JP5073642B2 - 動作補助装置 - Google Patents
動作補助装置 Download PDFInfo
- Publication number
- JP5073642B2 JP5073642B2 JP2008321023A JP2008321023A JP5073642B2 JP 5073642 B2 JP5073642 B2 JP 5073642B2 JP 2008321023 A JP2008321023 A JP 2008321023A JP 2008321023 A JP2008321023 A JP 2008321023A JP 5073642 B2 JP5073642 B2 JP 5073642B2
- Authority
- JP
- Japan
- Prior art keywords
- joint
- link
- upper limb
- leg
- weight support
- 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.)
- Expired - Fee Related
Links
- 210000001364 upper extremity Anatomy 0.000 claims description 93
- 230000033001 locomotion Effects 0.000 claims description 46
- 210000002414 leg Anatomy 0.000 description 89
- 210000002683 foot Anatomy 0.000 description 15
- 210000000629 knee joint Anatomy 0.000 description 14
- 230000005540 biological transmission Effects 0.000 description 12
- 210000000707 wrist Anatomy 0.000 description 11
- 210000002310 elbow joint Anatomy 0.000 description 9
- 210000000544 articulatio talocruralis Anatomy 0.000 description 7
- 210000003857 wrist joint Anatomy 0.000 description 7
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 230000037396 body weight Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
Images
Classifications
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- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1623—Back
-
- 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
- A61H2201/1633—Seat
-
- 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
- A61H2201/1635—Hand or arm, e.g. handle
-
- 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
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—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
- A61H2201/1671—Movement of interface, i.e. force application means rotational
-
- 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
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
Landscapes
- 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)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
Description
また、片方の脚や上肢が骨折等で不自由な利用者の歩行を補助するため、左右の脚リンク3,3や上肢リンク5,5のうち、利用者の不自由な脚や上肢側の脚リンクや上肢リンクのみを残して、他方の脚リンクや上肢リンクを省略するようにしてもよい。
Claims (3)
- 利用者の体重の一部を支える体重支持部と、
利用者の脚に装着される脚装着部と、
該脚装着部を体重支持部に連結する脚リンクと、
該脚リンクを体重支持部に対して少なくとも前後方向に揺動自在に連結する第1関節と、
利用者の上肢に装着される上肢装着部と、
該上肢装着部を体重支持部に連結する上肢リンクと、
該上肢リンクを体重支持部に対して揺動自在に連結する第2関節と、
脚リンクの関節を駆動させる駆動機構とを備えた動作補助装置であって、
上肢リンクから第2関節を介して体重支持部に作用する力に起因して体重支持部が脚リンクに対して揺動するのを抑制するように、前記上肢リンクから前記第2関節を介して体重支持部に作用する力に起因して発生する、前記脚リンクに対して前記体重支持部を回転させるモーメントの大きさが、該体重支持部と利用者との間に発生する最大摩擦力により発生する、前記脚リンクに対する前記体重支持部の回転を阻止するモーメントの大きさを越えない位置に、前記第2関節を設けることを特徴とする動作補助装置。 - 利用者の体重の一部を支える体重支持部と、
利用者の脚に装着される脚装着部と、
該脚装着部を体重支持部に連結する脚リンクと、
該脚リンクを体重支持部に対して少なくとも前後方向に揺動自在に連結する第1関節と、
利用者の上肢に装着される上肢装着部と、
該上肢装着部を体重支持部に連結する上肢リンクと、
該上肢リンクを体重支持部に対して揺動自在に連結する第2関節と、
脚リンクの関節を駆動させる駆動機構とを備えた動作補助装置であって、
前記体重支持部は利用者が跨ぐようにして着座する着座部であり、該着座部の上方に前記脚リンクの前後方向の揺動に関する前記第1関節の揺動支点が位置し、
