JP5083463B2 - 歩行補助装置 - Google Patents
歩行補助装置 Download PDFInfo
- Publication number
- JP5083463B2 JP5083463B2 JP2011511925A JP2011511925A JP5083463B2 JP 5083463 B2 JP5083463 B2 JP 5083463B2 JP 2011511925 A JP2011511925 A JP 2011511925A JP 2011511925 A JP2011511925 A JP 2011511925A JP 5083463 B2 JP5083463 B2 JP 5083463B2
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- JP
- Japan
- Prior art keywords
- link
- pendulum
- swing
- angle
- thigh
- 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
- 210000000689 upper leg Anatomy 0.000 claims description 60
- 230000004044 response Effects 0.000 claims description 5
- 210000001699 lower leg Anatomy 0.000 description 70
- 210000002414 leg Anatomy 0.000 description 33
- 210000000629 knee joint Anatomy 0.000 description 28
- 210000003127 knee Anatomy 0.000 description 16
- 210000004394 hip joint Anatomy 0.000 description 15
- 210000002683 foot Anatomy 0.000 description 13
- 238000000034 method Methods 0.000 description 8
- 230000005856 abnormality Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000002123 temporal effect Effects 0.000 description 3
- 210000000544 articulatio talocruralis Anatomy 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 0 CCC(*)C1CCCC1 Chemical compound CCC(*)C1CCCC1 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
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
- A61H1/024—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
-
- 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
- A61H2201/0165—Damping, vibration related features
-
- 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
- A61H2201/164—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
-
- 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
- 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
-
- 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
- A61H2201/5092—Optical sensor
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)
Description
Claims (2)
- ユーザの大腿に装着される大腿リンクと、
ユーザの下腿に装着される下腿リンクと、
下腿リンクを大腿リンクに揺動可能に連結する回転ジョイントと、
下腿リンクを揺動させるアクチュエータと、
回転ジョイントの回転軸に設けられており、ユーザの大腿の揺動に応答して揺動する振り子と、
振り子の揺動角を検知する振り子センサと、
振り子の揺動角に基づいて、下腿リンクの揺動が振り子の揺動運動に追従するようにアクチュエータを制御するコントローラと、
を備えることを特徴とする歩行補助装置。 - 振り子と下腿リンクの相対角度を予め定められた限界値に制限するストッパが大腿リンクに設けられていることを特徴とする請求項1に記載の歩行補助装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2010/055227 WO2011117999A1 (ja) | 2010-03-25 | 2010-03-25 | 歩行補助装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP5083463B2 true JP5083463B2 (ja) | 2012-11-28 |
JPWO2011117999A1 JPWO2011117999A1 (ja) | 2013-07-04 |
Family
ID=44672590
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011511925A Expired - Fee Related JP5083463B2 (ja) | 2010-03-25 | 2010-03-25 | 歩行補助装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US8652074B2 (ja) |
JP (1) | JP5083463B2 (ja) |
WO (1) | WO2011117999A1 (ja) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6366049B2 (ja) * | 2013-10-23 | 2018-08-01 | 学校法人東京理科大学 | 脚部補助装置 |
KR102073001B1 (ko) * | 2013-11-29 | 2020-02-04 | 삼성전자주식회사 | 착용형 로봇 및 그 제어 방법 |
US10123927B2 (en) | 2014-06-25 | 2018-11-13 | Kneewell Llc | Knee joint rehabilitation assist device |
KR102342072B1 (ko) * | 2014-10-14 | 2021-12-22 | 삼성전자주식회사 | 보행 보조를 제어하기 위한 장치 및 그 방법 |
JP6483419B2 (ja) * | 2014-12-01 | 2019-03-13 | トヨタ自動車株式会社 | 荷重判定方法 |
JP6672609B2 (ja) * | 2015-03-10 | 2020-03-25 | 株式会社ジェイテクト | 揺動関節装置 |
JP6540489B2 (ja) * | 2015-12-11 | 2019-07-10 | トヨタ自動車株式会社 | 歩行支援装置 |
JP7111027B2 (ja) * | 2019-02-27 | 2022-08-02 | トヨタ自動車株式会社 | 歩行状態判定装置 |
