WO2008152759A1 - 脚車輪型移動機構 - Google Patents

脚車輪型移動機構 Download PDF

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Publication number
WO2008152759A1
WO2008152759A1 PCT/JP2008/000282 JP2008000282W WO2008152759A1 WO 2008152759 A1 WO2008152759 A1 WO 2008152759A1 JP 2008000282 W JP2008000282 W JP 2008000282W WO 2008152759 A1 WO2008152759 A1 WO 2008152759A1
Authority
WO
WIPO (PCT)
Prior art keywords
footrest
type mobile
mobile mechanism
seat surface
wheel type
Prior art date
Application number
PCT/JP2008/000282
Other languages
English (en)
French (fr)
Inventor
Katsuhiko Asai
Atsushi Ono
Original Assignee
Panasonic Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Panasonic Corporation filed Critical Panasonic Corporation
Priority to US12/281,682 priority Critical patent/US7673718B2/en
Priority to CN2008800012533A priority patent/CN101568319B/zh
Priority to JP2008525732A priority patent/JP4197052B1/ja
Publication of WO2008152759A1 publication Critical patent/WO2008152759A1/ja

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
    • 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
    • A61H1/0266—Foot
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • 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
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
    • 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
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/046—Wheeled walking aids for patients or disabled persons with braking 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
    • A61H2201/01—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
    • A61H2201/0161—Size reducing arrangements when not in use, for stowing or transport
    • 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
    • A61H2201/1633—Seat
    • 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
    • A61H2201/1657—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
    • A61H2201/5058—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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors

Landscapes

  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Epidemiology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Rehabilitation Tools (AREA)
  • Position Input By Displaying (AREA)

Abstract

　脚車輪型移動機構は、座面部と、座面部に回転自在に連結された末端部と車輪部と足置き部を有する先端部との間隔が伸縮自在な２本の追従脚と、座面部に回転自在に連結された末端部と車輪部を有する先端部との間隔が伸縮自在な２本以上の支持脚と、足置き部と搭乗者の足部との相対変位を計測する足位置計測部と、足置き部が足部と略同方向に移動するように、足位置計測部により計測された相対変位を基に追従脚と支持脚を動作制御する制御装置を備える。
PCT/JP2008/000282 2007-06-11 2008-02-20 脚車輪型移動機構 WO2008152759A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US12/281,682 US7673718B2 (en) 2007-06-11 2008-02-20 Leg-wheeled-traveling mechanism
CN2008800012533A CN101568319B (zh) 2007-06-11 2008-02-20 腿车轮型移动机构
JP2008525732A JP4197052B1 (ja) 2007-06-11 2008-02-20 脚車輪型移動機構

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007153866 2007-06-11
JP2007-153866 2007-06-11

Publications (1)

Publication Number Publication Date
WO2008152759A1 true WO2008152759A1 (ja) 2008-12-18

Family

ID=40129374

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/000282 WO2008152759A1 (ja) 2007-06-11 2008-02-20 脚車輪型移動機構

Country Status (4)

Country Link
US (1) US7673718B2 (ja)
JP (1) JP4197052B1 (ja)
CN (1) CN101568319B (ja)
WO (1) WO2008152759A1 (ja)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011033574A1 (ja) * 2009-09-18 2011-03-24 本田技研工業株式会社 倒立振子型移動体
ITGE20110022A1 (it) * 2011-03-01 2012-09-02 Chine Uni Di Genova Robot mobile a locomozione ibrida su ruote e su zampe a mantide, adatto sia a terreni lisci sia al superamento di gradini, ostacoli e sconnessioni.
CH705477A2 (de) * 2011-09-09 2013-03-15 Ability Switzerland Ag Gangtrainingsgerät zur Erzeugung eines natürlichen Gangmusters.
CN102556199B (zh) * 2011-12-29 2013-07-31 北京航空航天大学 一种仿人机器人多自由度柔性脚板
CN102699916B (zh) * 2012-06-05 2014-11-12 浙江工业职业技术学院 可伸缩的探险机器人
US8894088B2 (en) * 2013-01-23 2014-11-25 Massachusetts Institute Of Technology Methods and apparatus for folding vehicle chassis
US20150168953A1 (en) * 2013-12-13 2015-06-18 Itrack Llc Autonomous self-leveling vehicle
JP6476903B2 (ja) * 2015-01-22 2019-03-06 株式会社ジェイテクト 歩行支援装置
TWD176622S (zh) * 2015-09-24 2016-06-21 上銀科技股份有限公司 移動載具之部分
EP3207909B1 (en) * 2016-02-18 2019-09-11 Hexowheel Supporting structure
CN106114670B (zh) * 2016-08-26 2018-03-06 周勇强 代步装置
US11407120B2 (en) * 2017-04-28 2022-08-09 Sony Corporation Control device, and control method
CN107515614B (zh) * 2017-08-24 2024-01-19 北京京东乾石科技有限公司 自动引导运输车及其控制方法
CN109398520B (zh) * 2018-10-26 2023-08-22 辽宁工程技术大学 一种轮腿变换装置
CN109533082B (zh) * 2019-01-07 2023-09-22 太原科技大学 一种巨型六肢腿履带足极地科考车
CN112451225B (zh) * 2020-11-26 2023-03-28 重庆医科大学附属永川医院 一种用于急救车的推床
CN113288729A (zh) * 2021-06-30 2021-08-24 杭州程天科技发展有限公司 一种外骨骼辅助移动设备
CN113679538A (zh) * 2021-09-29 2021-11-23 上海新纪元机器人有限公司 一种自平衡担架床及车辆
CN115107900B (zh) * 2022-07-28 2023-04-18 南京信息工程大学 一种可变形的足端机构

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05329186A (ja) * 1992-06-02 1993-12-14 Hitachi Ltd 歩行介助装置
JPH07313565A (ja) * 1994-03-30 1995-12-05 Kazuyuki Matsuda 歩行センサーを備えた歩行訓練機

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11128278A (ja) 1997-10-21 1999-05-18 Marie Lone 階段昇降可能な車椅子
US6006849A (en) * 1998-02-11 1999-12-28 Watkins; Jonathan Single-track vehicle with foot pedal feedback and inertial force limiters
US6260862B1 (en) * 1998-02-11 2001-07-17 Joseph C. Klann Walking device
JP2006055972A (ja) 2004-08-23 2006-03-02 Atsuo Takanishi 足部走行機構及びそれを備えた２足歩行ロボット

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05329186A (ja) * 1992-06-02 1993-12-14 Hitachi Ltd 歩行介助装置
JPH07313565A (ja) * 1994-03-30 1995-12-05 Kazuyuki Matsuda 歩行センサーを備えた歩行訓練機

Also Published As

Publication number Publication date
US7673718B2 (en) 2010-03-09
CN101568319B (zh) 2011-07-27
CN101568319A (zh) 2009-10-28
JP4197052B1 (ja) 2008-12-17
US20090289433A1 (en) 2009-11-26
JPWO2008152759A1 (ja) 2010-08-26

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