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1. 发明申请

US20220314428A1 MOBILE-BODY MANIPULATION DEVICE AND MANIPULATION SYSTEM 有权
公开(公告)号：US20220314428A1
公开(公告)日：2022-10-06
申请号：US17605725
申请日：2020-03-18
申请人： HONDA MOTOR CO., LTD.
发明人： Toru Takenaka
IPC分类号： B25J3/04 , B25J13/02 , B25J13/04
摘要： A manipulation device 51 (master device) includes: an upper-body support part 65 which is mounted on an upper body of an operator P to be able to move together with the operator P as the operator P moves; and a movement command determination unit 94 which determines a movement control command value of a mobile body 1 (slave device) according to an observation value of a motion state including a movement speed of the upper-body support part 65 in a movement environment of the operator P. A reaction force received from the operator P by the upper-body support part 65 can be controlled by action control of a movement mechanism 52 of the manipulation device 51 and a lifting mechanism 60.

2. 发明授权

US11213450B2 Travel motion assist device 有权
公开(公告)号：US11213450B2
公开(公告)日：2022-01-04
申请号：US16761408
申请日：2018-09-25
申请人： HONDA MOTOR CO., LTD.
发明人： Ken Yasuhara , Yosuke Ikedo , Toru Takenaka
IPC分类号： A61H3/00 , A61H1/02 , B25J11/00
摘要： Provided is a travel motion assist device capable of assisting a travel motion of a user without causing any discomfort, and has a high level of versatility. A travel motion assist device includes an assist drive unit configured to be worn on a prescribed joint of the user required for the travel motion of the user, and to be driven in a corresponding manner, a torso motion detection unit configured to be worn on a torso of the user, and to detect the displacement of a center of gravity C indicating the movement of the torso, and a control unit configured to control an operation of the assist drive unit, wherein the control unit estimates a phase of the travel motion of the user according to a detection result of the torso motion detection unit, and drives the assist drive unit at a prescribed phase.

3. 发明申请

US20210251826A1 MOBILE BODY 有权
公开(公告)号：US20210251826A1
公开(公告)日：2021-08-19
申请号：US17252198
申请日：2019-04-05
申请人： HONDA MOTOR CO., LTD.
发明人： Toru Takenaka , Shinichiro Kobashi , Seiji Kato , Takeshi Echizenya , Makoto Hasegawa , Masaki Goto
IPC分类号： A61G5/04 , A61G5/10 , B62K11/00
摘要： A mobile body (1A) includes: a base body (3) tiltably assembled to a movement operation section (2) that can move on a floor surface; an occupant riding section 6 installed to the base body (3) by a connection mechanism (4); an auxiliary ground contact section 7 connected to the occupant riding section (6) and in contact with the floor surface in a slidable or rollable manner when a tilt amount of the occupant riding section (6) with respect to the floor surface increases to a predetermined amount; and a control device (80) which controls the movement of the movement operation section (2) to stabilize the attitude of the mobile body (1A). The connection mechanism (4) elastically rocks the occupant riding section (6) with respect to the base body (3) according to the movement of the center of gravity of a user P riding on the occupant riding section (6).

4. 发明授权

US10543866B2 Vehicle 有权
公开(公告)号：US10543866B2
公开(公告)日：2020-01-28
申请号：US15845454
申请日：2017-12-18
申请人： HONDA MOTOR CO., LTD.
发明人： Makoto Araki , Kazushi Akimoto , Toru Takenaka
IPC分类号： B62D5/08 , B62D5/00 , B62D6/10 , B62K21/00 , B62K11/14
摘要： A vehicle includes a vehicle frame, a steering swivel unit supported on a head pipe of the vehicle frame and angularly movable about a steering axis, a front wheel angularly movable in unison with the steering swivel unit, and an automatic steering mechanism for angularly moving the steering swivel unit, wherein the vehicle frame includes a main frame extending rearwardly from the head pipe, and the steering mechanism includes a steering motor for angularly moving the steering swivel unit, the steering motor being supported on the main frame.

5. 发明授权

US10524973B2 Movement assistance device 有权
公开(公告)号：US10524973B2
公开(公告)日：2020-01-07
申请号：US15539673
申请日：2015-12-17
申请人： HONDA MOTOR CO., LTD.
发明人： Yoshinao Sodeyama , Toru Takenaka , Hiroshi Gomi , Yosuke Ikedo , Kenichi Katagiri
IPC分类号： A61H3/00 , A61H1/02 , B25J9/00 , B25J9/12 , B25J13/08 , B25J9/10 , A61F2/68 , A61F2/70
摘要： A movement assistance device is provided with thigh frames, lower leg frames, and knee joint mechanisms which are disposed on the outer side and the inner side, respectively, of each knee of a person to be assisted. Each of the thigh frames has a first main frame, which extends in the longitudinal direction of a thigh from a base disposed on one side of the hip of the person to be assisted to the outer knee joint mechanism, a second main frame, which obliquely extends on the front side of the thigh from the base to the inner knee joint mechanism, and a body support member, which is extended between the two main frames on the rear surface side of the thigh.

6. 发明申请

US20160338897A1 WALKING ASSIST DEVICE 审中-公开
标题翻译：跑步助手装置
公开(公告)号：US20160338897A1
公开(公告)日：2016-11-24
申请号：US15155603
申请日：2016-05-16
申请人： HONDA MOTOR CO., LTD.
发明人： Toru Takenaka , Tatsuya Ishikawa , Ken Yasuhara
IPC分类号： A61H3/00 , A61H1/02
CPC分类号： A61H3/00 , A61H1/0244 , A61H2003/007 , A61H2201/1215 , A61H2201/1628 , A61H2201/164 , A61H2201/165 , A61H2201/5007 , A61H2201/5058
摘要： Provided is a walking assist device including a main frame configured to be worn by a user, a power unit mounted on the main frame, a pair of power transmission members for transmitting assist force provided by the power unit to femoral parts of the user and a control unit for controlling an operation of the power unit, wherein the control unit comprises a differential angle computation unit for computing a differential angle between angular positions of the femoral parts of the user about respective hip joints of the user; a differential angle phase computation unit for computing a differential angle phase according to the differential angle; and an assist force computation unit for computing an assist force to be applied to the user according to the differential angle phase.
摘要翻译：本发明提供一种行走辅助装置，其包括被构造成由用户佩戴的主框架，安装在主框架上的动力单元，用于将由动力单元提供的辅助力传递到用户的股骨部分的一对动力传递构件，以及控制单元，用于控制动力单元的操作，其中所述控制单元包括差角计算单元，用于计算所述用户的股骨部分的角位置之间关于所述用户的各个髋关节的角度位置; 差角相位计算单元，用于根据所述差角计算差角相位; 以及辅助力计算单元，用于根据差角相位计算要施加给用户的辅助力。

7. 发明申请

US20150321723A1 MOBILE VEHICLE 有权
标题翻译：移动车
公开(公告)号：US20150321723A1
公开(公告)日：2015-11-12
申请号：US14804774
申请日：2015-07-21
申请人： HONDA MOTOR CO., LTD.
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Akimoto , Hiroyuki Makino , Yoichi Nishimura , Taihei Setoguchi , Naoyuki Saito , Kenji Muto , Keisuke Koitabashi , Shunichi Nakabayashi
IPC分类号： B62K21/00
CPC分类号： B62K21/00
摘要： In a mobile vehicle 1 having a vehicle body 2, a front wheel 3f, and a rear wheel 3r, the steering control wheel 3f can be steered by a steering actuator 8 about a steering axis Csf which is tilted backward. The steering actuator 8 is controlled by a control device 15. The height a, from a ground surface 110, of the intersection point Ef of the steering axis Csf of the steering control wheel 3f and a virtual straight line connecting the ground contact point of the steering control wheel 3f and the center of axle of the steering control wheel 3f in a basic posture state of the mobile vehicle 1 is set to satisfy a prescribed condition.
摘要翻译：在具有车体2，前轮3f和后轮3r的移动车辆1中，转向控制轮3f可以通过转向致动器8围绕向后倾斜的转向轴Csf转向。转向致动器8由控制装置15控制。来自地面110的转向控制轮3f的转向轴线Csf的交点Ef的高度a与连接着转向控制轮3f的接地点的虚拟直线转向控制轮3f和转向控制轮3f在基本姿势状态下的轴的中心被设定为满足规定条件。

8. 发明授权

US08744688B2 Inverted pendulum type vehicle 有权
标题翻译：倒立摆式车
公开(公告)号：US08744688B2
公开(公告)日：2014-06-03
申请号：US13771412
申请日：2013-02-20
申请人： Honda Motor Co., Ltd.
发明人： Toru Takenaka , Shinya Shirokura
IPC分类号： B62K3/00 , B62D1/22 , B62H1/12 , B62K1/00 , B62K11/00 , B60B19/00 , B60B19/12 , B62D11/00 , B62D61/02 , A61G5/04
CPC分类号： B62H1/12 , A61G5/04 , A61G2203/42 , B60B19/00 , B60B19/003 , B60B19/12 , B60B19/125 , B62D1/22 , B62D11/003 , B62D61/02 , B62K1/00 , B62K11/00 , B62K11/007
摘要： An inverted pendulum type vehicle has a first travel operation unit and a second travel operation unit. A controller of the inverted pendulum type vehicle controls an actuator on the basis of a restricted desired value. The restricted desired value is obtained by restricting a basic desired value of the lateral travel velocity of the second travel operation unit by a limiting processor, the basic desired value being for bringing the actual turn angular velocity of the vehicle close to a desired value. The limit width of the limiting processor is variably set according to the actual travel velocity of the second travel operation unit.
摘要翻译：倒立摆式车辆具有第一行驶操作单元和第二行驶操作单元。倒立摆式车辆的控制器基于受限的期望值来控制致动器。通过限制处理器限制第二行驶操作单元的横向移动速度的基本期望值来获得受限制的期望值，该基本期望值用于使车辆的实际转角速度接近期望值。限制处理器的极限宽度根据第二行驶操作单元的实际行进速度可变地设定。

9. 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.

10. 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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