JP4271712B2 - 運動補助装置 - Google Patents
運動補助装置 Download PDFInfo
- Publication number
- JP4271712B2 JP4271712B2 JP2007268314A JP2007268314A JP4271712B2 JP 4271712 B2 JP4271712 B2 JP 4271712B2 JP 2007268314 A JP2007268314 A JP 2007268314A JP 2007268314 A JP2007268314 A JP 2007268314A JP 4271712 B2 JP4271712 B2 JP 4271712B2
- Authority
- JP
- Japan
- Prior art keywords
- orthosis
- motion
- animal
- movement
- vibrator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- 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
- A61H1/0244—Hip
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/40—Interfaces with the user related to strength training; Details thereof
- A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
- A63B21/4011—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the lower limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1614—Shoulder, e.g. for neck stretching
- A61H2201/1616—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
- A61H2201/1628—Pelvis
-
- 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
- A61H2201/1635—Hand or arm, e.g. handle
-
- 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
-
- 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
- A61H2201/5069—Angle sensors
-
- 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—Using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
Description
Claims (4)
- 動物に装着される装具と、該装具に連結されているアクチュエータと、該アクチュエータの出力の振幅および位相を制御する制御装置とを備え、該装具を介して該出力を該動物に与えることにより該動物の周期運動を補助する装置であって、
前記制御装置が、
前記動物の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、
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より定義され、入力振動信号に基づき、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前記アクチュエータの制御基礎となる第2振動子を生成する第2振動子生成要素と、
前記連立微分方程式に含まれる項または係数の値を調節する調節装置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モデルを定義する前記連立微分方程式に前記状態変数の変化パターンを表わす時定数が含まれ、前記調節装置により当該時定数の値が調節されることを特徴とする運動補助装置。 - 請求項1または2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連立微分方程式に前記動物の運動スケールを表わす運動変数の目標値に係る係数が含まれ、前記調節装置により当該係数の値が調節されることを特徴とする運動補助装置。 - 請求項1〜3のうちいずれか1つに記載の運動補助装置において、
前記装具として前記動物の第1身体部分、第2身体部分および第3身体部分のそれぞれに装着される第1装具、第2装具および第3装具を備え、前記アクチュエータが該第1装具および該第2装具に直接的に連結され、かつ、該第2装具を介して該第3装具に間接的に連結され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 |
---|---|---|---|
JP2007268314A JP4271712B2 (ja) | 2007-10-15 | 2007-10-15 | 運動補助装置 |
EP08840593.1A EP2085066B1 (en) | 2007-10-15 | 2008-08-19 | Motion assisting device |
PCT/JP2008/002235 WO2009050838A1 (ja) | 2007-10-15 | 2008-08-19 | 運動補助装置 |
US12/447,776 US8317732B2 (en) | 2007-10-15 | 2008-08-19 | Motion assist device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007268314A JP4271712B2 (ja) | 2007-10-15 | 2007-10-15 | 運動補助装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009095427A JP2009095427A (ja) | 2009-05-07 |
JP4271712B2 true JP4271712B2 (ja) | 2009-06-03 |
Family
ID=40567129
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007268314A Expired - Fee Related JP4271712B2 (ja) | 2007-10-15 | 2007-10-15 | 運動補助装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US8317732B2 (ja) |
EP (1) | EP2085066B1 (ja) |
JP (1) | JP4271712B2 (ja) |
WO (1) | WO2009050838A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10517788B2 (en) | 2015-11-06 | 2019-12-31 | Samsung Electronics Co., Ltd. | Power transmission device and motion assistance device comprising the same |
Families Citing this family (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5273773B2 (ja) * | 2008-03-31 | 2013-08-28 | 独立行政法人国立高等専門学校機構 | 歩行支援装置。 |
GB2460238B (en) * | 2008-05-20 | 2012-06-20 | Andrew Neil Salter | A machine that can be used as a running or walking training aid |
JP5588724B2 (ja) * | 2010-04-23 | 2014-09-10 | 本田技研工業株式会社 | 歩行運動補助装置 |
WO2012006087A1 (en) * | 2010-06-28 | 2012-01-12 | The Regents Of The University Of California | Method and apparatus for human trunk support device |
