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1. 发明专利

JP2010125264A Exercise assistance device 有权
标题翻译：锻炼辅助装置
公开(公告)号：JP2010125264A
公开(公告)日：2010-06-10
申请号：JP2008306483
申请日：2008-12-01
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： YASUHARA KEN
IPC分类号： A63B22/08 , A61F2/70 , A61H3/00
摘要： PROBLEM TO BE SOLVED: To provide a device which can assist the exercise of the agent while aiming at the reduction of arithmetic processing load. SOLUTION: Since only a single model is used for arithmetic processing for forming a basic vibrator ξ as the control base of the movement of an actuator 15, the load of the arithmetic processing can be alleviated as compared with a case where other models are used in addition to the model of 1. Further, a specific angular velocity ω reflected in the angular velocity of the basic vibrator ξ, which is an output oscillating signal from the model, or the time change rate of phase is fluidly established according to a continuous or intermittent decreasing function based on the exercise period T of the agent P defined by the exercise vibrator ϕ which is an input oscillating signal to this model. Further, the basic vibrator ξ is formed according to a model defined by the newest peculiar angular velocity ω and the amplitude and phase of a torque τ, which are transferred to the agent P from the actuator 15 based on this basic vibrator ξ, are controlled. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够在减少运算处理负荷的同时辅助代理人的锻炼的装置。解决方案：由于只有单个模型用于形成基本振动器ξ作为致动器15的运动的控制基础的运算处理，所以与其他型号的情况相比，可以减轻运算处理的负担除了模型1之外还使用。此外，作为来自模型的输出振荡信号的基本振动子ξ的角速度或相位的时间变化率以相对于根据基于作为该模型的输入振荡信号的运动振动器φ定义的试剂P的运动周期T的连续或间歇减小功能。此外，根据由最新的特殊角速度ω定义的模型和基于该基本振动器ξ从致动器15传递到试剂P的扭矩τ的振幅和相位来形成基本振动器ξ，被控制。版权所有（C）2010，JPO＆INPIT

2. 发明专利

JP2014090817A Walking movement assist device 有权
标题翻译：行走运动辅助装置
公开(公告)号：JP2014090817A
公开(公告)日：2014-05-19
申请号：JP2012242186
申请日：2012-11-01
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： YASUHARA KEN , ENDO YOSUKE
IPC分类号： A61H3/00 , A63B21/065 , A63B23/04 , B25J11/00
摘要： PROBLEM TO BE SOLVED: To provide a device capable of assisting walking movement while stabilizing the movement of a posture of a wearer by taking account of linkage of respective movement states of a pair of left/right leg bodies of the wearer.SOLUTION: When a control device 14 applies assist force in an extension direction of one leg body in a standing state and applies assist force in a bending direction of the other leg body in an idling state, a walking movement assist device 10 adjusts respective lengths of a first specified period t=t0-t1 where one assist force is stronger than the other assist force, and a second specified period t=t1-t2 that continues from the first specified period and where the other assist force is stronger than the one assist force.
摘要翻译：要解决的问题：提供一种能够通过考虑到穿着者的左右一对腿体的各自的运动状态的联动来稳定穿着者的姿势的运动而能够辅助步行动作的装置。解决方案：当控制装置14在站立状态下在一个腿体的延伸方向上施加辅助力，并且在怠速状态下在另一腿体的弯曲方向上施加辅助力，步行动作辅助装置10调整第一规定期间 t = t0-t1，其中一个辅助力比另一个辅助力强，并且第二规定时段t = t1-t2，其从第一指定时段开始，另一个辅助力比一个辅助力更强。

3. 发明专利

JP2010075213A Rehabilitation apparatus and method for controlling the same 有权
标题翻译：康复装置及其控制方法
公开(公告)号：JP2010075213A
公开(公告)日：2010-04-08
申请号：JP2008243440
申请日：2008-09-23
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： SHIMADA KEI , YASUHARA KEN , IDO TETSUYA , WAKITA SHUICHI
IPC分类号： A61H3/00 , A61H1/02 , A63B22/02 , A63B23/04
CPC分类号： A61B5/1038 , A61B5/0476 , A61B5/14532 , A61B5/14553 , A61B5/4528 , A61B6/037 , A61F5/0102 , A61H1/0255 , A61H3/00 , A61H3/008 , A61H2201/0192 , A61H2201/1215 , A61H2201/1623 , A61H2201/163 , A61H2201/164 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/168 , A61H2201/5061 , A61H2201/5069 , A61H2230/10
摘要： PROBLEM TO BE SOLVED: To reorganize the brain tissue of a patient with impaired brain tissue due to cerebral infarction or apoplexy or the like especially by obtaining the effect of neural rehabilitation under efficient rehabilitation. SOLUTION: The output of the actuator of a walking support apparatus 1 is controlled so as to obtain a floor reaction force pattern for which floor reaction force during normal walking is a norm, and a joint moment is imparted to the lower limb joint of an apparatus wearing person by the walking support apparatus. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：重组脑梗死或中风等脑损伤的患者的脑组织，特别是通过在有效康复下获得神经康复的效果。解决方案：控制步行支撑装置1的致动器的输出，以获得在正常步行期间的地面反作用力为标准的地板反作用力图案，并且将接合力矩赋予下肢接头由步行支撑装置穿戴的人的装置。版权所有（C）2010，JPO＆INPIT

