JP6591744B2 - 荷重検出装置、及び歩行補助装置 - Google Patents
荷重検出装置、及び歩行補助装置 Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims description 56
- 210000002414 leg Anatomy 0.000 claims description 20
- 230000005021 gait Effects 0.000 claims description 13
- 210000000629 knee joint Anatomy 0.000 claims description 10
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 7
- 239000000758 substrate Substances 0.000 claims 1
- 239000004677 Nylon Substances 0.000 description 7
- 229920001778 nylon Polymers 0.000 description 7
- 210000002683 foot Anatomy 0.000 description 6
- 239000011347 resin Substances 0.000 description 6
- 229920005989 resin Polymers 0.000 description 6
- 210000001699 lower leg Anatomy 0.000 description 5
- 210000000689 upper leg Anatomy 0.000 description 5
- 230000006870 function Effects 0.000 description 2
- 229920006311 Urethane elastomer Polymers 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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Description
この一態様において、前記第1及び第2荷重センサにより検出された荷重に基づいて、前記歩行訓練者の足裏荷重の中心点を算出する中心算出手段を更に備えていてもよい。
この一態様において、前記第1荷重センサは、前記足裏形状部の爪先側に2つ、踵側に1つ設けられ、前記フレア部に1つ設けられていてもよい。
この一態様において、前記第1及び第2荷重センサの校正データを記憶する記憶手段を更に備えていてもよい。
この一態様において、前記第1及び第2荷重センサの荷重データ及び/又は校正データを無線により送信する通信手段を更に備えていてもよい。
上記目的を達成するための本発明の一態様は、上記のうちいずれか記載の第1の荷重検出装置と、前記第1の荷重検出装置に足首関節部を介して連結された下腿フレームと、前記下腿フレームに膝関節部を介して連結された上腿フレームと、前記膝関節部を駆動する駆動ユニットと、を備えることを特徴とする歩行補助装置であってもよい。
この一態様において、前記歩行訓練者の健脚に装着された、上記のうちいずれか記載の第2の荷重検出装置と、前記第1及び第2の荷重検出装置の第1及び第2荷重センサにより検出された荷重に基づいて、健脚及び患脚の両足で接地したときの全荷重中心を算出する全中心算出手段と、を更に備えていてもよい。
図1は、本発明の一実施の形態に係る歩行補助装置の概略的な構成を示す斜視図である。本実施形態に係る歩行補助装置10は、例えば、歩行訓練を行うユーザの患脚に装着され、ユーザの歩行を補助する。歩行補助装置10は、上腿フレーム11と、上腿フレーム11に膝関節部12を介して連結された下腿フレーム13と、下腿フレーム13に足首関節部14を介して連結された荷重検出装置1と、膝関節部12を駆動する駆動ユニット15と、足首関節部14の可動範囲を調整する調整機構16と、を有している。
以上、本実施形態に係る荷重検出装置1において、フレア部3の荷重を検出する第2荷重センサ5を備える。これにより、これにより、歩行訓練者の足裏荷重の検出範囲をフレア部3にまで広げその検出精度を向上させることができる。
上記実施形態において、荷重検出装置1にマイコン基板7が設けられているが、これに限定されない。マイコン基板7は、駆動ユニット15の制御装置に設けられていてもよい。
Claims (6)
- 歩行訓練者の足裏の形状に沿って形成され、該足裏が乗る足裏形状部と、
前記足裏形状部の外側に突出して形成されたフレア部と、
前記足裏形状部に設けられ前記足裏形状部の荷重を検出する第1荷重センサと、を備える荷重検出装置であって、
前記フレア部に設けられ、該フレア部の荷重を検出する第2荷重センサを備え、
