公开(公告)号：US08516918B2

公开(公告)日：2013-08-27

申请号：US13061482

申请日：2009-08-28

Applicant: Stephen C. Jacobsen ,  Marc X. Olivier ,  Brian J. Maclean

Inventor： Stephen C. Jacobsen ,  Marc X. Olivier ,  Brian J. Maclean

IPC: B25J17/00

CPC classification number: A61F2/68 ,  A61F5/0102 ,  A61F2002/5093 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/745 ,  A61F2002/747 ,  A61H1/0262 ,  A61H1/0266 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/1215 ,  A61H2201/123 ,  A61H2201/1238 ,  A61H2201/14 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1676 ,  B25J9/0006 ,  B25J9/104 ,  Y10T74/20305 ,  Y10T74/20323 ,  Y10T74/20329

Abstract: A biomimetic mechanical joint for generating a variable torque between support members of a biomimetic robotic device, including a base support member, a rotary support member rotatably coupled to the base support member, and a variable-radius pulley operably coupled between the base support member and rotary support member. The variable-radius pulley comprises a sheave body having a variable radius and one or more tendon grooves formed in the circumferential outer surface. The mechanical joint further includes one or more flexible tendons and antagonistic actuator pairs, with each actuator pair being coupled to one or more tendons and configured to operate the tendon around the variable-radius pulley in either direction to create a variable torque between the base and rotary support members.

Abstract translation: 一种用于在仿生机器人装置的支撑构件之间产生可变扭矩的仿生机械接头，包括基部支撑构件，可旋转地联接到所述基部支撑构件的旋转支撑构件和可操作地联接在所述基部支撑构件和 旋转支撑构件。 可变半径滑轮包括具有可变半径的滑轮主体和形成在周向外表面中的一个或多个腱槽。 机械接头还包括一个或多个柔性腱和对抗性致动器对，其中每个致动器对联接到一个或多个腱并且构造成在任一方向上围绕可变匝角轮滑轮操作腱以在基部和 旋转支撑构件。

公开(公告)号：US08428737B2

公开(公告)日：2013-04-23

申请号：US12198503

申请日：2008-08-26

Applicant: Yosuke Endo ,  Ken Yasuhara ,  Kei Shimada ,  Eiichi Genda

Inventor： Yosuke Endo ,  Ken Yasuhara ,  Kei Shimada ,  Eiichi Genda

IPC: A61N1/00

CPC classification number: A61H1/0244 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/1215 ,  A61H2201/1616 ,  A61H2201/1628 ,  A61H2201/1635 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61N1/0452 ,  A61N1/36003 ,  A61N1/36014 ,  B25J9/0006

Abstract: A movement assist system for assisting stably a movement of a creature, particularly a creature whose body part is paralyzed due to neuropathy or the like. According to the movement assist system, walking movement of a human is assisted according to an output from an actuator of a movement assist device. A timing of an electrical stimulation applied to the creature is adjusted by an electrical stimulation device on the basis of a signal representing an arithmetic processing result by a first controller which controls the output of the actuator. According thereto, it is possible to apply an electrical stimulation to the human at an appropriate timing from the viewpoint of maintaining an appropriate posture by considering a periodical movement state of the human even in cases where the body function is degraded, allowing the human assisted by the movement assist device to continue the walking movement.

Abstract translation: 一种运动辅助系统，用于稳定地协助生物，特别是身体部分由于神经病变等而瘫痪的生物的运动。 根据运动辅助系统，根据运动辅助装置的致动器的输出来辅助人的行走运动。 基于由控制致动器的输出的第一控制器表示算术处理结果的信号，通过电刺激装置来调整施加到生物的电刺激的时刻。 据此，从身体功能降低的情况下考虑到人的周期性运动状态，通过适当的姿势维持适当的姿势，可以对人施加电刺激，使人的辅助 运动辅助装置继续行走。

公开(公告)号：US08317732B2

公开(公告)日：2012-11-27

申请号：US12447776

申请日：2008-08-19

Applicant: Ken Yasuhara ,  Kei Shimada ,  Yosuke Endo

Inventor： Ken Yasuhara ,  Kei Shimada ,  Yosuke Endo

IPC: A61H1/00 ,  A61B5/103 ,  A61F5/00

CPC classification number: A61H1/0244 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/1215 ,  A61H2201/1616 ,  A61H2201/1628 ,  A61H2201/1635 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5069 ,  A63B21/4011 ,  A63B23/04 ,  B25J9/0006

Abstract: Provided is a device capable of assisting a periodical motion of a creature, such as a human, by applying a force to the creature so as to match a motion rhythm and a motion scale of the periodical motion to a desired motion rhythm and a desired motion scale, respectively, while reducing computation processing load. According to a motion assist device (10) of the present invention, a value of a member or a coefficient contained in a simultaneous differential equation of a state variable (ui) for defining a second model which generates a second oscillator (ξ2) is adjusted by means of an adjusting device (14). The second oscillator (ξ2) is generated by the adjusted second model and a torque (T) applied to a human (P) is controlled to vary periodically according to the second oscillator (ξ2).

