公开(公告)号：JP2011156183A

公开(公告)日：2011-08-18

申请号：JP2010020840

申请日：2010-02-02

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： ODAJIMA TADASHI

IPC: A61G5/00

Abstract: PROBLEM TO BE SOLVED: To provide a transfer support device reducible of a risk of a cared person falling down when making a transfer motion.
SOLUTION: The transfer support device 100 includes a truck part 12; a holder 16 for holding the cared person 110; a connecting part 14 connecting the holder 16 to the truck part 12; and a load adjusting part 22 increasing/decreasing air pressure to change a load of a contact point of the truck part 12 with the ground surface. The balance of the transfer support device 100 that has become unstable when the cared person 110 makes the transfer motion on the transfer support device 100 can be corrected. Since a weight or the like is not used because of correcting the balance by air pressure, a weight increase of the whole transfer support device is restricted, and the device can be prevented from becoming very large.
COPYRIGHT: (C)2011,JPO&INPIT

Abstract translation: 要解决的问题：提供一种转移支持装置，其可以在进行转移运动时被关心的人跌倒的风险。 转运支撑装置100包括卡车部件12; 用于保持被照顾人110的保持器16; 将保持器16连接到卡车部12的连接部14; 以及负载调整部22，其增大/减小空气压力，以改变卡车部件12与接地面的接触点的负载。 可以校正当被照顾人员110在转移支持装置100上进行转移动作时变得不稳定的转移支持装置100的平衡。 由于通过空气压力校正平衡而不使用重量等，因此限制了整个转印支撑装置的重量增加，并且可以防止该装置变得非常大。 版权所有（C）2011，JPO＆INPIT

公开(公告)号：JP2011121152A

公开(公告)日：2011-06-23

申请号：JP2009282076

申请日：2009-12-11

Applicant: Nagoya Univ ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  国立大学法人名古屋大学

Inventor： ODAJIMA TADASHI ,  OHIGATA GORO ,  HASE KAZUNORI ,  KIM YOUNG WOO ,  NAGAI RIKI ,  TOMEOKI MASAYUKI ,  HIRATE YOSUKE

IPC: B25J13/00 ,  A61F2/70 ,  A61H3/00

Abstract: PROBLEM TO BE SOLVED: To provide a motion assisting device for assisting motion by applying appropriate torque to a joint of a human body. SOLUTION: The motion assisting device includes a memory module, a sensor for measuring an angle of the joint of the human body, a brace having a motor applying the torque to a specified joint, and a controller. The memory module stores a known trajectory group of n numbers of the joint angles from a first point in time to a second point in time, and known s-dimensional time-series data corresponding to respective known trajectories. The controller obtains a measured n-dimensional trajectory on time-series data of the n numbers of the measured joint angles, and calculates measured s-dimensional time-series data corresponding to the measured trajectories, where n>s. The controller compares the respective known time-series data till a middle point in time with the measured time-series data and identifies the known time-series data nearest to the measured time-series data to control the motor to allow the angle of the specified joint to follow the trajectory of the specified joint in the known trajectory corresponding to the identified known time-series data after a point in time set after the middle point in time. COPYRIGHT: (C)2011,JPO&INPIT

Abstract translation: 要解决的问题：提供一种通过向人体的关节施加适当的扭矩来辅助运动的运动辅助装置。 解决方案：运动辅助装置包括存储模块，用于测量人体关节角度的传感器，具有将扭矩施加到指定关节的马达的支架和控制器。 存储器模块存储从第一时间点到第二时间点的n个关节角度的已知轨迹组，以及对应于各个已知轨迹的已知s维时间序列数据。 控制器获得测量的关节角度的n个数的时间序列数据上的测量的n维轨迹，并且计算与所测量的轨迹相对应的测量的s维时间序列数据，其中n> s。 控制器将各个已知的时间序列数据直到中间时间点与测量的时间序列数据进行比较，并且识别最接近所测量的时间序列数据的已知时间序列数据，以控制电动机允许指定的 在中点之后设定的时间点之后，按照与所识别的已知时间序列数据相对应的已知轨迹中的指定关节的轨迹。 版权所有（C）2011，JPO＆INPIT

