JP6767002B2 - 歩行支援装置用の靴アセンブリ - Google Patents
歩行支援装置用の靴アセンブリ Download PDFInfo
- Publication number
- JP6767002B2 JP6767002B2 JP2018077510A JP2018077510A JP6767002B2 JP 6767002 B2 JP6767002 B2 JP 6767002B2 JP 2018077510 A JP2018077510 A JP 2018077510A JP 2018077510 A JP2018077510 A JP 2018077510A JP 6767002 B2 JP6767002 B2 JP 6767002B2
- Authority
- JP
- Japan
- Prior art keywords
- shoe
- side plate
- shoe assembly
- support device
- contact surface
- 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
- 210000001699 lower leg Anatomy 0.000 claims description 26
- 230000005489 elastic deformation Effects 0.000 claims description 4
- 230000004044 response Effects 0.000 claims description 3
- 210000002414 leg Anatomy 0.000 description 16
- 210000000544 articulatio talocruralis Anatomy 0.000 description 12
- 238000000034 method Methods 0.000 description 10
- 210000000689 upper leg Anatomy 0.000 description 10
- 210000000629 knee joint Anatomy 0.000 description 8
- 230000005021 gait Effects 0.000 description 6
- 210000002683 foot Anatomy 0.000 description 5
- 210000001217 buttock Anatomy 0.000 description 4
- 210000001624 hip Anatomy 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 210000003414 extremity Anatomy 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
Images
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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
-
- 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
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
- A61H1/0266—Foot
-
- 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
-
- 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
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Physical Education & Sports Medicine (AREA)
- Engineering & Computer Science (AREA)
- Epidemiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Robotics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Cardiology (AREA)
- Mechanical Engineering (AREA)
- Transplantation (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Description
11 腰部アセンブリ
12R 右脚アセンブリ
12L 左脚アセンブリ
13 臀部関節
14 大腿スタンド
15 膝関節
16 下腿スタンド
17 踝関節
20L 左靴アセンブリ
20R 右靴アセンブリ
21、41、51、61 靴カバー
24、68 支持プレート
25、65 靴パッド
27、67 側面プレート
28 固定プレート
31 第1のセクション
32 第2のセクション
40R、50R、60R 靴アセンブリ
158 第1の調整装置
178 第2の調整装置
210、610 凹部
240 凸型部材
245、415 リッジ部
261 リング
262 ワッシャ
271、671 第1の部分
272、672 第2の部分
273 第3の部材
274 第1の部材
275 第2の部材
515 膨出表面
516 スロープ
615 接触表面
673 第3の部分
681 ボルト
682 ねじ穴
C チャンバ
F 力
H 高さ
Θ 第1の角度
Φ 第2の角度
Claims (20)
- 歩行支援装置用の靴アセンブリであって、前記靴アセンブリは、
靴パッドと、
前記靴パッド上に位置し、凹部を有する靴カバーと、
前記歩行支援装置の前記靴カバーと下腿スタンドとの間を接続し、前記凹部に収容された第1の部分および第2の部分を有する側面プレートと、
前記側面プレートと前記靴カバーとの間で前記凹部に配置され、前記第1の部分が前記凹部内に収容されているとき前記側面プレートの前記第2の部分の支点となる膨出表面を含む支持プレートと、
を備える、歩行支援装置用の靴アセンブリ。 - 前記下腿スタンドは第1の方向に延在して、且つ前記側面プレートの前記第1の部分と前記第2の部分とが前記第1の方向とは異なる第2の方向に延在する、請求項1に記載の靴アセンブリ。
- 前記第2の部分は前記第1の方向で付与される力に応じて弾性変形する、請求項2に記載の靴アセンブリ。
- 前記支持プレートは、弾性変形時の前記第2の部分を受入れるための傾斜面を有するスロープを有する、請求項3に記載の靴アセンブリ。
- 前記支持プレートは、前記側面プレートの前記第1の部分と前記第2の部分との間の高度差を相殺する高さを有する、請求項1に記載の靴アセンブリ。
