Title:
動作補助装置
Document Type and Number:
Japanese Patent JP6798618
Kind Code:
B2
Abstract:
It is difficult to develop a program which enables bipedal walking in a conventional motion assisting device which is capable of bipedal walking. The present invention is provided with: an object holding part 2 that holds an object 91; an upper body part 1 that supports the weight from the object holding part 2; a waist part 3 that is connected to the upper body part 1 so as to be rotatable around an upper body rotation axis which is parallel to a waist part reference surface and that bears the weight from the upper body part 1; a wearer motion transmission part 17 that moves the waist part 3 according to the movement of the torso of a wearer 90; a thigh opening/closing leg part 22 that is connected to each of the left and right of the waist part 3 so as to be rotatable around an opening/closing leg shaft J5 which crosses the waist part reference surface; a thigh bone part 25 having one end connected to the thigh opening/closing leg shaft 22; a lower leg part 5 having one end connected to the other end of the thigh bone part 25; and a foot part 6 that is connected to the other end of the lower leg part 5 and moves together with a wearer's foot, wherein the wearer 90 moves the waist part 3 by means of the wearer's motion transmission part 17 and it is thus possible to control the position of the load center of gravity, which is center of gravity of the load weight, namely the sum of the weight applied to the left and right ankle joints J9 that make contact with the ground.
Inventors:
Noboru Kawaguchi
Masaki Hirano
Masaki Haruna
Mitsuhiro Hirose
Masaki Hirano
Masaki Haruna
Mitsuhiro Hirose
Application Number:
JP2019531040A
Publication Date:
December 09, 2020
Filing Date:
July 17, 2018
Export Citation:
Assignee:
Mitsubishi Electric Corporation
International Classes:
B25J11/00; A61F2/54; A61F2/60; A61F2/70
Domestic Patent References:
| JP2010142351A | ||||
| JP2013022091A | ||||
| JP2013116319A | ||||
| JP2015039414A | ||||
| JP2015188740A |
Foreign References:
| WO2016006432A1 | ||||
| US5282460 | ||||
| US20150001269 |
Attorney, Agent or Firm:
Kanako Murakami
Shigeaki Matsui
Kuratani Yasutaka
Shigeaki Matsui
Kuratani Yasutaka