WO2021084628A1 - 歩行補助装置用フレーム、歩行補助装置及び歩行補助装置付きシューズ - Google Patents

歩行補助装置用フレーム、歩行補助装置及び歩行補助装置付きシューズ Download PDF

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Publication number
WO2021084628A1
WO2021084628A1 PCT/JP2019/042429 JP2019042429W WO2021084628A1 WO 2021084628 A1 WO2021084628 A1 WO 2021084628A1 JP 2019042429 W JP2019042429 W JP 2019042429W WO 2021084628 A1 WO2021084628 A1 WO 2021084628A1
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WO
WIPO (PCT)
Prior art keywords
assist device
walking assist
shoe
frame
plate portion
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2019/042429
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English (en)
French (fr)
Japanese (ja)
Inventor
将 市川
翔 高増
瑞穂 入江
慧 兼松
圭太 小澤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Asics Corp
Original Assignee
Asics Corp
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 Asics Corp filed Critical Asics Corp
Priority to PCT/JP2019/042429 priority Critical patent/WO2021084628A1/ja
Priority to JP2021553940A priority patent/JP7295263B2/ja
Publication of WO2021084628A1 publication Critical patent/WO2021084628A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about

Definitions

  • the present invention relates to a frame for a walking assist device that assists the wearer's walking motion, a walking assist device, and shoes with a walking assist device.
  • the present invention is a walking assist device frame and walking assist capable of sufficiently transmitting the torque generated by the driving force transmitted from the driving source to the sole of the wearer's foot and effectively assisting the walking motion.
  • the device and shoes with walking assist device are a walking assist device frame and walking assist capable of sufficiently transmitting the torque generated by the driving force transmitted from the driving source to the sole of the wearer's foot and effectively assisting the walking motion.
  • Patent Document 1 a device such as an ankle foot orthosis that passively assists the wearer's walking motion (supports the weight of the user) is known (see, for example, Patent Document 1).
  • Patent Document 2 proposes a walking assist device that actively assists the wearer's walking motion as described above.
  • the walking assist device described in Patent Document 2 is a walking assist device that is attached to the user's leg to assist the user's walking, and includes a leg orthosis arranged along the user's leg and a user's foot orthosis.
  • the walking assist device is equipped with a sole brace that is fixed to the sole of the foot and an ankle joint that swingably connects the lower end of the leg brace and the sole brace around the pitch axis of the user's ankle.
  • the walking assist device is characterized in that the attachment angle of the ankle joint and the sole orthosis is adjustablely connected around the yaw axis of the user's ankle when worn by the user. According to the walking assist device described in Patent Document 2, it is possible to actively assist the walking motion of the wearer (user).
  • the base plate is sandwiched between the upper sole and the lower sole in parallel with the upper sole and the lower sole (Patent Document 2).
  • Figure 2 If the upper sole and the lower sole described in Patent Document 2 are used as the midsole of a shoe having an upper, when the base plate is placed on the bottom surface of the shoe (the shoe is placed on a horizontal surface (ground, etc.)), the sole is used. It will be arranged parallel to the plane parallel to the horizontal plane). Further, in the walking assist device described in Patent Document 2, the connection point (swing member) with the drive source to which the driving force is transmitted to the base plate is in the front-rear direction of the sole (upper sole and lower sole).
  • An object of the present invention is to provide a frame for a walking assist device, a walking assist device, and shoes with a walking assist device that can be assisted.
  • the present invention is for a walking assist device that is connected to a drive source and rotates in the front-rear direction around the vicinity of the ankle of the shoe wearer by the driving force transmitted from the drive source.
  • a plate portion attached to the shoe which is a frame and is inclined so that the front side thereof is located below the rear side with respect to the bottom surface of the shoe at a position below the bottom surface of the upper of the shoe.
  • a frame for a walking assist device characterized in that a connection point with the drive source to which a driving force is transmitted to the frame for the walking assist device is located on the front side of the rotation center.
  • the front side of the plate portion means the side corresponding to the front side of the shoe to which the plate portion is attached (the front side of the foot of the shoe wearer (distal phalanx side)), and the plate portion.
