JP2010035899A - 歩行補助装置 - Google Patents
歩行補助装置 Download PDFInfo
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- JP2010035899A JP2010035899A JP2008203803A JP2008203803A JP2010035899A JP 2010035899 A JP2010035899 A JP 2010035899A JP 2008203803 A JP2008203803 A JP 2008203803A JP 2008203803 A JP2008203803 A JP 2008203803A JP 2010035899 A JP2010035899 A JP 2010035899A
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- 210000000629 knee joint Anatomy 0.000 claims abstract description 127
- 210000000689 upper leg Anatomy 0.000 claims abstract description 81
- 210000001699 lower leg Anatomy 0.000 claims abstract description 72
- 210000004394 hip joint Anatomy 0.000 claims abstract description 48
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 210000001624 hip Anatomy 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 210000003127 knee Anatomy 0.000 claims abstract description 13
- 238000010248 power generation Methods 0.000 claims description 57
- 210000002683 foot Anatomy 0.000 claims description 34
- 210000002414 leg Anatomy 0.000 claims description 19
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 10
- 238000006243 chemical reaction Methods 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 description 29
- 210000003141 lower extremity Anatomy 0.000 description 7
- 230000001771 impaired effect Effects 0.000 description 6
- 239000002184 metal Substances 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000003187 abdominal effect Effects 0.000 description 3
- 238000005452 bending Methods 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
- 210000001503 joint Anatomy 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 210000003108 foot joint Anatomy 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 210000004705 lumbosacral region Anatomy 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 210000004197 pelvis Anatomy 0.000 description 1
- 210000003314 quadriceps muscle Anatomy 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
- 235000005282 vitamin D3 Nutrition 0.000 description 1
- 239000011647 vitamin D3 Substances 0.000 description 1
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- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- 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
- A61H2201/163—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
-
- 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
- A61H2201/5007—Control means thereof computer controlled
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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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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Vascular Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Nursing (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
【解決手段】腰部装具に、股間関節用電動モータ110と膝関節用電動モータ120とを同軸配置し、股間関節用電動モータ110の出力部材116に大腿部装着具20を固定連結し、膝関節用電動モータ120の出力部材126と下腿部装着具40とをリンク式の伝動機構90によって駆動連結し、膝関節用電動モータ120が発生する動力を伝動機構90によって下腿部装着具40に伝達する。
【選択図】図1
Description
12 腰部フレーム
14 腹部ベルト
16 背部パッド
20 大腿部装着具
22 上下バー
24、26 パッド支持金具
28 大腿部前側パッド
30 大腿部後側パッド
32 取付部
40 下腿部装着具
42 上下バー
44、46 パッド支持金具
48 下腿部前側パッド
50 下腿部後側パッド
52 連結部
54、56 取付部
60 膝関節部接続部
62 枢軸
64 ヒンジ部
70 足部装着具
72 足裏載置板
74 上下バー部
80 足関節部接続部
82 枢軸
84 ヒンジ部
90 伝動機構
92枢軸
94 リンク部材
96 アーム部材
98 枢軸
99 連結部
100 動力発生装置
102 固定ケース部材
102C、102D ストッパ壁部
104 取付片
106 ヒンジ手段
108 中間連結部材
108D 可動側ストッパ突起
110 股間関節用電動モータ
112 ステータ部材
114 ロータ部材
116 出力部材
116C、116D ストッパ壁部
118 取付部
120 膝関節用電動モータ
122 ステータ部材
124 ロータ部材
126 出力部材
126A アーム部
131 上部アーム部材
132 ワイヤ
Claims (12)
- 使用者の腰部に装着される腰部装具と、
使用者の大腿部に装着される大腿部装着具と、
使用者の下腿部に装着される下腿部装着具と、
使用者の膝関節の側部に対応する位置にあって前記大腿部装着具に対して前記下腿部装着具を前後方向に回動可能に接続する膝関節部接続手段と、
使用者の股間関節の側部に対応する位置に配置され、前記腰部装具に取り付けられた動力発生装置とを有し、
動力発生装置は、股間関節用動力発生手段と膝関節用動力発生手段とを有し、
前記股間関節用動力発生手段の出力部材に前記大腿部装着具が固定され、
前記膝関節用動力発生手段の出力部材と前記前記下腿部装着具とが当該両者間に設けられた伝動機構によって駆動連結され、前記膝関節用動力発生手段が発生する動力を伝動機構によって前記下腿部装着具に伝達する歩行補助装置。 - 前記動力発生装置は、前記腰部装具に装着される固定ケース部材を含み、前記股間関節用動力発生手段と前記膝関節用動力発生手段は各々電気モータにより構成され、
前記固定ケース部材に前記股間関節用動力発生手段のステータ部材が固定され、前記股間関節用動力発生手段のロータ部材に当該股間関節用動力発生手段の出力部材が固定され、
前記股間関節用動力発生手段のロータ部材に前記膝関節用動力発生手段のステータ部材が一体連結され、前記膝関節用動力発生手段のロータ部材に当該膝関節用動力発生手段の出力部材が固定されている請求項1に記載の歩行補助装置。 - 前記固定ケース部材に対する前記股間関節用動力発生手段のロータ部材の最大回転角範囲を機械的に設定する第1のストッパ機構と、
前記股間関節用動力発生手段のロータ部材に対する前記膝関節用動力発生手段のロータ部材の最大回転角範囲を機械的に設定する第2のストッパ機構とを有する請求項1または2に記載の歩行補助装置。 - 前記固定ケース部材に対する前記膝関節用動力発生手段のロータ部材の最大回転角範囲を機械的に設定する第3のストッパ機構を有する請求項3に記載の歩行補助装置。
- 前記動力発生装置は、腰部装具に対して使用者の開脚方向と同じ方向に回動可能に取り付けられている請求項1から4の何れか一項に記載の歩行補助装置。
- 前記膝関節部接続手段は、前後方向に加えて、少なくとも使用者の開脚方向と同じ方向にも回動可能に多軸構造になっている請求項1から5の何れか一項に記載の歩行補助装置。
- 前記大腿部装着具は、使用者の大腿部の前部に当接する大腿部前側パッドと、使用者の大腿部の後部に当接する大腿部後側パッドとを有する請求項1から6の何れか一項に記載の歩行補助装置。
- 前記下腿部装着具は、使用者の下腿部の膝側前部に当接する下腿部前側パッドと、前記下腿部前側パッドと高さ違いで使用者の下腿部の踝側後部に当接する下腿部後側パッドとに有する請求項1から6の何れか一項に記載の歩行補助装置。
- 使用者の足部に装着される足部装着具と、
使用者の足関節の側部に対応する位置にあって前記下腿部装着具に対して前記足部装着具を前後方向に回動可能に接続する足関節部接続手段とを有する請求項1から8の何れか一項に記載の歩行補助装置。 - 前記足部装着具は使用者の足裏を載置されて床反力を受ける足裏載置部分を含んでいる請求項9に記載の歩行補助装置。
- 前記伝動機構は、平行リンク機構である請求項1から10の何れか一項に記載の歩行補助装置。
- 前記伝動機構は、大腿部装着具と膝関節部接続手段とを連結する可撓性ワイヤと、前記膝関節用動力発生手段が発生する動力によって前記可撓性ワイヤにテンションを選択的に与えるテンション付与部材により構成されている請求項1から10の何れか一項に記載の歩行補助装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008203803A JP5075759B2 (ja) | 2008-08-07 | 2008-08-07 | 歩行補助装置 |
US12/536,525 US8313448B2 (en) | 2008-08-07 | 2009-08-06 | Walking assistance device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008203803A JP5075759B2 (ja) | 2008-08-07 | 2008-08-07 | 歩行補助装置 |
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JP2010035899A true JP2010035899A (ja) | 2010-02-18 |
JP5075759B2 JP5075759B2 (ja) | 2012-11-21 |
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JP2008203803A Active JP5075759B2 (ja) | 2008-08-07 | 2008-08-07 | 歩行補助装置 |
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Cited By (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011117999A1 (ja) * | 2010-03-25 | 2011-09-29 | トヨタ自動車株式会社 | 歩行補助装置 |
KR101141905B1 (ko) * | 2010-05-28 | 2012-05-03 | 한양대학교 산학협력단 | 무릎 환자용 보행 보조 장치 |
KR101222916B1 (ko) | 2010-12-29 | 2013-01-16 | 경북대학교 산학협력단 | 허리 지지구조 및 이를 이용한 하지 근력지원 로봇슈트. |
US8439852B2 (en) | 2010-04-02 | 2013-05-14 | Toyota Jidosha Kabushiki Kaisha | Walk assistance device |
KR101363834B1 (ko) * | 2012-01-30 | 2014-02-18 | 서강대학교산학협력단 | 족관절 보조장치 |
KR101368817B1 (ko) * | 2012-04-02 | 2014-03-03 | 유승현 | 보행 보조장치 |
JP2015188740A (ja) * | 2014-03-27 | 2015-11-02 | 財團法人工業技術研究院Industrial Technology Research Institute | 歩行アシスト装置 |
KR20150134888A (ko) * | 2014-05-23 | 2015-12-02 | 삼성전자주식회사 | 구동 모듈 및 이를 포함하는 운동 보조 장치 |
JP2015221139A (ja) * | 2014-05-23 | 2015-12-10 | 本田技研工業株式会社 | 運動補助装置 |
KR20160017915A (ko) * | 2014-08-07 | 2016-02-17 | 삼성전자주식회사 | 링크 조립체 및 이를 이용한 하지 지지장치 |
CN105726266A (zh) * | 2014-12-24 | 2016-07-06 | 株式会社捷太格特 | 摆动关节装置、步行能力辅助装置、及控制摆动关节刚性的方法 |
JP2016119996A (ja) * | 2014-12-24 | 2016-07-07 | 株式会社ジェイテクト | 脚力支援装置 |
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JP2018114175A (ja) * | 2017-01-19 | 2018-07-26 | トヨタ自動車株式会社 | 歩行補助装具 |
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