JP2008006076A - 歩行補助装置 - Google Patents
歩行補助装置 Download PDFInfo
- Publication number
- JP2008006076A JP2008006076A JP2006179632A JP2006179632A JP2008006076A JP 2008006076 A JP2008006076 A JP 2008006076A JP 2006179632 A JP2006179632 A JP 2006179632A JP 2006179632 A JP2006179632 A JP 2006179632A JP 2008006076 A JP2008006076 A JP 2008006076A
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- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 230000005484 gravity Effects 0.000 claims description 18
- 210000002414 leg Anatomy 0.000 description 145
- 210000002683 foot Anatomy 0.000 description 28
- 210000000689 upper leg Anatomy 0.000 description 16
- 238000005452 bending Methods 0.000 description 14
- 210000001699 lower leg Anatomy 0.000 description 9
- 230000008602 contraction Effects 0.000 description 6
- 210000000629 knee joint Anatomy 0.000 description 5
- 210000000544 articulatio talocruralis Anatomy 0.000 description 4
- 230000007423 decrease Effects 0.000 description 4
- 210000004394 hip joint Anatomy 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 230000037396 body weight Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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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
- 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
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1481—Special movement conversion means
- A61H2201/149—Special movement conversion means rotation-linear or vice versa
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Epidemiology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
【解決手段】脚リンク5は、荷重伝達部に第1関節部3を介して連結される上方の第1リンク部6と、足平装着部2に第2関節部4を介して連結される下方の第2リンク部7と、第1関節部と第2関節部との間の距離が可変するように第1リンク部と第2リンク部とを連結する中間の第3関節部8と、第3関節部を駆動する駆動源9とで構成され、第1リンク部6の第3関節部8より上方部分に駆動源9を配置して、脚リンク5全体の重心を第3関節部8より上方に位置させる。また、駆動源9が電動モータ91と減速機92とで構成される場合は、電動モータ91を減速機92より上方に配置する。
【選択図】図1
Description
Claims (3)
- 荷重伝達部と、利用者の足平に装着される足平装着部と、荷重伝達部と足平装着部との間の脚リンクとを備え、脚リンクにより発生する力を荷重伝達部を介して利用者の体幹に伝達するようにした歩行補助装置であって、
脚リンクは、荷重伝達部に第1関節部を介して連結される上方の第1リンク部と、足平装着部に第2関節部を介して連結される下方の第2リンク部と、第1関節部と第2関節部との間の距離が可変するように第1リンク部と第2リンク部とを連結する中間の第3関節部と、第3関節部を駆動する駆動源とで構成されるものにおいて、
脚リンク全体の重心が第3関節部より上方に位置することを特徴とする歩行補助装置。 - 前記駆動源はその重心が前記第1リンク部の前記第3関節部より上方の部分に位置するように設置されていることを特徴とする請求項1記載の歩行補助装置。
- 前記駆動源は電動モータと減速機とで構成され、減速機よりも上方位置に電動モータが設置されることを特徴とする請求項2記載の歩行補助装置。
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006179632A JP4724059B2 (ja) | 2006-06-29 | 2006-06-29 | 歩行補助装置 |
JP2006179633A JP4666642B2 (ja) | 2006-06-29 | 2006-06-29 | 歩行補助装置 |
CN2007800205014A CN101460118B (zh) | 2006-06-29 | 2007-03-30 | 步行辅助装置 |
US12/064,266 US8083695B2 (en) | 2006-06-29 | 2007-03-30 | Walk assistance device |
PCT/JP2007/057062 WO2008001522A1 (fr) | 2006-06-29 | 2007-03-30 | Dispositif d'aide à la marche |
PCT/JP2007/057065 WO2008001523A1 (fr) | 2006-06-29 | 2007-03-30 | Dispositif d'aide à la marche |
KR1020087008322A KR101040631B1 (ko) | 2006-06-29 | 2007-03-30 | 보행 보조 장치 |
EP07740501A EP2036518B1 (en) | 2006-06-29 | 2007-03-30 | Walk assistance device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006179632A JP4724059B2 (ja) | 2006-06-29 | 2006-06-29 | 歩行補助装置 |
JP2006179633A JP4666642B2 (ja) | 2006-06-29 | 2006-06-29 | 歩行補助装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2008006076A true JP2008006076A (ja) | 2008-01-17 |
JP4724059B2 JP4724059B2 (ja) | 2011-07-13 |
Family
ID=39535600
