JP2010269059A - 歩行補助装置 - Google Patents
歩行補助装置 Download PDFInfo
- Publication number
- JP2010269059A JP2010269059A JP2009125124A JP2009125124A JP2010269059A JP 2010269059 A JP2010269059 A JP 2010269059A JP 2009125124 A JP2009125124 A JP 2009125124A JP 2009125124 A JP2009125124 A JP 2009125124A JP 2010269059 A JP2010269059 A JP 2010269059A
- Authority
- JP
- Japan
- Prior art keywords
- waist
- concave groove
- frame
- engagement element
- movable engagement
- 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.)
- Granted
Links
- 230000005540 biological transmission Effects 0.000 claims description 102
- 238000010248 power generation Methods 0.000 claims description 17
- 210000003141 lower extremity Anatomy 0.000 claims description 7
- 210000001624 hip Anatomy 0.000 description 48
- 210000000689 upper leg Anatomy 0.000 description 14
- 230000006835 compression Effects 0.000 description 10
- 238000007906 compression Methods 0.000 description 10
- 210000004705 lumbosacral region Anatomy 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 210000001015 abdomen Anatomy 0.000 description 4
- 230000003187 abdominal effect Effects 0.000 description 4
- 239000011347 resin Substances 0.000 description 4
- 229920005989 resin Polymers 0.000 description 4
- 210000001061 forehead Anatomy 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 239000010985 leather Substances 0.000 description 2
- 239000002649 leather substitute Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 239000002759 woven fabric Substances 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Images
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
- 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
-
- 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
- A61H2201/1628—Pelvis
- A61H2201/163—Pelvis 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
- A61H2201/164—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)
- Public Health (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Epidemiology (AREA)
- General Health & Medical Sciences (AREA)
- Pain & Pain Management (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
【解決手段】動力伝達フレーム40L、40Rの基端部41に形成された鈎形部45を出力ブロック33の上側の凹溝38に引っ掛け係合させてトルク伝達係合面(34、35、43、44)を腰部フレーム10の外方側から出力ブロック33に被さるように係合させ、そして、動力伝達フレーム40L、40Rの基端部41に設けられている可動係合子46を出力ブロック33の他方の凹溝39に係合させる構造にする。
【選択図】図8
Description
14L、14R アクチュエータケース
20 腹部ベルト
30 電動モータ
33 出力ブロック
34、35 側面(トルク伝達係合面)
36、37 側面
38、39 凹溝
40L、40R 動力伝達フレーム
42 遊端部
43、44 トルク伝達係合面
45 鈎形部
48 圧縮コイルばね
50L、50R 大腿部ベルト
60 手動レバー
63 トグルリンク部材
Claims (6)
- 使用者の腰部に装着され、使用者の腰背部から使用者の左右の腰側部に延在する腰部フレームと、前記腰部フレームが前記左右の腰側部に対応する部分に取り付けられた動力発生装置と、前記動力発生装置の出力部材にトルク伝達関係で着脱可能に結合される基端部と当該基端部より使用者の下肢部に至り下肢部装具を取り付けられた遊端部を有する動力伝達フレームとを具備した歩行補助装置であって、
前記出力部材は、前記腰部フレームより外方側に突出していて回転中心の両側に互いに平行な二つの側面を有し、当該二つの側面には各々凹溝が形成されており、
前記動力伝達フレームの前記基端部は、
前記腰部フレームの外方側から前記出力部材の一方の前記凹溝に係脱可能に引っ掛かり係合する鈎形部と、
前記腰部フレームの外方側から前記出力部材に被さるように係合して前記動力伝達フレームを前記出力部材にトルク伝達関係で接続するトルク伝達係合部と、
前記鈎形部より前記遊端部の側の位置に設けられ、前記トルク伝達係合部が前記出力部材にトルク伝達関係で係合した状態で前記出力部材の他方の前記凹溝に係脱可能に係合する可動係合子と、
を有する歩行補助装置。 - 前記可動係合子を前記凹溝に係合させる方向に付勢するばね手段を有し、
前記可動係合子は、前記ばね手段の付勢力に抗して当該可動係合子を前記凹溝との係合より離脱する方向に変位させるための手操作部を有する請求項1に記載の歩行補助装置。 - 前記出力部材に、前記可動係合子の当接により当該可動係合子を前記ばね手段の付勢力に抗して前記凹溝形状部との係合より離脱する方向に変位させる傾斜面が形成されている請求項2記載の行補助装置。
