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1. 发明申请

US20090292232A1 WALKING ASSIST DEVICE 有权
标题翻译：跑步助手装置
公开(公告)号：US20090292232A1
公开(公告)日：2009-11-26
申请号：US12470091
申请日：2009-05-21
申请人： Jun Ashihara , Yasushi Ikeuchi , Toru Fujihira , Yoichi Nishimura , Hiroshi Kudoh , Yutaka Hiki , Makoto Shishido , Tatsuya Noda , Hiroshi Matsuda , Yoshihisa Matsuoka , Ryuzo Yokoyama , Eiji Ninomiya , Takeshi Koshiishi
发明人： Jun Ashihara , Yasushi Ikeuchi , Toru Fujihira , Yoichi Nishimura , Hiroshi Kudoh , Yutaka Hiki , Makoto Shishido , Tatsuya Noda , Hiroshi Matsuda , Yoshihisa Matsuoka , Ryuzo Yokoyama , Eiji Ninomiya , Takeshi Koshiishi
IPC分类号： A61F5/00
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： Provided is a walking assist device including a seat member, a leg link having a joint portion, and a driving source for the joint portion. The walking assist device allows a user to rest by sitting on the seat member. Accordingly, the walking assist device further includes a lock mechanism disposed in the joint portion and an operation unit for the lock mechanism. When the operation unit is switched on, the driving source is controlled to increase an up-pushing force on the seat member. A variation rate on the up-pushing force is increased with time to a given value where the lock mechanism is initiated.
摘要翻译：提供一种行走辅助装置，其包括座椅构件，具有接合部的腿连杆和用于接合部的驱动源。步行辅助装置允许使用者坐在座椅构件上休息。因此，行走辅助装置还包括设置在关节部分中的锁定机构和用于锁定机构的操作单元。当操作单元接通时，控制驱动源以增加座椅构件上的推压力。上推力的变化率随着时间增加到启动锁定机构的给定值。

2. 发明申请

US20090014042A1 WALK ASSISTANCE DEVICE 有权
标题翻译： WALK辅助装置
公开(公告)号：US20090014042A1
公开(公告)日：2009-01-15
申请号：US12064266
申请日：2007-03-30
申请人： Jun Ashihara , Yasushi Ikeuchi , Hiroshi Kudoh , Yutaka Hiki , Tatsuya Noda
发明人： Jun Ashihara , Yasushi Ikeuchi , Hiroshi Kudoh , Yutaka Hiki , Tatsuya Noda
IPC分类号： A61H3/00 , A61F2/70 , A61F2/64
CPC分类号： A61H3/008 , A61F5/01 , A61H3/00 , A61H2201/0192 , A61H2201/1215 , A61H2201/1436 , A61H2201/163 , A61H2201/165 , A61H2201/1676 , A61H2201/5061 , A61H2201/5069 , A61H2201/5071 , B25J9/0006
摘要： A walk assistance device capable of transmitting a force generated by a leg link to a user's trunk via a load transfer portion, wherein the leg link includes an upper first link portion connected to the load transfer portion via a first joint portion, a lower second link portion connected to a foot attachment portion via a second joint portion, a middle third joint portion connecting the first link portion to the second link portion such that a distance between the first joint portion and the second joint portion is variable, and a driving source that drives the third joint portion. The moment of inertia around the first joint portion of the leg link is reduced to decrease a load on the user's leg in walking. The driving source is disposed above the third joint portion of the first link portion so that the center-of-gravity of the entire leg link is located above the third joint portion. In the case where the driving source includes an electric motor and a reduction gear, the electric motor is disposed above the reduction gear.
摘要翻译：一种行走辅助装置，其能够经由载荷传递部分将由腿部连杆产生的力传递到使用者的躯干，其中所述腿部连杆包括经由第一接合部分连接到所述负载传递部分的上部第一连杆部分，所述下部第二连杆通过第二接合部分连接到脚部附接部分的部分，将第一连接部分连接到第二连接部分的中间第三关节部分，使得第一关节部分和第二关节部分之间的距离是可变的;以及驱动源，驱动第三关节部分。围绕腿连杆的第一关节部分周围的惯性力矩减小，以减少步行时使用者腿部的负荷。驱动源设置在第一连杆部分的第三关节部分的上方，使得整个腿连杆的重心位于第三关节部分的上方。在驱动源包括电动机和减速齿轮的情况下，电动机设置在减速齿轮上方。

