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

IPC分类号： A61F5/00 ,  A61H1/00

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。

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

IPC分类号： A61F5/00 ,  A61H1/00

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 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。

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。

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。

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

IPC分类号： A61H1/02 ,  A61H1/00

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。

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

IPC分类号： A61F5/00 ,  A61F2/74 ,  A61F2/60 ,  A61F2/68

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。

公开(公告)号：US07481742B2

公开(公告)日：2009-01-27

申请号：US10557732

申请日：2004-03-15

申请人： Hisashi Katoh ,  Takashi Hirata

发明人： Hisashi Katoh ,  Takashi Hirata

IPC分类号： A63B22/00 ,  A61H1/02 ,  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 improve the force transmission efficiency from the assisting force generator disposed at a position corresponding to a hip joint to the leg while reducing the load upon the user's body, there is provided a walking assistance device comprising 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, comprising: a hip support member (1) for securely mounting the assisting force generator on the side of the hip joint; a lower leg support member (2) worn on a lower leg portion; and a force transmitting member (link bar 25) connecting the assisting force generator and the lower leg support member. In this way, the torque around the hip joint generated by the assisting force generator can be transmitted to the parts lower than the knee, and this can reduce an amount of force applied to the point of application of force on the body compared with the case where the torque is applied directly upon the thigh.

摘要翻译： 为了提供一种行走辅助装置，其能够将减轻对使用者身体的负荷的腿部辅助力发生机构的力传递效率提高到与臀部关节对应的位置，同时，还提供一种行走辅助装置，其包括： 辅助力发生器（髋关节致动器10）至少设置在髋关节的一侧以提供对下肢运动的辅助力，包括：髋部支撑构件（1），用于将辅助力发生器牢固地安装在 髋关节侧面; 戴在小腿部上的小腿支撑构件（2）; 以及连接辅助力发生器和小腿支撑构件的力传递构件（连杆25）。 以这种方式，由辅助力发生器产生的髋关节周围的扭矩可以传递到比膝盖低的部分，并且这可以减少施加到身体上施加力的力的量，与壳体 其中扭矩直接施加在大腿上。

公开(公告)号：US07713217B2

公开(公告)日：2010-05-11

申请号：US10481807

申请日：2002-06-27

申请人： Yasushi Ikeuchi ,  Hisashi Katoh ,  Takashi Hirata

发明人： Yasushi Ikeuchi ,  Hisashi Katoh ,  Takashi Hirata

IPC分类号： A61B5/103 ,  A61B5/117 ,  A61F2/74 ,  A61F2/60 ,  A61F2/78 ,  A61F2/68 ,  A61F2/62 ,  A61F2/64 ,  A61F2/66 ,  A61F2/54 ,  A61F2/00 ,  A61F2/58

CPC分类号： A61H3/008 ,  A61B5/4528 ,  A61F2/72 ,  A61H1/0255 ,  A61H3/00 ,  A61H35/00 ,  A61H2201/1238 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5079 ,  A61H2201/5084 ,  B25J9/0006

摘要： A system for assisting the motion of a body connected through joints provides a system for imparting a suitable torque to the connected body at the time of various turns including the bending of the joints. The torque imparting system has first and second measuring means, a reference work volume determining means, and an external torque determining means. The first measuring means measures the internal work volume of the around-joint leg. The second measuring means measures an external work volume around a joint imparted to the leg. The reference work volume determining means determines a reference work volume based on the internal work volume. The external torque determining means determines an external torque imparted to the leg so as to reduce the difference between the internal work volume of the leg and the reference work volume, based on the external work volume.

摘要翻译： 用于辅助通过接头连接的主体的运动的系统提供了一种在包括关节的弯曲的各种转弯时向连接体施加适当扭矩的系统。 转矩赋予系统具有第一和第二测量装置，参考工作量确定装置和外部扭矩确定装置。 第一测量装置测量围绕关节腿的内部工作体积。 第二测量装置测量传递给腿部的关节周围的外部工作体积。 参考工作量确定装置基于内部工作量来确定参考工作量。 外部扭矩确定装置确定施加到腿部的外部扭矩，以便基于外部工作体积来减小腿部的内部工作体积与参考工作体积之间的差异。

公开(公告)号：US07559909B2

公开(公告)日：2009-07-14

申请号：US10557731

申请日：2004-03-15

申请人： Hisashi Katoh ,  Takashi Hirata

发明人： Hisashi Katoh ,  Takashi Hirata

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 achieve a walking assistance device that can be securely fitted to the user's body while allowing a certain degree of freedom, a walking assistance device is provided comprising a hip joint rotational force generator (hip joint actuator 10) mounted on a side of a hip joint and a knee joint rotational force generator (knee joint actuator 26) mounted on a side of a knee joint to provide an assisting force to a movement of a lower limb, wherein the hip joint rotational force generator is fitted to the body via a first linkage means (link plate 30) having at least two degrees of freedom, and wherein the hip joint rotational force generator and the knee joint rotational force generator are connected to each other via a second linkage means (link bar 25) having an expandable and contractable means. In this way, deformation in lateral and torsional directions of the first linkage means and expansion/contraction of the second linkage means can absorb a deviation in position between the joints of the user's body and the assisting force generators.

摘要翻译： 为了实现能够在一定程度的自由度下可靠地安装在使用者身上的行走辅助装置，提供了一种行走辅助装置，其包括：髋关节旋转力发生器（髋关节致动器10），其安装在 髋关节和膝关节旋转力发生器（膝关节致动器26），其安装在膝关节的一侧以对下肢的运动提供辅助力，其中髋关节旋转力发生器经由 具有至少两个自由度的第一联动装置（连接板30），并且其中所述髋关节旋转力发生器和所述膝关节旋转力发生器通过具有可膨胀和膨胀的第二连杆装置（连杆25）彼此连接，并且 可收缩的手段 以这种方式，第一联动装置的横向和扭转方向的变形以及第二联动装置的伸缩可以吸收用户身体的关节和辅助力发生器之间的位置偏差。

公开(公告)号：US20070106190A1

公开(公告)日：2007-05-10

申请号：US10557731

申请日：2004-03-15

申请人： Hisashi Katoh ,  Takashi Hirata

发明人： Hisashi Katoh ,  Takashi Hirata

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 achieve a walking assistance device that can be securely fitted to the user's body while allowing a certain degree of freedom, a walking assistance device is provided comprising a hip joint rotational force generator (hip joint actuator 10) mounted on a side of a hip joint and a knee joint rotational force generator (knee joint actuator 26) mounted on a side of a knee joint to provide an assisting force to a movement of a lower limb, wherein the hip joint rotational force generator is fitted to the body via a first linkage means (link plate 30) having at least two degrees of freedom, and wherein the hip joint rotational force generator and the knee joint rotational force generator are connected to each other via a second linkage means (link bar 25) having an expandable and contractable means. In this way, deformation in lateral and torsional directions of the first linkage means and expansion/contraction of the second linkage means can absorb a deviation in position between the joints of the user's body and the assisting force generators.

摘要翻译： 为了实现能够在一定程度的自由度下可靠地安装在使用者身上的行走辅助装置，提供了一种行走辅助装置，其包括：髋关节旋转力发生器（髋关节致动器10），其安装在 髋关节和膝关节旋转力发生器（膝关节致动器26），其安装在膝关节的一侧以对下肢的运动提供辅助力，其中髋关节旋转力发生器经由 具有至少两个自由度的第一联动装置（连接板30），并且其中所述髋关节旋转力发生器和所述膝关节旋转力发生器通过具有可膨胀和膨胀的第二连杆装置（连杆25）彼此连接，并且 可收缩的手段 以这种方式，第一联动装置的横向和扭转方向的变形以及第二联动装置的伸缩可以吸收用户身体的关节和辅助力发生器之间的位置偏差。