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006179632A Expired - Fee Related JP4724059B2 (ja) | 2006-06-29 | 2006-06-29 | 歩行補助装置 |
JP2006179633A Expired - Fee Related JP4666642B2 (ja) | 2006-06-29 | 2006-06-29 | 歩行補助装置 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2006179633A Expired - Fee Related JP4666642B2 (ja) | 2006-06-29 | 2006-06-29 | 歩行補助装置 |
Country Status (2)
Country | Link |
---|---|
JP (2) | JP4724059B2 (ja) |
WO (2) | WO2008001523A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011161750A1 (ja) | 2010-06-21 | 2011-12-29 | トヨタ自動車株式会社 | 脚支援装置 |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103892943B (zh) * | 2014-03-19 | 2015-08-19 | 中国人民解放军理工大学 | 主被动式结合增力型柔性下肢外骨骼 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07112035A (ja) * | 1993-03-12 | 1995-05-02 | Israel State | 足と地面との相互接続部材及びその制御方法 |
JP2003220102A (ja) * | 2002-01-29 | 2003-08-05 | Hitachi Ltd | 動作支援装置 |
JP2004236998A (ja) * | 2003-02-10 | 2004-08-26 | Teimusu:Kk | 長下肢装具用ジョイント装置 |
JP2005013534A (ja) * | 2003-06-27 | 2005-01-20 | Teimusu:Kk | 動力補助機構付き長下肢装具 |
JP2005230207A (ja) * | 2004-02-19 | 2005-09-02 | Japan Labour Health & Welfare Organization | 健脚制御大腿義足 |
JP2005230099A (ja) * | 2004-02-17 | 2005-09-02 | Yoshiyuki Yamaumi | 装着式動作補助装置、及び装着式動作補助装置における駆動源の制御方法、及びプログラム |
JP2006087478A (ja) * | 2004-09-21 | 2006-04-06 | Honda Motor Co Ltd | 歩行補助装置 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000233002A (ja) * | 1999-02-16 | 2000-08-29 | Murata Mach Ltd | 歩行器 |
JP2003250844A (ja) * | 2002-03-04 | 2003-09-09 | Matsushita Electric Ind Co Ltd | パワーアシスト脚 |
JP4200492B2 (ja) * | 2004-03-11 | 2008-12-24 | 国立大学法人 筑波大学 | 装着式動作補助装置 |
JP4635135B2 (ja) * | 2004-06-28 | 2011-02-16 | 学校法人 芝浦工業大学 | 歩行装置 |
US7524297B2 (en) | 2004-09-08 | 2009-04-28 | Honda Motor Co., Ltd. | Walking assistance device provided with a force sensor |
US7429253B2 (en) | 2004-09-21 | 2008-09-30 | Honda Motor Co., Ltd. | Walking assistance system |
-
2006
- 2006-06-29 JP JP2006179632A patent/JP4724059B2/ja not_active Expired - Fee Related
- 2006-06-29 JP JP2006179633A patent/JP4666642B2/ja not_active Expired - Fee Related
-
2007
- 2007-03-30 WO PCT/JP2007/057065 patent/WO2008001523A1/ja active Application Filing
- 2007-03-30 WO PCT/JP2007/057062 patent/WO2008001522A1/ja active Application Filing
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH07112035A (ja) * | 1993-03-12 | 1995-05-02 | Israel State | 足と地面との相互接続部材及びその制御方法 |
JP2003220102A (ja) * | 2002-01-29 | 2003-08-05 | Hitachi Ltd | 動作支援装置 |
JP2004236998A (ja) * | 2003-02-10 | 2004-08-26 | Teimusu:Kk | 長下肢装具用ジョイント装置 |
JP2005013534A (ja) * | 2003-06-27 | 2005-01-20 | Teimusu:Kk | 動力補助機構付き長下肢装具 |
JP2005230099A (ja) * | 2004-02-17 | 2005-09-02 | Yoshiyuki Yamaumi | 装着式動作補助装置、及び装着式動作補助装置における駆動源の制御方法、及びプログラム |
JP2005230207A (ja) * | 2004-02-19 | 2005-09-02 | Japan Labour Health & Welfare Organization | 健脚制御大腿義足 |
JP2006087478A (ja) * | 2004-09-21 | 2006-04-06 | Honda Motor Co Ltd | 歩行補助装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011161750A1 (ja) | 2010-06-21 | 2011-12-29 | トヨタ自動車株式会社 | 脚支援装置 |
US8690801B2 (en) | 2010-06-21 | 2014-04-08 | Toyota Jidosha Kabushiki Kaisha | Leg assist device |
Also Published As
Publication number | Publication date |
---|---|
JP4724059B2 (ja) | 2011-07-13 |
JP2008006077A (ja) | 2008-01-17 |
JP4666642B2 (ja) | 2011-04-06 |
WO2008001523A1 (fr) | 2008-01-03 |
WO2008001522A1 (fr) | 2008-01-03 |
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