JP2009000195A - 歩行補助装置 - Google Patents
歩行補助装置 Download PDFInfo
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- JP2009000195A JP2009000195A JP2007162360A JP2007162360A JP2009000195A JP 2009000195 A JP2009000195 A JP 2009000195A JP 2007162360 A JP2007162360 A JP 2007162360A JP 2007162360 A JP2007162360 A JP 2007162360A JP 2009000195 A JP2009000195 A JP 2009000195A
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- 238000001514 detection method Methods 0.000 claims abstract description 27
- 230000037396 body weight Effects 0.000 claims description 10
- 230000003247 decreasing effect Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 description 16
- 230000005540 biological transmission Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 229940013164 reliefassist Drugs 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- A61H2201/1207—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
- A61H2201/1623—Back
-
- 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
- A61H2201/1633—Seat
-
- 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
- A61H2201/1635—Hand or arm, e.g. handle
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1676—Pivoting
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- 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
- A61H2201/5061—Force sensors
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- 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
- A61H2201/5071—Pressure sensors
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
【解決手段】着座部材1に利用者が把持可能な把持部1dを設ける。そして、把持検出手段で把持部1dの把持が検出されたときに、着座検出手段で利用者の股部への着座部材1の当接が検出されるまで脚リンク2を着座部材1の押し上げ方向に駆動する装着アシスト制御を行う。
【選択図】図1
Description
Claims (7)
- 利用者が跨ぐようにして着座する着座部材と、着座部材に連結した脚リンクと、着座部材を押し上げる方向に脚リンクを駆動可能な駆動源とを備え、利用者の体重の少なくとも一部を着座部材を介して脚リンクで支えるようにした歩行補助装置であって、
着座部材に、利用者が把持可能な把持部が設けられていることを特徴とする歩行補助装置。 - 前記駆動源用の制御手段と、前記把持部を把持したことを検出する把持検出手段とを備え、制御手段は、把持検出手段の検出結果に応じた所定の制御を行うように構成されていることを特徴とする請求項1記載の歩行補助装置。
- 請求項2記載の歩行補助装置であって、前記着座部材が利用者の股部に当接したことを検出する着座検出手段を備え、
前記制御手段は、前記把持検出手段で把持部の把持が検出されたときに、着座検出手段で利用者の股部への着座部材の当接が検出されるまで前記脚リンクを着座部材の押し上げ方向に駆動する装着アシスト制御を前記所定の制御として行うように構成されていることを特徴とする歩行補助装置。 - 請求項3記載の歩行補助装置であって、前記脚リンクの下端に利用者の足平に装着される接地部材が連結されているものにおいて、
利用者の足平への接地部材の装着を検出する足平検出手段を備え、
前記制御手段は、足平検出手段で利用者の足平への接地部材の装着が検出されるまで前記装着アシスト制御の実行を禁止するように構成されていることを特徴とする歩行補助装置。 - 請求項2記載の歩行補助装置であって、前記把持検出手段は前記把持部に作用する力を検出する力センサで構成され、
前記制御手段は、前記脚リンクにより利用者の体重の少なくとも一部を支える体重免荷アシスト力を発生させて歩行を補助する歩行アシスト制御の実行中に、脚リンクで発生すべき体重免荷アシスト力の設定値を力センサの検出力に応じて増減するアシスト力設定変更制御を前記所定の制御として行うように構成されてい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、前記制御手段は、前記力センサにより前記把持部の押下げ方向の力が検出されている間、前記アシスト力設定変更制御で前記体重免荷アシスト力の設定値を次第に減少させ、この設定値が所定の下限値未満に減少したとき、前記脚リンクにより前記着座部材を歩行補助装置の重量分の力で支える自重補償制御を行うように構成されていることを特徴とする歩行補助装置。
- 請求項6記載の歩行補助装置であって、前記脚リンクの下端に利用者の足平に装着される接地部材が連結されているものにおいて、
利用者の足平への接地部材の装着を検出する足平検出手段を備え、
前記制御手段は、前記自重補償制御の実行中に足平検出手段により利用者の足平への接地部材の装着が検出されなくなったときに、前記駆動源による前記脚リンクの駆動を停止する停止制御を行うように構成されていることを特徴とする歩行補助装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007162360A JP4872821B2 (ja) | 2007-06-20 | 2007-06-20 | 歩行補助装置 |
US12/522,998 US8303525B2 (en) | 2007-06-20 | 2008-04-07 | Walking assist device |
