

The cuff <NUM> is a belt. For example, a part of the cuff <NUM> is fastened to the inner peripheral surface of the cup <NUM>. One of two parts of a hook-and-loop fastener, namely one of hook and loop parts of a hook-and-loop fastener, is provided near one end of the cuff <NUM>, and the other of the hook and loop parts of the hook-and-loop fastener is provided near the other end of the cuff <NUM>.

As shown in <FIG>, the support belt <NUM> supports above and below the knee of the affected leg L of the user U. As shown in <FIG>, the support belt <NUM> includes a first belt <NUM> and a second belt <NUM>. The first belt <NUM> is preferably, for example, an elastic member.

One end of the first belt <NUM> is fixed to the outer peripheral surface of the opposite portion of the cup <NUM> of the upper leg fastening unit <NUM> from the upper leg link <NUM>. One of two parts of a hook-and-loop fastener, namely one of hook and loop parts of a hook-and-loop fastener, is provided near the other end of the first belt <NUM>.

For example, as shown in <FIG> and <FIG>, a first ring <NUM> is fixed to the inner surface of the upper leg link <NUM> at a position near the connection portion between the upper leg link <NUM> and the lower leg link <NUM>. When fastening the first belt <NUM>, the first belt <NUM> is threaded through the first ring <NUM> and folded back, and the one of the hook and loop parts of the hook-and-loop fastener provided near the other end of the first belt <NUM> is attached to the other of the hook and loop parts of the hook-and-loop fastener provided near one end of the first belt <NUM>, so that the first belt <NUM> runs diagonally in front of the cup <NUM> of the upper leg fastening unit <NUM>.

The second belt <NUM> is preferably, for example, an elastic member. One end of the second belt <NUM> is fixed to the outer peripheral surface of the opposite portion of the cup <NUM> of the lower leg fastening unit <NUM> from the lower leg link <NUM>. One of two parts of a hook-and-loop fastener, namely one of hook and loop parts of a hook-and-loop fastener, is provided near the other end of the second belt <NUM>.

For example, as shown in <FIG> and <FIG>, a second ring <NUM> is fixed to the inner surface of the upper leg link <NUM> at a position near the connection portion between the upper leg link <NUM> and the lower leg link <NUM>. When fastening the second belt <NUM>, the second belt <NUM> is threaded through the second ring <NUM> and folded back, and the one of the hook and loop parts of the hook-and-loop fastener provided near the other end of the second belt <NUM> is attached to the other of the hook and loop parts of the hook-and-loop fastener provided near one end of the second belt <NUM>, so that the second belt <NUM> runs diagonally in front of the cup <NUM> of the lower leg fastening unit <NUM>.

However, the configurations of the upper leg fastening unit <NUM>, the lower leg fastening unit <NUM>, and the support belt <NUM> are not limited to those described above. The upper leg fastening unit <NUM>, the lower leg fastening unit <NUM>, and the support belt <NUM> may have any configurations as long as they can fasten the knee movement support device body <NUM> to the upper leg UL and lower leg LL of the user U so as not to interfere with the gait of the user U.

Next, the flow of putting the knee movement support device <NUM> of the present embodiment on the affected leg L of the user U will be described. First, the upper leg UL of the user U is placed through the cup <NUM> of the upper leg fastening unit <NUM>, and the lower leg LL of the user U is placed through the cup <NUM> of the lower leg fastening unit <NUM>.

Then, the cuff <NUM> of the upper leg fastening unit <NUM> is wrapped around the upper leg UL and the hook and loop parts of the hook-and-loop fastener on the cuff <NUM> are attached together. The cuff <NUM> of the lower leg fastening unit <NUM> is also wrapped around the lower leg LL and the hook and loop parts of the hook-and-loop fastener on the cuff <NUM> are attached together. In this manner, the upper leg fastening unit <NUM> can be fastened to the upper leg UL, and the lower leg fastening unit <NUM> can be fastened to the lower leg LL.

Thereafter, the first belt <NUM> is threaded through the first ring <NUM> and folded back, and the hook and loop parts of the hook-and-loop fastener on the first belt <NUM> are attached together. As a result, the first belt <NUM> runs diagonally above the knee of the affected leg L, so that the first belt <NUM> can press above the knee of the affected leg L rearward.

