Title:
MOTION ASSISTING DEVICE
Document Type and Number:
WIPO Patent Application WO/2018/055812
Kind Code:
A1
Abstract:
The motion assisting device according to the present invention for assisting a grasping motion is provided with: an articulated structure in which serial links are connected so as to be able to rotate relative to each other, and the links as a whole are integrated and can deform in freely curving fashion; a linear member inserted into the links in the articulated structure, one end of the linear member being fixed to a head link and the other end extending via a tail link; a slide retaining unit for fixing an extending portion of the linear member and guiding the tail link in freely sliding fashion in the direction in which the links are connected; a drive unit for driving the tail link so as to slide the tail link relative to the slide retaining unit; and a control unit for controlling driving by the drive unit so that the sliding direction, the sliding speed, and the sliding position of the tail link are in a desired state.
Inventors:
SANKAI YOSHIYUKI (JP)
Application Number:
PCT/JP2017/011285
Publication Date:
March 29, 2018
Filing Date:
March 21, 2017
Export Citation:
Assignee:
CYBERDYNE INC (JP)
UNIV TSUKUBA (JP)
UNIV TSUKUBA (JP)
International Classes:
A61H1/02; B25J11/00
Foreign References:
| JP2007313093A | 2007-12-06 | |||
| CN104107133A | 2014-10-22 | |||
| JP2011255467A | 2011-12-22 | |||
| JP2010063723A | 2010-03-25 |
Other References:
See also references of EP 3517091A4
Attorney, Agent or Firm:
SUNNEXT INTERNATIONAL PATENT OFFICE (JP)
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