Manually propelled vehicle
    24.
    发明授权
    Manually propelled vehicle 有权
    手动推进车

    公开(公告)号:US09242561B2

    公开(公告)日:2016-01-26

    申请号:US14471761

    申请日:2014-08-28

    Abstract: A manually propelled vehicle may include a vehicle body, a left drive wheel and a right drive wheel, a wheel driver that drives the left and right drive wheels, a sensor that detects a user behind the vehicle body, and a controller that determines whether the user is behind the left or right drive wheel based on a detected result of the sensor. When one of the left or right drive wheel moves backward and the controller detects that the user is behind the one of the left or right drive wheel, the controller suppresses or stops the wheel driver from driving the one of the left or right drive wheel.

    Abstract translation: 手动推进车辆可以包括车体,左驱动轮和右驱动轮,驱动左驱动轮和右驱动轮的车轮驱动器,检测车体后面的用户的传感器,以及控制器, 用户基于传感器的检测结果在左或右驱动轮之后。 当左或右驱动轮中的一个向后移动并且控制器检测到用户位于左驱动轮或右驱动轮之一时,控制器抑制或停止车轮驱动器驱动左驱动轮或右驱动轮中的一个。

    Walking assist device
    27.
    发明授权
    Walking assist device 有权
    行走辅助装置

    公开(公告)号:US09216131B2

    公开(公告)日:2015-12-22

    申请号:US13509449

    申请日:2009-11-13

    Abstract: To provide a walking assist device which can apply torque to a knee joint at a suitable timing. A walking assist device includes an actuator, a reaction force sensor and an angle sensor. The walking assist device is fitted to a user's leg. The actuator is able to apply torque to a knee joint of one leg of the user. The reaction force sensor detects a reaction force that the foot of the one leg receives from the floor. The angle sensor detects a hip joint angle of the one leg around a pitch axis. The walking assist device specifies a timing to start applying the torque to the knee joint in a direction that swings the lower leg backward, based on the detected reaction force and the detected hip joint angle.

    Abstract translation: 提供一种能够在合适的时机向膝关节施加扭矩的行走辅助装置。 行走辅助装置包括致动器,反作用力传感器和角度传感器。 行走辅助装置安装在使用者的腿上。 致动器能够向使用者的一条腿的膝关节施加扭矩。 反作用力传感器检测一脚的脚从地板接收的反作用力。 角度传感器检测围绕俯仰轴的一条腿的髋关节角度。 步行辅助装置基于检测到的反作用力和检测到的髋关节角度,指定开始向下弯曲方向的膝关节施加扭矩的定时。

    WEARABLE ACTION-ASSIST DEVICE AND CONTROL PROGRAM
    30.
    发明申请
    WEARABLE ACTION-ASSIST DEVICE AND CONTROL PROGRAM 审中-公开
    易于操作的辅助设备和控制程序

    公开(公告)号:US20150150747A1

    公开(公告)日:2015-06-04

    申请号:US14561933

    申请日:2014-12-05

    Inventor: Yoshiyuki SANKAI

    Abstract: A wearable action-assist device includes a biosignal detection unit detecting a biosignal from a wearer, an action-assist wearing tool having a drive source supplying a torque acting on the wearer around each joint of the wearer as an axis of rotation, a control unit controlling the drive source to generate the torque according to the detected biosignal, a drive torque estimation unit estimating a drive torque generated by the drive source, a joint-angle detecting unit detecting an angular displacement of the joint, and a parameter identification unit identifying kinetics parameters concerned by substituting the estimated drive torque and the detected angular displacement into an equation of motion of an entire system including kinetics parameters intrinsic to the wearer. The control unit is configured to control the drive source according to a predetermined control method based on the equation of motion into which the identified parameters are substituted.

    Abstract translation: 一种可佩戴动作辅助装置,包括:检测来自佩戴者的生物信号的生物信号检测单元;动作辅助佩戴工具,具有驱动源,所述驱动源提供围绕穿戴者的每个关节周围的佩戴者作为旋转轴线的力矩;控制单元 控制驱动源以根据检测到的生物信号产生转矩;驱动转矩估计单元,估计由驱动源产生的驱动转矩;联合角检测单元,检测接头的角位移;以及参数识别单元,用于识别动力学 通过将估计的驱动转矩和检测到的角位移代入整个系统的运动方程(包括穿着者固有的动力学参数)来执行相关参数。 控制单元被配置为根据预定的控制方法来控制驱动源,所述控制方法基于所识别的参数被替换的运动方程。

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