JP2000107213A - Auxiliary joint using ultrasonic motor - Google Patents
Auxiliary joint using ultrasonic motorInfo
- Publication number
- JP2000107213A JP2000107213A JP10321240A JP32124098A JP2000107213A JP 2000107213 A JP2000107213 A JP 2000107213A JP 10321240 A JP10321240 A JP 10321240A JP 32124098 A JP32124098 A JP 32124098A JP 2000107213 A JP2000107213 A JP 2000107213A
- Authority
- JP
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- Prior art keywords
- joint
- ultrasonic motor
- movement
- detecting means
- force
- Prior art date
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- Pending
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F5/0123—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the knees
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- Health & Medical Sciences (AREA)
- Nursing (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、超音波モータを用いた
関節補助器、詳しくは進行波型超音波モータの技術を用
いた駆動手段の力を利用し、人間関節の動きを補助する
ことのできる、超音波モータを用いた関節補助器に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a joint assisting device using an ultrasonic motor, and more particularly, to assisting the movement of a human joint by using the power of a driving means using the technology of a traveling wave ultrasonic motor. The present invention relates to a joint assist device using an ultrasonic motor.
【０００２】[0002]
【従来の技術】一般に、関節炎や神経症などの病症や、
事故などによる損傷、筋肉、関節の衰えが要因で歩行が
困難となっている者は、幾つかの道具に頼らなければな
らない。これらの多くは、杖（ステッキ）や歩行器、装
具、車椅子などに代表される補装具である。2. Description of the Related Art Generally, diseases such as arthritis and neurosis,
People who have difficulty walking due to injury, muscular or joint weakness due to accidents, etc. must rely on several tools. Many of these are assistive devices represented by canes (sticks), walkers, orthotics, wheelchairs, and the like.
【０００３】杖や歩行器は、使用者が片手ないしは両手
で掴み、その体重を分散させてやることで自由の利かな
い脚部への負担を軽減するものである。また装具は関節
部に固定することで装着者の動きを補正するものであっ
て、補助力を与えるものではない。従って、関節を自由
に動かすことのできない者は、他の関節部、体の一部あ
るいは体全体を動かすことで、装具を装着している関節
を動かして、任意の行動を行うものである。車椅子は、
車輪を使用しており、この車輪に任意の回転力を与える
ことで使用者を行動させるものである。[0003] A cane or a walker is intended to reduce the burden on an inflexible leg by holding the user with one or both hands and dispersing the weight. In addition, the orthosis corrects the movement of the wearer by being fixed to the joint, and does not provide an assisting force. Therefore, a person who cannot freely move a joint performs an arbitrary action by moving another joint, a part of the body, or the whole body, thereby moving the joint wearing the orthosis. The wheelchair is
A wheel is used, and the user is caused to act by giving an arbitrary rotational force to the wheel.
【０００４】[0004]
【考案が解決しようとする課題】杖、歩行器は簡便で、
使用の際には特別な知識を要せず、万人が使用できるこ
とがその特徴である。また車椅子は車輪を利用して行動
するため、平地の移動を容易に、少ない労力で行うこと
が可能である。しかしながら、このような従来方法にあ
っては、以下のような課題を有している。[Problem to be solved by the invention] The walking stick and walker are simple,
The feature is that it does not require special knowledge and can be used by everyone. In addition, since a wheelchair uses wheels to move, it can be easily moved on level ground with a small amount of labor. However, such a conventional method has the following problems.
【０００５】杖、歩行器などを使用する場合は、片手あ
るいは両手でこの杖を握り、自らの身体を支えるため、
必然的に手の自由度は失われる。また、体重の多くを杖
に分散して移動を行うため、移動速度は遅く、また地面
の状態が劣悪であれば転倒を招きかねない。また、車椅
子は車輪を利用して行動するため、平地の移動は簡便で
あるが、基本的に高低差の存在する地域での行動は非常
に難しくなる。また移動時は片手あるいは両手を使用す
るため、移動しながら手を使用するような、労働を行う
には不向きであった。[0005] When using a walking stick, a walking device, or the like, hold the walking stick with one or both hands to support one's own body.
Inevitably the freedom of the hand is lost. In addition, since a large amount of weight is dispersed on the walking stick and moved, the moving speed is slow, and if the ground condition is poor, the fall may occur. In addition, since a wheelchair uses wheels to move, it is easy to move on level ground, but basically it is very difficult to move in an area where there is a height difference. Also, since one hand or both hands are used at the time of movement, it is not suitable for labor such as using hands while moving.
