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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。
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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。
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公开(公告)号：US20110306907A1
公开(公告)日：2011-12-15
申请号：US13146519
申请日：2010-01-19
IPC分类号： A61H1/02
CPC分类号： A61H3/008 , A61H3/00 , A61H2201/1215 , A61H2201/1436 , A61H2201/149 , A61H2201/1623 , A61H2201/1633 , A61H2201/1635 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5007 , A61H2201/5061 , A61H2201/5071
摘要： In a walking assist device having leg links each connected to a support member through a first joint and having a first link and second link connected to the first link through a second joint, and actuators to be operated to displace the first and second links relative to each other to produce assist forces that assist part of user's body weight to assist the user to walk, it is configured such that a forward protruding amount of the second joint to be protruded with change of an angle between the first and second links about the second joint is changed. With this, it becomes possible to decrease the forward protruding amount to be protruded from the trunk of the user with change of the angle about the second joint, thereby decreasing the inertia force about the vertical axis, while mitigating the unnatural impression of the appearance.
摘要翻译： 在具有腿连杆的行走辅助装置中，每个腿部连接件通过第一接头连接到支撑构件，并且具有通过第二接头连接到第一连杆的第一连杆和第二连杆，以及要被操作以使第一和第二连杆相对于 彼此产生辅助部件，其辅助部分使用者的体重来辅助使用者行走，其构造成使得第二关节的向前突出的量随着第一和第二连杆之间的角度的变化而围绕第二 关节改变了。 由此，通过改变围绕第二关节的角度，可以减少从使用者的躯干突出的向前突出量，从而降低围绕纵轴的惯性力，同时减轻外观的不自然的印象。
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公开(公告)号：US09161880B2
公开(公告)日：2015-10-20
申请号：US13146519
申请日：2010-01-19
IPC分类号： A61H3/00
CPC分类号： A61H3/008 , A61H3/00 , A61H2201/1215 , A61H2201/1436 , A61H2201/149 , A61H2201/1623 , A61H2201/1633 , A61H2201/1635 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5007 , A61H2201/5061 , A61H2201/5071
摘要： In a walking assist device having leg links each connected to a support member through a first joint and having a first link and second link connected to the first link through a second joint, and actuators to be operated to displace the first and second links relative to each other to produce assist forces that assist part of user's body weight to assist the user to walk, it is configured such that a forward protruding amount of the second joint to be protruded with change of an angle between the first and second links about the second joint is changed. With this, it becomes possible to decrease the forward protruding amount to be protruded from the trunk of the user with change of the angle about the second joint, thereby decreasing the inertia force about the vertical axis, while mitigating the unnatural impression of the appearance.
摘要翻译： 在具有腿连杆的行走辅助装置中，每个腿部连接件通过第一接头连接到支撑构件，并且具有通过第二接头连接到第一连杆的第一连杆和第二连杆，以及要被操作以使第一和第二连杆相对于 彼此产生辅助部件，其辅助部分使用者的体重来辅助使用者行走，其构造成使得第二关节的向前突出的量随着第一和第二连杆之间的角度的变化而围绕第二 关节改变了。 由此，通过改变围绕第二关节的角度，可以减少从使用者的躯干突出的向前突出量，从而降低围绕纵轴的惯性力，同时减轻外观的不自然的印象。
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公开(公告)号：US08523790B2
公开(公告)日：2013-09-03
申请号：US12610725
申请日：2009-11-02
申请人： Yoshihisa Matsuoka , Yasushi Ikeuchi , Yutaka Hiki
发明人： Yoshihisa Matsuoka , Yasushi Ikeuchi , Yutaka Hiki
CPC分类号： A61H3/008 , A61H3/00 , A61H2201/1215 , A61H2201/149 , A61H2201/1623 , A61H2201/1633 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5061 , A61H2201/5069 , B25J9/0006
摘要： A walking assistance device has a drive mechanism for driving a third joint of a leg link of the walking assistance device, the drive mechanism including a crank arm secured to a lower link member and a linear-motion actuator which has a linear-motion output shaft connected to the crank arm. The angle formed by a straight line connecting a joint axis of the third joint and a connecting portion of the linear-motion output shaft relative to the crank arm and a straight line which passes the connecting portion and which is parallel to the axial center of the linear-motion output shaft changes from an angle closer to the straight angle toward an angle closer to the right angle as the flexion degree of the leg link is increased from a flexion degree corresponding to a state wherein a user is in an upright posture.
