WO2009044501A1 - 運動補助装置 - Google Patents

運動補助装置 Download PDF

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Publication number
WO2009044501A1
WO2009044501A1 PCT/JP2008/002233 JP2008002233W WO2009044501A1 WO 2009044501 A1 WO2009044501 A1 WO 2009044501A1 JP 2008002233 W JP2008002233 W JP 2008002233W WO 2009044501 A1 WO2009044501 A1 WO 2009044501A1
Authority
WO
WIPO (PCT)
Prior art keywords
motion
oscillator
user
scale
assisting
Prior art date
Application number
PCT/JP2008/002233
Other languages
English (en)
French (fr)
Inventor
Ken Yasuhara
Kei Shimada
Yosuke Endo
Original Assignee
Honda Motor Co., Ltd.
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 Honda Motor Co., Ltd. filed Critical Honda Motor Co., Ltd.
Priority to US12/681,329 priority Critical patent/US8048008B2/en
Publication of WO2009044501A1 publication Critical patent/WO2009044501A1/ja

Links

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
    • 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
    • A61H2201/50—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
    • A61H2201/5069—Angle 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
    • A61H2201/5084—Acceleration sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/803—Motion sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0686—Timers, rhythm indicators or pacing apparatus using electric or electronic means

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)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)

Abstract

  ユーザの運動のリズムおよびスケールをその目標とするリズムおよびスケールにそれぞれ一致させるようにユーザの運動を補助しうると共に、ユーザの運動のリズムとスケールとのバランスが取れるように運動を補助しうる運動補助装置を提供することを目的とする。運動補助装置２００によれば、第１運動振動子φ1と第１モデルより生成される第１振動子ξ1に応じて設定される第２固有角速度ω2と、第２運動振動子φ2と第２モデルより生成される第２振動子ξ2とに基づき、第３運動振動子φ3の値をユーザの目標運動スケールに応じた目標値φ0+，φ0-に近付けるようにユーザの運動を補助するための仮想的な弾性要素による弾性力を表す第１補助振動子η1を含む補助振動子ｚを生成する補助振動子生成手段１５０と、ユーザの運動指標値を基準値に近付かせるように第１補助振動子η1を逐次調整する補助振動子調整手段１６０とを備える。
PCT/JP2008/002233 2007-10-02 2008-08-19 運動補助装置 WO2009044501A1 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US12/681,329 US8048008B2 (en) 2007-10-02 2008-08-19 Motion assist device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007259175A JP4271711B2 (ja) 2007-10-02 2007-10-02 運動補助装置
JP2007-259175 2007-10-02

Publications (1)

Publication Number Publication Date
WO2009044501A1 true WO2009044501A1 (ja) 2009-04-09

Family

ID=40525934

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/002233 WO2009044501A1 (ja) 2007-10-02 2008-08-19 運動補助装置

Country Status (3)

Country Link
US (1) US8048008B2 (ja)
JP (1) JP4271711B2 (ja)
WO (1) WO2009044501A1 (ja)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104053424A (zh) * 2012-03-30 2014-09-17 国立大学法人九州大学 行走运动辅助器具
CN110868964A (zh) * 2017-05-12 2020-03-06 埃索欧耐迪克超动力 外骨骼、矫形器、可穿戴设备或使用磁流变流体离合器装置的移动机器人

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8353854B2 (en) 2007-02-14 2013-01-15 Tibion Corporation Method and devices for moving a body joint
JP4271712B2 (ja) * 2007-10-15 2009-06-03 本田技研工業株式会社 運動補助装置
WO2009099671A2 (en) 2008-02-08 2009-08-13 Tibion Corporation Multi-fit orthotic and mobility assistance apparatus
US20090306548A1 (en) 2008-06-05 2009-12-10 Bhugra Kern S Therapeutic method and device for rehabilitation
US8058823B2 (en) 2008-08-14 2011-11-15 Tibion Corporation Actuator system with a multi-motor assembly for extending and flexing a joint
US8274244B2 (en) 2008-08-14 2012-09-25 Tibion Corporation Actuator system and method for extending a joint
US20100198124A1 (en) * 2009-01-30 2010-08-05 Kern Bhugra System and method for controlling the joint motion of a user based on a measured physiological property
US8639455B2 (en) * 2009-02-09 2014-01-28 Alterg, Inc. Foot pad device and method of obtaining weight data
FR2942388B1 (fr) * 2009-02-26 2012-10-12 Movea Systeme et procede de detection de marche d'une personne
JP5388747B2 (ja) * 2009-08-10 2014-01-15 本田技研工業株式会社 トレーニング装置
JP5388748B2 (ja) * 2009-08-10 2014-01-15 本田技研工業株式会社 トレーニング装置
JP5588724B2 (ja) * 2010-04-23 2014-09-10 本田技研工業株式会社 歩行運動補助装置
GB201007291D0 (en) 2010-04-30 2010-06-16 Icerobotics Ltd Apparatus and method for detecting disease in dairy animals
JP5636352B2 (ja) * 2011-10-24 2014-12-03 本田技研工業株式会社 動作補助装置及び歩行補助装置
US9610209B2 (en) * 2012-11-01 2017-04-04 Honda Motor Co., Ltd. Walking motion assist device
US9889058B2 (en) 2013-03-15 2018-02-13 Alterg, Inc. Orthotic device drive system and method
KR102186859B1 (ko) 2014-01-09 2020-12-04 삼성전자주식회사 보행 보조 기구 및 보행 보조 기구의 제어 방법
KR102387378B1 (ko) 2014-10-07 2022-04-15 삼성전자주식회사 보행 동작 인식을 위한 장치 및 방법
CA3021325A1 (en) 2016-04-20 2017-10-26 S.C. Johnson & Son, Inc. Foaming antimicrobial compositions
WO2019060791A1 (en) * 2017-09-22 2019-03-28 North Carolina State University HIP EXOSQUELET
JP7065369B2 (ja) * 2017-10-13 2022-05-12 パナソニックＩｐマネジメント株式会社 アシスト装置、アシスト装置の作動方法及びプログラム

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007061217A (ja) * 2005-08-29 2007-03-15 Honda Motor Co Ltd 運動誘導装置

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3930399B2 (ja) * 2002-08-21 2007-06-13 本田技研工業株式会社 歩行補助装置
WO2008124017A1 (en) * 2007-04-06 2008-10-16 University Of Delaware Passive swing assist leg exoskeleton

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007061217A (ja) * 2005-08-29 2007-03-15 Honda Motor Co Ltd 運動誘導装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104053424A (zh) * 2012-03-30 2014-09-17 国立大学法人九州大学 行走运动辅助器具
CN104053424B (zh) * 2012-03-30 2016-01-20 国立大学法人九州大学 行走运动辅助器具
CN110868964A (zh) * 2017-05-12 2020-03-06 埃索欧耐迪克超动力 外骨骼、矫形器、可穿戴设备或使用磁流变流体离合器装置的移动机器人

Also Published As

Publication number Publication date
US8048008B2 (en) 2011-11-01
US20100234775A1 (en) 2010-09-16
JP2009082628A (ja) 2009-04-23
JP4271711B2 (ja) 2009-06-03

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