JP2006075254A - 歩行補助装置用装着具 - Google Patents
歩行補助装置用装着具 Download PDFInfo
- Publication number
- JP2006075254A JP2006075254A JP2004260483A JP2004260483A JP2006075254A JP 2006075254 A JP2006075254 A JP 2006075254A JP 2004260483 A JP2004260483 A JP 2004260483A JP 2004260483 A JP2004260483 A JP 2004260483A JP 2006075254 A JP2006075254 A JP 2006075254A
- Authority
- JP
- Japan
- Prior art keywords
- user
- thigh
- support
- force
- crus
- 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
Images
Landscapes
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
【解決手段】腰部(1)、大腿部(2)、下腿部(3)、及び足部(4)からなり、使用者の腰部並びに足部に力を伝達する部位を備え、使用者の股関節および膝関節の少なくとも一箇所の位置にトルク発生手段(TA1)を概ね固定するための歩行補助装置用装着具を、使用者の脚部に止着される第1の部材(例えば大腿部結合クリップ9)と、前記トルク発生手段の動力が加わる第2の部材(例えば大腿部支持具2)と、これら第1、第2両部材の連結部に設けられた力検出手段(軸力センサ21)とを備えるものとする。
【選択図】図4
Description
2 大腿部支持具(第2の部材)
3 下腿部支持具
4 足部支持具
9 大腿部結合クリップ(第1の部材)
21 軸力センサ(力検出手段)
21a 可撓腕部
21b 枠部
22 3軸センサ
TA1・TA2 トルクアクチュエータ(トルク発生手段)
Claims (4)
- 腰部、大腿部、下腿部、及び足部からなり、使用者の腰部並びに足部に対する力伝達部を備え、使用者の股関節および膝関節の少なくとも一箇所の位置にトルク発生手段を概ね固定するための歩行補助装置用装着具であって、
使用者の脚部に止着される第1の部材と、前記トルク発生手段の動力が加わる第2の部材と、これら第1、第2両部材の連結部に設けられた力検出手段とを備えることを特徴とする歩行補助装置用装着具。 - 前記力検出手段は、枠部と変位測定センサを貼り付けた十字形の可撓腕部とを有し、前記可撓腕部の中心に前記第1の部材が結合され、前記枠部が前記第2の部材に固定されるものであることを特徴とする請求項1に記載の歩行補助装置用装着具。
- 前記第2の部材は、使用者の大腿部に沿って延在する棒状部を有するものであり、
前記第1の部材は、前記第2の部材の棒状部に対して摺動・回動可能に結合するものであることを特徴とする請求項1若しくは2に記載の歩行補助装置用装着具。 - 前記足部と前記下腿部との間に、荷重を検出する力検出手段を備え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用装着具。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004260483A JP4112543B2 (ja) | 2004-09-08 | 2004-09-08 | 歩行補助装置 |
US11/220,737 US7524297B2 (en) | 2004-09-08 | 2005-09-07 | Walking assistance device provided with a force sensor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004260483A JP4112543B2 (ja) | 2004-09-08 | 2004-09-08 | 歩行補助装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006075254A true JP2006075254A (ja) | 2006-03-23 |
JP4112543B2 JP4112543B2 (ja) | 2008-07-02 |
Family
ID=36155203
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004260483A Expired - Fee Related JP4112543B2 (ja) | 2004-09-08 | 2004-09-08 | 歩行補助装置 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP4112543B2 (ja) |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006320351A (ja) * | 2005-05-17 | 2006-11-30 | Wacoal Holdings Corp | 腰部装具 |
KR100731899B1 (ko) | 2006-06-30 | 2007-06-25 | 주식회사 피앤에스미캐닉스 | 동력보행보조기 |
WO2011145643A1 (ja) * | 2010-05-20 | 2011-11-24 | 国立大学法人 鹿児島大学 | 膝関節パワーアシスト装置 |
KR101142240B1 (ko) | 2010-05-12 | 2012-05-07 | 한양대학교 산학협력단 | 근력 지원용 착용형 로봇 |
JP2015154858A (ja) * | 2014-02-20 | 2015-08-27 | 俊道 妻木 | 動作補助装置 |
KR20180027864A (ko) * | 2016-09-07 | 2018-03-15 | 삼성전자주식회사 | 착용 모듈 및 이를 포함하는 운동 보조 장치 |
US10137049B2 (en) | 2014-10-20 | 2018-11-27 | Samsung Electronics Co., Ltd. | Driving module, motion assistance apparatus including the driving module, and method of controlling the motion assistance apparatus |