  • the posterior side means the side corresponding to the posterior side of the shoe (the posterior side (calcaneal side) of the shoe wearer's foot).
  • the bottom surface of the shoe means a surface parallel to the horizontal surface when the shoe is placed on a horizontal surface (ground, etc.).
  • the torque for rotating the walking assist device frame around the rotation center near the ankle of the shoe wearer by the driving force transmitted from the drive source to the connection point. (Moment) is generated.
  • the normal direction of the plate portion may be brought close to the tangential direction of the circle centered on the rotation center of the walking assist device frame. Theoretically, it is most efficient when the normal direction of the plate portion coincides with the tangential direction of the circle.
  • the plate portion is inclined so that the front portion thereof is located below the rear surface of the shoe bottom surface, so that the plate portion is parallel to the bottom surface of the shoe. Compared to the case where, the normal direction of the plate portion is closer to the tangential direction of the circle centered on the rotation center of the walking assist device frame. Therefore, the generated torque is efficiently transmitted to the plate portion.
  • the connection point with the drive source to which the driving force is transmitted to the walking assist device frame is located on the front side of the rotation center, so that the shoe is in the front-rear direction. The distance from the rotation center to the connection point is longer than when the connection point and the rotation center are at substantially the same position. Therefore, the torque generated by the driving force to rotate the frame for the walking assist device increases as the distance increases.
  • the torque generated by the driving force transmitted from the drive source is efficiently transmitted to the walking assist device frame, and is sufficiently transmitted to the sole of the wearer's foot. introduce. Therefore, it is possible to effectively assist the walking motion.
  • the plate portion since the plate portion is attached to the shoe, the plate portion is placed on the bottom surface of the upper of the shoe (the plate portion is simply inserted into the upper). The position of the plate portion is stabilized, and it is possible to reliably assist the wearer's walking motion as compared with the case where the plate portion is used.
  • the plate portion is mounted in the midsole of the shoe.
  • At least a bottom surface of the upper and a part of the midsole are interposed between the plate portion and the sole of the wearer's foot, and the plate portion is placed on the bottom surface of the upper of the shoe. It has the advantage that the wearer's foot contact is improved as compared with the case where the wearer is wearing the foot.
  • the plate portion is attached between the bottom surface of the upper and the upper surface of the midsole of the shoe.
  • At least the bottom surface of the upper is interposed between the plate portion and the sole of the wearer's foot, as compared with the case where the plate portion is placed on the bottom surface of the upper of the shoe. , Has the advantage of improving the foot contact of the wearer.
  • the plate portion is attached between the bottom surface of the midsole of the shoe and the top surface of the outsole of the shoe.
  • At least the bottom surface of the upper and the midsole are interposed between the plate portion and the sole of the wearer's foot, and the plate portion is placed on the bottom surface of the upper of the shoe. It has the advantage that the wearer's foot contact is improved as compared with the above.
  • the range in the front-rear direction of the plate portion includes a range substantially corresponding to the midfoot portion of the shoe.
  • the plate portion having a size including a range substantially corresponding to the midfoot portion of the shoe. Further, if the range in the front-rear direction of the plate portion is substantially made to correspond to the midfoot portion of the shoe, the plate portion does not extend to the position corresponding to the MP joint of the wearer's foot, which may hinder the flexibility of the shoe. Absent.
  • the plate portion has a substantially trapezoidal shape in which the width on the front side is larger than the width on the rear side.
  • the width of the front side of the plate portion (dimension in the direction orthogonal to the front-back direction) is larger than the width of the rear side, so that the plate extends to the bottom of the ball of the foot of the shoe wearer.
  • the portion is easily positioned, and it is possible to more effectively assist the wearer's walking motion.
  • the present invention is also provided as a walking assisting device comprising the frame for the walking assisting device according to any one of the above and the driving source.
  • the present invention is also provided as a shoe with a walking assist device, which comprises the walking assist device and the shoes.
