公开(公告)号：US20150051519A1

公开(公告)日：2015-02-19

申请号：US14385554

申请日：2013-03-28

Applicant: GaitTronics inc.

Inventor： Aliasgar Morbi ,  Mojtaba Ahmadi ,  Richard Beranek

IPC: A61H3/04 ,  A61H3/00

CPC classification number: A61H3/00 ,  A61G7/1019 ,  A61G7/1048 ,  A61G7/1053 ,  A61G7/1059 ,  A61G2203/10 ,  A61G2203/32 ,  A61G2203/38 ,  A61G2203/723 ,  A61H3/008 ,  A61H3/04 ,  A61H2003/043 ,  A61H2201/0165 ,  A61H2201/018 ,  A61H2201/163 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2203/0431 ,  A61H2230/625

Abstract: Systems and methods for use with haptic devices. A control system for haptic devices determines a first course of action based on a user's motion. Prior to implementing the first course of action, the control system determines if the first course of action would lead to instability in the haptic device which could cause an unsafe situation such as failure of its components. If the first course of action would lead to instability, the control device determines a second course of action that would not lead to instability and implements this second course of action. To assist in this second course of action and to prevent potential oscillation in the haptic device, the control system also selectively dampens a projected action of the haptic device. A haptic device using such a control system is also disclosed.

Abstract translation: 用于触觉装置的系统和方法。 用于触觉装置的控制系统基于用户的运动确定第一行动过程。 在实施第一步骤之前，控制系统确定第一行动过程是否会导致触觉装置的不稳定性，这可能导致不安全的情况，例如其部件的故障。 如果第一行动方案会导致不稳定，则控制装置确定不会导致不稳定性并实施第二作用方式的第二作用过程。 为了帮助该第二动作过程并且防止触觉装置中的潜在振荡，控制系统还选择性地抑制触觉装置的投影动作。 还公开了一种使用这种控制系统的触觉装置。

公开(公告)号：US08690801B2

公开(公告)日：2014-04-08

申请号：US13611659

申请日：2012-09-12

Applicant: Issei Nakashima ,  Shuhei Manabe

Inventor： Issei Nakashima ,  Shuhei Manabe

IPC: A61B5/22

CPC classification number: A61H1/024 ,  A61H3/00 ,  A61H23/00 ,  A61H2201/018 ,  A61H2201/1215 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/5002 ,  A61H2201/5061 ,  A61H2201/5069

Abstract: A leg assist device with a control law suitable for assisting standing up motion is provided. The leg assist device is provided with an upper leg link, a lower leg link, a rotary joint, and a controller. The upper leg link and the lower leg link is attached to a leg of a user. The rotary joint rotatably connects the lower leg link to the upper leg link. The rotary joint also has an actuator which rotates the lower leg link. The controller controls the actuator so that the lower leg link angle matches a target angle. The controller has a torque limiter that limits the magnitude of the command torque that is output to the actuator. The controller sets a standing position angle corresponding to a user's standing position to the target angle, and raises an upper limit of the torque limiter as a user's hip height rises.

Abstract translation: 提供了一种具有适合于辅助站立运动的控制规律的腿辅助装置。 腿辅助装置设置有上腿连杆，小腿连杆，旋转接头和控制器。 大腿连杆和小腿连杆连接到使用者的腿部。 旋转接头将小腿连杆可旋转地连接到大腿连杆。 旋转接头还具有使小腿连杆旋转的致动器。 控制器控制执行器，使得小腿连杆角度与目标角度匹配。 控制器具有限制器，限制输出到致动器的指令扭矩的大小。 控制器将与用户的站立位置对应的站立角度设定为目标角度，并且在用户的臀部高度上升时提高扭矩限制器的上限。

公开(公告)号：US20140094345A1

公开(公告)日：2014-04-03

申请号：US14007340

申请日：2012-04-09

Applicant: Young Ho Kim ,  Sung Jae Hwang ,  Jong Sang Son ,  Jung Yoon Kim ,  Sun Woo Park ,  Je Seong Ryu ,  Min Hyeon Lee

