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1. 发明专利

JP2010194302A Walking assist device 有权
标题翻译：跑步助手装置
公开(公告)号：JP2010194302A
公开(公告)日：2010-09-09
申请号：JP2010008089
申请日：2010-01-18
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： ASHIHARA ATSUSHI , MATSUOKA YOSHIHISA
IPC分类号： A61H3/00
摘要： PROBLEM TO BE SOLVED: To provide a walking assist device in which the amount by which a joint portion corresponding to a knee joint protrudes forward from the body trunk of a user can be reduced.
SOLUTION: The walking assist device is provided with a first link 22 coupled swingably centering on a rocking fulcrum (curvature center 32a), and a second link 26 coupled to the first link via a second joint portion (third joint portion 30), to a support member 10 capable of supporting a user via a first joint portion and transmitting a load, and the device assists user's walking by relatively displacing the first and second links by actuating an actuator when a user is supported by the support member. The device is provided with a distance reducing mechanism 70 comprising a gear fixed to a slider and a gear coupled to an actuator, thereby, as an angle which the first and second links make centering the second joint portion decreases, a distance d from the second joint portion to the rocking fulcrum is reduced.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种行走辅助装置，其中可以减少对应于膝关节的关节部分从使用者的身体躯干突出的量。解决方案：步行辅助装置设置有以摆动支点（曲率中心32a）为中心摆动地联接的第一连杆22和经由第二接合部（第三接头部30）联接到第一连杆的第二连杆26，到能够经由第一接合部分支撑用户并传送负载的支撑构件10，并且当用户被支撑构件支撑时，该装置通过致动致动器来相对移动第一和第二链节来辅助用户的行走。该装置设置有距离减小机构70，其包括固定到滑块的齿轮和联接到致动器的齿轮，从而作为第一和第二连杆使得第二关节部分对中的角度减小距离第二与摆动支点的关节部分减少。版权所有（C）2010，JPO＆INPIT

2. 发明专利

JP2010110465A Ankle joint structure for walking aids 有权
标题翻译：用于殴打艾滋病的ANKLE JOINT结构
公开(公告)号：JP2010110465A
公开(公告)日：2010-05-20
申请号：JP2008285547
申请日：2008-11-06
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： ASHIHARA ATSUSHI , NODA TATSUYA , KUDO HIROSHI , IKEUCHI YASUSHI , HIMOKU YUTAKA
IPC分类号： A61H3/00
CPC分类号： A61H3/008 , A61F5/0127 , A61H3/00 , A61H2201/1215 , A61H2201/1436 , A61H2201/1623 , A61H2201/1633 , A61H2201/1635 , A61H2201/1642 , A61H2201/165 , A61H2201/1671 , A61H2201/1676 , A61H2201/5061 , A61H2201/5071 , B25J9/0006
摘要： PROBLEM TO BE SOLVED: To provide an ankle joint structure in walking aids that appropriately follows the movements of a user's sole and prevents his feeling of discomfort. SOLUTION: The ankle joint part 7 includes a pivot member 71 that can freely turn a ground contact part 8 around a leg link 2, a laterally turning shaft member 72 that can laterally, freely turn the ground contact part 8 around the leg link 2, and a forward/back turning shaft member 73 that can freely turn the ground contact part 8 in the forward/back directions of the leg link 2. The pivot member 71 is connected with the leg link 2, the forward/back turning shaft member 73 is connected with the ground contact part 8, and the lateral turning shaft member 72 is arranged between the pivot member 71 and the forward/back turning shaft member 73. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供适当地跟随使用者鞋底的运动的行走辅助装置中的踝关节结构，并防止他的不适感。解决方案：踝关节部分7包括枢转构件71，该枢转构件71能够使接地部分8围绕腿连杆2自由转动;横向转动轴构件72，横向转动轴构件72可横向自由地使接地部分8绕腿部转动连杆2以及能够沿着腿连杆2的前后方向自由地转动接地部8的前后回转轴构件73.枢转构件71与腿连杆2连接，前后转动轴构件73与接地部8连接，侧向转动轴构件72配置在枢转构件71和前后转向轴构件73之间。（C）2010，JPO＆INPIT

