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    Walking assistance device provided with a force sensor
    1.
    发明授权
    Walking assistance device provided with a force sensor 有权
    设有力传感器的行走辅助装置

    公开(公告)号：US07524297B2

    公开(公告)日：2009-04-28

    申请号：US11220737

    申请日：2005-09-07

    申请人： Kei Shimada ,  Takashi Hirata ,  Jun Ashihara ,  Tatsuya Noda ,  Yasushi Ikeuchi

    发明人： Kei Shimada ,  Takashi Hirata ,  Jun Ashihara ,  Tatsuya Noda ,  Yasushi Ikeuchi

    IPC分类号： A61F5/00

    CPC分类号： A61F5/0102

    摘要： In walking assistance device, a force detector (21) is provided between thigh retaining member (9) that directly retain the thigh of the user and a thigh support member (2) that is actuated by an actuator (TA1) provided in hip coupling portion. Thereby, the load acting on the hip coupling portion can be accurately detected, and the output of the force detector can be favorably used for the purpose of controlling the actuator so as to minimize the force that is applied to the thigh of the user. In particular, to the end of providing a suitably rigidity to the thigh retaining member so that the force produced by the actuator may be evenly applied to the entire thigh, and facilitating the effort required for the wearer to wear the walking assistance device, the thigh retaining member comprises a base portion (9a) connected to the thigh support member and two pairs of resilient arms (9b, 9c) extending laterally from either side of the base portion so that the thigh retaining member generally defines a shape of letter-C in plan view.

    摘要翻译： 在行走辅助装置中，在直接保持使用者的大腿的大腿保持部件（9）和大腿支撑部件（2）之间设置力检测器（21），所述大腿支撑部件（2）由设置在髋关节部的致动器（TA1） 。 由此，能够精确地检测作用在臀部联接部上的负荷，能够有效地使用力检测器的输出，以便控制致动器，从而最小化施加到使用者的大腿的力。 特别地，为了向大腿保持构件提供适当的刚度，使得由致动器产生的力可以均匀地施加到整个大腿，并且促进穿戴者佩戴步行辅助装置所需的力量，结束时，大腿 保持构件包括连接到大腿支撑构件的基部（9a）和从基部的任一侧横向延伸的两对弹性臂（9b，9c），使得大腿保持构件通常限定为字母C的形状 平面图。

    Walking assistance device provided with a force sensor
    2.
    发明申请
    Walking assistance device provided with a force sensor 有权
    设有力传感器的行走辅助装置

    公开(公告)号：US20060052732A1

    公开(公告)日：2006-03-09

    申请号：US11220737

    申请日：2005-09-07

    申请人： Kei Shimada ,  Takashi Hirata ,  Jun Ashihara ,  Tatsuya Noda ,  Yasushi Ikeuchi

    发明人： Kei Shimada ,  Takashi Hirata ,  Jun Ashihara ,  Tatsuya Noda ,  Yasushi Ikeuchi

    IPC分类号： A61F5/00

    CPC分类号： A61F5/0102

    摘要： In walking assistance device, a force detector (21) is provided between thigh retaining member (9) that directly retain the thigh of the user and a thigh support member (2) that is actuated by an actuator (TA1) provided in hip coupling portion. Thereby, the load acting on the hip coupling portion can be accurately detected, and the output of the force detector can be favorably used for the purpose of controlling the actuator so as to minimize the force that is applied to the thigh of the user. In particular, to the end of providing a suitably rigidity to the thigh retaining member so that the force produced by the actuator may be evenly applied to the entire thigh, and facilitating the effort required for the wearer to wear the walking assistance device, the thigh retaining member comprises a base portion (9a) connected to the thigh support member and two pairs of resilient arms (9b, 9c) extending laterally from either side of the base portion so that the thigh retaining member generally defines a shape of letter-C in plan view.

    摘要翻译： 在步行辅助装置中，在直接保持使用者的大腿的大腿保持构件（9）和大腿支撑构件（2）之间设置力检测器（21），所述大腿支撑构件（2）由设置在髋联接器 一部分。 由此，能够精确地检测作用在臀部联接部上的负荷，能够有效地使用力检测器的输出，以便控制致动器，从而最小化施加到使用者的大腿的力。 特别地，为了向大腿保持构件提供适当的刚度，使得由致动器产生的力可以均匀地施加到整个大腿，并且促进穿戴者佩戴步行辅助装置所需的努力，结束时，大腿 保持构件包括连接到大腿支撑构件的基部（9a）和从基部的任一侧横向延伸的两对弹性臂（9b，9b），使得大腿保持构件大体上限定了字母的形状 -C在平面图中。

    WALK ASSISTANCE DEVICE
    4.
    发明申请
    WALK ASSISTANCE DEVICE 有权
    WALK辅助装置

    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。

    Walking assisting device
    5.
    发明授权
    Walking assisting device 有权
    行走辅助装置

    公开(公告)号：US08114034B2

    公开(公告)日：2012-02-14

    申请号：US11816348

    申请日：2006-05-29

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

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

    IPC分类号： A61H1/00 ,  A61H3/00

    CPC分类号： B25J9/0006 ,  A61H1/024 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/1215 ,  A61H2201/1409 ,  A61H2201/1633 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/50 ,  A61H2201/5061 ,  A61H2201/5071

    摘要： A walking aid apparatus comprising a sitting member which a user sits astride and leg links each coupled to a connection provided on the undersurface of the sitting member in such a way as to be free to swing in the forward/backward direction, which improves the stability of the sitting member. The connection is adapted in such a way that a forward/backward swinging fulcrum of the leg links is located above the sitting member. More specifically, the connection is provided with an arc-shaped guide track longitudinal in the forward/backward direction and having the center of curvature above the sitting member, so that each of the leg links swings along the guide track in the forward/backward direction. If the leg links are allowed to swing freely also in the lateral direction, preferably the lateral swinging fulcrum of the leg links is also located above the sitting member.

    摘要翻译： 一种行走辅助装置，其特征在于，具有使用者跨越的坐姿构件和与所述坐下构件的下表面上设置的连接部连结的腿部连杆，从而能够沿前后方向自由摆动，从而提高了稳定性 的坐席成员。 该连接方式使得腿部连杆的向前/向后摆动支点位于坐着构件上方。 更具体地，连接件在向前/向后方向上纵向设置有弧形导轨，并且具有坐着构件上方的曲率中心，使得每个腿连杆沿着前进/后退方向沿导轨摆动 。 如果允许腿部连杆在横向方向上自由摆动，则优选地，腿部连杆的横向摆动支点也位于坐着构件上方。

    Walking Assistance Device
    6.
    发明申请
    Walking Assistance Device 有权
    行走辅助装置

    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。

    WALKING ASSIST DEVICE
    8.
    发明申请
    WALKING ASSIST DEVICE 有权
    跑步助手装置

    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。

    Walk assistance device
    10.
    发明授权
    Walk assistance device 有权
    步行辅助装置

    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。