JP4712627B2 - 歩行補助装置 - Google Patents
歩行補助装置 Download PDFInfo
- Publication number
- JP4712627B2 JP4712627B2 JP2006189188A JP2006189188A JP4712627B2 JP 4712627 B2 JP4712627 B2 JP 4712627B2 JP 2006189188 A JP2006189188 A JP 2006189188A JP 2006189188 A JP2006189188 A JP 2006189188A JP 4712627 B2 JP4712627 B2 JP 4712627B2
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- Japan
- Prior art keywords
- link
- joint
- leg
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- bending angle
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- 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
Links
- 210000002414 leg Anatomy 0.000 claims description 153
- 238000005452 bending Methods 0.000 claims description 46
- 230000007246 mechanism Effects 0.000 claims description 27
- 230000008602 contraction Effects 0.000 claims description 22
- 230000008859 change Effects 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 claims description 14
- 230000007423 decrease Effects 0.000 claims description 10
- 210000000629 knee joint Anatomy 0.000 claims description 9
- 210000002683 foot Anatomy 0.000 description 27
- 210000000689 upper leg Anatomy 0.000 description 14
- 239000003638 chemical reducing agent Substances 0.000 description 9
- 230000005484 gravity Effects 0.000 description 7
- 210000001699 lower leg Anatomy 0.000 description 7
- 230000037396 body weight Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 210000000544 articulatio talocruralis Anatomy 0.000 description 4
- 210000004394 hip joint Anatomy 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 1
- 206010061599 Lower limb fracture Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
Images
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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- 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
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
- A63B23/047—Walking and pulling or pushing a load
-
- 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
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Rehabilitation Therapy (AREA)
- Physical Education & Sports Medicine (AREA)
- Nursing (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Description
Claims (2)
- 荷重伝達部と、利用者の足平に装着される足平装着部と、荷重伝達部と足平装着部との間の脚リンクとを備え、脚リンクにより発生する力を荷重伝達部を介して利用者の体幹に伝達するようにした歩行補助装置であって、
脚リンクは、荷重伝達部に第1関節部を介して連結される上方の第1リンク部と、足平装着部に第2関節部を介して連結される下方の第2リンク部と、第1リンク部と第2リンク部とを屈伸自在に連結する中間の第3関節部と、第3関節部を駆動する駆動源とで構成されるものにおいて、
第1リンク部と第2リンク部との少なくとも一方は伸縮自在な伸縮リンクで構成され、第3関節部の屈曲角度の増加及び減少動作に連動して伸縮リンクを収縮及び伸張させる連動機構を備え、
前記伸縮リンクの長さを前記第3関節部の屈曲角度で微分して得られる変化率を前記伸縮リンクの伸縮変化率とし、前記第3関節部が真直に伸びた状態を前記第3関節部の屈曲角度0°とし、利用者の膝の関節が屈曲する方向を前記第3関節部の屈曲角度のプラス側として、前記連動機構は、前記伸縮リンクの伸縮変化率が前記第3関節部の屈曲角度を0°にしたときでも0にならないように、前記伸縮リンクの長さが最大長となったときの前記第3関節部の屈曲角度をマイナス側に設定した構造とすることを特徴とする歩行補助装置。 - 請求項1記載の歩行補助装置であって、前記連動機構は、前記第3関節部の回転運動または前記駆動源の回転運動を前記伸縮リンクの伸縮のための直線運動に変換する機械的機構で構成されることを特徴とする歩行補助装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006189188A JP4712627B2 (ja) | 2006-07-10 | 2006-07-10 | 歩行補助装置 |
US11/774,294 US7534218B2 (en) | 2006-07-10 | 2007-07-06 | Walking assisting device |
