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：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：US09216131B2

公开(公告)日：2015-12-22

申请号：US13509449

申请日：2009-11-13

Applicant: Issei Nakashima ,  Shuhei Manabe

Inventor： Issei Nakashima ,  Shuhei Manabe

IPC: A61H1/02 ,  A61H3/00

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：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：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。