公开(公告)号：US08303521B2

公开(公告)日：2012-11-06

申请号：US12303801

申请日：2007-04-11

Applicant: Yasushi Ikeuchi

Inventor： Yasushi Ikeuchi

IPC: A61B5/103 ,  A61B5/117 ,  A61H1/00 ,  A61H1/02 ,  A61H5/00 ,  A61F2/48 ,  A61F2/74 ,  A61F2/64 ,  A61F2/68

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：US08267876B2

公开(公告)日：2012-09-18

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：US08220465B2

公开(公告)日：2012-07-17

申请号：US12377954

申请日：2007-07-13

Applicant: Hiroshi Kudoh ,  Yasushi Ikeuchi

Inventor： Hiroshi Kudoh ,  Yasushi Ikeuchi

IPC: A61G15/00

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

Abstract: A walking assistance device having a seating member (1) on which a user (P) can sit astride, and support members (2L, 2R) which support the seating member (1). The seating member (1) has a backward movement prevention section (1b) for preventing the seating member (1) from being displaced backward relative to the user (P) sitting on the seating member (1). The backward movement prevention section (1b) is constructed so as to be in contact with an inguinal part (Q) of the user (P). The arrangement restrains backward dislocation of the seating member (1) relative to the user (P), thus permitting improved stability when the user is seated.

Abstract translation: 一种行走辅助装置，其具有座位构件（1），使用者（P）可跨越其上，支撑构件（2L，2R）支撑座位构件（1）。 座部件（1）具有用于防止座部件（1）相对于坐在座椅部件（1）上的使用者（P）向后移位的向后运动防止部分（1b）。 后退防止部（1b）构成为与使用者（P）的腹股（Q）接触。 该布置限制了座部件（1）相对于使用者（P）的向后错位，从而在使用者就座时能够提高稳定性。

公开(公告)号：US08202234B2

公开(公告)日：2012-06-19

申请号：US12373147

申请日：2007-04-11

Applicant: Yasushi Ikeuchi

Inventor： Yasushi Ikeuchi

IPC: A61H1/00 ,  A61H1/02 ,  A61H5/00 ,  A61F5/00

CPC classification number: B25J9/0006 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/1215 ,  A61H2201/1633 ,  A61H2201/1642 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5084

Abstract: A control device for a walking assistance device includes a seating section on which a user is seated, a pair of left and right foot sole installation sections fitted to the foot soles of the legs of the user, a pair of left and right leg links which connect the seating section to the foot sole installation sections, actuators which drive joints of the leg links, and an acting force detection means which detects force acting on the user from the seating section. The control device controls a driving force of at least one of the actuators according to the detected value of the acting force so that the force acting on the user is maintained at a least at a predetermined lower limit of upward force. Thus, desired user motions, such as jumping, can be performed while appropriate force acts on the user from the seating section.

Abstract translation: 一种用于行走辅助装置的控制装置，包括一个用户就座的座位部分，一对安装在使用者的脚的脚底上的左脚和右脚底安装部分，一对左腿和右腿连杆， 将座椅部分连接到脚踏安装部分，驱动腿连杆的关节的致动器，以及作用力检测装置，其从座位部分检测作用在使用者上的力。 控制装置根据检测到的作用力的值来控制至少一个致动器的驱动力，使得作用在使用者上的力保持在至少预定的向上力的下限。 因此，可以在从座位部分向用户施加适当的力的同时执行期望的用户运动，例如跳跃。

公开(公告)号：US07731674B2

公开(公告)日：2010-06-08

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: A61F5/00

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 transmit 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 transmit 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，其具有经由第一关节连接到负载传递部分的脚连接件，并且经由第二接头连接到脚部附接部分，并且具有中间第三关节移动，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负载传递部上，以增强稳定性。 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：US20100063424A1

公开(公告)日：2010-03-11

申请号：US12377954

申请日：2007-07-13

Applicant: Hiroshi Kudoh ,  Yasushi Ikeuchi

Inventor： Hiroshi Kudoh ,  Yasushi Ikeuchi

IPC: A61H1/00

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

Abstract: A walking assistance device having a seating member (1) on which a user (P) can sit astride, and support members (2L, 2R) which support the seating member (1). The seating member (1) has a backward movement prevention section (1b) for preventing the seating member (1) from being displaced backward relative to the user (P) sitting on the seating member (1). The backward movement prevention section (1b) is constructed so as to be in contact with an inguinal part (Q) of the user (P). The arrangement restrains backward dislocation of the seating member (1) relative to the user (P), thus permitting improved stability when the user is seated.

Abstract translation: 一种行走辅助装置，其具有座位构件（1），使用者（P）可跨越其上，支撑构件（2L，2R）支撑座位构件（1）。 座部件（1）具有用于防止座部件（1）相对于坐在座椅部件（1）上的使用者（P）向后移位的向后运动防止部分（1b）。 后退防止部（1b）构成为与使用者（P）的腹股（Q）接触。 该布置限制了座部件（1）相对于使用者（P）的向后错位，从而在使用者就座时能够提高稳定性。

公开(公告)号：US20100010639A1

公开(公告)日：2010-01-14

申请号：US12373147

申请日：2007-04-11

Applicant: Yasushi Ikeuchi

Inventor： Yasushi Ikeuchi

IPC: A61F2/48

CPC classification number: B25J9/0006 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/1215 ,  A61H2201/1633 ,  A61H2201/1642 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5084

Abstract: A control device for a walking assistance device includes a seating section on which a user is seated, a pair of left and right foot sole installation sections fitted to the foot soles of the legs of the user, a pair of left and right leg links which connect the seating section to the foot sole installation sections, actuators which drive joints of the leg links, and an acting force detection means which detects force acting on the user from the seating section. The control device controls a driving force of at least one of the actuators according to the detected value of the acting force so that the force acting on the user is maintained at a least at a predetermined lower limit of upward force. Thus, desired user motions, such as jumping can be performed while appropriate force acts on the user from the seating section.

Abstract translation: 一种用于行走辅助装置的控制装置，包括一个用户就座的座位部分，一对安装在使用者的脚的脚底上的左脚和右脚底安装部分，一对左腿和右腿连杆， 将座椅部分连接到脚踏安装部分，驱动腿连杆的关节的致动器，以及作用力检测装置，其从座位部分检测作用在使用者上的力。 控制装置根据检测到的作用力的值来控制至少一个致动器的驱动力，使得作用在使用者上的力保持在至少预定的向上力的下限。 因此，可以在适当的力从座位部分作用于使用者时执行所需的使用者运动，例如跳跃。

公开(公告)号：US20060130594A1

公开(公告)日：2006-06-22

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）进行独立运动的地板反作用力进行估计，然后将实际的联合支撑力矩的估计值从支撑矫形器（1）实际应用于人的每条腿的关节（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：US07017395B2

公开(公告)日：2006-03-28

申请号：US10502727

申请日：2003-01-22

Applicant: Masakazu Kawai ,  Yasushi Ikeuchi

Inventor： Masakazu Kawai ,  Yasushi Ikeuchi

IPC: G01M1/00

CPC classification number: B25J13/085 ,  B25J13/088 ,  B62D57/032

Abstract: It is determined whether the motion state of legs 2, 2 is a one-leg supporting state or a two-leg supporting state, and a total floor reaction force is estimated based on a motion equation of the center of gravity of a bipedal movable body 1. If the motion state of legs 2, 2 is the one-leg supporting state, the estimated value of the total floor reaction force is used as an estimated value of the floor reaction force on the leg 2 which is landed. When the motion state changes to the two-leg supporting state, a vertical component of the floor reaction force on the rear leg is estimated from the MP height of the front leg based on a predetermined correlation between the MP height of the front leg and the vertical component of the floor reaction force on the leg.

Abstract translation: 确定腿部2,2的运动状态是单腿支撑状态还是双腿支撑状态，并且基于双足可移动体的重心的运动方程来估计总楼面反作用力 1。 如果脚2,2的运动状态是单腿支撑状态，则将总楼面反作用力的估计值用作落地的腿部2上的地板反作用力的估计值。 当运动状态改变为双腿支撑状态时，基于前腿的MP高度和前腿的MP高度之间的预定相关性，从前腿的MP高度估计后腿上的地板反作用力的垂直分量 地板反作用力的垂直分量在腿上。

公开(公告)号：US20060052732A1

公开(公告)日：2006-03-09

申请号：US11220737

申请日：2005-09-07

Applicant: Kei Shimada ,  Takashi Hirata ,  Jun Ashihara ,  Tatsuya Noda ,  Yasushi Ikeuchi

Inventor： Kei Shimada ,  Takashi Hirata ,  Jun Ashihara ,  Tatsuya Noda ,  Yasushi Ikeuchi

IPC: A61F5/00

CPC classification number: A61F5/0102

Abstract: In walking assistance device, a force detector (21) is provided between thigh retaining member (9) that directly retain the thigh of the user and a thigh support member (2) that is actuated by an actuator (TA1) provided in hip coupling portion. Thereby, the load acting on the hip coupling portion can be accurately detected, and the output of the force detector can be favorably used for the purpose of controlling the actuator so as to minimize the force that is applied to the thigh of the user. In particular, to the end of providing a suitably rigidity to the thigh retaining member so that the force produced by the actuator may be evenly applied to the entire thigh, and facilitating the effort required for the wearer to wear the walking assistance device, the thigh retaining member comprises a base portion (9a) connected to the thigh support member and two pairs of resilient arms (9b, 9c) extending laterally from either side of the base portion so that the thigh retaining member generally defines a shape of letter-C in plan view.

Abstract translation: 在步行辅助装置中，在直接保持使用者的大腿的大腿保持构件（9）和大腿支撑构件（2）之间设置力检测器（21），所述大腿支撑构件（2）由设置在髋联接器 一部分。 由此，能够精确地检测作用在臀部联接部上的负荷，能够有效地使用力检测器的输出，以便控制致动器，从而最小化施加到使用者的大腿的力。 特别地，为了向大腿保持构件提供适当的刚度，使得由致动器产生的力可以均匀地施加到整个大腿，并且促进穿戴者佩戴步行辅助装置所需的努力，结束时，大腿 保持构件包括连接到大腿支撑构件的基部（9a）和从基部的任一侧横向延伸的两对弹性臂（9b，9b），使得大腿保持构件大体上限定了字母的形状 -C在平面图中。