- 前記靴カバーは、前記歩行支援装置の使用者の足部を受入れるための接触表面を更に有しており、しかも前記側面プレートの前記第1の部分は前記凹部中の前記接触表面下方に固定される、請求項1に記載の靴アセンブリ。
- 前記第1の部分は複数のボルト及び前記接触表面上の複数のねじ穴により固定される、請求項6に記載の靴アセンブリ。
- 前記第1の部分は、前記接触表面上の前記複数のねじ穴に位置合わせされる複数のねじ穴を有する、請求項7に記載の靴アセンブリ。
- 前記第1の部分が前記接触表面の前記凹部内に固定されたとき、前記側面プレートの前記第2の部分は前記接触表面と面一となる、請求項6に記載の靴アセンブリ。
- 前記側面プレートの前記第1の部分は、前記靴パッドと、前記接触表面と、前記支持プレートとで画成されたチャンバ内に固定される、請求項6に記載の靴アセンブリ。
- 歩行支援装置であって、
下腿スタンドと、
前記下腿スタンドに枢接され、第1の部分と第2の部分とを有する側面プレートと、
靴アセンブリと、
を備えており、前記靴アセンブリは、
靴パッドと、
前記靴パッド上に位置し、側面プレートの前記第1の部分および前記第2の部分を収容するための凹部を有する靴カバーと、
前記側面プレートと前記靴カバーとの間で前記凹部に配置され、前記第1の部分が前記凹部内に収容されているとき前記側面プレートの前記第2の部分の支点となる膨出表面を含む支持プレートと、
を備える、歩行支援装置。 - 前記下腿スタンドは第1の方向に延在して、且つ前記側面プレートの前記第1の部分と前記第2の部分とが前記第1の方向とは異なる第2の方向に延在する、請求項11に記載の歩行支援装置。
- 前記第2の部分は前記第1の方向で付与される力に応じて弾性変形する、請求項12に記載の歩行支援装置。
- 前記支持プレートは、弾性変形時の前記第2の部分を受入れるための傾斜面を有するスロープと、を有する、請求項13に記載の歩行支援装置。
- 前記支持プレートは、前記側面プレートの前記第1の部分と前記第2の部分との間の高度差を相殺する高さを有する、請求項11に記載の歩行支援装置。
- 前記靴カバーは、前記歩行支援装置の使用者の足部を受入れるための接触表面を更に有しており、しかも前記側面プレートの前記第1の部分は前記凹部中の前記接触表面下方に固定される、請求項11に記載の歩行支援装置。
- 前記第1の部分は複数のボルト及び前記接触表面上の複数のねじ穴により固定される、請求項16に記載の歩行支援装置。
- 前記第1の部分は、前記接触表面上の前記複数のねじ穴に位置合わせされる複数のねじ穴を有する、請求項17に記載の靴アセンブリ。
- 前記第1の部分が前記接触表面の前記凹部内に固定されたとき、前記側面プレートの前記第2の部分は前記接触表面と面一となる、請求項16に記載の歩行支援装置。
- 前記側面プレートの前記第1の部分は、前記靴パッドと、前記接触表面と、前記支持プレートとで画成されたチャンバ内に固定される、請求項16に記載の歩行支援装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201762445940P | 2017-11-13 | 2017-11-13 | |
US15/811,137 US10835444B2 (en) | 2017-11-13 | 2017-11-13 | Shoe assembly for a walking assist device |
US15/811,137 | 2017-11-13 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019088760A JP2019088760A (ja) | 2019-06-13 |
JP6767002B2 true JP6767002B2 (ja) | 2020-10-14 |
Family
ID=62838405
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018077513A Active JP6729870B2 (ja) | 2017-11-13 | 2018-04-13 | 外骨格型ロボット |
JP2018077510A Active JP6767002B2 (ja) | 2017-11-13 | 2018-04-13 | 歩行支援装置用の靴アセンブリ |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018077513A Active JP6729870B2 (ja) | 2017-11-13 | 2018-04-13 | 外骨格型ロボット |
Country Status (4)
Country | Link |
---|---|
US (2) | US10835443B2 (ja) |
JP (2) | JP6729870B2 (ja) |
CN (2) | CN109770473B (ja) |
TW (2) | TWI646953B (ja) |
Families Citing this family (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3125849B1 (en) * | 2014-03-31 | 2019-11-20 | Parker Hannifin Corporation | Wearable robotic device |
KR102473884B1 (ko) * | 2017-08-11 | 2022-12-06 | 삼성전자주식회사 | 착용형 보조 장치 및 그 동작 방법 |
WO2019094961A1 (en) * | 2017-11-13 | 2019-05-16 | The Regents Of The University Of California | Fall prevention apparatus |
WO2019164349A1 (en) | 2018-02-23 | 2019-08-29 | Lg Electronics Inc. | Wearable assistive device that efficiently delivers assistive force |
US10603786B2 (en) | 2018-03-16 | 2020-03-31 | Lg Electronics Inc. | Belt for effective wearing and wearable assistive device having the same |
JP1620634S (ja) * | 2018-04-09 | 2018-12-17 | ||
KR20200050001A (ko) * | 2018-10-30 | 2020-05-11 | 삼성전자주식회사 | 운동 보조 장치 |
