WO2009050838A1 - 運動補助装置 - Google Patents

運動補助装置 Download PDF

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Publication number
WO2009050838A1
WO2009050838A1 PCT/JP2008/002235 JP2008002235W WO2009050838A1 WO 2009050838 A1 WO2009050838 A1 WO 2009050838A1 JP 2008002235 W JP2008002235 W JP 2008002235W WO 2009050838 A1 WO2009050838 A1 WO 2009050838A1
Authority
WO
WIPO (PCT)
Prior art keywords
motion
rhythm
scale
vibrator
human
Prior art date
Application number
PCT/JP2008/002235
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 EP08840593.1A priority Critical patent/EP2085066B1/en
Priority to US12/447,776 priority patent/US8317732B2/en
Publication of WO2009050838A1 publication Critical patent/WO2009050838A1/ja

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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
    • 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
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/40—Interfaces with the user related to strength training; Details thereof
    • A63B21/4001—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor
    • A63B21/4011—Arrangements for attaching the exercising apparatus to the user's body, e.g. belts, shoes or gloves specially adapted therefor to the lower limbs
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1614—Shoulder, e.g. for neck stretching
    • A61H2201/1616—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
    • A61H2201/1628—Pelvis
    • 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
    • A61H2201/1635—Hand or arm, e.g. handle
    • 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
    • A61H2201/1602—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
    • A61H2201/5069—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
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Rehabilitation Therapy (AREA)
  • Veterinary Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Biophysics (AREA)
  • Epidemiology (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)

Abstract

　演算処理負荷の軽減を図りながら、人間等の動物の周期運動のリズムおよびスケールのそれぞれを目標運動リズムおよび目標運動スケールのそれぞれに一致させるような力をこの動物に与えてその周期運動を補助することができる装置を提供する。本発明の運動補助装置１０によれば、調節装置１４を通じて、第２振動子ξ2の生成用の第２モデルを定義する状態変数ｕiの連立微分方程式に含まれる項または係数の値が調節される。そして、当該調節後の第２モデルにしたがって第２振動子ξ2が生成され、第２振動子ξ2に基づいて人間Ｐに与えられる周期的に変化するトルクＴが制御される。これにより、人間Ｐの周期運動のスケールおよびリズムのそれぞれを目標運動スケールおよび目標運動リズムのそれぞれに一致させるような力が人間Ｐに与えられてその周期運動が補助されうる。
PCT/JP2008/002235 2007-10-15 2008-08-19 運動補助装置 WO2009050838A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP08840593.1A EP2085066B1 (en) 2007-10-15 2008-08-19 Motion assisting device
US12/447,776 US8317732B2 (en) 2007-10-15 2008-08-19 Motion assist device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007268314A JP4271712B2 (ja) 2007-10-15 2007-10-15 運動補助装置
JP2007-268314 2007-10-15

Publications (1)

Publication Number Publication Date
WO2009050838A1 true WO2009050838A1 (ja) 2009-04-23

Family

ID=40567129

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/002235 WO2009050838A1 (ja) 2007-10-15 2008-08-19 運動補助装置

Country Status (4)

Country Link
US (1) US8317732B2 (ja)
EP (1) EP2085066B1 (ja)
JP (1) JP4271712B2 (ja)
WO (1) WO2009050838A1 (ja)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015107577A1 (ja) * 2014-01-15 2015-07-23 パナソニック株式会社 下肢支援装具
WO2017122502A1 (ja) * 2016-01-15 2017-07-20 株式会社クボタ アシスト器具
JP2017124476A (ja) * 2016-01-15 2017-07-20 株式会社クボタ アシスト器具

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JP5273773B2 (ja) * 2008-03-31 2013-08-28 独立行政法人国立高等専門学校機構 歩行支援装置。
GB2460238B (en) * 2008-05-20 2012-06-20 Andrew Neil Salter A machine that can be used as a running or walking training aid
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
US9308112B2 (en) * 2010-06-28 2016-04-12 The Regents Of The University Of California Method and apparatus for human trunk support device
CN103534724A (zh) 2010-09-29 2014-01-22 连贯实验室公司 矫正支撑和刺激系统及方法
JP5936233B2 (ja) * 2011-03-02 2016-06-22 国立大学法人 筑波大学 歩行訓練装置及び歩行訓練システム
US9119762B2 (en) 2011-05-30 2015-09-01 Honda Motor Co., Ltd. Walking assist device, walking assist method, walking state estimating device and walking state estimating method
JP5907370B2 (ja) * 2011-11-16 2016-04-26 国立大学法人 筑波大学 歩行訓練装置
JP5876358B2 (ja) 2012-03-30 2016-03-02 国立大学法人九州大学 歩行運動補助具
CN102613975B (zh) * 2012-04-01 2013-11-13 北京工业大学 用于检测人体下肢髋关节运动信息的穿戴型外骨骼机构
US9226867B2 (en) 2013-07-09 2016-01-05 John Threlfall External structural brace apparatus
US9918892B2 (en) 2013-07-09 2018-03-20 John Threlfall External structural brace apparatus
KR102131277B1 (ko) 2013-12-30 2020-07-07 삼성전자주식회사 보행 보조 장치 및 보행 보조 장치의 제어 방법
USD786446S1 (en) * 2015-03-19 2017-05-09 Cyberdyne Inc. Wearable motion assist device
JP6449713B2 (ja) * 2015-04-23 2019-01-09 本田技研工業株式会社 動作補助装置
EP3158893B1 (en) * 2015-10-21 2021-04-28 noonee AG Seat unit for wearable sitting posture assisting device
KR102395796B1 (ko) 2015-11-06 2022-05-10 삼성전자주식회사 동력 전달 모듈 및 이를 포함하는 운동 보조 장치
JP6749395B2 (ja) * 2016-07-14 2020-09-02 ▲隆▼ 石黒 側臥位での仙腸関節運動補助器具
CN106112988B (zh) * 2016-08-18 2018-05-22 黄河科技学院 用于连接四肢外骨骼机构的人体躯干机械外骨骼装置
WO2019198267A1 (ja) * 2018-04-13 2019-10-17 本田技研工業株式会社 歩行補助装置
JP2020195751A (ja) * 2019-06-03 2020-12-10 良 朱 下肢関節緩衝装置
CN115648175B (zh) * 2022-09-10 2023-06-20 中国农业科学院果树研究所 一种辅助支撑的外骨骼

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JP2004073649A (ja) 2002-08-21 2004-03-11 Honda Motor Co Ltd 歩行補助装置の制御システム
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JP2007061217A (ja) 2005-08-29 2007-03-15 Honda Motor Co Ltd 運動誘導装置

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015107577A1 (ja) * 2014-01-15 2015-07-23 パナソニック株式会社 下肢支援装具
JPWO2015107577A1 (ja) * 2014-01-15 2017-03-23 パナソニック株式会社 下肢支援装具
WO2017122502A1 (ja) * 2016-01-15 2017-07-20 株式会社クボタ アシスト器具
JP2017124476A (ja) * 2016-01-15 2017-07-20 株式会社クボタ アシスト器具

Also Published As

Publication number Publication date
US8317732B2 (en) 2012-11-27
US20100004577A1 (en) 2010-01-07
EP2085066B1 (en) 2015-12-23
JP4271712B2 (ja) 2009-06-03
EP2085066A4 (en) 2014-04-09
JP2009095427A (ja) 2009-05-07
EP2085066A1 (en) 2009-08-05

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