3. 发明专利

JP2006187348A Body weight load reduction assisting device and body weight load reduction assisting program 有权
标题翻译：身体重量减轻辅助装置和身体重量减轻辅助程序
公开(公告)号：JP2006187348A
公开(公告)日：2006-07-20
申请号：JP2004382093
申请日：2004-12-28
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： ASHIHARA ATSUSHI , ENDO YOSUKE , IKEUCHI YASUSHI , HIMOKU YUTAKA , TAKENAKA TORU
IPC分类号： A61H3/00
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： PROBLEM TO BE SOLVED: To provide a lightweight body weight load reduction assisting device capable of reducing burden to the leg while reducing restriction to the leg of a user, and a body weight load reduction assisting program. SOLUTION: The body weight load reduction assisting device 1A is equipped with a body mount part 10 to be mounted on the body of the user P, a leg mount part 30L to be mounted on the leg of the user P so as to touch the ground, a leg link part 20L for connecting the body mount part 10 and the leg mount part 30L via a plurality of joint parts 21L, 23L, 25L, actuators 21aL, 23aL for driving the joint parts 21L, 23L, a control part for controlling driving of the actuators 21aL, 23aL, and a load sensor for detecting the load to the user P applied to the leg link part 20L via the body mount part 10. The control part drives the actuators 21aL, 23aL so that the leg link part 20L gives a body weight load reduction assisting strength to the user P via the body mount part 10. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种轻量化的体重减轻辅助装置，其能够减轻腿部的负担，同时减少对使用者的腿部的限制，以及体重负荷减轻辅助程序。解决方案：体重减轻辅助装置1A配备有安装在使用者P的身体上的身体安装部10，安装在使用者P的腿部上的腿部安装部30L，接触地面，用于经由多个接合部21L，23L，25L，用于驱动接合部21L，23L的致动器21aL，23aL连接主体安装部10和腿安装部30L的腿连杆部20L，控制部用于控制致动器21aL，23aL的驱动和用于检测通过主体安装部10施加到腿连杆部20L的用户P的负载的负载传感器。控制部驱动致动器21aL，23aL，使得腿连杆第20L部分通过主体安装部分10给予使用者P的体重负荷减轻辅助强度。（C）版权所有（C）2006，JPO＆NCIPI

4. 发明专利

JP2006061460A Controller of walking assistant apparatus 有权
标题翻译：运动助手装置控制器
公开(公告)号：JP2006061460A
公开(公告)日：2006-03-09
申请号：JP2004248167
申请日：2004-08-27
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： ASHIHARA ATSUSHI
IPC分类号： A61H3/00
CPC分类号： A61F5/0102 , A61H1/024 , A61H1/0244 , A61H1/0255 , A61H3/00 , A61H2201/0157 , A61H2201/0173 , A61H2201/0176 , A61H2201/1215 , A61H2201/1623 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5007 , A61H2201/5061 , A61H2230/605
摘要： PROBLEM TO BE SOLVED: To provide a controller of a walking assistant apparatus for securing handling of an instinctive action by a user when he/she encounters an unexpected situation such as stumbling. SOLUTION: This controller of the walking assistant apparatus for adding assistance force to the movement of the leg parts of the user by arranging torque generation means (torque actuators TA1 and TA2) at positions corresponding to at least one of the hip joints and the knee joint of the user comprises abnormality detection means (a myoelectricity sensor 31, a threshold 37 and a comparing circuit 36) for detecting abnormality in a walking state, and comprises a switching means (a judgment circuit 38) of a normal time operation mode (a normal mode 39) for assisting movement of the user and an abnormal time operation mode (a forcedly avoiding mode of falling 40, a power blocking mode 41) programmed in advance. When abnormality is detected, the apparatus is switched to the abnormal time operation mode. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种步行辅助装置的控制器，用于当他/她遇到诸如绊倒的意外情况时确保用户的本能动作的处理。解决方案：用于通过将扭矩产生装置（扭矩致动器TA1和TA2）设置在与至少一个髋关节和用户的膝关节包括用于检测步行状态异常的异常检测装置（肌电传感器31，阈值37和比较电路36），并且包括正常时间操作模式的切换装置（判断电路38）（正常模式39）和用于预先编程的异常时间操作模式（强制避免模式40，功率阻塞模式41）。当检测到异常时，将设备切换到异常时间操作模式。版权所有（C）2006，JPO＆NCIPI