USD947388S1 (en) * | 2018-12-10 | 2022-03-29 | Jtekt Corporation | Motion assisting device |
US11471360B2 (en) * | 2018-12-10 | 2022-10-18 | Jtekt Corporation | Power assist suit |
CN109676584A (zh) * | 2018-12-11 | 2019-04-26 | 上海航天控制技术研究所 | 一种外骨骼用液压敏感式传感鞋 |
WO2020141632A1 (ko) * | 2019-01-02 | 2020-07-09 | 엘지전자 주식회사 | 웨어러블 로봇 |
WO2020141633A1 (ko) * | 2019-01-02 | 2020-07-09 | 엘지전자 주식회사 | 웨어러블 로봇 |
CN109806549B (zh) * | 2019-03-20 | 2020-07-03 | 北京交通大学 | 一种串并混联的下肢助力外骨骼 |
US20200397641A1 (en) * | 2019-06-20 | 2020-12-24 | Free Bionics Taiwan Inc. | Assistive device and control method thereof |
CN110169893B (zh) * | 2019-06-25 | 2021-05-25 | 北京石油化工学院 | 一种下肢康复训练机器人 |
CN110253625B (zh) * | 2019-07-11 | 2020-10-16 | 北京理工大学 | 仿人机器人腰关节和仿人机器人 |
USD958374S1 (en) * | 2019-09-06 | 2022-07-19 | Jtekt Corporation | Motion assisting device |
CN110721056A (zh) * | 2019-10-28 | 2020-01-24 | 阜新市三合智能制造技术有限公司 | 一种用于截瘫行走机构的胸腰背架 |
KR20210053389A (ko) * | 2019-11-01 | 2021-05-12 | 삼성전자주식회사 | 허벅지 형상에 기초하여 변형 가능한 보행 보조 장치 |
CN111070187B (zh) * | 2019-12-31 | 2021-07-20 | 武汉大学 | 一种主被动结合的变瞬心柔性绳驱下肢外骨骼机器人及控制方法 |
CN113116675B (zh) * | 2020-01-10 | 2023-02-10 | 深圳市肯綮科技有限公司 | 柔性腰髋机构及其轻便助力设备 |
US11135123B2 (en) * | 2020-01-26 | 2021-10-05 | Dorian Hunter Alberti | Exoskeletal body support system |
JP7435099B2 (ja) * | 2020-03-18 | 2024-02-21 | 株式会社ジェイテクト | アシスト装置 |
USD962451S1 (en) * | 2020-12-05 | 2022-08-30 | Vision Quest Industries Incorporated | Orthopedic device with multiple Q-angle adjusters |
USD972153S1 (en) * | 2020-12-09 | 2022-12-06 | Parker-Hannifin Corporation | Movement assistance device for an orthosis |
CN113580100B (zh) * | 2021-06-28 | 2023-10-27 | 北京机械设备研究所 | 一种被动式负重机动外骨骼 |
Family Cites Families (72)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3827430A (en) * | 1973-01-04 | 1974-08-06 | M Fadden | Orthopedic brace |
JP2902910B2 (ja) | 1993-07-14 | 1999-06-07 | 日新電機株式会社 | Lep電源位相微調機構 |
JPH0744069Y2 (ja) * | 1993-10-26 | 1995-10-09 | 日東工業株式会社 | 電子機器用ラックのスライドレール取付装置 |
GB2361645A (en) * | 2000-04-26 | 2001-10-31 | Blatchford & Sons Ltd | Prosthetic foot |
US20020183860A1 (en) * | 2001-05-29 | 2002-12-05 | Wilkinson Kerry E. | Tubular prosthetic foot with elastomeric cushion |
US7628766B1 (en) * | 2003-10-29 | 2009-12-08 | The Regents Of The University Of California | Lower extremity enhancer |
US7278979B2 (en) * | 2004-09-07 | 2007-10-09 | Honda Motor Co., Ltd. | Walking assistance device having a pelvis support member that is easy to wear |
US7429253B2 (en) * | 2004-09-21 | 2008-09-30 | Honda Motor Co., Ltd. | Walking assistance system |
US6983988B1 (en) * | 2004-11-23 | 2006-01-10 | Fortune Institute Of Technology | Backrest adjusting device for a bicycle |
EP1874239B1 (en) * | 2005-04-13 | 2014-06-11 | The Regents of The University of California | Semi-powered lower extremity exoskeleton |
US8849457B2 (en) * | 2006-07-17 | 2014-09-30 | Raytheon Company | Contact displacement actuator system |
