公开(公告)号：US08986233B2

公开(公告)日：2015-03-24

申请号：US13242151

申请日：2011-09-23

Applicant: Eisuke Aoki ,  Shuhei Manabe ,  Hitoshi Konosu ,  Masayuki Imaida ,  Issei Nakashima ,  Yasuhiro Ebihara

Inventor： Eisuke Aoki ,  Shuhei Manabe ,  Hitoshi Konosu ,  Masayuki Imaida ,  Issei Nakashima ,  Yasuhiro Ebihara

IPC: A61H3/00 ,  A61H1/02

CPC classification number: A61H3/00 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0266 ,  A61H2201/0173 ,  A61H2201/0176 ,  A61H2201/1215 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5082

Abstract: A leg assist device having an abnormality management procedure which appropriately adapts to an abnormal situation is provided. The leg assist device is provided with a leg attachment and a controller. The leg attachment comprises upper and a lower links connected with a rotary joint, and an actuator. The upper link is to be attached to the upper leg of the user. The lower link is to be attached to the lower leg of the user. The actuator swings the lower link relative to the upper link. The controller outputs the commands so that the swing angle of the lower link follows a target trajectory. Further, the controller executes a first abnormality management process in which the controller shuts off torque transmission from the actuator to the user when the controller detects an abnormality before outputting the commands to the actuator.

Abstract translation: 提供了具有适当地适应异常情况的异常管理过程的腿辅助装置。 腿部辅助装置设置有腿部附件和控制器。 腿部附件包括与旋转接头连接的上部和下部连杆以及致动器。 上部链接将连接到用户的大腿。 较低的链接将连接到用户的小腿。 执行器相对于上连杆摆动下连杆。 控制器输出命令，使得下连杆的摆动角度跟随目标轨迹。 此外，控制器执行第一异常管理处理，其中当控制器在将命令输出到致动器之前检测到异常时，控制器关闭从致动器到用户的扭矩传递。

公开(公告)号：US20130006159A1

公开(公告)日：2013-01-03

申请号：US13611659

申请日：2012-09-12

Applicant: Issei NAKASHIMA ,  Shuhei MANABE

Inventor： Issei NAKASHIMA ,  Shuhei MANABE

IPC: A61F5/052

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：US20120226203A1

公开(公告)日：2012-09-06

申请号：US13509449

申请日：2009-11-13

Applicant: Issei Nakashima ,  Shuhei Manabe

Inventor： Issei Nakashima ,  Shuhei Manabe

IPC: A61H1/02

CPC classification number: A61H3/00 ,  A61H2003/007 ,  A61H2201/0176 ,  A61H2201/1215 ,  A61H2201/165 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2205/102

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。

公开(公告)号：US07640086B2

公开(公告)日：2009-12-29

申请号：US11515946

申请日：2006-09-06

Applicant: Issei Nakashima ,  Toshio Fuwa ,  Yoshikazu Motozono

Inventor： Issei Nakashima ,  Toshio Fuwa ,  Yoshikazu Motozono

IPC: A61G5/06

CPC classification number: B62K17/00 ,  B62K3/00 ,  B62K5/027 ,  B62K11/007 ,  Y02T10/7258

Abstract: A running object includes a body, at least two drive wheels disposed on a first axle, and at least one driven wheel disposed on a second axle. The running object is capable of switching between a standing posture in which the driven wheel is suspended in the air and a stable posture in which the driven wheel is placed on the ground. The running object includes a storing device that stores a target incline pattern that chronologically describes the target incline angle of the body during a transition from the standing posture to the stable posture; a detecting device that detects the incline angle and/or the incline angular velocity of the body; a torque calculating device that calculates torque based on a deviation between the target incline pattern stored in the storing device and a detection value detected by the detecting device; and an actuator for applying the torque calculated by the calculating device to the drive wheels.

