公开(公告)号：US20160287462A1

公开(公告)日：2016-10-06

申请号：US15036587

申请日：2014-11-12

Applicant: MURATA MACHINERY, LTD. ,  TEIJIN PHARMA LIMITED

Inventor： Osamu OSHIMA ,  Hiroaki OHMATSU ,  Akihiro MAEDA ,  Fumi FUJITA ,  Jun TAKEDA

IPC: A61H1/02 ,  A63B21/00

CPC classification number: A61H1/0237 ,  A61B5/1122 ,  A61B5/1124 ,  A61B2505/09 ,  A61H1/0274 ,  A61H2201/1207 ,  A61H2201/1215 ,  A61H2201/1659 ,  A61H2201/5035 ,  A61H2201/5038 ,  A61H2201/5043 ,  A61H2201/5046 ,  A61H2201/5048 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5084 ,  A63B21/00072 ,  A63B21/00178 ,  A63B21/0058 ,  A63B21/4017 ,  A63B21/4033 ,  A63B21/4035 ,  A63B21/4047 ,  A63B23/03508 ,  A63B23/0355 ,  A63B23/1281 ,  A63B24/0006 ,  A63B24/0062 ,  A63B24/0087 ,  A63B71/0622 ,  A63B2024/0071 ,  A63B2024/0093 ,  A63B2208/0247 ,  A63B2220/13 ,  A63B2220/20 ,  A63B2220/30 ,  A63B2220/31 ,  A63B2220/34 ,  A63B2220/40 ,  A63B2220/51 ,  A63B2230/436 ,  G06F19/00 ,  G06F19/3481

Abstract: A training apparatus includes a fixed frame, a training rod, a motor, rotation information detection sensor, tilt angle and position difference calculation units, determination, a motor drive and position difference eliminating units. The training rod is supported by the fixed frame in a manner capable of being tilted by a motor about at least an X-axis or a Y-axis so as to hold the limb. The tilt angle calculation unit calculates a tilt angle of the training rod. The position difference calculation unit calculates a position difference. The determination unit obtains the position difference every time when a second time period elapses. If the position difference generated in the second time period is a first threshold or lower, the motor drive unit drives the motor so that the position difference is accumulated and maintained. The position difference eliminating unit resets the position difference at a predetermined timing.

Abstract translation: 训练装置包括固定框架，训练杆，马达，旋转信息检测传感器，倾斜角度和位置差计算单元，确定，马达驱动和位置差消除单元。 训练杆以固定框架的方式由电动机绕至少X轴或Y轴倾斜以支撑肢体。 倾斜角计算单元计算训练杆的倾斜角度。 位置差计算单元计算位置差。 确定单元每当经过第二时间段时获得位置差。 如果在第二时间段中产生的位置差是第一阈值或更低，则电动机驱动单元驱动电动机，从而累积和保持位置差。 位置差消除单元在预定的定时复位位置差。

公开(公告)号：US20170333277A1

公开(公告)日：2017-11-23

申请号：US15521885

申请日：2015-10-13

Applicant: Murata Machinery, Ltd. ,  Teijin Pharma Limited

Inventor： Osamu OSHIMA ,  Hiroaki OHMATSU ,  Fumi FUJITA ,  Akihiro MAEDA ,  Jun TAKEDA

IPC: A61H1/02

CPC classification number: A61H1/02 ,  A61H1/0237 ,  A61H1/0274 ,  A61H2201/1215 ,  A61H2201/1463 ,  A61H2201/1633 ,  A61H2201/1635 ,  A61H2201/1638 ,  A61H2201/1642 ,  A61H2201/1673 ,  A61H2201/1676 ,  A61H2201/1685 ,  A61H2201/5007 ,  A61H2201/5035 ,  A61H2201/5041 ,  A61H2201/5043 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5092 ,  A61H2201/5097 ,  A61H2203/0431 ,  A63B21/00178 ,  A63B21/0058 ,  A63B21/025 ,  A63B21/4035 ,  A63B21/4047 ,  A63B23/03508 ,  A63B23/1209 ,  A63B2022/0094 ,  A63B2071/0658 ,  A63B2071/0683 ,  A63B2208/0233 ,  A63B2220/20 ,  A63B2220/51 ,  A63B2220/805 ,  A63B2225/20

Abstract: Provided is a training device that suppresses unintended operation of an operation rod when executing an operation mode in which the operation of the operation rod is controlled based on a force applied to the operation rod. The training device includes the operation rod, a motor, a force detection unit, a rotation information output sensor, a first command calculation unit, and a force correction unit. The operation rod moves a limb. The motor operates the operation rod in a direction of degree of freedom. The force detection unit detects a force component and outputs a force component signal. The rotation information output sensor detects an operation position of the operation rod in a corresponding direction of degree of freedom. The force correction unit calculates a corrected force component value based on the operation positions of the operation rod and the force component signal. The first command calculation unit calculates a first motor control command based on the corrected force component value.

