公开(公告)号：US20060149420A1

公开(公告)日：2006-07-06

申请号：US11300739

申请日：2005-12-15

Applicant: Yasushi Ikeuchi

Inventor： Yasushi Ikeuchi

IPC: G06F19/00

CPC classification number: B62D57/032

Abstract: The direction of a component vector on a plane perpendicular to a predetermined axis (Y axis) of a floor reaction force acting on each landing leg (2) is determined in such a way that the direction of a moment generated around a center-of-gravity of a two-legged walking mobile body (1) by a total sum of the component vectors on the plane perpendicular to the predetermined axis (Y axis) of the floor reaction forces acting on the landing legs (2) is coincident with the direction of the component around the predetermined axis (Y axis) of a total rate of change of angular momentum by calculating the total rate of change of angular momentum, which is a time rate of change of an angular momentum around an total center-of-gravity of the two-legged walking mobile body (1), and the total floor reaction force acting on the two-legged walking mobile body (1) by using an output of a joint displacement sensor, an output of an acceleration sensor, an output of an angular velocity sensor, and a rigid link model or the like. An estimated value of the component vector on the plane perpendicular to the predetermined axis (Y axis) of the floor reaction force on the each leg 2 is found on the basis of the determined direction and the obtained total floor reaction force. This enables finding an estimated value of the floor reaction force showing a smooth and continuous change.

Abstract translation: 垂直于作用在每个着陆腿（2）上的地板反作用力的预定轴线（Y轴）的平面上的分量矢量的方向被确定为使得围绕中心点产生的力矩的方向 通过垂直于作用在着陆腿（2）上的地面反作用力的预定轴线（Y轴）的平面上的分量矢量的总和，双腿步行移动体（1）的重力与方向 通过计算角动量的总变化率（其是围绕总重心的角动量的变化的时间变化率），围绕预定轴线（Y轴）围绕角动量变化的总变化率的分量 通过使用联合位移传感器的输出，加速度传感器的输出，输出的双腿步行移动体（1）的输出和双腿步行移动体（1）的输出， 角速度传感器，a 和一个刚性链接模型等。 基于确定的方向和获得的总楼面反作用力，求出与每个支脚2上的地板反作用力垂直于预定轴线（Y轴）的平面上的分量矢量的估计值。 这使得能够找到平滑连续变化的地板反作用力的估计值。

公开(公告)号：US07054763B2

公开(公告)日：2006-05-30

申请号：US10485439

申请日：2002-07-26

Applicant: Masakazu Kawai ,  Yasushi Ikeuchi ,  Hisashi Katoh

Inventor： Masakazu Kawai ,  Yasushi Ikeuchi ,  Hisashi Katoh

IPC: G01L1/00 ,  G01L3/00 ,  G01L5/00 ,  G06F19/00

CPC classification number: B62D57/032

Abstract: Whether a motion state of leg bodies (2) is a single stance state or a double stance state is sequentially determined and a total reaction force (F) is estimated on the basis of an equation of motion for a center of gravity (G0) of a bipedal walking body (1). If the motion state is the single stance state, then the estimated value of the total floor reaction force (F) is directly used as an estimated value of the floor reaction force of the leg body (2). If the motion state is the double stance state, then a floor reaction force (Fr) of the leg body (2) at the rear side is determined, using measurement data of elapsed time of the double stance state and moving speed of a bipedal walking body (1) and pre-established characteristic data, and the floor reaction force (Fr) is subtracted from the total floor reaction force (F) to determine a floor reaction force (Ff) of the leg body (2) at the front side. Thus, it is possible to provide a method that allows floor reaction forces acting on leg bodies of a bipedal walking body, such as a human being, and moments acting on joints of the leg bodies to be determined in real time with high accuracy by a relatively simple technique.