3. 发明授权

US08968223B2 Motion assist device 有权
标题翻译：运动辅助装置
公开(公告)号：US08968223B2
公开(公告)日：2015-03-03
申请号：US13140138
申请日：2009-12-15
申请人： Yasushi Ikeuchi , Jun Ashihara , Hiroshi Matsuda
发明人： Yasushi Ikeuchi , Jun Ashihara , Hiroshi Matsuda
IPC分类号： A61H1/02 , A61H3/00
CPC分类号： A61H3/008 , A61H3/00 , A61H2201/1215 , A61H2201/1436 , A61H2201/1623 , A61H2201/1633 , A61H2201/1635 , A61H2201/1638 , A61H2201/1642 , A61H2201/165 , A61H2201/1671 , A61H2201/1676 , A61H2201/5061 , A61H2201/5069
摘要： Second joints are provided in positions where a seating unit is restrained from swinging relative to leg links due to a force acting on the seating unit from upper limb links through the intermediary of the second joints. A motion not intended by a user can be restrained from being generated due to a force acting from the upper limb links provided in the upper limbs.
摘要翻译：第二关节设置在相对于腿连杆限制座椅单元由于从上肢连杆通过第二关节的中间作用在座椅单元上的力的位置。由于来自上肢的上肢连杆的作用力，可以抑制使用者不想要的动作。

4. 发明授权

US08177733B2 Body weight support device and body weight support program 有权
标题翻译：体重支持装置和体重支持方案
公开(公告)号：US08177733B2
公开(公告)日：2012-05-15
申请号：US11794339
申请日：2005-08-11
申请人： Jun Ashihara , Yosuke Endo , Yasushi Ikeuchi , Yutaka Hiki , Toru Takenaka
发明人： Jun Ashihara , Yosuke Endo , Yasushi Ikeuchi , Yutaka Hiki , Toru Takenaka
IPC分类号： A61H1/02 , A61F5/052 , G06F19/00
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： A body weight support device of the present invention is equipped with a body attachment part attached to a user's body, a floor contact part provided contactably on a floor, a leg link part for connecting the body attachment part to the floor contact part through a joint part, an actuator for driving the joint part, and a control unit for controlling a drive of the actuator, wherein the control unit drives the actuator so that the leg link part gives a body weight support force to the user through the body attachment part.
摘要翻译：本发明的体重支撑装置配备有安装在使用者身上的身体安装部，与地板接触地设置的地板接触部，通过接合部将身体安装部连接到地板接触部的腿部连接部部件，用于驱动接合部的致动器，以及用于控制致动器的驱动的控制单元，其中，控制单元驱动致动器，使得腿连杆部通过身体安装部向使用者给出体重支撑力。

