JP2005000634A - 歩行補助装置 - Google Patents
歩行補助装置 Download PDFInfo
- Publication number
- JP2005000634A JP2005000634A JP2003312267A JP2003312267A JP2005000634A JP 2005000634 A JP2005000634 A JP 2005000634A JP 2003312267 A JP2003312267 A JP 2003312267A JP 2003312267 A JP2003312267 A JP 2003312267A JP 2005000634 A JP2005000634 A JP 2005000634A
- Authority
- JP
- Japan
- Prior art keywords
- belt
- lumber
- backrest
- right ends
- pads
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
- 210000004394 hip joint Anatomy 0.000 claims abstract description 20
- 210000003205 muscle Anatomy 0.000 claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 210000003489 abdominal muscle Anatomy 0.000 claims description 15
- 210000003141 lower extremity Anatomy 0.000 claims description 10
- 238000010248 power generation Methods 0.000 claims description 4
- 210000002414 leg Anatomy 0.000 abstract description 3
- 238000005452 bending Methods 0.000 abstract description 2
- 210000001621 ilium bone Anatomy 0.000 abstract description 2
- 210000001139 rectus abdominis Anatomy 0.000 abstract description 2
- 206010040007 Sense of oppression Diseases 0.000 abstract 1
- 210000001624 hip Anatomy 0.000 description 18
- 210000001699 lower leg Anatomy 0.000 description 11
- 210000001015 abdomen Anatomy 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 210000000629 knee joint Anatomy 0.000 description 4
- 210000000689 upper leg Anatomy 0.000 description 4
- 208000010428 Muscle Weakness Diseases 0.000 description 3
- 206010028372 Muscular weakness Diseases 0.000 description 3
- 210000000683 abdominal cavity Anatomy 0.000 description 3
- 230000037237 body shape Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000003187 abdominal effect Effects 0.000 description 2
- 210000001361 achilles tendon Anatomy 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000002788 crimping Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000005022 impaired gait Effects 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 210000004197 pelvis Anatomy 0.000 description 2
- 210000003131 sacroiliac joint Anatomy 0.000 description 2
- 210000001835 viscera Anatomy 0.000 description 2
- 229920001875 Ebonite Polymers 0.000 description 1
- 208000034819 Mobility Limitation Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000004705 lumbosacral region Anatomy 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 210000001087 myotubule Anatomy 0.000 description 1
- 210000002976 pectoralis muscle Anatomy 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 210000003689 pubic bone Anatomy 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 210000002027 skeletal muscle Anatomy 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
Images
Classifications
-
- 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
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
-
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
-
- 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
- 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
- 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
