[go: up one dir, main page]

WO2005079725A8 - 脚体運動補助装具の発生トルク制御方法 - Google Patents

脚体運動補助装具の発生トルク制御方法

Info

Publication number
WO2005079725A8
WO2005079725A8 PCT/JP2005/002540 JP2005002540W WO2005079725A8 WO 2005079725 A8 WO2005079725 A8 WO 2005079725A8 JP 2005002540 W JP2005002540 W JP 2005002540W WO 2005079725 A8 WO2005079725 A8 WO 2005079725A8
Authority
WO
WIPO (PCT)
Prior art keywords
person
leg body
exercise
assistive apparatus
body exercise
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2005/002540
Other languages
English (en)
French (fr)
Other versions
WO2005079725A1 (ja
Inventor
Masakazu Kawai
Yasushi Ikeuchi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Priority to US10/597,733 priority Critical patent/US7278954B2/en
Priority to EP05719259.3A priority patent/EP1721593B1/en
Publication of WO2005079725A1 publication Critical patent/WO2005079725A1/ja
Publication of WO2005079725A8 publication Critical patent/WO2005079725A8/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A63B2220/54—Torque
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40305—Exoskeleton, human robot interaction, extenders
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45109—Excercise, coordination, therapy, rehabillitation robot for disabled patients

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Physical Education & Sports Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Robotics (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)

Abstract

　人に装着する脚体運動補助装具の自重が人に作用するのを軽減し、できるだけ脚体運動補助装具が装着されていないような感覚で人が脚体の運動を行うことを可能とする。脚体運動補助装具１を装着した人Ａの脚体の運動時に、この脚体運動と同じ運動を、補助装具１を取り外した人Ａが行っているとした場合に人Ａの脚体の各関節に発生すべき人側関節モーメントを推定すると共に、前記脚体運動と同じ運動を補助装具１が単独で行っているとした場合に補助装具１の各脚体部の関節部位４，６，１０に発生すべき装具側関節モーメントを推定する。装具側関節モーメントの推定値をトルク発生手段１８，１９，２０の基準トルクとし、この基準トルクに人側関節モーメントの推定値に応じたトルクを付加したトルクをトルク発生手段１８，１９，２０に発生させる。
PCT/JP2005/002540 2004-02-25 2005-02-18 脚体運動補助装具の発生トルク制御方法 Ceased WO2005079725A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US10/597,733 US7278954B2 (en) 2004-02-25 2005-02-18 Generated torque control method for leg body exercise assistive apparatus
EP05719259.3A EP1721593B1 (en) 2004-02-25 2005-02-18 Generated torque control method for leg body exercise assistive apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2004-048996 2004-02-25
JP2004048996A JP4503311B2 (ja) 2004-02-25 2004-02-25 脚体運動補助装具の発生トルク制御方法

Publications (2)

Publication Number Publication Date
WO2005079725A1 WO2005079725A1 (ja) 2005-09-01
WO2005079725A8 true WO2005079725A8 (ja) 2005-11-17

Family

ID=34879533

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2005/002540 Ceased WO2005079725A1 (ja) 2004-02-25 2005-02-18 脚体運動補助装具の発生トルク制御方法

Country Status (4)

Country Link
US (1) US7278954B2 (ja)
EP (1) EP1721593B1 (ja)
JP (1) JP4503311B2 (ja)
WO (1) WO2005079725A1 (ja)