4. 发明专利

JP2009095427A Motion assisting device 有权
标题翻译：运动辅助装置
公开(公告)号：JP2009095427A
公开(公告)日：2009-05-07
申请号：JP2007268314
申请日：2007-10-15
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： YASUHARA KEN , SHIMADA KEI , ENDO YOSUKE
IPC分类号： A61H3/00 , A63B22/02 , A63B23/04 , A63B24/00
CPC分类号： A61H1/0244 , A61H3/00 , A61H3/008 , A61H2201/1215 , A61H2201/1616 , A61H2201/1628 , A61H2201/1635 , A61H2201/164 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5069 , A63B21/4011 , A63B23/04 , B25J9/0006
摘要： PROBLEM TO BE SOLVED: To provide a device for assisting the periodic motion of an animal such as a human being by applying force with suitable strength to the animal in order to match respective rhythm and scale of the periodic motion of the animal with the target motion rhythm and the target motion scale, respectively, while reducing the load of an arithmetic processing. SOLUTION: According to this motion assisting device 10, a value of a term or a coefficient included in a simultaneous differential equation of a state variable u i which defines a second model for generation of a second vibrator ξ 2 is adjusted through an adjuster 14. The second vibrator ξ 2 is generated according to the adjusted second model, and periodically changing torque T applied to a human being P is controlled according to the second vibrator ξ 2 . Thus, the periodic motion can be assisted by applying force which can match the scale and rhythm of the periodic motion of the human being P with the target motion scale and the target motion rhythm, respectively. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于通过向动物施加适当强度的力来辅助诸如人的动物的周期性运动的装置，以便将动物的周期性运动的各个节奏和比例与目标运动节奏和目标运动标度，同时减少运算处理的负载。
解决方案：根据该运动辅助装置10，包括在状态变量u i 的同时微分方程中的项或系数的值，其定义用于生成第二个通过调节器14调整振动器ξ 2 。根据调整后的第二模型生成第二振动器ξ 2 ，周期性地改变施加于人P的扭矩T 根据第二振动器ξ 2 进行控制。因此，可以通过施加能够将人P的周期运动的比例和节奏与目标运动标度和目标运动节奏相匹配的力来辅助周期运动。版权所有（C）2009，JPO＆INPIT

5. 发明专利

JP2009095426A Motion assisting device 有权
标题翻译：运动辅助装置
公开(公告)号：JP2009095426A
公开(公告)日：2009-05-07
申请号：JP2007268304
申请日：2007-10-15
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： YASUHARA KEN , SHIMADA KEI , ENDO YOSUKE
IPC分类号： A61H3/00 , A63B71/06
摘要： PROBLEM TO BE SOLVED: To provide a device for assisting the periodic motion of an animal such as a human being by applying force with suitable strength to the animal in order to match the motion scale of the animal with the target motion scale regardless of whether the rhythm of the periodic motion of the animal is fast or slow. SOLUTION: According to a motion assisting device 10, a second model is corrected such that the value of a motion variable ζ as a function of the amplitude (motion scale) of the periodic motion of a human being P approaches a target value ζ 0 . A second vibrator is generated according to the corrected second model, and periodic force (torque) applied to the human being P is controlled according to the second vibrator. Thus, regardless of whether the rhythm of the periodic motion of the human being P is fast or slow, the periodic motion can be assisted by applying force with suitable strength to the human being P in order to match his or her motion scale (length of stride, for example) with the target motion scale. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于通过向动物施加适当强度的力来辅助诸如人的动物的周期性运动的装置，以便使动物的运动规模与目标运动标度相匹配动物周期运动的节奏是快还是慢。解决方案：根据运动辅助装置10，校正第二模型，使得作为人的P的周期运动的幅度（运动尺度）的函数的运动变量ζ的值接近目标值 ζ 0 。根据校正的第二模型产生第二振动器，并且根据第二振动器控制施加到人P的周期力（扭矩）。因此，无论人类P的周期运动的节奏是快还是慢，可以通过向人P施加适当强度的力来辅助周期运动，以便匹配他或她的运动尺度例如，步进）与目标运动标度。版权所有（C）2009，JPO＆INPIT

