JP7105013B2 - 体重免荷装置 - Google Patents

体重免荷装置 Download PDF

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Publication number
JP7105013B2
JP7105013B2 JP2021524931A JP2021524931A JP7105013B2 JP 7105013 B2 JP7105013 B2 JP 7105013B2 JP 2021524931 A JP2021524931 A JP 2021524931A JP 2021524931 A JP2021524931 A JP 2021524931A JP 7105013 B2 JP7105013 B2 JP 7105013B2
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JP
Japan
Prior art keywords
force
ratio
floor reaction
leg
actuator
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JP2021524931A
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English (en)
Japanese (ja)
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JPWO2020246587A1 (https=
JPWO2020246587A5 (https=
Inventor
智之 野田
達也 寺前
飛鳥 ▲高▼井
淳一朗 古川
淳 森本
直 中野
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ATR Advanced Telecommunications Research Institute International
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ATR Advanced Telecommunications Research Institute International
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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—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
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • 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
    • A61H2201/1652—Harness
    • 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
    • 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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/62—Posture
    • A61H2230/625—Posture used as a control parameter for the apparatus

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)
  • Rehabilitation Tools (AREA)
JP2021524931A 2019-06-06 2020-06-05 体重免荷装置 Active JP7105013B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019106469 2019-06-06
JP2019106469 2019-06-06
PCT/JP2020/022304 WO2020246587A1 (ja) 2019-06-06 2020-06-05 体重免荷装置

Publications (3)

Publication Number Publication Date
JPWO2020246587A1 JPWO2020246587A1 (https=) 2020-12-10
JPWO2020246587A5 JPWO2020246587A5 (https=) 2022-02-02
JP7105013B2 true JP7105013B2 (ja) 2022-07-22

Family

ID=73653318

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021524931A Active JP7105013B2 (ja) 2019-06-06 2020-06-05 体重免荷装置

Country Status (5)

Country Link
US (1) US12403061B2 (https=)
JP (1) JP7105013B2 (https=)
CN (1) CN113905705B (https=)
DE (1) DE112020002716T5 (https=)
WO (1) WO2020246587A1 (https=)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022082164A1 (en) * 2020-10-13 2022-04-21 The Board Of Regents Of The University Of Texas System Simulating a split-belt with a single-belt treadmill
DE112023000220T5 (de) 2022-08-05 2024-08-01 Advanced Telecommunications Research Institute International Modellerzeugungsverfahren, Modellerzeugungsvorrichtung, Phasenschätzverfahren, Steuerungsverfahren und Steuerungsvorrichtung
CN115531797B (zh) * 2022-08-11 2023-09-22 湖北人来康复设备制造有限公司 一种减重自适应步态训练方法
WO2025053185A1 (ja) 2023-09-08 2025-03-13 株式会社国際電気通信基礎技術研究所 フレームシステム及びシステム

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007330299A (ja) 2006-06-12 2007-12-27 Honda Motor Co Ltd 歩行補助装具の制御装置
WO2012118143A1 (ja) 2011-03-02 2012-09-07 国立大学法人 筑波大学 歩行訓練装置及び歩行訓練システム
WO2016186182A1 (ja) 2015-05-19 2016-11-24 Cyberdyne株式会社 歩行支援装置

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4449133B2 (ja) 1999-01-08 2010-04-14 株式会社安川電機 肢体駆動装置の制御方法
JP4481089B2 (ja) 2004-06-04 2010-06-16 学校法人東海大学 転倒防止装置及びそれを用いた歩行支援装置
JP4344314B2 (ja) * 2004-12-28 2009-10-14 本田技研工業株式会社 体重免荷アシスト装置および体重免荷アシストプログラム
JP4417300B2 (ja) * 2005-07-13 2010-02-17 本田技研工業株式会社 歩行補助装置
JP4666645B2 (ja) * 2005-07-27 2011-04-06 本田技研工業株式会社 歩行補助装置の制御装置
EP2036518B1 (en) * 2006-06-29 2013-02-27 Honda Motor Co., Ltd. Walk assistance device
JP5283282B2 (ja) * 2007-10-02 2013-09-04 学校法人東京理科大学 歩行補助装置
JP2009195636A (ja) 2008-02-25 2009-09-03 Tokai Univ 歩行訓練用転倒防止装置、及び歩行支援装置
US8608479B2 (en) * 2010-05-07 2013-12-17 The University Of Kansas Systems and methods for facilitating gait training
JP2014104185A (ja) 2012-11-28 2014-06-09 Sony Corp 運動補助装置及び運動補助方法
JP2014184086A (ja) 2013-03-25 2014-10-02 Equos Research Co Ltd 歩行支援装置、及び歩行支援プログラム
JP2014195509A (ja) 2013-03-29 2014-10-16 株式会社エクォス・リサーチ 歩行補助装置
JP6250420B2 (ja) 2014-02-04 2017-12-20 三菱重工業株式会社 負荷支持装置、該負荷支持装置の制御方法、及び、該制御方法を実行するためのプログラムを記録したコンピュータ読み取り可能な記録媒体
US10406059B2 (en) * 2014-04-21 2019-09-10 The Trustees Of Columbia University In The City Of New York Human movement research, therapeutic, and diagnostic devices, methods, and systems
JP5906506B1 (ja) 2014-09-12 2016-04-20 株式会社国際電気通信基礎技術研究所 アクチュエータ装置、パワーアシストロボットおよびヒューマノイドロボット
JP6399034B2 (ja) * 2016-04-28 2018-10-03 トヨタ自動車株式会社 歩行訓練装置及びその作動方法
WO2018023109A1 (en) * 2016-07-29 2018-02-01 The United States Of America, As Represented By The Secretary, Department Of Health And Human Services Powered gait assistance systems

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007330299A (ja) 2006-06-12 2007-12-27 Honda Motor Co Ltd 歩行補助装具の制御装置
WO2012118143A1 (ja) 2011-03-02 2012-09-07 国立大学法人 筑波大学 歩行訓練装置及び歩行訓練システム
WO2016186182A1 (ja) 2015-05-19 2016-11-24 Cyberdyne株式会社 歩行支援装置

Also Published As

Publication number Publication date
US12403061B2 (en) 2025-09-02
US20220241132A1 (en) 2022-08-04
CN113905705B (zh) 2024-09-13
JPWO2020246587A1 (https=) 2020-12-10
WO2020246587A1 (ja) 2020-12-10
DE112020002716T5 (de) 2022-02-17
CN113905705A (zh) 2022-01-07

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