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    WEARING-TYPE MOTION ASSISTANCE DEVICE AND PROGRAM FOR CONTROL
    202.
    发明授权
    WEARING-TYPE MOTION ASSISTANCE DEVICE AND PROGRAM FOR CONTROL 有权
    便携型和控制程序的运动设备支持

    公开(公告)号：EP1842518B1

    公开(公告)日：2011-09-28

    申请号：EP05809527.4

    申请日：2005-11-22

    Applicant: University of Tsukuba

    Inventor： Sankai, Yoshiyuki

    IPC: A61H3/00 ,  G05B13/02 ,  A61F2/72

    CPC classification number: A61H3/00 ,  A61B5/04001 ,  A61H1/0255 ,  A61H3/008 ,  A61H2201/0176 ,  A61H2201/018 ,  A61H2201/1614 ,  A61H2201/1628 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2230/60 ,  A61H2230/605 ,  A63B23/04 ,  A63B24/0087 ,  B25J9/0006

    Abstract: A motion assistance device has a biological signal detection means for detecting a biological signal from the wearer of the device; a motion assistance device installation member having a drive source for applying torque acting to the wearer by use of each joint of the wearer as a rotating shaft; a control means for controlling the drive source to generate torque corresponding to the biological signal detected by the biological signal detection mean; a drive torque estimation means for estimating the drive torque generated by the drive source; a joint angle detection means for detecting angular displacement of a joint; and a parameter identification means for substituting the drive torque estimated by the drive torque estimation means and the angular displacement detected by the joint angle detection means into an equation of motion to specify the wearer-specific dynamics parameter, the equation relating to the entire system and including wearer-specific dynamics parameter. The control means controls the drive source according to a predetermined control method, based on the equation of motion into which the dynamics parameter identified by the parameter identification means is substituted.

    MASSAGE MACHINE, INFORMATION RECORDED MEDIUM, PROGRAM WRITING METHOD
    209.
    发明公开
    MASSAGE MACHINE, INFORMATION RECORDED MEDIUM, PROGRAM WRITING METHOD 审中-公开
    MASSAGEMASCHINE，INFORMATIONSTRÄGER，PROGRAMMSCHREIBEVERFAHREN

    公开(公告)号：EP1350502A1

    公开(公告)日：2003-10-08

    申请号：EP01999340.1

    申请日：2001-12-05

    Applicant: Family Co., Ltd.

    Inventor： INADA, Nichimu, c/o FAMILY CO., LTD. ,  KONDO, Hideshi, c/o FAMILY CO., LTD. ,  GOTO, Koji, c/o FAMILY CO., LTD. ,  TOKIOKA, Ryoichi Kodan7-311,

    IPC: A61H7/00 ,  A61H15/00 ,  A61H23/02

    CPC classification number: A61H23/0263 ,  A61H23/0254 ,  A61H2023/0209 ,  A61H2201/0149 ,  A61H2201/1215 ,  A61H2201/1623 ,  A61H2201/1628 ,  A61H2201/1635 ,  A61H2201/1669 ,  A61H2201/5007 ,  A61H2201/5048 ,  Y10S601/12 ,  Y10S601/22

    Abstract: An object of the present invention is to provide a massaging apparatus that faithfully incorporates rhythm or melody of a music source and perform massage with accents arranged more effectively based on these.
    A massaging apparatus of the present invention comprises massaging mechanisms (4, 5) that give mechanical impulses to a body by driving motors (5a, 10, 11), and a control device (13) that controls operations of the motors. The control device (13) comprises a waveform converter (18) having a waveform converting circuit for converting a waveform of an audio signal input from a sound source (A), such as a smoothing circuit, a differentiating circuit, or an integrating circuit, and a specific frequency band signal selecting unit (17) having a low pass filter, a high pass filter, and a band pass filter. In accordance with a control signal output from the waveform converter (18) and the specific frequency band signal selecting unit (17), the operations of the motors are controlled.

    Abstract translation: 本发明的一个目的是提供一种按照按摩方式忠实地包含音乐源的节奏或旋律，并且基于这些更有效地进行按钮的按摩。 本发明的按摩装置包括通过驱动电动机（5a，10,11）向身体产生机械冲击的按摩机构（4,5）和控制电动机的操作的控制装置（13） 。 控制装置（13）包括：波形转换器（18），具有用于转换从诸如平滑电路，微分电路或积分电路的声源（A）输入的音频信号的波形的波形转换电路， 以及具有低通滤波器，高通滤波器和带通滤波器的特定频带信号选择单元（17）。 根据从波形转换器（18）和特定频带信号选择单元（17）输出的控制信号，控制电动机的动作。

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