公开(公告)号：US20090312155A1

公开(公告)日：2009-12-17

申请号：US12481221

申请日：2009-06-09

Applicant: Yasushi Ikeuchi ,  Eiji Ninomiya

Inventor： Yasushi Ikeuchi ,  Eiji Ninomiya

IPC: A63B71/00

CPC classification number: A61H3/008 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/1623 ,  A61H2201/1633 ,  A61H2201/1635 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5071 ,  B25J9/0006

Abstract: A power transmission system, which transmits a driving force from a rotary actuator to a third joint of a leg link, applies a driving torque to the third joint from an output shaft of the rotary actuator via a driving crank arm, a connecting rod, and a driven crank arm. A translational force (rod transmitting force) generated at the connecting rod in the longitudinal direction thereof is measured on the basis of an output of a force sensor fixed to the connecting rod. With the rod transmitting force or a driving torque applied to the third joint by the rod transmitting force as a controlled variable, the driving force of the rotary actuator is feedback-controlled according to the measured value of the rod transmitting force and a desired value of the controlled variable so that the controlled variable coincides with the desired value.

Abstract translation: 将来自旋转致动器的驱动力传递到腿连杆的第三关节的动力传递系统经由驱动曲柄臂，连杆，从旋转致动器的输出轴向第三关节施加驱动扭矩， 从动曲柄臂。 根据固定在连杆上的力传感器的输出，测量在连杆的长度方向上产生的平移力（杆传递力）。 利用杆传递力或通过杆传递力施加到第三关节的驱动扭矩作为受控变量，旋转致动器的驱动力根据杆传递力的测量值和所需的值的反馈控制 受控变量使得受控变量与期望值一致。

公开(公告)号：US20080318739A1

公开(公告)日：2008-12-25

申请号：US12161719

申请日：2007-03-30

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

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

IPC: A61H3/00

CPC classification number: A61H3/008 ,  A61H3/00 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/149 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5071

Abstract: A walking assistance device having a leg link connected to a load transfer portion via a first joint and to a foot attachment portion via a second joint, and having an intermediate third joint moving such that a distance between the first joint and the second joint is variable; a drive source for the third joint; and a battery for the drive source. When in an upstanding position, force in the forward-backward direction is prevented from acting on the load transfer portion to enhance stability. Also, a moment of inertia of the leg link is decreased to curtail a load applied to the leg of the user. The drive source and the battery are located at positions higher than the third joint, and when the user is in an upstanding position, a plane passing through the second joint lies between the drive source and the battery.

Abstract translation: 一种行走辅助装置，其具有通过第一关节连接到负载传递部分的脚连接件和经由第二接头连接到脚部附件部分，并且具有中间的第三关节移动，使得第一关节和第二关节之间的距离是可变的 ; 第三关节的驱动源; 和驱动源的电池。 当处于直立位置时，防止向前后方向的力作用在载荷传递部上，以提高稳定性。 此外，减小腿部连杆的惯性矩以减少施加到使用者的腿部的负载。 驱动源和电池位于高于第三关节的位置处，并且当使用者处于直立位置时，穿过第二关节的平面位于驱动源和电池之间。

公开(公告)号：US07431707B2

公开(公告)日：2008-10-07

申请号：US11304051

申请日：2005-12-15

Applicant: Yasushi Ikeuchi

Inventor： Yasushi Ikeuchi

IPC: A61F5/00

CPC classification number: A61F5/0102

Abstract: Target joint support moments of each leg are determined by estimating joint moments of the each leg necessary for the person A wearing a leg motion support orthosis (1) to make a motion independently and according to the estimated joint moments. Moreover, floor reaction forces for the support orthosis (1) to make a motion independently are estimated, and then estimated values of actual joint support moments actually applied from the support orthosis (1) to the joints of the each leg of the person (A) are found by using the estimated floor reaction forces and outputs of the force sensor (22) provided in a leg link portion (4) of the support orthosis (1). Torque generation units (15) and (16) of the support orthosis (1) are controlled in such a way that the estimated values of the actual joint support moments are coincident with the target joint support moments. Thereby, the leg motion of the person can be supported. Moreover, it effectively prevents forces other than the necessary forces to support the leg motion of the person from acting on the person and enables the person to make a leg motion with feeling as if the person were not wearing the leg motion support orthosis as fully as possible.