  • the present invention it is possible to sufficiently transmit the torque generated by the driving force transmitted from the driving source to the sole of the wearer's foot and effectively assist the walking motion.
  • FIG. 1 It is a perspective view which shows the schematic structure of the shoe with a walking assist device which concerns on one Embodiment of this invention. It is a figure which shows the schematic structure of the frame for the walking assist device and the midsole provided in the shoe with the walking assist device shown in FIG. 1. It is a side view explaining the action effect of the frame for a walking assist device shown in FIG. It is a top view which shows the positional relationship between a shoe and a foot bone.
  • FIG. 4 is a plan view showing the positional relationship between the shoes and the bones of the foot.
  • the “midfoot” is a portion that generally corresponds to the cuneiform bone, the scaphoid bone, and the cuboid bone (the midsole 4 provided by the shoe 20 is located under the cuneiform bone, the cuboid bone at the time of wearing). Means. Assuming that the total length of the shoe 20 is 100%, a region of approximately 30 to 60% from the rear end of the shoe 20 corresponds to the midfoot portion.
  • the "forefoot portion” means a portion that generally corresponds to the phalanges, MP joints, and metatarsal bones (the midsole 4 provided by the shoe 20 is located below these bones when worn). Assuming that the total length of the shoe 20 is 100%, a region of approximately 60 to 100% from the rear end of the shoe 20 corresponds to the forefoot portion. Further, the “hindfoot portion” means a portion substantially corresponding to the talus and the calcaneus (the midsole 4 provided by the shoe 20 is located under the talus and the calcaneus when worn). Assuming that the total length of the shoe 20 is 100%, a region of approximately 0 to 30% from the rear end of the shoe 20 corresponds to the hind foot portion.
  • FIG. 1 is a perspective view showing a schematic configuration of a shoe with a walking assist device according to an embodiment of the present invention.
  • FIG. 2 is a diagram showing a schematic configuration of a walking assist device frame and a midsole included in the shoes with a walking assist device shown in FIG.
  • FIG. 2A shows a plan view of the frame for the walking assist device.
  • FIG. 2B shows a partial side view of the midsole seen from the direction of the arrow A shown in FIG. 1 (viewed from the outer foot side).
  • FIG. 2C shows a partial plan view of the lower midsole constituting the midsole.
  • the frame for the walking assist device is not shown.
  • the "outer foot side" means the little finger side of the foot of the wearer of the shoe.
  • the “inner foot side” means the big toe side of the foot of the wearer of the shoe.
  • the left foot is shown in FIGS. 1 and 2, the right foot has a line-symmetrical structure with that of the left foot, so the illustration is omitted.
  • the shoe 100 with a walking assist device includes a walking assist device 10 and shoes 20.
  • the shoe 20 includes a sock-shaped upper 3 in which only the outer edge is shown for simplification, a midsole 4, and an outsole 5 with dot-shaped hatching.
  • the walking assist device 10 includes a drive source and a walking assist device frame 2.
  • the drive source of the present embodiment includes a cover member 1a and links 1b and 1c.
  • the cover member 1a of the present embodiment is made of resin except for the vicinity of the lower end portion connected to the shaft 11d. Further, the vicinity of the lower end portion of the link 1b, 1c and the cover member 1a is made of a metal such as aluminum.
  • the cover member 1a is located on the front side of the upper 3, and a motor (not shown), a battery for driving the motor (not shown), and the like are built in the cover member 1a.
  • the rotation of the motor built into the cover member 1a causes the shaft 11a connected to one end of the link 1b to rotate.
  • the cover member 1a is connected to the upper part of the upper 3 by a belt (not shown) or the like, and is fixed to the upper 3 so as not to be displaced.
  • One end of the link 1b is fixedly connected to the shaft 11a, and when the shaft 11a rotates, the link 1b rotates around the shaft 11a integrally with the shaft 11a.
  • the other end of the link 1b is rotatably connected to the shaft 11b, and one end of the link 1c is rotatably connected to the same shaft 11b.