US10265196B2 (en) | 2014-07-24 | 2019-04-23 | Samsung Electronics Co., Ltd. | Motion assistance apparatus and method of controlling the same |
CN114571439A (zh) * | 2022-03-15 | 2022-06-03 | 浙江工业大学 | 一种紧凑型关节制动下肢助力外骨骼装置 |
US11628118B2 (en) | 2019-11-01 | 2023-04-18 | Samsung Electronics Co., Ltd. | Walking assistant device deformable based on thigh shape |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
TWI556809B (zh) | 2014-03-27 | 2016-11-11 | 財團法人工業技術研究院 | 助行裝置 |
KR102120960B1 (ko) | 2014-07-17 | 2020-06-09 | 삼성전자주식회사 | 지지 프레임 및 이를 포함하는 운동 보조 장치 |
KR102481533B1 (ko) | 2015-09-04 | 2022-12-26 | 삼성전자주식회사 | 운동 보조 장치 및 이를 제어하는 방법 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58163364A (ja) * | 1982-03-23 | 1983-09-28 | 工業技術院長 | 下肢障害者用動力装具 |
JP2000107213A (ja) * | 1998-10-07 | 2000-04-18 | Shigeki Toyama | 超音波モータを用いた関節補助器 |
JP2000227373A (ja) * | 1999-02-05 | 2000-08-15 | Mitsuba Corp | 多軸型力センサ |
JP2001331271A (ja) * | 2000-05-22 | 2001-11-30 | Alps Electric Co Ltd | 入力装置 |
JP2003220102A (ja) * | 2002-01-29 | 2003-08-05 | Hitachi Ltd | 動作支援装置 |
-
2004
- 2004-09-08 JP JP2004260483A patent/JP4112543B2/ja not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58163364A (ja) * | 1982-03-23 | 1983-09-28 | 工業技術院長 | 下肢障害者用動力装具 |
JP2000107213A (ja) * | 1998-10-07 | 2000-04-18 | Shigeki Toyama | 超音波モータを用いた関節補助器 |
JP2000227373A (ja) * | 1999-02-05 | 2000-08-15 | Mitsuba Corp | 多軸型力センサ |
JP2001331271A (ja) * | 2000-05-22 | 2001-11-30 | Alps Electric Co Ltd | 入力装置 |
JP2003220102A (ja) * | 2002-01-29 | 2003-08-05 | Hitachi Ltd | 動作支援装置 |
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006320351A (ja) * | 2005-05-17 | 2006-11-30 | Wacoal Holdings Corp | 腰部装具 |
KR100731899B1 (ko) | 2006-06-30 | 2007-06-25 | 주식회사 피앤에스미캐닉스 | 동력보행보조기 |
KR101142240B1 (ko) | 2010-05-12 | 2012-05-07 | 한양대학교 산학협력단 | 근력 지원용 착용형 로봇 |
WO2011145643A1 (ja) * | 2010-05-20 | 2011-11-24 | 国立大学法人 鹿児島大学 | 膝関節パワーアシスト装置 |
JP5747357B2 (ja) * | 2010-05-20 | 2015-07-15 | 国立大学法人 鹿児島大学 | 膝関節パワーアシスト装置 |
JP2015154858A (ja) * | 2014-02-20 | 2015-08-27 | 俊道 妻木 | 動作補助装置 |
US10265196B2 (en) | 2014-07-24 | 2019-04-23 | Samsung Electronics Co., Ltd. | Motion assistance apparatus and method of controlling the same |
US11304828B2 (en) | 2014-07-24 | 2022-04-19 | Samsung Electronics Co., Ltd. | Motion assistance apparatus and method of controlling the same |
US11833067B2 (en) | 2014-07-24 | 2023-12-05 | Samsung Electronics Co., Ltd. | Motion assistance apparatus and method of controlling the same |
US10137049B2 (en) | 2014-10-20 | 2018-11-27 | Samsung Electronics Co., Ltd. | Driving module, motion assistance apparatus including the driving module, and method of controlling the motion assistance apparatus |