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- 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
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/1215—Rotary drive
-
- 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
- A61H2201/1628—Pelvis
- A61H2201/163—Pelvis holding means therefor
-
- 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
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/081—Back
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Biomedical Technology (AREA)
- Nursing (AREA)
- Vascular Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
【解決手段】下肢の運動に補助力を与えるべく少なくとも股関節の側方に補助動力発生装置(股関節アクチュエータ10)を備えた歩行補助装置における腰部装具(1)を、左右の脊柱起立筋の中間部並びに両外側部と、左右の腸骨陵部とのそれぞれに個別に当接するパッド(18・19・20)を備える背当て(4)と、該背当てに連結されて腹直筋下部を緊締するベルト(5)とを有するものとする。これにより、腰椎に支持力が働くので、直立姿勢を安定的に保持すると共に、腰部の屈曲運動に装具が及ぼす抵抗が軽減される。しかも補助動力発生装置の駆動トルクを腰回りの全体で受け止めるので、運動中の装具のずれが少なくなる。
【選択図】図3
Description
1.下肢の運動に補助力を与える補助動力発生装置としての股関節アクチュエータを股関節の側方に装着するための腰部装具を、左右の脊柱起立筋の中間部並びに両外側部と、左右の腸骨陵部とのそれぞれに個別に当接するパッドを備えた背当てと、該背当てに連結されて腹筋下部を緊締するベルトとを有するものとしたので、腰部の屈曲運動を阻害せずに腰椎を好適に支持して直立姿勢を安定させることができ、しかもアクチュエータの駆動トルクが腰回りの全体で受け止められるので、運動中に装具がずれる不都合を払拭することができる。
2.左右の腸骨陵部に当接するパッドを、着脱自在なインナライニングに設けるものとしたので、インナライニングを交換するだけで使用者の体格差に対応することができ、製作コストを削減することができる。
3.アクチュエータと人体との間に挟まれる緩衝用パッドをインナライニングに設けるものとしたので、使用者が万一転倒した際にも補助動力発生装置が突き当たる衝撃から人体を保護することができる。
4.背当ての左右各端に上下に並列に連結された2本のベルトを腹筋下部に対応する部位に配されるバックルの左右各端に統合して結合したので、腹腔圧を高めて内臓を正しい位置に持ち上げることができる。しかも腹腔に加わる圧力を下腹部の全体に均一に分散して圧迫感を軽減することができる。
5.背当ての左右各端と腹筋下部に対応する部位に配されるバックルの左右各端とをメインベルトで連結し、背当ての上端部とメインベルトの体側部に対応する部位間をサブベルトで繋ぐものとしたので、背当ての上部を引っ張ることで脊柱の湾曲に背当てを密接させ、腰回りに対する腰部装具の接触圧を均等化することができる。
3 駆動ユニット
4 背当て部
5 ベルト部
6 インナライニング
10 股関節アクチュエータ
11 クッションパッド
15U、15L ウェブ部
16 バックル
18 中央パッド
19 側部パッド
20 腸骨パッド
21 股関節パッド
31 メインベルト
32 サブベルト
33 係合スロット
34 係合具
36 長さ調節用バックル
Claims (5)
- 下肢の運動に補助力を与えるべく少なくとも股関節の側方に補助動力発生装置を備えた歩行補助装置であって、
前記補助動力発生装置を股関節の側方に固定するための腰部装具が、左右の脊柱起立筋の中間部並びに両外側部と、左右の腸骨陵部とのそれぞれに個別に当接するパッドを備えた背当てと、該背当てに連結されて腹筋下部を緊締するベルトとを有することを特徴とする歩行補助装置。 - 前記左右の腸骨陵部に当接するパッドが、着脱自在なインナライニングに設けられることを特徴とする請求項1に記載の歩行補助装置。
- 前記インナライニングが、前記補助動力発生装置と人体との間に挟まれる緩衝用パッドを備えることを特徴とする請求項2に記載の歩行補助装置。
- 前記ベルトは、前記背当ての左右各端に上下に並列に結合された2本のベルトが、腹筋下部に対応する部位に配されるバックルの左右各端に統合して結合されたものであることを特徴とする請求項1乃至3のいずれかに記載の歩行補助装置。
- 前記ベルトは、前記背当ての左右各端に一端が結合され且つ腹筋下部に対応する部位に配されるバックルの左右各端に他端が結合されたメインベルトと、前記背当ての上端部と前記メインベルトの体側部に対応する部位間を繋ぐサブベルトとからなることを特徴とする請求項1乃至3のいずれかに記載の歩行補助装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003312267A JP4315766B2 (ja) | 2003-05-21 | 2003-09-04 | 歩行補助装置 |
EP04720754.3A EP1637115B1 (en) | 2003-05-21 | 2004-03-15 | Walking aid device |
US10/557,338 US7780616B2 (en) | 2003-05-21 | 2004-03-15 | Walking assistance device |
PCT/JP2004/003406 WO2004103248A1 (ja) | 2003-05-21 | 2004-03-15 | 歩行補助装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003143495 | 2003-05-21 | ||
JP2003312267A JP4315766B2 (ja) | 2003-05-21 | 2003-09-04 | 歩行補助装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005000634A true JP2005000634A (ja) | 2005-01-06 |
JP4315766B2 JP4315766B2 (ja) | 2009-08-19 |
Family
ID=33478958
