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1. 发明授权

US08663134B2 Walking assistance device 有权
标题翻译：行走辅助装置
公开(公告)号：US08663134B2
公开(公告)日：2014-03-04
申请号：US12987405
申请日：2011-01-10
申请人： Hideaki Takahashi , Hideo Shimizu , Taiji Koyama
发明人： Hideaki Takahashi , Hideo Shimizu , Taiji Koyama
IPC分类号： A61H1/02 , A61H3/00
CPC分类号： A61H1/0244 , A61H3/00 , A61H2201/0192 , A61H2201/1215 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/1697 , A61H2201/50 , A61H2201/5069
摘要： In a walking assistance device (10) including a main frame (22) supporting a power generator (26, 28) and worn on a pelvic part of a user, the main frame is provided with an opening (23) in a middle part thereof, and an electronic unit (25) is received in the opening. As the electronic unit is placed in the middle part of the main frame which is relatively free from deformation, the electronic unit is protected from deformation or stress that could impair the reliability of the electronic unit. To achieve both an easy access to the electronic unit, and an attractive appearance, the opening may be provided with a lid (24) that selectively closes the opening from a side adjacent to the user, and the lid may be formed as a back support member for supporting a back part of the user. As the lid serves the dual purposes, the weight and cost of the device can be minimized. For the convenience of the handling of the lid, the lid may be supported by the main frame via a hinge (121) provided adjacent to an upper or lower part of the opening.
摘要翻译：在包括支撑发电机（26,28）并且佩戴在用户的骨盆部分上的主框架（22）的行走辅助装置（10）中，主框架在其中间部分设置有开口（23），并且电子单元（25）被接收在开口中。由于电子单元被放置在相对没有变形的主框架的中间部分中，所以电子单元被保护免受可能损害电子单元的可靠性的变形或应力。为了实现对电子单元的容易的访问和吸引人的外观，开口可以设置有从相邻的用户选择性地关闭开口的盖子（24），并且盖子可以形成为背部支撑件用于支持用户的后部的成员。由于盖具有双重目的，因此能够使装置的重量和成本最小化。为了便于处理盖子，盖子可以通过邻近开口的上部或下部设置的铰链（121）由主框架支撑。

2. 发明申请

US20110218466A1 WALKING ASSISTANCE DEVICE 有权
标题翻译：行车辅助装置
公开(公告)号：US20110218466A1
公开(公告)日：2011-09-08
申请号：US13127619
申请日：2009-10-01
申请人： Hideaki Takahashi , Taiji Koyama , Hideo Shimizu
发明人： Hideaki Takahashi , Taiji Koyama , Hideo Shimizu
IPC分类号： A61H1/02
CPC分类号： A61H3/00 , A61H1/0244 , A61H2201/165
摘要： In a walking assistance device for providing a walking assistance force to a femoral part of a user, the walking assistance force generated by a power generator is effectively transmitted to the femoral part of the user while avoiding the user from experiencing any undue pressure or discomfort. The walking assistance device comprises a rigid femoral support frame (30L, 30R) having a base end (31) connected to an output end of an electric motor unit (14L, 14R) and a free end (32) extending from the base end to a position opposite to a front part of the femoral part of the user, and a flexible belt (50L, 50R) attached to the free end of the femoral support frame to be releasably worn around a circumference of the femoral part of the user at a height corresponding to the free end of the femoral support frame.
摘要翻译：在用于向用户的股骨部分提供步行辅助力的行走辅助装置中，由发电机产生的行走辅助力有效地传递到使用者的股骨部分，同时避免使用者体验不适当的压力或不适。行走辅助装置包括刚性股骨支撑框架（30L，30R），其具有连接到电动机单元（14L，14R）的输出端的基端（31）和从基端延伸到与使用者的股骨部分的前部相对的位置和附接到股骨支撑框架的自由端的柔性带（50L，50R），以可释放地佩戴在使用者的股骨部分的圆周上对应于股骨支撑框架的自由端的高度。

