公开(公告)号：US20230233852A1

公开(公告)日：2023-07-27

申请号：US18148089

申请日：2022-12-29

Applicant: OSAKA UNIVERSITY ,  JTEKT CORPORATION

Inventor： Matija MILOSEVIC ,  Koshi SHIBAGAKI ,  Taishin NOMURA ,  Yoshitaka KAWAKAMI ,  Yoshitaka YOSHIMI

IPC: A61N1/36 ,  A61N1/04

CPC classification number: A61N1/36003 ,  A61N1/0476 ,  A61N1/36031 ,  A61B5/1123

Abstract: A walking assist device includes a plurality of electrodes disposed on a surface of a leg of a user, a stimulation applier configured to apply, to the electrodes, a voltage for applying electrical stimulation to the muscles, and a control unit configured to control the stimulation applier to apply the voltage to one or more target electrodes selected from among the electrodes. The control unit controls the stimulation applier such that a combination of electrodes selected as the one or more target electrodes is different for each of a plurality of motion phases included in a motion cycle of the leg during the walking motion.

公开(公告)号：US20170181917A1

公开(公告)日：2017-06-29

申请号：US15388214

申请日：2016-12-22

Applicant: JTEKT CORPORATION

Inventor： Hiromichi OHTA ,  Yoshitaka YOSHIMI ,  Kazuyoshi OHTSUBO

IPC: A61H3/00

CPC classification number: A61H3/008 ,  A61H1/0244 ,  A61H1/0281 ,  A61H3/00 ,  A61H2201/123 ,  A61H2201/1463 ,  A61H2201/149 ,  A61H2201/1614 ,  A61H2201/1623 ,  A61H2201/1628 ,  A61H2201/163 ,  A61H2201/1635 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1652 ,  A61H2201/1676 ,  A61H2201/50 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5084 ,  B25J9/0006 ,  B25J13/088 ,  B25J17/0208

Abstract: An assist device is connected to a moving body that performs a reciprocating swing motion. The assist device includes a first output portion configured to swing around a swing center as a center of a swing motion; a variable rigidity device including an elastic body configured to accumulate energy and release the energy in accordance with a first swinging angle as a swinging angle of the first output portion, and a rigidity varying unit configured to change an apparent rigidity of the elastic body seen from the first output portion; a first angle detecting portion configured to detect the first swinging angle; and a control device configured to adjust the apparent rigidity of the elastic body seen from the first output portion by controlling the rigidity varying unit in accordance with the first swinging angle detected by the first angle detecting portion.

公开(公告)号：US20210137722A1

公开(公告)日：2021-05-13

申请号：US17097772

申请日：2020-11-13

Applicant: JTEKT CORPORATION

Inventor： Tomoki ARAI ,  Hiromichi OHTA ,  Kazuyoshi OHTSUBO ,  Yoshitaka YOSHIMI

IPC: A61F5/02 ,  A61F5/01

Abstract: An assist device includes a first harness, a second harness, and a grip portion. The first harness is configured to be fitted to at least one of a shoulder region and a breast region of a user. The second harness is configured to be fitted to a leg region or a waist region of the user. The grip portion is to be held by a person other than the user, the grip portion being attached to at least one of the first harness and the second harness.

公开(公告)号：US20180272525A1

公开(公告)日：2018-09-27

申请号：US15920502

申请日：2018-03-14

Applicant: JTEKT CORPORATION

Inventor： Toshiki KUMENO ,  Hiromichi OHTA ,  Yoshitaka YOSHIMI

IPC: B25J9/00 ,  A63B21/00 ,  A61H3/00 ,  A61H1/02 ,  B25J9/16 ,  G06F1/16

Abstract: An assist device includes a body wearing unit and an actuator unit. The actuator unit includes an output link configured to pivot about a joint of an assist target body part and to be attached to the assist target body part; an actuator including an output shaft configured to generate an assist torque via the output link; a torque determination unit configured to determine a combined torque obtained by combining a user torque and the assist torque from the output shaft, the user torque being input from the output link when the user causes the assist target body part to pivot; a correction unit configured to calculate a correction amount for the determined combined torque; and a pivot angle control unit configured to control a pivot angle of the output shaft based on the determined combined torque and the calculated correction amount.

公开(公告)号：US20220000701A1

公开(公告)日：2022-01-06

申请号：US17305343

申请日：2021-07-06

Applicant: JTEKT CORPORATION

Inventor： Yoshitaka YOSHIMI

IPC: A61H3/00 ,  A61H1/02

Abstract: An assist device includes a first body-worn unit; second body-worn units; an actuator; a controller configured to obtain an assist parameter that determines assist torque to be generated, and perform control to operate the actuator at an output based on the assist parameter; and a tilt angle detection part configured to obtain tilt angle information on a tilt angle of an upper body of a user. The actuator includes arms; and swing angle detection parts configured to obtain swing angle information on swing angles of the arms that represent angles formed by the upper body and thighs of the user. The controller is configured to obtain the assist parameter based on the swing angle information and the tilt angle information.