5. 发明授权

US08083695B2 Walk assistance device 有权
标题翻译：步行辅助装置
公开(公告)号：US08083695B2
公开(公告)日：2011-12-27
申请号：US12064266
申请日：2007-03-30
申请人： Jun Ashihara , Yasushi Ikeuchi , Hiroshi Kudoh , Yutaka Hiki , Tatsuya Noda
发明人： Jun Ashihara , Yasushi Ikeuchi , Hiroshi Kudoh , Yutaka Hiki , Tatsuya Noda
IPC分类号： A61H1/00 , A61F5/00
CPC分类号： A61H3/008 , A61F5/01 , A61H3/00 , A61H2201/0192 , A61H2201/1215 , A61H2201/1436 , A61H2201/163 , A61H2201/165 , A61H2201/1676 , A61H2201/5061 , A61H2201/5069 , A61H2201/5071 , B25J9/0006
摘要： A walk assistance device capable of transmitting a force generated by a leg link to a user's trunk via a load transmit portion, wherein the leg link includes an upper first link portion connected to the load transmit portion via a first joint portion, a lower second link portion connected to a foot attachment portion via a second joint portion, a middle third joint portion connecting the first link portion to the second link portion such that a distance between the first joint portion and the second joint portion is variable, and a driving source that drives the third joint portion. The moment of inertia around the first joint portion of the leg link is reduced to decrease a load on the user's leg in walking. The driving source is disposed above the third joint portion of the first link portion so that the center-of-gravity of the entire leg link is located above the third joint portion. In the case where the driving source includes an electric motor and a reduction gear, the electric motor is disposed above the reduction gear.
摘要翻译：一种行走辅助装置，其能够经由负载传递部分将由腿部链路产生的力传递到用户的躯干，其中所述腿部连杆包括经由第一关节部分连接到所述负载传送部分的上部第一连接部分，下部第二连杆通过第二接合部分连接到脚部附接部分的部分，将第一连接部分连接到第二连接部分的中间第三关节部分，使得第一关节部分和第二关节部分之间的距离是可变的;以及驱动源，驱动第三关节部分。围绕腿连杆的第一关节部分周围的惯性力矩减小，以减少步行时使用者腿部的负荷。驱动源设置在第一连杆部分的第三关节部分的上方，使得整个腿连杆的重心位于第三关节部分的上方。在驱动源包括电动机和减速齿轮的情况下，电动机设置在减速齿轮上方。

6. 发明授权

US07524297B2 Walking assistance device provided with a force sensor 有权
标题翻译：设有力传感器的行走辅助装置
公开(公告)号：US07524297B2
公开(公告)日：2009-04-28
申请号：US11220737
申请日：2005-09-07
申请人： Kei Shimada , Takashi Hirata , Jun Ashihara , Tatsuya Noda , Yasushi Ikeuchi
发明人： Kei Shimada , Takashi Hirata , Jun Ashihara , Tatsuya Noda , Yasushi Ikeuchi
IPC分类号： A61F5/00
CPC分类号： A61F5/0102
摘要： In walking assistance device, a force detector (21) is provided between thigh retaining member (9) that directly retain the thigh of the user and a thigh support member (2) that is actuated by an actuator (TA1) provided in hip coupling portion. Thereby, the load acting on the hip coupling portion can be accurately detected, and the output of the force detector can be favorably used for the purpose of controlling the actuator so as to minimize the force that is applied to the thigh of the user. In particular, to the end of providing a suitably rigidity to the thigh retaining member so that the force produced by the actuator may be evenly applied to the entire thigh, and facilitating the effort required for the wearer to wear the walking assistance device, the thigh retaining member comprises a base portion (9a) connected to the thigh support member and two pairs of resilient arms (9b, 9c) extending laterally from either side of the base portion so that the thigh retaining member generally defines a shape of letter-C in plan view.
摘要翻译：在行走辅助装置中，在直接保持使用者的大腿的大腿保持部件（9）和大腿支撑部件（2）之间设置力检测器（21），所述大腿支撑部件（2）由设置在髋关节部的致动器（TA1）。由此，能够精确地检测作用在臀部联接部上的负荷，能够有效地使用力检测器的输出，以便控制致动器，从而最小化施加到使用者的大腿的力。特别地，为了向大腿保持构件提供适当的刚度，使得由致动器产生的力可以均匀地施加到整个大腿，并且促进穿戴者佩戴步行辅助装置所需的力量，结束时，大腿保持构件包括连接到大腿支撑构件的基部（9a）和从基部的任一侧横向延伸的两对弹性臂（9b，9c），使得大腿保持构件通常限定为字母C的形状平面图。

