WO2004103246A1 - 歩行補助装置 - Google Patents
歩行補助装置 Download PDFInfo
- Publication number
- WO2004103246A1 WO2004103246A1 PCT/JP2004/003402 JP2004003402W WO2004103246A1 WO 2004103246 A1 WO2004103246 A1 WO 2004103246A1 JP 2004003402 W JP2004003402 W JP 2004003402W WO 2004103246 A1 WO2004103246 A1 WO 2004103246A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- joint
- movement
- orthosis
- lower leg
- hip joint
- Prior art date
Links
- 210000001699 lower leg Anatomy 0.000 claims abstract description 32
- 210000004394 hip joint Anatomy 0.000 claims abstract description 24
- 210000003205 muscle Anatomy 0.000 claims abstract description 23
- 210000000629 knee joint Anatomy 0.000 claims abstract description 19
- 210000001624 hip Anatomy 0.000 claims abstract description 15
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 14
- 210000001015 abdomen Anatomy 0.000 claims description 8
- 210000003489 abdominal muscle Anatomy 0.000 claims description 6
- 210000001361 achilles tendon Anatomy 0.000 claims description 5
- 210000003131 sacroiliac joint Anatomy 0.000 claims description 5
- 210000002683 foot Anatomy 0.000 claims description 4
- 210000003127 knee Anatomy 0.000 claims description 4
- 238000010248 power generation Methods 0.000 claims description 2
- 230000004118 muscle contraction Effects 0.000 abstract description 3
- 206010040007 Sense of oppression Diseases 0.000 abstract 1
- 230000002452 interceptive effect Effects 0.000 abstract 1
- 230000002093 peripheral effect Effects 0.000 abstract 1
- 210000000689 upper leg Anatomy 0.000 description 6
- 210000003423 ankle Anatomy 0.000 description 4
- 210000004197 pelvis Anatomy 0.000 description 4
- 208000010428 Muscle Weakness Diseases 0.000 description 3
- 206010028372 Muscular weakness Diseases 0.000 description 3
- 210000000683 abdominal cavity Anatomy 0.000 description 3
- 230000000452 restraining effect Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000037237 body shape Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 210000004705 lumbosacral region Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 208000034819 Mobility Limitation Diseases 0.000 description 1
- 230000003187 abdominal effect Effects 0.000 description 1
- 210000001142 back Anatomy 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000002788 crimping Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000001087 myotubule Anatomy 0.000 description 1
- 210000002976 pectoralis muscle Anatomy 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 210000003689 pubic bone Anatomy 0.000 description 1
- 210000001139 rectus abdominis Anatomy 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
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
- 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
- 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
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
-
- 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
-
- 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
- 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
- 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
- A61H2201/16—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
- A61H2201/163—Pelvis holding means therefor
-
- 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
- A61H2201/1642—Holding means therefor
-
- 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
Definitions
- FIG. 2 is an exploded perspective view showing the configuration of the waist orthosis of the device of the present invention.
- the backrest 4 is located on the left and right iliac ridges (end points of the front of the pelvis) From 7 the sacroiliac joint (junction between the spine and pelvis) 8 is generally U-shaped in plan view so as to abut on the posterior part passing through it. It is made of a substantially rigid body so that it can receive the driving force of the hip joint actuator 10 including an electric motor with a reducer and the like connected to the motor.
- the back portion of the backrest 4 is formed in a hollow shape, and includes therein a control circuit and a battery for supplying electric power to the electric motor and the control circuit (not shown). Is built-in.
- a cushion pad 11 is provided on a portion of the backrest 4 that directly contacts the human body.
- the backrest 4 attached from the left and right iliac ridge 7 to the posterior back passing through the sacroiliac joint 8 corrects the curvature of the spine, and the pelvis It stabilizes and corrects the posture while increasing the abdominal pressure and raising the internal organs to the correct position. Further, since the web portion 15 abuts on the lower abdomen with a relatively large area, the pressure applied to the abdominal cavity is evenly distributed throughout the lower abdomen, and the feeling of pressure is reduced. As shown in Fig. 4, the backrest 4 and the belt 5 are mounted on a part where the movement of the skin is relatively small when the trunk and lower limb joints are moved (the part where the waist is shaded in the figure). It is configured to be worn. Therefore, according to this, the movement of the hip joint for raising and lowering the thigh and the forward bending movement of the upper body are not hindered, and the thigh circumference is not affected by the expansion and contraction of the thigh muscle.
