WO2009044507A1 - 歩行補助装置 - Google Patents

歩行補助装置 Download PDF

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Publication number
WO2009044507A1
WO2009044507A1 PCT/JP2008/002462 JP2008002462W WO2009044507A1 WO 2009044507 A1 WO2009044507 A1 WO 2009044507A1 JP 2008002462 W JP2008002462 W JP 2008002462W WO 2009044507 A1 WO2009044507 A1 WO 2009044507A1
Authority
WO
WIPO (PCT)
Prior art keywords
connection member
sole
mounting portion
leg link
user
Prior art date
Application number
PCT/JP2008/002462
Other languages
English (en)
French (fr)
Inventor
Hiroshi Kudoh
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 US12/681,314 priority Critical patent/US8388559B2/en
Publication of WO2009044507A1 publication Critical patent/WO2009044507A1/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
    • 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
    • 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
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1436—Special crank assembly
    • 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
    • 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
    • A61H2201/5058—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
    • A61H2201/5071—Pressure sensors

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)
  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)

Abstract

荷重伝達部１と、利用者の足平に装着される足平装着部２と、荷重伝達部と足平装着部との間に設けられる脚リンク３とを備える歩行補助装置であって、足平装着部は、利用者の足首より前方位置で脚リンクの下端に少なくとも正面視左右方向の軸線回りの回転自由度を持つように連結される連結部材２２を備えるものにおいて、連結部材が脚リンクから伝達される荷重の方向変化で前後にぐらつくことを防止できるようにする。足平装着部２は、脚リンク３から連結部材２２に伝達される荷重の矢状面における作用範囲よりも外側で利用者の足平により踏み付け可能な剛性板から成る踏み板部材２３を備える。連結部材２２は踏み板部材２３に該踏み板部材２３に対する正面視左右方向の軸線回りの回転が制限されるように結合される。
PCT/JP2008/002462 2007-10-01 2008-09-05 歩行補助装置 WO2009044507A1 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US12/681,314 US8388559B2 (en) 2007-10-01 2008-09-05 Walking assist device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-257216 2007-10-01
JP2007257216A JP4784771B2 (ja) 2007-10-01 2007-10-01 歩行補助装置

Publications (1)

Publication Number Publication Date
WO2009044507A1 true WO2009044507A1 (ja) 2009-04-09

Family

ID=40525940

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/002462 WO2009044507A1 (ja) 2007-10-01 2008-09-05 歩行補助装置

Country Status (3)