Abstract translation: 运行对象包括主体，设置在第一轴上的至少两个驱动轮以及设置在第二轴上的至少一个从动轮。 跑步物体能够在从动轮悬挂在空气中的站立姿态和从动轮放置在地面上的稳定姿态之间切换。 运行对象包括存储装置，其存储在从站立姿势到稳定姿势的过渡期间按时间顺序描述身体的目标倾斜角度的目标倾斜图案; 检测装置，其检测身体的倾斜角度和/或倾斜角速度; 扭矩计算装置，其基于存储在存储装置中的目标倾斜图案与检测装置检测出的检测值之间的偏差来计算转矩; 以及用于将由计算装置计算的扭矩施加到驱动轮的致动器。

公开(公告)号：US09050237B2

公开(公告)日：2015-06-09

申请号：US13242688

申请日：2011-09-23

Applicant: Issei Nakashima ,  Shuhei Manabe

Inventor： Issei Nakashima ,  Shuhei Manabe

IPC: A61H3/00 ,  A61H1/02

CPC classification number: A61H3/00 ,  A61H1/024 ,  A61H2201/0176 ,  A61H2201/1215 ,  A61H2201/1276 ,  A61H2201/165 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2205/102

Abstract: A walking assist device which assists walking motion of one of the legs of the human with a sensor attached only to the one leg is provided. The walking assist device having an actuator, a sensor, and a controller. The sensor detects a knee joint angle and a hip joint angle of the one leg. The controller stores a first target trajectory for the knee joint angle and a second target trajectory for the hip joint angle. The controller controls the actuator so that the detected knee joint angle follows the first target trajectory. Further, the controller compares time series data of the detected hip joint angle with the second target trajectory while the one leg is in a stance phase. The controller calculates a time difference between the time series data and the second target trajectory and modifies the first target trajectory based on the time difference.

Abstract translation: 提供一种行走辅助装置，其辅助人体的一条腿的行走运动与仅附接到一条腿的传感器。 具有致动器，传感器和控制器的行走辅助装置。 传感器检测一条腿的膝关节角度和髋关节角度。 控制器存储用于膝关节角度的第一目标轨迹和用于髋关节角度的第二目标轨迹。 控制器控制致动器，使得检测到的膝关节角度遵循第一目标轨迹。 此外，控制器将检测到的髋关节角度的时间序列数据与第二目标轨迹进行比较，同时一个腿处于姿态阶段。 控制器计算时间序列数据和第二目标轨迹之间的时间差，并且基于时间差来修改第一目标轨迹。

公开(公告)号：US08224524B2

公开(公告)日：2012-07-17

申请号：US12525101

申请日：2007-12-03

Applicant: Issei Nakashima ,  Toshio Fuwa

Inventor： Issei Nakashima ,  Toshio Fuwa

IPC: B60G17/016

CPC classification number: B62K11/007 ,  A63C17/08 ,  A63C17/12 ,  G05D1/0891

Abstract: A vehicle includes first and second rotary bodies in contact with a road surface. The vehicle also includes a rotation sensor that detects a rotational state of each of the first and second rotary bodies. Additionally, the vehicle includes a turning sensor that detects a physical quantity representing a turning state of the vehicle on the road surface. The vehicle also includes a calculation unit that calculates a predicted value of a turning parameter representing a turning amount of the vehicle by use of a difference between first and second physical quantities which represent the rotational states of the first and second rotary bodies. In addition, the vehicle includes a slip detection unit that detects occurrence of a slip of the first or second rotary body by comparing the predicted value with an actual measured value of the turning parameter obtained by receiving an output signal of the turning sensor.

