WO2004103248A1 - 歩行補助装置 - Google Patents
歩行補助装置 Download PDFInfo
- Publication number
- WO2004103248A1 WO2004103248A1 PCT/JP2004/003406 JP2004003406W WO2004103248A1 WO 2004103248 A1 WO2004103248 A1 WO 2004103248A1 JP 2004003406 W JP2004003406 W JP 2004003406W WO 2004103248 A1 WO2004103248 A1 WO 2004103248A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- backrest
- belt
- waist
- walking assist
- assist device
- Prior art date
Links
- 210000003205 muscle Anatomy 0.000 claims abstract description 20
- 210000004394 hip joint Anatomy 0.000 claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 11
- 210000003489 abdominal muscle Anatomy 0.000 claims description 15
- 238000010248 power generation Methods 0.000 claims 1
- 210000001624 hip Anatomy 0.000 abstract description 21
- 206010040007 Sense of oppression Diseases 0.000 abstract description 2
- 210000001139 rectus abdominis Anatomy 0.000 abstract description 2
- 210000001015 abdomen Anatomy 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000037237 body shape Effects 0.000 description 4
- 210000000629 knee joint Anatomy 0.000 description 4
- 210000000689 upper leg Anatomy 0.000 description 4
- 210000000683 abdominal cavity Anatomy 0.000 description 3
- 230000001965 increasing effect Effects 0.000 description 3
- 210000004705 lumbosacral region Anatomy 0.000 description 3
- 210000004197 pelvis Anatomy 0.000 description 3
- 208000010428 Muscle Weakness Diseases 0.000 description 2
- 206010028372 Muscular weakness Diseases 0.000 description 2
- 230000003187 abdominal effect Effects 0.000 description 2
- 210000001361 achilles tendon Anatomy 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000001771 impaired effect Effects 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 210000003131 sacroiliac joint Anatomy 0.000 description 2
- 210000001835 viscera Anatomy 0.000 description 2
- 229920001875 Ebonite Polymers 0.000 description 1
- 208000034819 Mobility Limitation Diseases 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 230000003190 augmentative effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000002788 crimping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 210000001621 ilium bone Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000001087 myotubule Anatomy 0.000 description 1
- 210000002976 pectoralis muscle Anatomy 0.000 description 1
- 210000003689 pubic bone Anatomy 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
Classifications
-
- 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
- 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
- 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
- A61H2201/01—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
-
- 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
- A61H2205/08—Trunk
- A61H2205/081—Back
Definitions
- the present invention relates to a walking assist device for providing an assisting force to a movement of a hip joint or a knee joint.
- a waist orthosis in a walking assist device including an assisting power generating device (hip joint actuary 10) at least on the side of the hip joint so as to provide an assisting force to the movement of the lower limb.
- an assisting power generating device hip joint actuary 10
- a backrest (4) provided with pads (18, 19, 20) that individually abut on both lateral parts and the left and right iliac crests, and are connected to the backrest to tighten the lower abdominal muscles
- the pads (20) that contact the right and left iliac ridges are provided on the removable inner lining (6).
- the inner lining (6) is provided with a buffer pad (21) sandwiched between the auxiliary power generating device and the human body.
- the belt (5) is a main belt in which one end (31a) is connected to each of the left and right ends of the backrest, and the other end is connected to each of the left and right ends of a buckle arranged in a portion corresponding to the lower part of the abdominal muscle. (31) and a sub-belt (32) connecting the upper end of the backrest and a portion corresponding to the body side of the main belt.
- Hip joint actuating device as an auxiliary power generator that provides assisting power for lower limb movements-A waist brace for wearing the evening on the side of the hip joint, the middle part of the right and left spinal column standing muscles and both lateral parts,
- the backrest provided with pads that individually contact the iliac ridge and a belt that is connected to the backrest and tightens the lower abdominal muscles, which hinders the bending motion of the lumbar region. Therefore, the upright posture can be stabilized by suitably supporting the lumbar spine, and the driving torque of the actuary can be received over the entire waist, so that the inconvenience that the orthosis shifts during exercise can be eliminated.
- Pads that contact the left and right iliac ridges are provided on the removable inner lining, so it is possible to respond to differences in user physique simply by replacing the inner lining, reducing production costs. can do.
