WO2009044568A1 - 歩行補助装置 - Google Patents

歩行補助装置 Download PDF

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Publication number
WO2009044568A1
WO2009044568A1 PCT/JP2008/058084 JP2008058084W WO2009044568A1 WO 2009044568 A1 WO2009044568 A1 WO 2009044568A1 JP 2008058084 W JP2008058084 W JP 2008058084W WO 2009044568 A1 WO2009044568 A1 WO 2009044568A1
Authority
WO
WIPO (PCT)
Prior art keywords
joint
auxiliary force
actuator
generating
auxiliary equipment
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2008/058084
Other languages
English (en)
French (fr)
Inventor
Hiroshi Kobayashi
Takeo Karawatari
Kazutaka Irie
Kazuaki Hiramatsu
Yutaka Sato
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tokyo University of Science
Hitachi Healthcare Manufacturing Ltd
Original Assignee
Tokyo University of Science
Hitachi Medical Corp
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 Tokyo University of Science, Hitachi Medical Corp filed Critical Tokyo University of Science
Priority to EP08752127.4A priority Critical patent/EP2193774A4/en
Priority to JP2009535989A priority patent/JP5283282B2/ja
Priority to US12/675,739 priority patent/US20100270771A1/en
Publication of WO2009044568A1 publication Critical patent/WO2009044568A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • 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
    • 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
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0192—Specific means for adjusting dimensions
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1238—Driving means with hydraulic or pneumatic 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
    • A61H2201/12—Driving means
    • A61H2201/1238—Driving means with hydraulic or pneumatic drive
    • A61H2201/1246—Driving means with hydraulic or pneumatic drive by piston-cylinder systems
    • 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
    • A61H2201/1619—Thorax
    • A61H2201/1621—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
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628—Pelvis
    • A61H2201/163—Pelvis 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
    • A61H2201/1602—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
    • A61H2201/1664—Movement of interface, i.e. force application means linear
    • 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
    • A61H2201/5007—Control means thereof computer controlled

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)

Abstract

　歩行補助装置１０は、歩行器１２と台車１４とで構成される。歩行器１２は、使用者の腰部に装着される腰フレーム１６と、使用者の下腿に装着される膝下フレーム３４と、腰フレーム１６と膝下フレーム３４とを第１関節部Ｋ１、第２関節部Ｋ２を介して連結する膝上フレーム２６と、補助力付与装置１０２を備える。補助力付与装置１０２は、第１関節部Ｋ１を屈曲させる補助力を発生する第１アクチュエータ１０４と、第２関節部Ｋ２を屈曲させる補助力を発生する第２アクチュエータ１０６と、第２関節部Ｋ２を伸展させる補助力を発生する第３アクチュエータ１０８と、第１関節部Ｋ１を伸展させる補助力を発生する第４アクチュエータ１１０とを備える。
PCT/JP2008/058084 2007-10-02 2008-04-25 歩行補助装置 Ceased WO2009044568A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP08752127.4A EP2193774A4 (en) 2007-10-02 2008-04-25 GEHHILFSAUSRÜSTUNG
JP2009535989A JP5283282B2 (ja) 2007-10-02 2008-04-25 歩行補助装置
US12/675,739 US20100270771A1 (en) 2007-10-02 2008-04-25 Walking auxiliary equipment

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-258994 2007-10-02
JP2007258994 2007-10-02

Publications (1)

Publication Number Publication Date
WO2009044568A1 true WO2009044568A1 (ja) 2009-04-09

Family

ID=40526000

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/058084 Ceased WO2009044568A1 (ja) 2007-10-02 2008-04-25 歩行補助装置

Country Status (4)

Country Link
US (1) US20100270771A1 (ja)
EP (1) EP2193774A4 (ja)
JP (1) JP5283282B2 (ja)
WO (1) WO2009044568A1 (ja)

