ATE520386T1 - Kontrollvorrichtung für eine gehhilfevorrichtung - Google Patents

Kontrollvorrichtung für eine gehhilfevorrichtung

Info

Publication number
ATE520386T1
ATE520386T1 AT07741436T AT07741436T ATE520386T1 AT E520386 T1 ATE520386 T1 AT E520386T1 AT 07741436 T AT07741436 T AT 07741436T AT 07741436 T AT07741436 T AT 07741436T AT E520386 T1 ATE520386 T1 AT E520386T1
Authority
AT
Austria
Prior art keywords
force
user
walking assistance
lifting force
leg
Prior art date
Application number
AT07741436T
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 ATE520386T1 publication Critical patent/ATE520386T1/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
    • 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
    • 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
    • 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
    • A61H2201/165—Wearable interfaces
    • 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
    • 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
    • A61H2201/5071—Pressure 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
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)
  • Prostheses (AREA)
AT07741436T 2006-06-12 2007-04-11 Kontrollvorrichtung für eine gehhilfevorrichtung ATE520386T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2006162050A JP4712620B2 (ja) 2006-06-12 2006-06-12 歩行補助装具の制御装置
PCT/JP2007/058000 WO2007145018A1 (ja) 2006-06-12 2007-04-11 歩行補助装具の制御装置

Publications (1)

Publication Number Publication Date
ATE520386T1 true ATE520386T1 (de) 2011-09-15

Family

ID=38831539

Family Applications (1)

Application Number Title Priority Date Filing Date
AT07741436T ATE520386T1 (de) 2006-06-12 2007-04-11 Kontrollvorrichtung für eine gehhilfevorrichtung

Country Status (7)

Country Link
US (1) US8303521B2 (de)
EP (1) EP2033612B1 (de)
JP (1) JP4712620B2 (de)
KR (1) KR100960549B1 (de)
CN (1) CN101466343B (de)
AT (1) ATE520386T1 (de)
WO (1) WO2007145018A1 (de)

Families Citing this family (30)

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JP5188279B2 (ja) 2008-06-11 2013-04-24 本田技研工業株式会社 歩行補助装置
JP5128375B2 (ja) 2008-06-12 2013-01-23 本田技研工業株式会社 歩行補助装置の制御装置
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
JP2013524880A (ja) * 2010-04-05 2013-06-20 アイウォーク， インコーポレイテッド プロテーゼまたは装具におけるトルク制御
CN102078228A (zh) * 2010-12-30 2011-06-01 霍启英 智能机械腿
JP2013075126A (ja) * 2011-09-30 2013-04-25 Panasonic Corp 動作訓練装置、動作訓練システム
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
WO2014092162A1 (ja) * 2012-12-14 2014-06-19 国立大学法人名古屋工業大学 歩行支援機
KR101427608B1 (ko) * 2013-04-16 2014-08-07 한국과학기술원 일원추진체 공압 구동부를 포함하는 항중력 보행 보조 장치
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
KR102253243B1 (ko) 2014-02-18 2021-05-20 삼성전자주식회사 보행 보조장치 및 보행 보조장치의 제어 방법
KR102250225B1 (ko) * 2014-07-24 2021-05-10 삼성전자주식회사 운동 보조 장치 및 그 제어 방법
US9757254B2 (en) * 2014-08-15 2017-09-12 Honda Motor Co., Ltd. Integral admittance shaping for an exoskeleton control design framework
JP6878271B2 (ja) * 2014-09-19 2021-05-26 プレジデント アンド フェローズ オブ ハーバード カレッジ 人の運動を補助するためのソフトエクソスーツ
JP6382754B2 (ja) * 2015-03-11 2018-08-29 株式会社東芝 動作支援装置
FR3034660B1 (fr) * 2015-04-07 2022-06-10 Wandercraft Exosquelette comprenant une liaison mecanique de cheville avec deux axes de pivotement
CN106983630B (zh) * 2016-01-21 2019-06-28 上海电气集团股份有限公司 一种多自由度髋部支撑及检测装置
KR102732010B1 (ko) * 2016-01-25 2024-11-18 비-테미아 인코포레이티드 하지 지지대 또는 보철 디바이스용 하중 지지 보조 장치
JP6477644B2 (ja) * 2016-09-28 2019-03-06 トヨタ自動車株式会社 歩行訓練装置およびその制御方法
EP3525729B1 (de) * 2016-10-13 2023-08-02 Dephy, Inc. Unidirektional betätigte exoskelettvorrichtung
JP6508167B2 (ja) * 2016-11-11 2019-05-08 トヨタ自動車株式会社 歩行訓練システム
US11259980B2 (en) * 2017-07-31 2022-03-01 Arizona Board Of Regents On Behalf Of Arizona State University Soft inflatable exosuit for knee rehabilitation
JP7174919B2 (ja) * 2017-10-27 2022-11-18 パナソニックＩｐマネジメント株式会社 アシスト装置、アシスト装置の作動方法及びプログラム
JP7142253B2 (ja) * 2017-10-31 2022-09-27 パナソニックＩｐマネジメント株式会社 アシスト装置、アシスト装置の作動方法及びプログラム
US10765581B2 (en) 2018-03-27 2020-09-08 Dephy, Inc. Spool for winch actuator
CA3105499A1 (en) 2018-07-10 2020-01-16 Dephy, Inc. Wearable joint augmentation system
CN113905705B (zh) * 2019-06-06 2024-09-13 株式会社国际电气通信基础技术研究所 减重装置
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
JP7136069B2 (ja) * 2019-11-28 2022-09-13 トヨタ自動車株式会社 膝関節免荷装置
CN112790951B (zh) * 2020-12-30 2023-03-10 上海傅利叶智能科技有限公司 识别重心的方法、辅助训练的方法及其系统、智能拐杖

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IL105034A (en) * 1993-03-12 1998-03-10 Sate Of Israel Ministry Of Def Exoskeletal system
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JP4953263B2 (ja) * 2000-07-03 2012-06-13 学校法人立命館 介護補助装置
JP4611580B2 (ja) * 2001-06-27 2011-01-12 本田技研工業株式会社 トルク付与システム
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JP3598507B2 (ja) * 2002-06-12 2004-12-08 独立行政法人 科学技術振興機構 歩行式移動装置及びその歩行制御装置及び歩行制御方法
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JP4499508B2 (ja) * 2004-08-27 2010-07-07 本田技研工業株式会社 歩行補助装置の制御装置
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Also Published As

Publication number Publication date
WO2007145018A1 (ja) 2007-12-21
JP2007330299A (ja) 2007-12-27
US20100256538A1 (en) 2010-10-07
CN101466343A (zh) 2009-06-24
KR100960549B1 (ko) 2010-06-03
JP4712620B2 (ja) 2011-06-29
KR20090010235A (ko) 2009-01-29
EP2033612A1 (de) 2009-03-11
US8303521B2 (en) 2012-11-06
EP2033612B1 (de) 2011-08-17
EP2033612A4 (de) 2009-06-24
CN101466343B (zh) 2013-05-29

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