前記第1荷重センサ及び前記第2荷重センサを、上側および下側からそれぞれ挟む2枚の板状部材を備え、
前記足裏形状部及び前記フレア部はともに、前記2枚の板状部材のそれぞれに形成され、
前記2枚の板状部材の間であって、且つ、前記第1及び第2荷重センサに対応する位置に、該第1及び第2荷重センサからの荷重を受ける部材が設けられており、
前記足裏形状部及び前記フレア部を一体形成した形状であり、中央部にセンサアンプ、バッテリー、基板の少なくとも何れかを設けることが可能なセンサホルダを備え、
前記第1荷重センサは、前記センサホルダの前記足裏形状部の爪先側に少なくとも1つ、踵側に1つ設けられ、
前記第2荷重センサは、前記センサホルダの前記フレア部に1つ設けられ、
前記第1及び第2荷重センサにより検出された荷重に基づいて、前記歩行訓練者の足裏荷重の中心点を算出する中心算出手段を更に備える、
ことを特徴とする荷重検出装置。 - 請求項1記載の荷重検出装置であって、
前記第1荷重センサは、前記足裏形状部の爪先側に2つ、踵側に1つ設けられ、前記フレア部に1つ設けられている、ことを特徴とする荷重検出装置。 - 請求項1又は2記載の荷重検出装置であって、
前記第1及び第2荷重センサの校正データを記憶する記憶手段を更に備える、ことを特徴とする荷重検出装置。 - 請求項1乃至3のうちいずれか1項記載の荷重検出装置であって、
前記第1及び第2荷重センサの荷重データ及び/又は校正データを無線により送信する通信手段を更に備える、ことを特徴とする荷重検出装置。 - 前記歩行訓練者の患脚に装着された、請求項1乃至4のうちいずれか1項記載の荷重検出装置と、
前記患脚の荷重検出装置に足首関節部を介して連結された下腿フレームと、
前記下腿フレームに膝関節部を介して連結された上腿フレームと、
前記膝関節部を駆動する駆動ユニットと、を備えることを特徴とする歩行補助装置。 - 請求項5記載の歩行補助装置であって、
前記歩行訓練者の健脚に装着された前記荷重検出装置と、
前記患脚及び健脚の荷重検出装置の第1及び第2荷重センサにより検出された荷重に基づいて、健脚及び患脚の両足で接地したときの全荷重中心を算出する全中心算出手段と、を更に備える、ことを特徴とする歩行補助装置。
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JP2014239997A JP6591744B2 (ja) | 2014-11-27 | 2014-11-27 | 荷重検出装置、及び歩行補助装置 |
US14/930,236 US10507156B2 (en) | 2014-11-27 | 2015-11-02 | Load detecting device and walk assisting device |
EP15193651.5A EP3025645B1 (en) | 2014-11-27 | 2015-11-09 | Load detection device and walk assisting device |
CN201510848391.7A CN105640557B (zh) | 2014-11-27 | 2015-11-27 | 负荷检测装置和步行辅助装置 |
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JP7028563B2 (ja) * | 2017-02-13 | 2022-03-02 | トヨタ自動車株式会社 | 足裏荷重検出装置 |
KR102611914B1 (ko) | 2018-10-12 | 2023-12-08 | 삼성전자주식회사 | 보행 보조 장치 |
JP7074088B2 (ja) * | 2019-01-29 | 2022-05-24 | トヨタ自動車株式会社 | 荷重検出装置及び歩行支援装置 |
US11325002B2 (en) * | 2019-10-01 | 2022-05-10 | Under Armour, Inc. | System and method for detecting fatigue and providing coaching in response |
CN112478014A (zh) * | 2020-11-23 | 2021-03-12 | 乐聚(深圳)机器人技术有限公司 | 机器人脚底结构及机器人 |
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US20160151228A1 (en) | 2016-06-02 |
US10507156B2 (en) | 2019-12-17 |
JP2016101227A (ja) | 2016-06-02 |
EP3025645A1 (en) | 2016-06-01 |
CN105640557A (zh) | 2016-06-08 |
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