公开(公告)号：US07771321B2

公开(公告)日：2010-08-10

申请号：US12295759

申请日：2007-03-26

申请人： Takashi Hirata ,  Ken Yasuhara ,  Kei Shimada

发明人： Takashi Hirata ,  Ken Yasuhara ,  Kei Shimada

IPC分类号： A63B71/00

CPC分类号： A63B21/00181 ,  A61B5/02438 ,  A61B5/1038 ,  A61B5/112 ,  A61B5/1124 ,  A61H1/02 ,  A61H3/00 ,  A61H2201/5007 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079 ,  A63B21/4011 ,  A63B22/0235 ,  A63B69/0028 ,  A63B71/0686 ,  A63B2220/16 ,  A63B2220/17 ,  A63B2220/30 ,  A63B2220/40 ,  A63B2220/56 ,  A63B2220/803 ,  A63B2230/06 ,  A63B2230/30 ,  A63B2230/42 ,  A63B2230/75 ,  Y10S482/901

摘要： A system for managing exercise of an animal such as a human being so that the motion of the animal is induced with an appropriate scale and rhythm in accordance with the physiological conditions of the animal is provided. According to the exercise management system (1) of the present invention, during the process where the user's walking motion is induced by an operation of a walking motion induction device (20), a walking ratio (k) and a physiological variable such as consumed energy are measured. Then, the walking ratio (k) in the state where the physiological variable attains an appropriate value in consideration of activation of physical functions or reduction of body load of the user is set as a recommended walking ratio (k0). This ensures that the recommended walking ratio (k0) is set as appropriate in consideration of activation of the physical functions of the user or the like. As the walking motion is induced based on this recommended walking ratio (k0) by the walking motion induction device (20), the induction scale and rhythm can be controlled appropriately so that the step width (q) and the walking rate (p) are appropriate in consideration of activation of the physical functions of the user or the like.

摘要翻译： 提供了一种用于管理诸如人的动物的运动的系统，使得根据动物的生理条件以适当的比例和节奏诱导动物的运动。 根据本发明的运动管理系统（1），在通过步行运动感应装置（20）的操作引起用户的行走运动的过程中，步行比（k）和生理变量（例如消耗的） 测量能量。 然后，考虑到身体功能的激活或身体负荷的减轻，生理变量达到适当值的状态下的行走比（k）被设定为推荐步行比（k0）。 这确保考虑到用户的物理功能的激活等，适当地设置推荐的行走比（k0）。 由于步行运动感应装置（20）基于该推荐步行比（k0）引起步行运动，所以可以适当地控制感应量程和节奏，使步长（q）和步速（p）为 考虑到用户的物理功能的激活等的适当性。

公开(公告)号：US20090227424A1

公开(公告)日：2009-09-10

申请号：US12295755

申请日：2007-03-26

申请人： Takashi Hirata ,  Ken Yasuhara ,  Kei Shimada

发明人： Takashi Hirata ,  Ken Yasuhara ,  Kei Shimada

IPC分类号： A63B24/00 ,  A63B22/02

CPC分类号： A63B22/0235 ,  A61B5/1038 ,  A61B5/112 ,  A61B5/1124 ,  A61H1/0237 ,  A61H1/0262 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/163 ,  A61H2201/1676 ,  A61H2201/5069 ,  A61H2201/5097 ,  A63B21/00181 ,  A63B22/0242 ,  A63B69/0028 ,  A63B71/0686 ,  A63B2208/14 ,  A63B2220/16 ,  A63B2220/17 ,  A63B2220/30 ,  A63B2220/40 ,  A63B2220/54 ,  A63B2220/56 ,  A63B2220/803 ,  A63B2230/06 ,  A63B2230/30 ,  A63B2230/42 ,  A63B2230/75 ,  Y10S482/901

摘要： A system for managing exercise of an animal such as a human being so that the animal can be trained to move with an appropriate scale and rhythm while harmonizing the motion of the animal with the operations of two devices which induce the motion of the animal in different manners, is provided. According to the exercise management system (1) of the present invention, the speed of the walking motion of the user is adjusted by an operation of a treadmill (first motion induction device) (10). The user's walking motion is induced with the motion scale being adjusted with a rhythm harmonized with the motion rhythm of the animal by an operation of a walking motion induction device (second motion induction device) (20). At this time, the operation of the walking motion induction device (20) is controlled based on the walking speed v (walking rate p, as required). Accordingly, it is possible to train the user so that the user walks with an appropriate scale and rhythm, while realizing harmonization between the walking motion of the user, the operation of the treadmill (10), and the operation of the walking motion induction device (20).