7. 发明申请

US20080156363A1 Walking Assisting Device 有权
标题翻译：步行辅助装置
公开(公告)号：US20080156363A1
公开(公告)日：2008-07-03
申请号：US11816348
申请日：2006-05-29
申请人： Yasushi Ikeuchi , Tatsuya Noda , Jun Ashihara , Yutaka Hiki
发明人： Yasushi Ikeuchi , Tatsuya Noda , Jun Ashihara , Yutaka Hiki
IPC分类号： A61H3/00
CPC分类号： B25J9/0006 , A61H1/024 , A61H3/00 , A61H3/008 , A61H2201/1215 , A61H2201/1409 , A61H2201/1633 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/50 , A61H2201/5061 , A61H2201/5071
摘要： A walking aid apparatus comprising a sitting member which a user sits astride and leg links each coupled to a connection provided on the undersurface of the sitting member in such a way as to be free to swing in the forward/backward direction, which improves the stability of the sitting member. The connection is adapted in such a way that a forward/backward swinging fulcrum of the leg links is located above the sitting member. More specifically, the connection is provided with an arc-shaped guide track longitudinal in the forward/backward direction and having the center of curvature above the sitting member, so that each of the leg links swings along the guide track in the forward/backward direction. If the leg links are allowed to swing freely also in the lateral direction, preferably the lateral swinging fulcrum of the leg links is also located above the sitting member.
摘要翻译：一种行走辅助装置，其特征在于，具有使用者跨越的坐姿构件和与所述坐下构件的下表面上设置的连接部连结的腿部连杆，从而能够沿前后方向自由摆动，从而提高了稳定性的坐席成员。该连接方式使得腿部连杆的向前/向后摆动支点位于坐着构件上方。更具体地，连接件在向前/向后方向上纵向设置有弧形导轨，并且具有坐着构件上方的曲率中心，使得每个腿连杆沿着前进/后退方向沿导轨摆动。如果允许腿部连杆在横向方向上自由摆动，则优选地，腿部连杆的横向摆动支点也位于坐着构件上方。

8. 发明授权

US08118763B2 Walking assist device 有权
标题翻译：行走辅助装置
公开(公告)号：US08118763B2
公开(公告)日：2012-02-21
申请号：US12470091
申请日：2009-05-21
申请人： Jun Ashihara , Yasushi Ikeuchi , Toru Fujihira , Yoichi Nishimura , Hiroshi Kudoh , Yutaka Hiki , Makoto Shishido , Tatsuya Noda , Hiroshi Matsuda , Yoshihisa Matsuoka , Ryuzo Yokoyama , Eiji Ninomiya , Takeshi Koshiishi
发明人： Jun Ashihara , Yasushi Ikeuchi , Toru Fujihira , Yoichi Nishimura , Hiroshi Kudoh , Yutaka Hiki , Makoto Shishido , Tatsuya Noda , Hiroshi Matsuda , Yoshihisa Matsuoka , Ryuzo Yokoyama , Eiji Ninomiya , Takeshi Koshiishi
IPC分类号： A61F5/00
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： Provided is a walking assist device including a seat member, a leg link having a joint portion, and a driving source for the joint portion. The walking assist device allows a user to rest by sitting on the seat member. Accordingly, the walking assist device further includes a lock mechanism disposed in the joint portion and an operation unit for the lock mechanism. When the operation unit is switched on, the driving source is controlled to increase an up-pushing force on the seat member. A variation rate on the up-pushing force is increased with time to a given value where the lock mechanism is initiated.
摘要翻译：提供一种行走辅助装置，其包括座椅构件，具有接合部的腿连杆和用于接合部的驱动源。步行辅助装置允许使用者坐在座椅构件上休息。因此，行走辅助装置还包括设置在关节部分中的锁定机构和用于锁定机构的操作单元。当操作单元接通时，控制驱动源以增加座椅构件上的推压力。上推力的变化率随着时间增加到启动锁定机构的给定值。