摘要翻译： 行走辅助装置具有用于驱动行走辅助装置的腿连杆的第三关节的驱动机构，该驱动机构包括固定到下连杆构件的曲柄臂和具有线性运动输出轴的直线运动致动器 连接到曲柄臂。 由连接第三关节的关节轴线和直线运动输出轴相对于曲柄臂的连接部分的直线形成的角度和通过连接部分并且平行于直线运动输出轴线的轴心的直线 直线运动输出轴从更靠近直角的角度向靠近直角的角度变化，因为腿部连杆的弯曲程度从对应于用户处于直立姿势的状态的屈曲度增加。
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公开(公告)号：US20100113989A1
公开(公告)日：2010-05-06
申请号：US12610725
申请日：2009-11-02
申请人： Yoshihisa Matsuoka , Yasushi Ikeuchi , Yutaka Hiki
发明人： Yoshihisa Matsuoka , Yasushi Ikeuchi , Yutaka Hiki
IPC分类号： A61H1/00
CPC分类号： A61H3/008 , A61H3/00 , A61H2201/1215 , A61H2201/149 , A61H2201/1623 , A61H2201/1633 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5061 , A61H2201/5069 , B25J9/0006
摘要： A walking assistance device has a drive mechanism for driving a third joint of a leg link of the walking assistance device, the drive mechanism including a crank arm secured to a lower link member and a linear-motion actuator which has a linear-motion output shaft connected to the crank arm. The angle formed by a straight line connecting a joint axis of the third joint and a connecting portion of the linear-motion output shaft relative to the crank arm and a straight line which passes the connecting portion and which is parallel to the axial center of the linear-motion output shaft changes from an angle closer to the straight angle toward an angle closer to the right angle as the flexion degree of the leg link is increased from a flexion degree corresponding to a state wherein a user is in an upright posture.
摘要翻译： 行走辅助装置具有用于驱动行走辅助装置的腿连杆的第三关节的驱动机构，该驱动机构包括固定到下连杆构件的曲柄臂和具有线性运动输出轴的直线运动致动器 连接到曲柄臂。 由连接第三关节的关节轴线和直线运动输出轴相对于曲柄臂的连接部分的直线形成的角度和通过连接部分并且平行于直线运动输出轴线的轴心的直线 直线运动输出轴从更靠近直角的角度向靠近直角的角度变化，因为腿部连杆的弯曲程度从对应于用户处于直立姿势的状态的屈曲度增加。
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公开(公告)号：US08388558B2
公开(公告)日：2013-03-05
申请号：US12575827
申请日：2009-10-08
申请人： Yoshihisa Matsuoka , Yutaka Hiki
发明人： Yoshihisa Matsuoka , Yutaka Hiki
CPC分类号： A61H3/008 , A61H3/00 , A61H2201/1215 , A61H2201/149 , A61H2201/1623 , A61H2201/1633 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5061 , A61H2201/5069
摘要： A walking assistance device has a drive mechanism, which is provided with a linear-motion actuator including an electric motor installed in the upper link member, nut members which are rotationally driven by the electric motor, and a linear-motion output shaft which linearly moves in the direction of the axial centers of the nut members, and a crank arm which is secured to the lower link member coaxially with a joint axis of a third joint and swingably attached to one end of the linear-motion output shaft. The drive mechanism is constructed such that a translational force output from the linear-motion output shaft of the linear-motion actuator is converted into a rotational driving force of the third joint through the crank arm.
