JP5219034B2 - 曲線案内機構及び歩行補助装置 - Google Patents
曲線案内機構及び歩行補助装置 Download PDFInfo
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- JP5219034B2 JP5219034B2 JP2008099144A JP2008099144A JP5219034B2 JP 5219034 B2 JP5219034 B2 JP 5219034B2 JP 2008099144 A JP2008099144 A JP 2008099144A JP 2008099144 A JP2008099144 A JP 2008099144A JP 5219034 B2 JP5219034 B2 JP 5219034B2
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- guide
- groove
- rotating body
- guide groove
- rotating
- Prior art date
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- Expired - Fee Related
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- 230000002093 peripheral effect Effects 0.000 claims description 54
- 230000037431 insertion Effects 0.000 claims description 14
- 238000003780 insertion Methods 0.000 claims description 14
- 239000000463 material Substances 0.000 claims description 5
- 210000002414 leg Anatomy 0.000 description 52
- 210000002683 foot Anatomy 0.000 description 9
- 238000005096 rolling process Methods 0.000 description 7
- 210000000629 knee joint Anatomy 0.000 description 6
- 210000001699 lower leg Anatomy 0.000 description 6
- 210000000689 upper leg Anatomy 0.000 description 6
- 210000000544 articulatio talocruralis Anatomy 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 1
- 229940013164 reliefassist Drugs 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—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
- A61H2201/01—Constructive details
-
- 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
- A61H2201/1623—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
- A61H2201/1676—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 (5)
- 円弧形状の案内軌道を有する案内体と、案内軌道に複数の回転体を介して移動自在に係合する可動体とから成る曲線案内機構であって、
案内軌道は案内体に形成した前記円弧形状の案内溝で構成され、
可動体に、案内溝の長手方向に離隔して配置される複数の回転体から成る回転体列が案内溝の長手方向及び前記円弧形状の曲率半径方向に直交する溝幅方向に離隔して2列設けられ、
各回転体列は、案内溝の前記円弧形状の曲率中心に近い内周側の溝壁面に転動自在に当接する1個の内側回転体と、案内溝の前記円弧形状の曲率中心から遠い外周側の溝壁面に転動自在に当接する1個の外側回転体とで構成され、
案内溝の長手方向における内側回転体と外側回転体の並び順が一方の回転体列と他方の回転体列とで逆になっていることを特徴とする曲線案内機構。 - 前記内側回転体と前記外側回転体との一方の回転体の支軸は前記可動体に固定され、他方の回転体の支軸は、前記円弧形状の曲率半径方向の厚みを持つシムを介して可動体に取付けられるブロックに固定されることを特徴とする請求項1記載の曲線案内機構。
- 前記案内体は、前記案内溝の前記内周側の溝壁面と前記外周側の溝壁面とを結ぶ縦壁部を有し、前記可動体に、前記溝幅方向から縦壁部に当接するスラスト受けが取付けられることを特徴とする請求項1又は2の何れか1項記載の曲線案内機構。
- 利用者が跨ぐようにして着座する着座部材と、着座部材を下方から支える脚リンクとを備える歩行補助装置であって、
着座部材と脚リンクとは、着座部材の上方に曲率中心を持つ前後方向に長手の円弧形状の案内軌道を有する、着座部材に連結される案内体と、案内軌道に複数の回転体を介して移動自在に係合する、脚リンクの上端に連結される可動体とから成る曲線案内機構を介して連結されるものにおいて、
曲線案内機構は、請求項1〜3の何れか1項記載の曲線案内機構で構成されることを特徴とする歩行補助装置。 - 請求項4記載の歩行補助装置であって、
前記案内体は、前記案内溝の前記内周側の溝壁面を構成する内周壁部と、前記案内溝の前記外周側の溝壁面を構成する外周壁部と、内周壁部と外周壁部とを前記溝幅方向両側で連結する一対の縦壁部と、外周壁部の前記溝幅方向中央部に形成したスリットとを有する断面C形の型材から成り、この型材の内部空間で案内溝が画成され、
前記可動体は、スリットを通して案内溝に挿入される挿入部を有し、この挿入部の前記溝幅方向一側と他側とに前記各回転体列が設けられることを特徴とする歩行補助装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008099144A JP5219034B2 (ja) | 2008-04-07 | 2008-04-07 | 曲線案内機構及び歩行補助装置 |
US12/936,614 US20110028871A1 (en) | 2008-04-07 | 2009-02-06 | Curved guide mechanism and walking assist device |
PCT/JP2009/000462 WO2009125533A1 (ja) | 2008-04-07 | 2009-02-06 | 曲線案内機構及び歩行補助装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008099144A JP5219034B2 (ja) | 2008-04-07 | 2008-04-07 | 曲線案内機構及び歩行補助装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009247605A JP2009247605A (ja) | 2009-10-29 |
JP5219034B2 true JP5219034B2 (ja) | 2013-06-26 |