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2003312267A Expired - Fee Related JP4315766B2 (ja) | 2003-05-21 | 2003-09-04 | 歩行補助装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7780616B2 (ja) |
EP (1) | EP1637115B1 (ja) |
JP (1) | JP4315766B2 (ja) |
WO (1) | WO2004103248A1 (ja) |
Cited By (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006075198A (ja) * | 2004-09-07 | 2006-03-23 | Honda Motor Co Ltd | 歩行補助装置用装着具 |
JP2006075226A (ja) * | 2004-09-07 | 2006-03-23 | Honda Motor Co Ltd | 歩行補助装置用装着具 |
WO2006123516A1 (ja) * | 2005-05-17 | 2006-11-23 | Honda Motor Co., Ltd. | 腰部装具 |
JP2007152035A (ja) * | 2005-12-09 | 2007-06-21 | Honda Motor Co Ltd | 力伝達部材 |
JP2010000205A (ja) * | 2008-06-19 | 2010-01-07 | Honda Motor Co Ltd | 歩行補助装置用腰部装具 |
JP2011131025A (ja) * | 2009-12-25 | 2011-07-07 | Honda Motor Co Ltd | 歩行補助装置の腰部装具および歩行補助装置 |
JP2012254237A (ja) * | 2011-06-10 | 2012-12-27 | Honda Motor Co Ltd | 歩行補助装置の腰部装具および歩行補助装置 |
JP2013173190A (ja) * | 2012-02-23 | 2013-09-05 | Univ Of Tsukuba | 装着式動作補助装置 |
US8663134B2 (en) | 2010-01-11 | 2014-03-04 | Honda Motor Co., Ltd. | Walking assistance device |
US9022958B2 (en) | 2011-06-10 | 2015-05-05 | Honda Motor Co., Ltd. | Walking assistance device |
KR20160009854A (ko) | 2014-07-17 | 2016-01-27 | 삼성전자주식회사 | 연결 모듈 및 이를 포함하는 운동 보조 장치 |
JP2017042904A (ja) * | 2015-08-26 | 2017-03-02 | 三星電子株式会社Samsung Electronics Co.,Ltd. | 骨盤固定機構及びこれを含む運動補助装置 |
WO2017213235A1 (ja) * | 2016-06-08 | 2017-12-14 | 株式会社 東芝 | 動作支援装置 |
US9949851B2 (en) | 2014-07-17 | 2018-04-24 | Samsung Electronics Co., Ltd. | Fixing module and motion assistance apparatus including the same |
WO2018131686A1 (ja) * | 2017-01-13 | 2018-07-19 | 株式会社 東芝 | 動作支援装置 |
WO2019221101A1 (ja) * | 2018-05-15 | 2019-11-21 | パナソニック株式会社 | 動作支援装置 |
US10603786B2 (en) | 2018-03-16 | 2020-03-31 | Lg Electronics Inc. | Belt for effective wearing and wearable assistive device having the same |
WO2020141632A1 (ko) * | 2019-01-02 | 2020-07-09 | 엘지전자 주식회사 | 웨어러블 로봇 |
US10792209B2 (en) | 2018-02-23 | 2020-10-06 | Lg Electronics Inc. | Wearable assistive device that efficiently delivers assistive force |
KR20210055032A (ko) * | 2014-07-17 | 2021-05-14 | 삼성전자주식회사 | 연결 모듈 및 이를 포함하는 운동 보조 장치 |
CN113414757A (zh) * | 2021-06-11 | 2021-09-21 | 西安理工大学 | 一种膝关节运动能量收集及利用装置 |
WO2024122923A1 (ko) * | 2022-12-09 | 2024-06-13 | 삼성전자주식회사 | 운동 보조 장치 |
Families Citing this family (50)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040064195A1 (en) | 2002-07-15 | 2004-04-01 | Hugh Herr | Variable-mechanical-impedance artificial legs |
US8075633B2 (en) | 2003-09-25 | 2011-12-13 | Massachusetts Institute Of Technology | Active ankle foot orthosis |
US10080672B2 (en) | 2005-03-31 | 2018-09-25 | Bionx Medical Technologies, Inc. | Hybrid terrain-adaptive lower-extremity systems |
US8500823B2 (en) | 2005-03-31 | 2013-08-06 | Massachusetts Institute Of Technology | Powered artificial knee with agonist-antagonist actuation |
US20060249315A1 (en) | 2005-03-31 | 2006-11-09 | Massachusetts Institute Of Technology | Artificial human limbs and joints employing actuators, springs, and variable-damper elements |