公开(公告)号：JP2010264019A

公开(公告)日：2010-11-25

申请号：JP2009116909

申请日：2009-05-13

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： SASAKI KAZUYUKI ,  ODAJIMA TADASHI

IPC: A61H3/00 ,  A63B23/04 ,  A63B24/00 ,  A63B69/00

Abstract: PROBLEM TO BE SOLVED: To provide a walking assist device estimating the intention of a user trying to change a walking speed and automatically adjusting the swing speed of a leg brace. SOLUTION: The walking assist device 10 includes a leg brace 12 with an actuator for swinging the leg of a user around a pitch axis, a controller 32 for controlling the leg brace 12, a shoe sole part 19 attached to the sole of a user, and a reaction force sensor 22. The controller 32 controls the leg brace 12 so as to cyclically swing the leg of the user by determined swing cycle and amplitude. The reaction force sensor 22 detects the shoe sole in-plane direction component of floor reaction force that the shoe sole part 19 receives from a walking surface. The controller 32 adjusts the walking speed stipulated by the swing cycle and amplitude of the leg brace 12 corresponding to the size in the anteroposterior direction of the detected shoe sole in-plane direction component. COPYRIGHT: (C)2011,JPO&INPIT

Abstract translation: 要解决的问题：提供一种行走辅助装置，其估计尝试改变步行速度的用户的意图，并自动调节支腿的摆动速度。 解决方案：行走辅助装置10包括具有用于围绕俯仰轴摆动使用者的腿部的致动器的腿部支架12，用于控制腿部支架12的控制器32，附接到鞋底底部的鞋底部分19 用户和反作用力传感器22.控制器32控制腿撑12，以便以确定的摆动周期和幅度循环地摆动使用者的腿。 反作用力传感器22检测鞋底部件19从行走表面接收的鞋底的反作用力的面内方向分量。 控制器32根据检测到的鞋底面内方向成分的前后方向的尺寸对应于对应于支腿12的摆动周期和振幅的行走速度。 版权所有（C）2011，JPO＆INPIT

公开(公告)号：JP2009207840A

公开(公告)日：2009-09-17

申请号：JP2008056826

申请日：2008-03-06

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： ODAJIMA TADASHI ,  KONOSU HITOSHI ,  ENDO KATSUHISA

IPC: A61H3/00

Abstract: PROBLEM TO BE SOLVED: To provide a walking movement assisting device can assist the movement of a diseased leg to be appropriately moved with respect to the movement of a sound leg. SOLUTION: The walking movement assisting device includes a pair of right and left mounting members to be respectively mounted on the right and left legs, so as to assist the movement for driving the joint of the leg part by the movement of the mounting members. One mounting member includes a measurement part for measuring the amount of driving the joint of the leg part for mounting. The other mounting member includes a driving part for driving the joint of the leg part for mounting. The target driving amount of the driving part is determined based on the amount of driving the joint of the leg part, which is measured by the measuring part. Then, the driving part is operated based on the determined target driving amount, thereby assisting the movement by driving the joint of the leg part. COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：提供一种步行运动辅助装置可以帮助患病腿的运动相对于声腿的移动适当地移动。 解决方案：步行运动辅助装置包括一对左右安装构件，分别安装在左右腿部上，以便通过安装件的移动来辅助用于驱动腿部接合部的运动 会员 一个安装构件包括用于测量用于安装的腿部的接头的驱动量的测量部件。 另一个安装构件包括用于驱动用于安装的腿部的接头的驱动部。 基于由测量部测量的腿部的关节的驱动量来确定驾驶部的目标驾驶量。 然后，基于所确定的目标驱动量来操作驱动部，从而通过驱动腿部的接合来辅助移动。 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2009039814A

公开(公告)日：2009-02-26

申请号：JP2007207152

申请日：2007-08-08

Applicant: Institute Of Physical & Chemical Research ,  Toyota Motor Corp ,  トヨタ自動車株式会社 ,  独立行政法人理化学研究所