Families Citing this family (102)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7623944B2 (en) * 2001-06-29 2009-11-24 Honda Motor Co., Ltd. System and method of estimating joint loads in a three-dimensional system
US7774177B2 (en) * 2001-06-29 2010-08-10 Honda Motor Co., Ltd. Exoskeleton controller for a human-exoskeleton system
US7650204B2 (en) * 2001-06-29 2010-01-19 Honda Motor Co., Ltd. Active control of an ankle-foot orthosis
US20040064195A1 (en) 2002-07-15 2004-04-01 Hugh Herr Variable-mechanical-impedance artificial legs
JP4178187B2 (ja) 2005-01-26 2008-11-12 国立大学法人 筑波大学 装着式動作補助装置及び制御用プログラム
WO2006126708A1 (ja) * 2005-05-27 2006-11-30 Honda Motor Co., Ltd. 歩行補助装置の制御装置
US8082062B2 (en) * 2005-06-10 2011-12-20 Honda Motor Co., Ltd. Regenerative actuation in motion control
US20120013462A1 (en) * 2005-09-28 2012-01-19 Tuck Edward F Personal radio location system
JP2007097636A (ja) * 2005-09-30 2007-04-19 Matsushita Electric Ind Co Ltd 筋力補助装置
US7733224B2 (en) 2006-06-30 2010-06-08 Bao Tran Mesh network personal emergency response appliance
US7713173B2 (en) * 2005-11-28 2010-05-11 Samsung Electronics Co., Ltd Exercise management function providing system and method
KR100719066B1 (ko) * 2006-04-11 2007-05-18 안태진 완력기
US20080000317A1 (en) * 2006-05-31 2008-01-03 Northwestern University Cable driven joint actuator and method
JP4712620B2 (ja) * 2006-06-12 2011-06-29 本田技研工業株式会社 歩行補助装具の制御装置
JP4666644B2 (ja) * 2006-07-12 2011-04-06 本田技研工業株式会社 歩行補助装具の制御装置
US8849457B2 (en) * 2006-07-17 2014-09-30 Raytheon Company Contact displacement actuator system
JP4862537B2 (ja) * 2006-07-28 2012-01-25 沖電気工業株式会社 筋力トレーニング装置
JP4608661B2 (ja) * 2006-08-25 2011-01-12 公立大学法人高知工科大学 立ち上がり訓練機
JP4640676B2 (ja) * 2006-11-02 2011-03-02 株式会社ティムス 動力補助機構付き長下肢装具
US7998096B1 (en) * 2007-06-25 2011-08-16 Skoog Eric J Paraplegic controlled, concealed mechanized walking device
TR200707160A2 (tr) * 2007-10-19 2009-05-21 Hacikadi̇roğlu Necati̇ İki ya da çok bacaklı robotik ortez ve exoskeleton sistemi
JP5539223B2 (ja) 2007-12-26 2014-07-02 レックス バイオニクス リミテッド 移動補助具
WO2009125397A2 (en) * 2008-04-08 2009-10-15 Motorika Limited Device and method for foot drop analysis and rehabilitation
JP2009268728A (ja) * 2008-05-08 2009-11-19 Honda Motor Co Ltd 歩行補助装置
JP5128375B2 (ja) * 2008-06-12 2013-01-23 本田技研工業株式会社 歩行補助装置の制御装置
FR2933185B1 (fr) 2008-06-27 2017-07-21 Movea Sa Systeme et procede de determination d'informations representatives du mouvement d'une chaine articulee
US8181520B2 (en) * 2008-08-29 2012-05-22 Oki Electric Industry Co., Ltd. Muscle training device with muscular force measurement function for controlling the axial torque of a joint axle
CA2736079A1 (en) 2008-09-04 2010-03-11 Iwalk, Inc. Hybrid terrain-adaptive lower-extremity systems
US20110082566A1 (en) * 2008-09-04 2011-04-07 Herr Hugh M Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis
JP5993574B2 (ja) * 2008-09-04 2016-09-14 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 転倒防止システム
JP5075783B2 (ja) * 2008-09-30 2012-11-21 本田技研工業株式会社 歩行補助装置の制御装置
JP5126025B2 (ja) * 2008-11-27 2013-01-23 トヨタ自動車株式会社 歩行補助装置
JP5157888B2 (ja) * 2008-12-26 2013-03-06 トヨタ自動車株式会社 歩行補助装置
WO2010083301A2 (en) * 2009-01-14 2010-07-22 The Ohio State University Joint stability arrangement and method