- the main restraint points (five pads 18 1, 19 2, 20) of the backrest 4 are set on the back side where the body shape difference is relatively small, so that it is possible to cope with the difference in the body shape of the user. Since only the belt portion 5 needs to be replaced, the backrest portion 4 can be shared, which can contribute to a reduction in the manufacturing cost of the lumbar orthosis 1.
- the drive unit 3 includes a telescopic telescopic telescopic connecting bar 25 at each end of a hip joint actuator 10 including an electric motor with a reduction gear at each end and a knee joint actuator 2.
- the hip drive source connecting part 9 provided at the position corresponding to the side of the hip joint of the backrest 4 and the side of the knee joint of the lower leg orthosis 2 It is configured to be attachable and detachable to and from the knee drive source connecting part 27 provided at a position where the knee drive source is connected.
- the waist orthosis 1, the lower leg orthosis 2, and the drive unit 3 are configured to be separated from each other, the user does not have to force the user into an uncomfortable posture, and the user can put on and take off the hand of another person. It can be done easily without borrowing.
Landscapes
- Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Nursing (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/557,733 US7798983B2 (en) | 2003-05-21 | 2004-03-15 | Walking assistance device |
EP20040720752 EP1637114B1 (en) | 2003-05-21 | 2004-03-15 | Walking aid device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003143494A JP4326259B2 (ja) | 2003-05-21 | 2003-05-21 | 歩行補助装置 |
JP2003-143494 | 2003-05-21 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004103246A1 true WO2004103246A1 (ja) | 2004-12-02 |
Family
ID=33475125
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/003402 WO2004103246A1 (ja) | 2003-05-21 | 2004-03-15 | 歩行補助装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7798983B2 (ja) |
EP (1) | EP1637114B1 (ja) |
JP (1) | JP4326259B2 (ja) |
WO (1) | WO2004103246A1 (ja) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4093912B2 (ja) * | 2003-05-21 | 2008-06-04 | 本田技研工業株式会社 | 歩行補助装置 |
US8574179B2 (en) | 2004-09-17 | 2013-11-05 | Stp Swiss Therapeutic Products Ag | Enhanced biomechanical stimulation device |
JP2006340852A (ja) * | 2005-06-08 | 2006-12-21 | Natl Rehabilitation Center For The Disabled | 着用形関節駆動装置 |
JP5326223B2 (ja) * | 2007-05-14 | 2013-10-30 | 沖電気工業株式会社 | リハビリテーション教育用ロボット |
US8657772B2 (en) * | 2007-07-20 | 2014-02-25 | össur hf. | Wearable device having feedback characteristics |
EP2687339B1 (en) | 2008-05-20 | 2015-10-21 | Ekso Bionics, Inc. | Device and method for decreasing energy consumption of a person by use of a lower extremity exoskeleton |
ES2549004T3 (es) * | 2008-05-20 | 2015-10-22 | The Regents Of The University Of California | Dispositivo y método para disminuir el consumo de oxígeno de una persona durante una marcha regular mediante el uso de un exoesqueleto de soporte de carga |
JP5170316B2 (ja) * | 2010-04-02 | 2013-03-27 | トヨタ自動車株式会社 | 歩行補助装置 |
CN102441252A (zh) * | 2011-08-22 | 2012-05-09 | 国家康复辅具研究中心 | 下肢运动模式塑型训练装置及其使用方法 |
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 |
KR102330670B1 (ko) | 2014-08-07 | 2021-11-24 | 삼성전자주식회사 | 링크 조립체 및 이를 이용한 하지 지지장치 |