6. 发明专利

JP2012245212A Walking assist device 有权
标题翻译：跑步助手装置
公开(公告)号：JP2012245212A
公开(公告)日：2012-12-13
申请号：JP2011120202
申请日：2011-05-30
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： ENDO YOSUKE , YASUHARA KEN
IPC分类号： A61H3/00 , B25J13/00
摘要： PROBLEM TO BE SOLVED: To provide a device for assisting a walking motion of a human being while equalizing right and left motion patterns of the human being.SOLUTION: A walking assist device evaluates the degree of asymmetry s between a left motion oscillator φ, which is a waveform signal indicative of the time-dependent change form of an output of a left hip joint angle sensor 202L, and a right motion oscillator φ, which is a waveform signal indicative of the time-dependent change form of an output of a right hip joint angle sensor 202R. In order to reduce the degree of asymmetry, the value of at least one of a left bending coefficient c, a left stretching coefficient, a right bending coefficient c, and a right stretching coefficient cis adjusted.
摘要翻译：要解决的问题：提供一种用于辅助人的步行运动的装置，同时平衡人的左右运动模式。解决方案：行走辅助装置评估左运动振荡器φ L 之间的不对称程度，左运动振荡器是指示时间相关变化形式的波形信号左髋关节角度传感器202L的输出和右运动振子φ R ，其是指示右髋输出的时间依赖性变化形式的波形信号关节角传感器202R。为了减小不对称程度，左侧弯曲系数c L + 中的至少一个的值，左侧拉伸系数 cL- / SB>，调整右侧弯曲系数c R + ，右侧拉伸系数c R - 。版权所有（C）2013，JPO＆INPIT

7. 发明专利

JP2012210478A Rehabilitation device and method for controlling the same 有权
标题翻译：康复装置及其控制方法
公开(公告)号：JP2012210478A
公开(公告)日：2012-11-01
申请号：JP2012163458
申请日：2012-07-24
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： SHIMADA KEI , YASUHARA KEN , IDO TETSUYA , WAKITA SHUICHI
IPC分类号： A61H1/02
摘要： PROBLEM TO BE SOLVED: To reorganize a brain tissue of a patient who suffers from disorder in the brain tissue due to especially cerebral infarction or stroke by having an effect of nuro-rehabilitation under effective rehabilitation.SOLUTION: An output of an actuator of a walking support device 1 is controlled so as to obtain a floor reaction force with a floor reaction force in normative walking as the norm so that the walking support device imparts joint moment to a lower limb joint of the patient with the device mounted.
摘要翻译：要解决的问题：通过在有效康复下具有神经康复效果，重组由于特别是脑梗死或中风而在脑组织中受到紊乱的患者的脑组织。解决方案：步行支撑装置1的致动器的输出被控制以便以标准行走中的地板反作用力获得地板反作用力作为标准，使得步行支撑装置向下肢施加关节力矩病人与装置的关节。版权所有（C）2013，JPO＆INPIT

8. 发明专利

JP2008253804A Exercise management system 审中-公开
标题翻译：练习管理系统
公开(公告)号：JP2008253804A
公开(公告)日：2008-10-23
申请号：JP2008180646
申请日：2008-07-10
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： HIRATA TAKASHI , YASUHARA KEN , SHIMADA KEI
IPC分类号： A63B24/00 , A63B22/06 , A63B23/04 , A63B69/00
CPC分类号： A61H1/0262 , A61H3/00 , A61H2201/1215 , A61H2201/163 , A61H2201/1676 , A61H2201/5097
摘要： PROBLEM TO BE SOLVED: To provide a system for managing the exercise of an animal such as a man to train the animal to exercise in an adequate scale and rhythm while achieving the harmony of motion of two devices for guiding the animal and the exercise of the animal in different forms. SOLUTION: The exercise management system 1 regulates the speed of walking exercise of a user by the operation of a treadmill (a first exercise guide device) 10, and guides the walking exercise of the user while adjusting the exercise scale with rhythm in harmony with the exercise rhythm of the animal by the operation of a walking exercise guide device 20 (a second exercise guide device). At this time, the operation of the walking exercise guide device 20 is controlled based on the walking speed v (a walking rate p as needed). Accordingly, the user can be trained to do the walking exercise in the adequate scale and rhythm while achieving the harmony of the walking exercise of the user, the operation of the treadmill 10, and the operation of the walking exercise guide device 20. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于管理诸如人的动物的锻炼的系统，以训练动物以足够的规模和节奏运动，同时实现用于引导动物的两个装置的运动的和谐和以不同形式锻炼动物。解决方案：运动管理系统1通过运行跑步机（第一运动导引装置）10来调节用户的行走速度，并且在用节奏调节运动量表的同时引导用户的步行锻炼通过步行运动导向装置20（第二运动导向装置）的操作与动物的运动节奏和谐。此时，基于步行速度v（需要的行走速度p）来控制步行锻炼引导装置20的动作。因此，可以训练用户以足够的规模和节奏进行步行练习，同时实现用户的步行锻炼，跑步机10的操作和步行锻炼引导装置20的操作的和谐。
版权所有（C）2009，JPO＆INPIT