Abstract translation: 车辆包括与路面接触的第一和第二旋转体。 车辆还包括检测第一和第二旋转体中的每一个的旋转状态的旋转传感器。 另外，车辆包括检测表示车辆在路面上的转动状态的物理量的转向传感器。 车辆还包括计算单元，其通过使用表示第一和第二旋转体的旋转状态的第一和第二物理量之间的差来计算表示车辆的转动量的转弯参数的预测值。 此外，车辆包括滑动检测单元，其通过将预测值与通过接收转向传感器的输出信号而获得的转弯参数的实际测量值进行比较，来检测第一或第二旋转体的滑动的发生。

公开(公告)号：US08155828B2

公开(公告)日：2012-04-10

申请号：US11994379

申请日：2006-06-27

Applicant: Toshio Fuwa ,  Issei Nakashima

Inventor： Toshio Fuwa ,  Issei Nakashima

IPC: G06F17/00

CPC classification number: B62K17/00 ,  B60L15/20 ,  B60L2200/28 ,  B60L2220/46 ,  B60L2240/18 ,  B60L2240/20 ,  B60L2240/24 ,  B60L2240/423 ,  B60L2260/34 ,  G05D1/0891 ,  Y02T10/645 ,  Y02T10/646 ,  Y02T10/72 ,  Y02T10/7275

Abstract: A control method is proposed for a traveling dolly. The traveling dolly may include wheels driven by motors and a body supported by the wheels. The traveling dolly may further include a control computer commanding control command value to the motors, and a centroid of the body positioning above a rotation axis of the wheels. The control method may include the control computer estimating external force moment, which is a moment of inertia around the rotation axis of the wheels generated by external force applied on the body; a tilt angle of the body, which makes a gravity moment around the rotation axis of the centroid of the body balance with the external force moment, being set as a target body tilt angle; and based on the target body tilt angle, calculating a torque command value for the motors.

Abstract translation: 提出了一种旅行车的控制方法。 行进的小车可以包括由马达驱动的车轮和由车轮支撑的车身。 旅行车可以进一步包括控制计算机对电动机的指令控制命令值，以及定位在车轮的旋转轴线上方的车身的质心。 控制方法可以包括控制计算机估计外力矩，外力矩是由施加在身体上的外力产生的车轮的旋转轴周围的惯性力矩; 身体的倾斜角度使得围绕身体的心形的旋转轴线的重力与外力矩平衡，被设定为目标体倾斜角; 并且基于目标车身倾斜角度，计算电动机的转矩指令值。

公开(公告)号：US20120071797A1

公开(公告)日：2012-03-22

申请号：US13242151

申请日：2011-09-23

Applicant: Eisuke AOKI ,  Shuhei MANABE ,  Hitoshi KONOSU ,  Masayuki IMAIDA ,  Issei NAKASHIMA ,  Yasuhiro EBIHARA

Inventor： Eisuke AOKI ,  Shuhei MANABE ,  Hitoshi KONOSU ,  Masayuki IMAIDA ,  Issei NAKASHIMA ,  Yasuhiro EBIHARA

IPC: A61H1/02

CPC classification number: A61H3/00 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0266 ,  A61H2201/0173 ,  A61H2201/0176 ,  A61H2201/1215 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5082

Abstract: A leg assist device having an abnormality management procedure which appropriately adapts to an abnormal situation is provided. The leg assist device is provided with a leg attachment and a controller. The leg attachment comprises upper and a lower links connected with a rotary joint, and an actuator. The upper link is to be attached to the upper leg of the user. The lower link is to be attached to the lower leg of the user. The actuator swings the lower link relative to the upper link. The controller outputs the commands so that the swing angle of the lower link follows a target trajectory. Further, the controller executes a first abnormality management process in which the controller shuts off torque transmission from the actuator to the user when the controller detects an abnormality before outputting the commands to the actuator.