US9987151B2 (en) | 2015-06-23 | 2018-06-05 | The Regents Of The University Of California | Mechanism for efficient donning and doffing of an exoskeleton |
EP3158893B1 (en) * | 2015-10-21 | 2021-04-28 | noonee AG | Seat unit for wearable sitting posture assisting device |
EP3318240A1 (en) * | 2016-11-08 | 2018-05-09 | noonee AG | Wearable sitting posture assisting device and method for putting on such a device |
EP3318241B1 (en) * | 2016-11-08 | 2020-04-29 | noonee AG | Wearable sitting posture assisting device |
KR20180075301A (ko) * | 2016-12-26 | 2018-07-04 | 삼성전자주식회사 | 운동 보조 장치 |
CN107414799A (zh) * | 2017-09-06 | 2017-12-01 | 四川拜赛特高新科技有限公司 | 一种无动力可穿载的助力机器人 |
US11918475B2 (en) | 2021-03-31 | 2024-03-05 | DePuy Synthes Products, Inc. | Modular acetabular surgical implant assembly |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5841556A (ja) * | 1981-06-01 | 1983-03-10 | ギ−・サロ−ル | 直立及び歩行用外部装置 |
JPS61228854A (ja) * | 1985-04-02 | 1986-10-13 | 工業技術院長 | 義足等の動力装具 |
JPH09103443A (ja) * | 1995-10-12 | 1997-04-22 | Sumiko Yamamoto | 短下肢装具 |
JPH11290360A (ja) * | 1998-04-08 | 1999-10-26 | Yoshihiro Morinaka | 人体補装具 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58163364A (ja) | 1982-03-23 | 1983-09-28 | 工業技術院長 | 下肢障害者用動力装具 |
US5020790A (en) * | 1990-10-23 | 1991-06-04 | Board Of Supervisors Of Louisiana State University And Agricultural And Mechanical College | Powered gait orthosis |
JP3032039B2 (ja) * | 1991-05-31 | 2000-04-10 | 川崎重工業株式会社 | 歩行補助装置 |
US5282460A (en) * | 1992-01-06 | 1994-02-01 | Joyce Ann Boldt | Three axis mechanical joint for a power assist device |
US5476441A (en) * | 1993-09-30 | 1995-12-19 | Massachusetts Institute Of Technology | Controlled-brake orthosis |
JP3530959B2 (ja) | 1993-12-13 | 2004-05-24 | 株式会社東京アールアンドデー | 平地歩行、階段歩行の電動補助装置 |
US5961541A (en) * | 1996-01-02 | 1999-10-05 | Ferrati; Benito | Orthopedic apparatus for walking and rehabilitating disabled persons including tetraplegic persons and for facilitating and stimulating the revival of comatose patients through the use of electronic and virtual reality units |
EP1137378B1 (de) * | 1998-11-13 | 2003-08-27 | Hocoma AG | Vorrichtung und verfahren zur automatisierung der laufbandtherapie |
JP3740344B2 (ja) | 2000-02-03 | 2006-02-01 | 株式会社ワコール | 運動用スパッツ |
JP3833921B2 (ja) * | 2001-10-18 | 2006-10-18 | 本田技研工業株式会社 | 歩行状態判定装置及び方法 |
-
2003
- 2003-05-21 JP JP2003143494A patent/JP4326259B2/ja not_active Expired - Fee Related
-
2004
- 2004-03-15 US US10/557,733 patent/US7798983B2/en not_active Expired - Fee Related
- 2004-03-15 WO PCT/JP2004/003402 patent/WO2004103246A1/ja active Application Filing
- 2004-03-15 EP EP20040720752 patent/EP1637114B1/en not_active Expired - Fee Related
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5841556A (ja) * | 1981-06-01 | 1983-03-10 | ギ−・サロ−ル | 直立及び歩行用外部装置 |
JPS61228854A (ja) * | 1985-04-02 | 1986-10-13 | 工業技術院長 | 義足等の動力装具 |
JPH09103443A (ja) * | 1995-10-12 | 1997-04-22 | Sumiko Yamamoto | 短下肢装具 |
JPH11290360A (ja) * | 1998-04-08 | 1999-10-26 | Yoshihiro Morinaka | 人体補装具 |
Non-Patent Citations (1)
Title |
---|
See also references of EP1637114A4 * |
Also Published As
Publication number | Publication date |
---|---|
US7798983B2 (en) | 2010-09-21 |
JP4326259B2 (ja) | 2009-09-02 |
US20070055189A1 (en) | 2007-03-08 |
EP1637114A4 (en) | 2009-05-06 |
EP1637114B1 (en) | 2015-04-29 |
EP1637114A1 (en) | 2006-03-22 |
JP2004344303A (ja) | 2004-12-09 |
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