JPWO2015087427A1 - 動作補助装置用アクチュエータ及び動作補助装置 - Google Patents
動作補助装置用アクチュエータ及び動作補助装置 Download PDFInfo
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- 210000000629 knee joint Anatomy 0.000 claims abstract description 39
- 210000003414 extremity Anatomy 0.000 claims abstract description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 24
- 230000009467 reduction Effects 0.000 claims description 8
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 210000000689 upper leg Anatomy 0.000 abstract description 32
- 210000000544 articulatio talocruralis Anatomy 0.000 description 11
- 210000004394 hip joint Anatomy 0.000 description 7
- 210000002683 foot Anatomy 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 210000001624 hip Anatomy 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 230000004323 axial length Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
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Classifications
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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
-
- 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
- A61H1/024—Knee
-
- 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
- A61H1/0244—Hip
-
- 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
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
- A61H23/0254—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with rotary motor
- A61H23/0263—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with rotary motor using rotating unbalanced masses
-
- 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
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/001—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for without substantial movement between the skin and the device
-
- 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
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/002—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for by rubbing or brushing
- A61H7/003—Hand-held or hand-driven devices
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1463—Special speed variation means, i.e. speed reducer
-
- 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
-
- 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
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/02—Head
- A61H2205/022—Face
-
- 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
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/002—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for by rubbing or brushing
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)
- Dermatology (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
Description
2 胴部用装具
3 股関節用ヒンジ
4 大腿部用アーム
5 大腿部用装具(第1装具)
6 脛部用装具(第2装具)
7 脛部用アーム
8 足首関節用ヒンジ
9 靴部
10 膝関節用アクチュエータ(動作補助装置用アクチュエータ)
11 減速機
12 駆動モータ
21 減速機本体
22 ウォームギア本体
22a 駆動軸
23 ウォームピニオン
M 装着者
Claims (9)
- 装着者の四肢のいずれかの関節における回動動作を補助するための動作補助装置を駆動する動作補助装置用アクチュエータであって、
補助対象の関節の近傍で、その駆動軸と前記回動軸が略同軸的な配置となるよう構成されたウォームギア本体と、
それぞれウォームピニオンを設けた出力軸が相互に略同じ方向に向かう配置で前記ウォームギア本体に噛合するよう構成された2つの駆動モータと、
を有することを特徴とする動作補助装置用アクチュエータ。 - 前記2つの駆動モータが、前記補助対象の関節を介して相互に回動する2カ所の身体部位のいずれか一方と略平行となる配置で前記動作補助装置に固定されるよう構成される、ことを特徴とする請求項1記載の動作補助装置用アクチュエータ。
- 前記動作補助装置は、前記装着者の膝関節における回動動作を補助するよう構成される、ことを特徴とする請求項1又は2記載の動作補助装置用アクチュエータ。
- 当該動作補助装置用アクチュエータは、前記膝関節の外側面に配置されるよう構成される、ことを特徴とする請求項3記載の動作補助装置用アクチュエータ。
- 前記2つの駆動モータは直流モータで構成される、ことを特徴とする請求項1乃至4のいずれか1項に記載の動作補助装置用アクチュエータ。
- さらに減速機本体を有し、
前記ウォームギア本体はその駆動軸だけを前記減速機本体から突出させて当該駆動軸を中心に回転可能に前記減速機本体の内部に収納され、
2つの前記ウォームピニオンは、互いに逆回転方向で歯面が形成され、前記ウォームギア本体の外周ギア歯に対し前記駆動軸を中心とした略180°の位相差で対向する配置で噛合し、
前記2つの駆動モータは、それぞれの前記出力軸が対応する前記ウォームピニオンに軸接続するとともに、それぞれの固定子が相互に略同じ方向に向かう配置で前記減速機本体に固定され、
前記減速機本体と、前記2つの駆動モータの前記固定子は、いずれも前記駆動軸の軸方向における厚み寸法が略同じに設定されていることを特徴とする請求項1乃至5のいずれか1項に記載の動作補助装置用アクチュエータ。 - 請求項1乃至6のいずれか1項に記載の動作補助装置用アクチュエータを有し、
前記動作補助装置用アクチュエータの駆動により装着者の四肢のいずれかの関節における回動動作を補助することを特徴とする動作補助装置。 - さらに前記補助対象の関節を介して相互に回動する2カ所の身体部位のいずれか一方に装着される第1装具と、他方に装着される第2装具を有し、
前記動作補助装置用アクチュエータは、減速機本体を有し、
前記減速機本体と前記駆動軸のいずれか一方は前記第1装具に固定され、他方は前記第2装具に固定されていることを特徴とする請求項7記載の動作補助装置。 - 前記第1装具及び前記第2装具は、それぞれ身体部位に対してその周囲を巻装又は収納するよう装着することを特徴とする請求項8記載の動作補助装置。
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PCT/JP2013/083337 WO2015087427A1 (ja) | 2013-12-12 | 2013-12-12 | 動作補助装置用アクチュエータ及び動作補助装置 |
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JPWO2015087427A1 true JPWO2015087427A1 (ja) | 2017-03-16 |
JP6202351B2 JP6202351B2 (ja) | 2017-09-27 |
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JP (1) | JP6202351B2 (ja) |
CN (1) | CN205924412U (ja) |
WO (1) | WO2015087427A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP6331227B2 (ja) * | 2015-12-09 | 2018-05-30 | 株式会社安川電機 | アクチュエータ |
EP3357474A1 (en) * | 2017-02-07 | 2018-08-08 | Fundación Tecnalia Research & Innovation | Rehabilitation device for a joint |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08206981A (ja) * | 1995-01-31 | 1996-08-13 | Daihen Corp | 移動部材の位置調整装置 |
JP2005013534A (ja) * | 2003-06-27 | 2005-01-20 | Teimusu:Kk | 動力補助機構付き長下肢装具 |
JP2009095954A (ja) * | 2007-10-19 | 2009-05-07 | Tsudakoma Corp | インデックステーブル |
JP2010063581A (ja) * | 2008-09-10 | 2010-03-25 | Suncall Engineering Kk | 膝関節運動補助装置 |
JP2011131370A (ja) * | 2009-11-27 | 2011-07-07 | Honda Motor Co Ltd | 工作機械の回転機構 |
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 |
-
2013
- 2013-12-12 WO PCT/JP2013/083337 patent/WO2015087427A1/ja active Application Filing
- 2013-12-12 JP JP2015552255A patent/JP6202351B2/ja active Active
- 2013-12-12 CN CN201390001271.8U patent/CN205924412U/zh not_active Expired - Fee Related
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08206981A (ja) * | 1995-01-31 | 1996-08-13 | Daihen Corp | 移動部材の位置調整装置 |
JP2005013534A (ja) * | 2003-06-27 | 2005-01-20 | Teimusu:Kk | 動力補助機構付き長下肢装具 |
JP2009095954A (ja) * | 2007-10-19 | 2009-05-07 | Tsudakoma Corp | インデックステーブル |
JP2010063581A (ja) * | 2008-09-10 | 2010-03-25 | Suncall Engineering Kk | 膝関節運動補助装置 |
JP2011131370A (ja) * | 2009-11-27 | 2011-07-07 | Honda Motor Co Ltd | 工作機械の回転機構 |
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 |
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JP6202351B2 (ja) | 2017-09-27 |
WO2015087427A1 (ja) | 2015-06-18 |
CN205924412U (zh) | 2017-02-08 |
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