公开(公告)号：US08118763B2

公开(公告)日：2012-02-21

申请号：US12470091

申请日：2009-05-21

Applicant: Jun Ashihara ,  Yasushi Ikeuchi ,  Toru Fujihira ,  Yoichi Nishimura ,  Hiroshi Kudoh ,  Yutaka Hiki ,  Makoto Shishido ,  Tatsuya Noda ,  Hiroshi Matsuda ,  Yoshihisa Matsuoka ,  Ryuzo Yokoyama ,  Eiji Ninomiya ,  Takeshi Koshiishi

Inventor： Jun Ashihara ,  Yasushi Ikeuchi ,  Toru Fujihira ,  Yoichi Nishimura ,  Hiroshi Kudoh ,  Yutaka Hiki ,  Makoto Shishido ,  Tatsuya Noda ,  Hiroshi Matsuda ,  Yoshihisa Matsuoka ,  Ryuzo Yokoyama ,  Eiji Ninomiya ,  Takeshi Koshiishi

IPC: A61F5/00

CPC classification number: A61H3/008 ,  A47C9/025 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/1633 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5071 ,  B25J9/0006

Abstract: Provided is a walking assist device including a seat member, a leg link having a joint portion, and a driving source for the joint portion. The walking assist device allows a user to rest by sitting on the seat member. Accordingly, the walking assist device further includes a lock mechanism disposed in the joint portion and an operation unit for the lock mechanism. When the operation unit is switched on, the driving source is controlled to increase an up-pushing force on the seat member. A variation rate on the up-pushing force is increased with time to a given value where the lock mechanism is initiated.

Abstract translation: 提供一种行走辅助装置，其包括座椅构件，具有接合部的腿连杆和用于接合部的驱动源。 步行辅助装置允许使用者坐在座椅构件上休息。 因此，行走辅助装置还包括设置在关节部分中的锁定机构和用于锁定机构的操作单元。 当操作单元接通时，控制驱动源以增加座椅构件上的推压力。 上推力的变化率随着时间增加到启动锁定机构的给定值。

公开(公告)号：US20100256538A1

公开(公告)日：2010-10-07

申请号：US12303801

申请日：2007-04-11

Applicant: Yasushi Ikeuchi

Inventor： Yasushi Ikeuchi

IPC: A61H1/00 ,  A61F2/48

CPC classification number: B25J9/0006 ,  A61H3/008 ,  A61H2201/5061 ,  A61H2201/5071

Abstract: A walking assistance device providing an assistance force to a user is provided. The device compensates for an influence of an inertial force of the device itself. An actuator drives leg joints such that a total sum of supporting forces acting on the leg links from a floor side is a target total lifting force. The total sum of supporting forces acting on leg links from a floor side in reaction to a vertical inertial force generated in the device due to a motion of the device and the gravity acting on the device is estimated as a force which compensates for the self weight of the device. The total sum of a target value of a lifting force to be applied to the user and the estimated value of the force which compensates for the self weight of the device is defined as a target total lifting force.

Abstract translation: 提供了向用户提供辅助力的行走辅助装置。 该装置补偿装置本身的惯性力的影响。 执行器驱动腿关节，使得从地板侧作用在腿部连杆上的支撑力的总和是目标总提升力。 由于装置的运动和作用在装置上的重力而在装置中产生的垂直惯性力作用在从地板一侧作用在腿部连杆上的支撑力的总和被估计为补偿自重的力 的设备。 要施加到使用者的提升力的目标值和补偿装置的自重的力的估计值的总和被定义为目标总提升力。

公开(公告)号：US20100204621A1

公开(公告)日：2010-08-12

申请号：US12671599

申请日：2008-04-15

Applicant: Jun Ashihara ,  Yasushi Ikeuchi ,  Hiroshi Kudoh ,  Yutaka Hiki ,  Tatsuya Noda ,  Takeshi Koshiishi

Inventor： Jun Ashihara ,  Yasushi Ikeuchi ,  Hiroshi Kudoh ,  Yutaka Hiki ,  Tatsuya Noda ,  Takeshi Koshiishi

IPC: A61H1/00

CPC classification number: A61H3/008 ,  A61H3/00 ,  A61H2201/0214 ,  A61H2201/1215 ,  A61H2201/1623 ,  A61H2201/1633 ,  A61H2201/1635 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5071

Abstract: A walking assist device having a load transmit portion, a leg link connected to the load transmit portion, and a driving source capable of driving the leg link in a direction to raise a seat member, so that at least a partial weight of a user may be supported by the leg link through the load transmit portion. An electric component to be used for controlling the driving source can be mounted on the walking assist device without degrading the compactness of the walking assist device. At least a part of the leg link is constituted of a cylindrical link member in which at least the electric component, such as a motor driver to be used for the control of the driving source, is partially housed. The walking assist device also includes a heat transfer member for absorbing the heat of the electric component by the cylindrical link member. The heat transfer member is thermally connected to a side plate of the cylindrical link member directed toward the side opposite to the leg of the user.

Abstract translation: 一种行走辅助装置，其具有载荷传递部分，连接到载荷传递部分的腿部连杆，以及能够沿着提升座椅部件的方向驱动腿部连杆的驱动源，使得使用者的至少部分重量可以 通过负载传输部分的腿连接支持。 用于控制驱动源的电气部件可以安装在行走辅助装置上，而不会降低行走辅助装置的致密性。 腿连杆的至少一部分由圆柱形连杆构件构成，其中至少部分地容纳用于驱动源的控制的电动机构的电气部件。 行走辅助装置还包括用于通过圆柱形连杆构件吸收电气部件的热量的传热构件。 热传递构件被热连接到指向与使用者的腿部相对的一侧的圆筒形连杆构件的侧板。

公开(公告)号：US07771373B2

公开(公告)日：2010-08-10

申请号：US12392300

申请日：2009-02-25

Applicant: Tetsuya Ido ,  Yasushi Ikeuchi

Inventor： Tetsuya Ido ,  Yasushi Ikeuchi

IPC: A61H1/00

CPC classification number: A61H3/00 ,  A61H2003/007 ,  A61H2201/1633 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069 ,  B25J9/0006

Abstract: A control device and a control program of a walking assisting device, wherein a desired assist ratio, which is a desired value of the ratio of a force to be supplied by a walking assisting device in a total tread force of a user relative to the total tread forces is set, the shares of a lifting force to be applied to the user from a seating part which are to be borne by the leg links are determined from the desire assist ratio and the tread forces of the legs of the user measured on the basis of outputs of force sensors, and actuators of the leg links are controlled such that the determined shares of the lifting force are generated from the leg links. Thus, a force required for the user to support himself/herself by his/her legs on a floor can be reduced while reducing the number of parts to be attached to each leg of the user, and an assisting force for achieving such reductions can be properly shared between the leg links corresponding to the legs of the user.

Abstract translation: 一种行走辅助装置的控制装置和控制程序，其中期望的辅助比是作为使用者的总踏力的相对于总计的步行辅助装置供给的力的比率的期望值 设定踏力，根据由腿部连杆承担的座位部分施加到使用者的提升力的份额根据用户测量的用户的需求辅助比和踏板的踏力来确定 控制力传感器的输出的基准和腿部连杆的致动器的控制，使得确定的提升力的份额从腿部链节产生。 因此，可以减少使用者将他/她自己的腿部支撑在地板上所需的力，同时减少要附接到使用者的每一腿的部件的数量，并且用于实现这种减少的辅助力可以是 在与用户的腿部对应的腿部链接之间正确共享。

公开(公告)号：US07713217B2

公开(公告)日：2010-05-11

申请号：US10481807

申请日：2002-06-27

Applicant: Yasushi Ikeuchi ,  Hisashi Katoh ,  Takashi Hirata

Inventor： Yasushi Ikeuchi ,  Hisashi Katoh ,  Takashi Hirata

IPC: A61B5/103 ,  A61B5/117 ,  A61F2/74 ,  A61F2/60 ,  A61F2/78 ,  A61F2/68 ,  A61F2/62 ,  A61F2/64 ,  A61F2/66 ,  A61F2/54 ,  A61F2/00 ,  A61F2/58

CPC classification number: A61H3/008 ,  A61B5/4528 ,  A61F2/72 ,  A61H1/0255 ,  A61H3/00 ,  A61H35/00 ,  A61H2201/1238 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5079 ,  A61H2201/5084 ,  B25J9/0006

Abstract: A system for assisting the motion of a body connected through joints provides a system for imparting a suitable torque to the connected body at the time of various turns including the bending of the joints. The torque imparting system has first and second measuring means, a reference work volume determining means, and an external torque determining means. The first measuring means measures the internal work volume of the around-joint leg. The second measuring means measures an external work volume around a joint imparted to the leg. The reference work volume determining means determines a reference work volume based on the internal work volume. The external torque determining means determines an external torque imparted to the leg so as to reduce the difference between the internal work volume of the leg and the reference work volume, based on the external work volume.

Abstract translation: 用于辅助通过接头连接的主体的运动的系统提供了一种在包括关节的弯曲的各种转弯时向连接体施加适当扭矩的系统。 转矩赋予系统具有第一和第二测量装置，参考工作量确定装置和外部扭矩确定装置。 第一测量装置测量围绕关节腿的内部工作体积。 第二测量装置测量传递给腿部的关节周围的外部工作体积。 参考工作量确定装置基于内部工作量来确定参考工作量。 外部扭矩确定装置确定施加到腿部的外部扭矩，以便基于外部工作体积来减小腿部的内部工作体积与参考工作体积之间的差异。

公开(公告)号：US20100114332A1

公开(公告)日：2010-05-06

申请号：US12610699

申请日：2009-11-02

Applicant: Jun Ashihara ,  Tatsuya Noda ,  Hiroshi Kudoh ,  Yasushi Ikeuchi ,  Yutaka Hiki

Inventor： Jun Ashihara ,  Tatsuya Noda ,  Hiroshi Kudoh ,  Yasushi Ikeuchi ,  Yutaka Hiki

IPC: A61F2/66

CPC classification number: A61H3/008 ,  A61F5/0127 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/1623 ,  A61H2201/1633 ,  A61H2201/1635 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1671 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5071 ,  B25J9/0006

Abstract: An ankle joint structure of a walking assistance device is capable of protecting a user from feeling uncomfortable by properly following the foot motions of the user. An ankle joint has a turn shaft member enabling a ground contact assembly to turn relative to a leg link, a lateral rotation shaft member enabling the ground contact assembly to laterally rotate relative to the leg link, and a longitudinal rotation shaft member enabling the ground contact assembly to longitudinally rotate relative to the leg link. The turn shaft member is connected to the leg link, the longitudinal rotation shaft member is connected to the ground contact assembly, and the lateral rotation shaft member is disposed between the turn shaft member and the longitudinal rotation shaft member.

Abstract translation: 行走辅助装置的踝关节结构能够通过适当地跟随使用者的脚部运动来保护使用者不舒适。 踝关节具有使地面接触组件相对于腿部连杆转动的转动轴构件，使得接地接触组件能够相对于腿部连接件横向旋转的横向旋转轴构件和使得接地接触件的纵向旋转轴构件 组件相对于腿连杆纵向旋转。 转动轴构件连接到腿部连杆，纵向旋转轴构件连接到接地组件，并且横向旋转轴构件设置在转动轴构件和纵向旋转轴构件之间。

公开(公告)号：US07698020B2

公开(公告)日：2010-04-13

申请号：US10564069

申请日：2004-06-29

Applicant: Masakazu Kawai ,  Yasushi Ikeuchi

Inventor： Masakazu Kawai ,  Yasushi Ikeuchi

IPC: G06F19/00

CPC classification number: B62D57/032

Abstract: Displacements of respective joints corresponding to respective joint elements (J9 and the like) of a rigid link model (S1) representing a two-legged walking mobile body (1) are sequentially grasped. Also at the same time, values, in a body coordinate system (BC), of an acceleration vector of the origin of the body coordinate system (BC) fixed to a waist (6) as a rigid element, a floor reaction force vector acting on each leg (2), and a position vector of the point of application of the floor reaction force vector are sequentially grasped. With the use of the grasped values, joint moments respectively generated in an ankle joint (13), a knee joint (14), and a hip joint (9) of each leg (2) are sequentially estimated based on an inverse dynamics model using the body coordinate system. The estimation accuracy of the joint moments of the leg can be enhanced by reducing arithmetic processing using tilt information of the two-legged walking mobile body relative to the gravity direction as much as possible.

Abstract translation: 对应于表示双脚行走移动体（1）的刚性连接模型（S1）的各个关节元件（J9等）的各个关节的位移被顺序地抓住。 同时，在身体坐标系（BC）中，固定到作为刚性元件的腰部（6）的身体坐标系（BC）的原点的加速度矢量的值，作用的地板反作用力矢量 在每个腿（2）上，顺序地掌握地板反作用力矢量的施加点的位置矢量。 利用所掌握的值，基于使用逆向动力学模型，依次估计在每个腿（2）的踝关节（13），膝关节（14）和髋关节（9）中分别产生的关节力矩 身体坐标系。 可以通过尽可能地减少使用双腿行走移动体相对于重力方向的倾斜信息的运算处理来增强腿的关节力矩的估计精度。

公开(公告)号：US20100076355A1

公开(公告)日：2010-03-25

申请号：US12522998

申请日：2008-04-07

Applicant: Yasushi Ikeuchi ,  Jun Ashihara

Inventor： Yasushi Ikeuchi ,  Jun Ashihara

IPC: A61H1/00

CPC classification number: A61H3/008 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1623 ,  A61H2201/1633 ,  A61H2201/1635 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5071 ,  B25J9/0006

Abstract: Provided is a walking assist device including a seat member having a holding portion to be held by a user, a leg link connected to the seat member, and a driving source capable of driving the leg link in a direction of pushing up the seat member. At least a part of the body weight of a user is supported by the leg link through the seat member. The walking assist device can be self-mounted easily by the user. When a holding detection unit detects that the holding portion is held by the user, the walking assist device performs a mounting assist control by driving the leg link in the direction of pushing up the seat member until a seating detection unit detects the contact of the seat member with the crotch of the user.

Abstract translation: 本发明提供一种行走辅助装置，其具有座椅构件，该座椅构件具有要由使用者保持的保持部，连接到座椅构件的腿连杆，以及能够沿着向上推动座椅构件的方向驱动腿部连杆的驱动源。 用户的体重的至少一部分由腿部连杆通过座椅构件支撑。 行走辅助装置可以由用户容易地自行安装。 当保持检测单元检测到保持部分被用户握住时，行走辅助装置通过沿着向上推动座椅构件的方向驱动腿连杆来执行安装辅助控制，直到座椅检测单元检测到座椅的接触 会员与用户的裆部。

公开(公告)号：US20090312844A1

公开(公告)日：2009-12-17

申请号：US12482072

申请日：2009-06-10

Applicant: Yasushi Ikeuchi ,  Yoshihisa Matsuoka

Inventor： Yasushi Ikeuchi ,  Yoshihisa Matsuoka

IPC: A61F2/68 ,  A61F5/052

CPC classification number: A61H3/008 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/123 ,  A61H2201/1238 ,  A61H2201/1623 ,  A61H2201/1633 ,  A61H2201/1635 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5069 ,  B25J9/0006

Abstract: A control system for a walking assist device includes a ground detecting means having a plurality of force sensors equipped to each foot attachment portion. Each ground sensor selectively outputs a ground state output and non-ground state output in accordance with whether the foot attachment portion is grounded at a position immediately below the ground sensor. The control system is equipped with a means that continuously generate preference data for each of the ground detecting means, where the reference data increases and decreases in value in accordance with the change of a total number of the ground sensors generating ground state output in the ground detecting means. Also, a means that determines a mutual desired proportion of the supporting force to be applied to the both leg links from the floor side is provided.

Abstract translation: 一种用于行走辅助装置的控制系统包括：地面检测装置，具有装配到每个脚部附接部分的多个力传感器。 每个接地传感器根据脚连接部分是否在接地传感器正下方的位置接地，选择性地输出基态输出和非接地状态输出。 该控制系统具有连续地生成每个接地检测装置的偏好数据的装置，其中参考数据随着在地面中产生基态输出的地面传感器总数的变化而增加和减小 检测装置。 此外，提供了一种确定从地板侧施加到两条腿连杆的支撑力的相互所需比例的装置。

公开(公告)号：US20090170662A1

公开(公告)日：2009-07-02

申请号：US12392300

申请日：2009-02-25

Applicant: Tetsuya Ido ,  Yasushi Ikeuchi

Inventor： Tetsuya Ido ,  Yasushi Ikeuchi

IPC: A61H3/00

CPC classification number: A61H3/00 ,  A61H2003/007 ,  A61H2201/1633 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069 ,  B25J9/0006

Abstract: A control device and a control program of a walking assisting device, wherein a desired assist ratio, which is a desired value of the ratio of a force to be supplied by a walking assisting device in a total tread force of a user relative to the total tread forces is set, the shares of a lifting force to be applied to the user from a seating part which are to be borne by the leg links are determined from the desire assist ratio and the tread forces of the legs of the user measured on the basis of outputs of force sensors, and actuators of the leg links are controlled such that the determined shares of the lifting force are generated from the leg links. Thus, a force required for the user to support himself/herself by his/her legs on a floor can be reduced while reducing the number of parts to be attached to each leg of the user, and an assisting force for achieving such reductions can be properly shared between the leg links corresponding to the legs of the user.

Abstract translation: 一种行走辅助装置的控制装置和控制程序，其中期望的辅助比是作为使用者的总踏力的相对于总计的步行辅助装置供给的力的比率的期望值 设定踏力，根据由腿部连杆承担的座位部分施加到使用者的提升力的份额根据用户测量的用户的需求辅助比和踏板的踏力来确定 控制力传感器的输出的基准和腿部连杆的致动器的控制，使得确定的提升力的份额从腿部链节产生。 因此，可以减少使用者将他/她自己的腿部支撑在地板上所需的力，同时减少要附接到使用者的每一腿的部件的数量，并且用于实现这种减少的辅助力可以是 在与用户的腿部对应的腿部链接之间正确共享。