5. 发明专利

JP2009279174A Walking aid device 有权
标题翻译：行车辅助设备
公开(公告)号：JP2009279174A
公开(公告)日：2009-12-03
申请号：JP2008134085
申请日：2008-05-22
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： ASHIHARA ATSUSHI , IKEUCHI YASUSHI , FUJIHIRA TORU , NISHIMURA YOICHI , KUDO HIROSHI , HIMOKU YUTAKA , SHISHIDO MAKOTO , NODA TATSUYA , MATSUDA HIROSHI , MATSUOKA YOSHIHISA , YOKOYAMA RYUZO , NINOMIYA EIJI , KOSHIISHI TAKESHI
IPC分类号： A61H3/00
CPC分类号： A61H3/008 , A47C9/025 , A61H3/00 , A61H2201/1215 , A61H2201/1436 , A61H2201/1633 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5061 , A61H2201/5071 , B25J9/0006
摘要： PROBLEM TO BE SOLVED: To permit a user to sit on a sitting member and rest without straining the legs in an walking aid device with the sitting member 1 for the user P to sit on astride, a leg link 2 connected to the sitting member and having a joint portion 5 in the middle, and a driving source 9 driving the joint portion. SOLUTION: The walking aid device has a locking mechanism 14 locking the joint portion 5 of the leg link 2, and an operating means 15 to operate the locking mechanism 14. When an operating switch 15a forming the operating means 15 is turned on, the driving source 9 is controlled so as to increase the jacking-up power of the sitting member 1 with the amount of descent of the sitting member 1 and the rate of change of the jacking-up power of the sitting member 1 with respect to the amount of descent of the sitting member 1 is controlled so as to increase over time. When the rate of change is increased to a prescribed value, the locking mechanism 14 is operated. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了允许用户坐在坐着的人身上并休息，而不会使腿部在步行辅助装置中受伤，座位构件1用于使用者P跨越，一个腿连杆2连接到并且在中间具有接合部分5，以及驱动接合部分的驱动源9。解决方案：助行器具具有锁定腿部连杆2的接合部分5的锁定机构14和操作装置15以操作锁定机构14.当形成操作装置15的操作开关15a被打开时，驱动源9被控制，以便随着座位构件1的下降量和座椅构件1的上升功率的变化率相对于座椅构件1的上升功率的增加而增加了座位构件1的顶起力控制座椅构件1的下降量随着时间的推移而增加。当变化率增加到规定值时，操作锁定机构14。版权所有（C）2010，JPO＆INPIT

6. 发明专利

JP2009034433A Walking assisting apparatus 有权
标题翻译：跑步辅助装置
公开(公告)号：JP2009034433A
公开(公告)日：2009-02-19
申请号：JP2007202996
申请日：2007-08-03
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： ASHIHARA ATSUSHI , IKEUCHI YASUSHI , KUDO HIROSHI , HIMOKU YUTAKA , NODA TATSUYA , KOSHIISHI TAKESHI
IPC分类号： A61H3/00
CPC分类号： A61H3/008 , A61H3/00 , A61H2201/0214 , A61H2201/1215 , A61H2201/1623 , A61H2201/1633 , A61H2201/1635 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5007 , A61H2201/5061 , A61H2201/5071
摘要： PROBLEM TO BE SOLVED: To enable an electronic component which is used for the control of a driving source to be loaded on a walking assisting apparatus without spoiling its compact property in the walking assisting apparatus which is equipped with a load transmitting section, a leg link being connected with the load transmitting section, and the driving source 9 which can drive the leg link in a direction to push up a sitting member, while supporting at least a part of a user's body weight by the leg link through the load transmitting section. SOLUTION: At least a part of the leg link is constituted of a cylindrical link member 43. The electronic component 16 such as a motor driver which is used for the control of the driving source 9 is housed in the cylindrical link member 43. Also, a thermal conductive member 19 for making the cylindrical link member 43 absorb the heat of the electronic component 16 is installed. The thermal conductive member 19 is thermally connected with the side plate section 43a of the cylindrical member 43 which faces the opposite side from the user's leg. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题为了使用于驱动源的控制的电子部件能够装载在行走辅助装置上，而不会在装备有负载传递部的步行辅助装置中破坏其紧凑性，与负载传递部连接的腿部连杆，以及能够沿着向上推动坐姿部件的方向驱动腿部连杆的驱动源9，同时通过腿部连杆支撑用户体重的至少一部分，发送部分。解决方案：腿连杆的至少一部分由圆柱形连杆构件43构成。用于驱动源9的控制的诸如马达驱动器的电子部件16容纳在圆筒形连杆构件43中此外，安装用于使圆筒形连杆构件43吸收电子部件16的热量的导热构件19。导热构件19与圆筒构件43的与使用者的腿相对的侧板部43a热连接。版权所有（C）2009，JPO＆INPIT