公开(公告)号：US20210353494A1

公开(公告)日：2021-11-18

申请号：US17319341

申请日：2021-05-13

Applicant: JTEKT CORPORATION

Inventor： Yoshitaka YOSHIMI ,  Kazuyoshi OHTSUBO ,  Terukazu SENDA

IPC: A61H1/02

Abstract: An assist device includes a first body-worn unit, a second body-worn unit, a belt body, an actuator, and a controller. The actuator includes a pulley and a motor that causes the pulley to reel and unreel a part of the belt body. The controller is configured to execute a mode switching process of switching a control mode of the motor to one a restriction mode in which a maximum rotation speed of the motor is restricted to a predetermined rotation speed and a normal mode in which the motor is operated within a rotation speed range higher than the predetermined rotation speed.

公开(公告)号：US20210077839A1

公开(公告)日：2021-03-18

申请号：US17015357

申请日：2020-09-09

Applicant: JTEKT CORPORATION

Inventor： Tomoki ARAI ,  Hiromichi OHTA ,  Kazuyoshi OHTSUBO ,  Yoshitaka YOSHIMI

IPC: A62B35/00

Abstract: An assist device includes a first harness, a second harness, a belt body and an actuator. The first harness is configured to be fitted to at least one of a shoulder region and a breast region of a user. The second harness is configured to be fitted to left and right leg regions, respectively, or a waist region, of the user. The belt body provided so as to extend to the first harness and to the second harness along a back side of the user. The actuator is provided in the first harness or the second harness and configured to wind and unwind a part of the belt body.

公开(公告)号：US20170234705A1

公开(公告)日：2017-08-17

申请号：US15431151

申请日：2017-02-13

Applicant: JTEKT CORPORATION

Inventor： Yoshitaka YOSHIMI ,  Hiromichi OHTA

IPC: G01D5/248

CPC classification number: G01D5/248 ,  A61H1/024 ,  A61H1/0244 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/0192 ,  A61H2201/1207 ,  A61H2201/1614 ,  A61H2201/1623 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/1652 ,  A61H2201/5025 ,  A61H2201/5069 ,  A61H2201/5076 ,  G01C22/006 ,  G01D5/04

Abstract: A frequency detector includes an oscillation related information output portion to which moving body position related information and a correction parameter are input, and which outputs a frequency adjustment parameter and estimated moving body position related information; a frequency estimating portion to which the frequency adjustment parameter is input, and which outputs an estimated frequency; and an adjusting portion to which the moving body position related information, the estimated moving body position related information, and the estimated frequency are input, and which outputs the correction parameter.

公开(公告)号：US20210361516A1

公开(公告)日：2021-11-25

申请号：US17326874

申请日：2021-05-21

Applicant: JTEKT CORPORATION

Inventor： Hiromichi OHTA ,  Kazuyoshi OHTSUBO ,  Yoshitaka YOSHIMI ,  Tomoki ARAI

IPC: A61H1/02

Abstract: An assist device includes a first body-worn unit that is worn on at least shoulders or a chest of a user; a second body-worn unit that is worn on each of right and left legs or a waist of the user; a belt body provided to extend along a back side of the user, from the first body-worn unit to the second body-worn unit; an actuator provided in the first body-worn unit or the second body-worn unit and allows a part of the belt body to be reeled and unreeled; a battery configured to supply electricity to the actuator; and a controller configured to control the actuator. When a remaining charge level of the battery has decreased to a predetermined set value, the controller executes a vibrating motion process of causing the actuator to perform a vibrating motion of intermittently repeating reeling of a minute amount of the belt body.

公开(公告)号：US20210078162A1

公开(公告)日：2021-03-18

申请号：US17015260

申请日：2020-09-09

Applicant: JTEKT CORPORATION

Inventor： Yoshitaka YOSHIMI ,  Kazuyoshi OHTSUBO ,  Tomoki ARAI ,  Hiromichi OHTA

IPC: B25J9/00 ,  B25J9/10 ,  B25J9/12 ,  A61H1/02 ,  A61H3/00

Abstract: An assist device includes a first harness, a second harness, a belt body, an actuator and a controller. The controller is configured to perform operation control of the actuator. The controller is configured to, upon operation of the actuator being started in a state in which the first harness and the second harness is fitted to the user, perform winding of the belt body with a first winding force, and is configured to, upon the winding of the belt body being completed, change the winding force of the actuator to a second winding force that is smaller than the first winding force.