JP5095583B2 - 歩行補助装置の足首関節構造 - Google Patents
歩行補助装置の足首関節構造 Download PDFInfo
- Publication number
- JP5095583B2 JP5095583B2 JP2008285547A JP2008285547A JP5095583B2 JP 5095583 B2 JP5095583 B2 JP 5095583B2 JP 2008285547 A JP2008285547 A JP 2008285547A JP 2008285547 A JP2008285547 A JP 2008285547A JP 5095583 B2 JP5095583 B2 JP 5095583B2
- Authority
- JP
- Japan
- Prior art keywords
- shaft member
- leg link
- user
- joint
- grounding
- 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
- 210000000544 articulatio talocruralis Anatomy 0.000 title claims description 33
- 230000005540 biological transmission Effects 0.000 claims description 11
- 210000002414 leg Anatomy 0.000 description 42
- 210000002683 foot Anatomy 0.000 description 27
- 210000003423 ankle Anatomy 0.000 description 6
- 210000000629 knee joint Anatomy 0.000 description 6
- 230000000149 penetrating effect Effects 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 210000004394 hip joint Anatomy 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 1
- 239000011435 rock Substances 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
- 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
- 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
- A61F5/0127—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 for the feet
-
- 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
- A61H2201/14—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
- A61H2201/1623—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
- A61H2201/1633—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
- A61H2201/1635—Hand or arm, e.g. handle
-
- 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
- A61H2201/1671—Movement of interface, i.e. force application means rotational
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Veterinary Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Physical Education & Sports Medicine (AREA)
- Epidemiology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Nursing (AREA)
- Mechanical Engineering (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Description
準線という)上に作用する。そこで、歩行アシスト制御では、基準線上に作用する実際の
免荷力(正確には免荷力と着座部材1及び各脚リンク2の重量による力との合力)を前記力センサで検出される2軸方向の力の検出値に基づいて算出する。また、各接地部材8の圧力センサ10の検出圧力に基づいて、利用者Pの両足平に作用する全荷重に対する各足平の作用荷重の割合を算出する。次に、予め設定される免荷力の設定値に各足平の荷重割合を乗算した値を各脚リンク5で発生すべき体重免荷アシスト力の制御目標値として算出する。そして、前記力センサの検出値に基づいて算出される実際の免荷力が制御目標値になるように駆動源9を制御する。
Claims (1)
- 荷重伝達部と、接地部と、該荷重伝達部と該接地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該荷重伝達部を介して該脚リンクで支えるようにした歩行補助装置に用いられ、該接地部と該脚リンクとを球面ジョイントを介して連結する足首関節構造であって、
前記接地部を前記脚リンクに対し旋回自在とする旋回軸部材を備え、
該旋回軸部材の一端部が、前記接地部と前記脚リンクの何れか一方に連結され、該旋回軸部材の他端部が、前記球面ジョイントの球体を揺動自在に保持し、該球体に設けられたジョイント軸部材が、前記接地部と前記脚リンクの何れか他方に連結されることを特徴とする歩行補助装置の足首関節構造。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008285547A JP5095583B2 (ja) | 2008-11-06 | 2008-11-06 | 歩行補助装置の足首関節構造 |
US12/610,699 US20100114332A1 (en) | 2008-11-06 | 2009-11-02 | Ankle joint structure of walking assistance device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008285547A JP5095583B2 (ja) | 2008-11-06 | 2008-11-06 | 歩行補助装置の足首関節構造 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2010110465A JP2010110465A (ja) | 2010-05-20 |
JP5095583B2 true JP5095583B2 (ja) | 2012-12-12 |
Family
ID=42132419
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008285547A Expired - Fee Related JP5095583B2 (ja) | 2008-11-06 | 2008-11-06 | 歩行補助装置の足首関節構造 |
Country Status (2)
Country | Link |
---|---|
US (1) | US20100114332A1 (ja) |
JP (1) | JP5095583B2 (ja) |
Families Citing this family (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9789603B2 (en) | 2011-04-29 | 2017-10-17 | Sarcos Lc | Teleoperated robotic system |
US9616580B2 (en) | 2012-05-14 | 2017-04-11 | Sarcos Lc | End effector for a robotic arm |
JP2014104185A (ja) * | 2012-11-28 | 2014-06-09 | Sony Corp | 運動補助装置及び運動補助方法 |
KR102152636B1 (ko) | 2014-01-16 | 2020-09-08 | 삼성전자주식회사 | 관절 어셈블리 및 이를 포함하는 보행보조로봇 |
FR3018680B1 (fr) * | 2014-03-21 | 2017-09-22 | Wandercraft | Exosquelette comprenant un substitut a une cheville |
US10766133B2 (en) | 2014-05-06 | 2020-09-08 | Sarcos Lc | Legged robotic device utilizing modifiable linkage mechanism |
US10533542B2 (en) | 2014-05-06 | 2020-01-14 | Sarcos Lc | Rapidly modulated hydraulic supply for a robotic device |
