公开(公告)号：US20140344877A1

公开(公告)日：2014-11-20

申请号：US14361004

申请日：2012-09-14

Applicant: Hisayuki Ohmata ,  Go Ohtake ,  Keigo Majima ,  Kazuhiro Otsuki ,  Yuki Hironaka ,  Yosuke Endo

Inventor： Hisayuki Ohmata ,  Go Ohtake ,  Keigo Majima ,  Kazuhiro Otsuki ,  Yuki Hironaka ,  Yosuke Endo

IPC: H04N21/438 ,  H04N21/238

CPC classification number: H04N21/438 ,  G06F21/51 ,  G06F21/53 ,  H04H60/14 ,  H04N21/238 ,  H04N21/4353 ,  H04N21/44236 ,  H04N21/4882 ,  H04N21/8166 ,  H04N21/8355 ,  H04N21/83555

Abstract: A reception device includes an access control unit configured to determine whether access to the application programming interface is permitted based on a determination according to the type stored in the application storage unit to correspond to the application identification information set in the call instruction. In addition, the reception device includes a web server unit configured to receive the call instruction from the browser unit, inquire of the access control unit about whether access to the application programming interface is permitted, and control the call instruction according to a result of a determination which is made by the access control unit in response to the inquiry.

Abstract translation: 接收装置包括访问控制单元，其被配置为基于根据存储在应用存储单元中的类型的确定来确定是否允许对应用程序编程接口的访问，以对应于在呼叫指令中设置的应用程序标识信息。 此外，接收装置包括：Web服务器单元，被配置为从浏览器单元接收呼叫指令，向访问控制单元询问是否允许对应用编程接口的访问，并根据a的结果来控制呼叫指令 响应于询问由访问控制单元作出的确定。

公开(公告)号：US20080154165A1

公开(公告)日：2008-06-26

申请号：US11794339

申请日：2005-08-11

Applicant: Jun Ashihara ,  Yosuke Endo ,  Yutaka Hiki ,  Toru Takenaka

Inventor： Jun Ashihara ,  Yosuke Endo ,  Yutaka Hiki ,  Toru Takenaka

IPC: A61F5/00 ,  A61F2/48

CPC classification number: B25J9/0006 ,  A61F5/0102 ,  A61H1/0255 ,  A61H1/0262 ,  A61H3/00 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/1607 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1652 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069

Abstract: A body weight support device of the present invention is equipped with a body attachment part attached to a user's body, a floor contact part provided contactably on a floor, a leg link part for connecting the body attachment part to the floor contact part through a joint part, an actuator for driving the joint part, and a control unit for controlling a drive of the actuator, wherein the control unit drives the actuator so that the leg link part gives a body weight support force to the user through the body attachment part.

Abstract translation: 本发明的体重支撑装置配备有安装在使用者身上的身体安装部，与地板接触地设置的地板接触部，通过接合部将身体安装部连接到地板接触部的腿部连接部 部件，用于驱动接合部的致动器，以及用于控制致动器的驱动的控制单元，其中，控制单元驱动致动器，使得腿连杆部通过身体安装部向使用者给出体重支撑力。

公开(公告)号：US20080139968A1

公开(公告)日：2008-06-12

申请号：US10599808

申请日：2005-11-29

Applicant: Yosuke Endo ,  Ritsuo Hara

Inventor： Yosuke Endo ,  Ritsuo Hara

IPC: A61B5/103 ,  A61B10/00

CPC classification number: A61B5/04888 ,  A61B5/4528 ,  A61H1/0237 ,  A61H3/00

Abstract: A method of controlling an external force applied to an animal to achieve as a target relation the relation between the external force and a motion variable varying with the motion of the animal.A value of an external force f applied to a human leg according to an external force function f(x) on the basis of a measured value of a myoelectric potential x that occurs in the human leg, current I of a motor 220 is controlled according to the set value, and the external force f is applied to the leg through an orthosis 222. A resultant force (the sum of an internal torque and an external torque around a knee joint) F is measured as “a motion variable.” Moreover, a value of a factor γ is set according to a factor function γ(f, F) on the basis of the set value of the external force f and the measured value of the resultant force F. If a deviation δ between the set value of the factor γ and target value γt thereof is equal to or greater than a reference value ε, a new external force function f(x) is set in such a way that the set value of the factor γ approaches the target value γt.