Abstract translation: 依次确定腿体（2）的运动状态是单一姿势状态还是双姿势状态，并且基于重心运动方程（G 0）来估计总反作用力（F） 的双足步行体（1）。 如果运动状态是单一姿态，则直接将总楼面反作用力（F）的估计值用作腿体（2）的地板反作用力的估计值。 如果运动状态是双重姿态，则使用双脚步状态的经过时间的测量数据和双脚行走的移动速度来确定后侧的腿体（2）的地面反作用力（Fr） 主体（1）和预先设定的特征数据，并从总地板反作用力（F）中减去地面反作用力（Fr），以确定前侧的腿体（2）的地面反作用力（Ff） 。 因此，可以提供一种方法，其允许作用在诸如人的双足行走体的腿体上的地板反作用力和作用在腿体的关节上的力矩以高精度实时确定， 比较简单的技术

公开(公告)号：US08435195B2

公开(公告)日：2013-05-07

申请号：US12667479

申请日：2008-05-16

Applicant: Hiroshi Kudoh ,  Yosuke Endo ,  Yasushi Ikeuchi

Inventor： Hiroshi Kudoh ,  Yosuke Endo ,  Yasushi Ikeuchi

IPC: A61F5/00

CPC classification number: A61H3/008 ,  A61B5/1038 ,  A61B5/1116 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/163 ,  A61H2201/1633 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061

Abstract: A walking assistance device has a load transmitting assembly, a foot-worn assembly, and a leg link provided between the load transmitting assembly and the foot-worn assembly. The foot-worn assembly has a ground contact member, on which a user's foot rests, and a connecting member which connects the ground contact member to a joint at a lower end of the leg link. The ground contact member is provided with tread force sensors and the foot-worn assembly permits detection of a tread force. The connecting member is formed so as to rise in a cantilever manner from one lateral side of the ground contact member. The tread force sensors are installed in at least one location adjacent to the heel of the user's foot and in at least two locations adjacent to toes of the user's foot, with the latter two locations being laterally spaced apart.

Abstract translation: 行走辅助装置具有负载传递组件，脚踏组件和设置在负载传递组件和脚穿组件之间的腿连杆。 脚踏组件具有使用者的脚放置在其上的接地构件和将接地构件连接到腿部连杆的下端的接头的连接构件。 地面接触构件设置有踏力传感器，并且脚踏组件允许检测踏力。 连接构件形成为从地面接触构件的一个侧面以悬臂方式上升。 胎面力传感器安装在与使用者脚的跟部相邻的至少一个位置，并且在邻近使用者脚的脚趾的至少两个位置处，其中后两个位置横向间隔开。

公开(公告)号：US08303525B2

公开(公告)日：2012-11-06

申请号：US12522998

申请日：2008-04-07

Applicant: Yasushi Ikeuchi ,  Jun Ashihara

Inventor： Yasushi Ikeuchi ,  Jun Ashihara

IPC: A61H1/00 ,  A47D13/04 ,  A61F2/80

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：US08292836B2

公开(公告)日：2012-10-23

申请号：US12638384

申请日：2009-12-15

Applicant: Yoshihisa Matsuoka ,  Yasushi Ikeuchi

Inventor： Yoshihisa Matsuoka ,  Yasushi Ikeuchi

IPC: A61H3/00

CPC classification number: A61H3/008 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/149 ,  A61H2201/1623 ,  A61H2201/1633 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069

Abstract: A walking assistance device is capable of preventing a load transmit portion thereof from falling due to gravity when the operation of an actuator of the walking assistance device is stopped. A leg link is provided with an elastic member that imparts, to a third joint, an urging torque for restraining the flexion degree of the leg link from changing from a predetermined first flexion degree due to the gravity acting on the walking assistance device in a reference state wherein a foot-worn portion connected to the load transmit portion through the leg link is in contact with a ground and the flexion degree of the leg link at the third joint is the first flexion degree.