- 前記可動係合子に枢動連結され、当該可動係合子を前記凹溝に係合する位置と前記凹溝形状部との係合より離脱する位置との間に移動させる手動レバーを有する請求項1に記載の歩行補助装置。
- 前記トルク伝達係合部は、前記出力部材に形成された台形状のテーパ面に面係合するテーパ面を有する請求項1から4の何れか一項に記載の歩行補助装置。
- 前記一方の凹溝と前記鈎形部との係合部および前記他方の凹溝と前記可動係合子との係合部に、前記トルク伝達係合部の前記テーパ面を前記出力部材の前記テーパ面に押し付ける方向の分力を生じる傾斜面を有する請求項5に記載の歩行補助装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009125124A JP5244029B2 (ja) | 2009-05-25 | 2009-05-25 | 歩行補助装置 |
US12/785,013 US8409119B2 (en) | 2009-05-25 | 2010-05-21 | Walking assistance device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009125124A JP5244029B2 (ja) | 2009-05-25 | 2009-05-25 | 歩行補助装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2010269059A true JP2010269059A (ja) | 2010-12-02 |
JP5244029B2 JP5244029B2 (ja) | 2013-07-24 |
Family
ID=43125044
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009125124A Active JP5244029B2 (ja) | 2009-05-25 | 2009-05-25 | 歩行補助装置 |
Country Status (2)
Country | Link |
---|---|
US (1) | US8409119B2 (ja) |
JP (1) | JP5244029B2 (ja) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012254237A (ja) * | 2011-06-10 | 2012-12-27 | Honda Motor Co Ltd | 歩行補助装置の腰部装具および歩行補助装置 |
JP2015077354A (ja) * | 2013-10-18 | 2015-04-23 | 国立大学法人 和歌山大学 | パワーアシストロボット装置 |
JP2015221139A (ja) * | 2014-05-23 | 2015-12-10 | 本田技研工業株式会社 | 運動補助装置 |
KR20160012426A (ko) | 2014-07-24 | 2016-02-03 | 삼성전자주식회사 | 운동 보조 장치 및 그 제어 방법 |
WO2017110253A1 (ja) * | 2015-12-25 | 2017-06-29 | ボッシュ株式会社 | アシストロボット装置 |
JP2019089662A (ja) * | 2019-03-08 | 2019-06-13 | 株式会社クボタ | アシストスーツ |
US10966844B2 (en) | 2015-09-25 | 2021-04-06 | Samsung Electronics Co., Ltd. | Sliding assembly and motion assistance apparatus including the same |
Families Citing this family (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8639455B2 (en) | 2009-02-09 | 2014-01-28 | Alterg, Inc. | Foot pad device and method of obtaining weight data |
JP5854719B2 (ja) * | 2011-06-10 | 2016-02-09 | 本田技研工業株式会社 | バッテリパック収容構造およびバッテリパックおよび歩行補助装置 |
US9022956B2 (en) | 2011-06-10 | 2015-05-05 | U.S. Bionics, Inc. | Trunk supporting exoskeleton and method of use |
WO2012171000A1 (en) | 2011-06-10 | 2012-12-13 | The Regents Of The University Of California | Trunk supporting exoskeleton and method of use |
US9744066B2 (en) | 2011-06-10 | 2017-08-29 | The Regents Of The University Of California | Trunk supporting exoskeleton and method of use |
WO2014151584A1 (en) | 2013-03-15 | 2014-09-25 | Alterg, Inc. | Orthotic device drive system and method |
CN104337668A (zh) | 2013-08-10 | 2015-02-11 | 黄振明 | 便携式人体支架*** |
JP6432140B2 (ja) * | 2014-03-19 | 2018-12-05 | セイコーエプソン株式会社 | 指関節駆動装置 |
CA2943359A1 (en) * | 2014-03-31 | 2015-10-08 | Parker-Hannifin Corporation | Wearable robotic device |
KR102197708B1 (ko) | 2014-05-23 | 2020-12-31 | 삼성전자주식회사 | 지지 모듈 및 이를 포함하는 운동 보조 장치 |
KR102115016B1 (ko) * | 2014-05-23 | 2020-05-26 | 삼성전자주식회사 | 구동 모듈 및 이를 포함하는 운동 보조 장치 |
KR102250260B1 (ko) * | 2014-07-17 | 2021-05-10 | 삼성전자주식회사 | 연결 모듈 및 이를 포함하는 운동 보조 장치 |
US10449105B2 (en) * | 2014-10-26 | 2019-10-22 | Springactive, Inc. | System and method of bidirectional compliant joint torque actuation |
KR102340447B1 (ko) | 2014-12-01 | 2021-12-17 | 삼성전자주식회사 | 지지 모듈 및 이를 포함하는 운동 보조 장치 |
KR102541908B1 (ko) * | 2015-07-21 | 2023-06-09 | 삼성전자주식회사 | 프레임 모듈 및 이를 포함하는 운동 보조 장치 |
KR102399605B1 (ko) | 2015-11-05 | 2022-05-18 | 삼성전자주식회사 | 동력 전달 어셈블리 및 이를 포함하는 운동 보조 장치 |