- the inner lining is provided with a cushioning pad that is sandwiched between the actuator and the human body, so that even if the user falls down, the auxiliary power generator protects the human body from impacts. be able to.
- the two belts connected to the left and right ends of the backrest in parallel up and down are integrated with the left and right ends of the buckle arranged at the position corresponding to the lower part of the abdominal muscles, so that the abdominal pressure is increased.
- the pressure applied to the abdominal cavity can be evenly distributed throughout the lower abdomen, thereby reducing the feeling of oppression.
- FIG. 1 is a perspective view showing the lower body in a state where the device of the present invention is mounted.
- FIG. 2 is an exploded perspective view showing the configuration of the waist orthosis of the device of the present invention.
- FIG. 3 is an explanatory diagram showing a relationship between a backrest and a human body.
- FIG. 4 is an explanatory diagram showing the relationship between the device of the present invention and a human body.
- FIG. 5 is an explanatory view showing a state in which the lower leg orthosis is mounted on the lower leg.
- FIG. 6 is a perspective view of the drive unit.
- FIG. 7 is an exploded perspective view showing a configuration of another embodiment of the belt portion (Embodiment 2).
- FIG. 8 is a perspective view showing a lower body in a state where the brace shown in FIG. 7 is mounted.
- FIG. 1 shows a state in which a walking assist device to which the present invention is applied is mounted on a human body.
- This walking assist device is composed of a waist orthosis 1, a lower leg orthosis 2, and a driving unit 3 for generating auxiliary power, and the waist orthosis 1 and the lower leg orthosis 2 are fixed to the lower limbs.
- the rotation torque generated by the drive unit 3 is transmitted to the lower limb through these. With this, it has a function to give the human body the power to compensate for the reduced muscle strength.
- the waist orthosis 1 includes a backrest portion 4, a belt portion 5, and a lining portion 6.
- the backrest 4 is positioned so that it abuts on the back of the iliac crest (end point of the pelvis front) 7 through the sacroiliac joint (junction of the spine and pelvis) 8 It is generally U-shaped when viewed in plan, and receives the driving force of the hip joint actuator 10 consisting of an electric motor with a reducer connected to the crotch drive source connecting parts 9 provided at the left and right ends. It is made of a substantially rigid body so that it can be used.
- the back portion of the backrest 4 is formed in a hollow shape, and a control circuit and a battery for supplying electric power to the electric motor and the control circuit, which are not shown in the figure, are formed inside the backrest.
- a cushion pad 11 according to the present invention is provided on a portion of the backrest 4 that directly contacts the human body.
- the belt portion 5 comprises a pair of left and right base portions 14 made of a relatively hard rubber material or the like which is ported to the inner surface of a belt connection portion 13 provided on the left and right sides of the backrest portion 4. And a pair of left and right web portions 15 fixed to the front end of each base portion 14, and a pair of left and right buckles 16 attached to the front end of each web portion 15.
- the inner lining 6 for protection is attached to the inner surface of the belt portion 5, that is, the surface facing the waist of the human body by using a crimping fastener or the like.
- the web part 15 is woven so as to have appropriate elasticity.
- the inner lining 6 is provided with an iliac pad 20 corresponding to the iliac ridge 7. As a result, a total of five pads hit key points around the waist, and the backrest 4 is held in place.
- the crotch power transmission section 9 made of a rigid body directly contacts the human body, In addition, there is a risk that a large impact may be applied to the body if the body falls down. 1 is provided on the inner lining 6.
- Each web portion 15 has a V-shape in which two belts fixed above and below the base portion 14 are integrated at their front ends and connected to each buckle 16, and the front side is narrowed.
- the upper part 15 U of the web part 15 is connected to the base 14 located at the site corresponding to the iliac ridge 7, and the buckle located at the middle part (Tanda) between the navel and the pubic bone.
- the muscle fibers of the external oblique muscle extend along the running direction.
- the lower part 15 L of the web part 15 extends from the point of connection with the base part 14 located on the side of the hip joint toward the buckle 16 along the direction in which the fibers of the internal oblique muscle run. are doing.
- the buckle 16 is located at the center of the lower abdomen called Tanda where the rectus abdominis muscle, the external oblique muscle, the internal oblique muscle, the transverse abdominal muscle, etc., which are particularly important for maintaining the upright posture, overlap.
- 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 located in areas where the skin movement is relatively small when the trunk and lower limb joints are moved (the waistline in Fig. 4). It is configured to be mounted.
- the backrest portion 4 can be shared, which can contribute to a reduction in the manufacturing cost of the lumbar orthosis 1.
- the lower leg brace 2 has relatively little movement of the skin between the lower part of the hyphic muscle 22 and the upper part of the Achilles tendon 23 from both sides of the upper tibialis anterior muscle.
- a band 24 wrapped around the lower leg is provided so as to cover the non-existing part (the portion with a mesh line on the lower leg in FIG. 4).
- the main restraint point of the lower leg orthosis 2 avoids the Achilles tendon 23, whose skin changes with the movement of the calf and the ankle, whose circumference changes with the flexion and extension of the knee.
- the clasp and the lower leg brace 2 can be fixed to the lower leg with the tightening force.
- the drive unit 3 includes a telescopically extendable telescopic connecting bar 25 at each end of a hip joint actuator 10 including an electric motor with a reducer at each end and a knee joint actuator 2. 6 and a hip drive source connecting portion 9 provided at a position corresponding to the side of the hip joint of the backrest 4 and a side of the knee joint of the lower leg orthosis 2. It is configured to be detachable from the knee drive source connecting part 27 provided at the corresponding position.
- 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.
- FIG. 7 shows another embodiment of the belt portion 5 which aims at further improving the feeling of wearing from such a viewpoint.
- the belt portion 5 in the present embodiment includes left and right belts integrally provided on the backrest portion 4.
- a pair of left and right main belts 3 each having one end connected to the tilt connection portion 13 and the other end connected to each of the left and right ends of a knocker 16 arranged at a position corresponding to the lower part of the abdominal muscle. 1 and a pair of left and right sub-belts 32 connecting between the upper end of the backrest 4 and a portion corresponding to the body side of the main belt 31.
- the main belt 31 is formed of a material having high elasticity, and one end 31 a of the main belt 31 is formed in a y-shape in order to tightly couple the belt joining portion 13 which is wide vertically. It has been widened.
- the sub-belt 32 is made slender in order to ensure flexibility, and an engaging tool 34 that can be attached to and detached from an engaging slot 33 provided at the upper end of the backrest portion 4 is provided on the upper side of the back belt 4. At one end, the other end 35 is sewn to the main belt 31.
- a buckle 36 for adjusting the length is provided in the middle of the buckle.
- the waist orthosis 1 is temporarily fixed to the waist through the inner lining 6 with the crimp fastener, and the approximate positioning is performed.
- the main belt 31 is passed along the internal oblique muscle through the middle part between the iliac ridge 7 and the hip joint, and the buckle 16 is connected at the lower abdomen. In this state, the length of the main belt 31 is adjusted so that the backrest 4 is fixed on the iliac bone at the back of the body.
- the length of the sub-belt 32 is adjusted so that the backrest 4 is in close contact with the curvature of the lumbar spine.
- the upper portion of the backrest 4 is pulled by the sub-belt 32, so that the contact state of the backrest 4 with the back of the body is stabilized, and the contact pressure of the entire waist brace 1 with respect to the waist is increased. It is evened out and can suppress pressure changes due to posture changes.
- the device of the present invention is an exercise spats S manufactured so that the same tightening force as when taping is applied to a specific muscle (refer to Japanese Patent Application Laid-Open No. 2000-214143). When put on, the tightness of the fiber forming the spats S Combined with muscle support, it is more effective in enhancing motor function.