摘要翻译： 一种用于管理诸如人的动物的运动的系统，使得动物可以被训练成以适当的比例和节奏移动，同时使动物的运动与两个装置的操作协调，这两个装置诱导动物在不同的运动中的运动 提供礼节。 根据本发明的运动管理系统（1），通过跑步机（第一动作感应装置）（10）的动作来调整用户的行走速度。 通过步行运动感应装置（第二运动感应装置）（20）的操作，以与动物的运动节奏相协调的节奏调节运动标尺来诱导用户的步行运动。 此时，基于步行速度v（步行速度p，根据需要）来控制步行运动感应装置（20）的动作。 因此，可以训练用户，使得用户以适当的尺度和节奏走动，同时实现用户的步行运动，跑步机（10）的操作与步行运动感应装置的操作之间的协调 （20）。

公开(公告)号：US07758470B2

公开(公告)日：2010-07-20

申请号：US12295755

申请日：2007-03-26

申请人： Takashi Hirata ,  Ken Yasuhara ,  Kei Shimada

发明人： Takashi Hirata ,  Ken Yasuhara ,  Kei Shimada

IPC分类号： A63B71/00

CPC分类号： A63B22/0235 ,  A61B5/1038 ,  A61B5/112 ,  A61B5/1124 ,  A61H1/0237 ,  A61H1/0262 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/163 ,  A61H2201/1676 ,  A61H2201/5069 ,  A61H2201/5097 ,  A63B21/00181 ,  A63B22/0242 ,  A63B69/0028 ,  A63B71/0686 ,  A63B2208/14 ,  A63B2220/16 ,  A63B2220/17 ,  A63B2220/30 ,  A63B2220/40 ,  A63B2220/54 ,  A63B2220/56 ,  A63B2220/803 ,  A63B2230/06 ,  A63B2230/30 ,  A63B2230/42 ,  A63B2230/75 ,  Y10S482/901

摘要： A system for managing exercise of an animal such as a human being so that the animal can be trained to move with an appropriate scale and rhythm while harmonizing the motion of the animal with the operations of two devices which induce the motion of the animal in different manners, is provided. According to the exercise management system (1) of the present invention, the speed of the walking motion of the user is adjusted by an operation of a treadmill (first motion induction device) (10). The user's walking motion is induced with the motion scale being adjusted with a rhythm harmonized with the motion rhythm of the animal by an operation of a walking motion induction device (second motion induction device) (20). At this time, the operation of the walking motion induction device (20) is controlled based on the walking speed v (walking rate p, as required). Accordingly, it is possible to train the user so that the user walks with an appropriate scale and rhythm, while realizing harmonization between the walking motion of the user, the operation of the treadmill (10), and the operation of the walking motion induction device (20).

摘要翻译： 一种用于管理诸如人的动物的运动的系统，使得动物可以被训练成以适当的比例和节奏移动，同时使动物的运动与两个装置的操作协调，这两个装置诱导动物在不同的运动中的运动 提供礼节。 根据本发明的运动管理系统（1），通过跑步机（第一动作感应装置）（10）的动作来调整用户的行走速度。 通过步行运动感应装置（第二运动感应装置）（20）的操作，以与动物的运动节奏相协调的节奏调节运动标尺来诱导用户的步行运动。 此时，基于步行速度v（步行速度p，根据需要）来控制步行运动感应装置（20）的动作。 因此，可以训练用户，使得用户以适当的尺度和节奏走动，同时实现用户的步行运动，跑步机（10）的操作与步行运动感应装置的操作之间的协调 （20）。

公开(公告)号：US20090137366A1

公开(公告)日：2009-05-28

申请号：US12295759

申请日：2007-03-26

申请人： Takashi Hirata ,  Ken Yasuhara ,  Kei Shimada

发明人： Takashi Hirata ,  Ken Yasuhara ,  Kei Shimada

IPC分类号： A63B24/00 ,  A63B22/06

CPC分类号： A63B21/00181 ,  A61B5/02438 ,  A61B5/1038 ,  A61B5/112 ,  A61B5/1124 ,  A61H1/02 ,  A61H3/00 ,  A61H2201/5007 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079 ,  A63B21/4011 ,  A63B22/0235 ,  A63B69/0028 ,  A63B71/0686 ,  A63B2220/16 ,  A63B2220/17 ,  A63B2220/30 ,  A63B2220/40 ,  A63B2220/56 ,  A63B2220/803 ,  A63B2230/06 ,  A63B2230/30 ,  A63B2230/42 ,  A63B2230/75 ,  Y10S482/901