Inventor： Young Ho Kim ,  Sung Jae Hwang ,  Jong Sang Son ,  Jung Yoon Kim ,  Sun Woo Park ,  Je Seong Ryu ,  Min Hyeon Lee

IPC: A61H1/02 ,  A63B71/00 ,  A63B22/02

CPC classification number: A61H1/0255 ,  A61H1/0262 ,  A61H2201/10 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/5069 ,  A61N1/36003 ,  A61N1/36014 ,  A63B21/00178 ,  A63B21/00181 ,  A63B21/4009 ,  A63B21/4011 ,  A63B22/0235 ,  A63B69/0064 ,  A63B71/0009 ,  A63B2022/0094 ,  A63B2213/004 ,  A63B2220/16

Abstract: The present invention relates to active robotic gait training system and method which enables more active gait training based on remaining gait ability of patients with gait disorders by estimating the gait cycle through measurement of slope of the lower leg, operating the hip joint and the knee joint by an actuator depending on the gait cycle and operating the ankle joint by functional electric stimulation (FES).The robotic gait training system contains the femoral support unit, the hip joint support unit and the lower leg support unit. Also, The robotic gait training system has further comprising: a support fixing toe tip, located on the lower part of the lower leg support unit and fixed the strap connecting to the toe tip pad wrapping the toe tip (forefoot); a tilt sensor, installed on the lower part of lower leg support unit or on one side of the toe tip pad; the control unit generated FES control signal, hip joint angle control signal and knee joint angle control signal by using slope signal received from the tilt sensor; a first linear actuator operation unit, received the hip joint angle control signal from the control unit and operates the first linear actuator to rotate the femoral support unit based on the hip joint angle control signal in the hip joint unit that is the coupling unit between the femoral support unit and the hip joint support unit; a second linear actuator operation unit, received the knee joint angle control signal from the control unit and operates the second linear actuator to rotate the lower leg support unit based on the knee joint angle control signal in the knee joint unit that is the coupling unit between the lower leg support unit and the femoral support unit.

Abstract translation: 本发明涉及一种主动式步态训练系统及方法，其基于通过测量小腿斜坡，操作髋关节和膝关节估计步态周期，基于步态障碍患者的步态能力进行更主动的步态训练 通过执行器取决于步态循环，并通过功能性电刺激（FES）操作踝关节。 机器人步态训练系统包括股骨支撑单元，髋关节支撑单元和小腿支撑单元。 此外，机器人步态训练系统还包括：支撑固定脚尖，位于小腿支撑单元的下部，并固定连接到包围脚趾尖（脚前）的趾尖垫的带; 倾斜传感器，安装在小腿支撑单元的下部或趾尖垫的一侧; 控制单元通过使用从倾斜传感器接收的倾斜信号产生FES控制信号，髋关节角度控制信号和膝关节角度控制信号; 第一线性致动器操作单元，从控制单元接收髋关节角度控制信号，并且操作第一线性致动器以基于髋关节角度控制信号旋转股骨支撑单元，所述髋关节角度控制信号是作为 股骨支撑单元和髋关节支撑单元; 第二线性致动器操作单元，从所述控制单元接收所述膝关节角度控制信号，并且操作所述第二线性致动器以基于所述膝关节角度控制信号来旋转所述小腿支撑单元，所述膝关节角度控制信号是作为所述膝关节单元之间的联接单元， 小腿支撑单元和股骨支撑单元。

公开(公告)号：US08663134B2

公开(公告)日：2014-03-04

申请号：US12987405

申请日：2011-01-10

Applicant: Hideaki Takahashi ,  Hideo Shimizu ,  Taiji Koyama

Inventor： Hideaki Takahashi ,  Hideo Shimizu ,  Taiji Koyama

IPC: A61H1/02 ,  A61H3/00

CPC classification number: A61H1/0244 ,  A61H3/00 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/1697 ,  A61H2201/50 ,  A61H2201/5069

Abstract: In a walking assistance device (10) including a main frame (22) supporting a power generator (26, 28) and worn on a pelvic part of a user, the main frame is provided with an opening (23) in a middle part thereof, and an electronic unit (25) is received in the opening. As the electronic unit is placed in the middle part of the main frame which is relatively free from deformation, the electronic unit is protected from deformation or stress that could impair the reliability of the electronic unit. To achieve both an easy access to the electronic unit, and an attractive appearance, the opening may be provided with a lid (24) that selectively closes the opening from a side adjacent to the user, and the lid may be formed as a back support member for supporting a back part of the user. As the lid serves the dual purposes, the weight and cost of the device can be minimized. For the convenience of the handling of the lid, the lid may be supported by the main frame via a hinge (121) provided adjacent to an upper or lower part of the opening.