Country Link
US (1) US8388559B2 (ja)
JP (1) JP4784771B2 (ja)
WO (1) WO2009044507A1 (ja)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5374352B2 (ja) * 2009-12-18 2013-12-25 本田技研工業株式会社 歩行補助装置
JP2014104185A (ja) * 2012-11-28 2014-06-09 Sony Corp 運動補助装置及び運動補助方法
PL2968053T3 (pl) 2013-03-14 2022-09-26 Ekso Bionics, Inc. Nieantropomorficzne lokalizacje stawu biodrowego dla egzoszkieletu
JP6253049B2 (ja) * 2013-05-17 2017-12-27 株式会社スペース・バイオ・ラボラトリーズ 歩行補助装置
KR102186859B1 (ko) 2014-01-09 2020-12-04 삼성전자주식회사 보행 보조 기구 및 보행 보조 기구의 제어 방법
KR102152636B1 (ko) * 2014-01-16 2020-09-08 삼성전자주식회사 관절 어셈블리 및 이를 포함하는 보행보조로봇
FR3018469B1 (fr) * 2014-03-11 2016-04-01 Robotiques 3 Dimensions Chausson d'exosquelette.
US9808073B1 (en) 2014-06-19 2017-11-07 Lockheed Martin Corporation Exoskeleton system providing for a load transfer when a user is standing and kneeling
CN104434127B (zh) * 2014-12-17 2017-11-03 王春宝 三自由度踝关节运动状态检测装置
FR3034660B1 (fr) * 2015-04-07 2022-06-10 Wandercraft Exosquelette comprenant une liaison mecanique de cheville avec deux axes de pivotement
US10548800B1 (en) 2015-06-18 2020-02-04 Lockheed Martin Corporation Exoskeleton pelvic link having hip joint and inguinal joint
US10195736B2 (en) 2015-07-17 2019-02-05 Lockheed Martin Corporation Variable force exoskeleton hip joint
US10518404B2 (en) 2015-07-17 2019-12-31 Lockheed Martin Corporation Variable force exoskeleton hip joint
US20180325454A1 (en) * 2015-11-18 2018-11-15 University Of Utah Research Foundation Conformable biomechanical force sensor and method of fabrication
US10912346B1 (en) * 2015-11-24 2021-02-09 Lockheed Martin Corporation Exoskeleton boot and lower link
EP3241531A1 (en) * 2016-05-04 2017-11-08 noonee AG Leg unit for a wearable sitting posture assisting device
WO2019046408A1 (en) 2017-08-30 2019-03-07 Lockheed Martin Corporation AUTOMATIC SENSOR SELECTION
JP7074088B2 (ja) * 2019-01-29 2022-05-24 トヨタ自動車株式会社 荷重検出装置及び歩行支援装置
KR102663218B1 (ko) * 2019-04-04 2024-05-03 현대자동차주식회사 착용식 의자
US11337878B1 (en) 2019-04-10 2022-05-24 Lockheed Martin Corporation Mechanical joint for exoskeleton ankle
US20240108095A1 (en) * 2022-10-03 2024-04-04 Nathan Bertrand Footwear for inversion exercises

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005296103A (ja) * 2004-04-07 2005-10-27 Honda Motor Co Ltd 歩行補助装具
JP2006204426A (ja) * 2005-01-26 2006-08-10 Yoshiyuki Yamaumi 装着式動作補助装置及び制御用プログラム
JP2007054616A (ja) * 2005-07-27 2007-03-08 Honda Motor Co Ltd 歩行補助装置の制御装置
JP2007097636A (ja) * 2005-09-30 2007-04-19 Matsushita Electric Ind Co Ltd 筋力補助装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2589360B1 (fr) * 1985-10-30 1987-12-24 Chareire Jean Louis Appareil d'assistance mecanique de la propulsion par les jambes
US4814661A (en) * 1986-05-23 1989-03-21 Washington State University Research Foundation, Inc. Systems for measurement and analysis of forces exerted during human locomotion
US7628766B1 (en) * 2003-10-29 2009-12-08 The Regents Of The University Of California Lower extremity enhancer
JP4588666B2 (ja) * 2005-05-27 2010-12-01 本田技研工業株式会社 歩行補助装置の制御装置および制御プログラム
JP4641225B2 (ja) 2005-07-19 2011-03-02 本田技研工業株式会社 歩行補助装置
JP4332136B2 (ja) * 2005-06-03 2009-09-16 本田技研工業株式会社 肢体アシスト装置および肢体アシストプログラム
JP4417300B2 (ja) * 2005-07-13 2010-02-17 本田技研工業株式会社 歩行補助装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005296103A (ja) * 2004-04-07 2005-10-27 Honda Motor Co Ltd 歩行補助装具
JP2006204426A (ja) * 2005-01-26 2006-08-10 Yoshiyuki Yamaumi 装着式動作補助装置及び制御用プログラム
JP2007054616A (ja) * 2005-07-27 2007-03-08 Honda Motor Co Ltd 歩行補助装置の制御装置
JP2007097636A (ja) * 2005-09-30 2007-04-19 Matsushita Electric Ind Co Ltd 筋力補助装置

Also Published As

Publication number Publication date
US20100210980A1 (en) 2010-08-19
US8388559B2 (en) 2013-03-05
JP2009082538A (ja) 2009-04-23
JP4784771B2 (ja) 2011-10-05

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