【０００６】特に、段差あるいは階段では杖による身体
重量の分散は難しく、このような場所での使用は苦手と
する部分である。このような場所での使用は、杖に限ら
ず車椅子もまた苦手とする。また、スポーツ等の、特殊
な運動を行わせることはたいていの場合困難であり、こ
の面でも使用者は制限を受けることになる。In particular, it is difficult to disperse the body weight using a walking stick on a step or a stair, and it is a part that is difficult to use in such a place. Use in such places is not good for wheelchairs as well as for canes. In addition, it is usually difficult to perform a special exercise such as sports, and the user is also restricted in this respect.
【０００７】一般に社会環境において、補装具を使用す
る際に使用者が感じる負担は、身体的な要因だけではな
く、心理的な面でも発生する。周囲の人間が通常生活に
おいて使用しないこのような道具は、非常に目立ち、ま
た好奇の目に晒されがちなものである。このような好奇
の目に晒されることは、時に身体的負担以上に、使用者
に重くのしかかるため、精神状態に非常に大きな影響を
及ぼしかねない。[0007] In general, in a social environment, a burden felt by a user when using a prosthetic device occurs not only in physical factors but also in psychological aspects. Such tools that the surrounding humans do not use in normal life are very prominent and prone to curious eyes. Exposure to such curiosity can have a very significant effect on the mental state, as it is sometimes heavier than the physical burden on the user.
【０００８】また、リハビリテーションにおいては、寝
たきり老人などは、介護人が関節を強制的に繰り返し動
かし、筋肉が硬直するのを予防している。これは主に看
護に関わる者が、労力をさいて行うのが一般的である。
この方式では一人に対して看護に関わる者一人ないしは
数人が行うため、同時期に多数のリハビリテーションを
必要とする者に対し同様の補助を行うのは困難である。
また、介護に関わるものの肉体的疲労度も非常に高く、
このような問題からも、同時に多数を補助するのは難し
い。杖などに代表される補助器は、自身の行動、体力を
利用するものが多いため、このような用途に対し使用す
ることはできない。[0008] In rehabilitation, a bedridden elderly person or the like prevents a caregiver from forcibly and repeatedly moving a joint to prevent the muscle from becoming rigid. This is generally done by the person who is mainly involved in nursing with effort.
In this method, one or several persons involved in nursing care for one person, so it is difficult to provide similar assistance to those who need many rehabilitations at the same time.
In addition, the degree of physical fatigue of those involved in nursing is very high,
Given these problems, it is difficult to assist many at the same time. Auxiliary devices represented by canes and the like often use their own behavior and physical strength, and cannot be used for such purposes.
【０００９】このように、従来の発明では上記に示した
ような問題が発生し、またこの問題の存在はより広範囲
の分野で活動を行う際の障害となる。よって本発明は上
記問題点を解消し、小型で軽く、装着が容易で目立た
ず、かつ必要十分な駆動力を有している超音波モータを
用いた関節補助器を提供することをその課題とする。As described above, in the conventional invention, the above-described problem occurs, and the existence of this problem is an obstacle to performing activities in a wider field. Therefore, an object of the present invention is to solve the above problems and to provide a joint assist device using an ultrasonic motor having a small size, light weight, easy to attach, inconspicuous, and having a necessary and sufficient driving force. I do.