3. 发明申请

US20110172570A1 WALKING ASSISTANCE DEVICE 有权
标题翻译：行车辅助装置
公开(公告)号：US20110172570A1
公开(公告)日：2011-07-14
申请号：US12987395
申请日：2011-01-10
申请人： Hideo Shimizu , Kouji Okazaki , Hideaki Takahashi , Taiji Koyama
发明人： Hideo Shimizu , Kouji Okazaki , Hideaki Takahashi , Taiji Koyama
IPC分类号： A61H3/00
CPC分类号： A61H3/00 , A61H1/0244 , A61H2201/0192 , A61H2201/1215 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/1697 , A61H2201/5069
摘要： In a walking assistance device configured to apply a walking assistance force to a femoral part of a user, a walking assistance force provided by a power generator mounted on a pelvic support assembly is transmitted to a femoral part of the user via a femoral support assembly. The femoral support assembly includes a swing arm (60, 62) having a base end connected to an output end of the power generator and a free end opposing a front part of the femoral part of the user, a femoral support member (68, 70) pivotally connected to the free end of the swing arm and having a support surface engaging the front part of the femoral part of the user, and a femoral belt (73, 74) passed around the femoral part of the user and having two ends attached to corresponding lateral ends of the femoral support member. Thereby, the femoral support member is enabled to accommodate changes and/or variations in the contour of the femoral part of the user. Ensure a comfortable fit and a reliable power transmission, the femoral belt may include a main belt portion (83, 85) having a base end connected to one of the lateral ends of the femoral support member and a free end releasably connected to the other lateral end of the femoral support member, and an auxiliary belt portion (84, 86) bifurcated from an intermediate part of the main belt portion and having a free end connected to the swing arm.
摘要翻译：在被配置为向用户的股骨部分施加步行辅助力的行走辅助装置中，由安装在骨盆支撑组件上的发电机提供的行走辅助力通过股骨支撑组件被传递到使用者的股骨部分。股骨支撑组件包括摆动臂（60,62），其具有连接到发电机的输出端的基端和与使用者的股骨部分的前部相对的自由端，股骨支撑构件（68,70））枢转地连接到摆臂的自由端并且具有接合使用者的股骨部分的前部的支撑表面和围绕使用者的股骨部分的股骨带（73,74），并且具有两个端部到股骨支撑构件的相应侧端。由此，股骨支撑构件能够适应使用者的股骨部分的轮廓的变化和/或变化。确保舒适的配合和可靠的动力传递，股骨带可以包括主带部分（83,85），其具有连接到股骨支撑构件的一个侧端的基端，以及可释放地连接到另一侧面的自由端股骨支撑构件的端部以及从主带部分的中间部分分叉并具有连接到摆臂的自由端的辅助皮带部分（84,86）。

4. 发明授权

US08652075B2 Walking assistance device for providing a walking assistance force to a femoral part of a user 有权
标题翻译：用于向用户的股骨部分提供步行辅助力的行走辅助装置
公开(公告)号：US08652075B2
公开(公告)日：2014-02-18
申请号：US13127619
申请日：2009-10-01
申请人： Hideaki Takahashi , Taiji Koyama , Hideo Shimizu
发明人： Hideaki Takahashi , Taiji Koyama , Hideo Shimizu
IPC分类号： A61H1/00 , A61F5/00
CPC分类号： A61H3/00 , A61H1/0244 , A61H2201/165
摘要： In a walking assistance device for providing a walking assistance force to a femoral part of a user, the walking assistance force generated by a power generator is effectively transmitted to the femoral part of the user while avoiding the user from experiencing any undue pressure or discomfort. The walking assistance device includes a rigid femoral support frame having a base end connected to an output end of an electric motor unit and a free end extending from the base end to a position opposite to a front part of the femoral part of the user, and a flexible belt attached to the free end of the femoral support frame to be releasably worn around a circumference of the femoral part of the user at a height corresponding to the free end of the femoral support frame.
摘要翻译：在用于向用户的股骨部分提供步行辅助力的行走辅助装置中，由发电机产生的行走辅助力有效地传递到使用者的股骨部分，同时避免使用者体验不适当的压力或不适。行走辅助装置包括刚性股骨支撑框架，其具有连接到电动机单元的输出端的基端和从基端延伸到与使用者的股骨部分的前部相对的位置的自由端，以及附接到股骨支撑框架的自由端的柔性带可在与股骨支撑框架的自由端对应的高度处可释放地佩戴在使用者的股骨部分的圆周上。