KR102503910B1 (ko) * | 2015-11-09 | 2023-02-27 | 삼성전자주식회사 | 기립 보조 방법 및 장치 |
FR3046099B1 (fr) * | 2015-12-24 | 2017-12-22 | Sagem Defense Securite | Structure d'exosquelette pour l'assistance a l'effort d'un utilisateur |
US10772785B2 (en) * | 2016-10-03 | 2020-09-15 | Springactive, Inc. | Personal augmentation suit and method for assisted human motion |
AU2018290187A1 (en) * | 2017-06-20 | 2020-01-16 | Opum Technologies Limited | Orthosis or exoskeleton system with modular elements |
DE102018126324A1 (de) * | 2018-10-23 | 2020-04-23 | Otto Bock Healthcare Products Gmbh | Orthopädietechnisches Gelenk und orthopädietechnische Einrichtung |
CN109330824B (zh) * | 2018-11-28 | 2019-10-18 | 燕山大学 | 一种高度可调的下肢康复机械腿 |
US11559420B2 (en) | 2019-02-27 | 2023-01-24 | Springactive, Inc. | Personal augmentation suit and method for assisted human motion with back differential assembly |
CN111745620B (zh) * | 2019-03-27 | 2021-08-27 | 深圳市肯綮科技有限公司 | 髋部机构及轻便助力设备 |
US11826298B2 (en) | 2019-10-16 | 2023-11-28 | Springactive, Inc. | Preloaded personal augmentation suit and method for assisted human motion |
KR20210053389A (ko) * | 2019-11-01 | 2021-05-12 | 삼성전자주식회사 | 허벅지 형상에 기초하여 변형 가능한 보행 보조 장치 |
CN115843237A (zh) * | 2020-07-03 | 2023-03-24 | 三星电子株式会社 | 具有双稳态弹簧的支撑件和包括该支撑件的锻炼辅助设备 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09271496A (ja) * | 1996-04-05 | 1997-10-21 | M Ii Syst:Kk | 関節連続受動運動訓練装置 |
JPH11508167A (ja) * | 1995-06-23 | 1999-07-21 | キネテクス・インコーポレーテッド | 運動装置及び技術 |
JP2000107213A (ja) * | 1998-10-07 | 2000-04-18 | Shigeki Toyama | 超音波モータを用いた関節補助器 |
JP2004344305A (ja) * | 2003-05-21 | 2004-12-09 | Honda Motor Co Ltd | 歩行補助装置 |
JP2005523111A (ja) * | 2002-04-25 | 2005-08-04 | ウルトラフレックス システムズ、インク. | 移動式膝関節 |
WO2009040908A1 (ja) * | 2007-09-27 | 2009-04-02 | Yoshiyuki Sankai | 回動調整装置及び回動装置の制御方法 |
JP2009095645A (ja) * | 2007-09-25 | 2009-05-07 | Honda Motor Co Ltd | 歩行補助装置の大腿部装具 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2694781A (en) * | 1951-12-11 | 1954-11-16 | Hinz Bruno | Electric motor with axially slidable armatures |
ITVR20030129A1 (it) * | 2003-11-04 | 2005-05-05 | Fgp Srl | Snodo per ginocchiera o per tutori articolari in genere, |
US7278979B2 (en) * | 2004-09-07 | 2007-10-09 | Honda Motor Co., Ltd. | Walking assistance device having a pelvis support member that is easy to wear |
JP3990409B2 (ja) | 2005-05-17 | 2007-10-10 | 本田技研工業株式会社 | 歩行補助装置用大腿部装具 |
WO2009044502A1 (ja) * | 2007-10-02 | 2009-04-09 | Honda Motor Co., Ltd. | 運動補助装置 |
JP5244028B2 (ja) * | 2008-06-10 | 2013-07-24 | 本田技研工業株式会社 | 歩行補助装置 |
-
2009
- 2009-05-25 JP JP2009125124A patent/JP5244029B2/ja active Active
-
2010
- 2010-05-21 US US12/785,013 patent/US8409119B2/en not_active Expired - Fee Related
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11508167A (ja) * | 1995-06-23 | 1999-07-21 | キネテクス・インコーポレーテッド | 運動装置及び技術 |
JPH09271496A (ja) * | 1996-04-05 | 1997-10-21 | M Ii Syst:Kk | 関節連続受動運動訓練装置 |
JP2000107213A (ja) * | 1998-10-07 | 2000-04-18 | Shigeki Toyama | 超音波モータを用いた関節補助器 |
JP2005523111A (ja) * | 2002-04-25 | 2005-08-04 | ウルトラフレックス システムズ、インク. | 移動式膝関節 |
JP2004344305A (ja) * | 2003-05-21 | 2004-12-09 | Honda Motor Co Ltd | 歩行補助装置 |
JP2009095645A (ja) * | 2007-09-25 | 2009-05-07 | Honda Motor Co Ltd | 歩行補助装置の大腿部装具 |