摘要： A system for managing exercise of an animal such as a human being so that the motion of the animal is induced with an appropriate scale and rhythm in accordance with the physiological conditions of the animal is provided. According to the exercise management system (1) of the present invention, during the process where the user's walking motion is induced by an operation of a walking motion induction device (20), a walking ratio (k) and a physiological variable such as consumed energy are measured. Then, the walking ratio (k) in the state where the physiological variable attains an appropriate value in consideration of activation of physical functions or reduction of body load of the user is set as a recommended walking ratio (k0). This ensures that the recommended walking ratio (k0) is set as appropriate in consideration of activation of the physical functions of the user or the like. As the walking motion is induced based on this recommended walking ratio (k0) by the walking motion induction device (20), the induction scale and rhythm can be controlled appropriately so that the step width (q) and the walking rate (p) are appropriate in consideration of activation of the physical functions of the user or the like.

摘要翻译： 提供了一种用于管理诸如人的动物的运动的系统，使得根据动物的生理条件以适当的比例和节奏诱导动物的运动。 根据本发明的运动管理系统（1），在通过步行运动感应装置（20）的操作引起用户的行走运动的过程中，步行比（k）和生理变量（例如消耗的） 测量能量。 然后，考虑到身体功能的激活或身体负荷的减轻，生理变量达到适当值的状态下的行走比（k）被设定为推荐步行比（k0）。 这确保考虑到用户的物理功能的激活等，适当地设置推荐的行走比（k0）。 由于步行运动感应装置（20）基于该推荐步行比（k0）引起步行运动，所以可以适当地控制感应量程和节奏，使步长（q）和步速（p）为 考虑到用户的物理功能的激活等的适当性。

公开(公告)号：US08562548B2

公开(公告)日：2013-10-22

申请号：US12586227

申请日：2009-09-18

申请人： Kei Shimada ,  Ken Yasuhara ,  Tetsuya Ido ,  Shuichi Wakita

发明人： Kei Shimada ,  Ken Yasuhara ,  Tetsuya Ido ,  Shuichi Wakita

IPC分类号： A61H3/00

CPC分类号： A61B5/1038 ,  A61B5/0476 ,  A61B5/14532 ,  A61B5/14553 ,  A61B5/4528 ,  A61B6/037 ,  A61F5/0102 ,  A61H1/0255 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/1623 ,  A61H2201/163 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/168 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2230/10

摘要： The present invention provides a rehabilitation device using a walking assistance device (1) having an actuator which generates and provides torque to a lower limb joint of a wearer wearing the walking assistance device (1), comprising a floor reaction force pattern storing unit (330) configured to store a reference floor reaction force pattern; a control target floor reaction force setting unit (340) for determining a control target floor reaction force based on the floor reaction force pattern stored in the floor reaction force pattern storing unit (330); a target torque calculating unit (350) for calculating a target torque of the actuator to achieve the control target floor reaction force determined by the control target floor reaction force setting unit (340); and an actuator output controller (150) for controlling output of the actuator such that the actuator generates a torque matching the target torque calculated by the target torque calculating unit (350); wherein the floor reaction force that the wearer receives is increased and decreased by the application of torque generated by the actuator.

摘要翻译： 本发明提供了一种使用具有致动器的行走辅助装置（1）的康复装置，该致动器产生并向穿着步行辅助装置（1）的佩戴者的下肢关节提供扭矩，所述执行器包括地板反作用力图案存储单元（330） ），其被配置为存储参考底板反作用力模式; 控制目标楼层反作用力设定单元，用于基于存储在地板反作用力图案存储单元中的地板反作用力图形来确定控制目标地面反作用力; 目标扭矩计算单元，用于计算执行器的目标扭矩，以实现由控制目标地面反作用力设定单元确定的控制目标地面反作用力; 以及致动器输出控制器（150），用于控制致动器的输出，使得致动器产生与目标扭矩计算单元（350）计算的目标转矩匹配的转矩; 其中，通过施加由致动器产生的扭矩，佩戴者接受的地板反作用力增大和减小。

公开(公告)号：US08313448B2

公开(公告)日：2012-11-20

申请号：US12536525

申请日：2009-08-06

申请人： Kei Shimada ,  Ken Yasuhara

发明人： Kei Shimada ,  Ken Yasuhara

IPC分类号： A61H1/00 ,  A61F5/00 ,  A61B5/117

CPC分类号： A61F5/0102 ,  A61H1/0255 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/14 ,  A61H2201/1623 ,  A61H2201/163 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5061