5. 发明授权

US08603016B2 Walking assistance device 有权
标题翻译：行走辅助装置
公开(公告)号：US08603016B2
公开(公告)日：2013-12-10
申请号：US12987395
申请日：2011-01-10
申请人： Hideo Shimizu , Kouji Okazaki , Hideaki Takahashi , Taiji Koyama
发明人： Hideo Shimizu , Kouji Okazaki , Hideaki Takahashi , Taiji Koyama
IPC分类号： A61H3/00
CPC分类号： A61H3/00 , A61H1/0244 , A61H2201/0192 , A61H2201/1215 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/1697 , A61H2201/5069
摘要： In a walking assistance device configured to apply a walking assistance force to a femoral part of a user, a walking assistance force provided by a power generator mounted on a pelvic support assembly is transmitted to a femoral part of the user via a femoral support assembly. The femoral support assembly includes a swing arm (60, 62) having a base end connected to an output end of the power generator and a free end opposing a front part of the femoral part of the user, a femoral support member (68, 70) pivotally connected to the free end of the swing arm and having a support surface engaging the front part of the femoral part of the user, and a femoral belt (73, 74) passed around the femoral part of the user and having two ends attached to corresponding lateral ends of the femoral support member. Thereby, the femoral support member is enabled to accommodate changes and/or variations in the contour of the femoral part of the user. Ensure a comfortable fit and a reliable power transmission, the femoral belt may include a main belt portion (83, 85) having a base end connected to one of the lateral ends of the femoral support member and a free end releasably connected to the other lateral end of the femoral support member, and an auxiliary belt portion (84, 86) bifurcated from an intermediate part of the main belt portion and having a free end connected to the swing arm.
摘要翻译：在被配置为向用户的股骨部分施加步行辅助力的行走辅助装置中，由安装在骨盆支撑组件上的发电机提供的行走辅助力通过股骨支撑组件被传递到使用者的股骨部分。股骨支撑组件包括摆动臂（60,62），其具有连接到发电机的输出端的基端和与使用者的股骨部分的前部相对的自由端，股骨支撑构件（68,70））枢转地连接到摆臂的自由端并且具有接合使用者的股骨部分的前部的支撑表面和围绕使用者的股骨部分的股骨带（73,74），并且具有两个端部到股骨支撑构件的相应侧端。由此，股骨支撑构件能够适应使用者的股骨部分的轮廓的变化和/或变化。确保舒适的配合和可靠的动力传递，股骨带可以包括主带部分（83,85），其具有连接到股骨支撑构件的一个侧端的基端，以及可释放地连接到另一侧面的自由端股骨支撑构件的端部以及从主带部分的中间部分分叉并具有连接到摆臂的自由端的辅助皮带部分（84,86）。

6. 发明申请

US20110172571A1 WALKING ASSISTANCE DEVICE 有权
标题翻译：行车辅助装置
公开(公告)号：US20110172571A1
公开(公告)日：2011-07-14
申请号：US12987405
申请日：2011-01-10
申请人： Hideaki Takahashi , Hideo Shimizu , Taiji Koyama
发明人： Hideaki Takahashi , Hideo Shimizu , Taiji Koyama
IPC分类号： A61H1/02
CPC分类号： A61H1/0244 , A61H3/00 , A61H2201/0192 , A61H2201/1215 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/1697 , A61H2201/50 , A61H2201/5069
摘要： In a walking assistance device (10) including a main frame (22) supporting a power generator (26, 28) and worn on a pelvic part of a user, the main frame is provided with an opening (23) in a middle part thereof, and an electronic unit (25) is received in the opening. As the electronic unit is placed in the middle part of the main frame which is relatively free from deformation, the electronic unit is protected from deformation or stress that could impair the reliability of the electronic unit. To achieve both an easy access to the electronic unit, and an attractive appearance, the opening may be provided with a lid (24) that selectively closes the opening from a side adjacent to the user, and the lid may be formed as a back support member for supporting a back part of the user. As the lid serves the dual purposes, the weight and cost of the device can be minimized. For the convenience of the handling of the lid, the lid may be supported by the main frame via a hinge (121) provided adjacent to an upper or lower part of the opening.
摘要翻译：在包括支撑发电机（26,28）并且佩戴在用户的骨盆部分上的主框架（22）的行走辅助装置（10）中，主框架在其中间部分设置有开口（23），并且电子单元（25）被接收在开口中。由于电子单元被放置在相对没有变形的主框架的中间部分中，所以电子单元被保护免受可能损害电子单元的可靠性的变形或应力。为了实现对电子单元的容易的访问和吸引人的外观，开口可以设置有从相邻的用户选择性地关闭开口的盖子（24），并且盖子可以形成为背部支撑件用于支持用户的后部的成员。由于盖具有双重目的，因此能够使装置的重量和成本最小化。为了便于处理盖子，盖子可以通过邻近开口的上部或下部设置的铰链（121）由主框架支撑。