US10980700B2 (en) | 2014-10-20 | 2021-04-20 | Samsung Electronics Co., Ltd. | Driving module, motion assistance apparatus including the driving module, and method of controlling the motion assistance apparatus |
KR20180027864A (ko) * | 2016-09-07 | 2018-03-15 | 삼성전자주식회사 | 착용 모듈 및 이를 포함하는 운동 보조 장치 |
KR102646609B1 (ko) | 2016-09-07 | 2024-03-12 | 삼성전자주식회사 | 착용 모듈 및 이를 포함하는 운동 보조 장치 |
US11628118B2 (en) | 2019-11-01 | 2023-04-18 | Samsung Electronics Co., Ltd. | Walking assistant device deformable based on thigh shape |
US11638674B2 (en) | 2019-11-01 | 2023-05-02 | Samsung Electronics Co., Ltd. | Walking assistant device deformable based on thigh shape |
CN114571439A (zh) * | 2022-03-15 | 2022-06-03 | 浙江工业大学 | 一种紧凑型关节制动下肢助力外骨骼装置 |
Also Published As
Publication number | Publication date |
---|---|
JP4112543B2 (ja) | 2008-07-02 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US9763847B2 (en) | Walking movement aid | |
KR101937012B1 (ko) | 하지 관절 보조용 외골격 시스템 | |
JP5075759B2 (ja) | 歩行補助装置 | |
US8083695B2 (en) | Walk assistance device | |
JP4499508B2 (ja) | 歩行補助装置の制御装置 | |
JP5876550B1 (ja) | 関節運動補助装置 | |
CN111110519B (zh) | 一种多传感智能化可穿戴下肢外骨骼机器人 | |
JP4112430B2 (ja) | 歩行補助装置 | |
JP4666644B2 (ja) | 歩行補助装具の制御装置 | |
JP5313609B2 (ja) | 装着式動作補助装置のフレーム構造。 | |
KR102146363B1 (ko) | 착용형 로봇 및 그 제어 방법 | |
US20080009778A1 (en) | Walking assisting device | |
JP4112543B2 (ja) | 歩行補助装置 | |
KR20100106527A (ko) | 보행 보조장치 | |
JP2007282991A (ja) | 腰部支援装置 | |
JP5841787B2 (ja) | 装着型動作支援装置 | |
KR20140134477A (ko) | 무게중심 이동을 위한 수동 메커니즘을 갖는 보행 재활 로봇 | |
KR102481533B1 (ko) | 운동 보조 장치 및 이를 제어하는 방법 | |
KR20190129188A (ko) | 근력보조용 웨어러블장치 | |
CN115282561B (zh) | 一种横向行走康复下肢外骨骼 | |
JP4112542B2 (ja) | 歩行補助装置用装着具 | |
Nie et al. | Design of Wearable Robotic Support Limbs for Walking Assistance Based on Configurable Support Polygon | |
JP4724059B2 (ja) | 歩行補助装置 | |
KR101787560B1 (ko) | 리덕션유닛이 구비된 보행보조장치 | |
JP5370098B2 (ja) | 歩行補助装具 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20061201 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20080108 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20080228 |
|
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: 20080401 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20080409 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 4112543 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110418 Year of fee payment: 3 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110418 Year of fee payment: 3 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120418 Year of fee payment: 4 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130418 Year of fee payment: 5 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20130418 Year of fee payment: 5 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20140418 Year of fee payment: 6 |
|
LAPS | Cancellation because of no payment of annual fees |