WO2006022057A1 - 歩行補助装置の制御装置 - Google Patents
歩行補助装置の制御装置 Download PDFInfo
- Publication number
- WO2006022057A1 WO2006022057A1 PCT/JP2005/009339 JP2005009339W WO2006022057A1 WO 2006022057 A1 WO2006022057 A1 WO 2006022057A1 JP 2005009339 W JP2005009339 W JP 2005009339W WO 2006022057 A1 WO2006022057 A1 WO 2006022057A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- walking
- controller
- abnormal
- actuator
- sensor
- Prior art date
Links
Classifications
-
- 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 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
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
-
- 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
- A61H2201/0173—Means for preventing injuries
-
- 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
- A61H2201/0173—Means for preventing injuries
- A61H2201/0176—By stopping operation
-
- 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
- A61H2201/1623—Back
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1676—Pivoting
-
- 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
- A61H2230/60—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
- A61H2230/605—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG] used as a control parameter for the apparatus
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP05741594.5A EP1792597B1 (en) | 2004-08-27 | 2005-05-23 | Controller of walking assisting device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004248167A JP4499508B2 (ja) | 2004-08-27 | 2004-08-27 | 歩行補助装置の制御装置 |
JP2004-248167 | 2004-08-27 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006022057A1 true WO2006022057A1 (ja) | 2006-03-02 |
Family
ID=35967278
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/009339 WO2006022057A1 (ja) | 2004-08-27 | 2005-05-23 | 歩行補助装置の制御装置 |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP1792597B1 (ja) |
JP (1) | JP4499508B2 (ja) |
WO (1) | WO2006022057A1 (ja) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006320349A (ja) * | 2005-05-17 | 2006-11-30 | Wacoal Holdings Corp | 歩行補助装置用大腿部装具 |
JP2006320350A (ja) * | 2005-05-17 | 2006-11-30 | Wacoal Holdings Corp | 歩行補助装置用大腿部装具 |
WO2011074299A1 (ja) * | 2009-12-15 | 2011-06-23 | トヨタ自動車株式会社 | バランス装置 |
WO2014061269A1 (ja) * | 2012-10-16 | 2014-04-24 | 株式会社ニコン | 筋力補助具 |
JP2016054802A (ja) * | 2014-09-05 | 2016-04-21 | トヨタ自動車株式会社 | 歩行支援装置の制御方法 |
JP2016150420A (ja) * | 2015-02-18 | 2016-08-22 | 国立大学法人 和歌山大学 | パワーアシストロボット装置 |
RU208086U1 (ru) * | 2020-09-15 | 2021-12-01 | ООО "Экзомед" | Управляемый модуль спины экзоскелета |
CN114081798A (zh) * | 2017-08-23 | 2022-02-25 | 三星电子株式会社 | 运动辅助设备 |
Families Citing this family (31)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7815689B2 (en) | 2003-11-18 | 2010-10-19 | Victhom Human Bionics Inc. | Instrumented prosthetic foot |
US7637959B2 (en) | 2004-02-12 | 2009-12-29 | össur hf | Systems and methods for adjusting the angle of a prosthetic ankle based on a measured surface angle |
JP3955304B2 (ja) * | 2005-05-17 | 2007-08-08 | 本田技研工業株式会社 | 腰部装具 |
JP4712620B2 (ja) * | 2006-06-12 | 2011-06-29 | 本田技研工業株式会社 | 歩行補助装具の制御装置 |
KR100731899B1 (ko) | 2006-06-30 | 2007-06-25 | 주식회사 피앤에스미캐닉스 | 동력보행보조기 |
JP4666644B2 (ja) * | 2006-07-12 | 2011-04-06 | 本田技研工業株式会社 | 歩行補助装具の制御装置 |
WO2008080231A1 (en) | 2007-01-05 | 2008-07-10 | Victhom Human Bionics Inc. | Joint actuation mechanism for a prosthetic and/or orthotic device having a compliant transmission |
CA2676067C (en) | 2007-01-19 | 2017-06-20 | Victhom Human Bionics, Inc. | Reactive layer control system for prosthetic and orthotic devices |