  • the other end of the link 1c is rotatably connected to the shaft 11c, and the lower end of the arm portion 2a (hatched portion of the diagonal line in FIG. 1) of the walking assist device frame 2 is rotatably connected to the same shaft 11c. It is connected to the.
  • the lower end of the cover member 1a is rotatably connected to the shaft 11d, and the upper end of the arm 2a of the walking assist device frame 2 is rotatably connected to the same shaft 11d.
  • the cover member 1a, the link 1b, 1c and the arm portion 2a described above constitute a so-called four-bar link mechanism.
  • the drive source of the present embodiment includes the cover members 1a, the links 1b, and 1c in which the motor and the like are built, and constitutes a part of the above-mentioned four-section link mechanism.
  • the rotation of the motor included in the drive source of the present embodiment causes the link 1b to rotate via the shaft 11a, so that the four-section link mechanism operates.
  • the driving force of the drive source (rotational force of the motor) is transmitted to the arm portion 2a via the shaft 11c (with the shaft 11c as the connection point), whereby the arm portion 2a moves in the front-rear direction with the shaft 11d as the rotation center. It will rotate.
  • the walking assist device frame 2 includes an arm portion 2a and a plate portion 2b integrally formed with the arm portion 2a.
  • the walking assist device frame 2 is entirely made of metal such as aluminum.
  • the plate portion 2b of the present embodiment has a substantially flat shape, and the portion shown in white in FIG. 2A is open.
  • the shaft 11d which is the rotation center of the walking assist device frame 2 (the rotation center of the arm portion 2a and the plate portion 2b), is provided near the ankle of the wearer of the shoe 20.
  • a region of approximately 15 to 30% from the rear end of the shoe 20 corresponds to the vicinity of the wearer's ankle in the front-rear direction of the shoe 20.
  • the plate portion 2b is attached to the shoe 20 at a position below the bottom surface 3a (see FIG. 1) of the upper 3 of the shoe 20.
  • the plate portion 2b is mounted in the midsole 4 of the shoe 20.
  • the arm portion 2a is located on the outside (outer foot side) of the midsole 4 and the upper 3.
  • the midsole 4 is composed of an upper midsole 4a and a lower midsole 4b.
  • the upper surface of the lower midsole 4b has a recess 41 having a planar shape and a depth corresponding to the planar shape and thickness of the plate portion 2b (diagonal lines in FIG. 2C). The hatched part) is formed.
  • the plate portion 2b is fitted on the recess 41 of the lower midsole 4b.
  • the upper midsole 4a is arranged on the upper midsole 4a, and the upper surface of the lower midsole 4b excluding the recess 41 and the lower surface of the upper midsole 4a are adhered to each other, so that the plate portion 2b is mounted in the midsole 4. Since an opening 42 having a shape corresponding to the recess 41 is formed on the side surface of the midsole 4 on the outer foot side, the plate portion 2b integrally formed with the arm portion 2a is attached to the midsole 4. There is no problem at the time.
  • the plate portion 2b is mounted in the midsole 4 of the shoe 20, at least the bottom surface 3a and the upper mid of the upper 3 are between the plate portion 2b and the sole of the wearer.
  • the sole 4a is interposed, and the wearer's foot contact is more comfortable than when the plate portion 2b is placed on the bottom surface 3a of the upper 3 (the plate portion 2b is inserted into the upper 3). Get better.
  • the range in the front-rear direction of the plate portion 2b of the present embodiment substantially corresponds to the midfoot portion of the shoe 20.
  • the walking motion of the wearer can be assisted more effectively by the plate portion 2b having a size substantially corresponding to the midfoot portion of the shoe 20.
  • the plate portion 2b does not extend to the position corresponding to the MP joint (see FIG. 4) of the wearer's foot, the flexibility of the shoe 20 is not hindered.
  • the plate portion 2b of the present embodiment has a substantially trapezoidal shape in which the width on the front side is larger than the width on the rear side. As a result, the plate portion 2b can be easily positioned under the ball of the big toe of the wearer of the shoe 20, and the walking motion of the wearer can be assisted more effectively.