【００１０】[0010]
【課題を解決するための手段】前記問題を解決するた
め、本発明に関わる超音波モータを用いた関節補助器
は、小型で軽く、高出力を有する超音波モータをその駆
動手段として有し、装着者が行おうとする動作の検出手
段を有するとともに、以下のような要件を特徴としてい
る。 イ）多大な出力を有していること ロ）軽量で、装着者に多大な負担を負わせないこと ハ）安全性が高いこと ニ）コンパクトで、存在が目立たないこと ホ）静粛性に優れていること ヘ）検出手段からの情報を元に、装着者の意志を反映し
て動作することIn order to solve the above-mentioned problems, a joint assist device using an ultrasonic motor according to the present invention has a small, light, and high-output ultrasonic motor as its driving means, It has means for detecting the action the wearer intends to perform, and is characterized by the following requirements. B) It has a large output. B) It is lightweight and does not impose a great burden on the wearer. C) It is safe. D) It is compact and inconspicuous. E) It is quiet. F) Operate based on information from the detection means and reflect the will of the wearer
【００１１】[0011]
【作用】超音波モータを用いた関節補助器において、関
節の可動中心に駆動手段として超音波モータの回転中心
を配置し、駆動力を発生する。また、装着者の関節の動
きを感知する、センサーに代表される検出手段を配置
し、任意の動作を検知して適切な駆動力、駆動速度を駆
動手段に発生させる。このことによって、任意の行動が
困難なもの、もしくは関節の可動状態が正確ではない者
の行動を補正することができる。In a joint assisting device using an ultrasonic motor, a rotational center of the ultrasonic motor is arranged as a driving means at a movable center of a joint to generate a driving force. In addition, a detection unit typified by a sensor for detecting the movement of the joint of the wearer is arranged, and an arbitrary operation is detected to generate an appropriate driving force and driving speed in the driving unit. As a result, it is possible to correct the behavior of a person whose arbitrary behavior is difficult or whose movable state of the joint is not accurate.
【００１２】また超音波モータを用いることで、小型で
軽く目立たなくすることができ、また静粛性に優れてい
る特性から、周囲にその使用を知られにくい。これによ
り、周囲の好奇の目に晒されると言う、精神的な負担を
軽減することができる。Further, by using an ultrasonic motor, it can be made small and light and inconspicuous, and it is hard to be known to the surroundings because of its excellent quietness. As a result, it is possible to reduce the mental burden of being exposed to the surrounding curious eyes.
【００１３】また、移動に利用しなくても、疾患、障
害、衰弱、老化などが原因でほとんど動かせない関節に
直接装着し、繰り返し運動させることで関節部、その周
囲の筋肉の硬化を防ぐことが可能である。このときの関
節部は下肢部に限らず、全身の関節がその対象となる。[0013] The present invention is also intended to prevent the hardening of the joint and its surrounding muscles by directly attaching it to a joint which cannot be moved due to a disease, disorder, weakness, aging, etc. even if it is not used for movement, and repeatedly exercising. Is possible. At this time, the joints are not limited to the lower limbs, but include the joints of the whole body.
【００１４】[0014]
【実施例】図１は超音波モータを用いた補助器を示し、
符号１は動力を発生する超音波モータを納めているケー
スを示している。このケースの中心からはモータの回転
力を伝える出力軸２（以下、シャフトという）が配置さ
れ、この先端には装着者に動力を伝達することを目的と
した保持具３が固定される。４は回転移動をスムーズに
行う回転ヒンジである。また、回転ヒンジ４は、動力を
発生する超音波モータを納めたケース１で代用すること
が可能である。これにより、動力を発生する超音波モー
タを納めたケース１の個数は２となり、より大きな駆動
力を必要とする場合に有用である。５は該モータを納め
たケース１に配置された、装着者への接続手段であり、
この先端にはより確実に、負担なく固定することを目的
とした保持具６が配置される。FIG. 1 shows an auxiliary device using an ultrasonic motor.
Reference numeral 1 indicates a case in which an ultrasonic motor for generating power is housed. An output shaft 2 (hereinafter, referred to as a shaft) for transmitting the rotational force of the motor is provided from the center of the case, and a holder 3 for transmitting power to the wearer is fixed to a distal end of the output shaft 2. Reference numeral 4 denotes a rotating hinge for smoothly performing a rotating movement. The rotating hinge 4 can be replaced by the case 1 in which an ultrasonic motor for generating power is accommodated. Thus, the number of the cases 1 containing the ultrasonic motors for generating power is two, which is useful when a larger driving force is required. 5 is a connecting means for the wearer, which is arranged in the case 1 containing the motor.
At this tip, a holding tool 6 intended to fix more securely and without burden is arranged.
