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11. 发明授权

US08394038B2 Walking assistance device 有权
标题翻译：行走辅助装置
公开(公告)号：US08394038B2
公开(公告)日：2013-03-12
申请号：US12612863
申请日：2009-11-05
申请人： Jun Ashihara , Hiroshi Kudoh , Hiroshi Matsuda , Takeshi Koshiishi , Yutaka Hiki
发明人： Jun Ashihara , Hiroshi Kudoh , Hiroshi Matsuda , Takeshi Koshiishi , Yutaka Hiki
IPC分类号： A61H1/00
CPC分类号： A61H3/008 , A61H3/00 , A61H2201/1215 , A61H2201/1436 , A61H2201/1623 , A61H2201/1633 , A61H2201/1635 , A61H2201/1642 , A61H2201/165 , A61H2201/1671 , A61H2201/1676 , A61H2201/5061 , A61H2201/5071
摘要： A walking assistance device having an ankle joint limited in a swingable range in a rolling direction, enabling a user to open his/her legs apart more easily. The walking assistance device includes a seating member 1, a pair of leg links 2 and 2 which support the seating member 1 from below, and a ground contact member 8 connected to each leg link 2 through an ankle joint 7. The ankle joint 7 has a coupling mechanism 100 which includes a joint shaft member 106 and a retaining portion which swingably retains the joint shaft member 106 in the rolling direction in a predetermined range φ. The joint shaft member 106 is inclined to an abduction side in the rolling direction from the middle position of the predetermined range φ in which the joint shaft member is swingable in the rolling direction when the walking assistance device is in an upright state.
摘要翻译：具有在滚动方向上以可摆动范围限制的踝关节的行走辅助装置，使得使用者能够更容易地将他/她的腿分开。行走辅助装置包括座部件1，从下方支撑座椅构件1的一对腿连杆2和2，以及通过踝关节7连接到每个腿连杆2的接地接触构件8.脚踝接头7具有联接机构100，其包括关节轴构件106和保持部，其将接合轴构件106沿轧制方向可摆动地保持在预定范围内。关节轴构件106从预定范围＆phgr的中间位置沿着滚动方向的外展侧倾斜。其中当所述行走辅助装置处于直立状态时，所述关节轴构件能够在滚动方向上摆动。

12. 发明授权

US08114034B2 Walking assisting device 有权
标题翻译：行走辅助装置
公开(公告)号：US08114034B2
公开(公告)日：2012-02-14
申请号：US11816348
申请日：2006-05-29
申请人： Yasushi Ikeuchi , Tatsuya Noda , Jun Ashihara , Yutaka Hiki
发明人： Yasushi Ikeuchi , Tatsuya Noda , Jun Ashihara , Yutaka Hiki
IPC分类号： A61H1/00 , A61H3/00
CPC分类号： B25J9/0006 , A61H1/024 , A61H3/00 , A61H3/008 , A61H2201/1215 , A61H2201/1409 , A61H2201/1633 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/50 , A61H2201/5061 , A61H2201/5071
摘要： A walking aid apparatus comprising a sitting member which a user sits astride and leg links each coupled to a connection provided on the undersurface of the sitting member in such a way as to be free to swing in the forward/backward direction, which improves the stability of the sitting member. The connection is adapted in such a way that a forward/backward swinging fulcrum of the leg links is located above the sitting member. More specifically, the connection is provided with an arc-shaped guide track longitudinal in the forward/backward direction and having the center of curvature above the sitting member, so that each of the leg links swings along the guide track in the forward/backward direction. If the leg links are allowed to swing freely also in the lateral direction, preferably the lateral swinging fulcrum of the leg links is also located above the sitting member.
摘要翻译：一种行走辅助装置，其特征在于，具有使用者跨越的坐姿构件和与所述坐下构件的下表面上设置的连接部连结的腿部连杆，从而能够沿前后方向自由摆动，从而提高了稳定性的坐席成员。该连接方式使得腿部连杆的向前/向后摆动支点位于坐着构件上方。更具体地，连接件在向前/向后方向上纵向设置有弧形导轨，并且具有坐着构件上方的曲率中心，使得每个腿连杆沿着前进/后退方向沿导轨摆动。如果允许腿部连杆在横向方向上自由摆动，则优选地，腿部连杆的横向摆动支点也位于坐着构件上方。

13. 发明申请

US20080156363A1 Walking Assisting Device 有权
标题翻译：步行辅助装置
公开(公告)号：US20080156363A1
公开(公告)日：2008-07-03
申请号：US11816348
申请日：2006-05-29
申请人： Yasushi Ikeuchi , Tatsuya Noda , Jun Ashihara , Yutaka Hiki
发明人： Yasushi Ikeuchi , Tatsuya Noda , Jun Ashihara , Yutaka Hiki
IPC分类号： A61H3/00
CPC分类号： B25J9/0006 , A61H1/024 , A61H3/00 , A61H3/008 , A61H2201/1215 , A61H2201/1409 , A61H2201/1633 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/50 , A61H2201/5061 , A61H2201/5071
摘要： A walking aid apparatus comprising a sitting member which a user sits astride and leg links each coupled to a connection provided on the undersurface of the sitting member in such a way as to be free to swing in the forward/backward direction, which improves the stability of the sitting member. The connection is adapted in such a way that a forward/backward swinging fulcrum of the leg links is located above the sitting member. More specifically, the connection is provided with an arc-shaped guide track longitudinal in the forward/backward direction and having the center of curvature above the sitting member, so that each of the leg links swings along the guide track in the forward/backward direction. If the leg links are allowed to swing freely also in the lateral direction, preferably the lateral swinging fulcrum of the leg links is also located above the sitting member.
摘要翻译：一种行走辅助装置，其特征在于，具有使用者跨越的坐姿构件和与所述坐下构件的下表面上设置的连接部连结的腿部连杆，从而能够沿前后方向自由摆动，从而提高了稳定性的坐席成员。该连接方式使得腿部连杆的向前/向后摆动支点位于坐着构件上方。更具体地，连接件在向前/向后方向上纵向设置有弧形导轨，并且具有坐着构件上方的曲率中心，使得每个腿连杆沿着前进/后退方向沿导轨摆动。如果允许腿部连杆在横向方向上自由摆动，则优选地，腿部连杆的横向摆动支点也位于坐着构件上方。

14. 发明授权

US08177733B2 Body weight support device and body weight support program 有权
标题翻译：体重支持装置和体重支持方案
公开(公告)号：US08177733B2
公开(公告)日：2012-05-15
申请号：US11794339
申请日：2005-08-11
申请人： Jun Ashihara , Yosuke Endo , Yasushi Ikeuchi , Yutaka Hiki , Toru Takenaka
发明人： Jun Ashihara , Yosuke Endo , Yasushi Ikeuchi , Yutaka Hiki , Toru Takenaka
IPC分类号： A61H1/02 , A61F5/052 , G06F19/00
CPC分类号： B25J9/0006 , A61F5/0102 , A61H1/0255 , A61H1/0262 , A61H3/00 , A61H2201/0192 , A61H2201/1215 , A61H2201/1607 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/1652 , A61H2201/1676 , A61H2201/5007 , A61H2201/5061 , A61H2201/5069
摘要： A body weight support device of the present invention is equipped with a body attachment part attached to a user's body, a floor contact part provided contactably on a floor, a leg link part for connecting the body attachment part to the floor contact part through a joint part, an actuator for driving the joint part, and a control unit for controlling a drive of the actuator, wherein the control unit drives the actuator so that the leg link part gives a body weight support force to the user through the body attachment part.
摘要翻译：本发明的体重支撑装置配备有安装在使用者身上的身体安装部，与地板接触地设置的地板接触部，通过接合部将身体安装部连接到地板接触部的腿部连接部部件，用于驱动接合部的致动器，以及用于控制致动器的驱动的控制单元，其中，控制单元驱动致动器，使得腿连杆部通过身体安装部向使用者给出体重支撑力。

15. 发明授权

US09161880B2 Walking assist device 有权
标题翻译：行走辅助装置
公开(公告)号：US09161880B2
公开(公告)日：2015-10-20
申请号：US13146519
申请日：2010-01-19
申请人： Jun Ashihara , Yoshihisa Matsuoka , Hiroshi Matsuda , Yutaka Hiki , Makoto Shishido
发明人： Jun Ashihara , Yoshihisa Matsuoka , Hiroshi Matsuda , Yutaka Hiki , Makoto Shishido
IPC分类号： A61H3/00
CPC分类号： A61H3/008 , A61H3/00 , A61H2201/1215 , A61H2201/1436 , A61H2201/149 , A61H2201/1623 , A61H2201/1633 , A61H2201/1635 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5007 , A61H2201/5061 , A61H2201/5071
摘要： In a walking assist device having leg links each connected to a support member through a first joint and having a first link and second link connected to the first link through a second joint, and actuators to be operated to displace the first and second links relative to each other to produce assist forces that assist part of user's body weight to assist the user to walk, it is configured such that a forward protruding amount of the second joint to be protruded with change of an angle between the first and second links about the second joint is changed. With this, it becomes possible to decrease the forward protruding amount to be protruded from the trunk of the user with change of the angle about the second joint, thereby decreasing the inertia force about the vertical axis, while mitigating the unnatural impression of the appearance.
摘要翻译：在具有腿连杆的行走辅助装置中，每个腿部连接件通过第一接头连接到支撑构件，并且具有通过第二接头连接到第一连杆的第一连杆和第二连杆，以及要被操作以使第一和第二连杆相对于彼此产生辅助部件，其辅助部分使用者的体重来辅助使用者行走，其构造成使得第二关节的向前突出的量随着第一和第二连杆之间的角度的变化而围绕第二关节改变了。由此，通过改变围绕第二关节的角度，可以减少从使用者的躯干突出的向前突出量，从而降低围绕纵轴的惯性力，同时减轻外观的不自然的印象。

16. 发明申请

US20110306907A1 WALKING ASSIST DEVICE 有权
标题翻译：跑步助手装置
公开(公告)号：US20110306907A1
公开(公告)日：2011-12-15
申请号：US13146519
申请日：2010-01-19
申请人： Jun Ashihara , Yoshihisa Matsuoka , Hiroshi Matsuda , Yutaka Hiki , Makoto Shishido
发明人： Jun Ashihara , Yoshihisa Matsuoka , Hiroshi Matsuda , Yutaka Hiki , Makoto Shishido
IPC分类号： A61H1/02
CPC分类号： A61H3/008 , A61H3/00 , A61H2201/1215 , A61H2201/1436 , A61H2201/149 , A61H2201/1623 , A61H2201/1633 , A61H2201/1635 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5007 , A61H2201/5061 , A61H2201/5071
摘要： In a walking assist device having leg links each connected to a support member through a first joint and having a first link and second link connected to the first link through a second joint, and actuators to be operated to displace the first and second links relative to each other to produce assist forces that assist part of user's body weight to assist the user to walk, it is configured such that a forward protruding amount of the second joint to be protruded with change of an angle between the first and second links about the second joint is changed. With this, it becomes possible to decrease the forward protruding amount to be protruded from the trunk of the user with change of the angle about the second joint, thereby decreasing the inertia force about the vertical axis, while mitigating the unnatural impression of the appearance.
摘要翻译：在具有腿连杆的行走辅助装置中，每个腿部连接件通过第一接头连接到支撑构件，并且具有通过第二接头连接到第一连杆的第一连杆和第二连杆，以及要被操作以使第一和第二连杆相对于彼此产生辅助部件，其辅助部分使用者的体重来辅助使用者行走，其构造成使得第二关节的向前突出的量随着第一和第二连杆之间的角度的变化而围绕第二关节改变了。由此，通过改变围绕第二关节的角度，可以减少从使用者的躯干突出的向前突出量，从而降低围绕纵轴的惯性力，同时减轻外观的不自然的印象。

