公开(公告)号：US08394044B2

公开(公告)日：2013-03-12

申请号：US12377944

申请日：2007-07-13

Applicant: Jun Ashihara ,  Hiroshi Kudoh

Inventor： Jun Ashihara ,  Hiroshi Kudoh

IPC: A61F5/00 ,  A61H3/00 ,  A45B1/00 ,  A45B7/00 ,  A45B9/00 ,  A47D13/04

CPC classification number: A61H3/008 ,  A61H3/00 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/1472 ,  A61H2201/1633 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  B25J9/0006

Abstract: The present invention provides a walking assist device including a seat member (1) where a user (P) sits astride; and a support member (2L, 2R) which is provided at a bottom side of the seat member (1); wherein the walking assist device includes a connection portion (106) which connects the seat member (1) to the support member (2L, 2R) in such a way that the seat member (1) is able to swing laterally around a spindle (106a) located at a middle portion of the anteroposterior width of the seat member (1) which the user (P) contacts. Therefore, the resistance force from the seat portion that the user (P) is subject to when the user (P) swings the hip to walk is reduced, thereby improving the usability of the walking assist device.

Abstract translation: 本发明提供一种行走辅助装置，其包括：座椅构件（1），其中使用者（P）跨越; 以及设置在所述座椅构件（1）的底侧的支撑构件（2L，2R）。 其特征在于，所述行走辅助装置包括将所述座椅构件（1）与所述支撑构件（2L，2R）连接的连接部（106），使得所述座椅构件（1）能够围绕心轴（106a）横向摆动 ）位于使用者（P）接触的座椅构件（1）的前后宽度的中间部分。 因此，当使用者（P）摆动臀部行走时，来自使用者（P）的座椅部分的阻力减小，从而提高了行走辅助装置的可用性。

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：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：US20110306907A1

公开(公告)日：2011-12-15

申请号：US13146519

申请日：2010-01-19

Applicant: Jun Ashihara ,  Yoshihisa Matsuoka ,  Hiroshi Matsuda ,  Yutaka Hiki ,  Makoto Shishido

Inventor： Jun Ashihara ,  Yoshihisa Matsuoka ,  Hiroshi Matsuda ,  Yutaka Hiki ,  Makoto Shishido

IPC: A61H1/02

CPC classification number: A61H3/008 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/149 ,  A61H2201/1623 ,  A61H2201/1633 ,  A61H2201/1635 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5071

Abstract: In a walking assist device having leg links each connected to a support member through a first joint and having a first link and second link connected to the first link through a second joint, and actuators to be operated to displace the first and second links relative to each other to produce assist forces that assist part of user's body weight to assist the user to walk, it is configured such that a forward protruding amount of the second joint to be protruded with change of an angle between the first and second links about the second joint is changed. With this, it becomes possible to decrease the forward protruding amount to be protruded from the trunk of the user with change of the angle about the second joint, thereby decreasing the inertia force about the vertical axis, while mitigating the unnatural impression of the appearance.

Abstract translation: 在具有腿连杆的行走辅助装置中，每个腿部连接件通过第一接头连接到支撑构件，并且具有通过第二接头连接到第一连杆的第一连杆和第二连杆，以及要被操作以使第一和第二连杆相对于 彼此产生辅助部件，其辅助部分使用者的体重来辅助使用者行走，其构造成使得第二关节的向前突出的量随着第一和第二连杆之间的角度的变化而围绕第二 关节改变了。 由此，通过改变围绕第二关节的角度，可以减少从使用者的躯干突出的向前突出量，从而降低围绕纵轴的惯性力，同时减轻外观的不自然的印象。

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：US08002719B2

公开(公告)日：2011-08-23

申请号：US11908571

申请日：2006-05-29

Applicant: Jun Ashihara ,  Yutaka Hiki

Inventor： Jun Ashihara ,  Yutaka Hiki

IPC: A61H1/00 ,  A61F5/00

CPC classification number: B25J9/0006 ,  A61H3/00 ,  A61H2201/1633 ,  A61H2201/165

Abstract: A walking assisting device having leg links connected to a load transfer portion, wherein each leg link is free to bend and stretch at a joint in the middle of the leg link, the leg link being formed to a length such that the joint projects forward of a reference line when a user is standing upright. The reference line is a line connecting a swing fulcrum of the leg link to a joint at the lower end of the leg link. Stability is improved by diminishing a moment in a forward tilting direction when the user is standing upright. The leg links are provided with an overhanging portion and a driving source mounted on the overhanging portion, which helps maintain balance relative to the reference line. The driving force is transmitted to the joint in the middle of the leg link via driving force transmission means.

Abstract translation: 一种行走辅助装置，其具有连接到负载传递部分的腿部连杆，其中每个腿部连杆在腿部连杆的中间的接头处自由地弯曲和拉伸，所述腿部连杆形成为使得所述接合部向前突出 用户直立时的参考线。 参考线是将腿部连杆的摆动支点连接到腿部连杆的下端的接头的线。 当使用者直立时，通过减小向前倾斜方向的力矩来提高稳定性。 腿连杆设置有悬伸部分和安装在悬伸部分上的驱动源，这有助于保持相对于参考线的平衡。 驱动力通过驱动力传递装置传递到腿部连杆的中部的关节。

公开(公告)号：US20100069799A1

公开(公告)日：2010-03-18

申请号：US12377944

申请日：2007-07-13

Applicant: Jun Ashihara ,  Hiroshi Kudoh

Inventor： Jun Ashihara ,  Hiroshi Kudoh

IPC: A61H1/00

CPC classification number: A61H3/008 ,  A61H3/00 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/1472 ,  A61H2201/1633 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  B25J9/0006

Abstract: The present invention provides a walking assist device including a seat member (1) where a user (P) sits astride; and a support member (2L, 2R) which is provided at a bottom side of the seat member (1); wherein the walking assist device includes a connection portion (106) which connects the seat member (1) to the support member (2L, 2R) in such a way that the seat member (1) is able to swing laterally around a spindle (106a) located at a middle portion of the anteroposterior width of the seat member (1) which the user (P) contacts. Therefore, the resistance force from the seat portion that the user (P) is subject to when the user (P) swings the hip to walk is reduced, thereby improving the usability of the walking assist device.

Abstract translation: 本发明提供一种行走辅助装置，其包括：座椅构件（1），其中使用者（P）跨越; 以及设置在所述座椅构件（1）的底侧的支撑构件（2L，2R）。 其特征在于，所述行走辅助装置包括将所述座椅构件（1）与所述支撑构件（2L，2R）连接的连接部（106），使得所述座椅构件（1）能够围绕心轴（106a）横向摆动 ）位于使用者（P）接触的座椅构件（1）的前后宽度的中间部分。 因此，当使用者（P）摆动臀部行走时，来自使用者（P）的座椅部分的阻力减小，从而提高了行走辅助装置的可用性。

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：US20080289670A1

公开(公告)日：2008-11-27

申请号：US11908571

申请日：2006-05-29

Applicant: Jun Ashihara ,  Yutaka Hiki

Inventor： Jun Ashihara ,  Yutaka Hiki

IPC: A61H3/00

CPC classification number: B25J9/0006 ,  A61H3/00 ,  A61H2201/1633 ,  A61H2201/165

Abstract: A walking assistancing device having leg links (2L, 2R) connected to a load transfer portion (1) via first joints (3), wherein each leg link is free to bend and stretch at a second joint (5) in the middle of the leg link and is formed in such a length that the leg link is bent with the second joint projecting forward of a reference line (L2) even if a user is standing upright, where the reference line is defined as a line connecting a forward/backward swing fulcrum (3a) of the leg link to a third joint (7) at the lower end of the leg link, thereby improving the stabality by diminishing a moment in a forward tilting direction generated in the leg link when the user is standing upright. Each of the leg links (2L, 2R) is provided with an overhanging portion (42) which projects on the side opposite to the second joint (5) in the forward/backward direction relative to the line (L2), and a driving source (9) for the second joint (5) is mounted on the overhanging portion (42) to keep a good weight balance between forward and backward of the reference line (L2). The driving force of the driving source (9) is transmitted to the second joint (5) via driving force transmission means (91).

Abstract translation: 一种步行辅助装置，其具有经由第一接头（3）连接到负载传递部分（1）的腿连杆（2L，2R），其中每个腿连杆在第二接头（5）的中部自由地弯曲和拉伸 腿部连接并且形成为使得即使使用者站立直立，腿连杆弯曲而第二关节突出于参考线（L2）的前方，其中参考线被定义为连接前/后 腿部的摆动支点（3a）连接到腿部连杆下端的第三关节（7），从而通过在使用者直立时在腿部连杆上产生的向前倾斜方向上的力矩减小而提高稳定性。 每个腿连杆（2L，2R）设置有相对于线（L2）在前后方向上相对于第二接头（5）突出的突出部分（42），驱动源 用于第二接头（5）的第二接头（9）安装在伸出部分（42）上以保持基准线（L2）的向前和向后之间的良好的重量平衡。 驱动源（9）的驱动力通过驱动力传递装置（91）传递到第二接头（5）。

公开(公告)号：US06683533B1

公开(公告)日：2004-01-27

申请号：US09648056

申请日：2000-08-25

Applicant: Jun Ashihara ,  Hiroyuki Andou

Inventor： Jun Ashihara ,  Hiroyuki Andou

IPC: B60Q100

CPC classification number: G01S11/02 ,  B60G2400/821 ,  B60G2401/176 ,  B60G2800/98

Abstract: An inter-vehicle distance measuring apparatus for measuring distance between a target vehicle ahead of a present vehicle following the target vehicle is disclosed, wherein the apparatus is not affected by weather conditions such as rainfall or snowfall. In the apparatus, the target vehicle transmits the first road-surface data, such as the roughness of the road surface, to the present vehicle. Also in the present vehicle, the second road-surface data such as the roughness is also detected, and both detected data are compared. In the present vehicle, the first and second road surface data having the maximum correlation are detected, and the time difference of each detection time of these data is calculated so as to calculate the inter-vehicle distance.

Abstract translation: 公开了一种车辆间距离测量装置，用于测量目标车辆之后的当前车辆之前的目标车辆之间的距离，其中该装置不受诸如降雨或降雪的天气条件的影响。 在该装置中，目标车辆将诸如路面的粗糙度的第一路面数据发送到当前车辆。 同样在本车辆中，也检测出诸如粗糙度的第二路面数据，并且比较两个检测数据。 在本车辆中，检测出具有最大相关性的第一路面数据和第二路面数据，并且计算出这些数据的每个检测时间的时间差，以计算车辆间距离。