PCT/JP2008/056880 WO2008155944A1 (ja) | 2007-06-20 | 2008-04-07 | 歩行補助装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007162360A JP4872821B2 (ja) | 2007-06-20 | 2007-06-20 | 歩行補助装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009000195A true JP2009000195A (ja) | 2009-01-08 |
JP4872821B2 JP4872821B2 (ja) | 2012-02-08 |
Family
ID=40156106
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007162360A Expired - Fee Related JP4872821B2 (ja) | 2007-06-20 | 2007-06-20 | 歩行補助装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US8303525B2 (ja) |
JP (1) | JP4872821B2 (ja) |
WO (1) | WO2008155944A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011115323A (ja) * | 2009-12-02 | 2011-06-16 | Nakamura Sangyo Gakuen | 歩行介助ロボット |
JP2014128724A (ja) * | 2014-03-19 | 2014-07-10 | Nakamura Sangyo Gakuen | 歩行介助ロボット |
JP2018158392A (ja) * | 2017-03-22 | 2018-10-11 | 株式会社クボタ | アシストスーツ |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102697623B (zh) * | 2012-06-11 | 2013-12-18 | 常熟柏宇医疗电子有限公司 | 穿戴式报警助行器 |
WO2014034145A1 (ja) * | 2012-08-30 | 2014-03-06 | 株式会社ニコン | 補助用具 |
KR102208808B1 (ko) | 2014-03-28 | 2021-01-28 | 삼성전자주식회사 | 링크 조립체, 프레임 및 이를 포함하는 보행보조로봇 |
KR102115016B1 (ko) | 2014-05-23 | 2020-05-26 | 삼성전자주식회사 | 구동 모듈 및 이를 포함하는 운동 보조 장치 |
KR102250260B1 (ko) * | 2014-07-17 | 2021-05-10 | 삼성전자주식회사 | 연결 모듈 및 이를 포함하는 운동 보조 장치 |
KR102250225B1 (ko) | 2014-07-24 | 2021-05-10 | 삼성전자주식회사 | 운동 보조 장치 및 그 제어 방법 |
CN109318213B (zh) * | 2018-12-06 | 2020-11-17 | 西安交通大学 | 一种腿部支撑外骨骼 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005152379A (ja) * | 2003-11-27 | 2005-06-16 | Osamu Nitta | 動作支援装置 |
JP2006075198A (ja) * | 2004-09-07 | 2006-03-23 | Honda Motor Co Ltd | 歩行補助装置用装着具 |
JP2007020909A (ja) * | 2005-07-19 | 2007-02-01 | Honda Motor Co Ltd | 歩行補助装置 |
JP2007054616A (ja) * | 2005-07-27 | 2007-03-08 | Honda Motor Co Ltd | 歩行補助装置の制御装置 |
JP2007089652A (ja) * | 2005-09-27 | 2007-04-12 | Matsushita Electric Works Ltd | 運動補助装置 |
-
2007
- 2007-06-20 JP JP2007162360A patent/JP4872821B2/ja not_active Expired - Fee Related
-
2008
- 2008-04-07 WO PCT/JP2008/056880 patent/WO2008155944A1/ja active Application Filing
- 2008-04-07 US US12/522,998 patent/US8303525B2/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005152379A (ja) * | 2003-11-27 | 2005-06-16 | Osamu Nitta | 動作支援装置 |
JP2006075198A (ja) * | 2004-09-07 | 2006-03-23 | Honda Motor Co Ltd | 歩行補助装置用装着具 |
JP2007020909A (ja) * | 2005-07-19 | 2007-02-01 | Honda Motor Co Ltd | 歩行補助装置 |
JP2007054616A (ja) * | 2005-07-27 | 2007-03-08 | Honda Motor Co Ltd | 歩行補助装置の制御装置 |
JP2007089652A (ja) * | 2005-09-27 | 2007-04-12 | Matsushita Electric Works Ltd | 運動補助装置 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011115323A (ja) * | 2009-12-02 | 2011-06-16 | Nakamura Sangyo Gakuen | 歩行介助ロボット |
JP2014128724A (ja) * | 2014-03-19 | 2014-07-10 | Nakamura Sangyo Gakuen | 歩行介助ロボット |
JP2018158392A (ja) * | 2017-03-22 | 2018-10-11 | 株式会社クボタ | アシストスーツ |
Also Published As
Publication number | Publication date |
---|---|
US20100076355A1 (en) | 2010-03-25 |
WO2008155944A1 (ja) | 2008-12-24 |
US8303525B2 (en) | 2012-11-06 |
JP4872821B2 (ja) | 2012-02-08 |
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