17. 发明授权

US08002719B2 Walking assistance device 有权
标题翻译：行走辅助装置
公开(公告)号：US08002719B2
公开(公告)日：2011-08-23
申请号：US11908571
申请日：2006-05-29
申请人： Jun Ashihara , Yutaka Hiki
发明人： Jun Ashihara , Yutaka Hiki
IPC分类号： A61H1/00 , A61F5/00
CPC分类号： B25J9/0006 , A61H3/00 , A61H2201/1633 , A61H2201/165
摘要： A walking assisting device having leg links connected to a load transfer portion, wherein each leg link is free to bend and stretch at a joint in the middle of the leg link, the leg link being formed to a length such that the joint projects forward of a reference line when a user is standing upright. The reference line is a line connecting a swing fulcrum of the leg link to a joint at the lower end of the leg link. Stability is improved by diminishing a moment in a forward tilting direction when the user is standing upright. The leg links are provided with an overhanging portion and a driving source mounted on the overhanging portion, which helps maintain balance relative to the reference line. The driving force is transmitted to the joint in the middle of the leg link via driving force transmission means.
摘要翻译：一种行走辅助装置，其具有连接到负载传递部分的腿部连杆，其中每个腿部连杆在腿部连杆的中间的接头处自由地弯曲和拉伸，所述腿部连杆形成为使得所述接合部向前突出用户直立时的参考线。参考线是将腿部连杆的摆动支点连接到腿部连杆的下端的接头的线。当使用者直立时，通过减小向前倾斜方向的力矩来提高稳定性。腿连杆设置有悬伸部分和安装在悬伸部分上的驱动源，这有助于保持相对于参考线的平衡。驱动力通过驱动力传递装置传递到腿部连杆的中部的关节。

18. 发明申请

US20080289670A1 Walking Assistance Device 有权
标题翻译：行走辅助装置
公开(公告)号：US20080289670A1
公开(公告)日：2008-11-27
申请号：US11908571
申请日：2006-05-29
申请人： Jun Ashihara , Yutaka Hiki
发明人： Jun Ashihara , Yutaka Hiki
IPC分类号： A61H3/00
CPC分类号： B25J9/0006 , A61H3/00 , A61H2201/1633 , A61H2201/165
摘要： A walking assistancing device having leg links (2L, 2R) connected to a load transfer portion (1) via first joints (3), wherein each leg link is free to bend and stretch at a second joint (5) in the middle of the leg link and is formed in such a length that the leg link is bent with the second joint projecting forward of a reference line (L2) even if a user is standing upright, where the reference line is defined as a line connecting a forward/backward swing fulcrum (3a) of the leg link to a third joint (7) at the lower end of the leg link, thereby improving the stabality by diminishing a moment in a forward tilting direction generated in the leg link when the user is standing upright. Each of the leg links (2L, 2R) is provided with an overhanging portion (42) which projects on the side opposite to the second joint (5) in the forward/backward direction relative to the line (L2), and a driving source (9) for the second joint (5) is mounted on the overhanging portion (42) to keep a good weight balance between forward and backward of the reference line (L2). The driving force of the driving source (9) is transmitted to the second joint (5) via driving force transmission means (91).
摘要翻译：一种步行辅助装置，其具有经由第一接头（3）连接到负载传递部分（1）的腿连杆（2L，2R），其中每个腿连杆在第二接头（5）的中部自由地弯曲和拉伸腿部连接并且形成为使得即使使用者站立直立，腿连杆弯曲而第二关节突出于参考线（L2）的前方，其中参考线被定义为连接前/后腿部的摆动支点（3a）连接到腿部连杆下端的第三关节（7），从而通过在使用者直立时在腿部连杆上产生的向前倾斜方向上的力矩减小而提高稳定性。每个腿连杆（2L，2R）设置有相对于线（L2）在前后方向上相对于第二接头（5）突出的突出部分（42），驱动源用于第二接头（5）的第二接头（9）安装在伸出部分（42）上以保持基准线（L2）的向前和向后之间的良好的重量平衡。驱动源（9）的驱动力通过驱动力传递装置（91）传递到第二接头（5）。