CN113799099A (zh) * | 2021-09-10 | 2021-12-17 | 迈宝智能科技(苏州)有限公司 | 驱动组件、有源外骨骼运动模组及有源外骨骼机器人 |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63163172A (ja) * | 1986-12-25 | 1988-07-06 | Jeco Co Ltd | サ−ボ型加速度計 |
JPH04372821A (ja) * | 1991-06-21 | 1992-12-25 | Honda Motor Co Ltd | 位置検出装置 |
JPH0750122B2 (ja) * | 1987-06-27 | 1995-05-31 | トヨタ自動車株式会社 | 振り子式加速度センサ |
JP2006167223A (ja) * | 2004-12-16 | 2006-06-29 | Honda Motor Co Ltd | 外力制御方法、外力制御システム及び外力制御プログラム |
JP2007275482A (ja) * | 2006-04-12 | 2007-10-25 | Suncall Engineering Kk | 膝関節補助装置 |
JP2008278921A (ja) * | 2007-05-08 | 2008-11-20 | Tokyo Univ Of Science | 歩行補助装置 |
JP2009039454A (ja) * | 2007-08-10 | 2009-02-26 | Univ Nagoya | 生体運動支援装置 |
JP2009213538A (ja) * | 2008-03-07 | 2009-09-24 | Toyota Motor Corp | アシスト装具、及びその制御方法 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4697808A (en) * | 1985-05-16 | 1987-10-06 | Wright State University | Walking assistance system |
JPH0323313U (ja) * | 1989-07-14 | 1991-03-11 | ||
US5112296A (en) * | 1991-04-30 | 1992-05-12 | The Board Of Supervisors Of Louisiana State University | Biofeedback activated orthosis for foot-drop rehabilitation |
JPH10170262A (ja) * | 1996-12-06 | 1998-06-26 | Kdk Corp | 傾斜センサ |
JP4255744B2 (ja) | 2003-05-07 | 2009-04-15 | 本田技研工業株式会社 | 動作補助装置の制御システム |
WO2005005108A1 (ja) * | 2003-07-11 | 2005-01-20 | Honda Motor Co., Ltd. | 2足歩行移動体の関節モーメント推定方法 |
WO2005025464A2 (en) * | 2003-09-11 | 2005-03-24 | The Cleveland Clinic Foundation | Apparatus for assisting body movement |
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 |
JP4724832B2 (ja) | 2005-11-09 | 2011-07-13 | 国立大学法人豊橋技術科学大学 | 歩行補助制御方法とその歩行補助制御装置 |
JP2008068046A (ja) | 2006-09-12 | 2008-03-27 | Makoto Kondo | 人体装着型脚部支援システム |
WO2008124017A1 (en) * | 2007-04-06 | 2008-10-16 | University Of Delaware | Passive swing assist leg exoskeleton |
JP2009207840A (ja) | 2008-03-06 | 2009-09-17 | Toyota Motor Corp | 歩行動作補助装置 |
JP5075759B2 (ja) * | 2008-08-07 | 2012-11-21 | 本田技研工業株式会社 | 歩行補助装置 |
ATE531313T1 (de) * | 2009-04-07 | 2011-11-15 | Syco Di Hedvig Haberl & C S A S | System zur steuerung einer haptischen exoskelettvorrichtung zu rehabilitationszwecken und entsprechende haptische exoskelettvorrichtung |
US8457830B2 (en) * | 2010-03-22 | 2013-06-04 | John R. Goulding | In-line legged robot vehicle and method for operating |
-
2010
- 2010-03-25 JP JP2011511925A patent/JP5083463B2/ja not_active Expired - Fee Related
- 2010-03-25 WO PCT/JP2010/055227 patent/WO2011117999A1/ja active Application Filing
-
2011
- 2011-09-23 US US13/242,128 patent/US8652074B2/en active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63163172A (ja) * | 1986-12-25 | 1988-07-06 | Jeco Co Ltd | サ−ボ型加速度計 |
JPH0750122B2 (ja) * | 1987-06-27 | 1995-05-31 | トヨタ自動車株式会社 | 振り子式加速度センサ |
JPH04372821A (ja) * | 1991-06-21 | 1992-12-25 | Honda Motor Co Ltd | 位置検出装置 |
JP2006167223A (ja) * | 2004-12-16 | 2006-06-29 | Honda Motor Co Ltd | 外力制御方法、外力制御システム及び外力制御プログラム |
JP2007275482A (ja) * | 2006-04-12 | 2007-10-25 | Suncall Engineering Kk | 膝関節補助装置 |
JP2008278921A (ja) * | 2007-05-08 | 2008-11-20 | Tokyo Univ Of Science | 歩行補助装置 |
JP2009039454A (ja) * | 2007-08-10 | 2009-02-26 | Univ Nagoya | 生体運動支援装置 |
JP2009213538A (ja) * | 2008-03-07 | 2009-09-24 | Toyota Motor Corp | アシスト装具、及びその制御方法 |
Also Published As
Publication number | Publication date |
---|---|
JPWO2011117999A1 (ja) | 2013-07-04 |
WO2011117999A1 (ja) | 2011-09-29 |
US8652074B2 (en) | 2014-02-18 |
US20120016276A1 (en) | 2012-01-19 |
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