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公开(公告)号：US07798983B2
公开(公告)日：2010-09-21
申请号：US10557733
申请日：2004-03-15
申请人： Hisashi Katoh , Takashi Hirata , Taiji Koyama , Takako Fujii , Yoshirou Koyama
发明人： Hisashi Katoh , Takashi Hirata , Taiji Koyama , Takako Fujii , Yoshirou Koyama
CPC分类号： A61H3/008 , A61F5/0102 , A61H1/0255 , A61H3/00 , A61H2201/0192 , A61H2201/1215 , A61H2201/163 , A61H2201/1642 , A61H2201/165
摘要： In order to provide a walking assistance device that can avoid hampering the motion of the muscles of the user and will not move out of place inadvertently when worn by the user, principal engagement points of a support member for securely mounting an assisting force generator, which is disposed on a side of at least one joint of a lower limb to provide an assisting force to a movement of the lower limb, are provided at portions where a relatively small amount of movement of skin occurs when a trunk or joint is moved. In this way, the support member can be fastened firmly to the portions where an amount of movement of the skin is small and therefore it is possible to reduce the uncomfortable pressure caused during motion while preventing the support member from inadvertently moving out of place.
摘要翻译： 为了提供一种行走辅助装置，其能够避免妨碍使用者的肌肉的运动，并且不会在用户佩戴时不经意地移动，因此用于牢固地安装辅助力发生器的支撑构件的主要接合点，其中 设置在下肢的至少一个关节的一侧以对下肢的运动提供辅助力，设置在当躯干或关节移动时出现相对较少量的皮肤移动的部分。 以这种方式，可以将支撑构件牢固地紧固到皮肤的移动量小的部分，并且因此可以减少运动期间引起的不舒适压力，同时防止支撑构件无意中移出位置。
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公开(公告)号：US20070055189A1
公开(公告)日：2007-03-08
申请号：US10557733
申请日：2004-03-15
申请人： Hisashi Katoh , Takashi Hirata , Taiji Koyama , Takako Fujii , Yoshirou Koyama
发明人： Hisashi Katoh , Takashi Hirata , Taiji Koyama , Takako Fujii , Yoshirou Koyama
IPC分类号： A61F5/00
CPC分类号： A61H3/008 , A61F5/0102 , A61H1/0255 , A61H3/00 , A61H2201/0192 , A61H2201/1215 , A61H2201/163 , A61H2201/1642 , A61H2201/165
摘要： In order to provide a walking assistance device that can avoid hampering the motion of the muscles of the user and will not move out of place inadvertently when worn by the user, principal engagement points of a support member (hip support member 1 and/or lower leg support member 2) for securely mounting an assisting force generator (hip joint actuator 10 and/or knee joint actuator 26), which is disposed on a side of at least one joint of a lower limb to provide an assisting force to a movement of the lower limb, are provided at portions where a relatively small amount of movement of skin occurs when a trunk or joint is moved. In this way, the support member can be fastened firmly to the portions where an amount of movement of the skin is small, i.e., portions where the circumferential length change due to expansion/contraction of the muscles is small, and therefore it is possible to reduce the uncomfortable pressure caused during motion while preventing the support member from inadvertently moving out of place.
