公开(公告)号：US20180177667A1

公开(公告)日：2018-06-28

申请号：US15324136

申请日：2015-06-23

Applicant: Osaka University

Inventor： Mitsunori UEMURA ,  Fumio MIYAZAKI ,  Hiroaki HIRAI

IPC: A61H3/00

CPC classification number: A61H3/00 ,  A61B5/05 ,  A61B5/112 ,  A61B5/1121 ,  A61B5/1123 ,  A61B2562/0219 ,  A61B2562/0247 ,  A61F2002/503 ,  A61F2002/5073 ,  A61F2002/704 ,  A61F2002/7625 ,  A61F2002/763 ,  A61H1/024 ,  A61H2003/001 ,  A61H2201/0192 ,  A61H2201/1207 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1671 ,  A61H2201/5007 ,  A61H2201/5058 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61H2203/0406 ,  A61H2205/10 ,  B25J9/0006 ,  B25J9/104

Abstract: A walking assistance apparatus includes: a walking assistance attachment to be attached to a leg of a human body and including a variable stiffness mechanism having stiffness that is changeable in a direction where the human bends and stretches the knee by motor driving; and a controller. The controller includes a foot-end motion calculation part configured to receive an output from a sensor to detect motion of a leg and successively calculate a relative velocity of a foot end with reference to a waist of the human body; and a leg state determination part configured to determine shift timing between a swing phase and a stance phase based on the relative velocity of the foot end.

公开(公告)号：US20160324436A1

公开(公告)日：2016-11-10

申请号：US15104655

申请日：2014-11-20

Applicant: OSAKA UNIVERSITY

Inventor： Fumio MIYAZAKI ,  Hiroaki HIRAI ,  Mitsunori UEMURA ,  Kanna UNO ,  Takanori OKU

IPC: A61B5/0488 ,  A61B5/22 ,  A61B5/00 ,  A61B5/11

CPC classification number: A61B5/0488 ,  A61B5/1122 ,  A61B5/1124 ,  A61B5/1128 ,  A61B5/22 ,  A61B5/4058 ,  A61B5/4076 ,  A61B5/4528 ,  A61B2503/10

Abstract: In order to estimate a movement command that a central nervous system is to select to implement a desired movement based on three feature amounts under the concepts of an antagonistic muscle ratio and an antagonistic muscle sum and based on a musculoskeletal model, a movement analysis apparatus includes: a myoelectric potential measurement unit to measure a myoelectric potential of a person who performs a movement; a movement measurement unit to measure a body movement; and a stiffness-ellipse calculation unit, an equilibrium-point calculation unit and a muscle synergy calculation unit to calculate, from measurement information obtained at the measurement units, feature amounts of a stiffness ellipse, an equilibrium point, and a muscle synergy that are base vectors describing the equilibrium point at an operating point based on a musculoskeletal model.

Abstract translation: 为了估计中枢神经系统基于对抗肌肉比例和对抗肌肉总和并基于肌肉骨骼模型的三个特征量来选择实施期望运动的运动指令，运动分析装置包括： ：用于测量执行运动的人的肌电潜能的肌电势测量单元; 用于测量身体运动的运动测量单元; 以及刚度椭圆计算单元，平衡点计算单元和肌肉协同计算单元，从测量单元获得的测量信息中计算作为基础的刚度椭圆，平衡点和肌肉协同作用的特征量 描述基于肌肉骨骼模型的操作点的平衡点的向量。

公开(公告)号：US20210290108A1

公开(公告)日：2021-09-23

申请号：US16330409

申请日：2017-09-06

Applicant: OSAKA UNIVERSITY

Inventor： Hiroaki HIRAI ,  Fumiaki YOSHIKAWA ,  Eichi WATANABE ,  Yuma NAGAKAWA ,  Akira KUROIWA ,  Mitsunori UEMURA ,  Fumio MIYAZAKI

IPC: A61B5/11 ,  A61B5/107 ,  A61B5/00 ,  A61B5/389

Abstract: A motion analyzing device includes a myogenic potential measuring unit (20) and a myogenic potential measurement processor (101) to measure the muscle activity of a person who performs a motion and a motion measuring unit (30) and a position measurement processor (102) to measure the body motion. The motion analyzing device also includes an AA muscle co-activation ratio calculating unit (103), a muscle synergy calculating unit (104) and an equilibrium point calculating unit (105) to calculate an equilibrium point of the person and a muscle synergy that is a set of base vectors describing the equilibrium point based on a musculoskeletal model of the person and a constraint condition that the position of the endpoint of the limb matches the position of the equilibrium point in a static situation to keep a posture still under gravity compensation.

公开(公告)号：US20180093725A1

公开(公告)日：2018-04-05

申请号：US15562478

申请日：2016-04-01

Applicant: OSAKA UNIVERSITY

Inventor： Mitsunori UEMURA ,  Fumio MIYAZAKI ,  Hiroaki HIRAI

IPC: B62D57/032 ,  B25J5/00 ,  B25J13/08

CPC classification number: B62D57/032 ,  B25J5/00 ,  B25J13/088

Abstract: A walking robot (1) includes a body (20) joined with an upper part of two legs (10) so that the body has a changeable posture relative to the legs; and a posture control unit (105, 106, 107) configured to control a posture of the body stably in accordance with states of the legs (10) and the body (20). The walking robot includes: a state calculation unit (101, 102, 103) configured to calculate periodically, from angular information on the legs (10) and the body (20), angular momentum p1 around a lower end of the leg in a stance phase and integral pI1 of the angular momentum; and a stabilization determination unit (104) configured to determine whether the calculated angular momentum p1 and integral pI1 are approaching or getting away from target values, and output a result of the determination to the posture control unit (105, 106, 107).