ATE516790T1 - Kontrollvorrichtung für eine gehhilfevorrichtung - Google Patents

Kontrollvorrichtung für eine gehhilfevorrichtung

Info

Publication number
ATE516790T1
ATE516790T1 AT07741435T AT07741435T ATE516790T1 AT E516790 T1 ATE516790 T1 AT E516790T1 AT 07741435 T AT07741435 T AT 07741435T AT 07741435 T AT07741435 T AT 07741435T AT E516790 T1 ATE516790 T1 AT E516790T1
Authority
AT
Austria
Prior art keywords
user
force
seating section
acting
control device
Prior art date
Application number
AT07741435T
Other languages
English (en)
Inventor
Yasushi Ikeuchi
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Application granted granted Critical
Publication of ATE516790T1 publication Critical patent/ATE516790T1/de

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628—Pelvis
    • A61H2201/1633—Seat
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5084—Acceleration sensors

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)
AT07741435T 2006-07-12 2007-04-11 Kontrollvorrichtung für eine gehhilfevorrichtung ATE516790T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2006191382A JP4666644B2 (ja) 2006-07-12 2006-07-12 歩行補助装具の制御装置
PCT/JP2007/057999 WO2008007486A1 (en) 2006-07-12 2007-04-11 Control device for walking assistance device

Publications (1)

Publication Number Publication Date
ATE516790T1 true ATE516790T1 (de) 2011-08-15

Family

ID=38923055

Family Applications (1)

Application Number Title Priority Date Filing Date
AT07741435T ATE516790T1 (de) 2006-07-12 2007-04-11 Kontrollvorrichtung für eine gehhilfevorrichtung

Country Status (7)

Country Link
US (1) US8202234B2 (de)
EP (1) EP2050428B1 (de)
JP (1) JP4666644B2 (de)
KR (1) KR100960550B1 (de)
CN (1) CN101489516B (de)
AT (1) ATE516790T1 (de)
WO (1) WO2008007486A1 (de)

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JP5137704B2 (ja) 2008-06-13 2013-02-06 本田技研工業株式会社 歩行補助装置の制御装置
JP5259553B2 (ja) * 2008-11-06 2013-08-07 本田技研工業株式会社 歩行補助装置
US20100113986A1 (en) * 2008-11-06 2010-05-06 Honda Motor Co., Ltd. Walking assist apparatus
JP5213682B2 (ja) * 2008-12-17 2013-06-19 本田技研工業株式会社 体重支持装置
JP2010148637A (ja) * 2008-12-25 2010-07-08 Toyota Motor Corp 歩行補助装置
JP5267730B2 (ja) * 2010-11-25 2013-08-21 トヨタ自動車株式会社 歩行支援装置
JP5636352B2 (ja) * 2011-10-24 2014-12-03 本田技研工業株式会社 動作補助装置及び歩行補助装置
JP5921892B2 (ja) * 2012-01-19 2016-05-24 株式会社ユニメック 垂直荷重からｃｏｐを計測する重心計を用いて身体重心に作用する力と身体重心位置の近似値を求める方法とそのシステム
JP6080643B2 (ja) * 2013-03-25 2017-02-15 キヤノン株式会社 ロボット装置、ロボット制御方法、プログラム及び記録媒体
WO2015021886A1 (zh) 2013-08-10 2015-02-19 Huang Chen-Ming 便携式人体支架系统
CN103569235B (zh) * 2013-11-11 2015-09-30 哈尔滨工程大学 五关节仿蛙跳跃机器人
JP6250420B2 (ja) * 2014-02-04 2017-12-20 三菱重工業株式会社 負荷支持装置、該負荷支持装置の制御方法、及び、該制御方法を実行するためのプログラムを記録したコンピュータ読み取り可能な記録媒体
EP3616670B1 (de) * 2014-03-31 2021-05-05 Parker Hannifin Corporation Am körper tragbare robotische vorrichtung
JP5758028B1 (ja) 2014-06-19 2015-08-05 本田技研工業株式会社 歩数計測器、歩行補助装置および歩数計測プログラム
JP6386269B2 (ja) * 2014-06-30 2018-09-05 本田技研工業株式会社 歩行補助装置
US9757254B2 (en) * 2014-08-15 2017-09-12 Honda Motor Co., Ltd. Integral admittance shaping for an exoskeleton control design framework
CN118252727A (zh) * 2014-09-19 2024-06-28 哈佛大学校长及研究员协会 辅助使用者的关节运动的方法和可穿戴式机器人系统
KR102284822B1 (ko) * 2014-10-22 2021-08-02 삼성전자주식회사 지지 모듈, 이를 포함하는 운동 보조 장치 및 운동 보조 장치의 제어 방법
KR20160075118A (ko) * 2014-12-19 2016-06-29 한국산업기술대학교산학협력단 보행 재활 로봇의 무게 중심 추정 시스템 및 방법
EP3158893B1 (de) * 2015-10-21 2021-04-28 noonee AG Sitzeinheit für tragbare sitzhaltungshilfsvorrichtung
EP3241531A1 (de) * 2016-05-04 2017-11-08 noonee AG Beineinheit für tragbare sitzhaltungunterstützungsvorrichtung
CN106184445B (zh) * 2016-07-25 2018-03-27 西北工业大学 一种微电机驱动四杆直线仿生跳跃机构
US10710237B2 (en) * 2017-03-22 2020-07-14 Jtekt Corporation Assist device
US11259980B2 (en) * 2017-07-31 2022-03-01 Arizona Board Of Regents On Behalf Of Arizona State University Soft inflatable exosuit for knee rehabilitation
CN109050709B (zh) * 2018-08-29 2023-12-29 北京钢铁侠科技有限公司 驱动机构、机器人下肢结构以及机器人
JP6617988B1 (ja) * 2018-09-20 2019-12-11 日本電気株式会社 免荷量計測装置、負荷軽減装置、免荷量計測システム、免荷量計測方法、プログラム
CN110496016B (zh) * 2019-08-21 2021-10-22 浙江大学宁波理工学院 一种辅助行走装置
TW202135763A (zh) * 2020-03-30 2021-10-01 緯創資通股份有限公司 施力輔助設備及其控制方法
CN112693554A (zh) * 2021-02-20 2021-04-23 深圳市风鹏正举科技有限公司 一种自行车用的下肢辅助动力装置
CN115192393B (zh) * 2021-04-09 2025-08-05 深圳市肯綮科技有限公司 一种步行辅助装置
CN119459942B (zh) * 2024-10-11 2025-11-11 南京理工大学 基于多传感器数据融合驱动的腰挂式三轮助力车的工作方法

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JP3917432B2 (ja) * 2002-01-29 2007-05-23 株式会社日立製作所 動作支援装置
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Also Published As

Publication number Publication date
KR100960550B1 (ko) 2010-06-03
CN101489516B (zh) 2011-11-16
US20100010639A1 (en) 2010-01-14
KR20090008451A (ko) 2009-01-21
EP2050428A4 (de) 2010-04-21
WO2008007486A1 (en) 2008-01-17
EP2050428B1 (de) 2011-07-20
US8202234B2 (en) 2012-06-19
EP2050428A1 (de) 2009-04-22
CN101489516A (zh) 2009-07-22
JP2008017981A (ja) 2008-01-31
JP4666644B2 (ja) 2011-04-06

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