Inventor： ODAJIMA TADASHI ,  UCHIHARA MASAFUMI ,  TYTUS WOJTARA ,  SHIMODA SHINGO ,  KIMURA HIDENORI

IPC: B25J3/00 ,  B66F19/00

Abstract: PROBLEM TO BE SOLVED: To provide a power assist device controlling the position and posture of a workpiece by providing a virtual guide as an area which the fingertip of a robot or the workpiece cannot enter, and by determining the end-point velocity of the robot.
SOLUTION: This power assist device includes: a robot arm 3 having a plurality of revolute joints 3a; a suction tool 5 three-dimensionally swingably connected to the robot arm 3 through a free joint 4 and holding a window 2; an encoder 10 detecting the angles of the revolute joints 3a and free joint 4; a first calculation section 8a calculating the position of the fingertip 3c of the robot arm 3 or the position of the window 2 based on the angles; a storage section 8c storing the virtual guide G as the area not admitting the entering of the window 2; a second calculation section 8b calculating a velocity command value for putting restrictions not to exceed the virtual guide G by comparing the position of the fingertip 3c or the position of the window 2 with the position of the virtual guide G; and control means 8 controlling the fingertip 3c by the velocity command value.
COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：提供一种通过提供作为机器人或工件不能进入的区域的虚拟引导件来控制工件的位置和姿势的动力辅助装置，并且通过确定终点速度 的机器人。 解决方案：该动力辅助装置包括：具有多个旋转接头3a的机器人手臂3; 通过自由关节4三维可摆动地连接到机器人手臂3并保持窗口2的吸引工具5; 检测旋转接头3a和自由接头4的角度的编码器10; 第一计算部分8a，基于角度计算机器人手臂3的指尖3c的位置或窗口2的位置; 存储虚拟导轨G作为不允许进入窗口2的区域的存储部8c; 第二计算部分8b通过将指尖3c的位置或窗口2的位置与虚拟引导件G的位置进行比较来计算用于施加不超过虚拟引导件G的限制的速度指令值; 以及通过速度指令值控制指尖3c的控制装置8。 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2009034758A

公开(公告)日：2009-02-19

申请号：JP2007200206

申请日：2007-07-31

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： UCHIHARA MASAFUMI ,  ODAJIMA TADASHI

IPC: B25J13/08 ,  B66F19/00

Abstract: PROBLEM TO BE SOLVED: To provide a power assist device having improved responsiveness to the operation of a worker while improving the efficiency of moving and mounting work for an object, and to provide its control method.
SOLUTION: The power assist device 1 is provided for moving the object 2 in cooperation with the operation of the worker. It comprises a hand part 10 for gripping the object 2, a vertical drive part 11 for driving the hand part 10 in the vertical direction, a free joint part 12 for rockingly connecting the hand part 10 to the vertical drive part 11 in any three-dimensional direction, cylinder devices 13, 14 for imparting viscous resistance to the hand part 10 in a predetermined direction, a force sensor 15 for detecting the operating force of the worker operating the hand part 10, and a control part 16 for calculating an impedance control command value for the vertical drive part 11 from the operating force detected by the force sensor 15 to drive the vertical drive part 11 in accordance with the impedance control command value.
COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：提供一种提高对作业者的操作的响应性的动力辅助装置，同时提高对物体的移动和安装作业的效率，并提供其控制方法。 解决方案：动力辅助装置1用于与工人的操作协同运动物体2。 其包括用于夹持物体2的手部10，用于在垂直方向上驱动手部10的垂直驱动部11，用于以任意三维方式将手部10与垂直驱动部11摇摆连接的自由关节部12， 尺寸方向，用于在预定方向上对手部10施加粘性阻力的气缸装置13,14;用于检测操作手部10的作业员的操作力的力传感器15，以及用于计算阻抗控制的控制部16 根据由力传感器15检测到的操作力，垂直驱动部11的指令值，根据阻抗控制指令值驱动垂直驱动部11。 版权所有（C）2009，JPO＆INPIT