Abstract translation: 提供了能够通过向生物施加力以使运动节奏和周期运动的运动标度匹配到期望的运动节奏和期望的运动而能够辅助诸如人的生物的周期性运动的装置 分别降低计算处理负荷。 根据本发明的运动辅助装置（10），包含在用于定义产生第二振荡器（＆xgr2）的第二模型的状态变量（ui）的同时微分方程中的成员或系数的值， 通过调节装置（14）进行调节。 第二振荡器（＆xgr2）由调整后的第二模型产生，并且施加到人（P）的扭矩（T）被控制为根据第二振荡器（＆xgr; 2）周期性地变化。

公开(公告)号：US20120232445A1

公开(公告)日：2012-09-13

申请号：US13510784

申请日：2010-11-19

Applicant: Mordechai Lev ,  Sara Robertson

Inventor： Mordechai Lev ,  Sara Robertson

IPC: A61H15/00

CPC classification number: A61H23/0254 ,  A61H2201/0134 ,  A61H2201/0149 ,  A61H2201/0165 ,  A61H2201/1623 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/1678 ,  A61H2205/081 ,  A61H2205/12

Abstract: A massager is provided with a housing having a first guide oriented in a longitudinal direction. A carriage is oriented in the housing and cooperates with the first guide for translation. A motor is supported upon one of the carriage and the housing and operably connected to the other for translating the carriage along the first guide. A second guide is mounted to the housing and oriented generally canted relative to the longitudinal direction. A massage member is pivotally connected to the carriage and pivotally connected to the second guide such that as the carriage is translated along the first guide, and angular orientation of the massage member is rotated relative to the carriage.

Abstract translation: 按摩器设置有具有沿纵向定向的第一引导件的壳体。 车厢定位在车厢内，与第一导轨配合进行翻译。 电动机支撑在滑架和壳体中的一个上并且可操作地连接到另一个以沿着第一导轨平移滑架。 第二引导件安装到壳体并且相对于纵向方向大致倾斜定向。 按摩构件枢转地连接到滑架并枢转地连接到第二引导件，使得当滑架沿着第一引导件平移时，按摩构件的角度定向相对于滑架旋转。

公开(公告)号：US20120157898A1

公开(公告)日：2012-06-21

申请号：US13393971

申请日：2010-09-24

Applicant: Tomohiko Watanabe ,  Koji Terada ,  Akihiro Takaya ,  Taichi Hamatsuka ,  Yoshimi Takahashi

Inventor： Tomohiko Watanabe ,  Koji Terada ,  Akihiro Takaya ,  Taichi Hamatsuka ,  Yoshimi Takahashi

IPC: A61H9/00

CPC classification number: A61H9/0078 ,  A61H2201/0149 ,  A61H2201/1614 ,  A61H2201/1628 ,  A61H2201/1638 ,  A61H2201/1654 ,  A61H2201/1669 ,  A61H2205/06 ,  A61H2205/062 ,  A61H2205/081 ,  A61H2205/086

Abstract: Provided is a massager which enables armrests to be used effectively even with a backrest in a reclined state. The massager includes: a backrest having a massaging mechanism for massaging the back of a user; a frame which supports the backrest in such a manner that the backrest can be reclined backwards; a pair of armrests which extend forward respectively from left and right side positions of the backrest; and a linking mechanism which changes an attitude of the pair of armrests in conjunction with a reclining operation of the backrest, in such a manner that a rear part of each armrest falls lower than the front part of each armrest, when the backrest is reclined backward.

Abstract translation: 本发明提供一种按摩器，即使靠背处于倾斜状态也能有效地使用扶手。 按摩器包括：靠背，具有用于按摩使用者背部的按摩机构; 支撑靠背的框架，使得靠背可以向后倾斜; 一对扶手分别从靠背的左侧和右侧位置向前延伸; 以及连接机构，其结合靠背的倾斜操作改变一对扶手的姿态，使得当靠背靠后时，每个扶手的后部比每个扶手的前部落下的方式下降 。

公开(公告)号：US08057410B2

公开(公告)日：2011-11-15

申请号：US11404719

申请日：2006-04-13

Applicant: Russdon Angold ,  Nathan H. Harding ,  Homayoon Kazerooni

Inventor： Russdon Angold ,  Nathan H. Harding ,  Homayoon Kazerooni

IPC: A61H3/00

CPC classification number: A61H3/00 ,  A61B5/1038 ,  A61B5/4528 ,  A61F5/0102 ,  A61H1/0237 ,  A61H1/024 ,  A61H3/008 ,  A61H2201/1238 ,  A61H2201/1614 ,  A61H2201/1616 ,  A61H2201/1621 ,  A61H2201/1623 ,  A61H2201/1628 ,  A61H2201/163 ,  A61H2201/1635 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  B25J9/0006

