公开(公告)号：US20090292232A1

公开(公告)日：2009-11-26

申请号：US12470091

申请日：2009-05-21

申请人： Jun Ashihara ,  Yasushi Ikeuchi ,  Toru Fujihira ,  Yoichi Nishimura ,  Hiroshi Kudoh ,  Yutaka Hiki ,  Makoto Shishido ,  Tatsuya Noda ,  Hiroshi Matsuda ,  Yoshihisa Matsuoka ,  Ryuzo Yokoyama ,  Eiji Ninomiya ,  Takeshi Koshiishi

发明人： Jun Ashihara ,  Yasushi Ikeuchi ,  Toru Fujihira ,  Yoichi Nishimura ,  Hiroshi Kudoh ,  Yutaka Hiki ,  Makoto Shishido ,  Tatsuya Noda ,  Hiroshi Matsuda ,  Yoshihisa Matsuoka ,  Ryuzo Yokoyama ,  Eiji Ninomiya ,  Takeshi Koshiishi

IPC分类号： A61F5/00

CPC分类号： A61H3/008 ,  A47C9/025 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/1633 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5071 ,  B25J9/0006

摘要： Provided is a walking assist device including a seat member, a leg link having a joint portion, and a driving source for the joint portion. The walking assist device allows a user to rest by sitting on the seat member. Accordingly, the walking assist device further includes a lock mechanism disposed in the joint portion and an operation unit for the lock mechanism. When the operation unit is switched on, the driving source is controlled to increase an up-pushing force on the seat member. A variation rate on the up-pushing force is increased with time to a given value where the lock mechanism is initiated.

摘要翻译： 提供一种行走辅助装置，其包括座椅构件，具有接合部的腿连杆和用于接合部的驱动源。 步行辅助装置允许使用者坐在座椅构件上休息。 因此，行走辅助装置还包括设置在关节部分中的锁定机构和用于锁定机构的操作单元。 当操作单元接通时，控制驱动源以增加座椅构件上的推压力。 上推力的变化率随着时间增加到启动锁定机构的给定值。

公开(公告)号：US08118763B2

公开(公告)日：2012-02-21

申请号：US12470091

申请日：2009-05-21

申请人： Jun Ashihara ,  Yasushi Ikeuchi ,  Toru Fujihira ,  Yoichi Nishimura ,  Hiroshi Kudoh ,  Yutaka Hiki ,  Makoto Shishido ,  Tatsuya Noda ,  Hiroshi Matsuda ,  Yoshihisa Matsuoka ,  Ryuzo Yokoyama ,  Eiji Ninomiya ,  Takeshi Koshiishi

发明人： Jun Ashihara ,  Yasushi Ikeuchi ,  Toru Fujihira ,  Yoichi Nishimura ,  Hiroshi Kudoh ,  Yutaka Hiki ,  Makoto Shishido ,  Tatsuya Noda ,  Hiroshi Matsuda ,  Yoshihisa Matsuoka ,  Ryuzo Yokoyama ,  Eiji Ninomiya ,  Takeshi Koshiishi

IPC分类号： A61F5/00

CPC分类号： A61H3/008 ,  A47C9/025 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/1633 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5071 ,  B25J9/0006

摘要： Provided is a walking assist device including a seat member, a leg link having a joint portion, and a driving source for the joint portion. The walking assist device allows a user to rest by sitting on the seat member. Accordingly, the walking assist device further includes a lock mechanism disposed in the joint portion and an operation unit for the lock mechanism. When the operation unit is switched on, the driving source is controlled to increase an up-pushing force on the seat member. A variation rate on the up-pushing force is increased with time to a given value where the lock mechanism is initiated.

摘要翻译： 提供一种行走辅助装置，其包括座椅构件，具有接合部的腿连杆和用于接合部的驱动源。 步行辅助装置允许使用者坐在座椅构件上休息。 因此，行走辅助装置还包括设置在关节部分中的锁定机构和用于锁定机构的操作单元。 当操作单元接通时，控制驱动源以增加座椅构件上的推压力。 上推力的变化率随着时间增加到启动锁定机构的给定值。

公开(公告)号：US08267876B2

公开(公告)日：2012-09-18

申请号：US12671599

申请日：2008-04-15

申请人： Jun Ashihara ,  Yasushi Ikeuchi ,  Hiroshi Kudoh ,  Yutaka Hiki ,  Tatsuya Noda ,  Takeshi Koshiishi

发明人： Jun Ashihara ,  Yasushi Ikeuchi ,  Hiroshi Kudoh ,  Yutaka Hiki ,  Tatsuya Noda ,  Takeshi Koshiishi

IPC分类号： A61H1/00

CPC分类号： 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

摘要： 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.

摘要翻译： 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：US20100204621A1

公开(公告)日：2010-08-12

申请号：US12671599

申请日：2008-04-15

申请人： Jun Ashihara ,  Yasushi Ikeuchi ,  Hiroshi Kudoh ,  Yutaka Hiki ,  Tatsuya Noda ,  Takeshi Koshiishi

发明人： Jun Ashihara ,  Yasushi Ikeuchi ,  Hiroshi Kudoh ,  Yutaka Hiki ,  Tatsuya Noda ,  Takeshi Koshiishi

IPC分类号： A61H1/00

CPC分类号： 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

摘要： 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.