US10124205B2 (en) 2016-03-14 2018-11-13 Tau Orthopedics, Llc Toning garment with modular resistance unit docking platforms
US9656117B2 (en) * 2009-06-19 2017-05-23 Tau Orthopedics, Llc Wearable resistance garment with power measurement
AU2009348961B2 (en) * 2009-07-01 2014-12-04 Rex Bionics Limited Control system for a mobility aid
WO2011055428A1 (ja) 2009-11-04 2011-05-12 トヨタ自動車株式会社 歩行補助装置
CN102665638B (zh) * 2009-11-13 2015-05-13 丰田自动车株式会社 行走辅助装置
US20110257846A1 (en) * 2009-11-13 2011-10-20 William Bennett Wheel watcher
JP5299239B2 (ja) * 2009-11-26 2013-09-25 トヨタ自動車株式会社 脚装具
JP5415564B2 (ja) * 2009-12-09 2014-02-12 エフエヌティー カンパニー リミテッド 光信号を用いた人体の姿勢および動作判定システムおよび人体の姿勢および動作判定方法
JP5608388B2 (ja) * 2010-02-24 2014-10-15 矢崎総業株式会社 脚装具
JP5477064B2 (ja) * 2010-03-09 2014-04-23 トヨタ自動車株式会社 歩行補助装置
JP5565037B2 (ja) * 2010-03-30 2014-08-06 トヨタ自動車株式会社 歩行支援装置
WO2011126985A2 (en) 2010-04-05 2011-10-13 Iwalk, Inc. Controlling torque in a prosthesis or orthosis
KR101141905B1 (ko) * 2010-05-28 2012-05-03 한양대학교 산학협력단 무릎 환자용 보행 보조 장치
JP5598667B2 (ja) * 2010-09-21 2014-10-01 大日本印刷株式会社 歩行補助装置、歩行補助方法、及び歩行補助プログラム等
US20120101415A1 (en) * 2010-10-21 2012-04-26 Amit Goffer Locomotion assisting apparatus with integrated tilt sensor
JP5642534B2 (ja) * 2010-12-27 2014-12-17 Cyberdyne株式会社 装着式動作補助装置、そのインタフェース装置及びプログラム
US8840527B2 (en) * 2011-04-26 2014-09-23 Rehabtek Llc Apparatus and method of controlling lower-limb joint moments through real-time feedback training
US9789603B2 (en) 2011-04-29 2017-10-17 Sarcos Lc Teleoperated robotic system
JP5212957B1 (ja) * 2011-05-16 2013-06-19 安男 石黒 椅子として兼用できる靴
WO2013067407A1 (en) 2011-11-02 2013-05-10 Iwalk, Inc. Biomimetic transfemoral prosthesis
ITTO20120226A1 (it) * 2012-03-15 2012-06-14 Torino Politecnico Tutore attivo per neuroriabilitazione motoria degli arti inferiori, sistema comprendente tale tutore e procedimento per il funzionamento di tale sistema.
US20130253385A1 (en) * 2012-03-21 2013-09-26 Amit Goffer Motorized exoskeleton unit
US9616580B2 (en) 2012-05-14 2017-04-11 Sarcos Lc End effector for a robotic arm
WO2013188510A2 (en) 2012-06-12 2013-12-19 Iwalk, Inc. Prosthetic, orthotic or exoskeleton device
GB201222322D0 (en) 2012-12-12 2013-01-23 Moog Bv Rehabilitation apparatus
WO2014092162A1 (ja) * 2012-12-14 2014-06-19 国立大学法人名古屋工業大学 歩行支援機
JP6008757B2 (ja) * 2013-02-18 2016-10-19 三菱重工業株式会社 運動補助装置、制御方法及びプログラム
WO2014170622A1 (en) * 2013-04-20 2014-10-23 Skia Designs Ltd Training footwear
KR101508973B1 (ko) * 2013-05-14 2015-04-07 한국과학기술연구원 무게중심 이동을 위한 수동 메커니즘을 갖는 보행 재활 로봇
KR101496417B1 (ko) * 2013-11-19 2015-02-26 현대로템 주식회사 무릎관절용 근력보조로봇 및 이의 제어방법
US10766133B2 (en) 2014-05-06 2020-09-08 Sarcos Lc Legged robotic device utilizing modifiable linkage mechanism
US9517561B2 (en) * 2014-08-25 2016-12-13 Google Inc. Natural pitch and roll
RU2557503C1 (ru) * 2014-10-13 2015-07-20 Владимир Евгеньевич Афоньшин Способ тренировки двигательных действий и технических приемов
US10449105B2 (en) * 2014-10-26 2019-10-22 Springactive, Inc. System and method of bidirectional compliant joint torque actuation
US9589355B2 (en) * 2015-03-16 2017-03-07 Here Global B.V. Guided geometry extraction for localization of a device