摘要： The present invention provides a walking assistance device comprising a pelvis support member (10) adapted to be worn on a hip of a wearer; a thigh support member (20) adapted to be worn on a thigh of the wearer; a leg support member (40) adapted to be worn on a leg of the wearer; a knee joint hinge (60) disposed at a position corresponding to a side part of a knee of the wearer and connecting the leg support member (40) to the thigh support member (20) in a manner that enables back-and forth rotation of the leg support member (40) with respect to the thigh support member (20); and a power generator assembly (100) mounted to the pelvis support member (10) at a position corresponding to a side part of a hip joint of the wearer; wherein the power generator assembly (100) comprises a hip joint power generator (110) and a knee joint power generator (120) each having an output member (116, 126, respectively), with the output member (116) of the hip joint power generator (110) being connected to the thigh support member (20) in a power-transmittable manner and the output member (126) of the knee joint power generator (120) being connected to the leg support member (40) via a power transmitting mechanism (90) which transmits power generated by the knee joint power generator (120) to the leg support member (40).

摘要翻译： 本发明提供了一种行走辅助装置，其包括适于佩戴在穿着者的臀部上的骨盆支撑构件（10） 大腿支撑构件（20），其适于佩戴在穿戴者的大腿上; 腿部支撑构件（40），其适于佩戴在穿着者的腿上; 膝关节铰链（60），其设置在与穿着者的膝盖的侧部相对应的位置处，并且以能够前后转动的方式将腿支撑构件（40）连接到大腿支撑构件（20） 腿支撑构件（40）相对于大腿支撑构件（20）; 以及发电机组件（100），其在对应于穿着者的髋关节的侧部的位置处安装到骨盆支撑构件（10）; 其中所述发电机组件（100）包括髋关节发电机（110）和膝关节发电机（120），每个所述髋关节发电机具有输出部件（116,126），所述输出部件（116）分别与所述髋关节的输出部件 发电机（110）以可动力传递的方式连接到大腿支撑构件（20），并且膝关节发电机（120）的输出构件（126）通过动力连接到腿支撑构件（40） 传递机构（90），其将由膝关节发电机（120）产生的动力传递到腿支撑构件（40）。

公开(公告)号：US08034005B2

公开(公告)日：2011-10-11

申请号：US12681322

申请日：2008-08-19

申请人： Ken Yasuhara ,  Kei Shimada ,  Yosuke Endo

发明人： Ken Yasuhara ,  Kei Shimada ,  Yosuke Endo

IPC分类号： A61H1/00 ,  A61H1/02 ,  A61H5/00

CPC分类号： A61H1/0244 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/1215 ,  A61H2201/1616 ,  A61H2201/1628 ,  A61H2201/1635 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  B25J9/0006

摘要： A motion assist device for assisting a periodical motion of a creature such as a human by applying a force with appropriate strength to the creature so as to match a motion scale with a desired motion scale thereof regardless of a motion rhythm of the periodical motion. According to the motion assist device (1), a second model is corrected so as to approximate a value of a motion variable (ξ) to a desired value (ξ0). A second oscillator (ξ2) is generated according to the corrected second model. A periodical force (torque) (T) applied to the human (P) is controlled according to the second oscillator (ξ2).

摘要翻译： 一种运动辅助装置，用于通过向生物施加适当强度的力来辅助诸如人的生物的周期性运动，以使动作比例与期望的运动比例匹配，而不管周期运动的运动节奏如何。 根据运动辅助装置（1），对第二模型进行校正，以使运动变量（＆xgr;）的值近似为期望值（＆xgr; 0）。 根据校正的第二模型生成第二振荡器（＆amp; xgr2）。 根据第二振荡器（＆xgr; 2）控制施加到人（P）的周期力（扭矩）（T）。

公开(公告)号：US20100234777A1

公开(公告)日：2010-09-16

申请号：US12681322

申请日：2008-08-19

申请人： Ken Yasuhara ,  Kei Shimada ,  Yosuke Endo

发明人： Ken Yasuhara ,  Kei Shimada ,  Yosuke Endo

IPC分类号： A61F5/00

CPC分类号： A61H1/0244 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/1215 ,  A61H2201/1616 ,  A61H2201/1628 ,  A61H2201/1635 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  B25J9/0006

摘要： A motion assist device for assisting a periodical motion of a creature such as a human by applying a force with appropriate strength to the creature so as to match a motion scale with a desired motion scale thereof regardless of a motion rhythm of the periodical motion. According to the motion assist device (1), a second model is corrected so as to approximate a value of a motion variable (ξ) to a desired value (ξ0). A second oscillator (ξ2) is generated according to the corrected second model. A periodical force (torque) (T) applied to the human (P) is controlled according to the second oscillator (ξ2).