Abstract translation: 当行走辅助装置的致动器的操作停止时，行走辅助装置能够防止其重力下降的载荷传递部分。 腿连杆设置有弹性构件，该弹性构件向第三关节施加用于限制腿连杆的弯曲程度由于作为参考的步行辅助装置的重力而由预定的第一屈曲度改变的推力转矩 其中通过所述腿部连接到所述负载传递部分的脚磨损部分与地面接触，并且所述第三关节处的所述腿部连接件的屈曲度是所述第一屈曲度。

公开(公告)号：US08114034B2

公开(公告)日：2012-02-14

申请号：US11816348

申请日：2006-05-29

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

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

IPC: A61H1/00 ,  A61H3/00

CPC classification number: B25J9/0006 ,  A61H1/024 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/1215 ,  A61H2201/1409 ,  A61H2201/1633 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/50 ,  A61H2201/5061 ,  A61H2201/5071

Abstract: A walking aid apparatus comprising a sitting member which a user sits astride and leg links each coupled to a connection provided on the undersurface of the sitting member in such a way as to be free to swing in the forward/backward direction, which improves the stability of the sitting member. The connection is adapted in such a way that a forward/backward swinging fulcrum of the leg links is located above the sitting member. More specifically, the connection is provided with an arc-shaped guide track longitudinal in the forward/backward direction and having the center of curvature above the sitting member, so that each of the leg links swings along the guide track in the forward/backward direction. If the leg links are allowed to swing freely also in the lateral direction, preferably the lateral swinging fulcrum of the leg links is also located above the sitting member.

Abstract translation: 一种行走辅助装置，其特征在于，具有使用者跨越的坐姿构件和与所述坐下构件的下表面上设置的连接部连结的腿部连杆，从而能够沿前后方向自由摆动，从而提高了稳定性 的坐席成员。 该连接方式使得腿部连杆的向前/向后摆动支点位于坐着构件上方。 更具体地，连接件在向前/向后方向上纵向设置有弧形导轨，并且具有坐着构件上方的曲率中心，使得每个腿连杆沿着前进/后退方向沿导轨摆动 。 如果允许腿部连杆在横向方向上自由摆动，则优选地，腿部连杆的横向摆动支点也位于坐着构件上方。

公开(公告)号：US20110257567A1

公开(公告)日：2011-10-20

申请号：US13140138

申请日：2009-12-15

Applicant: Yasushi Ikeuchi ,  Jun Ashihara ,  Hiroshi Matsuda

Inventor： Yasushi Ikeuchi ,  Jun Ashihara ,  Hiroshi Matsuda

IPC: A61H1/02

CPC classification number: A61H3/008 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/1623 ,  A61H2201/1633 ,  A61H2201/1635 ,  A61H2201/1638 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1671 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5069

Abstract: Second joints (7, 7) are provided in positions where a seating unit (1) is restrained from swinging relative to leg links (3, 3) due to a force acting on the seating unit (1) from upper limb links (5, 5) through the intermediary of the second joints (7, 7). A motion not intended by a user can be restrained from being generated due to a force acting from the upper limb links (5, 5) provided in the upper limbs.

Abstract translation: 第二关节（7,7）设置在由于从上肢连杆（5）上作用在座位单元（1）上的力而使座椅单元（1）相对于腿部连杆（3,3）被限制摆动的位置， 5）通过第二关节（7,7）的中间。 由于从设置在上肢中的上肢连杆（5,5）作用的力，可以抑制用户不想要的运动。

公开(公告)号：US20100145239A1

公开(公告)日：2010-06-10

申请号：US12667479

申请日：2008-05-16

Applicant: Hiroshi Kudoh ,  Yosuki Endo ,  Yasushi Ikeuchi

Inventor： Hiroshi Kudoh ,  Yosuki Endo ,  Yasushi Ikeuchi

IPC: A61H1/00

CPC classification number: A61H3/008 ,  A61B5/1038 ,  A61B5/1116 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/163 ,  A61H2201/1633 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061

Abstract: A walking assistance device has a load transmitting assembly, a foot-worn assembly, and a leg link provided between the load transmitting assembly and the foot-worn assembly. The foot-worn assembly has a ground contact member, on which a user's foot, and a connecting member which connects the ground contact member to a joint at a lower end of the leg link. The ground contact member is provided with tread force sensors and the foot-worn assembly permits detection of a tread force. The connecting member is formed so as to rise in a cantilever manner from one lateral side of the ground contact member. The tread force sensors are installed in at least one location adjacent to the heel of the user's foot and in at least two locations adjacent to toes of the user's foot, with the latter two locations being laterally spaced apart.

