JP6386269B2 - 歩行補助装置 - Google Patents
歩行補助装置 Download PDFInfo
- Publication number
- JP6386269B2 JP6386269B2 JP2014134547A JP2014134547A JP6386269B2 JP 6386269 B2 JP6386269 B2 JP 6386269B2 JP 2014134547 A JP2014134547 A JP 2014134547A JP 2014134547 A JP2014134547 A JP 2014134547A JP 6386269 B2 JP6386269 B2 JP 6386269B2
- Authority
- JP
- Japan
- Prior art keywords
- user
- leg
- force
- walking
- assist
- 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
- 210000002414 leg Anatomy 0.000 claims description 128
- 238000005452 bending Methods 0.000 claims description 37
- 210000000629 knee joint Anatomy 0.000 claims description 5
- 238000000034 method Methods 0.000 description 23
- 210000000689 upper leg Anatomy 0.000 description 16
- 210000003141 lower extremity Anatomy 0.000 description 10
- 230000001174 ascending effect Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 230000009194 climbing Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 210000001699 lower leg Anatomy 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 208000034819 Mobility Limitation Diseases 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
-
- 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
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
-
- 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
-
- 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
- A61F2005/0132—Additional features of the articulation
- A61F2005/0155—Additional features of the articulation with actuating means
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Public Health (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Nursing (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
Description
Rul = Ffl×Ll/(Ffr×Lr+Ffl×Ll) ・・・(2)
Rul = Ll/(Lr+Ll) ・・・(2A)
Ful = Fu×Rul ・・・(4)
Rd1l = Ffl/(Ffr+Ffl) ・・・(6)
Fd1l = Fd1×Rd1l ・・・(8)
Claims (3)
- 利用者が着座する着座部と、
前記利用者の左右の脚体の各々の所定の位置に固定され、前記着座部に対して前記利用者の前記脚体の動作に連動して揺動可能に連結された左右一対の脚リンク部と、
前記脚リンク部に駆動力を伝達して、前記脚リンク部の各々から前記着座部を介して前記利用者にアシスト力を作用させるアクチュエータと、
前記アクチュエータの駆動力の制御を行う制御部と
を備えた歩行補助装置であって、
前記制御部は、前記利用者の左右の脚体の各々の屈伸状態を表す屈伸状態変数のうち、一方の前記脚体の前記屈伸状態変数の値の、他方の前記脚体の前記屈伸状態変数の値に対する偏差が大きいほど、前記脚リンク部の各々から前記利用者に作用する前記アシスト力のうち、前記一方の脚体に作用する前記アシスト力の値の、前記他方の脚体に作用する前記アシスト力の値に対する偏差が大きくなるように前記制御を行って、前記一方の脚体に作用する前記アシスト力と前記他方の脚体に作用する前記アシスト力を調整して、前記一方の脚体に作用する前記アシスト力と前記他方の脚体に作用する前記アシスト力との合力の前後方向成分を小さくすることを特徴とする歩行補助装置。 - 請求項1に記載の歩行補助装置であって、
前記利用者の左右の足平の接地を検知する接地センサを備え、
前記制御部は、左右の前記足平が接地している状態においてのみ、前記制御を行うことを特徴とする歩行補助装置。 - 請求項1又は請求項2に記載の歩行補助装置であって、
前記利用者の左右の踏力を検出する踏力センサを備え、
前記屈伸状態変数は、前記利用者の膝関節が伸展するほど大きくなる変数であり、
前記制御部は、前記屈伸状態変数の値が大きく、前記踏力が大きいほど、前記アシスト力が大きくなるように、前記制御を行うことを特徴とする歩行補助装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014134547A JP6386269B2 (ja) | 2014-06-30 | 2014-06-30 | 歩行補助装置 |
US14/751,743 US9980830B2 (en) | 2014-06-30 | 2015-06-26 | Walking assist device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014134547A JP6386269B2 (ja) | 2014-06-30 | 2014-06-30 | 歩行補助装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016010618A JP2016010618A (ja) | 2016-01-21 |
JP6386269B2 true JP6386269B2 (ja) | 2018-09-05 |
Family
ID=54929306
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014134547A Expired - Fee Related JP6386269B2 (ja) | 2014-06-30 | 2014-06-30 | 歩行補助装置 |
Country Status (2)
Country | Link |
---|---|
US (1) | US9980830B2 (ja) |
JP (1) | JP6386269B2 (ja) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP1541976S (ja) * | 2015-05-18 | 2016-01-18 | ||
EP3402444B1 (en) * | 2016-01-17 | 2022-04-06 | Human in Motion Robotics Inc. | System and device for guiding and detecting motions of 3-dof rotational target joint |
KR102536856B1 (ko) * | 2016-10-31 | 2023-05-25 | 삼성전자주식회사 | 보행 보조 장치 및 그 동작 방법 |
JP2022507479A (ja) * | 2018-11-15 | 2022-01-18 | ステムラッド リミティド | 重量分散外骨格 |
Family Cites Families (14)
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 |
US5476441A (en) * | 1993-09-30 | 1995-12-19 | Massachusetts Institute Of Technology | Controlled-brake orthosis |
JP4588666B2 (ja) * | 2005-05-27 | 2010-12-01 | 本田技研工業株式会社 | 歩行補助装置の制御装置および制御プログラム |
DE602006015649D1 (de) * | 2005-05-27 | 2010-09-02 | Honda Motor Co Ltd | Gehhilfsvorrichtung |
JP4666644B2 (ja) * | 2006-07-12 | 2011-04-06 | 本田技研工業株式会社 | 歩行補助装具の制御装置 |
JP4745167B2 (ja) * | 2006-08-22 | 2011-08-10 | 本田技研工業株式会社 | 歩行補助装置 |
US8353854B2 (en) * | 2007-02-14 | 2013-01-15 | Tibion Corporation | Method and devices for moving a body joint |
AU2009249191B2 (en) * | 2008-05-20 | 2014-07-24 | Ekso Bionics, Inc. | Device and method for decreasing energy consumption of a person by use of a lower extremity exoskeleton |
US9351855B2 (en) * | 2008-06-16 | 2016-05-31 | Ekso Bionics, Inc. | Powered lower extremity orthotic and method of operation |
US8801641B2 (en) * | 2008-07-23 | 2014-08-12 | Ekso Bionics, Inc. | Exoskeleton and method for controlling a swing leg of the exoskeleton |
JP5213682B2 (ja) * | 2008-12-17 | 2013-06-19 | 本田技研工業株式会社 | 体重支持装置 |
JP5073642B2 (ja) * | 2008-12-17 | 2012-11-14 | 本田技研工業株式会社 | 動作補助装置 |
JP2014104185A (ja) * | 2012-11-28 | 2014-06-09 | Sony Corp | 運動補助装置及び運動補助方法 |
CA2855148C (en) * | 2013-06-21 | 2020-07-14 | Queen's University At Kingston | Biomechanical electrical power generation apparatus |
-
2014
- 2014-06-30 JP JP2014134547A patent/JP6386269B2/ja not_active Expired - Fee Related
-
2015
- 2015-06-26 US US14/751,743 patent/US9980830B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
JP2016010618A (ja) | 2016-01-21 |
US9980830B2 (en) | 2018-05-29 |
US20150374513A1 (en) | 2015-12-31 |
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