7. 发明授权

US08409119B2 Walking assistance device 有权
标题翻译：行走辅助装置
公开(公告)号：US08409119B2
公开(公告)日：2013-04-02
申请号：US12785013
申请日：2010-05-21
申请人： Hideo Shimizu , Tatsuya Noda , Taiji Koyama
发明人： Hideo Shimizu , Tatsuya Noda , Taiji Koyama
IPC分类号： A61H1/02 , A61H1/00
CPC分类号： A61H3/008 , A61H1/0244 , A61H3/00 , A61H2201/1215 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , B25J9/0006
摘要： A walking assistance device including a pelvic frame (10) extending from a lower back to each lateral side of a user, and a belly belt (20) for securing the pelvic frame in position. A power generator (30) is attached to each lateral side of the pelvic frame. A power transmitting arm (40) can be attached to an output member (33) of the power generator simply by hooking an upper part of a base end (41) of the power transmitting arm onto an upper groove (38) of the output member, and pushing a latch member or a slider (46) provided in a lower part of the base end onto a lower groove (39) of the output member. The user wearing the pelvic frame (10) can easily attach the power transmitting arm (40) to the output end of the power generator (30) by easily using a single hand without requiring help.
摘要翻译：一种行走辅助装置，包括从使用者的下背部延伸到每个侧面的骨盆框架（10）和用于将骨盆框架固定就位的腹部带（20）。发电机（30）安装在骨盆框架的每个侧面。动力传递臂（40）可以简单地通过将动力传递臂的基端（41）的上部钩在输出构件的上槽（38）上而附接到发电机的输出构件（33）并且将设置在基端的下部的闩锁构件或滑块（46）推到输出构件的下槽（39）上。佩戴骨盆框架（10）的使用者可以容易地使用单手而不需要帮助就可以容易地将动力传递臂（40）附接到发电机（30）的输出端。

8. 发明授权

US08827375B2 Wheel, and friction drive device and omni-directional vehicle using the same 有权
标题翻译：车轮，摩擦驱动装置和全方位车辆使用相同
公开(公告)号：US08827375B2
公开(公告)日：2014-09-09
申请号：US13132681
申请日：2009-12-01
申请人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Masao Sasaki , Hiroshi Gomi , Shinichiro Kobashi
发明人： Toru Takenaka , Makoto Hirano , Hideharu Izumi , Kazuya Kuwabara , Taiji Koyama , Masao Sasaki , Hiroshi Gomi , Shinichiro Kobashi
IPC分类号： B60B19/12 , B60B19/00 , B62M6/70 , B62K1/00 , B62M6/40
CPC分类号： B62M6/70 , B60B19/003 , B60B19/125 , B60B2200/47 , B60B2360/10 , B60B2360/1434 , B60B2360/1444 , B60B2360/32 , B60B2360/348 , B60B2900/131 , B60B2900/133 , B60B2900/211 , B60Y2200/40 , B62K1/00 , B62M6/40
摘要： In a wheel for use in an omni-directional vehicle, gravel and other foreign matters are prevented from being trapped between free rollers forming the wheel, and traveling vibrations and noises are minimized at the same time. The wheel includes an annular member and a plurality of free rollers each rotatably supported by the annular member around a corresponding tangential line of the annular member, and a gap member is placed between each adjacent pair of the free rollers to fill a gap defined between the free rollers.
摘要翻译：在用于全方位车辆的车轮中，防止砾石和其他异物被捕获在形成车轮的自由辊之间，并且行驶振动和噪声同时被最小化。轮包括环形构件和多个自由辊，每个自由辊由环形构件围绕环形构件的对应切线旋转地支撑，并且间隙构件被放置在每个相邻的一对自由辊之间以填充限定在自由滚筒