7. 发明专利

JP2008073506A Walking assistance device 有权
标题翻译：行车辅助装置
公开(公告)号：JP2008073506A
公开(公告)日：2008-04-03
申请号：JP2007135579
申请日：2007-05-22
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： ASHIHARA ATSUSHI
IPC分类号： A61H3/00
CPC分类号： A61F5/0102
摘要： PROBLEM TO BE SOLVED: To provide a walking assistance device having a seat member 1 on which a user seats like striding across it and a pair of right and left leg links 5, 5 supporting the seat member 1 from below, and to inhibit rolling the seat member 1 at the center of a support shaft 32 as a supporting point of swinging in the horizontal direction of the leg link 5 where each leg link 5 is swingably connected to the seat member 1 in the horizontal direction, and improve the stability of the horizontal direction of the seat member 1. SOLUTION: The stopper member 11 connected to the seat member 1 is inserted between joint members 31, 31 at the upper ends of right and left leg links 5, 5 supported by the support shaft 32. Further, a constrained mechanism may be mounted to constrain the seat member in a posture orthogonal to the bisectrix of the horizontal angle of the right and left leg links. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种行走辅助装置，其具有座椅构件1，使用者在座椅构件1上跨越其座席，以及一对从下方支撑座椅构件1的左右腿连杆5,5，并且禁止将座椅构件1在支撑轴32的中心滚动，作为在腿部连杆5的水平方向上摆动的支撑点，其中每个腿连杆5在水平方向上可摆动地连接到座椅构件1，并且改善座椅构件1的水平方向的稳定性。解决方案：连接到座椅构件1的止动构件11插入在由左腿支撑件5支撑的左右腿连杆5,5的上端处的关节构件31,31之间此外，可以安装约束机构以将座椅构件以与右腿和左腿连杆的水平角度的等角线正交的姿势来约束。版权所有（C）2008，JPO＆INPIT

8. 发明专利

JP2007029633A Walking assistance device 有权
标题翻译：行车辅助装置
公开(公告)号：JP2007029633A
公开(公告)日：2007-02-08
申请号：JP2005220856
申请日：2005-07-29
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： ASHIHARA ATSUSHI , HIMOKU YUTAKA
IPC分类号： A61H3/00 , A63B23/04 , A63B23/08
摘要： PROBLEM TO BE SOLVED: To reduce moment in a forwardly tilting direction occurring in each leg link 2L and 2R when a user stands upright so as to enhance stability in the walking assistance device having the leg links connected to a load transmission section 1 via a first joint 3 by making the leg links bendable and stretchable at intermediate second joints 5 and forming each leg link into a length that enables, even when the user of the device stands upright, the leg links to be in a bent state where the second joints project forward of a standard line L2, where the standard line L2 is a line connecting the pivot 3a of swing in the front-back direction of each leg link and a third joint 7 at the lower end of the leg link. SOLUTION: A projection 42 is provided on each leg link 2L and 2R, and the projection projects in the opposite direction, in the front-back direction, to a second joint 5 relative to the standard line L2. Drive sources 9 for the second joints 5 are mounted on the projections for a front-back weight balance relative to the standard line (L2). Drive force from the drive sources 9 is transmitted to the second joints 5 through drive force transmission means 91. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：为了在使用者直立时减少在每个腿连杆2L和2R中发生的向前倾斜方向的力矩，以增强具有连接到负载传递部分1的腿部连杆的步行辅助装置的稳定性通过使第一接头3通过使腿部连杆在中间的第二接头5处可弯曲和拉伸，并且将每个腿部连杆形成为一个长度，即使当设备的使用者直立时，腿部连杆处于弯曲状态，第二接头在标准线L2的前方突出，其中标准线L2是连接在每个腿连杆的前后方向上的摆动的枢轴3a和在腿部连杆的下端连接的第三关节7的线。解决方案：在每个腿连杆2L和2R上设置突起42，并且突起在相反方向上在前后方向上相对于标准线L2突出到第二接头5。用于第二接头5的驱动源9相对于标准线（L2）安装在用于前后重量平衡的突起上。来自驱动源9的驱动力通过驱动力传递装置91被传递到第二关节5.版权所有：（C）2007，JPO＆INPIT

