Title:
WALKING MOTION ASSIST DEVICE
Document Type and Number:
WIPO Patent Application WO/2019/082802
Kind Code:
A1
Abstract:
The walking motion assist device according to the present invention is configured to: use the pendulum motion of a rod-like rigid body to approximate motions around the hip joint of the leg including the thigh and lower thigh of a user; estimate, by means of a state estimator that uses angle-related signals inputted from a thigh attitude detection means as observation values, a hip joint angular velocity and a hip joint angle of the thigh calculated on the basis of a motion equation of the pendulum motion; calculate a thigh phase angle using the estimated hip joint angle and hip joint angular velocity; and output an assist torque value calculated on the basis of the thigh phase angle.
Inventors:
TAKAHASHI REI (JP)
MAKIHARA YUKINOBU (JP)
SAWADA YUICHI (JP)
HIGASHI YOSHIYUKI (JP)
TSUBOYAMA TADAO (JP)
ICHIHASHI NORIAKI (JP)
OHATA KOJI (JP)
MAKIHARA YUKINOBU (JP)
SAWADA YUICHI (JP)
HIGASHI YOSHIYUKI (JP)
TSUBOYAMA TADAO (JP)
ICHIHASHI NORIAKI (JP)
OHATA KOJI (JP)
Application Number:
PCT/JP2018/038974
Publication Date:
May 02, 2019
Filing Date:
October 19, 2018
Export Citation:
Assignee:
SUNCALL CORP (JP)
NAT UNIV CORP KYOTO INST TECHNOLOGY (JP)
UNIV KYOTO (JP)
NAT UNIV CORP KYOTO INST TECHNOLOGY (JP)
UNIV KYOTO (JP)
International Classes:
A61H3/00; A61B5/11; B25J11/00
Foreign References:
| JP2016002408A | 2016-01-12 | |||
| JP2003220584A | 2003-08-05 | |||
| JP2007260389A | 2007-10-11 | |||
| JP2014073227A | 2014-04-24 | |||
| JPS5724312B2 | 1982-05-24 | |||
| JP5799608B2 | 2015-10-28 | |||
| JP5386253B2 | 2014-01-15 | |||
| JP2016002408A | 2016-01-12 |
Other References:
See also references of EP 3692972A4
Attorney, Agent or Firm:
ARAWORE INTERNATIONAL IP LAW FIRM (JP)
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