JP2021528174A - 移動補助のためのシステムおよび装置 - Google Patents
移動補助のためのシステムおよび装置 Download PDFInfo
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Abstract
Description
本願は、2018年6月18日に出願された米国仮出願第62/686,128号の利益を主張する。この出願の全内容が参照により本明細書に援用される。
たとえば、移動が困難になった人々が歩容時に使用するエネルギを減少させること、ならびに疲労および関節への負荷を減少させることを助けるための、移動補助のためのシステムおよび装置が本明細書に開示される。
歩行は人間の移動の最も一般的な形態である。人間は、選択された速度を変えることによって自分の歩容を異なる地形に、かつ異なる作業に応じて適応させているが、長年の進化によって筋骨格系はエネルギ消費について最適化されるように細かく調整されている。特に、人間は歩行の最中に、固定距離に費やされる代謝コストを最小限に抑える歩行速度を採用することを決定している。
たとえば、移動が困難になった人々が歩容時に使用するエネルギを減少させること、ならびに疲労および関節への負荷を減少させることを助けるための、移動補助のためのシステムおよび装置が本明細書に開示される。いくつかの実施形態では、たとえばエクソスケルトンなどの歩行補助装置をユーザの1つ以上の身体部分に連結して、ユーザに対する装置の位置を維持することができる。上記装置は、ユーザの胴部に連結され得るハーネスと、ユーザの脚部に連結され得る支持部とを含み得る。上記装置は、重複歩(walking stride)または他の体の動きの際に伸縮して筋肉の緊張を軽減して歩行の代謝コストを高めることができる、ハーネスおよび支持部に連結される弾性変形可能な部材をさらに含み得る。弾性変形可能な部材は、歩容周期の位相時に機械的エネルギを蓄積および放出して、股関節で生成される生物学的トルクに追加のトルクを与えることができる。これにより、すべての移動レベルのユーザを補助することができ、いくつかの実施形態では、たとえば高齢の人々などの特定の限られた移動性集団においてよく見られる股関節強度低下の増強を助けることができる。
たとえば、移動が困難になった人々が歩容時に使用するエネルギを減少させること、ならびに疲労および関節への負荷を減少させることを助けるための、移動補助のためのシステムおよび装置が本明細書に開示される。いくつかの実施形態では、たとえばエクソスケルトンなどの歩行補助装置をユーザの1つ以上の身体部分に連結して、ユーザに対する装置の位置を維持することができる。上記装置は、ユーザの胴部に連結され得るハーネスと、ユーザの脚部に連結され得る支持部とを含み得る。上記装置は、重複歩または他の体の動きの際に拡張して筋肉の緊張を軽減して歩行の代謝コストを高めることができる、ハーネスおよび支持部に連結される弾性変形可能な部材をさらに含み得る。弾性変形可能な部材は、歩容周期の位相時に機械的エネルギを蓄積および放出して、股関節で生成される生物学的トルクに追加のトルクを与えることができる。これにより、すべての移動レベルのユーザを補助することができ、いくつかの実施形態では、たとえば高齢の人々などの特定の限られた移動性集団においてよく見られる股関節強度低下の増強を助けることができる。
Claims (22)
- 歩行補助装置であって、
ユーザの胴部に連結されて前記胴部に対する自身の位置を維持するように構成されるハーネスと、
前記ユーザの脚部に連結されて前記脚部に対する自身の位置を維持するように構成される支持部と、
前記ハーネスおよび前記支持部に連結される弾性変形可能な部材とを備え、前記部材は、重複歩時に第1の弛緩状態から第2の拡張状態に遷移して、前記重複歩時に前記ユーザが必要とする力およびエネルギのいずれかを減少させるように構成される、歩行補助装置。 - 前記弾性変形可能な部材は、前記支持部および前記ハーネスに力を及ぼして、前記胴部に対する前記脚部の屈曲および伸展のいずれかを助ける、請求項1に記載の装置。