摘要翻译： 一种运动辅助装置，用于通过向生物施加适当强度的力来辅助诸如人的生物的周期性运动，以使动作比例与期望的运动比例匹配，而不管周期运动的运动节奏如何。 根据运动辅助装置（1），对第二模型进行校正，以将运动变量（＆xgr;）的值近似为期望值（＆xgr; 0）。 根据校正的第二模型生成第二振荡器（＆amp; xgr2）。 根据第二振荡器（＆xgr; 2）控制施加到人（P）的周期力（扭矩）（T）。

公开(公告)号：US20100004577A1

公开(公告)日：2010-01-07

申请号：US12447776

申请日：2008-08-19

申请人： Ken Yasuhara ,  Kei Shimada ,  Yosuke Endo

发明人： Ken Yasuhara ,  Kei Shimada ,  Yosuke Endo

IPC分类号： A61F5/00

CPC分类号： A61H1/0244 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/1215 ,  A61H2201/1616 ,  A61H2201/1628 ,  A61H2201/1635 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5069 ,  A63B21/4011 ,  A63B23/04 ,  B25J9/0006

摘要： Provided is a device capable of assisting a periodical motion of a creature, such as a human, by applying a force to the creature so as to match a motion rhythm and a motion scale of the periodical motion to a desired motion rhythm and a desired motion scale, respectively, while reducing computation processing load. According to a motion assist device (10) of the present invention, a value of a member or a coefficient contained in a simultaneous differential equation of a state variable (ui) for defining a second model which generates a second oscillator (ξ2) is adjusted by means of an adjusting device (14). The second oscillator (ξ2) is generated by the adjusted second model and a torque (T) applied to a human (P) is controlled to vary periodically according to the second oscillator (ξ2).

摘要翻译： 提供了能够通过向生物施加力以使运动节奏和周期运动的运动标度匹配到期望的运动节奏和期望的运动而能够辅助诸如人的生物的周期性运动的装置 分别降低计算处理负荷。 根据本发明的运动辅助装置（10），调整包含在用于定义产生第二振荡器（xi2）的第二模型的状态变量（ui）的同步微分方程中的成员或系数的值 借助于调节装置（14）。 第二振荡器（xi2）由调整后的第二模型产生，并且施加到人（P）的扭矩（T）被控制为根据第二振荡器（xi2）周期性地变化。

公开(公告)号：US08428737B2

公开(公告)日：2013-04-23

申请号：US12198503

申请日：2008-08-26

申请人： Yosuke Endo ,  Ken Yasuhara ,  Kei Shimada ,  Eiichi Genda

发明人： Yosuke Endo ,  Ken Yasuhara ,  Kei Shimada ,  Eiichi Genda

IPC分类号： A61N1/00

CPC分类号： A61H1/0244 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/1215 ,  A61H2201/1616 ,  A61H2201/1628 ,  A61H2201/1635 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61N1/0452 ,  A61N1/36003 ,  A61N1/36014 ,  B25J9/0006

摘要： A movement assist system for assisting stably a movement of a creature, particularly a creature whose body part is paralyzed due to neuropathy or the like. According to the movement assist system, walking movement of a human is assisted according to an output from an actuator of a movement assist device. A timing of an electrical stimulation applied to the creature is adjusted by an electrical stimulation device on the basis of a signal representing an arithmetic processing result by a first controller which controls the output of the actuator. According thereto, it is possible to apply an electrical stimulation to the human at an appropriate timing from the viewpoint of maintaining an appropriate posture by considering a periodical movement state of the human even in cases where the body function is degraded, allowing the human assisted by the movement assist device to continue the walking movement.

摘要翻译： 一种运动辅助系统，用于稳定地协助生物，特别是身体部分由于神经病变等而瘫痪的生物的运动。 根据运动辅助系统，根据运动辅助装置的致动器的输出来辅助人的行走运动。 基于由控制致动器的输出的第一控制器表示算术处理结果的信号，通过电刺激装置来调整施加到生物的电刺激的时刻。 据此，从身体功能降低的情况下考虑到人的周期性运动状态，通过适当的姿势维持适当的姿势，可以对人施加电刺激，使人的辅助 运动辅助装置继续行走。