JP4620012B2 - 歩行補助装置 - Google Patents
歩行補助装置 Download PDFInfo
- Publication number
- JP4620012B2 JP4620012B2 JP2006224800A JP2006224800A JP4620012B2 JP 4620012 B2 JP4620012 B2 JP 4620012B2 JP 2006224800 A JP2006224800 A JP 2006224800A JP 2006224800 A JP2006224800 A JP 2006224800A JP 4620012 B2 JP4620012 B2 JP 4620012B2
- Authority
- JP
- Japan
- Prior art keywords
- seating member
- user
- leg
- seating
- link
- 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
- 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
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- A61H2201/1628—Pelvis
- A61H2201/1633—Seat
-
- 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
- A61H2201/5061—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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
Description
Claims (3)
- 利用者が跨ぐようにして着座可能な着座部材と、該着座部材を支持する支持部材とを有する歩行補助装置であって、
前記着座部材は、これに着座する利用者に対し該着座部材が後方に位置ずれするのを防止する後方移動防止部を備え、該後方移動防止部は前記利用者の鼠径部に接触するように左右に分岐する二又形状に形成されていることを特徴とする歩行補助装置。 - 前記後方移動防止部は、前後方向の弾性率が左右方向の弾性率より大きくなるように形成されていることを特徴とする請求項1記載の歩行補助装置。
- 前記着座部材は、前記利用者の身体の背面側に接触して、該着座部材が前方に位置ずれするのを防止する前方移動防止部を有することを特徴とする請求項1又は2に記載の歩行補助装置。
Priority Applications (10)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006224800A JP4620012B2 (ja) | 2006-08-22 | 2006-08-22 | 歩行補助装置 |
PCT/JP2007/063985 WO2008023504A1 (fr) | 2006-08-22 | 2007-07-13 | Dispositif d'aide à la marche |
KR1020097002379A KR101072278B1 (ko) | 2006-08-22 | 2007-07-13 | 보행 보조 장치 |
US12/377,954 US8220465B2 (en) | 2006-08-22 | 2007-07-13 | Walking assistance device |
RU2009102864/14A RU2414207C2 (ru) | 2006-08-22 | 2007-07-13 | Устройство, облегчающее ходьбу |
CN2007800311403A CN101505708B (zh) | 2006-08-22 | 2007-07-13 | 步行辅助装置 |
CA2661358A CA2661358C (en) | 2006-08-22 | 2007-07-13 | Walking assistance device |
DE602007011292T DE602007011292D1 (de) | 2006-08-22 | 2007-07-13 | Gehhilfsvorrichtung |
EP07790766A EP2055287B1 (en) | 2006-08-22 | 2007-07-13 | Walking assistance device |
AT07790766T ATE491424T1 (de) | 2006-08-22 | 2007-07-13 | Gehhilfsvorrichtung |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006224800A JP4620012B2 (ja) | 2006-08-22 | 2006-08-22 | 歩行補助装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2008048753A JP2008048753A (ja) | 2008-03-06 |
JP4620012B2 true JP4620012B2 (ja) | 2011-01-26 |
Family
ID=39106597
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006224800A Expired - Fee Related JP4620012B2 (ja) | 2006-08-22 | 2006-08-22 | 歩行補助装置 |
Country Status (10)
Country | Link |
---|---|
US (1) | US8220465B2 (ja) |
EP (1) | EP2055287B1 (ja) |
JP (1) | JP4620012B2 (ja) |
KR (1) | KR101072278B1 (ja) |
CN (1) | CN101505708B (ja) |
AT (1) | ATE491424T1 (ja) |
CA (1) | CA2661358C (ja) |
DE (1) | DE602007011292D1 (ja) |
RU (1) | RU2414207C2 (ja) |
WO (1) | WO2008023504A1 (ja) |
Families Citing this family (23)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4620012B2 (ja) | 2006-08-22 | 2011-01-26 | 本田技研工業株式会社 | 歩行補助装置 |
JP5213682B2 (ja) * | 2008-12-17 | 2013-06-19 | 本田技研工業株式会社 | 体重支持装置 |