摘要翻译： 为了提供一种行走辅助装置，其可以避免妨碍使用者的肌肉的运动，并且在使用者佩戴时不会无意中移动，支撑构件的主要接合点（臀部支撑构件1和/或下部 腿部支撑构件2），用于牢固地安装辅助力发生器（髋关节致动器10和/或膝关节致动器26），其设置在下肢的至少一个关节的一侧，以提供辅助力 下肢设置在当躯干或关节移动时出现相对较少量的皮肤移动的部分。 以这种方式，可以将支撑构件牢固地紧固到皮肤的移动量小的部分，即由于肌肉的伸缩引起的周向长度变化小的部分，因此， 减少运动期间引起的不舒服的压力，同时防止支撑构件无意中移出位置。
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公开(公告)号：US20070027409A1
公开(公告)日：2007-02-01
申请号：US10557480
申请日：2004-05-20
申请人： Hisashi Katoh , Taiji Koyama
发明人： Hisashi Katoh , Taiji Koyama
CPC分类号： A61F5/0102 , A61H1/0255 , A61H3/00 , A61H3/008 , A61H2201/0192 , A61H2201/1215 , A61H2201/163 , A61H2201/1642 , A61H2201/165
摘要： There is provided a walking assistance device equipped with an assisting force generator disposed on a side of each of a hip joint and a knee joint, comprising: a hip support member (1) having an attachment means (hip drive source mount 9) capable of repeatedly attaching and detaching a hip joint assisting force generator (hip joint actuator 10); a lower leg support member (2) having an attachment means (knee drive source mount 27) capable of repeatedly attaching and detaching a knee joint assisting force generator (knee joint actuator 26); and a drive unit (3) formed by integrally joining the hip joint assisting force generator and the knee joint assisting force generator via a link bar (25), wherein after the hip support member and the lower leg support member are fitted on a user's body, the assisting force generators of the drive unit are connected to the corresponding attachment means.
摘要翻译： 提供了一种配备有设置在髋关节和膝关节的每一侧的辅助力发生器的行走辅助装置，包括：臀部支撑构件（1），其具有能够 反复安装和拆卸髋关节辅助力发生器（髋关节致动器10）; 具有能够重复地安装和拆卸膝关节辅助力发生器（膝关节致动器26）的附接装置（膝部驱动源支架27）的小腿支撑构件（2）。 以及通过连杆（25）将所述髋关节辅助力发生器和所述膝关节辅助力发生器一体地接合而形成的驱动单元（3），其中，在所述臀部支撑构件和所述小腿支撑构件安装在使用者身体上之后 驱动单元的辅助力发生器连接到相应的附接装置。
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公开(公告)号：US20060258967A1
公开(公告)日：2006-11-16
申请号：US10557338
申请日：2004-03-15
申请人： Takako Fujil , Yoshirou Koyama , Hisashi Katoh , Takashi Hirata , Akio Koike , Taiji Koyama
发明人： Takako Fujil , Yoshirou Koyama , Hisashi Katoh , Takashi Hirata , Akio Koike , Taiji Koyama
IPC分类号： A61F5/00
CPC分类号： B25J9/0006 , A61F5/0102 , A61H1/0255 , A61H3/00 , A61H3/008 , A61H2201/0192 , A61H2201/1215 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2205/081
摘要： In order to provide a walking assistance device capable of favorably providing an assisting force for maintaining the upright posture while reducing the sense of pressure when worn by the user, a hip support member (1) of the walking assisting device, which comprises an assisting force generator (hip joint actuator 10) disposed at least on a side of a hip joint to provide an assisting force to a movement of a lower limb, is provided with: a back support (4) equipped with pads (18, 19, 20) for respectively abutting an intermediate portion between right and left erector spinae muscles, lateral outer sides of the spinae muscles and right and left iliac crests; and a belt (5) connected to the back support for tightening a lower part of the rectus abdominis muscle. In this way, a supporting force can be provided to the lumbar vertebrae to steadily keep the upright posture while reducing a resistance to a bending movement of the waist caused by the support member. Further, the drive torque from the assisting force generator can be supported by the whole hip portion and this can contribute to preventing inadvertent move of the support member.
摘要翻译： 为了提供一种行走辅助装置，其能够有利地提供用于维持直立姿势的辅助力，同时在使用者佩戴时降低压力感觉，行走辅助装置的臀部支撑构件（1）包括辅助力 至少设置在髋关节一侧以提供对下肢运动的辅助力的发生器（髋关节致动器10）设置有：配备有垫（18,19,20）的后支撑件（4） 用于分别邻接右和左耳直肌之间的中间部分，脊肌的侧外侧和右髂骨和左髂骨顶; 以及连接到后支撑件的带（5），用于收紧腹直肌的下部。 以这种方式，可以向腰椎提供支撑力以稳定地保持直立姿势，同时减少由支撑构件引起的腰部弯曲运动的阻力。 此外，来自辅助力发生器的驱动扭矩可以由整个臀部支撑，并且这可以有助于防止支撑构件的意外移动。
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公开(公告)号：US07780616B2
公开(公告)日：2010-08-24
申请号：US10557338
申请日：2004-03-15
申请人： Hisashi Katoh , Takashi Hirata , Akio Koike , Taiji Koyama , Takako Fujii , Yoshirou Koyama
发明人： Hisashi Katoh , Takashi Hirata , Akio Koike , Taiji Koyama , Takako Fujii , Yoshirou Koyama
CPC分类号： B25J9/0006 , A61F5/0102 , A61H1/0255 , A61H3/00 , A61H3/008 , A61H2201/0192 , A61H2201/1215 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2205/081
摘要： In order to provide a walking assistance device capable of favorably providing an assisting force for maintaining the upright posture while reducing the sense of pressure when worn by the user, a hip support member (1) of the walking assisting device, which comprises an assisting force generator (hip joint actuator 10) disposed at least on a side of a hip joint to provide an assisting force to a movement of a lower limb, is provided with: a back support (4) equipped with pads (18, 19, 20) for respectively abutting an intermediate portion between right and left erector spinae muscles, lateral outer sides of the spinae muscles and right and left iliac crests; and a belt (5) connected to the back support for tightening a lower part of the rectus abdominis muscle. In this way, a supporting force can be provided to the lumbar vertebrae to steadily keep the upright posture while reducing a resistance to a bending movement of the waist caused by the support member. Further, the drive torque from the assisting force generator can be supported by the whole hip portion and this can contribute to preventing inadvertent move of the support member.
摘要翻译： 为了提供一种行走辅助装置，其能够有利地提供用于维持直立姿势的辅助力，同时在使用者佩戴时减少压力感觉，行走辅助装置的臀部支撑构件（1）包括辅助力 至少设置在髋关节一侧以提供对下肢运动的辅助力的发生器（髋关节致动器10）设置有：配备有垫（18,19,20）的后支撑件（4） 用于分别邻接右和左耳直肌之间的中间部分，脊肌的侧外侧和右髂骨和左髂骨顶; 以及连接到后支撑件的带（5），用于收紧腹直肌的下部。 以这种方式，可以向腰椎提供支撑力以稳定地保持直立姿势，同时减少由支撑构件引起的腰部弯曲运动的阻力。 此外，来自辅助力发生器的驱动扭矩可以由整个臀部支撑，并且这可以有助于防止支撑构件的意外移动。
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公开(公告)号：US07416538B2
公开(公告)日：2008-08-26
申请号：US10557480
申请日：2004-05-20
申请人： Hisashi Katoh , Taiji Koyama
发明人： Hisashi Katoh , Taiji Koyama
CPC分类号： A61F5/0102 , A61H1/0255 , A61H3/00 , A61H3/008 , A61H2201/0192 , A61H2201/1215 , A61H2201/163 , A61H2201/1642 , A61H2201/165
摘要： There is provided a walking assistance device equipped with an assisting force generator disposed on a side of each of a hip joint and a knee joint, comprising: a hip support member (1) having an attachment means (hip drive source mount 9) capable of repeatedly attaching and detaching a hip joint assisting force generator (hip joint actuator 10); a lower leg support member (2) having an attachment means (knee drive source mount 27) capable of repeatedly attaching and detaching a knee joint assisting force generator (knee joint actuator 26); and a drive unit (3) formed by integrally joining the hip joint assisting force generator and the knee joint assisting force generator via a link bar (25), wherein after the hip support member and the lower leg support member are fitted on a user's body, the assisting force generators of the drive unit are connected to the corresponding attachment means.
摘要翻译： 提供了一种配备有设置在髋关节和膝关节的每一侧的辅助力发生器的行走辅助装置，包括：臀部支撑构件（1），其具有能够 反复安装和拆卸髋关节辅助力发生器（髋关节致动器10）; 具有能够重复地安装和拆卸膝关节辅助力发生器（膝关节致动器26）的附接装置（膝部驱动源支架27）的小腿支撑构件（2）。 以及通过连杆（25）将所述髋关节辅助力发生器和所述膝关节辅助力发生器一体地接合而形成的驱动单元（3），其中，在所述臀部支撑构件和所述小腿支撑构件安装在使用者身体上之后 驱动单元的辅助力发生器连接到相应的附接装置。
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7.发明授权公开(公告)号：US08827375B2
公开(公告)日：2014-09-09
申请号：US13132681
申请日：2009-12-01
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Masao Sasaki , Hiroshi Gomi , Shinichiro Kobashi
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Masao Sasaki , Hiroshi Gomi , Shinichiro Kobashi
CPC分类号： B62M6/70 , B60B19/003 , B60B19/125 , B60B2200/47 , B60B2360/10 , B60B2360/1434 , B60B2360/1444 , B60B2360/32 , B60B2360/348 , B60B2900/131 , B60B2900/133 , B60B2900/211 , B60Y2200/40 , B62K1/00 , B62M6/40
摘要： In a wheel for use in an omni-directional vehicle, gravel and other foreign matters are prevented from being trapped between free rollers forming the wheel, and traveling vibrations and noises are minimized at the same time. The wheel includes an annular member and a plurality of free rollers each rotatably supported by the annular member around a corresponding tangential line of the annular member, and a gap member is placed between each adjacent pair of the free rollers to fill a gap defined between the free rollers.
摘要翻译： 在用于全方位车辆的车轮中，防止砾石和其他异物被捕获在形成车轮的自由辊之间，并且行驶振动和噪声同时被最小化。 轮包括环形构件和多个自由辊，每个自由辊由环形构件围绕环形构件的对应切线旋转地支撑，并且间隙构件被放置在每个相邻的一对自由辊之间以填充限定在 自由滚筒
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公开(公告)号：US08663134B2
公开(公告)日：2014-03-04
申请号：US12987405
申请日：2011-01-10
申请人： Hideaki Takahashi , Hideo Shimizu , Taiji Koyama
发明人： Hideaki Takahashi , Hideo Shimizu , Taiji Koyama
CPC分类号： A61H1/0244 , A61H3/00 , A61H2201/0192 , A61H2201/1215 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/1697 , A61H2201/50 , A61H2201/5069
摘要： In a walking assistance device (10) including a main frame (22) supporting a power generator (26, 28) and worn on a pelvic part of a user, the main frame is provided with an opening (23) in a middle part thereof, and an electronic unit (25) is received in the opening. As the electronic unit is placed in the middle part of the main frame which is relatively free from deformation, the electronic unit is protected from deformation or stress that could impair the reliability of the electronic unit. To achieve both an easy access to the electronic unit, and an attractive appearance, the opening may be provided with a lid (24) that selectively closes the opening from a side adjacent to the user, and the lid may be formed as a back support member for supporting a back part of the user. As the lid serves the dual purposes, the weight and cost of the device can be minimized. For the convenience of the handling of the lid, the lid may be supported by the main frame via a hinge (121) provided adjacent to an upper or lower part of the opening.
摘要翻译： 在包括支撑发电机（26,28）并且佩戴在用户的骨盆部分上的主框架（22）的行走辅助装置（10）中，主框架在其中间部分设置有开口（23） ，并且电子单元（25）被接收在开口中。 由于电子单元被放置在相对没有变形的主框架的中间部分中，所以电子单元被保护免受可能损害电子单元的可靠性的变形或应力。 为了实现对电子单元的容易的访问和吸引人的外观，开口可以设置有从相邻的用户选择性地关闭开口的盖子（24），并且盖子可以形成为背部支撑件 用于支持用户的后部的成员。 由于盖具有双重目的，因此能够使装置的重量和成本最小化。 为了便于处理盖子，盖子可以通过邻近开口的上部或下部设置的铰链（121）由主框架支撑。
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公开(公告)号：US20110218466A1
公开(公告)日：2011-09-08
申请号：US13127619
申请日：2009-10-01
申请人： Hideaki Takahashi , Taiji Koyama , Hideo Shimizu
发明人： Hideaki Takahashi , Taiji Koyama , Hideo Shimizu
IPC分类号： A61H1/02
CPC分类号： A61H3/00 , A61H1/0244 , A61H2201/165
摘要： In a walking assistance device for providing a walking assistance force to a femoral part of a user, the walking assistance force generated by a power generator is effectively transmitted to the femoral part of the user while avoiding the user from experiencing any undue pressure or discomfort. The walking assistance device comprises a rigid femoral support frame (30L, 30R) having a base end (31) connected to an output end of an electric motor unit (14L, 14R) and a free end (32) extending from the base end to a position opposite to a front part of the femoral part of the user, and a flexible belt (50L, 50R) attached to the free end of the femoral support frame to be releasably worn around a circumference of the femoral part of the user at a height corresponding to the free end of the femoral support frame.
摘要翻译： 在用于向用户的股骨部分提供步行辅助力的行走辅助装置中，由发电机产生的行走辅助力有效地传递到使用者的股骨部分，同时避免使用者体验不适当的压力或不适。 行走辅助装置包括刚性股骨支撑框架（30L，30R），其具有连接到电动机单元（14L，14R）的输出端的基端（31）和从基端延伸到 与使用者的股骨部分的前部相对的位置和附接到股骨支撑框架的自由端的柔性带（50L，50R），以可释放地佩戴在使用者的股骨部分的圆周上 对应于股骨支撑框架的自由端的高度。
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公开(公告)号：US08522902B2
公开(公告)日：2013-09-03
申请号：US13395578
申请日：2009-09-18
申请人： Hiroshi Gomi , Shinichiro Kobashi , Taiji Koyama , Hideharu Izumi , Kazuya Kuwabara , Toru Takenaka
发明人： Hiroshi Gomi , Shinichiro Kobashi , Taiji Koyama , Hideharu Izumi , Kazuya Kuwabara , Toru Takenaka
CPC分类号： B62J1/005 , B60L11/1805 , B62J25/00 , B62K1/00 , B62K11/007 , B62K15/00 , Y02T10/7005
摘要： In an inverted pendulum type vehicle configured to travel on a ground surface while maintaining an upright posture under an inverted pendulum control, comprising a base frame supporting a propulsion unit, the propulsion unit including a main wheel configured to roll on the ground surface, and a seat unit provided on the base frame for supporting hips of a rider, the seat unit includes a saddle having at least a center located ahead of an axial line extending between a rotational center line of the main wheel and a gravitational center of the inverted pendulum type vehicle. Thereby, even when there is an obstacle on the ground surface behind the vehicle, the main wheel rolling on the ground surface is prevented from coming into contact with the obstacle, and the boarding of the rider on the vehicle is facilitated.
摘要翻译： 在倒立摆式车辆中，其构造成在倒立摆控制下保持直立姿势的同时在地面上行进，包括支撑推进单元的基座框架，所述推进单元包括构造成在地面上滚动的主轮，以及 所述座椅单元设置在所述基座上，用于支撑骑手的臀部，所述座椅单元包括鞍座，所述鞍座至少具有位于在所述主轮的旋转中心线与所述倒立摆型重力中心之间延伸的轴线前方的中心 车辆。 因此，即使在车辆后方的地面上存在障碍物的情况下，也能够防止在地面上滚动的主轮与障碍物接触，并且车辆上的乘坐者的登机方便。
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