【００１５】図２超音波モータを用いた補助器を人体の
関節１１に装着した場合を示す。このように、装着者が
本発明を人体の関節１１に装着していれば、取り出すこ
とができた動力を用いて、任意の関節をある方向に動か
す補助が可能となる。このとき、装着者の意志を検出す
ることを目的とした、力センサーなどに代表される検出
手段１２を組み合わせることで、装着者の意志を反映し
て、任意の方向に、任意の速度、任意の補助力を発生し
て駆動することが可能となる。FIG. 2 shows a case where an auxiliary device using an ultrasonic motor is mounted on a joint 11 of a human body. As described above, if the wearer wears the present invention on the joint 11 of the human body, it is possible to assist the user to move any joint in a certain direction by using the power that can be taken out. At this time, by combining the detecting means 12 typified by a force sensor or the like for the purpose of detecting the wearer's will, in any direction, any speed, any speed, It is possible to generate the auxiliary force and drive.
【００１６】図３は超音波モータを用いた関節補助器
に、装着者の意志を検出することを目的とした検出手段
を、超音波モータの出力軸上に設置した状態を示してい
る。１２は力センサーに代表される検出手段本体を、１
３は検出手段から来た指令を処理することを目的とした
制御ユニットを、１４はバッテリーに代表される動力源
を示している。FIG. 3 shows a state in which a detecting means for detecting the intention of the wearer is installed on the output shaft of the ultrasonic motor in the joint assist device using the ultrasonic motor. Reference numeral 12 denotes a detection unit main body represented by a force sensor,
Reference numeral 3 denotes a control unit for processing a command from the detection means, and reference numeral 14 denotes a power source represented by a battery.
【００１７】図４は超音波モータを用いた関節補助器
に、装着者の意志を検出することを目的とした検出手段
を保持具に設置した状態を示している。１２は力センサ
ーに代表される検出手段本体を、１３は検出手段から来
た指令を処理することを目的とした制御ユニットを、１
４はバッテリーに代表される動力源を示している。FIG. 4 shows a state in which a detecting means for detecting a wearer's will is installed on a holder in a joint assist device using an ultrasonic motor. Reference numeral 12 denotes a detection unit main body represented by a force sensor, 13 denotes a control unit for processing a command coming from the detection unit, and 1
Reference numeral 4 denotes a power source represented by a battery.
【００１８】超音波モータは超音波領域に相当する２相
の交流電流を印加する事で駆動される。このとき、この
２相の交流電流を変化させることで、任意の方向、速
度、駆動力を得ることが可能である。従って制御ユニッ
トに関しては、情報端末機器などに代表される計算機を
利用し、専用のプログラムに従った交流電流を随時印加
する事で超音波モータの駆動状態を制御できる。この結
果、目的とする、任意の方向に、任意の速度、任意の補
助力を発生することが可能である。The ultrasonic motor is driven by applying a two-phase alternating current corresponding to an ultrasonic region. At this time, an arbitrary direction, speed, and driving force can be obtained by changing the two-phase alternating current. Therefore, regarding the control unit, the driving state of the ultrasonic motor can be controlled by using a computer represented by an information terminal device and applying an alternating current according to a dedicated program as needed. As a result, it is possible to generate a desired speed and a desired assist force in a desired direction in a desired direction.
【００１９】このため、装着者は超音波モータを用いた
関節補助器に対し、ごく弱い力で目的の方向、速度を示
すだけで、その目的とする行動を検出手段に伝達でき、
その指令に従って駆動手段が補助力を発生することによ
り、行動が実現可能となる。これにより、本発明の超音
波モータを用いた関節補助器を使用することで、装着者
は行動の選択肢を増やすことができる。For this reason, the wearer can transmit the target action to the detection means by merely indicating the target direction and speed with a very small force to the joint assist device using the ultrasonic motor,
When the driving means generates the auxiliary force according to the command, the action can be realized. Thus, by using the joint assist device using the ultrasonic motor of the present invention, the wearer can increase the number of action options.
【００２０】このように、超音波モータを用いた関節補
助器は、装着者が関節を動かす際に、その運動を超音波
モータが発生する動力によって補助する手段を持ってい
るため、関節の動きに不自由を感じている人、もしくは
老化現象などによる衰弱が要因で思うように動くことが
できない人について、その運動を補助することができ
る。また、超音波モータを利用することにより、構造が
簡潔で軽量にすむため、装着した際に過大な負担を強い
ることがないため、容易に使用することが可能で、携帯
性も高い。As described above, the joint assist device using the ultrasonic motor has means for assisting the movement of the joint by the power generated by the ultrasonic motor when the wearer moves the joint. For those who feel inconvenienced, or who cannot move as expected due to weakness due to aging, etc., it can assist their exercise. Further, by using an ultrasonic motor, the structure is simple and lightweight, so that an excessive load is not imposed upon mounting, so that the ultrasonic motor can be used easily and has high portability.