9. 发明专利

JP2006334200A Limb assisting device and program 有权
标题翻译： LIMB辅助设备和程序
公开(公告)号：JP2006334200A
公开(公告)日：2006-12-14
申请号：JP2005163864
申请日：2005-06-03
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： ASHIHARA ATSUSHI , HIMOKU YUTAKA
IPC分类号： A61H3/00
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： PROBLEM TO BE SOLVED: To provide a limb assisting device capable of reducing an inertia moment applied to a user. SOLUTION: This limb assisting device 1A is provided with a body-worn part 10 worn around the trunk of the user P, a thigh link part 22L connected to the body-worn part 10, a lower thigh link part 24L connected to the thigh link part 22L via a knee joint part 23L, a foot-worn part 30L connected to the lower thigh link part 24L and being worn to the foot of the user, a knee joint part actuator 42L provided to be positioned closer to the trunk side of the user P than the knee joint part 23L and generating the driving force for actuating the knee joint part 23L, a driving force transmission part 50L actuating the knee joint part 23L by the driving force generated by the knee joint part actuator 42L. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：提供能够减少施加给用户的惯性力矩的肢体辅助装置。解决方案：该肢体辅助装置1A设置有佩戴在使用者P的躯干周围的身体磨损部分10，连接到身体磨损部分10的大腿连接部分22L，连接到经由膝关节部23L的大腿连接部22L，与大腿连接部24L连接并佩戴在使用者的脚部的脚部磨损部30L，设置为靠近躯干的膝关节部致动器42L 使用者P的一侧比膝关节部23L产生用于致动膝关节部23L的驱动力，通过由膝关节部致动器42L产生的驱动力来驱动膝关节部23L的驱动力传递部50L。版权所有（C）2007，JPO＆INPIT

10. 发明专利

JP2006075254A Walking assist mounting device 有权
标题翻译：行车辅助安装装置
公开(公告)号：JP2006075254A
公开(公告)日：2006-03-23
申请号：JP2004260483
申请日：2004-09-08
申请人： Honda Motor Co Ltd , 本田技研工業株式会社
发明人： SHIMADA KEI , HIRATA TAKASHI , ASHIHARA ATSUSHI , NODA TATSUYA , IKEUCHI YASUSHI
IPC分类号： A61H3/00
摘要： PROBLEM TO BE SOLVED: To provide a walking assist mounting device capable of reducing a burden imposed on a user due to wearing of the device. SOLUTION: This walking assist mounting device comprising a waist part 1, femur parts 2, crus parts 3 and foot parts 4, having a part transmitting a force to the waist part and the foot parts of the user, and generally fixing torque generating means TA1, at least, in single positions of the hip joints and the knee joints of the user. This device is provided with first members (for example, femur connecting clips 9) locked to the leg parts of the user, second members (for example, femur supporting implements 2) receiving the power of the torque generating means, and force detecting means (axial force sensors 21) provided at connecting parts between the both first and second members. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种能够减轻由于装置的佩戴而给使用者造成的负担的行走辅助安装装置。解决方案：该行走辅助安装装置包括腰部1，股骨部件2，十字部分3和脚部4，其具有向使用者的腰部和脚部传递力的部分，并且大体上固定扭矩至少在使用者的髋关节和膝关节的单个位置产生装置TA1。该装置设置有锁定在使用者的腿部的第一构件（例如，股骨连接夹9），接收扭矩产生装置的动力的第二构件（例如，股骨支撑构件2）和力检测装置设置在第一和第二构件两者之间的连接部分处的轴向力传感器21）。版权所有（C）2006，JPO＆NCIPI

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