US8512415B2 (en) | 2005-03-31 | 2013-08-20 | Massachusetts Institute Of Technology | Powered ankle-foot prothesis |
US10307272B2 (en) | 2005-03-31 | 2019-06-04 | Massachusetts Institute Of Technology | Method for using a model-based controller for a robotic leg |
US20070162152A1 (en) | 2005-03-31 | 2007-07-12 | Massachusetts Institute Of Technology | Artificial joints using agonist-antagonist actuators |
US20070123997A1 (en) * | 2005-03-31 | 2007-05-31 | Massachusetts Institute Of Technology | Exoskeletons for running and walking |
US8864846B2 (en) | 2005-03-31 | 2014-10-21 | Massachusetts Institute Of Technology | Model-based neuromechanical controller for a robotic leg |
US20070043449A1 (en) | 2005-03-31 | 2007-02-22 | Massachusetts Institute Of Technology | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US11278433B2 (en) | 2005-03-31 | 2022-03-22 | Massachusetts Institute Of Technology | Powered ankle-foot prosthesis |
EP2180920A1 (en) | 2007-07-20 | 2010-05-05 | Össur HF | Prosthetic or orthopedic device having feedback |
JP4326580B2 (ja) * | 2007-09-25 | 2009-09-09 | 本田技研工業株式会社 | 歩行補助装置の大腿部装具 |
PL2687339T3 (pl) | 2008-05-20 | 2016-04-29 | Ekso Bionics Inc | Sposób i urządzenie do zmniejszania zużycia energii przez osobę przez stosowanie egzoszkieletu dolnej części |
AU2009282397B2 (en) * | 2008-05-20 | 2014-10-09 | Ekso Bionics, Inc. | Device and method for decreasing oxygen consumption of a person during steady walking by use of a load-carrying exoskeleton |
JP2012501739A (ja) | 2008-09-04 | 2012-01-26 | アイウォーク・インコーポレーテッド | ハイブリッド型地形適応下肢システム |
US20110082566A1 (en) | 2008-09-04 | 2011-04-07 | Herr Hugh M | Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis |
JP2013524880A (ja) | 2010-04-05 | 2013-06-20 | アイウォーク, インコーポレイテッド | プロテーゼまたは装具におけるトルク制御 |
WO2012096956A1 (en) | 2011-01-10 | 2012-07-19 | Iwalk, Inc. | Powered joint orthosis |
EP2663904A2 (en) | 2011-01-12 | 2013-11-20 | Iwalk, Inc. | Controlling powered human augmentation devices |
US9687377B2 (en) | 2011-01-21 | 2017-06-27 | Bionx Medical Technologies, Inc. | Terrain adaptive powered joint orthosis |
US9060883B2 (en) | 2011-03-11 | 2015-06-23 | Iwalk, Inc. | Biomimetic joint actuators |
US9855654B2 (en) | 2011-09-06 | 2018-01-02 | Wakayama University | Power assist robot apparatus and control method therefor |
JP5982767B2 (ja) * | 2011-09-26 | 2016-08-31 | ソニー株式会社 | 運動補助装置及び運動補助方法、コンピューター・プログラム、並びにプログラム記録媒体 |
US9737419B2 (en) | 2011-11-02 | 2017-08-22 | Bionx Medical Technologies, Inc. | Biomimetic transfemoral prosthesis |
US9032635B2 (en) | 2011-12-15 | 2015-05-19 | Massachusetts Institute Of Technology | Physiological measurement device or wearable device interface simulator and method of use |
US9221177B2 (en) | 2012-04-18 | 2015-12-29 | Massachusetts Institute Of Technology | Neuromuscular model-based sensing and control paradigm for a robotic leg |
CA2876187C (en) | 2012-06-12 | 2021-01-26 | Iwalk, Inc. | Prosthetic, orthotic or exoskeleton device |
KR102250225B1 (ko) * | 2014-07-24 | 2021-05-10 | 삼성전자주식회사 | 운동 보조 장치 및 그 제어 방법 |
KR102250238B1 (ko) * | 2014-08-18 | 2021-05-10 | 삼성전자주식회사 | 고정 모듈 및 이를 포함하는 운동 보조 장치 |