【００２１】膝関節に不自由を感じる人が、この超音波
モータを用いた関節補助器を利用すれば、歩行に不足す
る動力を補助し、歩行に十分な行動力を与えることがで
きる。これにより、社会環境下にあっても装着者は不自
由を感じることなく、段差、階段など、車椅子に代表さ
れる歩行補助器では難しかった場所への移動に関して
も、容易に行うことができるようになる。If a person who feels inconvenienced in the knee joint uses a joint assist device using this ultrasonic motor, it can assist insufficient power for walking and give sufficient action to walking. As a result, even in a social environment, the wearer does not feel inconvenienced and can easily move to a place that is difficult with a walking aid such as a wheelchair, such as steps, stairs, etc. become.
【００２２】また、移動に利用しなくても、疾患、障
害、衰弱、老化などが原因でほとんど動かせない関節に
直接装着し、繰り返し運動させることが可能である。こ
の運動により、血行を良くし、筋肉の硬化を防ぐことが
可能となる。また、苦痛とされるリハビリテーション運
動についても、自動的に繰り返し刺激を与えることで容
易に行うことができる。このときの関節部は下肢部に限
らず、全身の関節がその対象となる。Further, even if it is not used for movement, it can be worn directly on a joint that cannot be moved due to disease, disorder, weakness, aging, etc., and can be repeatedly exercised. This exercise makes it possible to improve blood circulation and prevent stiffening of muscles. Also, the rehabilitation exercise that is considered to be painful can be easily performed by automatically and repeatedly giving a stimulus. At this time, the joints are not limited to the lower limbs, but include the joints of the whole body.
【００２３】[0023]
【考案の効果】衰弱、老化、損傷などが要因で自由に可
動できない関節の動きを補助することを目的とした関節
補助器を考案した。この補助力を発生する動力を、軽
量、コンパクトでかつ駆動力に優れ、また保持力、静粛
性に優れた超音波モータとすることで、携帯性に優れ、
かつ装着者に負担を強いない特性を得られる。装着者と
しては、自らの弱所を周囲に気づかれ、好奇の目にさら
されないことを極力望むのが常である。本発明は超音波
モータを使用することで非常に静粛性に優れており、周
囲にその使用を気づかれないようにすることを可能とす
る。[Effects of the Invention] A joint assist device has been devised for the purpose of assisting the movement of a joint that cannot move freely due to factors such as weakness, aging, and damage. By making the power to generate this auxiliary force a lightweight, compact and excellent driving force, an ultrasonic motor with excellent holding power and quietness, it is excellent in portability,
In addition, characteristics that do not impose a burden on the wearer can be obtained. As a wearer, it is always desirable to be aware of their weaknesses and to avoid exposing them to curious eyes as much as possible. The present invention is extremely quiet by using an ultrasonic motor, and makes it possible to prevent the surroundings from noticing the use.
【００２４】本発明における超音波モータを用いた関節
補助器は、形状及び重量が小さいこと、応答性が高いこ
とという特性から、人体に装着しても多大な負担を強い
ないで済む。これによれば、この関節補助器を常に装着
していても問題はなく、健常状態と何ら変わりなく行動
を行うことが可能となる。これにより、老化現象や損傷
などが原因で労働奉仕などの社会活動を退いた人を再び
社会活動の場に呼び戻すことができ、高齢化による労働
力の減少や、寝たきりになりがちな老人のリハビリテー
ションにも効果的である。The joint assist device using the ultrasonic motor according to the present invention does not require a great burden even when worn on a human body because of its small shape and weight and high responsiveness. According to this, there is no problem even if this joint assist device is always worn, and it is possible to perform an action without any difference from a healthy state. As a result, people who have retired from social services such as labor service due to aging and damage can be returned to the place of social activities again. It is also effective.
【図１】本発明に係る超音波モータを用いた関節補助器
の斜視図FIG. 1 is a perspective view of a joint assist device using an ultrasonic motor according to the present invention.
【図２】本発明に係る超音波モータを用いた関節補助器
を人体の関節に装着した場合の斜視図FIG. 2 is a perspective view showing a case where the joint assist device using the ultrasonic motor according to the present invention is mounted on a joint of a human body.