Abstract translation: 提供了具有适当地适应异常情况的异常管理过程的腿辅助装置。 腿部辅助装置设置有腿部附件和控制器。 腿部附件包括与旋转接头连接的上部和下部连杆以及致动器。 上部链接将连接到用户的大腿。 较低的链接将连接到用户的小腿。 执行器相对于上连杆摆动下连杆。 控制器输出命令，使得下连杆的摆动角度跟随目标轨迹。 此外，控制器执行第一异常管理处理，其中当控制器在将命令输出到致动器之前检测到异常时，控制器关闭从致动器到用户的扭矩传递。

公开(公告)号：US20120016278A1

公开(公告)日：2012-01-19

申请号：US13242688

申请日：2011-09-23

Applicant: Issei NAKASHIMA ,  Shuhei MANABE

Inventor： Issei NAKASHIMA ,  Shuhei MANABE

IPC: A61H1/02

CPC classification number: A61H3/00 ,  A61H1/024 ,  A61H2201/0176 ,  A61H2201/1215 ,  A61H2201/1276 ,  A61H2201/165 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2205/102

Abstract: A walking assist device which assists walking motion of one of the legs of the human with a sensor attached only to the one leg is provided. The walking assist device comprises an actuator, a sensor, and a controller. The sensor detects a knee joint angle and a hip joint angle of the one leg. The controller stores a first target trajectory for the knee joint angle and a second target trajectory for the hip joint angle. The controller controls the actuator so that the detected knee joint angle follows the first target trajectory. Further, the controller compares time series data of the detected hip joint angle with the second target trajectory while the one leg is in a stance phase. The controller calculates a time difference between the time series data and the second target trajectory and modifies the first target trajectory based on the time difference.

Abstract translation: 提供一种行走辅助装置，其辅助人体的一条腿的行走运动与仅附接到一条腿的传感器。 行走辅助装置包括致动器，传感器和控制器。 传感器检测一条腿的膝关节角度和髋关节角度。 控制器存储用于膝关节角度的第一目标轨迹和用于髋关节角度的第二目标轨迹。 控制器控制致动器，使得检测到的膝关节角度遵循第一目标轨迹。 此外，控制器将检测到的髋关节角度的时间序列数据与第二目标轨迹进行比较，同时一个腿处于姿态阶段。 控制器计算时间序列数据和第二目标轨迹之间的时间差，并且基于时间差来修改第一目标轨迹。

公开(公告)号：US20090138232A1

公开(公告)日：2009-05-28

申请号：US12297323

申请日：2007-09-27

Applicant: Toshio Fuwa ,  Issei Nakashima

Inventor： Toshio Fuwa ,  Issei Nakashima

IPC: G01C9/08

CPC classification number: G01B21/22 ,  G01C9/06 ,  G01C21/16

Abstract: To provide a moving body with a tilt angle estimating mechanism capable of estimating a tilt angle of a vehicle body with high accuracy. A moving body according to the present invention is a moving body including: an acceleration sensor for detecting an acceleration in two axial directions; a gyro sensor for detecting an angular velocity of a vehicle body; and a tilt angle estimating mechanism for estimating a tilt angle of the vehicle body. The tilt angle estimating mechanism includes: means for estimating a tilt angle in response to the acceleration sensor based on the acceleration detected by the acceleration sensor; means for estimating a second tilt angle based on the angular velocity detected by the gyro sensor; and means for estimating a tilt angle with a linear model equation of the moving body being regarded as an observer, in accordance with the tilt angle based on the acceleration sensor and the tilt angle based on the gyro sensor.

Abstract translation: 提供具有能够高精度地估计车身的倾斜角度的倾斜角估计机构的移动体。 根据本发明的移动体是移动体，包括：用于检测两个轴向的加速度的加速度传感器; 用于检测车体的角速度的陀螺传感器; 以及用于估计车体的倾斜角度的倾斜角估计机构。 倾斜角估计机构包括：基于由加速度传感器检测到的加速度来估计响应于加速度传感器的倾斜角度的装置; 用于基于由陀螺传感器检测的角速度来估计第二倾斜角的装置; 以及用于根据基于加速度传感器的倾斜角度和基于陀螺传感器的倾斜角度，将被认为是观察者的运动物体的线性模型方程来估计倾斜角度的装置。