WALKING AID DEVICE - TOYOTA MOTOR CO LTD

Title:

WALKING AID DEVICE

Document Type and Number:

WIPO Patent Application WO/2011/058641

Kind Code:

A1

Abstract:

Provided is a walking aid device which can apply torque to a knee joint at an appropriate timing. The walking aid device is provided with an actuator, a reaction force sensor, and an angle sensor. The walking aid device is attached to a leg of a user. The actuator can apply torque to the knee joint of one leg of the user. The reaction force sensor detects floor reaction force which the foot of the one leg receives from the floor. The angle sensor detects the hip joint angle about the pitch axis of the one leg. The walking aid device determines the timing, at which the torque in the direction that swings the lower leg backward starts to be applied to the knee joint, on the basis of the detected floor reaction force and the detected hip joint angle.

Inventors:

NAKASHIMA ISSEI (JP)
MANABE SHUHEI (JP)

Application Number:

PCT/JP2009/069319

Publication Date:

May 19, 2011

Filing Date:

November 13, 2009

Export Citation:

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Assignee:

TOYOTA MOTOR CO LTD (JP)
NAKASHIMA ISSEI (JP)
MANABE SHUHEI (JP)

International Classes:

A61H3/00

Domestic Patent References:

WO2009084387A1

2009-07-09

Foreign References:

JP2004329520A	2004-11-25
JP2006167223A	2006-06-29
JP2005000500A	2005-01-06
JP2009254740A	2009-11-05
JP2006314670A	2006-11-24

Other References: