公开(公告)号：US10980699B2

公开(公告)日：2021-04-20

申请号：US16137648

申请日：2018-09-21

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Mayumi Komatsu ,  Stephen William John ,  Kenta Murakami ,  Jun Ozawa

IPC: A61H3/00 ,  A61H1/00 ,  A61H1/02

Abstract: A walking assistance apparatus includes a suit to be worn on a knee and waist of a user, a first wire that couples a portion included in the suit and worn above the knee to a portion included in the suit and worn on the waist, a second wire that couples a portion included in the suit and worn above a back of the knee to a portion included in the suit and worn on the waist, and motors coupled to the first and second wires. The motors are controlled to generate tensions so that each of the first and second wires has a stiffness greater than 200 N/m during a first period including a period of 95% or more and 100% or less of a first gait cycle of the user and a period of 0% or more and 50% or less of a second gait cycle subsequent to the first gait cycle.

公开(公告)号：US10888488B2

公开(公告)日：2021-01-12

申请号：US16257572

申请日：2019-01-25

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Kenta Murakami ,  Stephen William John ,  Mayumi Komatsu ,  Shinobu Adachi

IPC: A61H3/00 ,  A61F5/01 ,  B25J9/00 ,  A61H1/02 ,  B25J9/10 ,  A61F4/00

Abstract: An assistance apparatus includes wires that couple an upper body belt to be worn on an upper body of a user to first and second knee belts to be worn above left and right knees of the user, and a motor. In a case of assisting the user in turning left, the motor generates a tension in second and fourth wires in a period of 65% or more and 100% or less of a first gait phase of a left leg and a period of 0% or more and 20% or less of a second gait phase of the left leg, and generates a tension in sixth and eighth wires in a period of 65% or more and 100% or less of a first gait phase of a right leg and a period of 0% or more and 20% or less of a second gait phase of the right leg.

公开(公告)号：US10792213B2

公开(公告)日：2020-10-06

申请号：US16034343

申请日：2018-07-12

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Kenta Murakami ,  Stephen John ,  Mayumi Komatsu ,  Shinobu Adachi

IPC: A61H3/00 ,  A61H1/02 ,  A61H1/00 ,  B25J9/00

Abstract: An assistance apparatus includes first to eighth wires that couple an upper body belt to be worn on an upper body of a user to a first knee belt and a second knee belt to be worn above a left knee and a right knee of the user, respectively, and a motor. When the assistance apparatus assists the user in turning left, the motor generates a tension larger than or equal to a first threshold in each of the second wire, the fourth wire, the sixth wire, and the eighth wire. When the fourth wire or the second wire is broken, the motor changes the wire in which a tension is generated.

公开(公告)号：US10792211B2

公开(公告)日：2020-10-06

申请号：US15693896

申请日：2017-09-01

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Kenta Murakami ,  Stephen John ,  Mayumi Komatsu ,  Jun Ozawa

IPC: A61H1/00 ,  A61H3/00 ,  A61H1/02

Abstract: An assist device includes an upper-body belt attached to the upper body of a user, first and second belts attached to the knees, a first wire coupling the upper-body belt to the first belt, a second wire crossing the first wire, a third wire coupling the upper-body belt to the second belt, a fourth wire crossing the third wire, and a motor coupled to one end of each of the first to fourth wires. When assisting users with walking, tensions equal to a first threshold value or greater are applied to one of the first and second wires and one of the third and fourth wires by the motor at different times. When detecting slacking of the upper-body belt, tensions equal to the first threshold value or greater are simultaneously applied to one of the first and second wires and one of the third and fourth wires by the motor.