摘要翻译： 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：US20090014042A1

公开(公告)日：2009-01-15

申请号：US12064266

申请日：2007-03-30

申请人： Jun Ashihara ,  Yasushi Ikeuchi ,  Hiroshi Kudoh ,  Yutaka Hiki ,  Tatsuya Noda

发明人： Jun Ashihara ,  Yasushi Ikeuchi ,  Hiroshi Kudoh ,  Yutaka Hiki ,  Tatsuya Noda

IPC分类号： A61H3/00 ,  A61F2/70 ,  A61F2/64

CPC分类号： A61H3/008 ,  A61F5/01 ,  A61H3/00 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/163 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5071 ,  B25J9/0006

摘要： A walk assistance device capable of transmitting a force generated by a leg link to a user's trunk via a load transfer portion, wherein the leg link includes an upper first link portion connected to the load transfer portion via a first joint portion, a lower second link portion connected to a foot attachment portion via a second joint portion, a middle third joint portion connecting the first link portion to the second link portion such that a distance between the first joint portion and the second joint portion is variable, and a driving source that drives the third joint portion. The moment of inertia around the first joint portion of the leg link is reduced to decrease a load on the user's leg in walking. The driving source is disposed above the third joint portion of the first link portion so that the center-of-gravity of the entire leg link is located above the third joint portion. In the case where the driving source includes an electric motor and a reduction gear, the electric motor is disposed above the reduction gear.

摘要翻译： 一种行走辅助装置，其能够经由载荷传递部分将由腿部连杆产生的力传递到使用者的躯干，其中所述腿部连杆包括经由第一接合部分连接到所述负载传递部分的上部第一连杆部分，所述下部第二连杆 通过第二接合部分连接到脚部附接部分的部分，将第一连接部分连接到第二连接部分的中间第三关节部分，使得第一关节部分和第二关节部分之间的距离是可变的;以及驱动源， 驱动第三关节部分。 围绕腿连杆的第一关节部分周围的惯性力矩减小，以减少步行时使用者腿部的负荷。 驱动源设置在第一连杆部分的第三关节部分的上方，使得整个腿连杆的重心位于第三关节部分的上方。 在驱动源包括电动机和减速齿轮的情况下，电动机设置在减速齿轮上方。

公开(公告)号：US07731674B2

公开(公告)日：2010-06-08

申请号：US12161719

申请日：2007-03-30

申请人： Jun Ashihara ,  Yutaka Hiki ,  Hiroshi Kudoh ,  Tatsuya Noda ,  Yasushi Ikeuchi

发明人： Jun Ashihara ,  Yutaka Hiki ,  Hiroshi Kudoh ,  Tatsuya Noda ,  Yasushi Ikeuchi

IPC分类号： A61F5/00

CPC分类号： A61H3/008 ,  A61H3/00 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/149 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5071

摘要： 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.

摘要翻译： 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：US08083695B2

公开(公告)日：2011-12-27

申请号：US12064266

申请日：2007-03-30

申请人： Jun Ashihara ,  Yasushi Ikeuchi ,  Hiroshi Kudoh ,  Yutaka Hiki ,  Tatsuya Noda

发明人： Jun Ashihara ,  Yasushi Ikeuchi ,  Hiroshi Kudoh ,  Yutaka Hiki ,  Tatsuya Noda

IPC分类号： A61H1/00 ,  A61F5/00

CPC分类号： A61H3/008 ,  A61F5/01 ,  A61H3/00 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/163 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5071 ,  B25J9/0006

摘要： A walk assistance device capable of transmitting a force generated by a leg link to a user's trunk via a load transmit portion, wherein the leg link includes an upper first link portion connected to the load transmit portion via a first joint portion, a lower second link portion connected to a foot attachment portion via a second joint portion, a middle third joint portion connecting the first link portion to the second link portion such that a distance between the first joint portion and the second joint portion is variable, and a driving source that drives the third joint portion. The moment of inertia around the first joint portion of the leg link is reduced to decrease a load on the user's leg in walking. The driving source is disposed above the third joint portion of the first link portion so that the center-of-gravity of the entire leg link is located above the third joint portion. In the case where the driving source includes an electric motor and a reduction gear, the electric motor is disposed above the reduction gear.

