公开(公告)号：US08079967B2

公开(公告)日：2011-12-20

申请号：US11912561

申请日：2006-05-29

Applicant: Yasushi Ikeuchi ,  Tatsuya Noda

Inventor： Yasushi Ikeuchi ,  Tatsuya Noda

IPC: A61H1/00 ,  A61F5/00

CPC classification number: A61H3/008 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1238 ,  A61H2201/1633 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5069 ,  B25J9/0006

Abstract: A walking assistance device (1) has a receiving portion (2) which receives a part of the weight of a user (A) applied from above and a pair of left and right leg links (3R, 3L) connected to the receiving portion (2) through first joints (10R, 10L), with foot attachment portions (15R, 15L) at lower ends of the leg links (3R, 3L) attached to the feet of the legs of the user (A), respectively. The leg links (3R, 3L) are connected to the receiving portion (2) in such a way that, when each leg of the user (A) is a standing leg, a line of action of a supporting force transmitted from a third joint (14R, 14L) of the leg link (3R, 3L) to a crus frame (13R, 13L) out of the supporting force acting on the leg link (3R, 3L) from the floor side passes through a specific point (P) located upper than the receiving portion (2) within an anteroposterior width of a contact surface between the receiving portion (2) and the user (A) from the third joint (14R, 14L), viewed in the sagittal plane. Thereby, it is possible to stably apply a desired lifting force for reducing the weight to be borne by the user with his/her legs to the user.

Abstract translation: 行走辅助装置（1）具有容纳部（2），其接收从上方施加的使用者（A）的一部分重量，以及连接到容纳部的一对左右腿连杆（3R，3L） 2）通过第一接头（10R，10L），在腿部连接件（3R，3L）的下端分别安装有用于用户（A）的脚部的脚部附接部分（15R，15L）。 腿部连杆（3R，3L）以接合部（2）的方式连接，使用者（A）的腿部为立腿时，从第3关节 （3R，3L）的从腿部连杆（3R，3L）起的支撑力中的腿部连杆（3R，3L）的腿部（14R，14L）通过特定点（P） 在矢状平面中观察到，在从第三关节（14R，14L）接收部分（2）和使用者（A）之间的接触表面的前后宽度中，位于接收部分（2）的上方。 因此，可以稳定地施加期望的提升力，以将用户的腿承受的重量减小到使用者。

公开(公告)号：US07860607B2

公开(公告)日：2010-12-28

申请号：US10564073

申请日：2004-06-29

Applicant: Masakazu Kawai ,  Yasushi Ikeuchi

Inventor： Masakazu Kawai ,  Yasushi Ikeuchi

IPC: G06F19/00 ,  A61B5/103

CPC classification number: B62D57/02 ,  A61B5/1038 ,  A61B5/1071 ,  A61B5/112 ,  A61B5/1121 ,  A61B5/4528 ,  A61H3/00 ,  B62D57/032

Abstract: The joint rotational angles of joints 9, 11 and 13 of each leg 2 of a bipedal walking body 1 are detected to grasp the positions/postures of the corresponding rigid bodies 10, 12 and 14 of each leg 2 on a leg plane passing the joints 9, 11 and 13 of each leg 2. At the same time, the acceleration of a reference point (the origin of a body coordinate system BC) of the bipedal walking body 1, the floor reaction force acting on each leg 2 and the position of an acting point thereof are grasped in terms of three-dimensional amounts. Two-dimensional amounts obtained by projecting the acceleration, the floor reaction force and the position of the acting point thereof, and the positions/postures of the corresponding rigid bodies of each 2 onto the leg plane are used to estimate the moments acting on joints of each leg on the basis of an inverse dynamic model. The stability of the estimated values of joint moments can be improved while securing the accuracy of estimating the joint moments in the bending and stretching directions of each leg, considering three-dimensional motions of the bipedal walking body.