Abstract translation: 一种控制施加到动物的外力的方法，以实现作为目标关系的外力与随动物运动变化的运动变量之间的关系。 基于在人腿中发生的肌电位x的测量值，根据外力函数f（x）施加到人腿的外力f的值，电动机220的电流I根据 并且外力f通过矫形器222施加到腿部。合力（内部扭矩和膝关节周围的外部扭矩之和）F被测量为“运动变量”。 此外，根据外力f的设定值和合力F的测量值，根据因子函数γ（f，F）设定因子γ的值。如果该组合之间的偏差δ 因子γ的值和目标值γT t的值等于或大于参考值ε，新的外力函数f（x）被设置为使得设定值 因子伽玛接近目标值γ。

公开(公告)号：US08435195B2

公开(公告)日：2013-05-07

申请号：US12667479

申请日：2008-05-16

Applicant: Hiroshi Kudoh ,  Yosuke Endo ,  Yasushi Ikeuchi

Inventor： Hiroshi Kudoh ,  Yosuke Endo ,  Yasushi Ikeuchi

IPC: A61F5/00

CPC classification number: A61H3/008 ,  A61B5/1038 ,  A61B5/1116 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/163 ,  A61H2201/1633 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061

Abstract: A walking assistance device has a load transmitting assembly, a foot-worn assembly, and a leg link provided between the load transmitting assembly and the foot-worn assembly. The foot-worn assembly has a ground contact member, on which a user's foot rests, and a connecting member which connects the ground contact member to a joint at a lower end of the leg link. The ground contact member is provided with tread force sensors and the foot-worn assembly permits detection of a tread force. The connecting member is formed so as to rise in a cantilever manner from one lateral side of the ground contact member. The tread force sensors are installed in at least one location adjacent to the heel of the user's foot and in at least two locations adjacent to toes of the user's foot, with the latter two locations being laterally spaced apart.

Abstract translation: 行走辅助装置具有负载传递组件，脚踏组件和设置在负载传递组件和脚穿组件之间的腿连杆。 脚踏组件具有使用者的脚放置在其上的接地构件和将接地构件连接到腿部连杆的下端的接头的连接构件。 地面接触构件设置有踏力传感器，并且脚踏组件允许检测踏力。 连接构件形成为从地面接触构件的一个侧面以悬臂方式上升。 胎面力传感器安装在与使用者脚的跟部相邻的至少一个位置，并且在邻近使用者脚的脚趾的至少两个位置处，其中后两个位置横向间隔开。

公开(公告)号：US20110033835A1

公开(公告)日：2011-02-10

申请号：US12852722

申请日：2010-08-09

Applicant: Yosuke Endo ,  Tetsuya Ido ,  Ritsuo Hara ,  Keishiro Kikuchi

Inventor： Yosuke Endo ,  Tetsuya Ido ,  Ritsuo Hara ,  Keishiro Kikuchi

IPC: G09B25/00

CPC classification number: G09B19/0038

Abstract: A training device capable of converting kinetic energy of an agent into electric energy while applying to the agent a resistance force of a variation behavior appropriate to a motion behavior of the agent. According to the training device, a strength and a direction of a resistance force applied to the agent can be varied via a regenerative braking on a motor according to at least one of a variation behavior of a relative posture between an upper body and a leg of the agent and a temporal variation behavior of the relative posture therebetween.

Abstract translation: 一种训练装置，其能够将代理的动能转换为电能，同时向代理人施加适合于代理的运动行为的变化行为的阻力。 根据训练装置，施加到药剂的阻力的强度和方向可以通过马达上的再生制动根据以下中的至少一种而变化：上身和腿之间的相对姿势的变化行为 代理和其间的相对姿态的时间变化行为。

公开(公告)号：US20100234775A1

公开(公告)日：2010-09-16

申请号：US12681329

申请日：2008-08-19

Applicant: Ken Yasuhara ,  Kei Shimada ,  Yosuke Endo

Inventor： Ken Yasuhara ,  Kei Shimada ,  Yosuke Endo

IPC: A61H1/02

CPC classification number: A61H3/00 ,  A61H1/0244 ,  A61H2201/5007 ,  A61H2201/5069 ,  A61H2201/5084 ,  A63B71/0686 ,  A63B2220/803

Abstract: The motion assist device (200) is provided with an auxiliary oscillator generation element (150) configured to generate, on the basis of a second intrinsic angular velocity (ω2) set according to a first oscillator (ξ1) generated from a first motion oscillator (φ1) and a first model and a second oscillator (ξ2) generated from a second motion oscillator (φ2) and a second model, an auxiliary oscillator (η) which includes therein a first auxiliary oscillator (η1) denoting an elastic force originated from a virtual elastic element for assisting the motion of the user so as to approximate a value of a third motion oscillator (φ3) to a desired value (φ0+, φ0−) related to a desired motion scale of the user, and an auxiliary oscillator regulation element (160) configured to sequentially regulate the first auxiliary oscillator (η1) so as to approximate a motion index value of the user to a reference value.