Abstract: The lower extremity exoskeleton comprises two leg supports connectable to person's lower limbs and configured to rest on the ground during their stance phase. Each leg support comprises a thigh link and a shank link; a knee joint configured to allow flexion and extension between the shank link and the thigh link. The lower extremity exoskeleton further comprises an exoskeleton trunk connectable to the person'supper body. The exoskeleton trunk is connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk. Two torque generators are coupled to each of the knee joints. A power unit, capable of providing power, is coupled to the torque generators. In operation when a leg support is in a stance phase and climbing a slope or stairs, the power unit injects power into the respective torque generator thereby extending the respective knee angle. When a leg support is in stance phase and not climbing a slope or stairs, the power unit does not inject any power to the respective torque generator, but without dissipating any stored power in said power unit, it forces the torque generator to resist flexion of the respective knee joint. When a leg support is in a swing phase, the power unit does not inject any power to the respective torque generator, but without dissipating any stored power in said power unit, it forces the torque generator to minimize its resistance to knee flexion and extension.

Abstract translation: 下肢外骨骼包括可连接到人的下肢并配置为在其姿态阶段休息在地面上的两个腿部支撑。 每个腿支撑件包括大腿连杆和小腿连杆; 膝关节，其构造成允许柄连杆和大腿连杆之间的屈曲和伸展。 下肢外骨骼还包括可连接到人的身体的外骨骼躯干。 外骨骼躯干可连接到腿部支撑的大腿连接部，允许脚部支撑件和外骨骼躯干之间的弯曲和伸展。 两个扭矩发生器联接到每个膝关节。 能够提供动力的动力单元联接到扭矩发生器。 在腿部支撑处于阶梯状态并爬坡或爬坡的情况下，动力单元将动力喷射到相应的扭矩发生器中，从而延伸相应的拐角。 当腿部支架处于阶梯状态而不爬坡或斜坡时，动力单元不向相应的扭矩发生器注入任何动力，但是在不消耗所述动力单元中的任何存储动力的情况下，迫使扭矩发生器抵抗屈曲 相应的膝关节。 当腿部支撑件处于摆动阶段时，动力单元不向相应的扭矩发生器注入任何动力，但是在不消耗所述动力单元中的任何存储的功率的情况下，迫使扭矩发生器将其抵抗膝盖的屈曲和伸展最小化。

公开(公告)号：US07857774B2

公开(公告)日：2010-12-28

申请号：US11795907

申请日：2005-11-22

Applicant: Yoshiyuki Sankai

Inventor： Yoshiyuki Sankai

IPC: A61H1/00

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.

Abstract translation: 运动辅助装置具有生物信号检测装置，用于检测来自装置的穿戴者的生物信号; 运动辅助装置安装构件具有驱动源，用于通过使用佩戴者的每个关节作为旋转轴来施加作用于穿着者的扭矩; 控制装置，用于控制驱动源产生与生物信号检测装置检测到的生物信号相对应的转矩; 用于估计由所述驱动源产生的驱动转矩的驱动转矩估计装置; 用于检测关节的角位移的关节角度检测装置; 以及参数识别装置，用于将由驱动转矩估计装置估计的驱动扭矩和由关节角度检测装置检测到的角位移代入运动方程，以指定佩戴者特有的动力学参数，与整个系统有关的方程和 包括佩戴者特有的动力学参数。 控制装置根据由参数识别装置识别的动力学参数代替的运动方程根据预定的控制方法来控制驱动源。

公开(公告)号：US20100117427A1

公开(公告)日：2010-05-13

申请号：US12448848

申请日：2008-01-09

Applicant: Yoshifumi Fukuyama ,  Tomohisa Shirakawa ,  Hiroshi Nakayama

Inventor： Yoshifumi Fukuyama ,  Tomohisa Shirakawa ,  Hiroshi Nakayama

IPC: A47C1/00 ,  A47C3/20 ,  A61H1/00

CPC classification number: A61H9/0078 ,  A61H23/0254 ,  A61H2201/0103 ,  A61H2201/0149 ,  A61H2201/1623 ,  A61H2201/1628 ,  A61H2201/1635 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/1676 ,  A61H2203/0431 ,  A61H2205/081 ,  A61H2205/10

Abstract: A chair includes: a seat body (7) an upper surface of which is a seat surface for a user to be seated thereon; a frame (8) supporting the seat body (7) in a manner to permit the seat body (7) to move between a center position and swing positions to which the seat body (7) is swung from the center position; and a driving portion for forcibly moving the seat body (7). The height of the seat surface determined when the seat body (7) is at the center position is lower than the height of the seat surface determined when the seat body is at the swing position.