9. 发明申请

US20100204621A1 WALKING ASSIST DEVICE 有权
标题翻译：跑步助手装置
公开(公告)号：US20100204621A1
公开(公告)日：2010-08-12
申请号：US12671599
申请日：2008-04-15
申请人： Jun Ashihara , Yasushi Ikeuchi , Hiroshi Kudoh , Yutaka Hiki , Tatsuya Noda , Takeshi Koshiishi
发明人： Jun Ashihara , Yasushi Ikeuchi , Hiroshi Kudoh , Yutaka Hiki , Tatsuya Noda , Takeshi Koshiishi
IPC分类号： A61H1/00
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： A walking assist device having a load transmit portion, a leg link connected to the load transmit portion, and a driving source capable of driving the leg link in a direction to raise a seat member, so that at least a partial weight of a user may be supported by the leg link through the load transmit portion. An electric component to be used for controlling the driving source can be mounted on the walking assist device without degrading the compactness of the walking assist device. At least a part of the leg link is constituted of a cylindrical link member in which at least the electric component, such as a motor driver to be used for the control of the driving source, is partially housed. The walking assist device also includes a heat transfer member for absorbing the heat of the electric component by the cylindrical link member. The heat transfer member is thermally connected to a side plate of the cylindrical link member directed toward the side opposite to the leg of the user.
摘要翻译：一种行走辅助装置，其具有载荷传递部分，连接到载荷传递部分的腿部连杆，以及能够沿着提升座椅部件的方向驱动腿部连杆的驱动源，使得使用者的至少部分重量可以通过负载传输部分的腿连接支持。用于控制驱动源的电气部件可以安装在行走辅助装置上，而不会降低行走辅助装置的致密性。腿连杆的至少一部分由圆柱形连杆构件构成，其中至少部分地容纳用于驱动源的控制的电动机构的电气部件。行走辅助装置还包括用于通过圆柱形连杆构件吸收电气部件的热量的传热构件。热传递构件被热连接到指向与使用者的腿部相对的一侧的圆筒形连杆构件的侧板。

10. 发明申请

US20100114332A1 ANKLE JOINT STRUCTURE OF WALKING ASSISTANCE DEVICE 审中-公开
标题翻译：行车辅助装置的联合结构
公开(公告)号：US20100114332A1
公开(公告)日：2010-05-06
申请号：US12610699
申请日：2009-11-02
申请人： Jun Ashihara , Tatsuya Noda , Hiroshi Kudoh , Yasushi Ikeuchi , Yutaka Hiki
发明人： Jun Ashihara , Tatsuya Noda , Hiroshi Kudoh , Yasushi Ikeuchi , Yutaka Hiki
IPC分类号： A61F2/66
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： An ankle joint structure of a walking assistance device is capable of protecting a user from feeling uncomfortable by properly following the foot motions of the user. An ankle joint has a turn shaft member enabling a ground contact assembly to turn relative to a leg link, a lateral rotation shaft member enabling the ground contact assembly to laterally rotate relative to the leg link, and a longitudinal rotation shaft member enabling the ground contact assembly to longitudinally rotate relative to the leg link. The turn shaft member is connected to the leg link, the longitudinal rotation shaft member is connected to the ground contact assembly, and the lateral rotation shaft member is disposed between the turn shaft member and the longitudinal rotation shaft member.
摘要翻译：行走辅助装置的踝关节结构能够通过适当地跟随使用者的脚部运动来保护使用者不舒适。踝关节具有使地面接触组件相对于腿部连杆转动的转动轴构件，使得接地接触组件能够相对于腿部连接件横向旋转的横向旋转轴构件和使得接地接触件的纵向旋转轴构件组件相对于腿连杆纵向旋转。转动轴构件连接到腿部连杆，纵向旋转轴构件连接到接地组件，并且横向旋转轴构件设置在转动轴构件和纵向旋转轴构件之间。

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