9. 发明授权

US07798983B2 Walking assistance device 有权
标题翻译：行走辅助装置
公开(公告)号：US07798983B2
公开(公告)日：2010-09-21
申请号：US10557733
申请日：2004-03-15
申请人： Hisashi Katoh , Takashi Hirata , Taiji Koyama , Takako Fujii , Yoshirou Koyama
发明人： Hisashi Katoh , Takashi Hirata , Taiji Koyama , Takako Fujii , Yoshirou Koyama
IPC分类号： A61F5/00 , A61H1/00
CPC分类号： A61H3/008 , A61F5/0102 , A61H1/0255 , A61H3/00 , A61H2201/0192 , A61H2201/1215 , A61H2201/163 , A61H2201/1642 , A61H2201/165
摘要： In order to provide a walking assistance device that can avoid hampering the motion of the muscles of the user and will not move out of place inadvertently when worn by the user, principal engagement points of a support member for securely mounting an assisting force generator, which is disposed on a side of at least one joint of a lower limb to provide an assisting force to a movement of the lower limb, are provided at portions where a relatively small amount of movement of skin occurs when a trunk or joint is moved. In this way, the support member can be fastened firmly to the portions where an amount of movement of the skin is small and therefore it is possible to reduce the uncomfortable pressure caused during motion while preventing the support member from inadvertently moving out of place.
摘要翻译：为了提供一种行走辅助装置，其能够避免妨碍使用者的肌肉的运动，并且不会在用户佩戴时不经意地移动，因此用于牢固地安装辅助力发生器的支撑构件的主要接合点，其中设置在下肢的至少一个关节的一侧以对下肢的运动提供辅助力，设置在当躯干或关节移动时出现相对较少量的皮肤移动的部分。以这种方式，可以将支撑构件牢固地紧固到皮肤的移动量小的部分，并且因此可以减少运动期间引起的不舒适压力，同时防止支撑构件无意中移出位置。

10. 发明申请

US20070055189A1 Walking assistance device 有权
标题翻译：行走辅助装置
公开(公告)号：US20070055189A1
公开(公告)日：2007-03-08
申请号：US10557733
申请日：2004-03-15
申请人： Hisashi Katoh , Takashi Hirata , Taiji Koyama , Takako Fujii , Yoshirou Koyama
发明人： Hisashi Katoh , Takashi Hirata , Taiji Koyama , Takako Fujii , Yoshirou Koyama
IPC分类号： A61F5/00
CPC分类号： A61H3/008 , A61F5/0102 , A61H1/0255 , A61H3/00 , A61H2201/0192 , A61H2201/1215 , A61H2201/163 , A61H2201/1642 , A61H2201/165
摘要： In order to provide a walking assistance device that can avoid hampering the motion of the muscles of the user and will not move out of place inadvertently when worn by the user, principal engagement points of a support member (hip support member 1 and/or lower leg support member 2) for securely mounting an assisting force generator (hip joint actuator 10 and/or knee joint actuator 26), which is disposed on a side of at least one joint of a lower limb to provide an assisting force to a movement of the lower limb, are provided at portions where a relatively small amount of movement of skin occurs when a trunk or joint is moved. In this way, the support member can be fastened firmly to the portions where an amount of movement of the skin is small, i.e., portions where the circumferential length change due to expansion/contraction of the muscles is small, and therefore it is possible to reduce the uncomfortable pressure caused during motion while preventing the support member from inadvertently moving out of place.
摘要翻译：为了提供一种行走辅助装置，其可以避免妨碍使用者的肌肉的运动，并且在使用者佩戴时不会无意中移动，支撑构件的主要接合点（臀部支撑构件1和/或下部腿部支撑构件2），用于牢固地安装辅助力发生器（髋关节致动器10和/或膝关节致动器26），其设置在下肢的至少一个关节的一侧，以提供辅助力下肢设置在当躯干或关节移动时出现相对较少量的皮肤移动的部分。以这种方式，可以将支撑构件牢固地紧固到皮肤的移动量小的部分，即由于肌肉的伸缩引起的周向长度变化小的部分，因此，减少运动期间引起的不舒服的压力，同时防止支撑构件无意中移出位置。

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