- 前記弾性変形可能な部材は、前記第1の状態から前記第2の状態への遷移時に機械的エネルギを蓄積し、前記第2の状態から前記第1の状態への遷移時に機械的エネルギを放出して、前記ユーザの股関節における屈曲および伸展のいずれかを助ける、請求項1に記載の装置。
- 前記弾性変形可能な部材は、調整可能な接続部材を用いて前記ハーネスおよび前記支持部のいずれかに連結される、請求項1に記載の装置。
- 前記調整可能な接続部材の長さを変えて、前記弾性変形可能な部材にさまざまなレベルの予負荷を与えることができる、請求項4に記載の装置。
- 前記弾性変形可能な部材は、ばねまたはエラストマーを備える、請求項1に記載の装置。
- 前記弾性変形可能な部材は受動的である、請求項1に記載の装置。
- 前記ハーネスはユーザの股関節に巻き付けられるように構成される、請求項1に記載の装置。
- 前記弾性変形可能な部材は、ベルクロ、バックル、クリップ、および接着剤のうちの1つ以上を用いて前記ハーネスおよび前記支持部に連結される、請求項1に記載の装置。
- 前記弾性変形可能な部材に連結されるコネクタをさらに備え、前記コネクタは前記ハーネスの一部を中に通して受けるように適合される、請求項1に記載の装置。
- 前記コネクタは、前記弾性変形可能な部材の一部を中に通して受けて前記コネクタを前記弾性変形可能な部材に固定する第1の開口部と、前記ハーネスの一部を中に通して受けて前記コネクタを前記ハーネスに固定する第2の開口部とを備える、請求項10に記載の装置。
- 前記ハーネスの前記一部は、前記ハーネスから延びるストラップを備える、請求項11に記載の装置。
- 前記ユーザの第2の脚部に連結されるように構成される第2の支持部と、
前記ハーネスおよび前記第2の支持部に連結される第2の弾性変形可能な部材とをさらに備える、請求項1に記載の装置。 - 前記ハーネスは、前記ハーネスの第1の端部の上の第1の固定特徴が前記ハーネスの第2の端部の上の第2の固定特徴に重なって前記胴部に対する前記ハーネスの位置を維持するように前記胴部を取り囲むことによって、前記胴部に連結される、請求項1に記載の装置。
- 前記支持部は、前記支持部の第1の端部の上の第1の固定特徴が前記支持部の第2の端部の上の第2の固定特徴に重なって前記脚部に対する前記支持部の位置を維持するように前記脚部を取り囲むことによって、前記脚部に連結される、請求項1に記載の装置。
- 前記ハーネスは、前記ハーネスの外面にわたって離間している複数の固定特徴を備える、請求項1に記載の装置。
- 前記支持部は、前記支持部の外面にわたって離間している複数の固定特徴を備える、請求項1に記載の装置。
- 前記ハーネスの周囲は、前記ハーネスの前記第1の端部を前記ハーネスの前記外面の上の前記複数の固定特徴のうちのいずれか1つに固定することによって調整可能である、請求項16に記載の装置。
- 前記支持部の周囲は、前記ハーネスの前記第1の端部を前記支持部の前記外面の上の前記複数の固定特徴のうちのいずれか1つに固定することによって調整可能である、請求項17に記載の装置。
- 前記支持部は、ネオプレン、ナイロン、およびミッレリーゲのうちの1つ以上で作られる、請求項1に記載の装置。
- 前記ハーネスは、ネオプレン、ナイロン、およびミッレリーゲのうちの1つ以上で作られる、請求項1に記載の装置。
- 前記支持部は、前記支持部の長さに沿って延びて前記支持部の構造を補強して前記支持部の前記長さにわたって負荷を分散させるストラップをさらに備える、請求項1に記載の装置。
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CA3103434A1 (en) | 2019-12-26 |
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US20190380904A1 (en) | 2019-12-19 |
WO2019245633A1 (en) | 2019-12-26 |
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