公开(公告)号：JP2013092507A

公开(公告)日：2013-05-16

申请号：JP2011236229

申请日：2011-10-27

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

Inventor： KIDA YUSUKE ,  IMAIDA MASAYUKI ,  HIBINO MASAHIKO ,  OISHI KOTA ,  MAEKITA WATARU ,  YAMAMOTO KENICHI

IPC: G01G23/06 ,  A61H3/00 ,  G01G19/52

Abstract: PROBLEM TO BE SOLVED: To provide a load detector capable of increasing the life of a load sensor, and provide a walking assist device.SOLUTION: A load detector 1 relating to the invention comprises an upper sole 11, a lower sole 12, a low friction coefficient resin 13, an application member 14 and a sheet-shaped load sensor 15. The sheet-shaped load sensor 15 is positionally fixed at the lower sole 12. The application member 14 is provided between the sheet-shaped load sensor 15 and the upper sole 11. The low friction coefficient resin 13 is provided between the application member 14 and the upper sole 11, and is positionally fixed at the upper sole 11. And, the application member 14 is slidable to the upper sole 11 and the sheet-shaped load sensor 15.

Abstract translation: 要解决的问题：提供能够增加负载传感器的寿命的负载检测器，并提供行走辅助装置。 解决方案：本发明的负载检测器1包括上鞋底11，下底12，低摩擦系数树脂13，施加构件14和片状负载传感器15.片状负载传感器 15被定位在下底12处。施加构件14设置在片状载荷传感器15和上鞋底11之间。低摩擦系数树脂13设置在施加构件14和鞋底11之间， 位置固定在上鞋底11上。而且，施加构件14可滑动到上鞋底11和片状负荷传感器15.版权所有（C）2013，JPO＆INPIT

公开(公告)号：JP2010119564A

公开(公告)日：2010-06-03

申请号：JP2008295428

申请日：2008-11-19

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

Inventor： IMAIDA MASAYUKI ,  IWAMOTO KUNIHIRO

IPC: A61G1/00 ,  A61G7/10

Abstract: PROBLEM TO BE SOLVED: To provide a transfer support apparatus capable of preventing the situation that a care receiver is held between a sitting object and a body holder and pressurized and easily and quickly performing a transfer operation. SOLUTION: The transfer support apparatus 1 includes: a support base 12; a column 13 whose one end is freely tiltably attached to the support base 12; the body holder 30 provided on the other end part of the column 13, to be held by the care receiver P; a driving means 20 for tilting the column 13, a measuring means 40 for measuring torque generated by the care receiver P holding the body holder 30; and a control means 50 for controlling the driving means 20. The control means 50 controls the driving means 20 on the basis of the torque measured by the measuring means 40 in the transfer operation of making the care receiver P sit on the sitting object (60) in the state of holding the body holder 30. COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 解决的问题：提供一种转印支持装置，其能够防止在座椅和身体保持器之间保持护理接收器的状态，并且加压且容易且快速地执行转移操作。 传送支撑装置1包括：支撑基座12; 其一端可自由地倾斜地附接到支撑基座12的柱13; 设置在立柱13的另一端部的主体保持件30，被护理接收器P保持; 用于倾斜柱13的驱动装置20，用于测量由保持身体保持器30的护理接收器P产生的扭矩的测量装置40; 以及用于控制驱动装置20的控制装置50.控制装置50基于在使护理接收器P坐在坐着的物体（60）上的转移操作中由测量装置40测量的扭矩来控制驱动装置20 ）。（C）2010年，JPO＆INPIT

公开(公告)号：JP2013090844A

公开(公告)日：2013-05-16

申请号：JP2011235276

申请日：2011-10-26

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

Inventor： NAKAJIMA KAZUMASA ,  IMAIDA MASAYUKI

IPC: A61H3/00

Abstract: PROBLEM TO BE SOLVED: To provide a walking assist device preventing a turnover, and allowing a user to sit without feeling a load, and to provide a method for controlling the same.SOLUTION: The walking assist device includes: a first link 2 worn on a thigh of a leg of the user; a second link 3 worn on a lower limb; a drive part 6 for relatively rotationally driving the links; and a control part 92 for controlling the drive part 6. The control part 92 executes friction compensation control for imparting a torque for cancelling a drag force caused by mechanical frictional force generated between the first link 2 and the second link 3, after the detection of a standing-up movement of the user.

Abstract translation: 要解决的问题：提供一种防止翻转的行走辅助装置，并且允许使用者在没有感觉到负载的情况下坐下，并提供一种用于控制它的方法。 解决方案：步行辅助装置包括：穿在使用者的腿的大腿上的第一连杆2; 穿在下肢上的第二连杆3; 用于相对旋转地驱动连杆的驱动部分6; 以及用于控制驱动部分6的控制部分92.控制部分92执行摩擦补偿控制，以在检测到第一连杆2和第二连杆3之后产生的机械摩擦力产生用于消除由力机械摩擦力引起的牵引力的扭矩 用户的站立运动。 版权所有（C）2013，JPO＆INPIT

公开(公告)号：JP2013090652A

公开(公告)日：2013-05-16

申请号：JP2011232688

申请日：2011-10-24

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

Inventor： YUASA FUMITAKA ,  IMAIDA MASAYUKI

IPC: A61H3/00 ,  B25J3/00

Abstract: PROBLEM TO BE SOLVED: To improve safety when abnormality occurs during walking movement.SOLUTION: A controller 2 is provided for a walking assist device 1 that is mounted on a leg of a user to assist user's walking movement. The controller 2 includes: an abnormality detection section 11 that detects the abnormality of walking movement; a knee angular velocity detection section 12 that detects an angular velocity of a knee joint part 3 in abnormal circumstances; and a torque control section 13 that generates maintenance torque for decreasing the angular velocity when the knee joint part 3 moves in a bending direction, that is a torque proportional to the angular velocity detected by the knee angular velocity detection section 12 in the abnormal circumstances.

Abstract translation: 要解决的问题：为了在步行运动期间发生异常时提高安全性。

解决方案：提供一种用于步行辅助装置1的控制器2，该步行辅助装置1安装在用户的腿部上以辅助用户的步行运动。 控制器2包括：异常检测部11，其检测步行动作的异常; 膝部角速度检测部12，其在异常情况下检测膝关节部3的角速度; 以及转矩控制部13，其产生用于当膝关节部3在弯曲方向上移动时减小角速度的维持转矩，即在异常情况下与膝角速度检测部12检测到的角速度成比例的扭矩。 版权所有（C）2013，JPO＆INPIT

公开(公告)号：JP2012090735A

公开(公告)日：2012-05-17

申请号：JP2010239955

申请日：2010-10-26

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

Inventor： NAKAJIMA KAZUMASA ,  IMAIDA MASAYUKI ,  KONOSU HITOSHI

IPC: A61B5/22 ,  A61H1/02

Abstract: PROBLEM TO BE SOLVED: To provide a knee joint resistance measurement system suitable to measure resistance of a knee joint in a standing posture or a seating posture.SOLUTION: This knee joint resistance measurement system 10 includes an angle sensor 15, a gripper 25, a load sensor 24, and a storage device 30. The angle sensor 15 measures the angle of the knee joint of a subject. The gripper 25 is a member mounted to a lower thigh of the subject, and gripped by a measurer so as to turn the lower thigh of the subject. The load sensor 24 is disposed in the gripper 25, and measures a force applied to the lower thigh by the measurer along a turning direction of the knee joint. The storage device 30 associates and stores the knee joint angle changing when an external force is applied to the lower thigh, and an external torque calculated from a distance from the rotation center of the knee joint to the load sensor and the external force measured by the load sensor. The measurement device 10 is simple and compact since an actuator is not included therein, and even if the subject has the standing posture or the seating posture, the measurement is easy.

Abstract translation: 要解决的问题：提供一种适合于以站立姿势或就座姿态测量膝关节的阻力的膝关节阻力测量系统。 解决方案：该膝关节电阻测量系统10包括角度传感器15，夹持器25，负载传感器24和存储装置30.角度传感器15测量被检体的膝关节的角度。 夹持器25是安装到被检体的大腿下部并被测量器夹持的构件，以使被检体的下部大腿转动。 负载传感器24设置在夹持器25中，并且测量沿着膝关节的转动方向由测量器施加到下大腿的力。 存储装置30将施加外力的膝关节角度变化关联并存储到下大腿，并且从从膝关节的旋转中心到负载传感器的距离计算的外部扭矩和由 负载传感器 测量装置10由于不包括致动器而简单且紧凑，并且即使被摄体具有站立姿势或就座姿态，测量也容易。 版权所有（C）2012，JPO＆INPIT