Abstract translation: 在包括支撑发电机（26,28）并且佩戴在用户的骨盆部分上的主框架（22）的行走辅助装置（10）中，主框架在其中间部分设置有开口（23） ，并且电子单元（25）被接收在开口中。 由于电子单元被放置在相对没有变形的主框架的中间部分中，所以电子单元被保护免受可能损害电子单元的可靠性的变形或应力。 为了实现对电子单元的容易的访问和吸引人的外观，开口可以设置有从相邻的用户选择性地关闭开口的盖子（24），并且盖子可以形成为背部支撑件 用于支持用户的后部的成员。 由于盖具有双重目的，因此能够使装置的重量和成本最小化。 为了便于处理盖子，盖子可以通过邻近开口的上部或下部设置的铰链（121）由主框架支撑。

公开(公告)号：US08567800B2

公开(公告)日：2013-10-29

申请号：US13206744

申请日：2011-08-10

Applicant: Zbigniew Lukasiak

Inventor： Zbigniew Lukasiak

IPC: B62M1/00

CPC classification number: A61H3/04 ,  A61H2003/007 ,  A61H2003/046 ,  A61H2201/163 ,  A61H2201/1642

Abstract: Pair of runners for walking and/or travel movement characterized by the fact that the secondary beam (1b) contains at least two sets of wheels (5), one in the rear of a runner and the second the front of a runner, while the main beam (1a) includes at least two feet (6a) made of flexible material or at least two rolling sets (6b); at least one set of wheels (5) in every runner is equipped with mechanism for locking of the wheels rotation and runners are connected by a stabilization rod (8).

Abstract translation: 一对用于步行和/或行进运动的跑步者，其特征在于，次级梁（1b）包含至少两组车轮（5），一组在跑步机的后部，第二组是跑步机的前部，而 主梁（1a）包括由柔性材料制成的至少两个脚（6a）或至少两个滚动组（6b）; 每个跑步者中的至少一组轮（5）配备有用于锁定车轮旋转的机构，并且跑步者通过稳定杆（8）连接。

公开(公告)号：US08535254B2

公开(公告)日：2013-09-17

申请号：US12944234

申请日：2010-11-11

Applicant: M. Mounir Gazayerli

Inventor： M. Mounir Gazayerli

IPC: A61F5/00

CPC classification number: A61F5/04 ,  A61H1/0218 ,  A61H2201/1269 ,  A61H2201/163 ,  A61H2201/165

Abstract: A lumbar traction device is herein disclosed. The lumbar traction device includes a lumbar support member to be worn adjacent to a lumbar region of a user, at least one lower leg support to be worn adjacent to a lower leg of the user, and at least one connecting member connecting the lumbar support member and the at least one lower leg support, the at least one connecting member being substantially inelastic. When a load is applied to the at least one lower leg support, the load is transferred to the lumbar support member via the at least one connecting member. When the load is transferred to the lumbar support member, the lumbar support member forcibly presses against the lower lumbar area of user, thereby distracting the hip bone from the lower vertebrae.

