JP2009095577A - 運動補助装置 - Google Patents
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Abstract
【解決手段】本発明の運動補助装置10によれば、強化期間において補助係数の値が増やされた分だけ、胴体に対する脚体の運動を補助するために動物に与えられる補助力が強化される。「強化期間」には脚体が着床状態で伸展運動している第2期間のうち一部または全部としての第2強化期間が含まれている。これにより、着床状態の脚体の伸展運動が比較的強い力で補助されるので、着床状態の脚体が受ける床反力により胴体の前方への並進が促される。また、脚体が補助力により離床状態において伸張することの反射(伸張反射)により、この離床状態に続く離床状態における屈曲運動が促される。
【選択図】 図1
Description
Claims (8)
- 胴体に対する脚体の運動を補助する補助力を動物に与えることにより該動物の歩行運動を補助する装置であって、
補助係数の値の大小に応じて前記補助力の強弱を制御する制御装置を備え、
前記制御装置が、前記脚体が着床しているか離床しているかを測定し、かつ、前記脚体の前記胴体に対する姿勢を測定する第1処理要素と、
前記第1処理要素による当該測定結果に基づき、前記脚体が着床状態で伸展運動している第2期間のうち一部または全部としての第2強化期間を含む強化期間における前記補助係数の値が、該強化期間以外の期間における前記補助係数の値よりも大きくなるように当該補助係数の値を調節する第2処理要素とを備えていることを特徴とする運動補助装置。 - 請求項1記載の運動補助装置において、
前記第2処理要素が、前記脚体が離床状態で屈曲運動から伸展運動に変化してから着床するまでの第1期間のうち一部または全部としての第1強化期間をさらに含む前記強化期間における前記補助係数の値が、該強化期間以外の期間における前記補助係数の値よりも大きくなるように当該補助係数の値を調節することを特徴とする運動補助装置。 - 請求項1記載の運動補助装置において、
前記制御装置が、前記動物の歩行運動に応じて周期的に変化する第2運動振動子を測定する運動振動子測定要素と、
入力振動信号に基づき、第2固有角速度に基づいて定まる角速度で周期的に変化する出力振動信号を生成する第2モデルに、前記運動振動子測定要素により測定された前記第2運動振動子を該入力振動信号として入力することにより、該出力振動信号として第2振動子を生成する第2振動子生成要素とを備え、かつ、
前記補助係数の値に応じた振幅と、前記第2振動子生成要素により生成された前記第2振動子の角速度とにしたがって周期的に変化するように前記補助力を制御することを特徴とする運動補助装置。 - 請求項3記載の運動補助装置において、
前記制御装置が、前記動物の歩行運動のスケールを表わす運動変数の値を測定する運動変数測定要素を備え、前記第2振動子生成要素が、前記第2モデルを定義する前記動物の挙動状態を表わす複数の状態変数の連立微分方程式に含まれる定数または係数の値を補正することにより、前記運動変数測定要素による前記運動変数の測定値が目標値に近づくように当該第2モデルを補正し、当該連立微分方程式の解としての当該状態変数の値に基づいて前記第2振動子を生成することを特徴とする運動補助装置。 - 請求項3記載の運動補助装置において、
前記第2モデルを定義する前記動物の挙動状態を表わす複数の状態変数の連立微分方程式に含まれる定数または係数の値のマニュアル調節を可能とする調節装置を備え、前記第2振動子生成要素が当該連立方程式の解としての前記状態変数の値に基づいて前記第2振動子を生成することを特徴とする運動補助装置。 - 請求項4または5記載の運動補助装置において、
前記第2処理要素が前記連立微分方程式に含まれる前記定数または前記係数の値を前記補助係数の値として調節することを特徴とする運動補助装置。 - 請求項3記載の運動補助装置において、
前記制御装置が、前記動物の歩行運動のスケールを表わす運動変数の値を測定する運動変数測定要素を備え、前記運動変数測定要素による前記運動変数の測定値を目標値に近付けるための、前記補助係数としての仮想的な弾性要素の弾性係数により定まる振幅と、前記第2振動子生成要素により生成された前記第2振動子の角速度とにしたがって周期的に変化するように前記補助力を制御することを特徴とする運動補助装置。 - 請求項3記載の運動補助装置において、
前記運動振動子測定要素が前記動物の運動に応じて周期的に変化する第1運動振動子を測定し、前記制御装置が、入力振動信号と相互に引き込み合うことで第1固有角速度に基づいて定まる角速度で変化する出力振動信号を生成する第1モデルに、該運動振動子測定要素により測定された該第1運動振動子を該入力振動信号として入力することにより、該出力振動信号として第1振動子を生成する第1振動子生成要素と、該運動振動子測定要素により測定された該第1運動振動子と該第1振動子生成要素により生成された該第1振動子との位相差である第1位相差に基づき、相互作用しながら第2位相差をもって周期的に変化する第1仮想振動子と第2仮想振動子とが表現されている仮想モデルにしたがって、該第2位相差が目標位相差に近づくように該第2仮想振動子の角速度を前記第2固有角速度として設定する固有角速度設定要素を備えていることを特徴とする運動補助装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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JP2007272018A JP4271713B2 (ja) | 2007-10-19 | 2007-10-19 | 運動補助装置 |
