JP2020531066A - 運動補助装置 - Google Patents
運動補助装置 Download PDFInfo
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- JP2020531066A JP2020531066A JP2020504719A JP2020504719A JP2020531066A JP 2020531066 A JP2020531066 A JP 2020531066A JP 2020504719 A JP2020504719 A JP 2020504719A JP 2020504719 A JP2020504719 A JP 2020504719A JP 2020531066 A JP2020531066 A JP 2020531066A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 62
- 210000000689 upper leg Anatomy 0.000 claims description 45
- 210000001624 hip Anatomy 0.000 claims description 5
- 210000004197 pelvis Anatomy 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 40
- 210000004394 hip joint Anatomy 0.000 description 8
- 238000005452 bending Methods 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 4
- 210000000245 forearm Anatomy 0.000 description 3
- 239000004809 Teflon Substances 0.000 description 2
- 229920006362 Teflon® Polymers 0.000 description 2
- 239000013013 elastic material Substances 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
Description
10 遠位支持部
11 力伝達フレーム
12 駆動フレーム
13 スライダ
14 弾性部材
15 ストラップ
16 連結部材
18 ヒンジ
19 アクチュエータ
20 近位支持部
111 前方カバー
112 後方カバー
113 摺動空間
114 開口
115 ストラップ連結部
131 ボディプレート
132 後面スリッププレート
133 前面スリッププレート
155 ストラップ溝
a1 第1軸
a2 第2軸
Claims (20)
- 内部に摺動空間が形成され、ユーザの遠位部分を支持するための力伝達フレームと、
前記摺動空間内で摺動自在なスライダと、
前記スライダに連結され、前記ユーザの近位部分に対して回転自在な駆動フレームと、を含む運動補助装置。 - 前記力伝達フレーム及びスライダを連結する複数の弾性部材をさらに含む、請求項1に記載の運動補助装置。
- 前記複数の弾性部材のうち少なくとも1つの弾性部材は、前記力伝達フレームの中心及び前記スライダの間の距離が変化する場合に引っ張られ又は圧縮される、請求項2に記載の運動補助装置。
- 前記スライダは、
前記摺動空間内に位置するボディプレートと、
前記ボディプレートの前面及び後面のうち少なくとも1つに取り付けられる少なくとも1つのスリッププレートを含む、請求項1に記載の運動補助装置。 - 前記スリッププレートは、前記スリッププレートと前記力伝達フレームとの間で発生する摩擦を低減させるための摩擦低減部を含む、請求項4に記載の運動補助装置。
- 前記スライダ及び前記駆動フレームのいずれか1つは、前記スライダ及び前記駆動フレームを連結する連結部材を含む、請求項1乃至5いずれか1項に記載の運動補助装置。
- 前記力伝達フレームは、前記連結部材が貫通する開口を含む、請求項6に記載の運動補助装置。
- 前記力伝達フレーム及び前記スライダは、前記開口の貫通方向において少なくとも一部がオーバラップする、請求項7に記載の運動補助装置。
- 前記力伝達フレーム及び前記スライダは一方向に曲がった形状を有する、請求項1乃至8いずれか1項に記載の運動補助装置。
- 前記力伝達フレームは前記ユーザの遠位部分を取り囲む方向に曲がった形状を有する、請求項1乃至9いずれか1項に記載の運動補助装置。
- 前記スライダ及び前記摺動空間の厚さは一定であり、
前記力伝達フレームの曲率と前記スライダの曲率は同一である、請求項9又は10に記載の運動補助装置。 - 前記スライダは、前記摺動空間内で互いに交差する2つの方向に2自由度の動きが可能である、請求項1乃至11いずれか1項に記載の運動補助装置。
- 前記力伝達フレームの両側に脱着自在なストラップをさらに含む、請求項1乃至12いずれか1項に記載の運動補助装置。
- 前記力伝達フレームは、前記力伝達フレームの両側サイドから突出形成されるストラップ連結部を含み、
前記ストラップは、前記ストラップの長手方向に沿って離隔形成され、前記ストラップ連結部に係止可能な複数のストラップ溝を含む、請求項13に記載の運動補助装置。 - 前記駆動フレームの一端に連結され、前記駆動フレームを駆動するアクチュエータをさらに含む、請求項1乃至14いずれか1項に記載の運動補助装置。
- 前記駆動フレームと前記スライダとの間に作用する力又はトルクを検出するためのセンサと、
前記センサで測定された情報に基づいて前記アクチュエータを制御可能な制御部をさらに含む、請求項15に記載の運動補助装置。 - 前記遠位部分は前記ユーザの太ももであり、
前記近位部分は、前記ユーザの腰及び骨盤のうち少なくとも1つである、請求項1乃至16いずれか1項に記載の運動補助装置。 - ユーザの近位部分を支持するための近位支持部と、
内部に摺動空間が形成され、ユーザの遠位部分を支持するための力伝達フレームと、
前記摺動空間内で摺動自在なスライダと、
前記スライダに連結され、前記近位支持部に対して相対的に回転自在な駆動フレームと、を含む運動補助装置。 - 前記スライダは、前記摺動空間内で互いに交差する2つの方向に2自由度の動きが可能である、請求項18に記載の運動補助装置。
- 前記近位支持部に対して前記駆動フレームを第1軸を中心に回転させるためのアクチュエータと、
前記近位支持部に対して、前記駆動フレームを前記第1軸と交差する第2軸を中心に回転させるためのヒンジをさらに含む、請求項18又は19に記載の運動補助装置。
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