Title:
WALKING AID DEVICE
Document Type and Number:
WIPO Patent Application WO/2011/055428
Kind Code:
A1
Abstract:
Provided is a walking aid device which aids a walking motion by applying torque to one leg on the basis of an output of a sensor attached to the one leg.
The walking aid device is provided with an actuator, an angle sensor, and a controller. The actuator can apply torque to the knee joint angle of one leg. The angle sensor detects the knee joint angle of the one leg and the joint angle about the pitch axis of the hip joint. The controller stores the target trajectory of the knee joint angle of the one leg and the target trajectory of the joint angle about the pitch axis of the hip joint. The controller controls the actuator such that the detected knee joint angle follows the target trajectory of the knee joint angle. Further, the controller compares time-series data relating to the detected hip joint angle with the target trajectory of the hip joint angle when the one leg is in a stance phase. The controller calculates the time difference between the time-series data relating to the hip joint angle and the target trajectory of the hip joint angle and corrects the target trajectory of the knee joint angle on the basis of the calculated time difference.
Inventors:
NAKASHIMA ISSEI (JP)
MANABE SHUHEI (JP)
MANABE SHUHEI (JP)
Application Number:
PCT/JP2009/068827
Publication Date:
May 12, 2011
Filing Date:
November 04, 2009
Export Citation:
Assignee:
TOYOTA MOTOR CO LTD (JP)
NAKASHIMA ISSEI (JP)
MANABE SHUHEI (JP)
NAKASHIMA ISSEI (JP)
MANABE SHUHEI (JP)
International Classes:
A61H3/00
Foreign References:
| JP2005000500A | 2005-01-06 | |||
| JP2006167223A | 2006-06-29 | |||
| JP2007061527A | 2007-03-15 | |||
| JP2005211086A | 2005-08-11 |
Attorney, Agent or Firm:
KAI-U PATENT LAW FIRM (JP)
Patent business corporation KAI-U Patent Law Firm (JP)
Patent business corporation KAI-U Patent Law Firm (JP)
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