KR1020070068622A KR100840305B1 (ko) | 2006-07-10 | 2007-07-09 | 보행 보조 장치 |
CN2007101286504A CN101103949B (zh) | 2006-07-10 | 2007-07-09 | 行走辅助装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006189188A JP4712627B2 (ja) | 2006-07-10 | 2006-07-10 | 歩行補助装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2008012224A JP2008012224A (ja) | 2008-01-24 |
JP4712627B2 true JP4712627B2 (ja) | 2011-06-29 |
Family
ID=38919940
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006189188A Expired - Fee Related JP4712627B2 (ja) | 2006-07-10 | 2006-07-10 | 歩行補助装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7534218B2 (ja) |
JP (1) | JP4712627B2 (ja) |
KR (1) | KR100840305B1 (ja) |
CN (1) | CN101103949B (ja) |
Families Citing this family (32)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5113550B2 (ja) * | 2008-02-19 | 2013-01-09 | アスカ株式会社 | 体幹サポート機構付き長下肢装具 |
JP5152757B2 (ja) * | 2008-04-01 | 2013-02-27 | 本田技研工業株式会社 | 歩行補助装置 |
JP5188279B2 (ja) * | 2008-06-11 | 2013-04-24 | 本田技研工業株式会社 | 歩行補助装置 |
JP4547477B2 (ja) * | 2008-09-10 | 2010-09-22 | 英一 元田 | 対麻痺者用立ち上がり・立位保持装具 |
JP5095582B2 (ja) * | 2008-11-05 | 2012-12-12 | 本田技研工業株式会社 | 歩行補助装置 |
JP5165535B2 (ja) * | 2008-11-05 | 2013-03-21 | 本田技研工業株式会社 | 歩行補助装置 |
JP5095581B2 (ja) * | 2008-11-05 | 2012-12-12 | 本田技研工業株式会社 | 歩行補助装置 |
JP5184304B2 (ja) * | 2008-11-06 | 2013-04-17 | 本田技研工業株式会社 | 案内機構及び歩行補助装置 |
JP5073642B2 (ja) | 2008-12-17 | 2012-11-14 | 本田技研工業株式会社 | 動作補助装置 |
JP5457849B2 (ja) * | 2009-01-29 | 2014-04-02 | 本田技研工業株式会社 | 歩行補助装置 |
US9161880B2 (en) | 2009-01-29 | 2015-10-20 | Honda Motor Co., Ltd. | Walking assist device |
JP5524819B2 (ja) * | 2009-12-18 | 2014-06-18 | 本田技研工業株式会社 | 歩行補助装置 |
JP5468961B2 (ja) * | 2010-03-31 | 2014-04-09 | 本田技研工業株式会社 | スライダ |
JP5083461B2 (ja) * | 2010-06-21 | 2012-11-28 | トヨタ自動車株式会社 | 脚支援装置 |
JP5772033B2 (ja) * | 2011-02-10 | 2015-09-02 | 大日本印刷株式会社 | 動作補助装置及び動作補助制御用プログラム |
KR101278527B1 (ko) * | 2011-09-15 | 2013-06-25 | 대우조선해양 주식회사 | 링크 실린더 엑츄에이터 및 링크 실린더 엑츄에이터를 구비한 착용로봇 |
CN104337668A (zh) * | 2013-08-10 | 2015-02-11 | 黄振明 | 便携式人体支架系统 |
US10478368B2 (en) | 2014-09-19 | 2019-11-19 | Samsung Electronics Co., Ltd. | Force transmitting frames and motion assistance apparatuses including the same |
EP3158893B1 (en) * | 2015-10-21 | 2021-04-28 | noonee AG | Seat unit for wearable sitting posture assisting device |
EP3241531A1 (en) * | 2016-05-04 | 2017-11-08 | noonee AG | Leg unit for a wearable sitting posture assisting device |
CN106389043B (zh) * | 2016-12-06 | 2018-09-04 | 莒县人民医院 | 一种下肢骨折患者升降助力器 |
KR20180075301A (ko) * | 2016-12-26 | 2018-07-04 | 삼성전자주식회사 | 운동 보조 장치 |
DE102017121343A1 (de) * | 2017-09-14 | 2019-03-14 | Otto Bock Healthcare Products Gmbh | Gelenkeinrichtung |
KR102710749B1 (ko) * | 2018-10-30 | 2024-09-27 | 삼성전자주식회사 | 운동 보조 장치 |
CN109481239B (zh) * | 2019-01-10 | 2024-05-07 | 谷林电器(深圳)有限公司 | 一种步行辅助装置 |
KR102663218B1 (ko) * | 2019-04-04 | 2024-05-03 | 현대자동차주식회사 | 착용식 의자 |
JP2021029266A (ja) * | 2019-08-13 | 2021-03-01 | Cyberdyne株式会社 | 体重支援型歩行補助装置およびその制御方法 |
KR102352602B1 (ko) * | 2020-02-25 | 2022-01-19 | 에이치로보틱스 주식회사 | 상지 및 하지용 재활 운동 장치 |
JP7231751B2 (ja) * | 2019-11-15 | 2023-03-01 | エイチ ロボティクス インコーポレイテッド | 上肢及び下肢用リハビリ運動装置 |