Abstract translation: 检测双足步行体1的每个腿2的关节9,11和13的关节旋转角度，以便在通过关节的腿平面上抓住每个腿2的相应刚体10,12和14的位置/姿势 同时，双足步行体1的参考点（身体坐标系BC的原点）的加速度，作用在每个腿2上的地板反作用力和位置 其作用点的三维量被掌握。 使用通过将加速度，地板反作用力及其作用点的位置以及每个2的对应刚体的位置/姿势投影到腿平面上而获得的二维量来估计作用在腿部的关节上的力矩 每一条腿都基于一个逆动态模型。 考虑到双足步行体的三维运动，可以确保关节力矩的估计值的稳定性，同时确保估计每个腿的弯曲和拉伸方向的关节力矩的精度。

公开(公告)号：US20100113989A1

公开(公告)日：2010-05-06

申请号：US12610725

申请日：2009-11-02

Applicant: Yoshihisa Matsuoka ,  Yasushi Ikeuchi ,  Yutaka Hiki

Inventor： Yoshihisa Matsuoka ,  Yasushi Ikeuchi ,  Yutaka Hiki

IPC: A61H1/00

CPC classification number: A61H3/008 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/149 ,  A61H2201/1623 ,  A61H2201/1633 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5069 ,  B25J9/0006

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US20090292232A1

公开(公告)日：2009-11-26

申请号：US12470091

申请日：2009-05-21

Applicant: 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

Inventor： 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: A61F5/00

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

Abstract: 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.

Abstract translation: 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：US20090014042A1

公开(公告)日：2009-01-15

申请号：US12064266

申请日：2007-03-30

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

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

IPC: A61H3/00 ,  A61F2/70 ,  A61F2/64

CPC classification number: 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

Abstract: 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.

Abstract translation: 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：US20060270951A1

公开(公告)日：2006-11-30

申请号：US11420797

申请日：2006-05-29

Applicant: Yasushi Ikeuchi

Inventor： Yasushi Ikeuchi

IPC: A61H3/00 ,  A61F5/052

CPC classification number: A61H3/00 ,  A61H1/00 ,  A61H2003/007 ,  A61H2201/1633 ,  B25J9/0006 ,  B62D57/032

Abstract: A control device and a control program for a walking assist apparatus set a desired lifting force to act on a user from a seat and distribute the desired lifting force to each leg link of the walking assist apparatus according to the ratios of treading forces of the legs of the user measured on the basis of outputs of force sensors so as to determine the share for each leg link. Then, an actuator of each leg link is controlled to generate a force for the determined share. Thus, a force required for the user to support himself/herself with his/her leg or legs on a floor can be reduced while using a reduced number of parts to be attached to each leg of the user. Moreover, an assist force for achieving such a reduced required force can be properly shared between the leg links associated with the legs of the user.

Abstract translation: 一种用于行走辅助装置的控制装置和控制程序，其设置期望的提升力以从座椅作用于使用者，并且根据腿部的踩踏力的比例将所需的提升力分配到步行辅助装置的每个腿部连杆 基于力传感器的输出测量的用户，以便确定每个腿连杆的份额。 然后，控制每个腿连杆的致动器以产生用于所确定的份额的力。 因此，可以减少用户将自己的腿或腿支撑在地板上所需的力，同时使用减少数量的部件附接到使用者的每个腿部。 此外，用于实现这种减少的所需力的辅助力可以在与使用者的腿部相关联的腿部连杆之间适当地共享。

公开(公告)号：US06915230B2

公开(公告)日：2005-07-05

申请号：US10481858

申请日：2002-06-27

Applicant: Masakazu Kawai ,  Yasushi Ikeuchi ,  Hisashi Katoh

Inventor： Masakazu Kawai ,  Yasushi Ikeuchi ,  Hisashi Katoh

IPC: G01L1/00 ,  A61B5/024 ,  A61B5/103 ,  A61F2/72 ,  A61H3/00 ,  B25J5/00 ,  B25J9/00 ,  G06F15/00

CPC classification number: B62D57/032 ,  A61B5/024 ,  A61B5/1038 ,  A61B5/1116 ,  A61B5/4528 ,  A61F2/72 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  B25J9/0006

Abstract: A method is presented for determination of single stance or double stance state of leg bodies of a bipedal mobile body (BMB). In a single stance state, a floor reaction force acting on a leg body touching the ground is estimated based on an equation of motion for the center of gravity (GO) of a BMB. In a double stance state, floor reaction forces, Fr and Ff respectively, acting on the leg bodies are estimated based on an equation of motion for GO of a BMB and an expression of relation between components of Fr and Ff on the respective leg bodies and positions of ankle portions of the leg bodies relative to the GO of the BMB. Further, based on an inverse dynamics model, knee and hip joint moments of each leg body are estimated using floor reaction force values.