PCT/JP2008/002236 WO2009050839A1 (ja) | 2007-10-19 | 2008-08-19 | 運動補助装置 |
US12/519,251 US8298164B2 (en) | 2007-10-19 | 2008-08-19 | Motion assisting device |
EP08838894.7A EP2184046B1 (en) | 2007-10-19 | 2008-08-19 | Motion assisting device |
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JP2007272018A JP4271713B2 (ja) | 2007-10-19 | 2007-10-19 | 運動補助装置 |
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JP2009095577A true JP2009095577A (ja) | 2009-05-07 |
JP4271713B2 JP4271713B2 (ja) | 2009-06-03 |
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Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011156344A (ja) * | 2010-01-11 | 2011-08-18 | Honda Motor Co Ltd | 歩行補助装置 |
JP2011239887A (ja) * | 2010-05-17 | 2011-12-01 | Toyota Motor Corp | 歩行支援装置の遊脚立脚判定アルゴリズムの閾値調整方法 |
KR101146112B1 (ko) * | 2010-03-15 | 2012-05-16 | 한국산재의료원 | 전동보행보조기 |
JP2012245212A (ja) * | 2011-05-30 | 2012-12-13 | Honda Motor Co Ltd | 歩行補助装置 |
US9610209B2 (en) | 2012-11-01 | 2017-04-04 | Honda Motor Co., Ltd. | Walking motion assist device |
US10213357B2 (en) | 2014-03-21 | 2019-02-26 | Ekso Bionics, Inc. | Ambulatory exoskeleton and method of relocating exoskeleton |
JP2019505398A (ja) * | 2015-12-24 | 2019-02-28 | サフラン・エレクトロニクス・アンド・デファンス | 外骨格構造用のバックモジュール |
JP2019506302A (ja) * | 2015-12-24 | 2019-03-07 | サフラン・エレクトロニクス・アンド・デファンス | ユーザに力支援を提供するモジュール式外骨格構造 |
US10531967B2 (en) | 2015-09-02 | 2020-01-14 | Samsung Electronics Co., Ltd. | Walking assistance apparatus and operation method of the same |
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- 2008-08-19 US US12/519,251 patent/US8298164B2/en active Active
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EP2184046B1 (en) | 2014-08-13 |
EP2184046A1 (en) | 2010-05-12 |
EP2184046A4 (en) | 2011-04-13 |
WO2009050839A1 (ja) | 2009-04-23 |
US8298164B2 (en) | 2012-10-30 |
US20100049102A1 (en) | 2010-02-25 |
JP4271713B2 (ja) | 2009-06-03 |
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