The second belt <NUM> is also threaded through the second ring <NUM> and folded back, and the hook and loop parts of the hook-and-loop fastener on the second belt <NUM> are attached together. As a result, the second belt <NUM> runs diagonally below the knee of the affected leg L, so that the second belt <NUM> can press below the knee of the affected leg L rearward.

The knee movement support device <NUM> thus put on the affected leg L can support the affected leg L at three points. Namely, the knee movement support device <NUM> can support the upper leg UL by the upper leg fastening unit <NUM>, the lower leg LL by the lower leg fastening unit <NUM>, and the knee by the support belt <NUM>. With this configuration, the knee movement support device <NUM> can be securely put on the affected leg L.

Next, an operation example of the knee movement support device <NUM> of the present embodiment will be described. <FIG> is a side view of the knee movement support device <NUM> of the present embodiment in a bent state as viewed from the inner side. When the angle between the upper leg link <NUM> and the lower leg link <NUM> of the knee movement support device <NUM> is approximately <NUM> degrees, the upper leg link <NUM> and the roller <NUM> are separated by a predetermined distance L1 as shown in <FIG>. The damper <NUM> receives a predetermined force from the upper leg link <NUM> and the roller <NUM> and therefore maintains a predetermined length. The spring 17c maintains the same length as the distance L1.

As shown in <FIG>, the lower leg link <NUM> of the knee movement support device <NUM> is bent by an angle α with respect to the upper leg link <NUM>. At this time, the cam surface 12a of the upper end of the lower leg link <NUM> pushes up the roller <NUM>. As a result, the roller <NUM> approaches the upper leg link <NUM>, and the distance between the roller <NUM> and the upper leg link <NUM> decreases from the distance L1 to a distance L2.

The roller <NUM> pushes up the rod 17b and spring 17c of the damper <NUM>, and the damper <NUM> is compressed by the force received from the upper leg link <NUM> and the roller <NUM>. The spring 17c thus contracts to the same length as the distance L2.

On the other hand, the lower leg link <NUM> receives a reaction force from the damper <NUM> via the roller <NUM>. The lower leg link <NUM> thus receives resistance against the bending of the lower leg link <NUM> from the damper <NUM>.

Next, examples of a change pattern of the resistance from the damper <NUM> of the knee movement support device <NUM> of the present embodiment will be described. <FIG> is a graph showing change patterns of the resistance from the damper <NUM> of the knee movement support device <NUM> of the present embodiment. As shown in <FIG>, there are resistance change patterns P1, P2.

When the user U wants high resistance F during the stance phase of the gait, a person such as the user U or a helper selects the resistance change pattern P1. When the user U wants low resistance F during the stance phase of the gait, a person such as the user U or a helper selects the resistance change pattern P2.

In the resistance change pattern P1, a resistance value F11 is maintained from the start time t1 of the swing phase to immediately before the start time t2 of the stance phase. The resistance value is then increased to a value F21 in the period from immediately before the start time t2 of the stance phase to the start time t2 of the stance phase. The resistance value F21 is maintained after the start time t2 of the stance phase. The resistance is thus changed according to the swing phase and the stance phase.

In the resistance change pattern P2, a resistance value F12 is maintained from the start time t1 of the swing phase to immediately before the start time t2 of the stance phase. The resistance value is then increased to a value F22 in the period from immediately before the start time t2 of the stance phase to the start time t2 of the stance phase. The resistance value F22 is maintained after the start time t2 of the stance phase. The resistance is thus changed according to the swing phase and the stance phase.

The resistance value F21 of the resistance change pattern P1 is larger than the resistance value F22 of the resistance change pattern P2. The resistance change pattern P1 is therefore more suitable for a user U who wants high resistance F after the start time t2 of the stance phase than the resistance change pattern P2.

The resistance change pattern P2 is more suitable for a user U who wants low resistance F after the start time t2 of the stance phase than the resistance change pattern P1. By selecting the resistance change pattern P1 or P2, the resistance from the damper <NUM> can be changed for each user U.

Next, the flow of adjusting the resistance from the damper <NUM> of the knee movement support device <NUM> of the present embodiment will be described. When increasing the resistance from the damper <NUM>, a person such as the user U or a helper rotates the operation unit <NUM> in one direction through the opening 31d or opening 32c of the case <NUM>.