KR101653100B1 (ko) * 2015-03-30 2016-09-01 현대로템 주식회사 역구동이 용이한 다리동작 보조장치
JP6892393B2 (ja) * 2015-04-22 2021-06-23 マサチューセッツ インスティテュート オブ テクノロジー 足接地位置追随装置、その動きを制御する方法、コンピュータ実行可能なプログラム、及びそれを格納したコンピュータ読取可能な非一時的な情報記録媒体
KR102429612B1 (ko) * 2015-07-27 2022-08-05 삼성전자주식회사 보행 보조 방법 및 이를 수행하는 장치들
KR102382205B1 (ko) * 2015-08-07 2022-04-05 삼성전자주식회사 배터리 팩
CN105147298A (zh) * 2015-10-16 2015-12-16 北京机械设备研究所 一种外骨骼状态检测方法
KR102503910B1 (ko) * 2015-11-09 2023-02-27 삼성전자주식회사 기립 보조 방법 및 장치
TWI564129B (zh) * 2015-11-27 2017-01-01 財團法人工業技術研究院 行動輔助機器人之姿態估測方法
US10821614B2 (en) 2016-11-11 2020-11-03 Sarcos Corp. Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly
US10828767B2 (en) 2016-11-11 2020-11-10 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements
US10919161B2 (en) 2016-11-11 2021-02-16 Sarcos Corp. Clutched joint modules for a robotic system
US10765537B2 (en) 2016-11-11 2020-09-08 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators for use within a robotic system
KR102748159B1 (ko) * 2016-12-28 2024-12-31 삼성전자주식회사 센서 장치 및 센서 장치를 이용하는 보행 보조 장치
US10624809B2 (en) * 2017-11-09 2020-04-21 Free Bionics Taiwan Inc. Exoskeleton robot and controlling method for exoskeleton robot
US10843330B2 (en) 2017-12-07 2020-11-24 Sarcos Corp. Resistance-based joint constraint for a master robotic system
US11331809B2 (en) 2017-12-18 2022-05-17 Sarcos Corp. Dynamically controlled robotic stiffening element
US11191694B2 (en) * 2018-04-30 2021-12-07 Cleveland State University Exoskeleton system
US11351675B2 (en) 2018-12-31 2022-06-07 Sarcos Corp. Robotic end-effector having dynamic stiffening elements for conforming object interaction
US10906191B2 (en) 2018-12-31 2021-02-02 Sarcos Corp. Hybrid robotic end effector
US11241801B2 (en) 2018-12-31 2022-02-08 Sarcos Corp. Robotic end effector with dorsally supported actuation mechanism
JP7173880B2 (ja) * 2019-01-23 2022-11-16 サンコール株式会社 歩行動作補助装置
JP7132159B2 (ja) * 2019-03-11 2022-09-06 本田技研工業株式会社 動作支援装置の制御装置
CN109924984B (zh) * 2019-03-22 2022-01-21 上海电气集团股份有限公司 基于人体运动意图检测的机器人运动控制方法及系统
WO2021077159A1 (en) * 2019-10-21 2021-04-29 Tech Gym Pty Ltd Systems for mechanically assisting rehabilitation of a patient
KR102771801B1 (ko) 2019-11-04 2025-02-26 삼성전자주식회사 웨어러블 장치 및 그 웨어러블 장치에 의해 수행되는 운동 지원 방법
CN114846511A (zh) * 2020-01-24 2022-08-02 富士通株式会社 运动识别方法、运动识别程序以及信息处理装置
US11833676B2 (en) 2020-12-07 2023-12-05 Sarcos Corp. Combining sensor output data to prevent unsafe operation of an exoskeleton
US11794345B2 (en) 2020-12-31 2023-10-24 Sarcos Corp. Unified robotic vehicle systems and methods of control
US11826907B1 (en) 2022-08-17 2023-11-28 Sarcos Corp. Robotic joint system with length adapter
US11717956B1 (en) 2022-08-29 2023-08-08 Sarcos Corp. Robotic joint system with integrated safety
US12172298B2 (en) 2022-11-04 2024-12-24 Sarcos Corp. Robotic end-effector having dynamic stiffening elements with resilient spacers for conforming object interaction
US11897132B1 (en) 2022-11-17 2024-02-13 Sarcos Corp. Systems and methods for redundant network communication in a robot
US11924023B1 (en) 2022-11-17 2024-03-05 Sarcos Corp. Systems and methods for redundant network communication in a robot
CN118649402B (zh) * 2024-08-16 2024-11-12 深圳华鹊景医疗科技有限公司 一种太极拳康复机器人控制方法及装置