US10512583B2 (en) | 2014-05-06 | 2019-12-24 | Sarcos Lc | Forward or rearward oriented exoskeleton |
US10406676B2 (en) | 2014-05-06 | 2019-09-10 | Sarcos Lc | Energy recovering legged robotic device |
KR102330670B1 (ko) | 2014-08-07 | 2021-11-24 | 삼성전자주식회사 | 링크 조립체 및 이를 이용한 하지 지지장치 |
US10919161B2 (en) | 2016-11-11 | 2021-02-16 | Sarcos Corp. | Clutched joint modules for a robotic system |
US10828767B2 (en) | 2016-11-11 | 2020-11-10 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements |
US10765537B2 (en) | 2016-11-11 | 2020-09-08 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators for use within a robotic system |
US10821614B2 (en) | 2016-11-11 | 2020-11-03 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
KR102566114B1 (ko) | 2017-11-10 | 2023-08-14 | 삼성전자주식회사 | 회전 보행을 위한 제어 방법 및 제어 장치 |
US10843330B2 (en) | 2017-12-07 | 2020-11-24 | Sarcos Corp. | Resistance-based joint constraint for a master robotic system |
US11331809B2 (en) | 2017-12-18 | 2022-05-17 | Sarcos Corp. | Dynamically controlled robotic stiffening element |
FR3076238B1 (fr) * | 2017-12-28 | 2020-01-31 | Safran Electronics & Defense | Structure d'exosquelette |
JP6617988B1 (ja) * | 2018-09-20 | 2019-12-11 | 日本電気株式会社 | 免荷量計測装置、負荷軽減装置、免荷量計測システム、免荷量計測方法、プログラム |
US11241801B2 (en) | 2018-12-31 | 2022-02-08 | Sarcos Corp. | Robotic end effector with dorsally supported actuation mechanism |
US11351675B2 (en) | 2018-12-31 | 2022-06-07 | Sarcos Corp. | Robotic end-effector having dynamic stiffening elements for conforming object interaction |
US10906191B2 (en) | 2018-12-31 | 2021-02-02 | Sarcos Corp. | Hybrid robotic end effector |
US11833676B2 (en) | 2020-12-07 | 2023-12-05 | Sarcos Corp. | Combining sensor output data to prevent unsafe operation of an exoskeleton |
US11794345B2 (en) | 2020-12-31 | 2023-10-24 | Sarcos Corp. | Unified robotic vehicle systems and methods of control |
US11826907B1 (en) | 2022-08-17 | 2023-11-28 | Sarcos Corp. | Robotic joint system with length adapter |
US11717956B1 (en) | 2022-08-29 | 2023-08-08 | Sarcos Corp. | Robotic joint system with integrated safety |
US11897132B1 (en) | 2022-11-17 | 2024-02-13 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
US11924023B1 (en) | 2022-11-17 | 2024-03-05 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5144943A (en) * | 1990-03-16 | 1992-09-08 | O-Motus, Inc. | Dynamic ankle splint |
US6036665A (en) * | 1998-03-16 | 2000-03-14 | Towsley; Harold E. | Orthopedic foot, ankle and lower leg brace |
JP4110113B2 (ja) * | 2004-04-07 | 2008-07-02 | 本田技研工業株式会社 | 歩行補助装具 |
JP4417300B2 (ja) * | 2005-07-13 | 2010-02-17 | 本田技研工業株式会社 | 歩行補助装置 |
JP5047692B2 (ja) * | 2006-08-22 | 2012-10-10 | 本田技研工業株式会社 | 歩行補助装置 |
-
2008
- 2008-11-06 JP JP2008285547A patent/JP5095583B2/ja not_active Expired - Fee Related
-
2009
- 2009-11-02 US US12/610,699 patent/US20100114332A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
US20100114332A1 (en) | 2010-05-06 |
JP2010110465A (ja) | 2010-05-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5095583B2 (ja) | 歩行補助装置の足首関節構造 | |
JP5235838B2 (ja) | 歩行補助装置 | |
JP4782115B2 (ja) | 歩行補助装置 | |
EP1905406B1 (en) | Walking assistance device | |
JP4641225B2 (ja) | 歩行補助装置 | |
JP4620012B2 (ja) | 歩行補助装置 | |
JP5047692B2 (ja) | 歩行補助装置 | |
JP5427231B2 (ja) | 二脚歩行式移動装置 | |
EP1905407B1 (en) | Walking assistance device | |
JP6650384B2 (ja) | 動作補助装置 | |
WO2006126710A1 (ja) | 歩行補助装置 | |
JP4666645B2 (ja) | 歩行補助装置の制御装置 | |
JP4784768B2 (ja) | 歩行補助装置 | |
JP5073642B2 (ja) | 動作補助装置 | |
US8394044B2 (en) | Walking assist device | |
JP5137704B2 (ja) | 歩行補助装置の制御装置 | |
JP2013090843A (ja) | 歩行補助装置及びその制御方法 | |
JP4387996B2 (ja) | 歩行補助装置 | |
US8740822B2 (en) | Walking assist device | |
JP5356840B2 (ja) | 歩行補助装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20101126 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20120517 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20120605 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20120803 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20120828 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20120919 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5095583 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20150928 Year of fee payment: 3 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
LAPS | Cancellation because of no payment of annual fees |