JP2023062729A - 歩行補助装置 - Google Patents
歩行補助装置 Download PDFInfo
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- JP2023062729A JP2023062729A JP2021172787A JP2021172787A JP2023062729A JP 2023062729 A JP2023062729 A JP 2023062729A JP 2021172787 A JP2021172787 A JP 2021172787A JP 2021172787 A JP2021172787 A JP 2021172787A JP 2023062729 A JP2023062729 A JP 2023062729A
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- resistance
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- output shaft
- rotary damper
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- 210000003127 knee Anatomy 0.000 claims abstract description 20
- 210000001699 lower leg Anatomy 0.000 claims abstract description 15
- 210000000689 upper leg Anatomy 0.000 claims abstract description 15
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 210000002414 leg Anatomy 0.000 claims description 5
- 230000009467 reduction Effects 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 description 15
- 230000008602 contraction Effects 0.000 description 9
- 238000005452 bending Methods 0.000 description 5
- 210000000629 knee joint Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
Images
Classifications
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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
- A61F5/0123—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 for the knees
- A61F5/0125—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 for the knees the device articulating around a single pivot-point
-
- 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
- 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
- A61H1/024—Knee
-
- 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
- A61F2005/0132—Additional features of the articulation
- A61F2005/0137—Additional features of the articulation with two parallel pivots
-
- 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
- A61F2005/0132—Additional features of the articulation
- A61F2005/0155—Additional features of the articulation with actuating means
-
- 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
- A61F2005/0132—Additional features of the articulation
- A61F2005/0172—Additional features of the articulation with cushions
-
- 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
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2201/0165—Damping, vibration related features
-
- 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
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1445—Overrunning clutches; One-way clutches
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5053—Control means thereof mechanically controlled
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- Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Nursing (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
歩行時の膝折れを防ぐことによって、安定な歩行を安心に提供する歩行補助装置が知られている。歩行補助装置は、電動モータなどのアクチュエータを用いたものが多くみられる。しかし、このようなアクチュエータを用いた場合、歩行補助装置は大型化や重量過大の問題が生じる。そのため、粘性抵抗を有するダンパ機構による解決手法を用いることができる。
1つ目の問題は、ダンパ機構が縮み切ってしまうと、それ以上抵抗力が出せない点である。上述のように、直動型ダンパ20が有する粘性抵抗は速度に比例する。そのため、直動型ダンパ20は、急な膝折れに大きな抵抗力を発揮するために、大きな速度でピストンを縮める必要がある。直動型ダンパ20は、膝関節屈曲の単位角度当たりの縮み量が大きい場合、膝が曲がり切る前にダンパが縮み切ってしまう。そのため、大きな抵抗力を発揮するための関節角度範囲は、大きくならない。そのため、適用できる関節角度範囲が狭くなることから、歩行補助装置の利用場面が制限される虞がある。
本実施形態にかかる歩行補助装置10について、図1及び図2を用いて説明する。図1は、本実施形態にかかる歩行補助装置10の構成図である。図2は、本実施形態にかかる歩行補助装置10の外観を部分的に示す図である。図2に示すように、歩行補助装置10は、使用者の脚に装着され、使用者の歩行を補助する。
11 大腿側リンク部材
12 下腿側リンク部材
13 ロータリダンパ
14 ワンウェイギヤ
15 クラッチ
16 クラッチギヤ
17,18 ギヤ
Claims (5)
- 使用者の脚に装着され、前記使用者の歩行を補助する歩行補助装置であって、
前記使用者の膝に対応する箇所に位置する出力軸において回転自在に連結される一対のリンク部材であって、一方が前記使用者の大腿側に固定され、他方が前記使用者の下腿側に固定される一対のリンク部材と、
前記出力軸に対して伝達される抵抗力であって、前記出力軸における前記一対のリンク部材の回転運動に対する抵抗力を発生させるロータリダンパと、
前記ロータリダンパが発生させる前記抵抗力を、前記一対のリンク部材の回転方向のうち一方に制限するワンウェイギヤと、
前記ロータリダンパによる前記抵抗力の伝達及び遮断を切替えるクラッチと、
を備える、
歩行補助装置。 - 前記クラッチによる前記抵抗力の伝達及び遮断の切替えを制御する制御部をさらに備える、
請求項1に記載の歩行補助装置。 - 前記ロータリダンパ及び前記クラッチは、前記出力軸を挟んで別々の方向に配置される、
請求項1又は2に記載の歩行補助装置。 - 前記出力軸からみた前記ロータリダンパ及び前記クラッチへの減速比は、1よりも小さい、
請求項1から3のいずれか1項に記載の歩行補助装置。 - 前記クラッチは、前記出力軸を通るギヤの回転を固定することで、前記抵抗力を伝達する、
請求項1から4のいずれか1項に記載の歩行補助装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021172787A JP2023062729A (ja) | 2021-10-22 | 2021-10-22 | 歩行補助装置 |
DE102022122938.6A DE102022122938A1 (de) | 2021-10-22 | 2022-09-09 | Gehhilfe |
US17/943,272 US20230131281A1 (en) | 2021-10-22 | 2022-09-13 | Walking assist device |
CN202211128557.4A CN115998586A (zh) | 2021-10-22 | 2022-09-16 | 步行辅助装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021172787A JP2023062729A (ja) | 2021-10-22 | 2021-10-22 | 歩行補助装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2023062729A true JP2023062729A (ja) | 2023-05-09 |
Family
ID=85796072
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021172787A Pending JP2023062729A (ja) | 2021-10-22 | 2021-10-22 | 歩行補助装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20230131281A1 (ja) |
JP (1) | JP2023062729A (ja) |
CN (1) | CN115998586A (ja) |
DE (1) | DE102022122938A1 (ja) |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6912208B2 (ja) | 2017-01-19 | 2021-08-04 | トヨタ自動車株式会社 | 歩行補助装具 |
-
2021
- 2021-10-22 JP JP2021172787A patent/JP2023062729A/ja active Pending
-
2022
- 2022-09-09 DE DE102022122938.6A patent/DE102022122938A1/de active Pending
- 2022-09-13 US US17/943,272 patent/US20230131281A1/en active Pending
- 2022-09-16 CN CN202211128557.4A patent/CN115998586A/zh active Pending
Also Published As
Publication number | Publication date |
---|---|
CN115998586A (zh) | 2023-04-25 |
US20230131281A1 (en) | 2023-04-27 |
DE102022122938A1 (de) | 2023-04-27 |
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