Abstract translation: 椅子包括：座椅主体（7），其上表面是用于使用者坐在其上的座面; 支撑座椅主体（7）的框架（8）以允许座椅主体（7）在座椅主体（7）从中心位置摆动的中心位置和摆动位置之间移动的方式; 以及用于强制移动座椅主体（7）的驱动部分。 当座椅主体（7）处于中心位置时确定的座椅表面的高度低于当座椅主体处于摆动位置时确定的座椅表面的高度。

公开(公告)号：US20090318271A1

公开(公告)日：2009-12-24

申请号：US12467602

申请日：2009-05-18

Applicant: Otto Höbel

Inventor： Otto Höbel

IPC: A47D13/04

CPC classification number: A63B69/0064 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/0173 ,  A61H2201/1628 ,  A61H2201/163 ,  A61H2201/1676

Abstract: In a device for training the musculature of the human locomotor system, comprising a support unit which is at least indirectly attached at one end to a holding arm and at the other end can be releasably attached to a patient, wherein the holding arm is at least indirectly mounted, at its bottom end remote from the support unit, on a carrier chassis by means of at least one resilient element, training of walking or running movements implementing natural movement dynamics without risk of stumbling or falling is made possible in that a resilient element is coupled to at least one stabilizing assembly, which prevents torsion of the holding arm about its longitudinal axis and also restricts movement of the holding arm such that the end of the holding arm remote from the carrier chassis is capable of movement over a predetermined area and the support unit pivotally attached to the holding arm is thereby capable of movement within a predetermined volume.

Abstract translation: 在用于训练人类运动器系统的肌肉组织的装置中，包括至少间接地连接到保持臂并且在另一端处的支撑单元可以可释放地附接到患者身上，其中握持臂至少 通过至少一个弹性元件将其远离支撑单元的底端间接地安装在载体底盘上，使得实现自然运动动力学的步行或跑步运动的训练没有绊脚或坠落的危险成为可能，因为弹性元件 耦合到至少一个稳定组件，其防止保持臂围绕其纵向轴线的扭转并且还限制保持臂的运动，使得远离载体底架的保持臂的端部能够在预定区域上移动，并且 因此，可枢转地附接到保持臂的支撑单元能够在预定体积内移动。

公开(公告)号：US07566314B2

公开(公告)日：2009-07-28

申请号：US11422231

申请日：2006-06-05

Applicant: H. Duane Saunders ,  Mark R. Stultz

Inventor： H. Duane Saunders ,  Mark R. Stultz

IPC: A61F5/00

CPC classification number: A61F5/04 ,  A61H1/0222 ,  A61H1/0296 ,  A61H2201/0157 ,  A61H2201/0161 ,  A61H2201/0192 ,  A61H2201/1246 ,  A61H2201/1607 ,  A61H2201/1628 ,  A61H2201/1664 ,  A61H2201/5053 ,  A61H2203/0456

Abstract: Low-cost, light weight portable cervical traction or spinal decompression devices for home use by a patient. A carriage is slidable along a portion of a support structure parallel to a longitudinal axis. The carriage includes a restraining mechanism adapted to releasably restrain a portion of a patient's body to the carriage. The pneumatic traction force generating apparatus is operatively coupled to move the carriage relative to the support structure when in a pressurized state. The pneumatic traction force generating apparatus is adapted to maintain a generally static traction force during a treatment period when in the pressurized state without additional pressurized air being supplied. A hand pump operated by the patient is fluidly connected to the pneumatic traction force generating apparatus to inject pressurized air. The hand pump is capable of injecting at least 138 kPa (20 psi) of pressure into the pneumatic traction force generating apparatus. A pressure relief mechanism operated by the patient is adapted to release pressure from the pneumatic traction force generating apparatus.

Abstract translation: 低成本，重量轻的便携式颈椎牵引或脊柱减压装置，供患者家庭使用。 滑架可沿平行于纵向轴线的支撑结构的一部分滑动。 托架包括适于将患者身体的一部分可释放地限制在托架上的约束机构。 当处于加压状态时，气动牵引力产生装置可操作地联接以相对于支撑结构移动滑架。 气动牵引力发生装置适于在处于加压状态的处理期间保持大体静态的牵引力，而不需要额外的加压空气供给。 由患者操作的手动泵流体地连接到气动牵引力产生装置以注入加压空气。 手动泵能够将至少138kPa（20psi）的压力注入到气动牵引力产生装置中。 由患者操作的减压机构适于从气动牵引力产生装置释放压力。