Abstract translation: 提出了一种用于确定双足移动体（BMB）的腿体的单一姿势或双姿势状态的方法。 在单一姿势状态下，基于BMB的重心（GO）的运动方程来估计作用在接触地面的腿身上的地板反作用力。 在双重状态下，基于BMB的GO的运动方程和各个腿体上的Fr和Ff的分量之间的关系的表达来估计作用在腿部身体上的地面反作用力Fr和Ff，以及 腿体的踝部相对于BMB的GO的位置。 此外，基于反动力学模型，使用地板反作用力值估计每个腿体的膝关节和髋关节力矩。

公开(公告)号：US08323222B2

公开(公告)日：2012-12-04

申请号：US12482072

申请日：2009-06-10

Applicant: Yasushi Ikeuchi ,  Yoshihisa Matsuoka

Inventor： Yasushi Ikeuchi ,  Yoshihisa Matsuoka

IPC: A61H1/00 ,  A61F5/00 ,  A47D13/04

CPC classification number: 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

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US08303524B2

公开(公告)日：2012-11-06

申请号：US12482909

申请日：2009-06-11

Applicant: Yasushi Ikeuchi

Inventor： Yasushi Ikeuchi

IPC: A61H1/00 ,  A61F5/00 ,  A47D13/04

CPC classification number: A61H3/008 ,  A61H3/00 ,  A61H2003/007 ,  A61H2201/1215 ,  A61H2201/123 ,  A61H2201/1238 ,  A61H2201/1436 ,  A61H2201/1623 ,  A61H2201/1633 ,  A61H2201/1635 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069 ,  B25J19/0025

Abstract: A control device for a walking assist device is provided. The control device has a means that decides whether the total sum of measured values of treading forces of the legs of a user is greater than a predetermined value and a means which determines a predetermined ratio according to observed values or desired values of reference parameters obtained immediately before a negative determination result by using supporting forces acting on the leg links from the floor side as the reference parameters. This is in the case where the determination result of the decision means is negative and is a process undertaken instead of determining the predetermined ratio between the supporting forces acting on the leg links according to the measured values of the treading forces of the legs of the user.

Abstract translation: 提供了一种用于行走辅助装置的控制装置。 控制装置具有判定用户的腿部的踩踏力的测量值的总和是否大于预定值的装置，以及根据立即获得的参考参数的观测值或期望值确定预定比例的装置 在通过使用作用在来自地面侧的腿连杆上的支撑力作为参考参数之前，确定结果为止。 这是在判定装置的确定结果为否定的情况下，并且是进行的过程，而不是根据用户的腿的踩踏力的测量值来确定作用在腿部连杆上的支撑力之间的预定比率 。

公开(公告)号：US08142371B2

公开(公告)日：2012-03-27

申请号：US12481221

申请日：2009-06-09

Applicant: Yasushi Ikeuchi ,  Eiji Ninomiya

Inventor： Yasushi Ikeuchi ,  Eiji Ninomiya

IPC: A61H1/00

CPC classification number: A61H3/008 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/1623 ,  A61H2201/1633 ,  A61H2201/1635 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5071 ,  B25J9/0006

Abstract: A power transmission system, which transmits a driving force from a rotary actuator to a third joint of a leg link, applies a driving torque to the third joint from an output shaft of the rotary actuator via a driving crank arm, a connecting rod, and a driven crank arm. A translational force (rod transmitting force) generated at the connecting rod in the longitudinal direction thereof is measured on the basis of an output of a force sensor fixed to the connecting rod. With the rod transmitting force or a driving torque applied to the third joint by the rod transmitting force as a controlled variable, the driving force of the rotary actuator is feedback-controlled according to the measured value of the rod transmitting force and a desired value of the controlled variable so that the controlled variable coincides with the desired value.

Abstract translation: 将来自旋转致动器的驱动力传递到腿连杆的第三关节的动力传递系统经由驱动曲柄臂，连杆，从旋转致动器的输出轴向第三关节施加驱动扭矩， 从动曲柄臂。 根据固定在连杆上的力传感器的输出，测量在连杆的长度方向上产生的平移力（杆传递力）。 利用杆传递力或通过杆传递力施加到第三关节的驱动扭矩作为受控变量，旋转致动器的驱动力根据杆传递力的测量值和所需的值的反馈控制 受控变量使得受控变量与期望值一致。