Abstract translation: 每个腿的目标关节支撑力矩通过估计佩戴腿部运动支撑矫形器（1）的人A根据估计的关节力矩独立地进行运动所需的每个腿部的关节力矩来确定。 此外，对支撑矫正器（1）进行独立运动的地面反作用力进行估计，然后将实际的关节支撑力矩的估计值从支撑矫形器（1）实际施加到人的每条腿的关节（A ）通过使用设置在支撑矫形器（1）的腿部连接部分（4）中的力传感器（22）的估计的地面反作用力和输出来发现。 控制支撑矫形器（1）的扭矩发生单元（15）和（16），使得实际的关节支撑力矩的估计值与目标关节支撑力矩一致。 从而可以支持人的腿部运动。 此外，它有效地防止除了必要的力以外的力以支持人的腿部运动对人的行动，并且使人能够像感觉一样进行腿部运动，就好像该人没有佩戴腿运动支撑矫形器一样完全 可能。

公开(公告)号：US07278954B2

公开(公告)日：2007-10-09

申请号：US10597733

申请日：2005-02-18

Applicant: Masakazu Kawai ,  Yasushi Ikeuchi

Inventor： Masakazu Kawai ,  Yasushi Ikeuchi

IPC: A63B21/00 ,  A63B22/00

CPC classification number: B25J9/1638 ,  A61H3/00 ,  A63B23/04 ,  A63B23/12 ,  A63B2220/54 ,  B62D57/032 ,  G05B2219/40305 ,  G05B2219/45109

Abstract: A generated torque control method for a leg body exercise assistive apparatus enabling a person to make a leg motion in such a feeling that the person is not wearing the leg body exercise assistive apparatus as much as possible by reducing the weight of the leg body exercise assistive apparatus attached to the person acting on the person. On the assumption that a person (A) not wearing the assistive apparatus (1) is making the same motion as a leg motion of the person (A) wearing the leg body exercise assistive apparatus (1) during the leg motion of the person (A), an estimation is made for a person-side joint moment to be generated in each joint of the leg of the person (A), and on the assumption that the assistive apparatus (1) is independently making the same motion as the leg motion, an estimation is made for an apparatus-side joint moment to be generated in the joint regions (4), (6), and (10) of the leg sections of the assistive apparatus (1). The estimated value of the apparatus-side joint moment is considered as a reference torque for torque generation means (18), (19), and (20), and a torque formed by adding a torque according to the estimated value of the person-side joint moment to the reference torque is generated in the torque generation means (18), (19), and (20).

Abstract translation: 一种生成的用于腿部运动辅助装置的扭矩控制方法，其使得人可以通过减轻腿部运动辅助的重量尽可能多地进行腿部运动以使得该人不佩戴腿部运动辅助装置 附在人身上的人的器具。 假设没有佩戴辅助装置（1）的人（A）在人的腿部运动期间进行与佩戴腿部运动辅助装置（1）的人（A）的腿部运动相同的运动（ A），估计在人（A）的腿的每个关节中产生的人侧关节时刻，并且假设辅助装置（1）独立地进行与腿部相同的运动 运动时，估计在辅助装置（1）的腿部的关节区域（4），（6）和（10）中产生的装置侧关节力矩。 将设备侧接头力矩的推定值作为转矩产生机构（18），（19），（20）的基准转矩，根据人机接合力矩的估计值， 在转矩产生装置（18），（19）和（20）中产生与基准转矩相关的侧关节力矩。

公开(公告)号：US07217247B2

公开(公告)日：2007-05-15

申请号：US10655460

申请日：2003-09-05

Applicant: Behzad Dariush ,  Yasushi Ikeuchi ,  Masakazu Kawai

Inventor： Behzad Dariush ,  Yasushi Ikeuchi ,  Masakazu Kawai

IPC: A61B5/103 ,  G06F19/00 ,  G01L5/00

CPC classification number: A61H1/00 ,  A61H2001/0211 ,  A63B21/00181 ,  B25J9/0006 ,  B62D57/032

Abstract: A method for obtaining an assist torque to be applied to a human joint, in a human assist system for applying an assist torque to the human joint to reduce load of muscles, and the human assist system are provided. The method comprises the step of obtaining a moment due to gravity, acting on a joint of each human segment, based on equations of force and moment balance on each segment. The method further comprises the step of obtaining an assist torque to be applied to the joint to compensate for the moment due to gravity, acting on the joint. The human assist system comprises a motor for delivering an assist torque to a joint and a motor driver for driving control of the motor. The system further comprises a controller for determining a desired value of an assist torque, comprising a processor and a memory. The controller is configured to obtain a moment due to gravity, acting on a joint of each human segment, based on equations of force and moment balance on each segment and then to obtain an assist torque to be delivered to the joint to compensate for the moment due to gravitational acceleration at the joint.The method provides a natural subdivision between the voluntary actuators which are responsible for forward progression of motion and the assist actuators which are responsible for preserving static equilibrium. This subdivision may mitigate the interference between voluntary control and artificial control.