The sectional area of the flow path of the damper fluid in the damper <NUM> thus decreases accordingly, and the damper coefficient k increases, and as a result, the resistance F from the damper <NUM> increases. For example, the resistance change pattern P1 or P2 is translated upward in <FIG>.

When decreasing the resistance from the damper <NUM>, a person such as the user U or a helper rotates the operation unit <NUM> in the other direction through the opening 31d or opening 32c of the case <NUM>. The sectional area of the flow path of the damper fluid in the damper <NUM> thus increases accordingly, and the damper coefficient k decreases, and as a result, the resistance F from the damper <NUM> decreases. For example, the resistance change pattern P1 or P2 is translated downward in <FIG>.

As described above, in the knee movement support device <NUM> of the present embodiment, the resistance from the damper <NUM> can be easily adjusted by rotating the operation unit <NUM> by a person such as the user U or a helper.

The knee movement support device <NUM> of the present embodiment includes the operation unit <NUM> for adjusting the resistance from the damper <NUM>. Therefore, a person such as the user U or a helper can easily adjust the resistance from the damper <NUM> when the user U does walking training.

Moreover, the damper <NUM> is not configured to generate resistance by receiving power supply. It is therefore not necessary to supply power to the damper <NUM> when adjusting the resistance from the damper <NUM>, and the resistance from the damper <NUM> can be more easily adjusted.

Since the operation unit <NUM> is located in the upper part of the knee movement support device <NUM>, the user U can adjust the resistance from the damper <NUM> without significantly changing his or her posture during walking training.

Moreover, the knee movement support device body <NUM> of the knee movement support device <NUM> of the present embodiment is covered by the case <NUM>. This configuration reduces the possibility of a person coming into contact with the knee movement support device body <NUM>, and therefore provides improved safety.

In the case where the case <NUM> has the lightening holes <NUM>, reduction in weight of the knee movement support device <NUM> and improved safety can be achieved. In the case where the case <NUM> has the openings 31d, 32c, a person can easily operate the operation unit <NUM> from the outside of the case <NUM>. In the case where the openings 31d, 32c are located at substantially the same height as the operation unit <NUM>, the operability of the operation unit <NUM> can be improved.

In the knee movement support device <NUM> of the present embodiment, the damper coefficient k is changed as the sectional area of the flow path of the damper fluid changes with rotation of the resistance changing shaft 17a. The output shaft of the drive unit <NUM> is connected to the resistance changing shaft 17a via the operation unit <NUM>. Therefore, with a relatively simple mechanism, the resistance from the damper <NUM> can be adjusted by both the drive unit <NUM> and the operation unit <NUM>.

The present disclosure is not limited to the above embodiment, and can be modified as appropriate without departing from the spirit and scope of the present disclosure. The present disclosure may be carried out by combining the above embodiment and examples thereof as appropriate.

For example, in the above embodiment, the upper leg link <NUM> includes the drive unit <NUM>, the operation unit <NUM>, the damper <NUM>, and the roller <NUM>, and the lower leg link <NUM> includes the control device <NUM>. However, the upper leg link <NUM> may include at least one of the drive unit <NUM>, the operation unit <NUM>, the damper <NUM>, the roller <NUM>, and the control device <NUM>, and the lower leg link <NUM> may include the rest.

For example, in the above embodiment, the operation unit <NUM> has a cylindrical shape and is located between the output shaft of the drive unit <NUM> and the resistance changing shaft 17a protruding from the upper end of the damper <NUM>. However, the operation unit <NUM> may be a button type or slide type mechanism as long as the operation unit <NUM> can change the damper coefficient k of the damper <NUM>.

Claim 1:
A knee movement support device (<NUM>) that is worn on a leg (L) of a user, comprising:
a damper (<NUM>) that provides resistance against a direction in which a knee joint of the leg bends;
an adjuster (<NUM>) that is operated by a person and is configured to adjust the resistance from the damper; characterized by
a case (<NUM>) surrounding the damper (<NUM>), wherein the case has an opening (31d, 32c) that allows the adjuster (<NUM>) to be operated from outside of the case, wherein the adjuster (<NUM>) is operated through the opening (31d, 32c).