【図３】装着者の望む行動を検出するための検出手段を
出力軸上に設けた状態を説明するための図FIG. 3 is a diagram for explaining a state in which a detection unit for detecting an action desired by a wearer is provided on an output shaft.
【図４】装着者の望む行動を検出するための検出手段を
保持具上に設けた状態を説明するための図FIG. 4 is a view for explaining a state in which detection means for detecting an action desired by a wearer is provided on a holder.
１ 超音波モータを納めたケース ２ 出力軸 ３ 接続手段 ４ 回転ヒンジ ５ 接続手段 ６ 保持具 １１ 人体の関節 １２ 検出手段 １３ 制御ユニット １４ 動力源 Reference Signs List 1 Case containing ultrasonic motor 2 Output shaft 3 Connecting means 4 Rotating hinge 5 Connecting means 6 Holder 11 Joint of human body 12 Detecting means 13 Control unit 14 Power source
Claims (3)
段と、この駆動手段の動力を人間の関節の動きに同調さ
せる制御手段を有すると共に、以下の要件を備えたこと
を特徴とする、関節の補助器。 （イ）上記駆動手段を人間のひざに代表される関節に配
し、任意の動きを行う際にその動きの補助を行うこと。 （ロ）上記駆動手段を、進行波型超音波モータを組み合
わせ、かつ人間の関節の動きを感知するセンサーで構成
したこと。An articulated joint having strong driving means to which an ultrasonic motor is applied, control means for adjusting the power of the driving means to the movement of a human joint, and having the following requirements: Auxiliary device. (A) The driving means is arranged at a joint represented by a human knee, and assists the movement when performing an arbitrary movement. (B) The driving means is constituted by a sensor that detects the movement of a human joint by combining a traveling wave type ultrasonic motor.
よって、自らの意志で自由に動かすことが困難な関節の
リハビリテーションに用いること。2. Use for rehabilitation of a joint in which it is difficult to move freely by oneself due to damage caused by muscle weakness, injury or the like.
難な人間の歩行の補助に用いること。3. Use for assisting walking of a person who has difficulty walking due to weakness of muscle strength, injury or the like.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10321240A JP2000107213A (en) | 1998-10-07 | 1998-10-07 | Auxiliary joint using ultrasonic motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10321240A JP2000107213A (en) | 1998-10-07 | 1998-10-07 | Auxiliary joint using ultrasonic motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2000107213A true JP2000107213A (en) | 2000-04-18 |
| JP2000107213A5 JP2000107213A5 (en) | 2005-02-10 |
Family
ID=18130383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10321240A Pending JP2000107213A (en) | 1998-10-07 | 1998-10-07 | Auxiliary joint using ultrasonic motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2000107213A (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002191652A (en) * | 2000-12-27 | 2002-07-09 | Yaskawa Electric Corp | Lower extremity drive |
| WO2003002054A1 (en) * | 2001-06-27 | 2003-01-09 | Honda Giken Kogyo Kabushiki Kaisha | Torque imparting system |
| WO2004017890A1 (en) * | 2002-08-21 | 2004-03-04 | Honda Giken Kogyo Kabushiki Kaisha | Control system for walking assist device |
| JP2006075254A (en) * | 2004-09-08 | 2006-03-23 | Honda Motor Co Ltd | Walking assist mounting device |
| JP2007325732A (en) * | 2006-06-07 | 2007-12-20 | Dainippon Printing Co Ltd | Joint assist unit |
| US7524297B2 (en) | 2004-09-08 | 2009-04-28 | Honda Motor Co., Ltd. | Walking assistance device provided with a force sensor |
| JP2010269059A (en) * | 2009-05-25 | 2010-12-02 | Honda Motor Co Ltd | Walking assistance device |
| WO2011145643A1 (en) * | 2010-05-20 | 2011-11-24 | 国立大学法人 鹿児島大学 | Knee joint power assist device |
| KR101293650B1 (en) * | 2012-04-24 | 2013-08-13 | 경북대학교 산학협력단 | Supporting aid with rotary type automatic joint locking system for leg, and operation method thereof |