Abstract translation: 运动辅助装置（200）设置有辅助振荡器产生元件（150），其被配置为基于根据从第一运动产生的第一振荡器（＆xgr; 1）设置的第二本征角速度（ω2） 振荡器（＆amp; 1）和从第二运动振荡器（＆amp; 2）和第二模型产生的第一模型和第二振荡器（＆xgr2），辅助振荡器（＆egr），其中包括第一辅助振荡器 ＆lt; eegr; 1）表示源自虚拟弹性元件的弹性力，用于辅助用户的运动，以将第三运动振荡器（＆phgr; 3）的值近似为期望值（＆phgr; 0+，＆phgr; 0 - ），以及辅助振荡器调节元件（160），被配置为顺序地调节第一辅助振荡器（＆egrgr）1，以便将用户的运动指标值近似为参考值。

公开(公告)号：US07433733B2

公开(公告)日：2008-10-07

申请号：US11154238

申请日：2005-06-16

Applicant: Yosuke Endo ,  Ritsuo Hara

Inventor： Yosuke Endo ,  Ritsuo Hara

IPC: A61B5/04 ,  A61B5/117 ,  A61B5/103

CPC classification number: A61B5/4528 ,  A61B5/0488 ,  A61B5/103

Abstract: A method, system, and program enabling a variable varying with an animal's motions to be accurately measured. First, a reference relational expression representing a relation between myoelectric potentials and motion is set on the basis of the myoelectric potentials and the variable measured by using an inverse dynamics model. Then, the motion variable is measured on the basis of the measured myoelectric potentials and according to the reference relational expression. A reference relational expression is set on the basis of myoelectric potentials measured in a first motion and a motion variable corresponding to the first motion. Then, a motion variable corresponding to a second motion is measured on the basis of the myoelectric potentials measured in the second motion and according to the reference relational expression.

Abstract translation: 一种方法，系统和程序，使得能够精确测量动物运动变化的变量。 首先，基于肌电位和通过使用逆动力学模型测量的变量来设置表示肌电位和运动之间的关系的参考关系表达式。 然后，基于所测量的肌电位并根据参考关系式来测量运动变量。 参考关系表达是基于在第一运动中测量的肌电位和对应于第一运动的运动变量来设定的。 然后，基于在第二动作中测量的肌电位和根据参考关系式来测量对应于第二运动的运动变量。

公开(公告)号：US08428737B2

公开(公告)日：2013-04-23

申请号：US12198503

申请日：2008-08-26

Applicant: Yosuke Endo ,  Ken Yasuhara ,  Kei Shimada ,  Eiichi Genda

Inventor： Yosuke Endo ,  Ken Yasuhara ,  Kei Shimada ,  Eiichi Genda

IPC: A61N1/00

CPC classification number: 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

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US08317732B2

公开(公告)日：2012-11-27

申请号：US12447776

申请日：2008-08-19

Applicant: Ken Yasuhara ,  Kei Shimada ,  Yosuke Endo

Inventor： Ken Yasuhara ,  Kei Shimada ,  Yosuke Endo

IPC: A61H1/00 ,  A61B5/103 ,  A61F5/00

CPC classification number: 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

Abstract: 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).

Abstract translation: 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），包含在用于定义产生第二振荡器（＆xgr2）的第二模型的状态变量（ui）的同时微分方程中的成员或系数的值， 通过调节装置（14）进行调节。 第二振荡器（＆xgr2）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（＆xgr; 2）周期性地变化。

公开(公告)号：US20110288453A1

公开(公告)日：2011-11-24

申请号：US13111479

申请日：2011-05-19

Applicant: Yosuke Endo

Inventor： Yosuke Endo

IPC: A61H1/02

CPC classification number: A61H1/0244 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/503 ,  A61H2201/5069 ,  A61H2203/03

Abstract: A device capable of assisting an agent in taking a step even in the case where the leg motion of the agent is stagnant. It is determined whether the agent is in a first state in which the leg of the agent is moving or in a second state in which the leg of the agent is stagnant, on the basis of a value detected in response to the leg motion of the agent. If a transition from the first state to the second state is detected as the determination result, a value of a sustained energy input term is increased, where the sustained energy input term is contained in a simultaneous differential equation representing a second model for use in generating a second oscillator ξ2, which is to be a control basis of an assisting force.

Abstract translation: 即使在药剂的腿部运动停滞的情况下，能够辅助药剂进行步骤的装置。 确定代理人是否处于代理人的腿正在移动的第一状态或者代理人的腿停滞的第二状态，基于响应于腿部运动而检测到的值 代理商 如果检测到从第一状态到第二状态的转变作为确定结果，则持续能量输入项的值增加，其中持续能量输入项包含在表示用于生成的第二模型的同时微分方程中 作为辅助力的控制基础的第二振荡器＆amp; 2。