JP2009082538A - 歩行補助装置 - Google Patents
歩行補助装置 Download PDFInfo
- Publication number
- JP2009082538A JP2009082538A JP2007257216A JP2007257216A JP2009082538A JP 2009082538 A JP2009082538 A JP 2009082538A JP 2007257216 A JP2007257216 A JP 2007257216A JP 2007257216 A JP2007257216 A JP 2007257216A JP 2009082538 A JP2009082538 A JP 2009082538A
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- connecting member
- foot
- leg link
- assist device
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- 210000002683 foot Anatomy 0.000 claims abstract description 80
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 210000003423 ankle Anatomy 0.000 claims abstract description 7
- 210000001226 toe joint Anatomy 0.000 claims description 5
- 210000003189 scaphoid bone Anatomy 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract 4
- 210000003371 toe Anatomy 0.000 description 8
- 230000037396 body weight Effects 0.000 description 6
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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Classifications
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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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1436—Special crank assembly
-
- 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
- A61H2201/164—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
-
- 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
-
- 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】足平装着部2は、脚リンク3から連結部材22に伝達される荷重の矢状面における作用範囲よりも外側で利用者の足平により踏み付け可能な剛性板から成る踏み板部材23を備える。連結部材22は踏み板部材23に該踏み板部材23に対する正面視左右方向の軸線回りの回転が制限されるように結合される。
【選択図】図1
Description
Claims (5)
- 荷重伝達部と、利用者の足平に装着される足平装着部と、荷重伝達部と足平装着部との間に設けられる脚リンクとを備え、利用者の体重の少なくとも一部を荷重伝達部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、足平装着部は、利用者の足首より前方位置で脚リンクの下端に少なくとも正面視左右方向の軸線回りの回転自由度を持つように連結される連結部材を備えるものにおいて、
足平装着部は、脚リンクから連結部材に伝達される荷重の矢状面における作用範囲よりも外側で利用者の足平により踏み付け可能な剛性板から成る踏み板部材を備え、連結部材は踏み板部材に該踏み板部材に対する正面視左右方向の軸線回りの回転が制限されるように結合されていることを特徴とする歩行補助装置。 - 前記足平装着部は、靴と、この靴に着脱自在に外装されるアダプタとで構成され、このアダプタに前記踏み板部材と前記連結部材とが設けら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。
- 前記連結部材は、利用者の足平の足指関節と舟状骨との間の部分の横方向内側を通るように、踏み板部材に片持ち状態で結合されることを特徴とする請求項1又は2記載の歩行補助装置。
- 前記踏み板部材に該踏み板部材を横断するように溝部が設けら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。
- 前記足平装着部は前記踏み板部材の下に配置される接地部材を有し、この接地部材に利用者の踏力を検出可能な圧力センサが設けられ、この圧力センサ用の配線が前記溝部に通されることを特徴とする請求項4記載の歩行補助装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007257216A JP4784771B2 (ja) | 2007-10-01 | 2007-10-01 | 歩行補助装置 |
US12/681,314 US8388559B2 (en) | 2007-10-01 | 2008-09-05 | Walking assist device |
PCT/JP2008/002462 WO2009044507A1 (ja) | 2007-10-01 | 2008-09-05 | 歩行補助装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007257216A JP4784771B2 (ja) | 2007-10-01 | 2007-10-01 | 歩行補助装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009082538A true JP2009082538A (ja) | 2009-04-23 |
JP4784771B2 JP4784771B2 (ja) | 2011-10-05 |
Family
ID=40525940
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007257216A Expired - Fee Related JP4784771B2 (ja) | 2007-10-01 | 2007-10-01 | 歩行補助装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US8388559B2 (ja) |
JP (1) | JP4784771B2 (ja) |
WO (1) | WO2009044507A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011125546A (ja) * | 2009-12-18 | 2011-06-30 | Honda Motor Co Ltd | 歩行補助装置 |
JP2014226151A (ja) * | 2013-05-17 | 2014-12-08 | 学校法人 芝浦工業大学 | 歩行補助装置 |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014104185A (ja) * | 2012-11-28 | 2014-06-09 | Sony Corp | 運動補助装置及び運動補助方法 |
WO2014159608A1 (en) | 2013-03-14 | 2014-10-02 | Ekso Bionics, Inc. | Non-anthropomorphic hip joint locations for exoskeletons |
KR102186859B1 (ko) | 2014-01-09 | 2020-12-04 | 삼성전자주식회사 | 보행 보조 기구 및 보행 보조 기구의 제어 방법 |
KR102152636B1 (ko) * | 2014-01-16 | 2020-09-08 | 삼성전자주식회사 | 관절 어셈블리 및 이를 포함하는 보행보조로봇 |