USD784545S1 (en) * | 2014-12-19 | 2017-04-18 | Ganesh Ram Jangir | Belt system for spine and waist support |
KR101677935B1 (ko) * | 2015-04-07 | 2016-11-22 | 주식회사 에스지메카트로닉스 | 관절 구동기 및 이를 구비하는 하지 보조로봇의 관절구조 |
KR20160148074A (ko) * | 2015-06-15 | 2016-12-26 | 주식회사 에스지메카트로닉스 | 다관절 로봇의 구동장치 |
KR102541908B1 (ko) | 2015-07-21 | 2023-06-09 | 삼성전자주식회사 | 프레임 모듈 및 이를 포함하는 운동 보조 장치 |
KR102423702B1 (ko) * | 2015-09-04 | 2022-07-21 | 삼성전자주식회사 | 운동 보조 장치 및 이를 제어하는 방법 |
CN105105896B (zh) * | 2015-09-17 | 2016-11-30 | 武汉大学 | 用于穿戴式下肢外骨骼机器人与人体腰部固定的调节装置 |
KR102439276B1 (ko) * | 2015-09-25 | 2022-09-01 | 삼성전자주식회사 | 슬라이딩 어셈블리 및 이를 포함하는 운동 보조 장치 |
EP3158893B1 (en) * | 2015-10-21 | 2021-04-28 | noonee AG | Seat unit for wearable sitting posture assisting device |
KR102503910B1 (ko) * | 2015-11-09 | 2023-02-27 | 삼성전자주식회사 | 기립 보조 방법 및 장치 |
US10596060B2 (en) | 2015-11-26 | 2020-03-24 | Samsung Electronics Co., Ltd. | Frame assembly and motion assistance apparatus including the same |
CN105434145B (zh) * | 2016-01-28 | 2017-06-13 | 哈尔滨工业大学 | 一种轻便型模块化助行外骨骼 |
JP2018002333A (ja) * | 2016-06-28 | 2018-01-11 | 株式会社クボタ | アシストスーツ |
CN109219573B (zh) * | 2016-06-28 | 2021-08-06 | 株式会社久保田 | 辅助套装 |
KR102334854B1 (ko) * | 2017-05-10 | 2021-12-03 | 에이치엠에이치 주식회사 | 보행 보조 로봇 |
KR101988644B1 (ko) * | 2017-06-12 | 2019-06-12 | 에이치엠에이치 주식회사 | 보행 보조 로봇 |
KR102586645B1 (ko) | 2018-07-13 | 2023-10-12 | 삼성전자주식회사 | 보행 보조 장치 |
KR20200050001A (ko) | 2018-10-30 | 2020-05-11 | 삼성전자주식회사 | 운동 보조 장치 |
CN110936356A (zh) * | 2019-12-09 | 2020-03-31 | 西安交通大学 | 一种外骨骼机器人的腰部装置 |
US11918475B2 (en) | 2021-03-31 | 2024-03-05 | DePuy Synthes Products, Inc. | Modular acetabular surgical implant assembly |
Family Cites Families (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3561434A (en) * | 1968-09-17 | 1971-02-09 | Robert W Kilbey | Dual-purpose belt |
JPS58163364A (ja) | 1982-03-23 | 1983-09-28 | 工業技術院長 | 下肢障害者用動力装具 |
US4622957A (en) * | 1984-07-03 | 1986-11-18 | Curlee James D | Therapeutic corset |
US4756306A (en) * | 1984-03-20 | 1988-07-12 | Safeguard Technologies, Inc. | Therapeutic belt |
JPS60199450A (ja) * | 1984-03-26 | 1985-10-08 | 工業技術院長 | 下肢障害者用動力装具 |
JPS61228854A (ja) * | 1985-04-02 | 1986-10-13 | 工業技術院長 | 義足等の動力装具 |
US4703750A (en) * | 1986-08-29 | 1987-11-03 | Sebastian Peter R | Therapeutic lumbosacral appliance |
US4836194A (en) * | 1986-08-29 | 1989-06-06 | Safeguard Industrial Corporation | Therapeutic lumbosacral appliance |
US4905678A (en) * | 1988-10-18 | 1990-03-06 | Medical Designs, Inc. | Hip stabilizer |
US5020790A (en) * | 1990-10-23 | 1991-06-04 | Board Of Supervisors Of Louisiana State University And Agricultural And Mechanical College | Powered gait orthosis |
US5282460A (en) * | 1992-01-06 | 1994-02-01 | Joyce Ann Boldt | Three axis mechanical joint for a power assist device |
US5476441A (en) * | 1993-09-30 | 1995-12-19 | Massachusetts Institute Of Technology | Controlled-brake orthosis |
JP3530959B2 (ja) | 1993-12-13 | 2004-05-24 | 株式会社東京アールアンドデー | 平地歩行、階段歩行の電動補助装置 |
JP2888793B2 (ja) | 1996-03-22 | 1999-05-10 | 有限会社アシスト | コルセットベルト |
