JP5235838B2 - 歩行補助装置 - Google Patents
歩行補助装置 Download PDFInfo
- Publication number
- JP5235838B2 JP5235838B2 JP2009246857A JP2009246857A JP5235838B2 JP 5235838 B2 JP5235838 B2 JP 5235838B2 JP 2009246857 A JP2009246857 A JP 2009246857A JP 2009246857 A JP2009246857 A JP 2009246857A JP 5235838 B2 JP5235838 B2 JP 5235838B2
- Authority
- JP
- Japan
- Prior art keywords
- joint
- leg
- shaft member
- roll direction
- link
- 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
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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—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
- 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
Description
Claims (4)
- 利用者が跨ぐようにして着座する着座部材と、該着座部材を下方から支える一対の脚リンクと、該各脚リンクに足首関節部を介して連結される接地部材とを備える歩行補助装置において、
前記足首関節部は、前記接地部材が前記脚リンクに対しロール方向の所定範囲で外転側及び内転側へ揺動自在となるように構成されると共に、前記内転側の揺動可能範囲が前記外転側の揺動可能範囲よりも大きくなるように構成され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において、
前記足首関節部は、一方の端部が前記脚リンク又は前記接地部材に連結されたジョイント軸部材と、該ジョイント軸部材の他方の端部をロール方向に所定範囲で揺動自在に保持すると共に前記接地部材又は前記脚リンクに設けられた保持部とからなる継手機構を有し、
前記ジョイント軸部材は、前記歩行補助装置が直立状態のときに、前記ロール方向に揺動可能な前記所定範囲の中央位置よりも前記ロール方向の外転側に傾いていることを特徴とする歩行補助装置。 - 請求項2記載の歩行補助装置において、
前記継手機構は、前記ジョイント軸部材の他方の端部に設けられた球体をロール方向に所定範囲で揺動自在に保持する前記保持部を備える球面ジョイントであることを特徴とする歩行補助装置。 - 請求項3記載の歩行補助装置において、
前記保持部は、前記脚リンクにヨー方向に回転自在に設けられ、
前記ジョイント軸部材は、前記保持部から横方向に延び、
前記ジョイント軸部材の一方の端部は、前記接地部材に連結されることを特徴とする歩行補助装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009246857A JP5235838B2 (ja) | 2008-11-06 | 2009-10-27 | 歩行補助装置 |
US12/612,863 US8394038B2 (en) | 2008-11-06 | 2009-11-05 | Walking assistance device |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008285476 | 2008-11-06 | ||
JP2008285476 | 2008-11-06 | ||
JP2009246857A JP5235838B2 (ja) | 2008-11-06 | 2009-10-27 | 歩行補助装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2010131372A JP2010131372A (ja) | 2010-06-17 |
JP5235838B2 true JP5235838B2 (ja) | 2013-07-10 |
Family
ID=42165878
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009246857A Expired - Fee Related JP5235838B2 (ja) | 2008-11-06 | 2009-10-27 | 歩行補助装置 |
Country Status (2)
Country | Link |
---|---|
US (1) | US8394038B2 (ja) |
JP (1) | JP5235838B2 (ja) |
Families Citing this family (24)
Publication number | Priority date | Publication date | Assignee | Title |
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CN103038152A (zh) | 2010-04-09 | 2013-04-10 | 洛克希德马丁公司 | 便携式负载提升系统 |
US9554960B2 (en) | 2010-11-24 | 2017-01-31 | Kawasaki Jukogyo Kabushiki Kaisha | Wearable motion supporting device |
JP5714874B2 (ja) * | 2010-11-24 | 2015-05-07 | 川崎重工業株式会社 | 装着型動作支援装置 |
WO2012070244A1 (ja) * | 2010-11-24 | 2012-05-31 | 川崎重工業株式会社 | 装着型動作支援装置 |
JP5844054B2 (ja) * | 2011-02-25 | 2016-01-13 | 川崎重工業株式会社 | 装着型動作支援装置 |
JP5126919B1 (ja) * | 2012-04-09 | 2013-01-23 | 英治 川西 | 歩行補助装置 |
GB201305984D0 (en) * | 2013-04-03 | 2013-05-15 | Moog Bv | Mechanical linkage |
KR101641344B1 (ko) * | 2014-04-10 | 2016-07-21 | (주)헥사시스템즈 | 발목용 보행 보조 장치 |
US9808073B1 (en) | 2014-06-19 | 2017-11-07 | Lockheed Martin Corporation | Exoskeleton system providing for a load transfer when a user is standing and kneeling |
JP2016035292A (ja) | 2014-08-04 | 2016-03-17 | ソニー株式会社 | 可動装置、可動シート、および可動装置の製造方法 |
FR3034660B1 (fr) * | 2015-04-07 | 2022-06-10 | Wandercraft | Exosquelette comprenant une liaison mecanique de cheville avec deux axes de pivotement |
US10548800B1 (en) | 2015-06-18 | 2020-02-04 | Lockheed Martin Corporation | Exoskeleton pelvic link having hip joint and inguinal joint |
US10518404B2 (en) | 2015-07-17 | 2019-12-31 | Lockheed Martin Corporation | Variable force exoskeleton hip joint |
US10195736B2 (en) | 2015-07-17 | 2019-02-05 | Lockheed Martin Corporation | Variable force exoskeleton hip joint |
US10912346B1 (en) | 2015-11-24 | 2021-02-09 | Lockheed Martin Corporation | Exoskeleton boot and lower link |
US10124484B1 (en) | 2015-12-08 | 2018-11-13 | Lockheed Martin Corporation | Load-bearing powered exoskeleton using electromyographic control |
KR101836636B1 (ko) * | 2016-05-19 | 2018-03-09 | 현대자동차주식회사 | 착용식 보행 보조 로봇 시스템 및 그 제어 방법 |
JP6945637B2 (ja) * | 2016-10-13 | 2021-10-06 | デフィ,インコーポレーテッド | 生体力学的関節、制御システム、および履物用複合フットプレート |
EP3318240A1 (en) * | 2016-11-08 | 2018-05-09 | noonee AG | Wearable sitting posture assisting device and method for putting on such a device |
ES2845499T3 (es) | 2017-01-12 | 2021-07-27 | Parker Hannificn Corp | Dispositivo exoesquelético de movilidad de piernas con mecanismos de ajuste mejorados |
WO2019046408A1 (en) | 2017-08-30 | 2019-03-07 | Lockheed Martin Corporation | AUTOMATIC SENSOR SELECTION |
DE102017121343A1 (de) * | 2017-09-14 | 2019-03-14 | Otto Bock Healthcare Products Gmbh | Gelenkeinrichtung |
US10765581B2 (en) | 2018-03-27 | 2020-09-08 | Dephy, Inc. | Spool for winch actuator |
WO2020014257A1 (en) | 2018-07-10 | 2020-01-16 | Dephy, Inc. | Wearable joint augmentation system |
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-
2009
- 2009-10-27 JP JP2009246857A patent/JP5235838B2/ja not_active Expired - Fee Related
- 2009-11-05 US US12/612,863 patent/US8394038B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20100121233A1 (en) | 2010-05-13 |
US8394038B2 (en) | 2013-03-12 |
JP2010131372A (ja) | 2010-06-17 |
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