Abstract translation: 行走辅助装置具有负载传递组件，脚踏组件和设置在负载传递组件和脚穿组件之间的腿连杆。 脚踏组件具有地面接触构件，用户的脚在其上，连接构件将接地接触构件连接到腿部连杆的下端处的接头。 地面接触构件设置有踏力传感器，并且脚踏组件允许检测踏力。 连接构件形成为从地面接触构件的一个侧面以悬臂方式上升。 胎面力传感器安装在与使用者脚的跟部相邻的至少一个位置，并且在邻近使用者脚的脚趾的至少两个位置处，其中后两个位置横向间隔开。

公开(公告)号：US20100130894A1

公开(公告)日：2010-05-27

申请号：US12617796

申请日：2009-11-13

Applicant: Yasushi Ikeuchi

Inventor： Yasushi Ikeuchi

IPC: A61H1/00

CPC classification number: A61H3/008 ,  A61H3/00 ,  A61H2003/007 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/1623 ,  A61H2201/1633 ,  A61H2201/1635 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5058 ,  A61H2201/5061 ,  A61H2201/5069

Abstract: A motion assisting device comprises a first index value measuring means 65 which measures a first index value indicating a remaining energy amount of an electrical storage device 19 and power regulation means 63 and 64 each of which regulates the motive power of an electric actuator 9 after the time point of measuring the first index value at least according to the first index value measured by the first index value measuring means 65. The power regulation means 63 and 64 regulate the motive power of the electric actuator 9 so that the remaining energy amount of the electrical storage device 19 is maintained at a predetermined lower limit or greater until the end time point of a desired operating time of the motion assisting device A.

Abstract translation: 运动辅助装置包括第一指标值测量装置65，其测量表示蓄电装置19的剩余能量的第一指标值和功率调节装置63和64，每个调节装置63和64调节电动致动器9的动力 至少根据由第一指标值测量装置65测量的第一指标值来测量第一指数值的时间点。功率调节装置63和64调节电动致动器9的动力，使得剩余能量 蓄电装置19维持在规定的下限以下，直到运动辅助装置A的期望运转时间的结束时刻。

公开(公告)号：US20090312677A1

公开(公告)日：2009-12-17

申请号：US12482909

申请日：2009-06-11

Applicant: Yasushi Ikeuchi

Inventor： Yasushi Ikeuchi

IPC: A61H1/00

CPC classification number: A61H3/008 ,  A61H3/00 ,  A61H2003/007 ,  A61H2201/1215 ,  A61H2201/123 ,  A61H2201/1238 ,  A61H2201/1436 ,  A61H2201/1623 ,  A61H2201/1633 ,  A61H2201/1635 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069 ,  B25J19/0025

Abstract: A control device for a walking assist device is provided. The control device has a means that decides whether the total sum of measured values of treading forces of the legs of a user is greater than a predetermined value and a means which determines a predetermined ratio according to observed values or desired values of reference parameters obtained immediately before a negative determination result by using supporting forces acting on the leg links from the floor side as the reference parameters. This is in the case where the determination result of the decision means is negative and is a process undertaken instead of determining the predetermined ratio between the supporting forces acting on the leg links according to the measured values of the treading forces of the legs of the user.

Abstract translation: 提供了一种用于行走辅助装置的控制装置。 控制装置具有判定用户的腿部的踩踏力的测量值的总和是否大于预定值的装置，以及根据立即获得的参考参数的观测值或期望值确定预定比例的装置 在通过使用作用在来自地面侧的腿连杆上的支撑力作为参考参数之前，确定结果为止。 这是在判定装置的确定结果为否定的情况下，并且是进行的过程，而不是根据用户的腿的踩踏力的测量值来确定作用在腿部连杆上的支撑力之间的预定比率 。