Abstract translation: 本文公开了腰部牵引装置。 所述腰部牵引装置包括邻近使用者的腰部区域被佩戴的腰部支撑构件，与所述使用者的小腿相邻地被磨损的至少一个小腿支撑件，以及连接所述腰部支撑构件的至少一个连接构件 和所述至少一个小腿支撑件，所述至少一个连接构件基本上是无弹性的。 当负载施加到至少一个小腿支撑件时，负载经由至少一个连接构件传递到腰部支撑构件。 当负载被传递到腰部支撑构件时，腰部支撑构件强制地按压使用者的下腰部区域，从而使髋骨从下椎骨分心。

公开(公告)号：US20130211295A1

公开(公告)日：2013-08-15

申请号：US13748322

申请日：2013-01-23

Applicant: Douglas E. Johnson ,  John A. Hauck ,  Odd Osland ,  Mark T. Johnson

Inventor： Douglas E. Johnson ,  John A. Hauck ,  Odd Osland ,  Mark T. Johnson

IPC: A61H9/00

CPC classification number: A61D3/00 ,  A61F5/24 ,  A61H3/00 ,  A61H3/008 ,  A61H3/04 ,  A61H9/0057 ,  A61H9/0078 ,  A61H2201/1616 ,  A61H2201/1621 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/5071 ,  A61H2203/03 ,  A61H2205/08 ,  A61H2205/10 ,  A61H2209/00 ,  A63B21/00181 ,  A63B22/02 ,  A63B22/20 ,  A63B69/0064 ,  A63B71/0009 ,  A63B2022/0094 ,  A63B2208/05 ,  A63B2208/14

Abstract: The present invention provides a differential pressure body suit with external support against body suit migration. In its preferred embodiment, such body suit may comprise a close-fitting, multi-layered suit sealed against a mammal's skin to contain the differential pressure, or a looser-fitting suit that bends at the mammal's joints with minimal force. External support means include either fixed or movable mechanical supports attached to the body suit, extraordinary air pressure levels for making the body suit rigid, or exoskeletons attached to the body suit. A cyclic control system can turn the differential pressure condition within the body suit on and off on a selective basis to accommodate the movement of the legs of the mammal. The pressurization reduces the weight of the body to greater or lesser extents, and offloads the weight to the ground through the external support means.

Abstract translation: 本发明提供了一种具有抵抗身体护套迁移的外部支撑的差压身体套装。 在其优选实施例中，这种身体套装可以包括紧密配合的多层衣服，其密封抵抗哺乳动物的皮肤以容纳压差，或者以最小的力在哺乳动物的关节处弯曲的较松散的衣服。 外部支撑装置包括固定或可移动的机械支撑件，其附接到身体套装，用于使身体适合刚性的非凡空气压力水平或附着于身体套装的外骨骼。 循环控制系统可以选择性地转动身体套装内的压差状态，以适应哺乳动物腿部的运动。 加压将身体的重量降低到更大或更小的程度，并通过外部支撑装置将重物卸载到地面上。

公开(公告)号：US08469907B2

公开(公告)日：2013-06-25

申请号：US13074313

申请日：2011-03-29

Applicant: Satoru Ichihashi ,  Yoshihisa Matsuoka

Inventor： Satoru Ichihashi ,  Yoshihisa Matsuoka

IPC: A61H1/00 ,  F16C19/00

CPC classification number: B25J9/0006 ,  A61H1/0255 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1664 ,  A61H2201/1676 ,  F16C13/04 ,  F16C19/507 ,  Y10T403/32245

Abstract: A slider configured to reduce the wear of rotating bodies and an arc-shaped rail. The slider 32 includes: an insertion portion 321 inserted into the arc-shaped rail 31 through the slit 314; a first rotating body 342 which rolls on the outer peripheral wall 312, and a second rotating body 341 which rolls on the inner peripheral wall 311, wherein the second rotating body 341 includes a pair of lateral rotating bodies 411 disposed in both ends in the width direction and a central rotating body 412 disposed in the central portion in the width direction so as to be displaced in the sliding direction from the lateral rotating bodies 411 and wherein the lateral rotating bodies 411 and the central rotating body 412 are pivotally supported by a pivot member 51 provided so as to be swingable in the sliding direction in an insertion portion 321.