  • the plate portion 2b is inclined so that the front side thereof is located below the rear side with respect to the bottom surface of the shoes 20, and the shoes 20 (the shoes 20 in the present embodiment). It is characteristic that it is attached to the midsole 4). Further, as shown in FIG. 1, the connection point (axis 11c) with the drive source to which the driving force is transmitted to the walking assist device frame 2 of the present embodiment is the rotation center (axis) of the walking assist device frame 2. It is also characteristic that it is located in front of 11d).
  • FIG. 3 is a side view illustrating the operation and effect of the walking assist device frame 2 of the present embodiment.
  • the illustration of the midsole 4 (see FIG. 1) is omitted.
  • the broken line 20a is a straight line parallel to the bottom surface of the shoe 20 (see FIG. 1).
  • the angle ⁇ acts on the vertical line drawn from the rotation center (axis 11d) of the walking assist device frame 2 to the bottom surface (broken line 20a) of the shoes 20 and on the sole of the wearer on the plate portion 2b.
  • the point of action 21 (actually, the entire plane of the plate portion 2b is the point of action, but in FIG.
  • the walking assist device 10 assists the wearer's dorsiflexion motion.
  • the plate portion 2b is attached to the bottom surface (broken line 20a) of the shoe 20 at an inclination angle ⁇ f so that the front side thereof is located below the rear side.
  • the connection point (axis 11c) with the drive source to which the driving force is transmitted to the walking assist device frame 2 is located on the front side of the rotation center (axis 11d) of the walking assist device frame 2.
  • a circle (axis 11d) centered on the rotation center (axis 11d) of the walking assist device frame 2 in the normal direction of the plate portion 2b It may be close to the tangential direction (direction of the force F1 shown in FIG. 3) at the point of action 21 (a circle whose radius is a line segment connecting the axis 11d and the point of action 21). Theoretically, it is most efficient when the normal direction of the plate portion 2b coincides with the tangential direction of the circle.
  • a force F1 force in the tangential direction
  • F force in the normal direction of the plate portion 2b
  • the above force F1 is geometrically represented by the following equation (1).
  • F1 F ⁇ sin ( ⁇ + ⁇ f) ⁇ ⁇ ⁇ (1)
  • the angle ⁇ is about 45 °
  • ⁇ f sin ( ⁇ + ⁇ f) ⁇ 1
  • the right side of the equation (1) becomes equivalent to F, which is the most efficient. Is the target.
  • a realistically preferable range is 5 ° ⁇ ⁇ f ⁇ 15 °.
  • ⁇ f 7 ° is set.
  • connection point (axis 11c) with the drive source to which the driving force is transmitted to the walking assist device frame 2 is located in front of the rotation center (axis 11d) of the walking assist device frame 2, the shoes The distance from the rotation center (axis 11d) to the connection point (11c) is longer than in the case where the connection point (axis 11c) and the rotation center (axis 11d) are at substantially the same position in the front-rear direction of 20. Become. Therefore, the torque T generated by the driving force F'to rotate the walking assist device frame 2 increases as the distance increases.
  • the torque T generated by the driving force F'transmitted from the drive source is efficiently transmitted to the walking assist device frame 2, and the wearer. It is fully transmitted to the sole of the foot. Therefore, it is possible to effectively assist the walking motion.
  • FIG. 3 a case where the dorsiflexion motion of the wearer is assisted by the walking assist device 10 has been described as an example, but the same applies to the case where the plantar flexion motion of the wearer is assisted.
  • the case where the plate portion 2b is attached to the midsole 4 of the shoe 20 has been described as an example, but the present invention is not limited to this, and the upper 3 of the shoe 20 is described. It suffices if it is attached at a position below the bottom surface 3a. For example, it is conceivable to attach the plate portion 2b between the bottom surface 3a of the upper 3 and the upper surface of the midsole 4 of the shoe 20. It is also conceivable to attach the plate portion 2b between the bottom surface of the midsole 4 of the shoe 20 and the upper surface of the outsole 5 of the shoe 20.
  • the drive source constitutes a part of the four-section link mechanism
  • the present invention is not limited to this.