WO2009040908A1 (ja) * | 2007-09-27 | 2009-04-02 | Yoshiyuki Sankai | 回動調整装置及び回動装置の制御方法 |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012254237A (ja) * | 2011-06-10 | 2012-12-27 | Honda Motor Co Ltd | 歩行補助装置の腰部装具および歩行補助装置 |
JP2015077354A (ja) * | 2013-10-18 | 2015-04-23 | 国立大学法人 和歌山大学 | パワーアシストロボット装置 |
JP2015221139A (ja) * | 2014-05-23 | 2015-12-10 | 本田技研工業株式会社 | 運動補助装置 |
KR20210055647A (ko) * | 2014-07-24 | 2021-05-17 | 삼성전자주식회사 | 운동 보조 장치 및 그 제어 방법 |
KR102250225B1 (ko) * | 2014-07-24 | 2021-05-10 | 삼성전자주식회사 | 운동 보조 장치 및 그 제어 방법 |
KR20160012426A (ko) | 2014-07-24 | 2016-02-03 | 삼성전자주식회사 | 운동 보조 장치 및 그 제어 방법 |
KR102339664B1 (ko) * | 2014-07-24 | 2021-12-16 | 삼성전자주식회사 | 운동 보조 장치 및 그 제어 방법 |
US11304828B2 (en) | 2014-07-24 | 2022-04-19 | Samsung Electronics Co., Ltd. | Motion assistance apparatus and method of controlling the same |
US11833067B2 (en) | 2014-07-24 | 2023-12-05 | Samsung Electronics Co., Ltd. | Motion assistance apparatus and method of controlling the same |
US10966844B2 (en) | 2015-09-25 | 2021-04-06 | Samsung Electronics Co., Ltd. | Sliding assembly and motion assistance apparatus including the same |
US11000388B2 (en) | 2015-09-25 | 2021-05-11 | Samsung Electronics Co., Ltd. | Sliding assembly and motion assistance apparatus including the same |
WO2017110253A1 (ja) * | 2015-12-25 | 2017-06-29 | ボッシュ株式会社 | アシストロボット装置 |
JP2019089662A (ja) * | 2019-03-08 | 2019-06-13 | 株式会社クボタ | アシストスーツ |
Also Published As
Publication number | Publication date |
---|---|
US20100298746A1 (en) | 2010-11-25 |
US8409119B2 (en) | 2013-04-02 |
JP5244029B2 (ja) | 2013-07-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5244029B2 (ja) | 歩行補助装置 | |
JP5244028B2 (ja) | 歩行補助装置 | |
JP5081740B2 (ja) | 歩行補助装置用腰部装具 | |
JP5161199B2 (ja) | 歩行補助装置の腰部装具および歩行補助装置 | |
US20210077839A1 (en) | Assist device | |
JP5021574B2 (ja) | 歩行補助装置 | |
JP6277063B2 (ja) | 運動補助装置 | |
JP2010110464A (ja) | 歩行補助装置 | |
KR102586645B1 (ko) | 보행 보조 장치 | |
JP5456635B2 (ja) | 歩行補助装置 | |
KR102505214B1 (ko) | 운동 보조 장치 | |
JP2017140303A (ja) | 長下肢装具用アクチュエータユニット | |
JP2010110564A (ja) | 歩行補助装置 | |
JP7062244B2 (ja) | 装着型姿勢保持装置 | |
JP6224355B2 (ja) | パワーアシストスーツ | |
KR101944181B1 (ko) | 무릎관절 보조장치 | |
JP7423211B2 (ja) | 動作支援装置 | |
JP4112541B2 (ja) | 歩行補助装置用装着具 | |
JP5653626B2 (ja) | 歩行補助装置 | |
JP2011139868A (ja) | 歩行補助装置 | |
JP2017144049A (ja) | マッサージ機 | |
JP6722914B2 (ja) | アシスト装置装着用のウエアおよびアシストウエアシステム | |
JP2016129623A (ja) | 身体動作補助装置 | |
WO2017110253A1 (ja) | アシストロボット装置 | |
JP2011139867A (ja) | 歩行補助装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
RD02 | Notification of acceptance of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7422 Effective date: 20111014 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20111124 |
|
A521 | Written amendment |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20120518 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20130222 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20130326 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20130405 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20160412 Year of fee payment: 3 |
|
R150 | Certificate of patent or registration of utility model |
Free format text: JAPANESE INTERMEDIATE CODE: R150 Ref document number: 5244029 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |