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11. 发明申请

US20200060600A1 METHOD FOR EVALUATING MUSCULAR STRENGTH CHARACTERISTICS 审中-公开
公开(公告)号：US20200060600A1
公开(公告)日：2020-02-27
申请号：US16505636
申请日：2019-07-08
申请人： Honda Motor Co.,Ltd.
发明人： Toru Takenaka , Yasushi Ikeuchi , Hiroshi Uematsu , Koji Akatsuka
IPC分类号： A61B5/22 , A61B5/00
摘要： Provided is a method for evaluating muscle strength characteristics of a limb based on a muscle group model including a first pair of antagonistic one-joint muscles, a second pair of antagonistic one-joint muscles, and a pair of antagonistic two-joint muscles, where the limb has a first rod having a proximal end supported by a first joint and a second rod supported on a free end of the first rod through a second joint. The method includes: measuring a maximum output of a free end of the second rod in at least one predetermined direction; measuring orbiting outputs of the free end of the second rod in all directions in the plane; and creating a hexagonal maximum output distribution corresponding to a contribution amount of each muscle of the muscle group model based on the maximum output in the predetermined direction and the orbiting outputs.

12. 发明授权

US10548755B2 Motion assist device 有权
公开(公告)号：US10548755B2
公开(公告)日：2020-02-04
申请号：US15790459
申请日：2017-10-23
申请人： HONDA MOTOR CO., LTD.
发明人： Toru Takenaka , Kei Shimada
IPC分类号： A61F5/01 , A61H3/00 , A61H1/02
摘要： Provided is a motion assist device that can minimize the number of actuators that are required for assisting a certain mode of motion of the user while allowing a greater freedom of motion beside from the motion which the motion assist device is designed to assist. A power transmission mechanism for the device includes a belt drive mechanism which is incorporated with a differential mechanism.

13. 发明授权

US10112675B2 Mobile body 有权
公开(公告)号：US10112675B2
公开(公告)日：2018-10-30
申请号：US15060024
申请日：2016-03-03
申请人： HONDA MOTOR CO., LTD.
发明人： Toru Takenaka , Kazushi Akimoto , Yuichi Uebayashi , Shinya Shirokura , Tomohiro Kawakami , Makoto Araki
IPC分类号： B62K21/00 , B62K5/08 , B62K5/10 , B60L15/20 , B62K5/01 , B62K5/05 , B62K21/18
摘要： A control device (60) of a mobile body (1) calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction from a prescribed reference position with respect to a vehicle body (2), and determines a control input for an actuator (15) which can cause a moment in the roll direction to act on the vehicle body (2) so as to reduce the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value. The control device (60) controls the actuator (15) in accordance with the control input.

14. 发明授权

US09914461B2 Vehicle roll angle estimation device 有权
公开(公告)号：US09914461B2
公开(公告)日：2018-03-13
申请号：US14662816
申请日：2015-03-19
申请人： HONDA MOTOR CO., LTD.
发明人： Satoru Okoshi , Toru Takenaka , Shinya Shirokura
IPC分类号： B60W40/112 , G01B21/22 , G01P21/00 , B60W50/00
CPC分类号： B60W40/112 , B60W2050/002 , B60W2300/36 , B60W2520/10 , B60W2520/105 , B60W2520/125 , B60W2520/14 , B60W2520/16 , B60W2520/18 , G01B21/22 , G01P21/00
摘要： A device that can stably and accurately estimate the roll angle of a vehicle body during various states of movement of the vehicle body. A roll angle estimated value calculation portion calculates an estimated value of the roll angle by integrating a value obtained by correcting an estimated value of roll angle velocity of a vehicle body by use of a correction value, or by correcting a value obtained by integrating an estimated value of roll angle velocity by use of a correction value. The correction value is calculated by use of a detection value of speed of the vehicle body in the traveling direction, detection values of angular velocity and acceleration detected by sensors mounted on the vehicle body, a previous estimated value of the roll angle, and a previous estimated value of the pitch angle of the vehicle body.

15. 发明授权

US09132880B2 Mobile vehicle 有权
标题翻译：移动车
公开(公告)号：US09132880B2
公开(公告)日：2015-09-15
申请号：US14135729
申请日：2013-12-20
申请人： HONDA MOTOR CO., LTD.
发明人： Toru Takenaka , Kazushi Akimoto
IPC分类号： B62D6/00 , B62K21/10
CPC分类号： B62K21/10 , B62D6/003
摘要： In a mobile vehicle 1A having a front wheel 3f and a rear wheel 3r, the steered wheel 3f can be steered by an actuator 8. A control device 15 controls the actuator 8 so as to stabilize the inclination angle φb in the roll direction of the vehicle body 2 and the steering angle δf of the steered wheel 3f. The control device 15 causes a ratio between the sensitivity of the steering of the steered wheel 3f to the change in observed value of the inclination angle φb and the sensitivity of the steering of the steered wheel 3f to the change in observed value of the steering angle δf to be changed in accordance with the traveling speed of the mobile vehicle 1A.
摘要翻译：在具有前轮3f和后轮3r的移动车辆1A中，转向轮3f可以由致动器8转向。控制装置15控制致动器8，以使倾斜角度＆b沿辊方向稳定和转向轮3f的转向角δf。控制装置15使转向轮3f的转向灵敏度与倾斜角度θ的观测值的变化和转向轮3f的转向的灵敏度相对于转向角δf根据移动车辆1A的行驶速度而变化。

16. 发明授权

US08985249B2 Inverted pendulum type vehicle 有权
标题翻译：倒立摆式车
公开(公告)号：US08985249B2
公开(公告)日：2015-03-24
申请号：US13677827
申请日：2012-11-15
申请人： Honda Motor Co., Ltd.
发明人： Shinya Shirokura , Hideo Murakami , Toru Takenaka
IPC分类号： B62D57/00 , B62D61/02 , B62K17/00 , B60B19/00 , B62K1/00
CPC分类号： B62D61/02 , B60B19/003 , B62D57/00 , B62K1/00 , B62K17/00 , Y02T10/7258
摘要： An inverted pendulum type vehicle having a tiltable rider mounting section includes a first travel operation unit and a second travel operation unit, which are disposed with an interval provided therebetween in the longitudinal direction and which are capable of traveling in all directions, and an operation device which outputs a turn command. In the case where the turn command is output from the operation device in a situation wherein at least the first travel operation unit is traveling in the longitudinal direction or at rest, the moving velocity of the ground contact point of the first travel operation unit and the moving velocity of the ground contact point of the second travel operation unit in the lateral direction of a rider are controlled to have velocities that are different from each other.
摘要翻译：一种具有可倾斜骑行者安装部的倒立式车辆，包括：第一行驶操作单元和第二行驶操作单元，其沿长度方向设置在它们之间并能够在各个方向上行进的间隔;以及操作装置其输出转弯指令。在至少第一行驶操作单元在长度方向或静止时行驶的情况下，从操作装置输出转向指令的情况下，第一行驶操作单元的接地点的移动速度和第二行驶操作单元的地面接触点在骑车人的横向上的移动速度被控制为具有彼此不同的速度。

17. 发明申请

US20140284899A1 MOBILE VEHICLE 有权
标题翻译：移动车
公开(公告)号：US20140284899A1
公开(公告)日：2014-09-25
申请号：US14220686
申请日：2014-03-20
申请人： HONDA MOTOR CO., LTD.
发明人： Toru Takenaka , Hiroshi Gomi , Hiroyuki Makino , Kazushi Akimoto , Naoyuki Saito
IPC分类号： B62K21/02 , B62K21/12
CPC分类号： B62K21/12 , B62K21/00 , B62K21/18 , B62K21/22
摘要： A two-wheeled vehicle 1 includes a steering section 6 which steers a front wheel 4. The steering section includes a steering shaft link 13 which turns about a first steering axis 10 together with a second steering axis 11, a front-wheel support section 14 which turns the front wheel 4 about the second steering axis 11, and a first motor 15 which causes the steering shaft link 13 to turn. A caster angle θ based on the first steering axis 10 is positive or 0. A trail t1 based on the second steering axis 11 is positive. When the two-wheeled vehicle 1 is in a basic posture state on a ground surface 12, the intersection point P3 of the second steering axis 11 and the ground surface 12 lies in front of the intersection point P2 of the first steering axis 10 and the ground surface 12.
摘要翻译：两轮车辆1包括转向前轮4的转向部分6.转向部分包括转向轴连杆13，转向轴连杆13与第二转向轴11一起转动第一转向轴10，前轮支撑部分14 使前轮4绕第二转向轴11转动，第一电动机15使转向轴连杆13转动。施法者角度＆thetas; 基于第一转向轴线10为正或0.基于第二转向轴11的轨迹t1为正。当两轮车1在地面12上处于基本姿势状态时，第二转向轴11与地面12的交点P3位于第一转向轴10的交点P2的前方，地面12。

18. 发明申请

US20140265224A1 MOBILE VEHICLE 有权
标题翻译：移动车
公开(公告)号：US20140265224A1
公开(公告)日：2014-09-18
申请号：US14199363
申请日：2014-03-06
申请人： HONDA MOTOR CO., LTD.
发明人： Toru Takenaka , Kazushi Akimoto , Hiroshi Gomi , Yusuke Yamamoto , Takashi Kudo , Makoto Araki , Yoshiki Takahashi
IPC分类号： B62K23/00 , B62K21/00
CPC分类号： B62K21/10
摘要： A mobile vehicle 1A includes a front-wheel support mechanism 4 having a trail adjustment mechanism 9, a steering actuator 8 which generates a steering force for steering a front wheel 3f, a trail adjustment actuator 15 which generates a driving force for changing a trail of the front wheel 3f, and a control device 50. The control device 50 has a function of controlling the steering actuator 8 so as to stabilize the posture of a vehicle body 2, and a function of controlling the trail adjustment actuator 15 in accordance with an observed value of the vehicle speed.
摘要翻译：移动车辆1A包括具有轨道调整机构9的前轮支撑机构4，产生用于转向前轮3f的转向力的转向致动器8，产生用于改变前轮3f的轨迹的驱动力的行驶调节致动器15 前轮3f和控制装置50.控制装置50具有控制转向促动器8以使车体2的姿势稳定的功能，以及根据本发明的控制装置车速观测值。

19. 发明授权

US11246521B2 Method for evaluating muscular strength characteristics 有权
公开(公告)号：US11246521B2
公开(公告)日：2022-02-15
申请号：US16505636
申请日：2019-07-08
申请人： Honda Motor Co., Ltd.
发明人： Toru Takenaka , Yasushi Ikeuchi , Hiroshi Uematsu , Koji Akatsuka , Tomoyuki Shimono , Takahiro Fujishiro , Yu Goto
IPC分类号： A61B5/22 , A61B5/00 , A61B5/11
摘要： Provided is a method for evaluating muscle strength characteristics of a limb based on a muscle group model including a first pair of antagonistic one-joint muscles, a second pair of antagonistic one-joint muscles, and a pair of antagonistic two-joint muscles, where the limb has a first rod having a proximal end supported by a first joint and a second rod supported on a free end of the first rod through a second joint. The method includes: measuring a maximum output of a free end of the second rod in at least one predetermined direction; measuring orbiting outputs of the free end of the second rod in all directions in the plane; and creating a hexagonal maximum output distribution corresponding to a contribution amount of each muscle of the muscle group model based on the maximum output in the predetermined direction and the orbiting outputs.

20. 发明授权

US10786417B2 Motion assist device 有权
公开(公告)号：US10786417B2
公开(公告)日：2020-09-29
申请号：US15134725
申请日：2016-04-21
申请人： HONDA MOTOR CO., LTD.
发明人： Kei Shimada , Toru Takenaka
IPC分类号： A61H3/00 , A61H1/02
摘要： A motion assist device for assisting a motion such as a walking motion of a user includes: a pair of femoral part support units (3L, 3R) configured to be worn by two femoral parts of a user, a single power source (4, 70) for producing power and a power transmission unit (20; 60; 91, 92) for transmitting the power of the power source to the femoral part support units as an opposite phase motion, wherein the power transmission unit includes a differential unit (22; 63, 64; 93, 94) for accommodating a same phase motion of the two femoral part support units. The device may further include a control unit (5) configured to actuate the power source when the femoral part support units are undergoing the opposite phase motion, and to keep the output end of the power source stationary when the femoral part support units are undergoing the same phase motion.

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