  • Various configurations can be adopted as long as it is a drive source capable of applying a driving force for rotating the walking assist device frame 2 in the front-rear direction around the vicinity of the ankle of the wearer of the shoes 20.
  • the present invention is not limited to this, and the flexibility of the shoe is not limited to this. It is also possible to adopt a plate portion over a wider range as long as it does not interfere with the above. For example, it is also possible to adopt a plate portion in which the range of the plate portion in the front-rear direction substantially corresponds to the midfoot portion to the hindfoot portion of the shoe 20.
  • the plate portion 2b has a substantially flat shape
  • the present invention is not limited to this.
  • the inclination angle ⁇ f of the plate portion in this case is the angle formed by the front-back tangential direction at each point on the surface of the plate portion and the bottom surface of the shoe 20
  • the inclination angle ⁇ f at any point is 5 ° ⁇ ⁇ f ⁇ 15 °. Is preferable.
  • the plate portion has a shape curved downward so that the inclination angle ⁇ f becomes smaller toward a point located on the front side of the plate portion.
  • the case where the arm portion 2a of the walking assist device frame 2 is located on the outside (outer leg side) of the midsole 4 and the upper 3 has been described as an example, but the present invention has been described. It is not limited to this.
  • the plate portion 2b is attached between the bottom surface 3a of the upper 3 and the upper surface of the midsole 4 of the shoe 20, an opening is provided in a part of the bottom surface 3a of the upper 3, and an arm is provided in the opening. It is also possible to insert the portion 2a and arrange the arm portion 2a and the drive source connected to the arm portion 2a inside the upper 3.

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  • 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)
  • Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
PCT/JP2019/042429 2019-10-29 2019-10-29 歩行補助装置用フレーム、歩行補助装置及び歩行補助装置付きシューズ Ceased WO2021084628A1 (ja)

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PCT/JP2019/042429 WO2021084628A1 (ja) 2019-10-29 2019-10-29 歩行補助装置用フレーム、歩行補助装置及び歩行補助装置付きシューズ
JP2021553940A JP7295263B2 (ja) 2019-10-29 2019-10-29 歩行補助装置用フレーム、歩行補助装置及び歩行補助装置付きシューズ

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PCT/JP2019/042429 WO2021084628A1 (ja) 2019-10-29 2019-10-29 歩行補助装置用フレーム、歩行補助装置及び歩行補助装置付きシューズ

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005000500A (ja) * 2003-06-13 2005-01-06 Yaskawa Electric Corp 足関節電動装具
US20070038169A1 (en) * 2003-09-22 2007-02-15 Dankmeyer, Inc. Lower leg orthosis
US20090018478A1 (en) * 2007-07-11 2009-01-15 Dayhoff William A Toe lift strap
JP2010125030A (ja) * 2008-11-27 2010-06-10 Toyota Motor Corp 歩行補助装置

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000350754A (ja) * 1999-06-11 2000-12-19 Vanguard Co Ltd 歩行補助具
JP2001037826A (ja) * 1999-08-03 2001-02-13 Sasu Planning:Kk 短下肢装具付き靴
JP2013094322A (ja) * 2011-10-31 2013-05-20 Toyota Motor Corp 歩行補助システム
GB2527282B (en) * 2014-06-10 2017-11-15 The Diabetic Boot Company Ltd Support device
CN105816298A (zh) * 2016-05-23 2016-08-03 成都奥特为科技有限公司 一种穿戴式脚踝保护及足部助力装置
WO2019044980A1 (ja) * 2017-08-30 2019-03-07 国立大学法人東京大学 歩行支援装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005000500A (ja) * 2003-06-13 2005-01-06 Yaskawa Electric Corp 足関節電動装具
US20070038169A1 (en) * 2003-09-22 2007-02-15 Dankmeyer, Inc. Lower leg orthosis
US20090018478A1 (en) * 2007-07-11 2009-01-15 Dayhoff William A Toe lift strap
JP2010125030A (ja) * 2008-11-27 2010-06-10 Toyota Motor Corp 歩行補助装置

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