DE202007004905U1 (de) * | 2007-04-03 | 2007-07-26 | T-MOTION Technology Co., Ltd., Xindian City | Verschiebemechanismus einer Linearantriebsvorrichtung |
US8628585B2 (en) * | 2007-12-14 | 2014-01-14 | Blatchford Products Limited | Lower limb prosthesis |
WO2010030876A2 (en) * | 2008-09-12 | 2010-03-18 | Linares Medical Devices, Llc | Composite plastic rigid walking cast with cushioned interior supports |
JP5075777B2 (ja) * | 2008-09-23 | 2012-11-21 | 本田技研工業株式会社 | リハビリテーション装置 |
US8096965B2 (en) * | 2008-10-13 | 2012-01-17 | Argo Medical Technologies Ltd. | Locomotion assisting device and method |
US20130267878A1 (en) * | 2008-11-26 | 2013-10-10 | Toad Medical Corporation | Weight-bearing lower extremity brace |
JP5126025B2 (ja) | 2008-11-27 | 2013-01-23 | トヨタ自動車株式会社 | 歩行補助装置 |
KR101025512B1 (ko) | 2009-06-16 | 2011-04-04 | 경상대학교산학협력단 | 보행안정성 증대를 위한 적응형 보행 보조 장치 |
JP5299239B2 (ja) | 2009-11-26 | 2013-09-25 | トヨタ自動車株式会社 | 脚装具 |
US20140100501A1 (en) * | 2009-12-22 | 2014-04-10 | Aspen Medical Partners, Llc | Hyperextension Brace |
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 |
US8500825B2 (en) * | 2010-06-29 | 2013-08-06 | Freedom Innovations, Llc | Prosthetic foot with floating forefoot keel |
AU2012229920A1 (en) * | 2011-03-14 | 2013-10-03 | Cadence Biomedical, Inc. | Orthosis |
US9855654B2 (en) * | 2011-09-06 | 2018-01-02 | Wakayama University | Power assist robot apparatus and control method therefor |
JP5636352B2 (ja) * | 2011-10-24 | 2014-12-03 | 本田技研工業株式会社 | 動作補助装置及び歩行補助装置 |
KR101290173B1 (ko) * | 2011-10-26 | 2013-07-30 | 한양대학교 에리카산학협력단 | 근력 지원용 착용형 로봇 |
JP2013094323A (ja) * | 2011-10-31 | 2013-05-20 | Toyota Motor Corp | 歩行補助システム |
WO2013070253A1 (en) * | 2011-11-07 | 2013-05-16 | Haider Thomas T | Adjustable lumbar brace |
JP5979703B2 (ja) | 2012-02-23 | 2016-08-31 | 国立大学法人 筑波大学 | 装着式動作補助装置 |
CN104302251B (zh) * | 2012-03-22 | 2017-03-15 | 埃克苏仿生公司 | 用于下肢体矫正器的人机界面 |
US20140100493A1 (en) | 2012-10-04 | 2014-04-10 | Travis Craig | Bipedal Exoskeleton and Methods of Use |
CN102885682B (zh) * | 2012-11-06 | 2014-05-28 | 中国科学院自动化研究所 | 康复机器人大腿长度调整装置 |
AU2013359408A1 (en) | 2012-12-11 | 2014-06-19 | Ekso Bionics, Inc. | Reconfigurable exoskeleton |
US9808390B2 (en) * | 2013-03-15 | 2017-11-07 | Bionik Laboratories Inc. | Foot plate assembly for use in an exoskeleton apparatus |
TWI511715B (zh) * | 2013-03-27 | 2015-12-11 | Ind Tech Res Inst | 意向偵測與步態調整裝置及方法 |
TWI505822B (zh) | 2013-03-27 | 2015-11-01 | Ind Tech Res Inst | 助行裝置 |
US20150025423A1 (en) * | 2013-07-19 | 2015-01-22 | Bionik Laboratories, Inc. | Control system for exoskeleton apparatus |
WO2015019485A1 (ja) | 2013-08-09 | 2015-02-12 | 学校法人 幾徳学園 | 関節運動アシスト装置の足部装着構造 |
CN103610568B (zh) | 2013-12-16 | 2015-05-27 | 哈尔滨工业大学 | 一种拟人化的下肢助力外骨骼机器人 |
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 |
CN103860357B (zh) | 2014-02-25 | 2017-09-08 | 北京航空航天大学 | 一种适用于外骨骼辅助支撑机器人的具有踝关节参数测量的足部装置 |
TWI556809B (zh) | 2014-03-27 | 2016-11-11 | 財團法人工業技術研究院 | 助行裝置 |