摘要翻译： 一种行走辅助装置，其能够经由负载传递部分将由腿部链路产生的力传递到用户的躯干，其中所述腿部连杆包括经由第一关节部分连接到所述负载传送部分的上部第一连接部分，下部第二连杆 通过第二接合部分连接到脚部附接部分的部分，将第一连接部分连接到第二连接部分的中间第三关节部分，使得第一关节部分和第二关节部分之间的距离是可变的;以及驱动源， 驱动第三关节部分。 围绕腿连杆的第一关节部分周围的惯性力矩减小，以减少步行时使用者腿部的负荷。 驱动源设置在第一连杆部分的第三关节部分的上方，使得整个腿连杆的重心位于第三关节部分的上方。 在驱动源包括电动机和减速齿轮的情况下，电动机设置在减速齿轮上方。

公开(公告)号：US20080318739A1

公开(公告)日：2008-12-25

申请号：US12161719

申请日：2007-03-30

申请人： Jun Ashihara ,  Yutaka Hiki ,  Hiroshi Kudoh ,  Tatsuya Noda ,  Yasushi Ikeuchi

发明人： Jun Ashihara ,  Yutaka Hiki ,  Hiroshi Kudoh ,  Tatsuya Noda ,  Yasushi Ikeuchi

IPC分类号： A61H3/00

CPC分类号： A61H3/008 ,  A61H3/00 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/149 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5071

摘要： A walking assistance device having a leg link connected to a load transfer 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 transfer 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.

摘要翻译： 一种行走辅助装置，其具有通过第一关节连接到负载传递部分的脚连接件和经由第二接头连接到脚部附件部分，并且具有中间的第三关节移动，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载荷传递部上，以提高稳定性。 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：US20100114332A1

公开(公告)日：2010-05-06

申请号：US12610699

申请日：2009-11-02

申请人： Jun Ashihara ,  Tatsuya Noda ,  Hiroshi Kudoh ,  Yasushi Ikeuchi ,  Yutaka Hiki

发明人： Jun Ashihara ,  Tatsuya Noda ,  Hiroshi Kudoh ,  Yasushi Ikeuchi ,  Yutaka Hiki

IPC分类号： A61F2/66

CPC分类号： A61H3/008 ,  A61F5/0127 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/1623 ,  A61H2201/1633 ,  A61H2201/1635 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1671 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5071 ,  B25J9/0006

摘要： An ankle joint structure of a walking assistance device is capable of protecting a user from feeling uncomfortable by properly following the foot motions of the user. An ankle joint has a turn shaft member enabling a ground contact assembly to turn relative to a leg link, a lateral rotation shaft member enabling the ground contact assembly to laterally rotate relative to the leg link, and a longitudinal rotation shaft member enabling the ground contact assembly to longitudinally rotate relative to the leg link. The turn shaft member is connected to the leg link, the longitudinal rotation shaft member is connected to the ground contact assembly, and the lateral rotation shaft member is disposed between the turn shaft member and the longitudinal rotation shaft member.

摘要翻译： 行走辅助装置的踝关节结构能够通过适当地跟随使用者的脚部运动来保护使用者不舒适。 踝关节具有使地面接触组件相对于腿部连杆转动的转动轴构件，使得接地接触组件能够相对于腿部连接件横向旋转的横向旋转轴构件和使得接地接触件的纵向旋转轴构件 组件相对于腿连杆纵向旋转。 转动轴构件连接到腿部连杆，纵向旋转轴构件连接到接地组件，并且横向旋转轴构件设置在转动轴构件和纵向旋转轴构件之间。

公开(公告)号：US20100121233A1

公开(公告)日：2010-05-13

申请号：US12612863

申请日：2009-11-05

申请人： Jun Ashihara ,  Hiroshi Kudoh ,  Hiroshi Matsuda ,  Takeshi Koshiishi ,  Yutaka Hiki

发明人： Jun Ashihara ,  Hiroshi Kudoh ,  Hiroshi Matsuda ,  Takeshi Koshiishi ,  Yutaka Hiki

IPC分类号： A61H1/02

CPC分类号： A61H3/008 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/1623 ,  A61H2201/1633 ,  A61H2201/1635 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1671 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5071

摘要： A walking assistance device having an ankle joint limited in a swingable range in a rolling direction, enabling a user to open his/her legs apart more easily. The walking assistance device includes a seating member 1, a pair of leg links 2 and 2 which support the seating member 1 from below, and a ground contact member 8 connected to each leg link 2 through an ankle joint 7. The ankle joint 7 has a coupling mechanism 100 which includes a joint shaft member 106 and a retaining portion which swingably retains the joint shaft member 106 in the rolling direction in a predetermined range φ. The joint shaft member 106 is inclined to an abduction side in the rolling direction from the middle position of the predetermined range φ in which the joint shaft member is swingable in the rolling direction when the walking assistance device is in an upright state.

摘要翻译： 具有在滚动方向上以可摆动范围限制的踝关节的行走辅助装置，使得使用者能够更容易地将他/她的腿分开。 行走辅助装置包括座部件1，从下方支撑座椅构件1的一对腿连杆2和2，以及通过踝关节7连接到每个腿连杆2的接地接触构件8.脚踝接头7具有 联接机构100，其包括关节轴构件106和保持部，其将接合轴构件106沿轧制方向可摆动地保持在预定范围内。 关节轴构件106从预定范围＆phgr的中间位置沿着滚动方向的外展侧倾斜。 其中当所述行走辅助装置处于直立状态时，所述关节轴构件能够在滚动方向上摆动。