US5782782A (en) * | 1996-05-24 | 1998-07-21 | Boston Brace International Inc. | Support belt with corrective angle of lordosis |
JP2999734B2 (ja) * | 1997-03-10 | 2000-01-17 | 株式会社ワコール | 腰部サポート樹脂板 |
DE59906800D1 (de) * | 1998-11-13 | 2003-10-02 | Hocoma Ag Staefa | Vorrichtung und verfahren zur automatisierung der laufbandtherapie |
JP3740344B2 (ja) | 2000-02-03 | 2006-02-01 | 株式会社ワコール | 運動用スパッツ |
US6589195B1 (en) * | 2000-05-26 | 2003-07-08 | Orthomerica Products, Inc. | Modular adjustable prophylactic hip orthosis and adduction/abduction joint |
US6500137B1 (en) * | 2001-08-30 | 2002-12-31 | Joseph L. Molino | Pelvic region orthotic device |
JP3096627U (ja) * | 2003-03-24 | 2003-09-26 | 有限会社グリーンハウス | 健康美容ベルト |
-
2003
- 2003-09-04 JP JP2003312267A patent/JP4315766B2/ja not_active Expired - Fee Related
-
2004
- 2004-03-15 WO PCT/JP2004/003406 patent/WO2004103248A1/ja active Application Filing
- 2004-03-15 EP EP04720754.3A patent/EP1637115B1/en not_active Expired - Fee Related
- 2004-03-15 US US10/557,338 patent/US7780616B2/en not_active Expired - Fee Related
Cited By (32)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006075226A (ja) * | 2004-09-07 | 2006-03-23 | Honda Motor Co Ltd | 歩行補助装置用装着具 |
JP2006075198A (ja) * | 2004-09-07 | 2006-03-23 | Honda Motor Co Ltd | 歩行補助装置用装着具 |
US8545424B2 (en) | 2005-05-17 | 2013-10-01 | Honda Motor Co., Ltd. | Hip support member |
WO2006123516A1 (ja) * | 2005-05-17 | 2006-11-23 | Honda Motor Co., Ltd. | 腰部装具 |
JP2006320351A (ja) * | 2005-05-17 | 2006-11-30 | Wacoal Holdings Corp | 腰部装具 |
JP2007152035A (ja) * | 2005-12-09 | 2007-06-21 | Honda Motor Co Ltd | 力伝達部材 |
JP4603479B2 (ja) * | 2005-12-09 | 2010-12-22 | 本田技研工業株式会社 | 力伝達部材 |
JP2010000205A (ja) * | 2008-06-19 | 2010-01-07 | Honda Motor Co Ltd | 歩行補助装置用腰部装具 |
US8784344B2 (en) | 2009-12-25 | 2014-07-22 | Honda Motor Co., Ltd. | Pelvic frame and walking assistance device using the same |
JP2011131025A (ja) * | 2009-12-25 | 2011-07-07 | Honda Motor Co Ltd | 歩行補助装置の腰部装具および歩行補助装置 |
US8663134B2 (en) | 2010-01-11 | 2014-03-04 | Honda Motor Co., Ltd. | Walking assistance device |
JP2012254237A (ja) * | 2011-06-10 | 2012-12-27 | Honda Motor Co Ltd | 歩行補助装置の腰部装具および歩行補助装置 |
US9022958B2 (en) | 2011-06-10 | 2015-05-05 | Honda Motor Co., Ltd. | Walking assistance device |
JP2013173190A (ja) * | 2012-02-23 | 2013-09-05 | Univ Of Tsukuba | 装着式動作補助装置 |
KR102250260B1 (ko) * | 2014-07-17 | 2021-05-10 | 삼성전자주식회사 | 연결 모듈 및 이를 포함하는 운동 보조 장치 |
KR20160009854A (ko) | 2014-07-17 | 2016-01-27 | 삼성전자주식회사 | 연결 모듈 및 이를 포함하는 운동 보조 장치 |
KR102352338B1 (ko) * | 2014-07-17 | 2022-01-18 | 삼성전자주식회사 | 연결 모듈 및 이를 포함하는 운동 보조 장치 |
KR20210055032A (ko) * | 2014-07-17 | 2021-05-14 | 삼성전자주식회사 | 연결 모듈 및 이를 포함하는 운동 보조 장치 |
US9949851B2 (en) | 2014-07-17 | 2018-04-24 | Samsung Electronics Co., Ltd. | Fixing module and motion assistance apparatus including the same |
KR20170024680A (ko) | 2015-08-26 | 2017-03-08 | 삼성전자주식회사 | 골반 고정 기구 및 이를 포함하는 운동 보조 장치 |
JP2017042904A (ja) * | 2015-08-26 | 2017-03-02 | 三星電子株式会社Samsung Electronics Co.,Ltd. | 骨盤固定機構及びこれを含む運動補助装置 |
KR102483389B1 (ko) * | 2015-08-26 | 2022-12-30 | 삼성전자주식회사 | 골반 고정 기구 및 이를 포함하는 운동 보조 장치 |