US9734296B2 (en) | 2010-09-29 | 2017-08-15 | Articulate Labs, Inc. | Orthotic support and stimulus systems and methods |
JP5936233B2 (ja) * | 2011-03-02 | 2016-06-22 | 国立大学法人 筑波大学 | 歩行訓練装置及び歩行訓練システム |
US9119762B2 (en) | 2011-05-30 | 2015-09-01 | Honda Motor Co., Ltd. | Walking assist device, walking assist method, walking state estimating device and walking state estimating method |
JP5907370B2 (ja) * | 2011-11-16 | 2016-04-26 | 国立大学法人 筑波大学 | 歩行訓練装置 |
JP5876358B2 (ja) | 2012-03-30 | 2016-03-02 | 国立大学法人九州大学 | 歩行運動補助具 |
CN102613975B (zh) * | 2012-04-01 | 2013-11-13 | 北京工业大学 | 用于检测人体下肢髋关节运动信息的穿戴型外骨骼机构 |
CA2916674C (en) | 2013-07-09 | 2020-09-29 | John THRELFALL | External structural brace apparatus |
US9226867B2 (en) | 2013-07-09 | 2016-01-05 | John Threlfall | External structural brace apparatus |
KR102131277B1 (ko) | 2013-12-30 | 2020-07-07 | 삼성전자주식회사 | 보행 보조 장치 및 보행 보조 장치의 제어 방법 |
WO2015107577A1 (ja) * | 2014-01-15 | 2015-07-23 | パナソニック株式会社 | 下肢支援装具 |
USD786446S1 (en) * | 2015-03-19 | 2017-05-09 | Cyberdyne Inc. | Wearable motion assist device |
JP6449713B2 (ja) * | 2015-04-23 | 2019-01-09 | 本田技研工業株式会社 | 動作補助装置 |
EP3158893B1 (en) * | 2015-10-21 | 2021-04-28 | noonee AG | Seat unit for wearable sitting posture assisting device |
EP3403775A4 (en) * | 2016-01-15 | 2020-01-22 | Kubota Corporation | AUXILIARY DEVICE |
JP6671179B2 (ja) * | 2016-01-15 | 2020-03-25 | 株式会社クボタ | アシスト器具 |
CN109475461B (zh) * | 2016-07-14 | 2022-08-23 | 石黑隆 | 侧卧位的骶髂关节运动辅助器械 |
CN106112988B (zh) * | 2016-08-18 | 2018-05-22 | 黄河科技学院 | 用于连接四肢外骨骼机构的人体躯干机械外骨骼装置 |
JP7014896B2 (ja) * | 2018-04-13 | 2022-02-01 | 本田技研工業株式会社 | 歩行補助装置 |
JP2020195751A (ja) * | 2019-06-03 | 2020-12-10 | 良 朱 | 下肢関節緩衝装置 |
CN116551657B (zh) * | 2022-09-10 | 2023-11-07 | 中国农业科学院果树研究所 | 一种含旋转件的外骨骼及其使用方法 |
Family Cites Families (13)
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US6872187B1 (en) * | 1998-09-01 | 2005-03-29 | Izex Technologies, Inc. | Orthoses for joint rehabilitation |
JP4611580B2 (ja) * | 2001-06-27 | 2011-01-12 | 本田技研工業株式会社 | トルク付与システム |
US7390309B2 (en) * | 2002-09-23 | 2008-06-24 | Honda Motor Co., Ltd. | Human assist system using gravity compensation control system and method using multiple feasibility parameters |
JP3930399B2 (ja) * | 2002-08-21 | 2007-06-13 | 本田技研工業株式会社 | 歩行補助装置 |
JP2006075456A (ja) | 2004-09-13 | 2006-03-23 | Tohoku Univ | 人体モデルに基づく装着型支援システム |
JP4008464B2 (ja) * | 2005-08-29 | 2007-11-14 | 本田技研工業株式会社 | 運動誘導装置 |
JP4008465B2 (ja) * | 2005-09-02 | 2007-11-14 | 本田技研工業株式会社 | 運動誘導装置 |
JP3950149B2 (ja) * | 2005-09-02 | 2007-07-25 | 本田技研工業株式会社 | 運動補助装置 |
WO2008124017A1 (en) * | 2007-04-06 | 2008-10-16 | University Of Delaware | Passive swing assist leg exoskeleton |
JP4220567B1 (ja) * | 2007-08-27 | 2009-02-04 | 本田技研工業株式会社 | 運動補助システム |
JP4271711B2 (ja) * | 2007-10-02 | 2009-06-03 | 本田技研工業株式会社 | 運動補助装置 |
US8034005B2 (en) * | 2007-10-02 | 2011-10-11 | Honda Motor Co., Ltd. | Motion assist device |
JP5588738B2 (ja) * | 2010-05-20 | 2014-09-10 | 本田技研工業株式会社 | 歩行運動補助装置 |
-
2007
- 2007-10-15 JP JP2007268314A patent/JP4271712B2/ja not_active Expired - Fee Related
-
2008
- 2008-08-19 EP EP08840593.1A patent/EP2085066B1/en not_active Not-in-force
- 2008-08-19 WO PCT/JP2008/002235 patent/WO2009050838A1/ja active Application Filing
- 2008-08-19 US US12/447,776 patent/US8317732B2/en active Active
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10517788B2 (en) | 2015-11-06 | 2019-12-31 | Samsung Electronics Co., Ltd. | Power transmission device and motion assistance device comprising the same |
Also Published As
Publication number | Publication date |
---|---|
EP2085066A1 (en) | 2009-08-05 |
EP2085066A4 (en) | 2014-04-09 |
US8317732B2 (en) | 2012-11-27 |
JP2009095427A (ja) | 2009-05-07 |
EP2085066B1 (en) | 2015-12-23 |
WO2009050838A1 (ja) | 2009-04-23 |
US20100004577A1 (en) | 2010-01-07 |
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