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    • 3. 发明公开
    • 운동 보조 장치
    • 运动辅助装置及其控制系统和控制程序
    • KR1020080046682A
    • 2008-05-27
    • KR1020087007080
    • 2006-07-12
    • 혼다 기켄 고교 가부시키가이샤
    • 야스하라켄
    • A61H3/00A63B71/06A63B69/00
    • A61H3/008A61F5/0102A61H1/0244A61H3/00A61H2201/1215A61H2201/1261A61H2201/163A61H2201/1642A61H2201/165A61H2201/1676A61H2201/5007A61H2201/5069A61H2205/10A61H2230/40A61H2230/62B25J9/0006
    • A device for assisting motion of a user in an appropriate rhythm in view point for bringing user's motion rhythm close to a target rhythm while totally harmonizing each motion rhythm of the user at different part of the body with a rhythm for assisting user's motion. The inventive walking assist device (200) generates a first motion oscillator (shoulder joint angular speed) d4S/dt, and a first oscillator x pulling each other while reflecting characteristic angular speed iM. On the other hand, a new characteristic angular speed iM is set based on the phase difference (first phase difference) HR1between the first motion oscillator d4H/dt and the first oscillator x. Furthermore, a second oscillator y oscillating in rhythm reflecting the characteristic angular speed iM is generated based on a second motion oscillator (hip joint angular speed) 4H. An assist oscillator z is generated based on the second oscillator y and a force variable F depending on the assist oscillator z acts on the body of the user.
    • 一种用于辅助用户在观看点中的适当节奏的运动的装置,用于使用户的运动节奏接近目标节奏,同时以身体的不同部分的用户的每个运动节奏与用于辅助用户运动的节奏完全协调。 本发明的步行辅助装置(200)产生第一运动振荡器(肩关节角速度)d4S / dt,以及第一振荡器x,彼此拉动,同时反映特征角速度iM。 另一方面,基于第一运动振荡器d4H / dt和第一振荡器x之间的相位差(第一相位差)HR1来设定新的特征角速度iM。 此外,基于第二运动振荡器(髋关节角速度)4H产生以反映特征角速度iM的节奏振荡的第二振荡器y。 基于第二振荡器y生成辅助振荡器z,并且取决于辅助振荡器z的力变量F作用在用户的身体上。
    • 8. 发明公开
    • 운동 유도 장치, 그 제어 시스템 및 제어 프로그램
    • 运动指导装置及其控制系统和控制程序
    • KR1020080034499A
    • 2008-04-21
    • KR1020087005510
    • 2006-07-12
    • 혼다 기켄 고교 가부시키가이샤
    • 야스하라겐
    • A63B23/04A63B71/06A61H3/00
    • A61H3/00A61H3/008A61H2201/1261A61H2201/165A61H2201/5007A61H2201/5069A61H2205/06A61H2205/10A61H2230/40A61H2230/62A63B69/0028A63B71/0686A63B2220/16A63B2220/30A63B2220/54B25J9/0006
    • A device for guiding motion of a user in an appropriate rhythm dependent on the motion rhythm even when the motion rhythm of the user varies abruptly. The inventive walking assist device (200) generates the hip joint angular speed (motion oscillator) d4H/dt of user, and a first oscillator x pulling each other by reflecting characteristic angular speed iM. On the other hand, a new characteristic angular speed iM is set based on the phase difference RHM between the hip joint angular speed d4H/dt and the first oscillator x. Furthermore, a second oscillator y oscillating in rhythm reflecting the characteristic angular speed iM is generated. A guide oscillator z is generated based on the second oscillator y and a torque depending on the guide oscillator z acts on the body of the user. When the magnitude of periodic variation in the hip joint angular speed d4H/dt exceeds a threshold value of H, a second oscillator y oscillating in rhythm reflecting the angular speed iM1 of the first oscillator x in place of the characteristic angular speed iMis generated.
    • 即使当用户的运动节奏突然变化时,用于以适当的节奏指导运动用户的运动,该运动节奏依赖于运动节奏。 本发明的步行辅助装置(200)产生用户的髋关节角速度(运动振荡器)d4H / dt,以及通过反射特征角速度iM彼此拉动的第一振动器x。 另一方面,基于髋关节角速度d4H / dt和第一振动器x之间的相位差RHM来设定新的特征角速度iM。 此外,产生以反映特征角速度iM的节奏振荡的第二振荡器y。 基于第二振荡器y生成引导振荡器z,并且取决于引导振荡器z的转矩作用于用户的主体。 当髋关节角速度d4H / dt的周期性变化的大小超过H的阈值时,产生以反映第一振荡器x的角速度iM1的节奏振荡的第二振荡器y,而不是产生特征角速度iMis。