JP4784768B2 - 歩行補助装置 - Google Patents
歩行補助装置 Download PDFInfo
- Publication number
- JP4784768B2 JP4784768B2 JP2007173953A JP2007173953A JP4784768B2 JP 4784768 B2 JP4784768 B2 JP 4784768B2 JP 2007173953 A JP2007173953 A JP 2007173953A JP 2007173953 A JP2007173953 A JP 2007173953A JP 4784768 B2 JP4784768 B2 JP 4784768B2
- Authority
- JP
- Japan
- Prior art keywords
- foot
- user
- load
- force sensor
- force
- 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
Links
- 238000001514 detection method Methods 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 8
- 210000002683 foot Anatomy 0.000 description 73
- 210000002414 leg Anatomy 0.000 description 46
- 210000003371 toe Anatomy 0.000 description 11
- 230000037396 body weight Effects 0.000 description 6
- 210000001217 buttock Anatomy 0.000 description 6
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 230000035945 sensitivity Effects 0.000 description 2
- 210000003813 thumb Anatomy 0.000 description 2
- 0 CCC(C)(C1C2)[C@](C*)C2C1C(CC*1C)C1C#N Chemical compound CCC(C)(C1C2)[C@](C*)C2C1C(CC*1C)C1C#N 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 210000003811 finger Anatomy 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 210000003189 scaphoid bone Anatomy 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
Images
Classifications
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- 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
- 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
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1436—Special crank assembly
-
- 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
- A61H2201/1628—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
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (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に設けられる脚リンクとを備え、利用者の体重の少なくとも一部を荷重伝達部を介して脚リンクで支えるようにした歩行補助装置であって、足平装着部は、利用者の足平を載せる接地部材と、脚リンクの下端に設けられた関節部に接地部材を連結する連結部材とを備え、接地部材に利用者の踏力を検出する踏力センサが設けられているものにおいて、
連結部材は、接地部材の横方向片側から片持ち状態で立ち上がるように形成され、
踏力センサは、利用者の足平の踵部側の少なくとも1箇所と足先側の横方向に離れた少なくとも2箇所とに設置され、
踏力センサは、ベース板部と、ベース板部上に設けられ荷重を検出する荷重検出部と、荷重検出部を覆う弾性体と、弾性体上に載せられた剛性板から成る上板部とで構成されることを特徴とする歩行補助装置。 - 前記接地部材上に、前記連結部材の下端に結合され利用者の足平により踏まれる踏み板部材が敷設され、前記踏力センサは、前記上板部が踏み板部材に干渉しないように設置されることを特徴とする請求項1記載の歩行補助装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007173953A JP4784768B2 (ja) | 2007-07-02 | 2007-07-02 | 歩行補助装置 |
US12/667,479 US8435195B2 (en) | 2007-07-02 | 2008-05-16 | Walking assistance device |
PCT/JP2008/001233 WO2009004754A1 (ja) | 2007-07-02 | 2008-05-16 | 歩行補助装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007173953A JP4784768B2 (ja) | 2007-07-02 | 2007-07-02 | 歩行補助装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009011429A JP2009011429A (ja) | 2009-01-22 |
JP4784768B2 true JP4784768B2 (ja) | 2011-10-05 |
Family
ID=40225821
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007173953A Expired - Fee Related JP4784768B2 (ja) | 2007-07-02 | 2007-07-02 | 歩行補助装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US8435195B2 (ja) |
JP (1) | JP4784768B2 (ja) |
WO (1) | WO2009004754A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2015111085A (ja) * | 2013-12-06 | 2015-06-18 | 三菱重工業株式会社 | 靴中敷圧力センサ及びパワーアシストスーツ |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9005140B2 (en) * | 2007-11-02 | 2015-04-14 | The Research Foundation For The State University Of New York | Weight monitoring apparatus, weight monitoring system, and related methods thereof |
JP5516039B2 (ja) * | 2010-05-07 | 2014-06-11 | トヨタ自動車株式会社 | 荷重検出ユニット及び歩行補助装置 |
JP5982767B2 (ja) * | 2011-09-26 | 2016-08-31 | ソニー株式会社 | 運動補助装置及び運動補助方法、コンピューター・プログラム、並びにプログラム記録媒体 |
JP5712897B2 (ja) * | 2011-10-27 | 2015-05-07 | トヨタ自動車株式会社 | 荷重検出装置及び歩行補助装置 |
JP2014104185A (ja) * | 2012-11-28 | 2014-06-09 | Sony Corp | 運動補助装置及び運動補助方法 |
WO2017110929A1 (ja) * | 2015-12-25 | 2017-06-29 | 株式会社ニットー | 体支持装置 |
EP3241531A1 (en) * | 2016-05-04 | 2017-11-08 | noonee AG | Leg unit for a wearable sitting posture assisting device |
WO2017218661A1 (en) * | 2016-06-14 | 2017-12-21 | University Of Houston System | Customizable orthotic/prosthetic braces and lightweight modular exoskeleton |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003210537A (ja) * | 2002-01-18 | 2003-07-29 | Takashige Masuda | リハビリテーション用履物 |
JP4178187B2 (ja) * | 2005-01-26 | 2008-11-12 | 国立大学法人 筑波大学 | 装着式動作補助装置及び制御用プログラム |
JP4581087B2 (ja) * | 2005-01-31 | 2010-11-17 | 国立大学法人九州工業大学 | 歩行訓練支援装置 |
JP4641225B2 (ja) * | 2005-07-19 | 2011-03-02 | 本田技研工業株式会社 | 歩行補助装置 |
US7731674B2 (en) * | 2006-06-29 | 2010-06-08 | Honda Motor Co., Ltd. | Walking assistance device |
-
2007
- 2007-07-02 JP JP2007173953A patent/JP4784768B2/ja not_active Expired - Fee Related
-
2008
- 2008-05-16 WO PCT/JP2008/001233 patent/WO2009004754A1/ja active Application Filing
- 2008-05-16 US US12/667,479 patent/US8435195B2/en active Active
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2015111085A (ja) * | 2013-12-06 | 2015-06-18 | 三菱重工業株式会社 | 靴中敷圧力センサ及びパワーアシストスーツ |
Also Published As
Publication number | Publication date |
---|---|
WO2009004754A1 (ja) | 2009-01-08 |
JP2009011429A (ja) | 2009-01-22 |
US20100145239A1 (en) | 2010-06-10 |
US8435195B2 (en) | 2013-05-07 |
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