JP4744589B2 (ja) * | 2008-12-17 | 2011-08-10 | 本田技研工業株式会社 | 歩行補助装置及びその制御装置 |
JP5356840B2 (ja) * | 2009-01-22 | 2013-12-04 | 本田技研工業株式会社 | 歩行補助装置 |
JP5244774B2 (ja) * | 2009-12-18 | 2013-07-24 | 本田技研工業株式会社 | 着座シートおよび歩行補助装置 |
JP5577152B2 (ja) | 2010-05-24 | 2014-08-20 | 本田技研工業株式会社 | 歩行補助装置 |
JP5364689B2 (ja) | 2010-12-20 | 2013-12-11 | 本田技研工業株式会社 | 歩行補助装置 |
JP5686035B2 (ja) * | 2011-05-11 | 2015-03-18 | トヨタ自動車株式会社 | 脚装具 |
US11400010B2 (en) * | 2011-07-29 | 2022-08-02 | Leonis Medical Corporation | Method and system for control and operation of motorized orthotic exoskeleton joints |
RU2489130C1 (ru) * | 2011-11-28 | 2013-08-10 | Иван Анатольевич Родин | Простая конструкция компенсации веса человека при ходьбе и беге |
EP2884953B1 (en) * | 2012-08-17 | 2020-10-21 | Robert Karlovich | Mobility assistance device |
WO2014151065A2 (en) | 2013-03-15 | 2014-09-25 | Sri International | Exosuit system |
KR102241853B1 (ko) * | 2014-03-28 | 2021-04-19 | 삼성전자주식회사 | 관절 어셈블리 및 이를 포함하는 보행보조로봇 |
KR102167182B1 (ko) * | 2014-07-29 | 2020-10-16 | 삼성전자주식회사 | 구동 모듈 및 이를 포함하는 운동 보조 장치 |
KR102167184B1 (ko) * | 2014-08-07 | 2020-10-16 | 삼성전자주식회사 | 구동 모듈, 구동 모듈을 포함하는 운동 보조 장치 및 운동 보조 장치의 제어 방법 |
JP6284879B2 (ja) * | 2014-12-26 | 2018-02-28 | 本田技研工業株式会社 | 運動補助装置 |
FR3034660B1 (fr) * | 2015-04-07 | 2022-06-10 | Wandercraft | Exosquelette comprenant une liaison mecanique de cheville avec deux axes de pivotement |
KR101672860B1 (ko) * | 2015-07-13 | 2016-11-04 | 양영봉 | 척추 및 무릎과 발목관절의 정형과 보행을 위한 보조기구 |
CN106182078B (zh) * | 2016-08-31 | 2018-10-23 | 中国科学院深圳先进技术研究院 | 基于线缠绕驱动的外骨骼机器人膝关节 |
CN107595544A (zh) * | 2017-08-30 | 2018-01-19 | 深圳市罗伯医疗科技有限公司 | 一种下肢康复设备控制方法、系统和装置 |
DE102018103300A1 (de) * | 2018-02-14 | 2019-08-14 | Noonee Ag | Tragbare Sitzhaltungshilfevorrichtung |
US11471360B2 (en) * | 2018-12-10 | 2022-10-18 | Jtekt Corporation | Power assist suit |
AU2021286554A1 (en) * | 2020-06-09 | 2023-01-19 | Arizona Board Of Regents On Behalf Of Northern Arizona University | Cable-actuated, kinetically-balanced, parallel torque transfer exoskeleton joint actuator with or without strain sensing |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2589360A1 (fr) * | 1985-10-30 | 1987-05-07 | Chareire Jean Louis | Appareil d'assistance mecanique de la propulsion par les jambes |
JPH03505690A (ja) * | 1989-04-28 | 1991-12-12 | フンベルト チャールズ | 片足障害者用成形外科器具 |
FR2745714A1 (fr) * | 1996-03-06 | 1997-09-12 | Soc D Expl Des Ets Racodon Sa | Dispositif de verticalisation active pour handicape moteur |
JP2001095865A (ja) * | 1999-09-29 | 2001-04-10 | Shinichi Higano | 一輪歩行車 |
JP3156367B2 (ja) * | 1992-06-02 | 2001-04-16 | 株式会社日立製作所 | 歩行介助装置 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1494178A (en) * | 1923-08-21 | 1924-05-13 | Mark Andy | Bicycle seat |
USD258854S (en) * | 1978-07-17 | 1981-04-14 | Berg Robger M | Bicycle seat |
CN85107981A (zh) | 1985-10-28 | 1986-07-02 | 霍满焕 | 步行助力装置 |
IL105034A (en) * | 1993-03-12 | 1998-03-10 | Sate Of Israel Ministry Of Def | Exoskeletal system |
