WO2009050839A1 - 運動補助装置 - Google Patents

運動補助装置 Download PDF

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Publication number
WO2009050839A1
WO2009050839A1 PCT/JP2008/002236 JP2008002236W WO2009050839A1 WO 2009050839 A1 WO2009050839 A1 WO 2009050839A1 JP 2008002236 W JP2008002236 W JP 2008002236W WO 2009050839 A1 WO2009050839 A1 WO 2009050839A1
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WO
WIPO (PCT)
Prior art keywords
leg
floor
motion
assist
animal
Prior art date
Application number
PCT/JP2008/002236
Other languages
English (en)
French (fr)
Inventor
Ken Yasuhara
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 EP08838894.7A priority Critical patent/EP2184046B1/en
Priority to US12/519,251 priority patent/US8298164B2/en
Publication of WO2009050839A1 publication Critical patent/WO2009050839A1/ja

Links

Classifications

    • 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
    • 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
    • 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
    • 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
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/0009—Games or sports accessories not covered in groups A63B1/00 - A63B69/00 for handicapped persons
    • 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
    • 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

Landscapes

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

Abstract

  動物の脚体の円滑な動きを促すようにこの動物の周期的な歩行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、強化期間において補助係数の値が増やされた分だけ、胴体に対する脚体の運動を補助するために動物に与えられる補助力が強化される。「強化期間」には脚体が着床状態で伸展運動している第２期間のうち一部または全部としての第２強化期間が含まれている。これにより、着床状態の脚体の伸展運動が比較的強い力で補助されるので、着床状態の脚体が受ける床反力により胴体の前方への並進が促される。また、脚体が補助力により離床状態において伸張することの反射（伸張反射）により、この離床状態に続く離床状態における屈曲運動が促される。
PCT/JP2008/002236 2007-10-19 2008-08-19 運動補助装置 WO2009050839A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP08838894.7A EP2184046B1 (en) 2007-10-19 2008-08-19 Motion assisting device
US12/519,251 US8298164B2 (en) 2007-10-19 2008-08-19 Motion assisting device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007272018A JP4271713B2 (ja) 2007-10-19 2007-10-19 運動補助装置
JP2007-272018 2007-10-19

Publications (1)

Publication Number Publication Date
WO2009050839A1 true WO2009050839A1 (ja) 2009-04-23

Family

ID=40567130

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/002236 WO2009050839A1 (ja) 2007-10-19 2008-08-19 運動補助装置

Country Status (4)

Country Link
US (1) US8298164B2 (ja)
EP (1) EP2184046B1 (ja)
JP (1) JP4271713B2 (ja)
WO (1) WO2009050839A1 (ja)

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US20130146590A1 (en) * 2010-05-03 2013-06-13 Pinchas Einziger Spatially controlled energy delivery
CN105078703A (zh) * 2014-05-23 2015-11-25 本田技研工业株式会社 动作辅助装置
US10806966B2 (en) 2016-12-28 2020-10-20 Samsung Electronics Co., Ltd. Motion assistance apparatus

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US8052629B2 (en) 2008-02-08 2011-11-08 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
US8274244B2 (en) * 2008-08-14 2012-09-25 Tibion Corporation Actuator system and method for extending a joint
US8058823B2 (en) * 2008-08-14 2011-11-15 Tibion Corporation Actuator system with a multi-motor assembly for extending and flexing 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
US20100204620A1 (en) * 2009-02-09 2010-08-12 Smith Jonathan A Therapy and mobility assistance system
JP5456635B2 (ja) * 2010-01-11 2014-04-02 本田技研工業株式会社 歩行補助装置
KR101146112B1 (ko) * 2010-03-15 2012-05-16 한국산재의료원 전동보행보조기
JP5494218B2 (ja) * 2010-05-17 2014-05-14 トヨタ自動車株式会社 歩行支援装置の遊脚立脚判定アルゴリズムの閾値調整方法
JP5588738B2 (ja) * 2010-05-20 2014-09-10 本田技研工業株式会社 歩行運動補助装置
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JP5675021B2 (ja) * 2011-05-30 2015-02-25 本田技研工業株式会社 歩行補助装置
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JP5889367B2 (ja) * 2014-06-19 2016-03-22 本田技研工業株式会社 歩行補助装置および歩行補助プログラム
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130146590A1 (en) * 2010-05-03 2013-06-13 Pinchas Einziger Spatially controlled energy delivery
US10912163B2 (en) 2010-05-03 2021-02-02 Goji Limited Spatially controlled energy delivery
CN105078703A (zh) * 2014-05-23 2015-11-25 本田技研工业株式会社 动作辅助装置
CN105078703B (zh) * 2014-05-23 2018-01-02 本田技研工业株式会社 动作辅助装置
US10806966B2 (en) 2016-12-28 2020-10-20 Samsung Electronics Co., Ltd. Motion assistance apparatus

Also Published As

Publication number Publication date
JP2009095577A (ja) 2009-05-07
US8298164B2 (en) 2012-10-30
EP2184046A4 (en) 2011-04-13
JP4271713B2 (ja) 2009-06-03
EP2184046B1 (en) 2014-08-13
EP2184046A1 (en) 2010-05-12
US20100049102A1 (en) 2010-02-25

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