Abstract translation: 一种滑块，其构造成减小旋转体和弧形导轨的磨损。 滑块32包括：通过狭缝314插入到弧形轨道31中的插入部分321; 在外周壁312上滚动的第一旋转体342和在内周壁311上滚动的第二旋转体341，其中第二旋转体341包括设置在宽度方向两端的一对侧向旋转体411 方向和设置在宽度方向上的中心部分中的中心旋转体412，以便从侧面旋转体411沿滑动方向移位，并且其中侧向旋转体411和中心旋转体412由枢轴 构件51设置成在插入部分321中在滑动方向上可摆动。

公开(公告)号：US08435195B2

公开(公告)日：2013-05-07

申请号：US12667479

申请日：2008-05-16

Applicant: Hiroshi Kudoh ,  Yosuke Endo ,  Yasushi Ikeuchi

Inventor： Hiroshi Kudoh ,  Yosuke Endo ,  Yasushi Ikeuchi

IPC: A61F5/00

CPC classification number: A61H3/008 ,  A61B5/1038 ,  A61B5/1116 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/163 ,  A61H2201/1633 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061

Abstract: A walking assistance device has a load transmitting assembly, a foot-worn assembly, and a leg link provided between the load transmitting assembly and the foot-worn assembly. The foot-worn assembly has a ground contact member, on which a user's foot rests, and a connecting member which connects the ground contact member to a joint at a lower end of the leg link. The ground contact member is provided with tread force sensors and the foot-worn assembly permits detection of a tread force. The connecting member is formed so as to rise in a cantilever manner from one lateral side of the ground contact member. The tread force sensors are installed in at least one location adjacent to the heel of the user's foot and in at least two locations adjacent to toes of the user's foot, with the latter two locations being laterally spaced apart.

Abstract translation: 行走辅助装置具有负载传递组件，脚踏组件和设置在负载传递组件和脚穿组件之间的腿连杆。 脚踏组件具有使用者的脚放置在其上的接地构件和将接地构件连接到腿部连杆的下端的接头的连接构件。 地面接触构件设置有踏力传感器，并且脚踏组件允许检测踏力。 连接构件形成为从地面接触构件的一个侧面以悬臂方式上升。 胎面力传感器安装在与使用者脚的跟部相邻的至少一个位置，并且在邻近使用者脚的脚趾的至少两个位置处，其中后两个位置横向间隔开。

公开(公告)号：US20130041299A1

公开(公告)日：2013-02-14

申请号：US13206252

申请日：2011-08-09

Applicant: Franklin R. Lacy

Inventor： Franklin R. Lacy

IPC: A61H1/00

CPC classification number: A61H21/00 ,  A61B17/00234 ,  A61B17/320068 ,  A61B2017/00734 ,  A61H11/00 ,  A61H23/02 ,  A61H2201/0111 ,  A61H2201/0153 ,  A61H2201/0157 ,  A61H2201/0192 ,  A61H2201/1284 ,  A61H2201/163 ,  A61H2201/1645 ,  A61H2201/165 ,  A61H2201/169 ,  A61H2205/086 ,  A61H2205/087

Abstract: The system includes one or more devices to improve performance of selected internal organs by stimulating the organs through vibrating action of the device to restore their normal youthful function. Sources of vibration include a capsule, which can be swallowed, or a larger member that is introduced through the rectum or esophagus or applied into the abdominal cavity with or without incision. These vibration sources are either implanted and inserted for natural passage along the digestive tract, or they are retained at the end of a flexible shaft of length sufficient to reach their deepest intended placement from access through the mouth or rectum. Additionally, in the case of the vibrating capsule, it can be swallowed as well as implanted and released for natural passage along the small intestine and colon. The capsule can also be retained at the end of a flexible, controllable shaft of length sufficient to reach past the duodenum. The flexible shaft movement is controllable to increase effectiveness.

Abstract translation: 该系统包括一个或多个装置，以通过振动装置的振动来恢复其正常的年轻功能来改善所选择的内部器官的性能。 振动源包括可以吞咽的胶囊，或者是通过直肠或食道引入的或者在没有切口的情况下被施加到腹腔中的较大的部件。 这些振动源被植入和插入以沿着消化道自然通过，或者它们被保持在足够长度的柔性轴的端部，以足以通过口或直肠进入其最深的预期位置。 此外，在振动胶囊的情况下，其可以被吞咽，并且被植入和释放以沿着小肠和结肠自然通过。 胶囊还可以保持在足以穿过十二指肠的长度的柔性可控轴的端部。 灵活的轴运动是可控的，以提高效率。