FR3018469B1 (fr) * | 2014-03-11 | 2016-04-01 | Robotiques 3 Dimensions | Chausson d'exosquelette. |
US10561568B1 (en) | 2014-06-19 | 2020-02-18 | Lockheed Martin Corporation | Exoskeleton system providing for a load transfer when a user is standing and kneeling |
CN104434127B (zh) * | 2014-12-17 | 2017-11-03 | 王春宝 | 三自由度踝关节运动状态检测装置 |
FR3034660B1 (fr) * | 2015-04-07 | 2022-06-10 | Wandercraft | Exosquelette comprenant une liaison mecanique de cheville avec deux axes de pivotement |
US10548800B1 (en) | 2015-06-18 | 2020-02-04 | Lockheed Martin Corporation | Exoskeleton pelvic link having hip joint and inguinal joint |
US10195736B2 (en) | 2015-07-17 | 2019-02-05 | Lockheed Martin Corporation | Variable force exoskeleton hip joint |
US10518404B2 (en) | 2015-07-17 | 2019-12-31 | Lockheed Martin Corporation | Variable force exoskeleton hip joint |
US20180325454A1 (en) * | 2015-11-18 | 2018-11-15 | University Of Utah Research Foundation | Conformable biomechanical force sensor and method of fabrication |
US10912346B1 (en) * | 2015-11-24 | 2021-02-09 | Lockheed Martin Corporation | Exoskeleton boot and lower link |
EP3241531A1 (en) * | 2016-05-04 | 2017-11-08 | noonee AG | Leg unit for a wearable sitting posture assisting device |
CA3073504A1 (en) | 2017-08-30 | 2019-03-07 | Lockheed Martin Corporation | Automatic sensor selection |
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 |
KR102663218B1 (ko) * | 2019-04-04 | 2024-05-03 | 현대자동차주식회사 | 착용식 의자 |
US11337878B1 (en) | 2019-04-10 | 2022-05-24 | Lockheed Martin Corporation | Mechanical joint for exoskeleton ankle |
US20240108095A1 (en) * | 2022-10-03 | 2024-04-04 | Nathan Bertrand | Footwear for inversion exercises |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005296103A (ja) * | 2004-04-07 | 2005-10-27 | Honda Motor Co Ltd | 歩行補助装具 |
JP2007054616A (ja) * | 2005-07-27 | 2007-03-08 | Honda Motor Co Ltd | 歩行補助装置の制御装置 |
JP2007097636A (ja) * | 2005-09-30 | 2007-04-19 | Matsushita Electric Ind Co Ltd | 筋力補助装置 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2589360B1 (fr) * | 1985-10-30 | 1987-12-24 | Chareire Jean Louis | Appareil d'assistance mecanique de la propulsion par les jambes |
US4814661A (en) * | 1986-05-23 | 1989-03-21 | Washington State University Research Foundation, Inc. | Systems for measurement and analysis of forces exerted during human locomotion |
US7628766B1 (en) * | 2003-10-29 | 2009-12-08 | The Regents Of The University Of California | Lower extremity enhancer |
JP4178187B2 (ja) * | 2005-01-26 | 2008-11-12 | 国立大学法人 筑波大学 | 装着式動作補助装置及び制御用プログラム |
JP4588666B2 (ja) * | 2005-05-27 | 2010-12-01 | 本田技研工業株式会社 | 歩行補助装置の制御装置および制御プログラム |
JP4641225B2 (ja) | 2005-07-19 | 2011-03-02 | 本田技研工業株式会社 | 歩行補助装置 |
JP4332136B2 (ja) * | 2005-06-03 | 2009-09-16 | 本田技研工業株式会社 | 肢体アシスト装置および肢体アシストプログラム |
JP4417300B2 (ja) * | 2005-07-13 | 2010-02-17 | 本田技研工業株式会社 | 歩行補助装置 |
-
2007
- 2007-10-01 JP JP2007257216A patent/JP4784771B2/ja not_active Expired - Fee Related
-
2008
- 2008-09-05 WO PCT/JP2008/002462 patent/WO2009044507A1/ja active Application Filing
- 2008-09-05 US US12/681,314 patent/US8388559B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2005296103A (ja) * | 2004-04-07 | 2005-10-27 | Honda Motor Co Ltd | 歩行補助装具 |
JP2007054616A (ja) * | 2005-07-27 | 2007-03-08 | Honda Motor Co Ltd | 歩行補助装置の制御装置 |
JP2007097636A (ja) * | 2005-09-30 | 2007-04-19 | Matsushita Electric Ind Co Ltd | 筋力補助装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011125546A (ja) * | 2009-12-18 | 2011-06-30 | Honda Motor Co Ltd | 歩行補助装置 |
JP2014226151A (ja) * | 2013-05-17 | 2014-12-08 | 学校法人 芝浦工業大学 | 歩行補助装置 |
Also Published As
Publication number | Publication date |
---|---|
US8388559B2 (en) | 2013-03-05 |
WO2009044507A1 (ja) | 2009-04-09 |
US20100210980A1 (en) | 2010-08-19 |
JP4784771B2 (ja) | 2011-10-05 |
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