JP5904580B2 - 関節駆動装置 - Google Patents
関節駆動装置 Download PDFInfo
- Publication number
- JP5904580B2 JP5904580B2 JP2012089994A JP2012089994A JP5904580B2 JP 5904580 B2 JP5904580 B2 JP 5904580B2 JP 2012089994 A JP2012089994 A JP 2012089994A JP 2012089994 A JP2012089994 A JP 2012089994A JP 5904580 B2 JP5904580 B2 JP 5904580B2
- Authority
- JP
- Japan
- Prior art keywords
- joint
- link member
- rotation
- rehabilitation
- ankle
- 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.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims description 115
- 210000003423 ankle Anatomy 0.000 description 55
- 230000033001 locomotion Effects 0.000 description 37
- 210000002683 foot Anatomy 0.000 description 33
- 238000010586 diagram Methods 0.000 description 20
- 210000001699 lower leg Anatomy 0.000 description 17
- 230000008859 change Effects 0.000 description 10
- 230000008878 coupling Effects 0.000 description 8
- 238000010168 coupling process Methods 0.000 description 8
- 238000005859 coupling reaction Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 7
- 238000005452 bending Methods 0.000 description 6
- 238000006073 displacement reaction Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 210000000707 wrist Anatomy 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 210000003127 knee Anatomy 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000014509 gene expression Effects 0.000 description 2
- 230000009191 jumping Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 210000001513 elbow Anatomy 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 210000003811 finger Anatomy 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 210000003739 neck Anatomy 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000007395 thrombosis prophylaxis Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Description
F1x+F2x=0 ・・・(1)
−F2x+F3x=0 ・・・(2)
−F3x+F4x=0 ・・・(3)
よって、以下の式(4)が成り立つ。
F1x=−F2x=−F3x=−F4x ・・・(4)
F1y+F2y=0 ・・・(5)
−F2y+F3y=0 ・・・(6)
−F3y+F4y=0 ・・・(7)
よって、以下の式(8)が成り立つ。
F1y=−F2y=−F3y=−F4y ・・・(8)
τ1+τ2=0 ・・・(9)
−τ2+τ3=0 ・・・(10)
−τ3+τ4=0 ・・・(11)
よって、以下の式(12)が成り立つ。
τ1=−τ2=−τ3=−τ4 ・・・(12)
F2y=0 ・・・(13)
F3x=0 ・・・(14)
式(4)及び式(8)並びに式(13)及び式(14)より、以下の式(15)及び式(16)が成り立つ。
F1x=F2x=F3x=F4x ・・・(15)
F1y=F2y=F3y=F4y ・・・(16)
11 回転駆動機構
12 第1リンク部材
13 第2リンク部材
14 保持部材
15 第1接続部材
16 第2接続部材
Claims (4)
- 関節に対して一方の側の人体の第1部位に取り付けられる回転駆動機構と、
該回転駆動機構に取り付けられ、該回転駆動機構によって回転する第1リンク部材と、
摺動機構を備えた第1接続部材を有し、該第1接続部材によって前記第1リンク部材に対して垂直な状態で該第1リンク部材に沿って受動的に摺動可能に接続された第2リンク部材と、
前記関節に対して他方の側の人体の第2部位を保持する保持部材であって、摺動機構を備えた第2接続部材を有し、該第2接続部材によって該第2リンク部材に沿って受動的に摺動可能に接続された保持部材と、
を具備し、
前記回転駆動機構の回転に応じて、前記第1接続部材及び前記第2接続部材が受動的に摺動し、前記第2部位を前記第1部位に対して前記関節回りに回転させる関節駆動装置。 - 前記第1接続部材及び第2接続部材が、回転機構をさらに備えてそれぞれの摺動方向の軸線回りに受動的に回転可能である請求項1に記載の関節駆動装置。
- 前記保持部材が、回転機構を備えた第3接続部材をさらに有して前記第2リンク部材の摺動方向に対して垂直な方向の軸線回りに回転可能である請求項2に記載の関節駆動装置。
- 前記第1リンク部材及び前記第2リンク部材が湾曲している請求項1乃至3のいずれか1つに記載の関節駆動装置。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012089994A JP5904580B2 (ja) | 2012-04-11 | 2012-04-11 | 関節駆動装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012089994A JP5904580B2 (ja) | 2012-04-11 | 2012-04-11 | 関節駆動装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2013215461A JP2013215461A (ja) | 2013-10-24 |
JP5904580B2 true JP5904580B2 (ja) | 2016-04-13 |
Family
ID=49588340
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012089994A Active JP5904580B2 (ja) | 2012-04-11 | 2012-04-11 | 関節駆動装置 |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP5904580B2 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112274865B (zh) * | 2020-10-30 | 2021-05-04 | 中国科学院自动化研究所 | 下肢康复机器人的按需辅助自适应控制方法和系统 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4474176A (en) * | 1982-07-20 | 1984-10-02 | Joint Mobilizer Systems Corporation | Foot articulator |
JP2007275482A (ja) * | 2006-04-12 | 2007-10-25 | Suncall Engineering Kk | 膝関節補助装置 |
WO2011145643A1 (ja) * | 2010-05-20 | 2011-11-24 | 国立大学法人 鹿児島大学 | 膝関節パワーアシスト装置 |
-
2012
- 2012-04-11 JP JP2012089994A patent/JP5904580B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
JP2013215461A (ja) | 2013-10-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US11911330B2 (en) | Upper-body robotic exoskeleton | |
Mao et al. | Human movement training with a cable driven arm exoskeleton (CAREX) | |
Mao et al. | Design of a cable-driven arm exoskeleton (CAREX) for neural rehabilitation | |
KR101290174B1 (ko) | 근력 지원용 착용형 로봇 | |
US8800366B2 (en) | Robotic exoskeleton for limb movement | |
JP6112567B2 (ja) | 外骨格 | |
US8366591B2 (en) | Reconfigurable ankle exoskeleton device | |
KR101290173B1 (ko) | 근력 지원용 착용형 로봇 | |
Saglia et al. | Control strategies for ankle rehabilitation using a high performance ankle exerciser | |
Dong et al. | A new ankle robotic system enabling whole-stage compliance rehabilitation training | |
Kuan et al. | A high-performance cable-drive module for the development of wearable devices | |
Taha et al. | Preliminary investigation on the development of a lower extremity exoskeleton for gait rehabilitation: A Clinical Consideration | |
KR101287346B1 (ko) | 근력 지원용 착용형 로봇 | |
Guatibonza et al. | Kinematic and dynamic modeling of a 5-bar assistive device for knee rehabilitation | |
Gonçalves et al. | Robot modeling for physical rehabilitation | |
JP5904580B2 (ja) | 関節駆動装置 | |
Jarrassé et al. | Design and acceptability assessment of a new reversible orthosis | |
Su et al. | Design of a lightweight forearm exoskeleton for fine-motion rehabilitation | |
JP2006340768A (ja) | ウェアラブルロボットハンド | |
Faqihi et al. | Tracking trajectory of a cable-driven robot for lower limb rehabilitation | |
Zhang et al. | Design and human–machine compatibility analysis of Co-Exos II for upper-limb rehabilitation | |
Geonea et al. | New assistive device for people with motor disabilities | |
KR101287349B1 (ko) | 근력 지원용 착용형 로봇 | |
Wang et al. | Kinematic design of a parallel ankle rehabilitation robot for sprained ankle physiotherapy | |
JPH0999021A (ja) | 関節駆動装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20150406 |
|
TRDD | Decision of grant or rejection written | ||
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20160219 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20160223 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20160310 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5904580 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |