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：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：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：US08221339B2

公开(公告)日：2012-07-17

申请号：US12679679

申请日：2008-08-29

申请人： Takashi Hirata ,  Taiji Koyama

发明人： Takashi Hirata ,  Taiji Koyama

IPC分类号： A61F5/00 ,  A61H1/02

CPC分类号： A61H3/008 ,  A61H1/0244 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  B25J9/0006

摘要： A femoral support member (30) comprises a stiff frame (31) made of an elongated rectangular plate member curved so as to extend along an outer side and front of a femoral part of a wearer and a flexible belt (32) extending along a rear of the femoral part. The femoral support member allows a walking assistance force to be transmitted to the femoral part of the wearer in a favorable manner. Also, the pressure and stress on the wearer are minimized, and a favorable fit can be achieved.

摘要翻译： 股骨支撑构件（30）包括由伸长的矩形板构件制成的刚性框架（31），所述矩形板构件沿着穿着者的股骨部分的外侧和前部延伸并沿着后方延伸的柔性带（32） 的股骨部分。 股骨支撑构件允许行走辅助力以有利的方式传递到穿着者的股骨部分。 此外，使穿着者的压力和应力最小化，并且可以实现有利的配合。

公开(公告)号：US20100198116A1

公开(公告)日：2010-08-05

申请号：US12679679

申请日：2008-08-29

申请人： Takashi Hirata ,  Taiji Koyama

发明人： Takashi Hirata ,  Taiji Koyama

IPC分类号： A61H1/02

CPC分类号： A61H3/008 ,  A61H1/0244 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  B25J9/0006

摘要： A femoral support member (30) comprises a stiff frame (31) made of an elongated rectangular plate member curved so as to extend along an outer side and front of a femoral part of a wearer and a flexible belt (32) extending along a rear of the femoral part. The femoral support member allows a walking assistance force to be transmitted to the femoral part of the wearer in a favorable manner. Also, the pressure and stress on the wearer are minimized, and a favorable fit can be achieved.

摘要翻译： 股骨支撑构件（30）包括由伸长的矩形板构件制成的刚性框架（31），所述矩形板构件沿着穿着者的股骨部分的外侧和前部延伸并沿着后方延伸的柔性带（32） 的股骨部分。 股骨支撑构件允许行走辅助力以有利的方式传递到穿着者的股骨部分。 此外，使穿着者的压力和应力最小化，并且可以实现有利的配合。

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

IPC分类号： B60B19/12 ,  B60B19/00 ,  B62M6/70 ,  B62K1/00 ,  B62M6/40

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

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

IPC分类号： A61H1/02 ,  A61H3/00

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。