WO2009120637A1 (en) | 2008-03-24 | 2009-10-01 | Ossur Hf | Transfemoral prosthetic systems and methods for operating the same |
WO2009125397A2 (en) * | 2008-04-08 | 2009-10-15 | Motorika Limited | Device and method for foot drop analysis and rehabilitation |
JP5168158B2 (ja) * | 2009-01-13 | 2013-03-21 | トヨタ自動車株式会社 | 歩行訓練システム |
WO2011114457A1 (ja) | 2010-03-17 | 2011-09-22 | トヨタ自動車株式会社 | 脚補助装置 |
WO2011123951A1 (en) * | 2010-04-06 | 2011-10-13 | B-Temia Inc. | Frontal joint mechanism for orthotic devices |
WO2011123928A1 (en) | 2010-04-07 | 2011-10-13 | B-Temia Inc. | Load distribution device for human joints |
JP5601117B2 (ja) * | 2010-09-21 | 2014-10-08 | 大日本印刷株式会社 | 移動補助装置及び移動補助制御用プログラム |
JP5578036B2 (ja) * | 2010-11-08 | 2014-08-27 | トヨタ自動車株式会社 | アシストロボット |
WO2012081107A1 (ja) | 2010-12-16 | 2012-06-21 | トヨタ自動車株式会社 | 歩行支援装置 |
US9060884B2 (en) | 2011-05-03 | 2015-06-23 | Victhom Human Bionics Inc. | Impedance simulating motion controller for orthotic and prosthetic applications |
US9532877B2 (en) | 2011-11-11 | 2017-01-03 | Springactive, Inc. | Robotic device and method of using a parallel mechanism |
US10543109B2 (en) | 2011-11-11 | 2020-01-28 | Össur Iceland Ehf | Prosthetic device and method with compliant linking member and actuating linking member |
US9044346B2 (en) | 2012-03-29 | 2015-06-02 | össur hf | Powered prosthetic hip joint |
EP3427702A1 (en) | 2013-02-26 | 2019-01-16 | Össur HF | Prosthetic foot with enhanced stability and elastic energy return |
EP2967920B1 (en) | 2013-03-14 | 2021-04-21 | Ossur Hf | Prosthetic ankle: a method of controlling based on adaptation to speed |
DE102013007314B4 (de) * | 2013-04-29 | 2016-03-31 | Heiko Diedrich | Extensionsliegenvorrichtung zur Dekompression der Wirbelsäule und/oder zur Dekompression von Gelenken eines Patienten |
WO2015157723A1 (en) | 2014-04-11 | 2015-10-15 | össur hf | Prosthetic foot with removable flexible members |
EP2985009B1 (en) * | 2014-08-13 | 2017-09-06 | Harris Corporation | Robotic exoskeleton with fall control and actuation |
JP2018519112A (ja) * | 2015-07-06 | 2018-07-19 | リウォーク ロボティクス リミテッド | 外部骨格取り付けのための方法および装置 |
CN105496734A (zh) * | 2016-01-15 | 2016-04-20 | 中国矿业大学 | 一种基于机械外骨骼动作状态的随动系统 |
CN105902368A (zh) * | 2016-03-01 | 2016-08-31 | 芜湖安普机器人产业技术研究院有限公司 | 连杆关节一体化液压驱动外骨骼控制系统及其控制方法 |
RU186439U1 (ru) * | 2018-07-05 | 2019-01-21 | Общество С Ограниченной Ответственностью "Экзоатлет" | Торсовое звено экзоскелета |
KR20210052603A (ko) | 2019-10-28 | 2021-05-11 | 삼성전자주식회사 | 웨어러블 장치를 이용한 균형 훈련 방법 및 그 웨어러블 장치 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3358678A (en) | 1964-07-29 | 1967-12-19 | Kultsar Emery | Moving and support system for the human body |
JPS5034355B1 (ja) * | 1969-02-22 | 1975-11-07 | ||
JPS59222152A (ja) * | 1983-05-28 | 1984-12-13 | 工業技術院長 | 動力装具 |
JPH07163607A (ja) * | 1993-12-13 | 1995-06-27 | Tokyo R & D:Kk | 階段歩行等の電動補助装置 |
JP2003250844A (ja) | 2002-03-04 | 2003-09-09 | Matsushita Electric Ind Co Ltd | パワーアシスト脚 |
WO2003106112A1 (ja) | 2002-06-12 | 2003-12-24 | 科学技術振興事業団 | 歩行式移動装置及びその歩行制御装置並びに歩行制御方法 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
JP4178186B2 (ja) * | 2003-08-21 | 2008-11-12 | 国立大学法人 筑波大学 | 装着式動作補助装置、装着式動作補助装置の制御方法および制御用プログラム |
JP4384562B2 (ja) * | 2004-07-06 | 2009-12-16 | 本田技研工業株式会社 | 歩行状態を判定する装置又は方法 |
-
2004
- 2004-08-27 JP JP2004248167A patent/JP4499508B2/ja not_active Expired - Fee Related
-
2005
- 2005-05-23 WO PCT/JP2005/009339 patent/WO2006022057A1/ja active Application Filing