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KR200456400Y1 (ko) 2010-03-09 2011-10-27 서영춘 허리 보호 지지장치
JP2013022296A (ja) * 2011-07-22 2013-02-04 Keijiro Yamamoto 関節運動アシスト装置
JP2013052192A (ja) * 2011-09-06 2013-03-21 Wakayama Univ パワーアシストロボット装置およびその制御方法
JP2015058015A (ja) * 2013-09-17 2015-03-30 株式会社安川電機 動作補助装置
JP2015066025A (ja) * 2013-09-27 2015-04-13 国立大学法人 鹿児島大学 片麻痺患者用歩行訓練装置
WO2015079723A1 (ja) * 2013-11-27 2015-06-04 俊夫 眞島 認知症専用じりつ歩行補助具
JP2015532175A (ja) * 2012-10-22 2015-11-09 コリア インスティチュート オブ インダストリアル テクノロジー 脳卒中患者の歩行リハビリテーション用ロボット
JP2016039857A (ja) * 2014-08-12 2016-03-24 国立大学法人 名古屋工業大学 歩行機
JP2016529126A (ja) * 2013-09-06 2016-09-23 コミサリヤ ア レネルジ アトミク エ ウ エネルジ アルタナティブ 外骨格または二足ロボットの下肢
JP2016195783A (ja) * 2012-08-17 2016-11-24 ロバート カロビッチ 移動補助装置
EP3207909A1 (en) * 2016-02-18 2017-08-23 Rodolphe Linon Supporting structure
CN107174477A (zh) * 2017-05-18 2017-09-19 宿州迅驰电子科技有限公司 一种智能可穿戴式脑瘫儿康复机器人
US9855654B2 (en) 2011-09-06 2018-01-02 Wakayama University Power assist robot apparatus and control method therefor
WO2018045460A1 (en) * 2016-09-08 2018-03-15 Trexo Robotics Inc. Mobile weight-bearing powered orthosis device
CN109718065A (zh) * 2018-12-13 2019-05-07 上海电子工业学校 移动助力装置
WO2022071017A1 (ja) * 2020-09-30 2022-04-07 株式会社イノフィス 歩行補助装置
JP2022058107A (ja) * 2020-09-30 2022-04-11 株式会社イノフィス 歩行補助装置
KR20220065160A (ko) * 2020-11-12 2022-05-20 선문대학교 산학협력단 하지 재활용 보행기

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Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200456400Y1 (ko) 2010-03-09 2011-10-27 서영춘 허리 보호 지지장치
JP2013022296A (ja) * 2011-07-22 2013-02-04 Keijiro Yamamoto 関節運動アシスト装置
JP2013052192A (ja) * 2011-09-06 2013-03-21 Wakayama Univ パワーアシストロボット装置およびその制御方法
US9855654B2 (en) 2011-09-06 2018-01-02 Wakayama University Power assist robot apparatus and control method therefor
JP2016195783A (ja) * 2012-08-17 2016-11-24 ロバート カロビッチ 移動補助装置
JP2015532175A (ja) * 2012-10-22 2015-11-09 コリア インスティチュート オブ インダストリアル テクノロジー 脳卒中患者の歩行リハビリテーション用ロボット
JP2016529126A (ja) * 2013-09-06 2016-09-23 コミサリヤ ア レネルジ アトミク エ ウ エネルジ アルタナティブ 外骨格または二足ロボットの下肢
JP2015058015A (ja) * 2013-09-17 2015-03-30 株式会社安川電機 動作補助装置
JP2015066025A (ja) * 2013-09-27 2015-04-13 国立大学法人 鹿児島大学 片麻痺患者用歩行訓練装置
WO2015079723A1 (ja) * 2013-11-27 2015-06-04 俊夫 眞島 認知症専用じりつ歩行補助具
JP2016039857A (ja) * 2014-08-12 2016-03-24 国立大学法人 名古屋工業大学 歩行機
AU2017220582B2 (en) * 2016-02-18 2021-01-28 Hexowheel Supporting structure
EP3207909A1 (en) * 2016-02-18 2017-08-23 Rodolphe Linon Supporting structure
WO2017140694A1 (en) * 2016-02-18 2017-08-24 Rodolphe Linon Supporting structure
CN108697568A (zh) * 2016-02-18 2018-10-23 罗多尔夫·利农 支撑结构
US11026852B2 (en) 2016-02-18 2021-06-08 Hexowheel Supporting structure
RU2719216C2 (ru) * 2016-02-18 2020-04-17 Хексовил Поддерживающая структура
WO2018045460A1 (en) * 2016-09-08 2018-03-15 Trexo Robotics Inc. Mobile weight-bearing powered orthosis device
CN107174477A (zh) * 2017-05-18 2017-09-19 宿州迅驰电子科技有限公司 一种智能可穿戴式脑瘫儿康复机器人
CN107174477B (zh) * 2017-05-18 2020-10-09 宿州市思达特科技有限公司 一种智能可穿戴式脑瘫儿康复机器人
CN109718065A (zh) * 2018-12-13 2019-05-07 上海电子工业学校 移动助力装置
CN109718065B (zh) * 2018-12-13 2024-04-26 上海电子信息职业技术学院 移动助力装置
WO2022071017A1 (ja) * 2020-09-30 2022-04-07 株式会社イノフィス 歩行補助装置
JP2022058107A (ja) * 2020-09-30 2022-04-11 株式会社イノフィス 歩行補助装置
JP7527231B2 (ja) 2020-09-30 2024-08-02 株式会社イノフィス 歩行補助装置
KR20220065160A (ko) * 2020-11-12 2022-05-20 선문대학교 산학협력단 하지 재활용 보행기
KR102436820B1 (ko) 2020-11-12 2022-08-26 선문대학교 산학협력단 하지 재활용 보행기

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EP2193774A1 (en) 2010-06-09

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