JP5283282B2 - 歩行補助装置 - Google Patents
歩行補助装置 Download PDFInfo
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- JP5283282B2 JP5283282B2 JP2009535989A JP2009535989A JP5283282B2 JP 5283282 B2 JP5283282 B2 JP 5283282B2 JP 2009535989 A JP2009535989 A JP 2009535989A JP 2009535989 A JP2009535989 A JP 2009535989A JP 5283282 B2 JP5283282 B2 JP 5283282B2
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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
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for disabled persons
-
- 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
- A61H2201/0192—Specific means for adjusting dimensions
-
- 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
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic 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
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
- A61H2201/1246—Driving means with hydraulic or pneumatic drive by piston-cylinder systems
-
- 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
- A61H2201/1619—Thorax
- A61H2201/1621—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
- A61H2201/163—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
- A61H2201/164—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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1664—Movement of interface, i.e. force application means linear
-
- 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
- A61H2201/5007—Control means thereof computer controlled
Description
前記連結体は、前記腰フレームを装着した歩行者の左右両側面にそれぞれ1式が設けられていることを特徴とすることができる。
また、前記制御装置は、前記第1ステップから第2ステップへ移行する際に、当該一方の連結体においては第1アクチュエータの短縮動作のオフタイミングを第2アクチュエータの短縮動作のオフタイミングより遅らせるとともに、第3アクチュエータの短縮動作のオンタイミングを第4アクチュエータの短縮動作のオンタイミングより先にし、当該他方の連結体においては、第1アクチュエータの短縮動作のオンタイミングを第2アクチュエータの短縮動作のオンタイミングより先にし、第3アクチュエータと第4アクチュエータの短縮動作を同時にオフすることを特徴とすることができる。
また、前記第1乃至第4アクチュエータの短縮動作は、前記制御装置によって自動制御されることを特徴とすることができる。
また、前記制御装置は、前記第1乃至第4アクチュエータの短縮動作のオン/オフ切換を手動で行うための複数のスイッチを備えていることを特徴とすることができる。
Claims (5)
- 複数個の車輪を備えた台車と、
前記台車のフレームに立設され、前記台車に立設された支柱と、この支柱へ連結され、歩行障害者の腰部及び胸部を保持する保持機構から成り、歩行障害者の起立姿勢を保持する起立姿勢保持機構と、
前記起立姿勢保持機構へ連結され歩行障害者の下肢に装着され、前記起立姿勢保持機構へ連結されるとともに、歩行障害者の腰部へ装着される腰フレームと、前記腰フレームを装着した歩行者の股関節に対応する前記腰フレームの位置へその一端が回転可能に接続され他端が膝関節の位置まで伸びる第1フレームと、前記第1フレームの膝関節位置に回転可能に接続され、膝関節から足首方向へ向かって伸びる第2フレームと、前記第2フレームへ設けられ、歩行者の膝関節近傍及び足首近傍へ前記第2フレームを固定する複数の固定部材とから成る連結体と、を備える歩行器と、
前記第1フレームを股関節周りに、膝上げ方向へ回動させる第1アクチュエータと、前記第2フレームを膝関節周りに後方向へ回動させる第2アクチュエータと、前記第2フレームを膝関節周りに前方向へ回動させる第3アクチュエータと、前記第1フレームを股関節周りに後ろ方向へ回動させる第4アクチュエータと、前記第1乃至第4アクチュエータを駆動制御することにより前記第1、第2フレームを介して装着者に歩行動作を実行させる制御装置とを備え、前記歩行器へ組み込まれ、健常者の歩行モードを模擬した態様にしたがって前記歩行器へ歩行アシスト動作を行わせる歩行アシスト機構と、
を備え、
前記第1乃至第4のアクチュエータは、内部へ空気を供給することにより短縮しながら短縮方向へ力を発生する空気圧式アクチュエータであり、
前記歩行アシスト機構は、更に、空気供給源と、この空気供給源から前記第1乃至第4のアクチュエータへの空気の給排切換えを行うエアー給排切換器とを有し、