| KR101316523B1 (en) * | 2012-03-20 | 2013-10-08 | 주식회사 포스코 | Joint apparatus for assisting muscular strength |
| JP2014144037A (en) * | 2013-01-28 | 2014-08-14 | Univ Of Tsukuba | Artificial limb attaching type motion support device |
| JP2015084801A (en) * | 2013-10-28 | 2015-05-07 | 俊道 妻木 | Motion assisting device |
| US9050237B2 (en) | 2009-11-04 | 2015-06-09 | Toyota Jidosha Kabushiki Kaisha | Walking assist device |
| CN104887370A (en) * | 2015-04-28 | 2015-09-09 | 繁昌县倍思生产力促进中心有限公司 | Knee joint orthosis |
| JP2015177853A (en) * | 2014-03-19 | 2015-10-08 | セイコーエプソン株式会社 | Driving device |
| US9216131B2 (en) | 2009-11-13 | 2015-12-22 | Toyota Jidosha Kabushiki Kaisha | Walking assist device |
| CN105596018A (en) * | 2016-03-25 | 2016-05-25 | 上海电气集团股份有限公司 | Force sensor-based human motion tendency detection device and detection method |
| CN110652054A (en) * | 2018-06-29 | 2020-01-07 | 深圳市掌网科技股份有限公司 | Joint protector, joint protector control system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002191652A (en) * | 2000-12-27 | 2002-07-09 | Yaskawa Electric Corp | Lower extremity drive |
| KR100849655B1 (en) | 2001-06-27 | 2008-08-01 | 혼다 기켄 고교 가부시키가이샤 | Torque imparting apparatus |
| WO2003002054A1 (en) * | 2001-06-27 | 2003-01-09 | Honda Giken Kogyo Kabushiki Kaisha | Torque imparting system |
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| WO2004017890A1 (en) * | 2002-08-21 | 2004-03-04 | Honda Giken Kogyo Kabushiki Kaisha | Control system for walking assist device |
| JP2006075254A (en) * | 2004-09-08 | 2006-03-23 | Honda Motor Co Ltd | Walking assist mounting device |
| US7524297B2 (en) | 2004-09-08 | 2009-04-28 | Honda Motor Co., Ltd. | Walking assistance device provided with a force sensor |
| JP2007325732A (en) * | 2006-06-07 | 2007-12-20 | Dainippon Printing Co Ltd | Joint assist unit |
| JP2010269059A (en) * | 2009-05-25 | 2010-12-02 | Honda Motor Co Ltd | Walking assistance device |
| US9050237B2 (en) | 2009-11-04 | 2015-06-09 | Toyota Jidosha Kabushiki Kaisha | Walking assist device |
| US9216131B2 (en) | 2009-11-13 | 2015-12-22 | Toyota Jidosha Kabushiki Kaisha | Walking assist device |
| WO2011145643A1 (en) * | 2010-05-20 | 2011-11-24 | 国立大学法人 鹿児島大学 | Knee joint power assist device |
| KR101316523B1 (en) * | 2012-03-20 | 2013-10-08 | 주식회사 포스코 | Joint apparatus for assisting muscular strength |
| WO2013162164A1 (en) * | 2012-04-24 | 2013-10-31 | 경북대학교 산학협력단 | Leg support aid having rotary-type automatic joint locking device and method for operating same |
| KR101293650B1 (en) * | 2012-04-24 | 2013-08-13 | 경북대학교 산학협력단 | Supporting aid with rotary type automatic joint locking system for leg, and operation method thereof |
| JP2014144037A (en) * | 2013-01-28 | 2014-08-14 | Univ Of Tsukuba | Artificial limb attaching type motion support device |
| JP2015084801A (en) * | 2013-10-28 | 2015-05-07 | 俊道 妻木 | Motion assisting device |
| JP2015177853A (en) * | 2014-03-19 | 2015-10-08 | セイコーエプソン株式会社 | Driving device |
| CN104887370A (en) * | 2015-04-28 | 2015-09-09 | 繁昌县倍思生产力促进中心有限公司 | Knee joint orthosis |
| CN105596018A (en) * | 2016-03-25 | 2016-05-25 | 上海电气集团股份有限公司 | Force sensor-based human motion tendency detection device and detection method |
| CN110652054A (en) * | 2018-06-29 | 2020-01-07 | 深圳市掌网科技股份有限公司 | Joint protector, joint protector control system and method |
| CN110652054B (en) * | 2018-06-29 | 2021-07-02 | 深圳市掌网科技股份有限公司 | Joint protector, joint protector control system and method |
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