Family
ID=41161671
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008099144A Expired - Fee Related JP5219034B2 (ja) | 2008-04-07 | 2008-04-07 | 曲線案内機構及び歩行補助装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US20110028871A1 (ja) |
JP (1) | JP5219034B2 (ja) |
WO (1) | WO2009125533A1 (ja) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5484925B2 (ja) * | 2010-01-18 | 2014-05-07 | 本田技研工業株式会社 | 案内機構および歩行補助装置 |
JP5468961B2 (ja) * | 2010-03-31 | 2014-04-09 | 本田技研工業株式会社 | スライダ |
JP5393580B2 (ja) * | 2010-04-21 | 2014-01-22 | 本田技研工業株式会社 | 円弧状レールの製造方法 |
JP5757923B2 (ja) * | 2012-08-06 | 2015-08-05 | 株式会社ツバキE&M | 昇降装置 |
US10363811B2 (en) * | 2013-06-13 | 2019-07-30 | Ford Global Technologies, Llc | Vehicle speed controlled active grille shutter system |
KR102186859B1 (ko) | 2014-01-09 | 2020-12-04 | 삼성전자주식회사 | 보행 보조 기구 및 보행 보조 기구의 제어 방법 |
US10230164B2 (en) | 2016-09-14 | 2019-03-12 | Raytheon Company | Antenna positioning mechanism |
CN108324501A (zh) * | 2018-03-10 | 2018-07-27 | 河南欢徕科技有限公司 | 一种家用简易膝关节康复机器人 |
CN114986479A (zh) * | 2018-11-28 | 2022-09-02 | 袁博 | 一种髋关节外骨骼 |
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 |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
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US616813A (en) * | 1898-12-27 | William j | ||
US2834435A (en) * | 1954-08-17 | 1958-05-13 | Alfred G Vanderbeck | Crane anchoring device |
US3583322A (en) * | 1968-12-12 | 1971-06-08 | Nasa | Locomotion and restraint aid |
US3802352A (en) * | 1972-07-13 | 1974-04-09 | Timken Co | Railway truck wheel and axle set |
DE3320281C1 (de) * | 1983-06-04 | 1985-01-31 | Hespe & Woelm Gmbh & Co Kg, 5628 Heiligenhaus | Bremsbarer Wagen fuer Laufschienen |
US4948118A (en) * | 1988-11-18 | 1990-08-14 | Louis Miraglia | Support apparatus for water exercise and therapy |
US5090171A (en) * | 1989-08-01 | 1992-02-25 | Komatsu Wall Industry Co., Ltd. | Movable partitioning panel |
JPH0479732U (ja) * | 1990-11-26 | 1992-07-10 | ||
JP3044089B2 (ja) * | 1991-05-31 | 2000-05-22 | 富士機工株式会社 | シートスライド装置 |
US6203109B1 (en) * | 1991-09-05 | 2001-03-20 | Industrial Ergonomics, Inc. | Ergonomic arm support |
US5458550A (en) * | 1994-03-28 | 1995-10-17 | Braim; Roger H. | Suspendable child walker system |
JPH10287154A (ja) * | 1997-04-16 | 1998-10-27 | Ikeda Bussan Co Ltd | 車両用シートのスライド機構 |
JPH1068582A (ja) * | 1997-08-22 | 1998-03-10 | Hitachi Ltd | 冷蔵庫 |
US7086525B2 (en) * | 1999-09-23 | 2006-08-08 | Stewart Systems, Inc. | Conveyor for continuous proofing and baking apparatus |
US6703693B2 (en) * | 2001-12-13 | 2004-03-09 | Lg Cable Ltd. | Apparatus for reversing lead frame |
US7993248B1 (en) * | 2003-08-11 | 2011-08-09 | Glenn Rasmussen | Rehabilitation support apparatus |
JP4641225B2 (ja) * | 2005-07-19 | 2011-03-02 | 本田技研工業株式会社 | 歩行補助装置 |
KR100856844B1 (ko) * | 2005-05-27 | 2008-09-05 | 혼다 기켄 고교 가부시키가이샤 | 보행 보조 장치 |
-
2008
- 2008-04-07 JP JP2008099144A patent/JP5219034B2/ja not_active Expired - Fee Related
-
2009
- 2009-02-06 WO PCT/JP2009/000462 patent/WO2009125533A1/ja active Application Filing
- 2009-02-06 US US12/936,614 patent/US20110028871A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
WO2009125533A1 (ja) | 2009-10-15 |
US20110028871A1 (en) | 2011-02-03 |
JP2009247605A (ja) | 2009-10-29 |
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