Title:
TOOL FOR AIDING AMBULATORY SWING MOVEMENT OF SWINGING LEG AND METHOD FOR CONTROLLING ASSIST FORCE
Document Type and Number:
WIPO Patent Application WO/2014/013662
Kind Code:
A1
Abstract:
Provided is a tool for aiding ambulatory movement which is used by persons having a diminished walking capacity and is based on a novel technical concept focusing on the swinging leg. The tool supports walking motion with little force so as to promote a walking motion resulting from the actual muscle strength of the person having a diminished walking capacity and increase walking speed, thereby making it possible to effectively suppress a decline in muscle strength while also increasing the walking time and walking distance with less energy if a constant walking speed is maintained. A tool (10) for aiding the ambulatory swing movement of the swinging leg is provided with, as a pair for the left and right legs, assist members to which are provided drive sources (40) for exerting a pull force on an auxiliary force transmission section (12), the tool (10) also having: joint angle sensors (32) for detecting the joint angles in the user's hip joints; and a control means (50) for aiding pendulum movement of the swinging leg by controlling the drive of each of the drive sources (40) in each of the assist members in response to changes in the joint angles, and exerting an assist force in the forward swing-out direction with respect to the swinging leg that has pushed off from the ground.
Inventors:
YAMAMOTO MOTOJI (JP)
TAKASUGI SHIN-ICHIRO (JP)
SATO MASANORI (JP)
KOMATSU TAKAHIRO (JP)
HASHIMOTO KAZUNOBU (JP)
TAKASUGI SHIN-ICHIRO (JP)
SATO MASANORI (JP)
KOMATSU TAKAHIRO (JP)
HASHIMOTO KAZUNOBU (JP)
Application Number:
PCT/JP2013/003371
Publication Date:
January 23, 2014
Filing Date:
May 28, 2013
Export Citation:
Assignee:
UNIV KYUSHU NAT UNIV CORP (JP)
TOKAI RUBBER IND LTD (JP)
TOKAI RUBBER IND LTD (JP)
International Classes:
A61H3/00; B25J11/00
Foreign References:
| JP2010075658A | 2010-04-08 | |||
| JP2006204426A | 2006-08-10 | |||
| JP2010110464A | 2010-05-20 | |||
| JP4200492B2 | 2008-12-24 | |||
| JP4200492B2 | 2008-12-24 | |||
| JP2010110464A | 2010-05-20 | |||
| JP2010043880A | 2010-02-25 | |||
| JP2009020006A | 2009-01-29 | |||
| JP2008069313A | 2008-03-27 |
Other References:
See also references of EP 2742922A4
Attorney, Agent or Firm:
KASAI, Yoshitaka et al. (JP)
Yoshitaka Kasai (JP)
Yoshitaka Kasai (JP)
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