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6764520B2 (en) * 2000-01-20 2004-07-20 Massachusetts Institute Of Technology Electronically controlled prosthetic knee
CA2405356C (en) * 2000-03-29 2011-12-06 Massachusetts Institute Of Technology Controllable prosthetic joint system
JP4611580B2 (ja) * 2001-06-27 2011-01-12 本田技研工業株式会社 トルク付与システム
JP4188607B2 (ja) * 2001-06-27 2008-11-26 本田技研工業株式会社 二足歩行移動体の床反力推定方法及び二足歩行移動体の関節モーメント推定方法
JP2003112893A (ja) 2001-10-09 2003-04-18 Nippon Yusoki Co Ltd フォークリフト
WO2003032833A1 (en) * 2001-10-16 2003-04-24 Honda Giken Kogyo Kabushiki Kaisha Walking condition determining device and method
JP3833921B2 (ja) * 2001-10-18 2006-10-18 本田技研工業株式会社 歩行状態判定装置及び方法
JP4133216B2 (ja) * 2001-10-29 2008-08-13 本田技研工業株式会社 人間補助装置のシミュレーション・システム、方法、およびコンピュータ・プログラム
JP3917432B2 (ja) * 2002-01-29 2007-05-23 株式会社日立製作所 動作支援装置

Also Published As

Publication number Publication date
JP2005237504A (ja) 2005-09-08
EP1721593A1 (en) 2006-11-15
WO2005079725A1 (ja) 2005-09-01
JP4503311B2 (ja) 2010-07-14
US20070054777A1 (en) 2007-03-08
EP1721593A4 (en) 2012-11-07
EP1721593B1 (en) 2013-07-31
US7278954B2 (en) 2007-10-09

Similar Documents

Publication Publication Date Title
WO2005079725A8 (ja) 脚体運動補助装具の発生トルク制御方法
WO2001080802A3 (en) Method and apparatus for assisting a child to walk
WO2009050838A1 (ja) 運動補助装置
WO2008015623A3 (en) Cpr coaching device providing tactile feedback
WO2008097336A3 (en) Controller for an assistive exoskeleton based on active impedance
WO2012178171A3 (en) Robotic gait rehabilitation training system
TW200605846A (en) Exercise assistant device
WO2005087144A3 (en) Control system and method for a prosthetic knee
WO2005099398A3 (en) Gravity compensation control system and method using multiple feasibility parameters
WO2009149206A3 (en) Therapeutic method and device for rehabilitation
JP2014523768A (ja) 胴体支持外骨格装置及びその使用方法
WO2015097701A3 (en) Apparatus for stimulating synchronized body motions of a user
WO2005102096A3 (en) Rolling cane and step-up cane
WO2009154359A3 (ko) 허리 밀착형 훌라후프
WO2008045614A3 (en) Concentric and eccentric exercising and training apparatus and method
PL374010A1 (en) A foot-propelled, wheeled hobby or sport device
WO2008114340A1 (ja) 屈曲初期のトルクを低減した義足
WO2008008849A3 (en) Electromyographic (emg) feedback during ames treatment of individuals with severe neuromuscular deficits
van der Kooij et al. Body weight support by virtual model control of an impedance controlled exoskeleton (LOPES) for gait training.
GB2397030B (en) Exerciser
Laubscher et al. Gait guidance control for damping of unnatural motion in a powered pediatric lower-limb orthosis
CN204863891U (zh) 一种助步机器人
WO2008049423A3 (de) Vorrichtung und verfahen zum trainieren der lippen und gesichtsmuskulatur
WO2008090313A3 (en) Apparatus for genearating a standing wave
WO2006019241A8 (en) Method and chair for curing body status

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
CFP Corrected version of a pamphlet front page
CR1 Correction of entry in section i

Free format text: IN PCT GAZETTE 35/2005 UNDER (81) DELETE "JP"

WWE Wipo information: entry into national phase

Ref document number: 2007054777

Country of ref document: US

Ref document number: 10597733

Country of ref document: US

WWE Wipo information: entry into national phase

Ref document number: 2005719259

Country of ref document: EP

WWP Wipo information: published in national office

Ref document number: 2005719259

Country of ref document: EP

WWP Wipo information: published in national office

Ref document number: 10597733

Country of ref document: US