JP4499508B2 - 歩行補助装置の制御装置 - Google Patents
歩行補助装置の制御装置 Download PDFInfo
- Publication number
- JP4499508B2 JP4499508B2 JP2004248167A JP2004248167A JP4499508B2 JP 4499508 B2 JP4499508 B2 JP 4499508B2 JP 2004248167 A JP2004248167 A JP 2004248167A JP 2004248167 A JP2004248167 A JP 2004248167A JP 4499508 B2 JP4499508 B2 JP 4499508B2
- Authority
- JP
- Japan
- Prior art keywords
- user
- walking
- control device
- support
- walking assist
- 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
- 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 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
- 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
- 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
- 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
- A61H2201/0157—Constructive details portable
-
- 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
- A61H2201/0173—Means for preventing injuries
-
- 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
- A61H2201/0173—Means for preventing injuries
- A61H2201/0176—By stopping operation
-
- 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
- A61H2201/1623—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
- 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
- A61H2201/5007—Control means thereof computer controlled
-
- 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
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/60—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
- A61H2230/605—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG] used as a control parameter for the apparatus
Landscapes
- 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)
- Manipulator (AREA)
Description
32 信号入力回路
35 微分回路
36 比較回路
37 しきい値
38 判定回路
39 通常モード
40 強制転倒回避モード
41 動力遮断モード
Claims (2)
- 使用者の股関節並びに膝関節の少なくともいずれか一方に対応する位置にトルク発生手段を配置し、脚部の運動に対する補助力を付加するための歩行補助装置の制御装置であって、
歩行状態の異常を検知する異常検知手段と、
使用者の運動を補助する通常時動作モードと、異常な歩行姿勢を立て直す運動を強制的に行わせる異常時動作モードとの切換手段とを有し、
異常検知時は、前記異常時動作モードに切り換わることを特徴とする歩行補助装置の制御装置。 - 前記異常検知手段は、外腹斜筋の緊張度を計測すべく人体に配置したセンサと、該センサの出力値を微分する微分手段と、該微分手段の出力を予め設定した判定値と比較する比較手段とを有するものであることを特徴とする請求項1に記載の歩行補助装置の制御装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004248167A JP4499508B2 (ja) | 2004-08-27 | 2004-08-27 | 歩行補助装置の制御装置 |
EP05741594.5A EP1792597B1 (en) | 2004-08-27 | 2005-05-23 | Controller of walking assisting device |
PCT/JP2005/009339 WO2006022057A1 (ja) | 2004-08-27 | 2005-05-23 | 歩行補助装置の制御装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004248167A JP4499508B2 (ja) | 2004-08-27 | 2004-08-27 | 歩行補助装置の制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2006061460A JP2006061460A (ja) | 2006-03-09 |
JP4499508B2 true JP4499508B2 (ja) | 2010-07-07 |
Family
ID=35967278
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004248167A Expired - Fee Related JP4499508B2 (ja) | 2004-08-27 | 2004-08-27 | 歩行補助装置の制御装置 |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP1792597B1 (ja) |
JP (1) | JP4499508B2 (ja) |
WO (1) | WO2006022057A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012065701A (ja) * | 2010-09-21 | 2012-04-05 | Dainippon Printing Co Ltd | 移動補助装置及び移動補助制御用プログラム |
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Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7815689B2 (en) | 2003-11-18 | 2010-10-19 | Victhom Human Bionics Inc. | Instrumented prosthetic foot |
US7637959B2 (en) | 2004-02-12 | 2009-12-29 | össur hf | Systems and methods for adjusting the angle of a prosthetic ankle based on a measured surface angle |
JP3985001B2 (ja) * | 2005-05-17 | 2007-10-03 | 本田技研工業株式会社 | 歩行補助装置用大腿部装具 |
JP3990409B2 (ja) * | 2005-05-17 | 2007-10-10 | 本田技研工業株式会社 | 歩行補助装置用大腿部装具 |
JP3955304B2 (ja) * | 2005-05-17 | 2007-08-08 | 本田技研工業株式会社 | 腰部装具 |
JP4712620B2 (ja) * | 2006-06-12 | 2011-06-29 | 本田技研工業株式会社 | 歩行補助装具の制御装置 |
KR100731899B1 (ko) | 2006-06-30 | 2007-06-25 | 주식회사 피앤에스미캐닉스 | 동력보행보조기 |
JP4666644B2 (ja) | 2006-07-12 | 2011-04-06 | 本田技研工業株式会社 | 歩行補助装具の制御装置 |
WO2008080234A1 (en) | 2007-01-05 | 2008-07-10 | Victhom Human Bionics Inc. | Joint actuation mechanism for a prosthetic and/or orthotic device having a compliant transmission |
CA2676067C (en) | 2007-01-19 | 2017-06-20 | Victhom Human Bionics, Inc. | Reactive layer control system for prosthetic and orthotic devices |
