Title:
歩行動作補助装置
Document Type and Number:
Japanese Patent JP6925231
Kind Code:
B2
Abstract:
The gait motion assisting device (1) according to the present invention replicates movement of user's leg including thigh and lower leg around hip joint by pendulum movement of a rod-like rigid body, estimates hip joint angle and hip joint angular velocity of thigh calculated based on equation of motion of the pendulum movement by a state estimator using angle-related signal received from a thigh orientation detecting means (510) as the observation, calculates the thigh phase angle using the estimated hip joint angle and the estimated hip joint angular velocity, and outputs assisting force having torque value calculated based on the thigh phase angle.
Inventors:
Rei Takahashi
Makihara
Yuichi Sawada
Yoshiyuki Azuma
Tsuboyama Nao
Noriaki Ichihashi
Koji Ohata
Makihara
Yuichi Sawada
Yoshiyuki Azuma
Tsuboyama Nao
Noriaki Ichihashi
Koji Ohata
Application Number:
JP2017204357A
Publication Date:
August 25, 2021
Filing Date:
October 23, 2017
Export Citation:
Assignee:
SANCALL CORPORATION
Dai Nippon Printing Co.,Ltd.
Kyoto University of Technology
Kyoto University
Dai Nippon Printing Co.,Ltd.
Kyoto University of Technology
Kyoto University
International Classes:
A61H3/00; A61B5/11; B25J11/00
Domestic Patent References:
| JP20162408A | ||||
| JP2003220584A | ||||
| JP2007260389A | ||||
| JP201473227A |
Attorney, Agent or Firm:
Patent business corporation Arole International