公开(公告)号：JP2012040113A

公开(公告)日：2012-03-01

申请号：JP2010182705

申请日：2010-08-18

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

Inventor： TAKAHASHI MASAHIRO ,  IMAIDA MASAYUKI

IPC: A61H3/00 ,  B25J13/00

Abstract: PROBLEM TO BE SOLVED: To provide a sitting-motion assist device which appropriately assists sitting motion even when a chair has an undefined seat height.SOLUTION: The assist device includes a thigh link, a lower thigh link, joints, a motor, and a controller. The thigh link and the lower thigh link are mounted to the thigh and the lower thigh of the user, respectively. The joint connects the lower thigh link to the thigh link in a swingable manner. The motor drives the joint, and generate a torque for swing the lower thigh link relative to the thigh link. The controller controls the motor to match the angle of the knee to an objective knee angle. Further, the controller controls the motor so that an actual angle of the knee tracks the objective knee angle pattern having an objective knee angle reduced with time, and finishes the tracking control when predetermined sitting determination conditions are satisfied during the control tracking the objective knee angle pattern.

Abstract translation: 要解决的问题：提供一种即使在椅子具有未定义的座椅高度时也适当地协助坐姿运动的坐姿运动辅助装置。 解决方案：辅助装置包括大腿连杆，下大腿连杆，关节，马达和控制器。 大腿连接和下大腿连接分别安装到用户的大腿和大腿上。 关节以可摆动的方式将大腿下连接连接到大腿连杆。 马达驱动关节，并产生相对于大腿连杆摆动下大腿连杆的扭矩。 控制器控制电动机将膝盖的角度与客观的膝盖角度相匹配。 此外，控制器控制电动机，使得膝盖的实际角度跟踪具有客观膝盖角度的客观膝盖角度图案随时间减小，并且在控制跟踪目标膝盖角度期间满足预定的坐姿确定条件时完成跟踪控制 模式。 版权所有（C）2012，JPO＆INPIT

公开(公告)号：JP2013059651A

公开(公告)日：2013-04-04

申请号：JP2012260489

申请日：2012-11-29

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

Inventor： IMAIDA MASAYUKI ,  IWAMOTO KUNIHIRO

IPC: A61G5/00 ,  A61G7/10

Abstract: PROBLEM TO BE SOLVED: To provide a transfer support device in which such a situation that a care recipient is caught between a sitting object and a body holder and compressed is prevented, and which allows a transfer operation to be easily and quickly performed.SOLUTION: The transfer support device 1 includes: a support base 12; a column support 13 whose one end is freely tiltably attached to the support base 12; a body holder 30 which is provided on the other end part of the column support 13 and is held by a care recipient P; a driving means 20 for tilting the column support 13; a measuring means 40 for measuring torque generated by holding the body holder 30 by the care recipient P; and a control means 50 for controlling the driving means 20. The control means 50 controls the driving means 20 on the basis of the torque measured by the measuring means 40 in the transfer operation through which the care recipient P sits on a sitting object (60) while holding the body holder 30.

Abstract translation: 要解决的问题：提供一种转移支持装置，其中防止了在受保护物体和身体保持器之间被夹持并被压缩的这种情况，并且允许容易且快速地执行转移操作 。 传送支撑装置1包括：支撑基座12; 柱支撑件13，其一端可自由地倾斜地附接到支撑基座12; 身体保持器30，其设置在柱支撑件13的另一端部并由护理者P保持; 用于使列支撑件13倾斜的驱动装置20; 测量装置40，用于测量由保养人P保持身体保持器30产生的扭矩; 以及用于控制驱动装置20的控制装置50.控制装置50基于在受理者P坐在坐着的物体（60）上的转移操作中由测量装置40测量的扭矩来控制驱动装置20 ）。（C）2013，JPO＆INPIT

公开(公告)号：JP2012085891A

公开(公告)日：2012-05-10

申请号：JP2010236100

申请日：2010-10-21

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

Inventor： MANABE SHUHEI ,  IMAIDA MASAYUKI

IPC: A61B5/11 ,  A61H3/00

Abstract: PROBLEM TO BE SOLVED: To provide a walking ability measuring apparatus for measuring an index which is suitable to evaluate walking ability of a user.SOLUTION: The walking ability measuring apparatus 100 includes a load sensor 19, foot position sensors 23, 25 and a display 30. The load sensor measures a load which a foot sole of the user's leg is received from a floor face while walking. The foot position sensors measure a foot position of the user's leg to a waste position in the fore and aft direction. The display processes sensor data and displays measurement result. The display measures a first foot position when the load exceeds the predetermined first load threshold value every one step and a second foot position when the load falls below the predetermined second load threshold value based on the sensor data of the foot position sensors. The display displays the first foot position and the second foot position in measured multiple steps.

Abstract translation: 要解决的问题：提供一种用于测量适合于评估用户的行走能力的指标的步行能力测量装置。 步行能力测量装置100包括负载传感器19，脚位置传感器23,25和显示器30.负载传感器测量在步行期间从地面接收使用者脚部的脚底的负荷 。 脚位传感器测量使用者脚的脚部位置在前后方向上的废弃位置。 显示器处理传感器数据并显示测量结果。 当负载基于脚位置传感器的传感器数据而下降到低于预定的第二负载阈值时，显示器测量每一步负载超过预定的第一负载阈值时的第一脚位置和第二脚位置。 显示器以测量的多个步骤显示第一脚位置和第二脚位置。 版权所有（C）2012，JPO＆INPIT

公开(公告)号：JP2011182957A

公开(公告)日：2011-09-22

申请号：JP2010051461

申请日：2010-03-09

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

Inventor： IMAIDA MASAYUKI ,  OSAWA HIROJI

IPC: A61G12/00 ,  A61H3/00 ,  B25J5/00 ,  B25J13/00 ,  G06K17/00 ,  G06Q50/22

Abstract: PROBLEM TO BE SOLVED: To prevent wrong use of auxiliary wearing apparatuses even under a situation where a plurality of auxiliary wearing apparatuses are shared by a plurality of users. SOLUTION: A management device includes: a database for recording identification information of the auxiliary wearing apparatus to be used and an operation parameter to be used by the auxiliary wearing apparatus by each user; a designating means for receiving the designation of the user to use the auxiliary wearing apparatus; a reading means for reading the identification information and the operation parameter recorded with respect to the designated user out of the database; a communication means to be communicably connected to one of the auxiliary wearing apparatuses; an acquiring means for acquiring the identification information from the auxiliary wearing apparatus being connected via the communication means; and a transfer means for transferring the operation parameter read by the reading means to the auxiliary wearing apparatus connected via the communication means only when the identification information acquired by the acquiring means coincides with the identification information read by the reading means. COPYRIGHT: (C)2011,JPO&INPIT

Abstract translation: 要解决的问题：即使在由多个用户共享多个辅助佩戴装置的情况下，也可防止辅助佩戴装置的错误使用。 管理装置包括：用于记录要使用的辅助佩戴装置的识别信息的数据库和每个用户由辅助佩戴装置使用的操作参数; 指定装置，用于接收使用所述辅助佩戴装置的使用者的指定; 读取装置，用于从数据库中读出相对于指定用户记录的识别信息和操作参数; 通信装置，可通信地连接到一个辅助佩戴装置; 用于从经由所述通信装置连接的所述辅助佩戴装置获取所述识别信息的获取装置; 以及传送装置，用于仅当由获取装置获取的识别信息与由读取装置读取的识别信息一致时，将由读取装置读取的操作参数传送到经由通信装置连接的辅助佩戴装置。 版权所有（C）2011，JPO＆INPIT

公开(公告)号：JP2013059652A

公开(公告)日：2013-04-04

申请号：JP2012260504

申请日：2012-11-29

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

Inventor： IMAIDA MASAYUKI ,  IWAMOTO KUNIHIRO

IPC: A61G7/10

Abstract: PROBLEM TO BE SOLVED: To provide a transfer support device in which such a situation that a care recipient is caught between a sitting object and a body holder and compressed is prevented, and which allows a transfer operation to be easily and quickly performed.SOLUTION: The transfer support device 10 includes: a support base 12; a column support 13 whose one end is freely tiltably attached to the support base 12; a body holder 30 which is provided on the other end part of the column support 13 and is held by a care recipient P; a driving means 20 for tilting the column support 13; a measuring means for measuring torque generated by holding the body holder 30 by the care recipient P; and a control means for controlling the driving means 20. The control means controls the driving means 20 on the basis of the torque measured by the measuring means in the transfer operation through which the care recipient P sits on a sitting object 60 while holding the body holder 30.

Abstract translation: 要解决的问题：提供一种转移支持装置，其中防止了在受保护物体和身体保持器之间被夹持并被压缩的这种情况，并且允许容易且快速地执行转移操作 。 传送支撑装置10包括：支撑基座12; 柱支撑件13，其一端可自由地倾斜地附接到支撑基座12; 身体保持器30，其设置在柱支撑件13的另一端部并由护理者P保持; 用于使列支撑件13倾斜的驱动装置20; 测量装置，用于测量由护理者P保持身体保持器30产生的扭矩; 以及用于控制驱动装置20的控制装置。控制装置根据由测量装置测量的转矩来控制驱动装置20，该转矩操作中护理人员P坐在坐在对象60上的同时保持身体 持有人30.版权所有（C）2013，JPO＆INPIT