摘要翻译： 行走辅助装置具有驱动机构，该驱动机构设置有直线运动致动器，其包括安装在上连杆构件中的电动机，由电动机旋转驱动的螺母构件和直线运动的直线运动输出轴 在螺母构件的轴向中心的方向上，以及曲柄臂，其与第三接头的接合轴线同轴地固定到下连杆构件，并且可摆动地连接到直线运动输出轴的一端。 驱动机构被构造成使得从线性运动致动器的线性运动输出轴输出的平移力通过曲柄臂转换成第三关节的旋转驱动力。
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公开(公告)号：US20100113988A1
公开(公告)日：2010-05-06
申请号：US12575827
申请日：2009-10-08
申请人： Yoshihisa Matsuoka , Yutaka Hiki
发明人： Yoshihisa Matsuoka , Yutaka Hiki
CPC分类号： A61H3/008 , A61H3/00 , A61H2201/1215 , A61H2201/149 , A61H2201/1623 , A61H2201/1633 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5061 , A61H2201/5069
摘要： A walking assistance device has a drive mechanism, which is provided with a linear-motion actuator including an electric motor installed in the upper link member, nut members which are rotationally driven by the electric motor, and a linear-motion output shaft which linearly moves in the direction of the axial centers of the nut members, and a crank arm which is secured to the lower link member coaxially with a joint axis of a third joint and swingably attached to one end of the linear-motion output shaft. The drive mechanism is constructed such that a translational force output from the linear-motion output shaft of the linear-motion actuator is converted into a rotational driving force of the third joint through the crank arm.
摘要翻译： 行走辅助装置具有驱动机构，该驱动机构设置有直线运动致动器，其包括安装在上连杆构件中的电动机，由电动机旋转驱动的螺母构件和直线运动的直线运动输出轴 在螺母构件的轴向中心的方向上，以及曲柄臂，其与第三接头的接合轴线同轴地固定到下连杆构件，并且可摆动地连接到直线运动输出轴的一端。 驱动机构被构造成使得从线性运动致动器的线性运动输出轴输出的平移力通过曲柄臂转换成第三关节的旋转驱动力。
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公开(公告)号：US08292836B2
公开(公告)日：2012-10-23
申请号：US12638384
申请日：2009-12-15
IPC分类号： A61H3/00
CPC分类号： A61H3/008 , A61H3/00 , A61H2201/1215 , A61H2201/149 , A61H2201/1623 , A61H2201/1633 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5007 , A61H2201/5061 , A61H2201/5069
摘要： A walking assistance device is capable of preventing a load transmit portion thereof from falling due to gravity when the operation of an actuator of the walking assistance device is stopped. A leg link is provided with an elastic member that imparts, to a third joint, an urging torque for restraining the flexion degree of the leg link from changing from a predetermined first flexion degree due to the gravity acting on the walking assistance device in a reference state wherein a foot-worn portion connected to the load transmit portion through the leg link is in contact with a ground and the flexion degree of the leg link at the third joint is the first flexion degree.
摘要翻译： 当行走辅助装置的致动器的操作停止时，行走辅助装置能够防止其重力下降的载荷传递部分。 腿连杆设置有弹性构件，该弹性构件向第三关节施加用于限制腿连杆的弯曲程度由于作为参考的步行辅助装置的重力而由预定的第一屈曲度改变的推力转矩 其中通过所述腿部连接到所述负载传递部分的脚磨损部分与地面接触，并且所述第三关节处的所述腿部连接件的屈曲度是所述第一屈曲度。
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公开(公告)号：US08323222B2
公开(公告)日：2012-12-04
申请号：US12482072
申请日：2009-06-10
CPC分类号： A61H3/008 , A61H3/00 , A61H2201/1215 , A61H2201/123 , A61H2201/1238 , A61H2201/1623 , A61H2201/1633 , A61H2201/1635 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5061 , A61H2201/5069 , B25J9/0006
摘要： A control system for a walking assist device includes a ground detecting means having a plurality of force sensors equipped to each foot attachment portion. Each ground sensor selectively outputs a ground state output and non-ground state output in accordance with whether the foot attachment portion is grounded at a position immediately below the ground sensor. The control system is equipped with means that continuously generate reference data for each of the ground detecting means, where the reference data increases and decreases in value in accordance with the change of a total number of the ground sensors generating ground state output in the ground detecting means. Also, a means that determines a mutual desired proportion of the supporting force to be applied to the both leg links from the floor side is provided.
摘要翻译： 一种用于行走辅助装置的控制系统包括：地面检测装置，具有装配到每个脚部附接部分的多个力传感器。 每个接地传感器根据脚连接部分是否在接地传感器正下方的位置接地，选择性地输出基态输出和非接地状态输出。 该控制系统配备有连续地生成每个接地检测装置的参考数据的装置，其中参考数据根据在接地检测中产生基态输出的地面传感器的总数的变化而增加和减小 手段。 此外，提供了一种确定从地板侧施加到两条腿连杆的支撑力的相互所需比例的装置。
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