JPWO2017213235A1 (ja) * | 2016-06-08 | 2019-03-14 | 株式会社東芝 | 動作支援装置 |
WO2017213235A1 (ja) * | 2016-06-08 | 2017-12-14 | 株式会社 東芝 | 動作支援装置 |
WO2018131686A1 (ja) * | 2017-01-13 | 2018-07-19 | 株式会社 東芝 | 動作支援装置 |
US10792209B2 (en) | 2018-02-23 | 2020-10-06 | Lg Electronics Inc. | Wearable assistive device that efficiently delivers assistive force |
US10603786B2 (en) | 2018-03-16 | 2020-03-31 | Lg Electronics Inc. | Belt for effective wearing and wearable assistive device having the same |
WO2019221101A1 (ja) * | 2018-05-15 | 2019-11-21 | パナソニック株式会社 | 動作支援装置 |
WO2020141632A1 (ko) * | 2019-01-02 | 2020-07-09 | 엘지전자 주식회사 | 웨어러블 로봇 |
CN113414757A (zh) * | 2021-06-11 | 2021-09-21 | 西安理工大学 | 一种膝关节运动能量收集及利用装置 |
CN113414757B (zh) * | 2021-06-11 | 2022-07-22 | 西安理工大学 | 一种膝关节运动能量收集及利用装置 |
WO2024122923A1 (ko) * | 2022-12-09 | 2024-06-13 | 삼성전자주식회사 | 운동 보조 장치 |
Also Published As
Publication number | Publication date |
---|---|
EP1637115A1 (en) | 2006-03-22 |
EP1637115A4 (en) | 2009-05-06 |
WO2004103248A1 (ja) | 2004-12-02 |
EP1637115B1 (en) | 2015-11-11 |
US20060258967A1 (en) | 2006-11-16 |
JP4315766B2 (ja) | 2009-08-19 |
US7780616B2 (en) | 2010-08-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4315766B2 (ja) | 歩行補助装置 | |
JP4093912B2 (ja) | 歩行補助装置 | |
JP4112430B2 (ja) | 歩行補助装置 | |
JP4072094B2 (ja) | 歩行補助装置 | |
JP4326259B2 (ja) | 歩行補助装置 | |
JP4680474B2 (ja) | 中枢神経系障害又は運動器官の損傷の後遺症を患う患者のための装置 | |
JP5366059B2 (ja) | 下半身装着用具 | |
US7037284B2 (en) | Specific pelvic compression belt | |
US9522077B1 (en) | Adjustable dual function spinal exoskeleton active spinal orthosis | |
JP4131873B2 (ja) | 身体補装具 | |
WO2006110545A2 (en) | Vibration and compression countermeasure harness and belt for bone and muscle loss | |
RU2659132C1 (ru) | Модульный ортопедический аппарат | |
JP2006075226A (ja) | 歩行補助装置用装着具 | |
RU21511U1 (ru) | Костюм для лечения детского церебрального паралича | |
JP3014829U (ja) | 股関節部と腰椎部の緊縛ベルト |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20060517 |
|
A711 | Notification of change in applicant |
Free format text: JAPANESE INTERMEDIATE CODE: A712 Effective date: 20060927 |
|
RD02 | Notification of acceptance of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7422 Effective date: 20061010 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20090203 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20090319 |
|
A711 | Notification of change in applicant |
Free format text: JAPANESE INTERMEDIATE CODE: A711 Effective date: 20090319 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20090512 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20090519 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 4315766 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120529 Year of fee payment: 3 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130529 Year of fee payment: 4 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130529 Year of fee payment: 4 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20140529 Year of fee payment: 5 |
|
LAPS | Cancellation because of no payment of annual fees |