公开(公告)号：US20170132947A1

公开(公告)日：2017-05-11

申请号：US15322628

申请日：2015-07-02

Applicant: Teijin Pharma Limited

Inventor： Akihiro MAEDA ,  Fumi FUJITA ,  Hiroshi KANATANI ,  Sunao IKEGAWA ,  Hironobu KUBO

IPC: G09B19/00 ,  G09B5/02 ,  A63B24/00 ,  A61H1/02

CPC classification number: G09B19/003 ,  A61B5/1122 ,  A61B5/1124 ,  A61B2505/09 ,  A61H1/02 ,  A61H1/0277 ,  A61H1/0281 ,  A61H1/0285 ,  A61H2201/1207 ,  A61H2201/1635 ,  A61H2201/1659 ,  A61H2201/5007 ,  A61H2201/5035 ,  A61H2201/5038 ,  A61H2201/5043 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61H2203/0425 ,  A63B21/00178 ,  A63B21/00181 ,  A63B21/0058 ,  A63B21/4019 ,  A63B21/4021 ,  A63B21/4035 ,  A63B21/4049 ,  A63B23/03508 ,  A63B23/1209 ,  A63B23/14 ,  A63B24/0062 ,  A63B24/0087 ,  A63B26/003 ,  A63B69/0053 ,  A63B69/0057 ,  A63B71/0009 ,  A63B71/0622 ,  A63B2071/0647 ,  A63B2071/065 ,  A63B2071/0683 ,  A63B2208/0228 ,  A63B2220/10 ,  A63B2220/16 ,  A63B2220/20 ,  A63B2220/30 ,  A63B2220/40 ,  A63B2220/51 ,  A63B2220/803 ,  A63B2225/20 ,  G05G9/047 ,  G06F3/033 ,  G09B5/02 ,  G16H20/30 ,  G16H40/63 ,  G16H50/30

Abstract: A rehabilitation assistance device (1), provided with: an arm part (30) having a holding part (20) for holding a part of the upper limb or the lower limb of a user, the arm part (30) movably supporting the holding part (20); a memory unit (80) for storing training information, the memory unit (80) storing first training information defined in advance; a motion information acquisition unit (61) for acquiring motion information associated with the movement of the holding part (20), the motion information acquisition unit (61) acquiring first motion information for the holding part (20) moved on the basis of the first training information; a motion evaluation unit (72) for generating evaluation information in which the motion information is evaluated, the motion evaluation unit (72) evaluating the first motion information and generating first evaluation information; and a display (40) for displaying at least one of the training information, the motion information, and the evaluation information.

公开(公告)号：US20160296405A1

公开(公告)日：2016-10-13

申请号：US15036547

申请日：2014-11-12

Applicant: MURATA MACHINERY, LTD. ,  TEIJIN PHARMA LIMITED

Inventor： Osamu OSHIMA ,  Yuichiro MINATO ,  Akihiro MAEDA ,  Fumi FUJITA ,  Jun TAKEDA

IPC: A61H1/02

CPC classification number: A61H1/0237 ,  A61B5/1122 ,  A61B5/1124 ,  A61B2505/09 ,  A61H1/0274 ,  A61H2201/1207 ,  A61H2201/1215 ,  A61H2201/1659 ,  A61H2201/5035 ,  A61H2201/5038 ,  A61H2201/5043 ,  A61H2201/5046 ,  A61H2201/5048 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5084 ,  A63B21/00072 ,  A63B21/00178 ,  A63B21/0058 ,  A63B21/4017 ,  A63B21/4033 ,  A63B21/4035 ,  A63B21/4047 ,  A63B23/03508 ,  A63B23/0355 ,  A63B23/1281 ,  A63B24/0006 ,  A63B24/0062 ,  A63B24/0087 ,  A63B71/0622 ,  A63B2024/0071 ,  A63B2024/0093 ,  A63B2208/0247 ,  A63B2220/13 ,  A63B2220/20 ,  A63B2220/30 ,  A63B2220/31 ,  A63B2220/34 ,  A63B2220/40 ,  A63B2220/51 ,  A63B2230/436 ,  G06F19/00 ,  G06F19/3481 ,  G16H20/30

Abstract: A training apparatus includes a fixed frame, an training rod, a motor, a rotation information detection sensor, a tilt angle calculation unit, a feedback current detection unit, a position difference calculation unit, and a determination unit. The training rod tilts with at least one degree of freedom. The motor tilts the training rod. The rotation information detection sensor outputs an amount of rotation of the motor. The tilt angle calculation unit calculates a tilt angle. The feedback current detection unit detects a feedback current value. The position difference calculation unit calculates a position difference every time when a first time period elapses. The determination unit determines an error when the position difference generated during the first time period is a first threshold or higher, or when the feedback current value keeps a first current value or higher for a second time period or longer.

Abstract translation: 训练装置包括固定框架，训练杆，马达，旋转信息检测传感器，倾斜角计算单元，反馈电流检测单元，位置差计算单元和确定单元。 训练杆至少有一个自由度倾斜。 电机倾斜训练杆。 旋转信息检测传感器输出电动机的旋转量。 倾斜角计算单元计算倾斜角度。 反馈电流检测单元检测反馈电流值。 位置差计算单元计算当经过第一时间段时的位置差。 确定单元在第一时间段期间产生的位置差为第一阈值或更高时，或者当反馈电流值在第二时间段或更长时间内保持第一电流值或更高时确定误差。