前記制御装置は、前記エアー給排切換器を制御することによって、前記左右いずれか一方の連結体の第1、第2アクチュエータの短縮動作をオンにし、第3、第4アクチュエータの短縮動作をオフにするとともに、他方の連結体の第1、第2アクチュエータの短縮動作をオフにし、第3、第4アクチュエータの短縮動作をオンにする第1ステップと、当該一方の連結体の第1、第2アクチュエータの短縮動作をオフにし、第3、第4アクチュエータの短縮動作をオンにするとともに、当該他方の連結体の第1、第2アクチュエータの短縮動作をオンにし、第3、第4アクチュエータの短縮動作をオフにする第2ステップと、を順次繰り返して実行する、歩行補助装置。 - 前記連結体は、前記腰フレームを装着した歩行者の左右両側面にそれぞれ1式が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。
- 前記制御装置は、前記第1ステップから第2ステップへ移行する際に、当該一方の連結体においては第1アクチュエータの短縮動作のオフタイミングを第2アクチュエータの短縮動作のオフタイミングより遅らせるとともに、第3アクチュエータの短縮動作のオンタイミングを第4アクチュエータの短縮動作のオンタイミングより先にし、
当該他方の連結体においては、第1アクチュエータの短縮動作のオンタイミングを第2アクチュエータの短縮動作のオンタイミングより先にし、第3アクチュエータと第4アクチュエータの短縮動作を同時にオフすることを特徴とする請求項1または請求項2に記載の歩行補助装置。 - 前記第1乃至第4アクチュエータの短縮動作は、前記制御装置によって自動制御されることを特徴とする請求項1〜3のいずれか1項に記載の歩行補助装置。
- 前記制御装置は、前記第1乃至第4アクチュエータの短縮動作のオン/オフ切換を手動で行うための複数のスイッチを備えていることを特徴とする請求項1〜3のいずれか1項に記載の歩行補助装置。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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JP2009535989A JP5283282B2 (ja) | 2007-10-02 | 2008-04-25 | 歩行補助装置 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
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JP2007258994 | 2007-10-02 | ||
JP2007258994 | 2007-10-02 | ||
PCT/JP2008/058084 WO2009044568A1 (ja) | 2007-10-02 | 2008-04-25 | 歩行補助装置 |
JP2009535989A JP5283282B2 (ja) | 2007-10-02 | 2008-04-25 | 歩行補助装置 |
Publications (2)
Publication Number | Publication Date |
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JPWO2009044568A1 JPWO2009044568A1 (ja) | 2011-02-03 |
JP5283282B2 true JP5283282B2 (ja) | 2013-09-04 |
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JP2009535989A Active JP5283282B2 (ja) | 2007-10-02 | 2008-04-25 | 歩行補助装置 |
Country Status (4)
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US (1) | US20100270771A1 (ja) |
EP (1) | EP2193774A4 (ja) |
JP (1) | JP5283282B2 (ja) |
WO (1) | WO2009044568A1 (ja) |
Cited By (2)
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JP2016195783A (ja) * | 2012-08-17 | 2016-11-24 | ロバート カロビッチ | 移動補助装置 |
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- 2008-04-25 EP EP08752127.4A patent/EP2193774A4/en not_active Withdrawn
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JP2007014698A (ja) * | 2005-07-11 | 2007-01-25 | Tokyo Univ Of Science | 歩行補助装置 |
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JP2016195783A (ja) * | 2012-08-17 | 2016-11-24 | ロバート カロビッチ | 移動補助装置 |
JP5525648B1 (ja) * | 2013-11-27 | 2014-06-18 | 俊夫 眞島 | 認知症専用じりつ歩行補助具 |
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JPWO2009044568A1 (ja) | 2011-02-03 |
WO2009044568A1 (ja) | 2009-04-09 |
EP2193774A1 (en) | 2010-06-09 |
EP2193774A4 (en) | 2013-05-01 |
US20100270771A1 (en) | 2010-10-28 |
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