DK1932567T3 - Bevægelseshjælpeindretning og dets reguleringssystem - Google Patents

Bevægelseshjælpeindretning og dets reguleringssystem

Info

Publication number
DK1932567T3
DK1932567T3 DK06768129.6T DK06768129T DK1932567T3 DK 1932567 T3 DK1932567 T3 DK 1932567T3 DK 06768129 T DK06768129 T DK 06768129T DK 1932567 T3 DK1932567 T3 DK 1932567T3
Authority
DK
Denmark
Prior art keywords
control system
auxiliary device
movement auxiliary
movement
control
Prior art date
Application number
DK06768129.6T
Other languages
English (en)
Inventor
Ken Yasuhara
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Application granted granted Critical
Publication of DK1932567T3 publication Critical patent/DK1932567T3/da

Links

Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/40—Respiratory characteristics
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/62—Posture
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/10—Positions
    • A63B2220/16—Angular positions
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/30—Speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A63B2220/54—Torque
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/0028—Training appliances or apparatus for special sports for running, jogging or speed-walking
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0686—Timers, rhythm indicators or pacing apparatus using electric or electronic means

Landscapes

  • Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Rehabilitation Therapy (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)
DK06768129.6T 2005-09-02 2006-07-12 Bevægelseshjælpeindretning og dets reguleringssystem DK1932567T3 (da)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2005254610A JP4008465B2 (ja) 2005-09-02 2005-09-02 運動誘導装置
PCT/JP2006/313865 WO2007029418A1 (ja) 2005-09-02 2006-07-12 運動誘導装置、並びにその制御システムおよび制御プログラム

Publications (1)

Publication Number Publication Date
DK1932567T3 true DK1932567T3 (da) 2011-08-15

Family

ID=37835546

Family Applications (1)

Application Number Title Priority Date Filing Date
DK06768129.6T DK1932567T3 (da) 2005-09-02 2006-07-12 Bevægelseshjælpeindretning og dets reguleringssystem

Country Status (8)

Country Link
US (1) US7942833B2 (da)
EP (1) EP1932567B1 (da)
JP (1) JP4008465B2 (da)
KR (1) KR100979663B1 (da)
CN (1) CN101242879B (da)
DE (1) DE602006021763D1 (da)
DK (1) DK1932567T3 (da)
WO (1) WO2007029418A1 (da)

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JP3950149B2 (ja) * 2005-09-02 2007-07-25 本田技研工業株式会社 運動補助装置
JP4603479B2 (ja) * 2005-12-09 2010-12-22 本田技研工業株式会社 力伝達部材
JP4872597B2 (ja) * 2006-10-27 2012-02-08 オムロンヘルスケア株式会社 運動支援装置
JP4271712B2 (ja) * 2007-10-15 2009-06-03 本田技研工業株式会社 運動補助装置
JP4506890B2 (ja) * 2008-10-28 2010-07-21 トヨタ自動車株式会社 歩行補助装置
US8251938B1 (en) * 2009-04-30 2012-08-28 University Of Iowa Research Foundation Providing relative translation without rotation
JP5802131B2 (ja) 2009-10-21 2015-10-28 本田技研工業株式会社 運動補助装置の制御方法および歩行補助装置ならびにリハビリテーション方法
JP5083458B2 (ja) 2009-11-04 2012-11-28 トヨタ自動車株式会社 歩行補助装置
JP5640991B2 (ja) 2009-11-13 2014-12-17 トヨタ自動車株式会社 歩行補助装置
CN102133474B (zh) * 2010-01-22 2014-10-01 财团法人工业技术研究院 运动导引装置及运用此装置的运动引导方法
JP5588738B2 (ja) * 2010-05-20 2014-09-10 本田技研工業株式会社 歩行運動補助装置
JP5501325B2 (ja) * 2011-11-30 2014-05-21 本田技研工業株式会社 歩行補助装置
JP5986445B2 (ja) * 2012-07-20 2016-09-06 国立大学法人九州大学 歩行用遊脚振子運動補助具およびアシスト力の制御方法
EP2888083B1 (en) * 2012-08-27 2020-05-06 Ekso Bionics, Inc. Hydraulic actuator system
KR101417488B1 (ko) * 2012-12-17 2014-07-08 현대자동차주식회사 착용로봇의 의도토크 추출방법 및 추출시스템
CN103126851A (zh) * 2013-02-27 2013-06-05 上海大学 步态训练机械腿
US9550105B2 (en) * 2013-03-07 2017-01-24 Immersion Corporation Pacing system with feedback based adjustments
US20150148708A1 (en) * 2013-11-27 2015-05-28 Oregon Health & Science University Biofeedback during assisted movement rehabilitation therapy
KR102172975B1 (ko) * 2013-12-10 2020-11-02 삼성전자주식회사 착용형 로봇 및 그 제어 방법
CN103892840B (zh) * 2014-03-06 2015-11-18 深圳市德凯瑞科技有限公司 一种智能穿戴设备及人体运动的特征提取方法
CN103908259B (zh) * 2014-04-03 2016-01-13 深圳市德凯瑞科技有限公司 一种智能穿戴设备及人体运动的监测与识别方法
JP6272735B2 (ja) 2014-06-19 2018-01-31 本田技研工業株式会社 歩行補助装置および歩行制御プログラム
KR102342072B1 (ko) * 2014-10-14 2021-12-22 삼성전자주식회사 보행 보조를 제어하기 위한 장치 및 그 방법
US10449105B2 (en) * 2014-10-26 2019-10-22 Springactive, Inc. System and method of bidirectional compliant joint torque actuation
US10576619B2 (en) * 2014-12-26 2020-03-03 Samsung Electronics Co., Ltd. Assisting torque setting method and apparatus
JP5938124B1 (ja) * 2015-05-19 2016-06-22 本田技研工業株式会社 歩行補助装置
KR102429612B1 (ko) 2015-07-27 2022-08-05 삼성전자주식회사 보행 보조 방법 및 이를 수행하는 장치들
KR102485718B1 (ko) 2015-08-11 2023-01-06 삼성전자주식회사 보행 보조 장치의 토크 계산 방법 및 장치
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Also Published As

Publication number Publication date
EP1932567B1 (en) 2011-05-04
KR100979663B1 (ko) 2010-09-02
WO2007029418A1 (ja) 2007-03-15
US20090270766A1 (en) 2009-10-29
KR20080034499A (ko) 2008-04-21
EP1932567A4 (en) 2008-12-03
EP1932567A1 (en) 2008-06-18
CN101242879A (zh) 2008-08-13
US7942833B2 (en) 2011-05-17
DE602006021763D1 (de) 2011-06-16
CN101242879B (zh) 2011-01-19
JP4008465B2 (ja) 2007-11-14
JP2007061527A (ja) 2007-03-15

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