CN112060056A (zh) * | 2020-08-31 | 2020-12-11 | 南京理工大学 | 电机与外骨骼下肢重心共线的外骨骼机器人及控制方法 |
CN111956457B (zh) * | 2020-09-04 | 2023-03-31 | 郑州第四极机电科技有限公司 | 电动助行器 |
US11717280B2 (en) | 2021-06-30 | 2023-08-08 | Innovative Medical Products, Inc. | Modular distractor apparatus, system, and method |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4872665A (en) * | 1985-10-30 | 1989-10-10 | Chareire Jean Louis | Mechanical leg-propulsion assistance device |
JP2003220102A (ja) * | 2002-01-29 | 2003-08-05 | Hitachi Ltd | 動作支援装置 |
JP2004344306A (ja) * | 2003-05-21 | 2004-12-09 | Honda Motor Co Ltd | 歩行補助装置 |
JP2005000339A (ja) * | 2003-06-11 | 2005-01-06 | Toyota Motor Corp | 筋力補助装置 |
JP2006087478A (ja) * | 2004-09-21 | 2006-04-06 | Honda Motor Co Ltd | 歩行補助装置 |
Family Cites Families (12)
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JPS59115039A (ja) * | 1982-12-22 | 1984-07-03 | 工業技術院長 | 義足の歩行制御装置 |
US4543948A (en) * | 1983-06-27 | 1985-10-01 | Phillips Robert L | Apparatus and method for applying rotational pressure to parts of the body |
CN85107981A (zh) * | 1985-10-28 | 1986-07-02 | 霍满焕 | 步行助力装置 |
US4964628A (en) * | 1989-06-30 | 1990-10-23 | Center For Orthotics Design, Inc. | Hip-reciprocating apparatus |
IL105034A (en) * | 1993-03-12 | 1998-03-10 | Sate Of Israel Ministry Of Def | Exoskeletal system |
JP3002320U (ja) * | 1994-03-24 | 1994-09-20 | 正史 松浦 | 膝関節角度調節機構付き長下肢装具 |
JPH1142259A (ja) * | 1997-07-28 | 1999-02-16 | Technol Res Assoc Of Medical & Welfare Apparatus | 歩行補助装具 |
US6024713A (en) * | 1998-12-17 | 2000-02-15 | Barney; George Melvin | Leg support apparatus |
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。 |
KR100612031B1 (ko) * | 2004-11-04 | 2006-08-11 | 학교법인 서강대학교 | 근력증강을 위한 보행보조기기 및 그 제어방법 |
JP4344314B2 (ja) | 2004-12-28 | 2009-10-14 | 本田技研工業株式会社 | 体重免荷アシスト装置および体重免荷アシストプログラム |
JP4332136B2 (ja) * | 2005-06-03 | 2009-09-16 | 本田技研工業株式会社 | 肢体アシスト装置および肢体アシストプログラム |
-
2006
- 2006-07-10 JP JP2006189188A patent/JP4712627B2/ja not_active Expired - Fee Related
-
2007
- 2007-07-06 US US11/774,294 patent/US7534218B2/en active Active
- 2007-07-09 CN CN2007101286504A patent/CN101103949B/zh not_active Expired - Fee Related
- 2007-07-09 KR KR1020070068622A patent/KR100840305B1/ko not_active IP Right Cessation
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4872665A (en) * | 1985-10-30 | 1989-10-10 | Chareire Jean Louis | Mechanical leg-propulsion assistance device |
JP2003220102A (ja) * | 2002-01-29 | 2003-08-05 | Hitachi Ltd | 動作支援装置 |
JP2004344306A (ja) * | 2003-05-21 | 2004-12-09 | Honda Motor Co Ltd | 歩行補助装置 |
JP2005000339A (ja) * | 2003-06-11 | 2005-01-06 | Toyota Motor Corp | 筋力補助装置 |
JP2006087478A (ja) * | 2004-09-21 | 2006-04-06 | Honda Motor Co Ltd | 歩行補助装置 |
Also Published As
Publication number | Publication date |
---|---|
KR100840305B1 (ko) | 2008-06-20 |
US7534218B2 (en) | 2009-05-19 |
US20080009778A1 (en) | 2008-01-10 |
JP2008012224A (ja) | 2008-01-24 |
KR20080005865A (ko) | 2008-01-15 |
CN101103949A (zh) | 2008-01-16 |
CN101103949B (zh) | 2010-08-11 |
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