JP6794201B2 - 動力伝達アセンブリ及びこれを含む運動補助装置 - Google Patents
動力伝達アセンブリ及びこれを含む運動補助装置 Download PDFInfo
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- 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
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- A—HUMAN NECESSITIES
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- 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
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- 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
- A61H1/0244—Hip
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
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- F16H21/06—Gearings comprising primarily only links or levers, with or without slides which can be made ineffective when desired
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
- F16H21/44—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for conveying or interconverting oscillating or reciprocating motions
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- 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
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- 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
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- A—HUMAN NECESSITIES
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- 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
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- 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
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- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
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- A61H2201/5071—Pressure sensors
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- A—HUMAN NECESSITIES
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- 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
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- A61H2201/5084—Acceleration sensors
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- A—HUMAN NECESSITIES
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- 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
- A61H2205/10—Leg
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- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Mechanical Engineering (AREA)
- Transplantation (AREA)
- Vascular Medicine (AREA)
- Oral & Maxillofacial Surgery (AREA)
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Description
10、20、20’、30、40、50 動力伝達アセンブリ
110 ベース
120 入力リンク
125 第1回転軸
130 第1連結リンク
135 第2回転軸
140 第2連結リンク
145 第3回転軸
150 出力リンク
260、260’、360、460、560 ロック装置
262、262’、362 ストッパー
264、264’、364 第1弾性部材
270、270’ 第2弾性部材
3621 ストッパーボディ
3622 把持部
462 第1磁性体
464 第1メタルチップ
466 第2磁性体
468 第2メタルチップ
566 ソレノイド
590 制御部
M 駆動モータ
Claims (11)
- ベースに対して回転自在に設けられる入力シャフトと、
前記ベースに対して回転自在に設けられる出力リンクと、
前記入力シャフトの軸方向と交差する軸方向を有する前記入力シャフトに固定して連結される第1回転軸と、
前記第1回転軸周りに回転可能に前記第1回転軸に連結される第1連結リンクと、
前記第1回転軸の軸方向と交差する軸方向を有する前記第1連結リンクに連結される第2回転軸と、
前記第2回転軸に回転可能に連結される第2連結リンクと、
前記第2連結リンクと前記出力リンクとの間を連結する第3回転軸であって、前記第3回転軸は、前記第2回転軸の軸方向と交差する軸方向を有し、前記第2連結リンクに対して回転可能に連結される、第3回転軸と、
を有し、
前記第3回転軸の軸方向は、前記入力シャフトの軸方向及び前記第2回転軸の軸方向と交差し、
前記入力シャフトの軸方向と前記第2回転軸の軸方向とが互いに一致するとき、前記入力シャフトに入力された動力の伝達が、前記第2回転軸と前記第2連結リンクとが相対回転することにより、前記出力リンクに対して遮断され、前記入力シャフトの軸方向と前記第2回転軸の軸方向とが互いに一致しないとき、前記入力シャフトに入力された動力の伝達が、前記第2回転軸と前記第2連結リンクとが一体に回転することにより、前記出力リンクに対して行われる、動力伝達アセンブリ。 - 前記第2回転軸の前記入力シャフトの回転軸に対する角度を保持するように、前記出力リンクに対する前記第2連結リンクの位置を保持するロック装置をさらに含む、請求項1に記載の動力伝達アセンブリ。
- 前記ロック装置は、前記出力リンクに対する前記第2連結リンクの動きを拘束するように、前記出力リンクから前記第2連結リンクに向かって移動するストッパーを含む、請求項2に記載の動力伝達アセンブリ。
- 前記ロック装置は、前記出力リンクに対する前記第2連結リンクの動きを拘束する方向に前記ストッパーを付勢する弾性力を提供する第1弾性部材をさらに含む、請求項3に記載の動力伝達アセンブリ。
- 前記第2連結リンクが前記ストッパーから離脱する方向に前記第2連結リンクに弾性力を提供する第2弾性部材をさらに含む、請求項4に記載の動力伝達アセンブリ。
- 前記ロック装置は、前記第1連結リンク及び前記第2連結リンクのうちの少なくとも1つ以上の連結リンクと磁気的に結合可能な磁性体を含む、請求項2乃至5のいずれか一項に記載の動力伝達アセンブリ。
- 前記入力シャフト、前記出力リンク、前記第1回転軸、前記第1連結リンク、前記第2回転軸、前記第2連結リンク、及び前記第3回転軸のうちの少なくとも1つ以上にかかる負荷に関する情報を検出するためのセンサと、
前記センサで検出された情報に基づいて前記ロック装置を制御するための制御部と、
をさらに含み、
前記制御部は、前記センサで検出された情報が閾値を上回ると、前記ロック装置を解除する、請求項2乃至6のいずれか一項に記載の動力伝達アセンブリ。 - 前記ロック装置は、
前記出力リンクに対する前記第2連結リンクの動きを拘束するストッパーと、
前記出力リンクに対する前記第2連結リンクの動きを拘束する第1方向に前記ストッパーを付勢する弾性力を提供する第1弾性部材と、
電流が印加された場合に、前記ストッパーが前記第1方向の反対方向である第2方向に移動するよう電磁気力を提供して前記第2連結リンクを前記ストッパーから解除させるソレノイドとを含む、請求項7に記載の動力伝達アセンブリ。 - 前記ロック装置は、前記第3回転軸の回転角度を調整可能な制御モータを含む、請求項2に記載の動力伝達アセンブリ。
- 前記入力シャフトの回転軸と前記出力リンクの回転軸とは互いに一致する、請求項1乃至9のいずれか1項に記載の動力伝達アセンブリ。
- ユーザーの体の一部分に固定される固定モジュールと、
ユーザーの体の他の部分を保持する保持モジュールと、
前記固定モジュールの一方側に設置されて動力を生成する駆動モジュールと、
前記駆動モジュールから動力が伝達されて前記保持モジュールに伝達するための動力伝達アセンブリと、
を含み、
前記動力伝達アセンブリは、
前記駆動モジュールから動力が入力される入力シャフトと、
前記保持モジュールに動力を伝達する出力リンクと、
前記入力シャフトの軸方向と交差する軸方向を有する前記入力シャフトに固定して連結される第1回転軸と、
前記第1回転軸周りに回転可能に前記第1回転軸に連結される第1連結リンクと、
前記第1回転軸の軸方向と交差する軸方向を有する前記第1連結リンクに連結される第2回転軸と、
前記第2回転軸に回転可能に連結される第2連結リンクと、
前記第2連結リンクと前記出力リンクとの間を連結する第3回転軸であって、前記第3回転軸は、前記第2回転軸の軸方向と交差する軸方向を有し、前記第2連結リンクに対して回転可能に連結される、第3回転軸と、
を有し、
前記第3回転軸の軸方向は、前記入力シャフトの軸方向及び前記第2回転軸の軸方向と交差し、
前記入力シャフトの軸方向と前記第2回転軸の軸方向とが互いに一致するとき、前記入力シャフトに入力された動力の伝達が、前記第2回転軸と前記第2連結リンクとが相対回転することにより、前記出力リンクに対して遮断され、前記入力シャフトの軸方向と前記第2回転軸の軸方向とが互いに一致しないとき、前記入力シャフトに入力された動力の伝達が、前記第2回転軸と前記第2連結リンクとが一体に回転することにより、前記出力リンクに対して行われる、運動補助装置。
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