CN103932870B (zh) * | 2014-05-04 | 2016-04-13 | 浙江大学 | 仿生设计下肢康复训练外骨骼 |
KR102158131B1 (ko) * | 2014-05-23 | 2020-09-21 | 삼성전자주식회사 | 보행보조장치 |
ES2907270T3 (es) * | 2014-06-18 | 2022-04-22 | Mawashi Protective Clothing Inc | Exoesqueleto y método de utilización del mismo |
CN104042428A (zh) | 2014-06-27 | 2014-09-17 | 电子科技大学 | 一种用于下肢外骨骼机器人与人体腰部固定的调节装置 |
KR102250238B1 (ko) * | 2014-08-18 | 2021-05-10 | 삼성전자주식회사 | 고정 모듈 및 이를 포함하는 운동 보조 장치 |
JP6284879B2 (ja) | 2014-12-26 | 2018-02-28 | 本田技研工業株式会社 | 運動補助装置 |
WO2016146960A1 (en) | 2015-03-19 | 2016-09-22 | Phasex Ab | A modular universal joint with harmonised control method for an assistive exoskeleton |
DE102015207936B3 (de) * | 2015-04-29 | 2016-09-01 | Otto Bock Healthcare Gmbh | Fußprothese |
CN104825311B (zh) * | 2015-05-04 | 2017-03-01 | 台州学院 | 偏瘫患者专用下肢外骨骼及其使用方法和稳定性验证方法 |
WO2016187275A1 (en) | 2015-05-18 | 2016-11-24 | The Regents Of The University Of California | Method and apparatus for human arm supporting exoskeleton |
US10548800B1 (en) * | 2015-06-18 | 2020-02-04 | Lockheed Martin Corporation | Exoskeleton pelvic link having hip joint and inguinal joint |
CN204951524U (zh) | 2015-07-13 | 2016-01-13 | 北京理工大学 | 一种用于外骨骼机器人的腰部调节装置 |
CN105105896B (zh) | 2015-09-17 | 2016-11-30 | 武汉大学 | 用于穿戴式下肢外骨骼机器人与人体腰部固定的调节装置 |
JP6495809B2 (ja) | 2015-11-20 | 2019-04-03 | 株式会社クボタ | アシストスーツ |
EP3173053A1 (en) * | 2015-11-26 | 2017-05-31 | Samsung Electronics Co., Ltd. | Frame assembly and motion assistance apparatus including the same |
US10124484B1 (en) * | 2015-12-08 | 2018-11-13 | Lockheed Martin Corporation | Load-bearing powered exoskeleton using electromyographic control |
JP6421777B2 (ja) * | 2016-03-23 | 2018-11-14 | トヨタ自動車株式会社 | 歩行補助装置、及びその作動方法 |
CN105816298A (zh) * | 2016-05-23 | 2016-08-03 | 成都奥特为科技有限公司 | 一种穿戴式脚踝保护及足部助力装置 |
CN106002950A (zh) | 2016-06-30 | 2016-10-12 | 张学衡 | 一种可调长度的外骨骼机器人下肢机构 |
EP4257106A3 (en) * | 2016-10-13 | 2024-05-08 | Dephy, Inc. | Unidirectional actuated exoskeleton device |
CN106691784A (zh) * | 2016-12-02 | 2017-05-24 | 同济大学 | 可穿戴型膝部外骨骼助力装置 |
CN106618972B (zh) * | 2016-12-02 | 2018-10-09 | 江苏大学 | 一种基于嵌入式系统的助力行走装置及控制方法 |
CN106806090B (zh) * | 2017-01-17 | 2023-03-10 | 苏州大学 | 一种面向外骨骼机器人的人机柔顺连接机构 |
CN107049713A (zh) | 2017-03-13 | 2017-08-18 | 东北大学 | 可穿戴下肢康复助行机械装置 |
CN106821684B (zh) | 2017-03-27 | 2019-08-23 | 东南大学 | 一种用于下肢助力外骨骼的被动储能踝关节及足部机构 |
JP6750551B2 (ja) * | 2017-04-10 | 2020-09-02 | トヨタ自動車株式会社 | カップソール、歩行補助装置、指標部材およびカップソール取り付け方法 |
US10874539B2 (en) * | 2017-05-05 | 2020-12-29 | Becker Orthopedic Appliance Company | Configurable orthosis and method of definitive orthotic design, fabrication and validation |
US10688010B2 (en) * | 2018-01-02 | 2020-06-23 | Free Bionics Taiwan Inc. | Adjusting assembly and exoskeleton robot comprising the same |
US11298285B2 (en) * | 2018-03-16 | 2022-04-12 | Arizona Board Of Regents On Behalf Of Northern Arizona University | Ankle exoskeleton system and method for assisted mobility and rehabilitation |
-
2017
- 2017-11-13 US US15/811,102 patent/US10835443B2/en active Active