WO2009120637A1 (en) | 2008-03-24 | 2009-10-01 | Ossur Hf | Transfemoral prosthetic systems and methods for operating the same |
WO2009125397A2 (en) * | 2008-04-08 | 2009-10-15 | Motorika Limited | Device and method for foot drop analysis and rehabilitation |
JP5168158B2 (ja) * | 2009-01-13 | 2013-03-21 | トヨタ自動車株式会社 | 歩行訓練システム |
JP5553431B2 (ja) * | 2009-12-15 | 2014-07-16 | トヨタ自動車株式会社 | バランス訓練装置、及び、バランス訓練用プログラム |
JP5105000B2 (ja) | 2010-03-17 | 2012-12-19 | トヨタ自動車株式会社 | 脚補助装置 |
WO2011123951A1 (en) * | 2010-04-06 | 2011-10-13 | B-Temia Inc. | Frontal joint mechanism for orthotic devices |
EP2555720B1 (en) * | 2010-04-07 | 2017-04-12 | B-Temia Inc. | Load distribution device for human joints |
JP5578036B2 (ja) * | 2010-11-08 | 2014-08-27 | トヨタ自動車株式会社 | アシストロボット |
CN103260576B (zh) | 2010-12-16 | 2015-04-22 | 丰田自动车株式会社 | 行走辅助装置 |
US9060884B2 (en) | 2011-05-03 | 2015-06-23 | Victhom Human Bionics Inc. | Impedance simulating motion controller for orthotic and prosthetic applications |
US9532877B2 (en) | 2011-11-11 | 2017-01-03 | Springactive, Inc. | Robotic device and method of using a parallel mechanism |
US10543109B2 (en) | 2011-11-11 | 2020-01-28 | Össur Iceland Ehf | Prosthetic device and method with compliant linking member and actuating linking member |
US9044346B2 (en) | 2012-03-29 | 2015-06-02 | össur hf | Powered prosthetic hip joint |
EP2910229A4 (en) * | 2012-10-16 | 2016-08-03 | Nikon Corp | DEVICE FOR SUPPORTING MUSCLE FORCE |
EP2961355B1 (en) | 2013-02-26 | 2018-08-22 | Össur hf | Prosthetic foot with enhanced stability and elastic energy return |
WO2014159114A1 (en) | 2013-03-14 | 2014-10-02 | össur hf | Prosthetic ankle: a method of controlling based on adaptation to speed |
DE102013007314B4 (de) * | 2013-04-29 | 2016-03-31 | Heiko Diedrich | Extensionsliegenvorrichtung zur Dekompression der Wirbelsäule und/oder zur Dekompression von Gelenken eines Patienten |
CN106456339B (zh) | 2014-04-11 | 2020-02-07 | 奥索有限责任公司 | 具有可去除柔性构件的义肢脚 |
EP2985009B1 (en) * | 2014-08-13 | 2017-09-06 | Harris Corporation | Robotic exoskeleton with fall control and actuation |
JP6303934B2 (ja) * | 2014-09-05 | 2018-04-04 | トヨタ自動車株式会社 | 歩行支援装置の制御方法及び歩行支援装置 |
JP6569848B2 (ja) * | 2015-02-18 | 2019-09-04 | 国立大学法人 和歌山大学 | パワーアシストロボット装置 |
WO2017006322A2 (en) * | 2015-07-06 | 2017-01-12 | Rewalk Robotics Ltd. | Methods and apparatuses for exoskeleton attachment |
CN105496734A (zh) * | 2016-01-15 | 2016-04-20 | 中国矿业大学 | 一种基于机械外骨骼动作状态的随动系统 |
CN105902368A (zh) * | 2016-03-01 | 2016-08-31 | 芜湖安普机器人产业技术研究院有限公司 | 连杆关节一体化液压驱动外骨骼控制系统及其控制方法 |
KR102449705B1 (ko) * | 2017-08-23 | 2022-09-30 | 삼성전자주식회사 | 운동 보조 장치 |
RU186439U1 (ru) * | 2018-07-05 | 2019-01-21 | Общество С Ограниченной Ответственностью "Экзоатлет" | Торсовое звено экзоскелета |
KR20210052603A (ko) | 2019-10-28 | 2021-05-11 | 삼성전자주식회사 | 웨어러블 장치를 이용한 균형 훈련 방법 및 그 웨어러블 장치 |
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JPH07163607A (ja) * | 1993-12-13 | 1995-06-27 | Tokyo R & D:Kk | 階段歩行等の電動補助装置 |
JP2006020697A (ja) * | 2004-07-06 | 2006-01-26 | Honda Motor Co Ltd | 歩行状態を判定する装置又は方法 |
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-
2004
- 2004-08-27 JP JP2004248167A patent/JP4499508B2/ja not_active Expired - Fee Related
-
2005
- 2005-05-23 EP EP05741594.5A patent/EP1792597B1/en not_active Expired - Fee Related
- 2005-05-23 WO PCT/JP2005/009339 patent/WO2006022057A1/ja active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59222152A (ja) * | 1983-05-28 | 1984-12-13 | 工業技術院長 | 動力装具 |
JPH07163607A (ja) * | 1993-12-13 | 1995-06-27 | Tokyo R & D:Kk | 階段歩行等の電動補助装置 |
JP2006020697A (ja) * | 2004-07-06 | 2006-01-26 | Honda Motor Co Ltd | 歩行状態を判定する装置又は方法 |
JP4384562B2 (ja) * | 2004-07-06 | 2009-12-16 | 本田技研工業株式会社 | 歩行状態を判定する装置又は方法 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012065701A (ja) * | 2010-09-21 | 2012-04-05 | Dainippon Printing Co Ltd | 移動補助装置及び移動補助制御用プログラム |
Also Published As
Publication number | Publication date |
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WO2006022057A1 (ja) | 2006-03-02 |
JP2006061460A (ja) | 2006-03-09 |
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EP1792597A4 (en) | 2012-10-10 |
EP1792597B1 (en) | 2015-07-01 |
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