9. 发明专利

JP2004073649A Control system for walking aid 有权
公开(公告)号：JP2004073649A
公开(公告)日：2004-03-11
申请号：JP2002240699
申请日：2002-08-21
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： YASUHARA KEN , MIYAKE YOSHIHIRO
IPC分类号： A63B23/04 , A61H1/02 , A61H3/00 , A63B71/06
CPC分类号： A61H3/008 , A61B5/112 , A61B5/1122 , A61B5/4528 , A61H1/0237 , A61H1/024 , A61H1/0244 , A61H1/0255 , A61H1/0266 , A61H3/00 , A61H2003/007 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/1664 , A61H2201/1676 , A61H2201/5007 , A61H2201/5069 , A61H2201/5079 , A63B2069/0031 , A63B2220/16 , A63B2220/30 , A63B2220/40 , A63B2220/803 , A63B2230/00 , A63B2230/06 , A63B2230/20 , A63B2230/42 , B25J9/0006 , B25J9/161
摘要： PROBLEM TO BE SOLVED: To provide a system capable of controlling an autonomous walking support rhythm while following up a change in a walking rhythm of a walker.
SOLUTION: In a control system 100, a first vibrator (x) to be mutually pulled in with a walking vibrator (coxal angular velocity)
ψH ' is generated while being reflected with an intrinsic angular velocity. Besides, a new intrinsic angular velocity ω
m g is determined based upon the deviation of a first phase difference θ
HM between the first vibrator (x) and the walking vibrator
ψH ' from an optimal phase difference θd. Further, a second vibrator (y) to be mutually pulled in with the walking vibrator
ψH while being reflected with the intrinsic angular velocity ω
m and having a second phase difference θ
hm closer to the optimal phase difference θ
d rather than the first phase difference θ
HM with respect to the walking vibrator
ψH 'is generated. Then, a walking support vibrator (application torque to the walker by a walking aid 200) T is generated based upon the second vibrator (y) and the walking vibrator (coxal angular velocity)
ψH .
COPYRIGHT: (C)2004,JPO

10. 发明专利

JP2013111408A Walking assist device 有权
标题翻译：跑步助手装置
公开(公告)号：JP2013111408A
公开(公告)日：2013-06-10
申请号：JP2011263045
申请日：2011-11-30
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： YASUHARA KEN
IPC分类号： A61H3/00 , B25J13/08
CPC分类号： A61H3/00 , A61H1/0244 , A61H2201/1207 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5007 , A61H2201/5069 , A61H2201/5092 , G05B2219/45108
摘要： PROBLEM TO BE SOLVED: To provide a walking assist device capable of operating at an appropriate cycle in view of the motion cycle of a person to be assisted, while reducing the number of control parameters necessary for adjustment and setting.SOLUTION: A second oscillator phase φ, which provides the basis for controlling the cyclic operation phase of each actuator 16, is calculated by obtaining its deviation from a first oscillator phase φindicating the cyclic motion phase of each thigh relative to the upper body of a user, and by using an intrinsic angular velocity ω. The current intrinsic angular velocity ω(k) is set by correcting its previous intrinsic angular velocity ω(k-1) by an amount depending on the deviation δφ(k-1) previously found between the first oscillator phase φand the second oscillator phase φ, so that the deviation δφ(k-1) can approach a target deviation δφ.
摘要翻译：要解决的问题：提供一种能够考虑到待辅助人的运动周期以适当的周期进行操作的步行辅助装置，同时减少调整和设置所需的控制参数的数量。解决方案：通过获得与第一振荡器相位的偏差来计算提供控制每个致动器16的循环运行相位的基础的第二振荡器相位φ 2 指示每个大腿相对于使用者的上半身的循环运动相位，并且通过使用固有角速度ω的 1 。通过将先前的固有角速度ω（k-1）校正到先前在第一振荡器相位φSB SB =“0”之间的偏差δφ（k-1）的量的量来设定当前固有角速度ω（k） POST“> 1 和第二振荡器相位φ 2 ，使得偏差δφ（k-1）可以接近目标偏差δφ 0 。版权所有（C）2013，JPO＆INPIT

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