CN2191150Y (zh) | 1994-04-06 | 1995-03-08 | 梁英华 | 一种活动自行车座 |
US5732964A (en) * | 1995-04-27 | 1998-03-31 | Magic Walker, L.C. | User-propelled steerable apparatus |
US5702326A (en) | 1996-05-21 | 1997-12-30 | Versatex Inc. | Walking assistance device |
US6056673A (en) | 1998-05-05 | 2000-05-02 | Arrecis; Marco T. | Walking aid |
DE20218875U1 (de) | 2002-10-10 | 2003-03-13 | Schuermann Michael | Laufsitz-Aufsatz für einen Rollwagen, mit Stützrad |
JP2005169052A (ja) | 2003-12-12 | 2005-06-30 | Yasutaka Fujii | 腰部股関節膝靭帯等下肢疾患者が支持する体重を、補助して疾患部の疼痛を緩和し、人体本来の姿勢制御機能を疎外しないで下肢の動きに追従して機能する腰部股関節膝靭帯等下肢疾患者用体重支持補助具。 |
JP4588666B2 (ja) | 2005-05-27 | 2010-12-01 | 本田技研工業株式会社 | 歩行補助装置の制御装置および制御プログラム |
CA2595557C (en) | 2005-05-27 | 2011-04-12 | Honda Motor Co., Ltd. | Walking assisting device |
JP4874241B2 (ja) * | 2005-05-31 | 2012-02-15 | 本田技研工業株式会社 | 歩行補助装置の制御装置および制御プログラム |
JP4620012B2 (ja) | 2006-08-22 | 2011-01-26 | 本田技研工業株式会社 | 歩行補助装置 |
-
2006
- 2006-08-22 JP JP2006224800A patent/JP4620012B2/ja not_active Expired - Fee Related
-
2007
- 2007-07-13 DE DE602007011292T patent/DE602007011292D1/de active Active
- 2007-07-13 CA CA2661358A patent/CA2661358C/en not_active Expired - Fee Related
- 2007-07-13 EP EP07790766A patent/EP2055287B1/en not_active Not-in-force
- 2007-07-13 US US12/377,954 patent/US8220465B2/en active Active
- 2007-07-13 CN CN2007800311403A patent/CN101505708B/zh not_active Expired - Fee Related
- 2007-07-13 RU RU2009102864/14A patent/RU2414207C2/ru not_active IP Right Cessation
- 2007-07-13 WO PCT/JP2007/063985 patent/WO2008023504A1/ja active Application Filing
- 2007-07-13 AT AT07790766T patent/ATE491424T1/de not_active IP Right Cessation
- 2007-07-13 KR KR1020097002379A patent/KR101072278B1/ko not_active IP Right Cessation
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2589360A1 (fr) * | 1985-10-30 | 1987-05-07 | Chareire Jean Louis | Appareil d'assistance mecanique de la propulsion par les jambes |
JPH03505690A (ja) * | 1989-04-28 | 1991-12-12 | フンベルト チャールズ | 片足障害者用成形外科器具 |
JP3156367B2 (ja) * | 1992-06-02 | 2001-04-16 | 株式会社日立製作所 | 歩行介助装置 |
FR2745714A1 (fr) * | 1996-03-06 | 1997-09-12 | Soc D Expl Des Ets Racodon Sa | Dispositif de verticalisation active pour handicape moteur |
JP2001095865A (ja) * | 1999-09-29 | 2001-04-10 | Shinichi Higano | 一輪歩行車 |
Also Published As
Publication number | Publication date |
---|---|
CA2661358C (en) | 2011-08-16 |
US20100063424A1 (en) | 2010-03-11 |
CN101505708A (zh) | 2009-08-12 |
RU2009102864A (ru) | 2010-09-27 |
KR101072278B1 (ko) | 2011-10-11 |
EP2055287A4 (en) | 2009-09-02 |
CN101505708B (zh) | 2011-08-10 |
US8220465B2 (en) | 2012-07-17 |
WO2008023504A1 (fr) | 2008-02-28 |
EP2055287A1 (en) | 2009-05-06 |
RU2414207C2 (ru) | 2011-03-20 |
EP2055287B1 (en) | 2010-12-15 |
CA2661358A1 (en) | 2008-02-28 |
KR20090037451A (ko) | 2009-04-15 |
ATE491424T1 (de) | 2011-01-15 |
JP2008048753A (ja) | 2008-03-06 |
DE602007011292D1 (de) | 2011-01-27 |
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