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    Walking assistance device
    1.
    发明授权
    Walking assistance device 有权
    行走辅助装置

    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

    IPC分类号： A61H1/00 ,  A61H1/02 ,  A61F5/052

    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。

    WALKING ASSIST DEVICE
    2.
    发明申请
    WALKING ASSIST DEVICE 有权
    跑步助手装置

    公开(公告)号：US20110306907A1

    公开(公告)日：2011-12-15

    申请号：US13146519

    申请日：2010-01-19

    申请人： Jun Ashihara ,  Yoshihisa Matsuoka ,  Hiroshi Matsuda ,  Yutaka Hiki ,  Makoto Shishido

    发明人： Jun Ashihara ,  Yoshihisa Matsuoka ,  Hiroshi Matsuda ,  Yutaka Hiki ,  Makoto Shishido

    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。

    Walking assist device
    3.
    发明授权
    Walking assist device 有权
    行走辅助装置

    公开(公告)号：US09161880B2

    公开(公告)日：2015-10-20

    申请号：US13146519

    申请日：2010-01-19

    申请人： Jun Ashihara ,  Yoshihisa Matsuoka ,  Hiroshi Matsuda ,  Yutaka Hiki ,  Makoto Shishido

    发明人： Jun Ashihara ,  Yoshihisa Matsuoka ,  Hiroshi Matsuda ,  Yutaka Hiki ,  Makoto Shishido

    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。

    WALKING ASSISTANCE DEVICE
    4.
    发明申请
    WALKING ASSISTANCE DEVICE 有权
    行车辅助装置

    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

    IPC分类号： A61H3/00 ,  A61F2/48

    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。

    Walking assistance device
    6.
    发明授权
    Walking assistance device 有权
    行走辅助装置

    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

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

    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。

    WALKING ASSISTANCE DEVICE
    7.
    发明申请
    WALKING ASSISTANCE DEVICE 有权
    行车辅助装置

    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。

    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。