19. 发明申请

US20080154165A1 Body Weight Support Device and Body Weight Support Program 有权
标题翻译：体重支持装置和体重支持计划
公开(公告)号：US20080154165A1
公开(公告)日：2008-06-26
申请号：US11794339
申请日：2005-08-11
申请人： Jun Ashihara , Yosuke Endo , Yutaka Hiki , Toru Takenaka
发明人： Jun Ashihara , Yosuke Endo , Yutaka Hiki , Toru Takenaka
IPC分类号： A61F5/00 , A61F2/48
CPC分类号： B25J9/0006 , A61F5/0102 , A61H1/0255 , A61H1/0262 , A61H3/00 , A61H2201/0192 , A61H2201/1215 , A61H2201/1607 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/1652 , A61H2201/1676 , A61H2201/5007 , A61H2201/5061 , A61H2201/5069
摘要： A body weight support device of the present invention is equipped with a body attachment part attached to a user's body, a floor contact part provided contactably on a floor, a leg link part for connecting the body attachment part to the floor contact part through a joint part, an actuator for driving the joint part, and a control unit for controlling a drive of the actuator, wherein the control unit drives the actuator so that the leg link part gives a body weight support force to the user through the body attachment part.
摘要翻译：本发明的体重支撑装置配备有安装在使用者身上的身体安装部，与地板接触地设置的地板接触部，通过接合部将身体安装部连接到地板接触部的腿部连接部部件，用于驱动接合部的致动器，以及用于控制致动器的驱动的控制单元，其中，控制单元驱动致动器，使得腿连杆部通过身体安装部向使用者给出体重支撑力。

20. 发明申请

US20060276728A1 Apparatus for assisting limb and computer program 有权
标题翻译：用于辅助肢体和计算机程序的装置
公开(公告)号：US20060276728A1
公开(公告)日：2006-12-07
申请号：US11444374
申请日：2006-06-01
申请人： Jun Ashihara , Yutaka Hiki
发明人： Jun Ashihara , Yutaka Hiki
IPC分类号： A61H1/02
CPC分类号： A61F5/0102 , A61F2002/7635 , A61H1/0255 , A61H1/0262 , A61H1/0266 , A61H1/0277 , A61H1/0285 , A61H3/00 , A61H2201/0192 , A61H2201/1215 , A61H2201/14 , A61H2201/1616 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/1652 , A61H2201/1676 , A61H2201/5007 , A61H2201/501 , A61H2201/5061 , A61H2201/5069 , A61H2201/5092 , B25J9/0006
摘要： An apparatus for assisting limb includes a body attachment, a link for upper leg, and a knee joint unit, a link for lower leg, a lower limb attachment, a drive unit and a knee joint actuator. The body attachment is attached to a trunk of a user. The link for upper leg is placed alongside with an upper leg of the user and coupled with the body attachment. The link for lower leg is placed alongside with a lower leg of the user and coupled with the link for the upper leg via the knee joint unit. The lower limb attachment is attached to one of the lower leg and a foot of the user, and coupled with the link for lower leg. The knee joint actuator is placed in the body attachment so as to apply rotational torque to the knee joint unit via the drive unit.
摘要翻译：用于辅助肢体的装置包括主体附件，用于上腿的连杆和膝关节单元，用于小腿的连杆，下肢附件，驱动单元和膝关节致动器。身体附件附着在使用者的躯干上。大腿的链接与使用者的大腿一起放置，并与身体附件联接。用于小腿的连杆与使用者的小腿一起放置，并且经由膝关节单元与用于大腿的连杆相连。下肢附件附接到使用者的小腿和脚的一个，并且与小腿的连杆相连。膝关节致动器被放置在身体附件中，以便经由驱动单元向膝关节单元施加旋转扭矩。

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