Abstract translation: 提供一种用于获得施加于人体关节的辅助扭矩的方法，在用于向人体关节施加辅助扭矩以减轻肌肉负荷的人辅助系统和人体辅助系统中的方法。 该方法包括基于每个段上的力和力矩平衡的方程，由于重力而获得作用在每个人体节段的关节上的力矩的步骤。 该方法还包括以下步骤：获得施加到接头上的辅助扭矩以补偿作用在接头上的重力作用的力矩。 人体辅助系统包括用于向关节传递辅助扭矩的马达和用于驱动马达的控制的马达驱动器。 该系统还包括用于确定辅助扭矩的期望值的控制器，包括处理器和存储器。 控制器被配置为基于重力作用于每个人节的关节上的力矩，基于每个段上的力和力矩平衡方程，然后获得要传递到关节的辅助扭矩以补偿力矩 由于接头处的重力加速度。 该方法提供自主执行器之间的自然细分，负责运动的正向运动和负责保持静态平衡的辅助致动器。 这种细分可以减轻自愿控制和人工控制之间的干扰。

公开(公告)号：US20070084278A1

公开(公告)日：2007-04-19

申请号：US10564073

申请日：2004-06-29

Applicant: Masakazu Kawal ,  Yasushi Ikeuchi

Inventor： Masakazu Kawal ,  Yasushi Ikeuchi

IPC: G01M19/00

CPC classification number: B62D57/02 ,  A61B5/1038 ,  A61B5/1071 ,  A61B5/112 ,  A61B5/1121 ,  A61B5/4528 ,  A61H3/00 ,  B62D57/032

Abstract: The joint rotational angles of joints 9, 11 and 13 of each leg 2 of a bipedal walking body 1 are detected to grasp the positions/postures of the corresponding rigid bodies 10, 12 and 14 of each leg 2 on a leg plane passing the joints 9, 11 and 13 of each leg 2. At the same time, the acceleration of a reference point (the origin of a body coordinate system BC) of the bipedal walking body 1, the floor reaction force acting on each leg 2 and the position of an acting point thereof are grasped in terms of three-dimensional amounts. Two-dimensional amounts obtained by projecting the acceleration, the floor reaction force and the position of the acting point thereof, and the positions/postures of the corresponding rigid bodies of each 2 onto the leg plane are used to estimate the moments acting on joints of each leg on the basis of an inverse dynamic model. The stability of the estimated values of joint moments can be improved while securing the accuracy of estimating the joint moments in the bending and stretching directions of each leg, considering three-dimensional motions of the bipedal walking body.

Abstract translation: 检测双足步行体1的每个腿2的关节9,11和13的关节旋转角度，以便在通过关节的腿平面上抓住每个腿2的相应刚体10,12和14的位置/姿势 每个腿2的9,11和13。 同时，对双足步行体1的参考点（身体坐标系BC的原点）的加速度，作用在每个腿2上的地面反作用力及其作用点的位置，以 三维量。 使用通过将加速度，地板反作用力及其作用点的位置以及每个2的对应刚体的位置/姿势投影到腿平面上而获得的二维量来估计作用在腿部的关节上的力矩 每一条腿都基于一个逆动态模型。 考虑到双足步行体的三维运动，可以确保关节力矩的估计值的稳定性，同时确保估计每个腿的弯曲和拉伸方向的关节力矩的精度。

公开(公告)号：US20070054777A1

公开(公告)日：2007-03-08

申请号：US10597733

申请日：2005-02-18

Applicant: Masakazu Kawai ,  Yasushi Ikeuchi

Inventor： Masakazu Kawai ,  Yasushi Ikeuchi

IPC: A63B15/02 ,  A63B22/00 ,  A63B71/00

CPC classification number: B25J9/1638 ,  A61H3/00 ,  A63B23/04 ,  A63B23/12 ,  A63B2220/54 ,  B62D57/032 ,  G05B2219/40305 ,  G05B2219/45109

Abstract: A generated torque control method for a leg body exercise assistive apparatus enabling a person to make a leg motion in such a feeling that the person is not wearing the leg body exercise assistive apparatus as much as possible by reducing the weight of the leg body exercise assistive apparatus attached to the person acting on the person. On the assumption that a person (A) not wearing the assistive apparatus (1) is making the same motion as a leg motion of the person (A) wearing the leg body exercise assistive apparatus (1) during the leg motion of the person (A), an estimation is made for a person-side joint moment to be generated in each joint of the leg of the person (A), and on the assumption that the assistive apparatus (1) is independently making the same motion as the leg motion, an estimation is made for an apparatus-side joint moment to be generated in the joint regions (4), (6), and (10) of the leg sections of the assistive apparatus (1). The estimated value of the apparatus-side joint moment is considered as a reference torque for torque generation means (18), (19), and (20), and a torque formed by adding a torque according to the estimated value of the person-side joint moment to the reference torque is generated in the torque generation means (18), (19), and (20).

公开(公告)号：US06971267B2

公开(公告)日：2005-12-06

申请号：US10642478

申请日：2003-08-15

Applicant: Masakazu Kawai ,  Yasushi Ikeuchi ,  Behzad Dariush

Inventor： Masakazu Kawai ,  Yasushi Ikeuchi ,  Behzad Dariush

IPC: B25J5/00 ,  B62D57/032 ,  A61B5/22

CPC classification number: B62D57/032

Abstract: A method and processor for obtaining torques to be applied to joints of a leg of a biped walking system are provided. The method comprises the steps of obtaining moments acting around the joints of the leg, using the vertical component of the ground reaction force acting on the leg at the point of application of the ground reaction force, the vertical components of forces acting on the joints of the leg and a term of the acceleration of gravity and without using the horizontal components of the forces acting on the joints of the leg and a term of acceleration except the term of the acceleration of gravity and obtaining the torques to be applied to the joints of the leg, based on the moments acting around the joints of the leg. The vertical component of the ground reaction force acting on the leg, is obtained based on which leg or legs are in contact with the ground. The processor is configured to perform the above steps.

Abstract translation: 提供一种用于获得施加到两足动作系统的腿部的关节的扭矩的方法和处理器。 该方法包括以下步骤：使用在施加地面反作用力的作用点处作用在腿上的地面反作用力的垂直分量，作用在地面反作用力上的力的垂直分量 腿部和加速重力的术语，并且不使用作用在腿部关节上的力的水平部分和加速度项以外的加速度，并且获得施加到关节的扭矩 腿部，基于腿部关节周围的时刻。 作用在腿上的地面反作用力的垂直分量基于哪个腿或腿与地面接触而获得。 处理器被配置为执行上述步骤。

公开(公告)号：US08591438B2

公开(公告)日：2013-11-26

申请号：US13127877

申请日：2009-11-04

Applicant: Yasushi Ikeuchi

Inventor： Yasushi Ikeuchi

IPC: A61H1/00

CPC classification number: A61H3/008 ,  A61H3/00 ,  A61H2201/0165 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/1623 ,  A61H2201/1633 ,  A61H2201/1635 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5061 ,  B25J9/0006

Abstract: In the walking assist device, defining rigidity of a portion from the user to a first joint as K1 [N/m], rigidity of a portion from the first joint to the second joint as K2 [N/m] and rigidity of a portion from the second joint to one of the feet of a free leg of the user as K31 [N/m], when the user is supported by the support member, they are set as: (K1 +K31)

Abstract translation: 在步行辅助装置中，将从使用者到第一接头的部分的刚度定义为K1 [N / m]，从第一接头到第二接头的部分的刚度为K2 [N / m]，部分的刚度 从K31 [N / m]的用户的第二关节到脚的自由脚之一，当用户被支撑构件支撑时，它们被设置为：（K1 + K31）

公开(公告)号：US08523790B2

公开(公告)日：2013-09-03

申请号：US12610725

申请日：2009-11-02

Applicant: Yoshihisa Matsuoka ,  Yasushi Ikeuchi ,  Yutaka Hiki

Inventor： Yoshihisa Matsuoka ,  Yasushi Ikeuchi ,  Yutaka Hiki

IPC: A61H1/00 ,  A61H1/02 ,  A61H5/00

CPC classification number: A61H3/008 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/149 ,  A61H2201/1623 ,  A61H2201/1633 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5069 ,  B25J9/0006

Abstract: A walking assistance device has a drive mechanism for driving a third joint of a leg link of the walking assistance device, the drive mechanism including a crank arm secured to a lower link member and a linear-motion actuator which has a linear-motion output shaft connected to the crank arm. The angle formed by a straight line connecting a joint axis of the third joint and a connecting portion of the linear-motion output shaft relative to the crank arm and a straight line which passes the connecting portion and which is parallel to the axial center of the linear-motion output shaft changes from an angle closer to the straight angle toward an angle closer to the right angle as the flexion degree of the leg link is increased from a flexion degree corresponding to a state wherein a user is in an upright posture.

Abstract translation: 行走辅助装置具有用于驱动行走辅助装置的腿连杆的第三关节的驱动机构，该驱动机构包括固定到下连杆构件的曲柄臂和具有线性运动输出轴的直线运动致动器 连接到曲柄臂。 由连接第三关节的关节轴线和直线运动输出轴相对于曲柄臂的连接部分的直线形成的角度和通过连接部分并且平行于直线运动输出轴线的轴心的直线 直线运动输出轴从更靠近直角的角度向靠近直角的角度变化，因为腿部连杆的弯曲程度从对应于用户处于直立姿势的状态的屈曲度增加。