- 2005-05-23 EP EP05741594.5A patent/EP1792597B1/en not_active Expired - Fee Related
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3358678A (en) | 1964-07-29 | 1967-12-19 | Kultsar Emery | Moving and support system for the human body |
JPS5034355B1 (ja) * | 1969-02-22 | 1975-11-07 | ||
JPS59222152A (ja) * | 1983-05-28 | 1984-12-13 | 工業技術院長 | 動力装具 |
JPH07163607A (ja) * | 1993-12-13 | 1995-06-27 | Tokyo R & D:Kk | 階段歩行等の電動補助装置 |
JP2003250844A (ja) | 2002-03-04 | 2003-09-09 | Matsushita Electric Ind Co Ltd | パワーアシスト脚 |
WO2003106112A1 (ja) | 2002-06-12 | 2003-12-24 | 科学技術振興事業団 | 歩行式移動装置及びその歩行制御装置並びに歩行制御方法 |
Non-Patent Citations (1)
Title |
---|
See also references of EP1792597A4 * |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006320349A (ja) * | 2005-05-17 | 2006-11-30 | Wacoal Holdings Corp | 歩行補助装置用大腿部装具 |
JP2006320350A (ja) * | 2005-05-17 | 2006-11-30 | Wacoal Holdings Corp | 歩行補助装置用大腿部装具 |
WO2011074299A1 (ja) * | 2009-12-15 | 2011-06-23 | トヨタ自動車株式会社 | バランス装置 |
JP2011125400A (ja) * | 2009-12-15 | 2011-06-30 | Toyota Motor Corp | バランス装置 |
CN102655834A (zh) * | 2009-12-15 | 2012-09-05 | 丰田自动车株式会社 | 平衡装置 |
US9216132B2 (en) | 2009-12-15 | 2015-12-22 | Toyota Jidosha Kabushiki Kaisha | Balance device |
WO2014061269A1 (ja) * | 2012-10-16 | 2014-04-24 | 株式会社ニコン | 筋力補助具 |
JPWO2014061269A1 (ja) * | 2012-10-16 | 2016-09-05 | 株式会社ニコン | 筋力補助具 |
JP2016054802A (ja) * | 2014-09-05 | 2016-04-21 | トヨタ自動車株式会社 | 歩行支援装置の制御方法 |
JP2016150420A (ja) * | 2015-02-18 | 2016-08-22 | 国立大学法人 和歌山大学 | パワーアシストロボット装置 |
CN114081798A (zh) * | 2017-08-23 | 2022-02-25 | 三星电子株式会社 | 运动辅助设备 |
RU208086U1 (ru) * | 2020-09-15 | 2021-12-01 | ООО "Экзомед" | Управляемый модуль спины экзоскелета |
Also Published As
Publication number | Publication date |
---|---|
EP1792597A1 (en) | 2007-06-06 |
JP4499508B2 (ja) | 2010-07-07 |
EP1792597B1 (en) | 2015-07-01 |
JP2006061460A (ja) | 2006-03-09 |
EP1792597A4 (en) | 2012-10-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2006022057A1 (ja) | 歩行補助装置の制御装置 | |
JP5876550B1 (ja) | 関節運動補助装置 | |
JP5876358B2 (ja) | 歩行運動補助具 | |
JP5075759B2 (ja) | 歩行補助装置 | |
US8690801B2 (en) | Leg assist device | |
JP4573798B2 (ja) | 腰部支援装置 | |
EP2036518B1 (en) | Walk assistance device | |
KR101869968B1 (ko) | 하지 외골격을 구비한 보행 보조 로봇 | |
WO2014013662A1 (ja) | 歩行用遊脚振子運動補助具およびアシスト力の制御方法 | |
EP3750166B1 (en) | Advanced gait control system and methods enabling continuous walking motion of a powered exoskeleton device | |
JP2006314670A (ja) | 歩行補助装置及びリハビリテーションシステム | |
JP2023004887A (ja) | 人体屈伸補助装置 | |
JP2009207840A (ja) | 歩行動作補助装置 | |
US20100130894A1 (en) | Motion assisting device | |
CN112370305B (zh) | 一种下肢康复训练外骨骼机器人 | |
JP2014073199A (ja) | 歩行支援装置、及び歩行支援プログラム | |
JP4112543B2 (ja) | 歩行補助装置 | |
JP4608656B2 (ja) | 肢体機能回復支援装置 | |
US20090099494A1 (en) | Walking assistance device | |
WO1998000087A1 (fr) | Dispositif d'assistance au corps humain | |
JP2011218026A (ja) | 歩行補助装置 | |
JP6592497B2 (ja) | 動作補助装置及び加圧装置 | |
JP2013070786A (ja) | 歩行支援装置 | |
Berkelman et al. | Passive orthosis linkage for locomotor rehabilitation | |
JP6821160B2 (ja) | 筋力補助装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS KE KG KM KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NG NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SM SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
DPEN | Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed from 20040101) | ||
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2005741594 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 2005741594 Country of ref document: EP |