JP5313609B2 - 装着式動作補助装置のフレーム構造。 - Google Patents

装着式動作補助装置のフレーム構造。 Download PDF

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JP5313609B2
JP5313609B2 JP2008248774A JP2008248774A JP5313609B2 JP 5313609 B2 JP5313609 B2 JP 5313609B2 JP 2008248774 A JP2008248774 A JP 2008248774A JP 2008248774 A JP2008248774 A JP 2008248774A JP 5313609 B2 JP5313609 B2 JP 5313609B2
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waist
wearer
frame
leg
movement
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JP2008248774A
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JP2010075548A (ja
Inventor
嘉之 山海
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国立大学法人 筑波大学
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Priority to JP2008248774A priority Critical patent/JP5313609B2/ja
Priority to PCT/JP2009/066364 priority patent/WO2010035706A1/fr
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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
    • 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
    • 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 together 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
    • A61H3/008—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
    • 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
    • A61H2201/16—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
    • A61H2201/1602—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
    • A61H2201/5069—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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/08—Other bio-electrical signals

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)
  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
JP2008248774A 2008-09-26 2008-09-26 装着式動作補助装置のフレーム構造。 Active JP5313609B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2008248774A JP5313609B2 (ja) 2008-09-26 2008-09-26 装着式動作補助装置のフレーム構造。
PCT/JP2009/066364 WO2010035706A1 (fr) 2008-09-26 2009-09-18 Structure cadre de dispositif portable d'aide au mouvement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2008248774A JP5313609B2 (ja) 2008-09-26 2008-09-26 装着式動作補助装置のフレーム構造。

Publications (2)

Publication Number Publication Date
JP2010075548A JP2010075548A (ja) 2010-04-08
JP5313609B2 true JP5313609B2 (ja) 2013-10-09

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JP (1) JP5313609B2 (fr)
WO (1) WO2010035706A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105287169A (zh) * 2015-09-22 2016-02-03 谷林电器(深圳)有限公司 歩行辅助装置
US10512582B2 (en) 2014-12-01 2019-12-24 Samsung Electronics Co., Ltd. Supporting module and motion assistance apparatus including the same
CN110936356A (zh) * 2019-12-09 2020-03-31 西安交通大学 一种外骨骼机器人的腰部装置

Families Citing this family (26)

* Cited by examiner, † Cited by third party
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CN102470071B (zh) * 2010-04-02 2016-08-17 丰田自动车株式会社 行走辅助装置
JP5381876B2 (ja) * 2010-04-06 2014-01-08 トヨタ自動車株式会社 歩行補助装具の評価方法
JP6004482B2 (ja) * 2010-06-29 2016-10-12 国立大学法人 名古屋工業大学 歩行支援機
KR101290174B1 (ko) 2011-10-26 2013-07-30 한양대학교 에리카산학협력단 근력 지원용 착용형 로봇
JP5957751B2 (ja) * 2012-02-28 2016-07-27 国立大学法人 筑波大学 多自由度補助装置
US9320636B2 (en) 2012-07-05 2016-04-26 Panasonic Corporation Support device, operation support device, and muscle strength training support device
FR3013586B1 (fr) * 2013-11-27 2016-02-05 Assistive Robotic Technologies Module articule motorise, articulation comprenant plusieurs modules et exosquelette comprenant plusieurs articulations
JP6357627B2 (ja) * 2014-01-30 2018-07-18 国立大学法人 筑波大学 装着式動作補助装置
CN103892989A (zh) * 2014-04-16 2014-07-02 崔建忠 下肢康复训练机器人及其训练方法
CN104188786B (zh) * 2014-09-11 2017-02-15 东南大学 一种基于套索传动的膝关节助力康复装置
JP6293653B2 (ja) * 2014-12-26 2018-03-14 本田技研工業株式会社 弾性力発生装置
JP6278890B2 (ja) * 2014-12-26 2018-02-14 本田技研工業株式会社 関節動力発生装置
CN104721016B (zh) * 2015-03-25 2017-03-01 北京航空航天大学 一种用于下肢康复机器人的3ups并联变胞机构
EP3173053A1 (fr) 2015-11-26 2017-05-31 Samsung Electronics Co., Ltd. Ensemble de cadre et appareil d'assistance au mouvement le comprenant
US10596060B2 (en) * 2015-11-26 2020-03-24 Samsung Electronics Co., Ltd. Frame assembly and motion assistance apparatus including the same
CN105583809A (zh) * 2016-03-07 2016-05-18 江南大学 一种穿戴式起坐辅助装置
JP6890407B2 (ja) 2016-12-07 2021-06-18 住友重機械工業株式会社 アシスト装置
JP2018158403A (ja) * 2017-03-22 2018-10-11 株式会社ジェイテクト アシスト装置
WO2019050929A1 (fr) * 2017-09-05 2019-03-14 Aesclepius Corporation Systèmes, dispositifs et procédés pour le chargement thérapeutique d'une articulation
JP6295390B1 (ja) * 2017-09-26 2018-03-14 順一 川田 歩行支援器具
CN108081249B (zh) * 2018-02-01 2018-12-18 清远初曲智能科技有限公司 一种基于气电混合动力系统的随行自控助力机械骨骼
WO2019198270A1 (fr) * 2018-04-13 2019-10-17 本田技研工業株式会社 Dispositif d'aide à la marche
CN110063875B (zh) * 2019-05-22 2021-05-18 东北大学 一种用于全身康复训练的外骨骼机器人
JP7288623B2 (ja) * 2019-09-20 2023-06-08 ＡｓｓｉｓｔＭｏｔｉｏｎ株式会社 アシストウェア
CN110861070B (zh) * 2019-10-14 2024-02-20 中国科学院深圳先进技术研究院 支承组件及外骨骼机器人
CN111941395B (zh) * 2020-08-11 2022-07-19 北京机械设备研究所 一种基于三级缓冲机构的缓冲外骨骼

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JPH0967956A (ja) * 1995-08-31 1997-03-11 Ohbayashi Corp 破壊防止機能付き免震用積層ゴム
JP2000240722A (ja) * 1999-02-23 2000-09-05 Maeda Corp 免震装置
JP2000283203A (ja) * 1999-03-30 2000-10-13 Tokai Rubber Ind Ltd ゴム支承体
JP4112430B2 (ja) * 2003-05-21 2008-07-02 本田技研工業株式会社 歩行補助装置
JP4426432B2 (ja) * 2004-12-17 2010-03-03 本田技研工業株式会社 脚体運動補助装具の補助モーメント制御方法
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
JP3955304B2 (ja) * 2005-05-17 2007-08-08 本田技研工業株式会社 腰部装具
JP2008220635A (ja) * 2007-03-13 2008-09-25 Shibaura Institute Of Technology 歩行支援装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10512582B2 (en) 2014-12-01 2019-12-24 Samsung Electronics Co., Ltd. Supporting module and motion assistance apparatus including the same
CN105287169A (zh) * 2015-09-22 2016-02-03 谷林电器(深圳)有限公司 歩行辅助装置
CN110936356A (zh) * 2019-12-09 2020-03-31 西安交通大学 一种外骨骼机器人的腰部装置

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WO2010035706A1 (fr) 2010-04-01

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