上肢リンクから第2関節を介して体重支持部に作用する力に起因して体重支持部が脚リンクに対して揺動するのを抑制するように、前記第1関節の揺動支点から前記着座部の着座面までの距離内の位置に、前記第2関節の揺動支点が設けられていることを特徴とする動作補助装置。 - 前記第2関節を、前記脚リンクの前後方向の揺動に関する前記第1関節の揺動支点より下方に設けることを特徴とする請求項1又は2に記載の動作補助装置。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008321023A JP5073642B2 (ja) | 2008-12-17 | 2008-12-17 | 動作補助装置 |
PCT/JP2009/006872 WO2010070879A1 (ja) | 2008-12-17 | 2009-12-15 | 動作補助装置 |
US13/140,138 US8968223B2 (en) | 2008-12-17 | 2009-12-15 | Motion assist device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008321023A JP5073642B2 (ja) | 2008-12-17 | 2008-12-17 | 動作補助装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2010142352A JP2010142352A (ja) | 2010-07-01 |
JP5073642B2 true JP5073642B2 (ja) | 2012-11-14 |
Family
ID=42268559
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008321023A Expired - Fee Related JP5073642B2 (ja) | 2008-12-17 | 2008-12-17 | 動作補助装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US8968223B2 (ja) |
JP (1) | JP5073642B2 (ja) |
WO (1) | WO2010070879A1 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2015208795A (ja) * | 2014-04-24 | 2015-11-24 | パナソニック株式会社 | 動作支援装置 |
JP6386269B2 (ja) * | 2014-06-30 | 2018-09-05 | 本田技研工業株式会社 | 歩行補助装置 |
US10449105B2 (en) * | 2014-10-26 | 2019-10-22 | Springactive, Inc. | System and method of bidirectional compliant joint torque actuation |
EP3158893B1 (en) * | 2015-10-21 | 2021-04-28 | noonee AG | Seat unit for wearable sitting posture assisting device |
EP3241531A1 (en) * | 2016-05-04 | 2017-11-08 | noonee AG | Leg unit for a wearable sitting posture assisting device |
JP6197160B1 (ja) * | 2017-03-28 | 2017-09-20 | 廣 門馬 | 脚補助装置 |
KR102074146B1 (ko) * | 2017-12-22 | 2020-02-06 | 현대로템 주식회사 | 착석용 보조장치 |
KR102663218B1 (ko) * | 2019-04-04 | 2024-05-03 | 현대자동차주식회사 | 착용식 의자 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2589360B1 (fr) * | 1985-10-30 | 1987-12-24 | Chareire Jean Louis | Appareil d'assistance mecanique de la propulsion par les jambes |
US6666796B1 (en) * | 1999-09-16 | 2003-12-23 | Aerovironment, Inc. | Walking assisting apparatus |
JP3917432B2 (ja) * | 2002-01-29 | 2007-05-23 | 株式会社日立製作所 | 動作支援装置 |
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 |
CN101175456B (zh) * | 2005-04-13 | 2013-03-27 | 加利福尼亚大学董事会 | 半机动下肢外骨架 |
WO2006126708A1 (ja) * | 2005-05-27 | 2006-11-30 | Honda Motor Co., Ltd. | 歩行補助装置の制御装置 |
JP2007130234A (ja) | 2005-11-10 | 2007-05-31 | Matsushita Electric Ind Co Ltd | 人体動作補助装置 |
JP4712627B2 (ja) * | 2006-07-10 | 2011-06-29 | 本田技研工業株式会社 | 歩行補助装置 |
JP4989278B2 (ja) | 2007-04-05 | 2012-08-01 | パナソニック株式会社 | 下肢パワー増幅装置 |
-
2008
- 2008-12-17 JP JP2008321023A patent/JP5073642B2/ja not_active Expired - Fee Related
-
2009
- 2009-12-15 US US13/140,138 patent/US8968223B2/en not_active Expired - Fee Related
- 2009-12-15 WO PCT/JP2009/006872 patent/WO2010070879A1/ja active Application Filing
Also Published As
Publication number | Publication date |
---|---|
US8968223B2 (en) | 2015-03-03 |
JP2010142352A (ja) | 2010-07-01 |
US20110257567A1 (en) | 2011-10-20 |
WO2010070879A1 (ja) | 2010-06-24 |
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