- the walking assist device can apply a load torque to a joint if the drive torque is applied in reverse, so that it can be used not only as a motor function assist device but also for medical use, rehabilitation, and muscle strength. It can also be used as a load generator for augmented training. '
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- Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Rehabilitation Therapy (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Nursing (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Rehabilitation Tools (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/557,338 US7780616B2 (en) | 2003-05-21 | 2004-03-15 | Walking assistance device |
EP04720754.3A EP1637115B1 (en) | 2003-05-21 | 2004-03-15 | Walking aid device |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003-143495 | 2003-05-21 | ||
JP2003143495 | 2003-05-21 | ||
JP2003312267A JP4315766B2 (ja) | 2003-05-21 | 2003-09-04 | 歩行補助装置 |
JP2003-312267 | 2003-09-04 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004103248A1 true WO2004103248A1 (ja) | 2004-12-02 |
Family
ID=33478958
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/003406 WO2004103248A1 (ja) | 2003-05-21 | 2004-03-15 | 歩行補助装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7780616B2 (ja) |
EP (1) | EP1637115B1 (ja) |
JP (1) | JP4315766B2 (ja) |
WO (1) | WO2004103248A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012254237A (ja) * | 2011-06-10 | 2012-12-27 | Honda Motor Co Ltd | 歩行補助装置の腰部装具および歩行補助装置 |
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US20040064195A1 (en) | 2002-07-15 | 2004-04-01 | Hugh Herr | Variable-mechanical-impedance artificial legs |
US8075633B2 (en) | 2003-09-25 | 2011-12-13 | Massachusetts Institute Of Technology | Active ankle foot orthosis |
JP4112542B2 (ja) * | 2004-09-07 | 2008-07-02 | 本田技研工業株式会社 | 歩行補助装置用装着具 |
JP4112541B2 (ja) * | 2004-09-07 | 2008-07-02 | 本田技研工業株式会社 | 歩行補助装置用装着具 |
US8864846B2 (en) | 2005-03-31 | 2014-10-21 | Massachusetts Institute Of Technology | Model-based neuromechanical controller for a robotic leg |
US10080672B2 (en) | 2005-03-31 | 2018-09-25 | Bionx Medical Technologies, Inc. | Hybrid terrain-adaptive lower-extremity systems |
US20060249315A1 (en) | 2005-03-31 | 2006-11-09 | Massachusetts Institute Of Technology | Artificial human limbs and joints employing actuators, springs, and variable-damper elements |
US8512415B2 (en) | 2005-03-31 | 2013-08-20 | Massachusetts Institute Of Technology | Powered ankle-foot prothesis |
US11278433B2 (en) | 2005-03-31 | 2022-03-22 | Massachusetts Institute Of Technology | Powered ankle-foot prosthesis |
US8500823B2 (en) | 2005-03-31 | 2013-08-06 | Massachusetts Institute Of Technology | Powered artificial knee with agonist-antagonist actuation |
US10307272B2 (en) | 2005-03-31 | 2019-06-04 | Massachusetts Institute Of Technology | Method for using a model-based controller for a robotic leg |
US20070162152A1 (en) | 2005-03-31 | 2007-07-12 | Massachusetts Institute Of Technology | Artificial joints using agonist-antagonist actuators |
US20070123997A1 (en) * | 2005-03-31 | 2007-05-31 | Massachusetts Institute Of Technology | Exoskeletons for running and walking |
US20070043449A1 (en) | 2005-03-31 | 2007-02-22 | Massachusetts Institute Of Technology | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
JP3955304B2 (ja) * | 2005-05-17 | 2007-08-08 | 本田技研工業株式会社 | 腰部装具 |
JP4603479B2 (ja) * | 2005-12-09 | 2010-12-22 | 本田技研工業株式会社 | 力伝達部材 |
US8657772B2 (en) | 2007-07-20 | 2014-02-25 | össur hf. | Wearable device having feedback characteristics |
JP4326580B2 (ja) * | 2007-09-25 | 2009-09-09 | 本田技研工業株式会社 | 歩行補助装置の大腿部装具 |
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 |
JP5081740B2 (ja) * | 2008-06-19 | 2012-11-28 | 本田技研工業株式会社 | 歩行補助装置用腰部装具 |
US20110082566A1 (en) | 2008-09-04 | 2011-04-07 | Herr Hugh M | Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis |
WO2010027968A2 (en) | 2008-09-04 | 2010-03-11 | Iwalk, Inc. | Hybrid terrain-adaptive lower-extremity systems |
JP5161199B2 (ja) * | 2009-12-25 | 2013-03-13 | 本田技研工業株式会社 | 歩行補助装置の腰部装具および歩行補助装置 |
US8663134B2 (en) | 2010-01-11 | 2014-03-04 | Honda Motor Co., Ltd. | Walking assistance device |
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Also Published As
Publication number | Publication date |
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EP1637115B1 (en) | 2015-11-11 |
EP1637115A4 (en) | 2009-05-06 |
JP2005000634A (ja) | 2005-01-06 |
US7780616B2 (en) | 2010-08-24 |
EP1637115A1 (en) | 2006-03-22 |
US20060258967A1 (en) | 2006-11-16 |
JP4315766B2 (ja) | 2009-08-19 |
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