- 2017-11-13 US US15/811,137 patent/US10835444B2/en active Active
-
2018
- 2018-03-14 TW TW107108699A patent/TWI646953B/zh active
- 2018-03-21 TW TW107109633A patent/TWI649168B/zh active
- 2018-03-28 CN CN201810264294.7A patent/CN109770473B/zh not_active Expired - Fee Related
- 2018-04-10 CN CN201810316408.8A patent/CN109771224B/zh not_active Expired - Fee Related
- 2018-04-13 JP JP2018077513A patent/JP6729870B2/ja active Active
- 2018-04-13 JP JP2018077510A patent/JP6767002B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
US10835443B2 (en) | 2020-11-17 |
US20180200878A1 (en) | 2018-07-19 |
TWI646953B (zh) | 2019-01-11 |
TWI649168B (zh) | 2019-02-01 |
CN109771224A (zh) | 2019-05-21 |
US10835444B2 (en) | 2020-11-17 |
CN109770473A (zh) | 2019-05-21 |
CN109771224B (zh) | 2021-06-22 |
US20180200134A1 (en) | 2018-07-19 |
TW201918239A (zh) | 2019-05-16 |
JP2019088761A (ja) | 2019-06-13 |
CN109770473B (zh) | 2021-04-09 |
TW201918349A (zh) | 2019-05-16 |
JP2019088760A (ja) | 2019-06-13 |
JP6729870B2 (ja) | 2020-07-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6767002B2 (ja) | 歩行支援装置用の靴アセンブリ | |
EP2923685B1 (en) | Walking assist device | |
US10709633B2 (en) | Exoskeleton support mechanism for a medical exoskeleton | |
EP3705104B1 (en) | Ankle brace or ankle exoskeleton | |
JP3218602U (ja) | 足部補助具 | |
KR20160145948A (ko) | 라쳇기어를 이용한 발목 강성 보조 장치 및 제어 방법 | |
US10945871B2 (en) | Orthotic leg support apparatus | |
KR20120000447A (ko) | 무릎 통증완화 및 예방을 위한 탈부착 내외측 웨지를 구비한 인솔 | |
JP6713124B1 (ja) | 短下肢装具の後方支柱および短下肢装具 | |
KR101944671B1 (ko) | 지면적응 족관절장치 | |
JP6722344B2 (ja) | ユーザに対して力補助を行う外骨格構造 | |
KR101855002B1 (ko) | 외골격 로봇용 관절 보조장치 | |
JP6932831B2 (ja) | エクソスケルトンサブアセンブリおよびそのようなサブアセンブリを含むエクソスケルトン構造体 | |
EP3482735B1 (en) | Shoe assembly for a walking assist device | |
JP2017225510A (ja) | 脚装具 | |
JP6912782B2 (ja) | 下肢装具用部品及び下肢装具用履物 | |
JP2021186395A (ja) | 歩行アシスト装置 | |
JP2021083757A (ja) | 靴 | |
KR20210042544A (ko) | 착용형 발 마사지기 | |
JP2018140078A (ja) | 脚装具 | |
KR20090027781A (ko) | 하반신 관절 자동조절장치 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20180413 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20190313 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20190612 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20190813 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20190905 |
|
RD03 | Notification of appointment of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7423 Effective date: 20200123 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20200212 |
|
RD03 | Notification of appointment of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7423 Effective date: 20200309 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20200323 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20200818 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20200903 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6767002 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |