JP2014018536A - 歩行用遊脚振子運動補助具およびアシスト力の制御方法 - Google Patents
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- 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
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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
- 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
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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Abstract
【解決手段】歩行用遊脚振子運動補助具10が、補助力伝達部12に対して引張力を及ぼす駆動源40が設けられたアシスト部材を、左右の脚部用に一対備えている一方、使用者の股関節における関節角度を検出する関節角度センサ32と、関節角度の変化に対応して各アシスト部材における各駆動源40を駆動制御せしめて、地面から浮いた遊脚に対して前方に振り出す方向のアシスト力を及ぼすことにより遊脚の振子運動を補助する制御手段50とを有する。
【選択図】図3
Description
Claims (8)
- 柔軟性を有する補助力伝達部の両端部分に対して、使用者の股関節を挟んだ脚部側に装着される第1の装着部と腰部側に装着される第2の装着部とが設けられていると共に、該補助力伝達部に対して引張力を及ぼす駆動源が設けられたアシスト部材を、左右の脚部用に一対備えている一方、
該使用者の股関節における前後方向の関節角度を検出する関節角度センサと、
該関節角度センサの検出値から該使用者の歩行時に後方に延びた脚が地面を蹴り出して片脚立位になった状態を検出して、該駆動源を駆動制御せしめて該地面を蹴り出した遊脚の該補助力伝達部に対して引張力を及ぼすことにより、前方に振り出す方向のアシスト力を及ぼして該遊脚の振子運動を補助する制御手段と
を、有することを特徴とする歩行用遊脚振子運動補助具。 - 前記アシスト部材における前記第1の装着部が、大腿骨の遠位端から脛骨の近位端に至る範囲内に装着されるようになっている請求項1に記載の歩行用遊脚振子運動補助具。
- 前記アシスト部材における前記第1の装着部が脛骨の近位端に装着されることにより、該アシスト部材による前記アシスト力が前記遊脚における膝下部分に及ぼされるようになっている請求項2に記載の歩行用遊脚振子運動補助具。
- 前記使用者の股関節における関節角度の変化に対応して前記左右一対のアシスト部材における前記各駆動源を駆動するための駆動タイミング情報および駆動出力情報に関する制御情報を記憶する記憶手段を備えていると共に、
前記制御手段が、該記憶手段における該制御情報に基づいて該左右一対のアシスト部材における該各駆動源を駆動制御せしめて、該使用者の歩行時に後方に延びた脚が地面を蹴り出して片脚立位になった状態を前記関節角度センサで検出して、該地面を蹴り出した遊脚に対して前方に振り出す方向のアシスト力を及ぼすことにより該遊脚の振子運動を補助する請求項1〜3の何れか1項に記載の歩行用遊脚振子運動補助具。 - 前記記憶手段は、前記使用者の股関節における関節角度の変化に対応して前記アシスト部材における前記補助力伝達部の有効長を追従させるための撓み防止制御情報を記憶し、
前記制御手段は、該記憶手段に記憶されている該撓み防止制御情報に基づいて該関節角度の変化に対応して変更せしめて、該補助力伝達部を一定の張力作用状態に保つように前記左右一対のアシスト部材における前記各駆動源をそれぞれ駆動制御する請求項4に記載の歩行用遊脚振子運動補助具。 - 前記制御手段において、前記使用者の歩行時に後方に延びた脚が地面から浮いて遊脚となる位置を基準点とし、該基準点から歩行周期の−15%〜+15%の範囲内に開始点が設定されるように、前記角度センサの検出値に基づく前記アシスト力の開始時点が設定されている請求項1〜5の何れか1項に記載の歩行用遊脚振子運動補助具。
- 前記関節角度センサが、前記使用者における大腿骨の寛骨に対する前後方向の傾斜角度を左右脚において各別に検出するセンサである請求項1〜6の何れか1項に記載の歩行用遊脚振子運動補助具。
- 使用者の歩行時に該使用者の脚部にアシスト力を及ぼして歩行運動を補助する歩行用運動補助具における該アシスト力の制御方法であって、
後方に延びた脚が地面から浮いて片脚立位になった際に、該地面から浮いた遊脚に対して前方に振り出す方向のアシスト力を及ぼして該遊脚の振子運動を補助することを特徴とするアシスト力の制御方法。
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JP2012162113A JP5986445B2 (ja) | 2012-07-20 | 2012-07-20 | 歩行用遊脚振子運動補助具およびアシスト力の制御方法 |
DK13820076.1T DK2742922T3 (da) | 2012-07-20 | 2013-05-28 | Svingbenspendulbevægelseshjælp til at gå og fremgangsmåde til at styre hjælpekraft |
EP13820076.1A EP2742922B1 (en) | 2012-07-20 | 2013-05-28 | Swinging leg pendulum movement aid for walking, and assistance force control method |
PCT/JP2013/003371 WO2014013662A1 (ja) | 2012-07-20 | 2013-05-28 | 歩行用遊脚振子運動補助具およびアシスト力の制御方法 |
CN201380002742.1A CN103813772B (zh) | 2012-07-20 | 2013-05-28 | 行走用摆动腿摆运动辅助器具和助力的控制方法 |
US14/182,973 US10028881B2 (en) | 2012-07-20 | 2014-02-18 | Swinging leg pendulum movement aid for walking, and assistance force control method |
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JP5986445B2 (ja) | 2016-09-06 |
EP2742922A1 (en) | 2014-06-18 |
EP2742922A4 (en) | 2015-08-19 |
CN103813772A (zh) | 2014-05-21 |
EP2742922B1 (en) | 2019-07-17 |
DK2742922T3 (da) | 2019-08-26 |
US20140163435A1 (en) | 2014-06-12 |
WO2014013662A1 (ja) | 2014-01-23 |
US10028881B2 (en) | 2018-07-24 |
CN103813772B (zh) | 2016-07-06 |
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