公开(公告)号：US08545424B2

公开(公告)日：2013-10-01

申请号：US11919074

申请日：2006-04-24

Applicant: Takashi Hirata ,  Kei Shimada ,  Takako Fujii

Inventor： Takashi Hirata ,  Kei Shimada ,  Takako Fujii

IPC: A61F13/00

CPC classification number: A61H1/0244 ,  A61F5/0193 ,  A61H3/00 ,  A61H2003/007

Abstract: When securing a frame (7) made of a rigid member for carrying a heavy object such as a drive unit (3) for a walking assistance device on the hip of a wearer, a hip protective belt (4) made of fabric is wrapped around the hip of the wearer, and the frame (7) is secured thereon via a flexible plate (5) and a pressure plate (6) located on an outer side of the flexible plate (5) and having a higher rigidity than the flexible plate (5). The intermediate members allow the wearer to feel the rigidity of the frame in a mitigated manner, and the wearer would not experience any discomfort from the pressure of the frame even when the posture of the wearer is changed. The hip protective belt can readily conform to the body contour of the wearer, but the frame would not deform. Because the intermediate members absorb the difference in the builds of different wearers, the frame may come in a small number of different sizes to fit almost any wearer allowing the hip support member can be mass produced at low cost.

Abstract translation: 当将由用于承载诸如用于步行辅助装置的驱动单元（3）的重物体的刚性构件制成的框架（7）固定在穿着者的臀部上时，围绕着由织物制成的臀部保护带（4） 穿戴者的臀部，并且框架（7）经由柔性板（5）和位于柔性板（5）的外侧上的压板（6）固定在其上，并且具有比柔性板更高的刚度 （5）。 中间构件允许穿着者以缓和的方式感受到框架的刚性，并且即使改变佩戴者的姿势，穿着者也不会受到框架的压力的任何不适。 臀部保护带可以很容易地符合穿戴者的身体轮廓，但框架不会变形。 由于中间构件吸收不同穿着者的构造的差异，框架可以具有少量不同的尺寸以适合几乎任何佩戴者，从而可以以低成本批量生产臀部支撑构件。

公开(公告)号：US08048008B2

公开(公告)日：2011-11-01

申请号：US12681329

申请日：2008-08-19

Applicant: Ken Yasuhara ,  Kei Shimada ,  Yosuke Endo

Inventor： Ken Yasuhara ,  Kei Shimada ,  Yosuke Endo

IPC: A61H1/00 ,  A61H1/02 ,  A61H5/00

CPC classification number: A61H3/00 ,  A61H1/0244 ,  A61H2201/5007 ,  A61H2201/5069 ,  A61H2201/5084 ,  A63B71/0686 ,  A63B2220/803

Abstract: The motion assist device (200) is provided with an auxiliary oscillator generation element (150) configured to generate, on the basis of a second intrinsic angular velocity (ω2) set according to a first oscillator (ξ1) generated from a first motion oscillator (φ1) and a first model and a second oscillator (ξ2) generated from a second motion oscillator (φ2) and a second model, an auxiliary oscillator (η) which includes therein a first auxiliary oscillator (η1) denoting an elastic force originated from a virtual elastic element for assisting the motion of the user so as to approximate a value of a third motion oscillator (φ3) to a desired value (φ0+, φ0−) related to a desired motion scale of the user, and an auxiliary oscillator regulation element (160) configured to sequentially regulate the first auxiliary oscillator (η1) so as to approximate a motion index value of the user to a reference value.

Abstract translation: 运动辅助装置（200）设置有辅助振荡器产生元件（150），其被配置为基于根据从第一运动产生的第一振荡器（＆xgr; 1）设置的第二本征角速度（ω2） 振荡器（＆amp; 1）和从第二运动振荡器（＆amp; 2）和第二模型产生的第一模型和第二振荡器（＆xgr2），辅助振荡器（＆egr），其中包括第一辅助振荡器 ＆lt; eegr; 1）表示源自虚拟弹性元件的弹性力，用于辅助用户的运动，以将第三运动振荡器（＆phgr; 3）的值近似为期望值（＆phgr; 0+，＆phgr; 0 - ），以及辅助振荡器调节元件（160），被配置为顺序地调节第一辅助振荡器（＆egrgr）1，以便将用户的运动指标值近似为参考值。

公开(公告)号：US20100076360A1

公开(公告)日：2010-03-25

申请号：US12586227

申请日：2009-09-18

Applicant: Kei Shimada ,  Ken Yasuhara ,  Tetsuya Ido ,  Shuichi Wakita

Inventor： Kei Shimada ,  Ken Yasuhara ,  Tetsuya Ido ,  Shuichi Wakita

IPC: A61F5/00 ,  A61B5/103

CPC classification number: A61B5/1038 ,  A61B5/0476 ,  A61B5/14532 ,  A61B5/14553 ,  A61B5/4528 ,  A61B6/037 ,  A61F5/0102 ,  A61H1/0255 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/1623 ,  A61H2201/163 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/168 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2230/10

Abstract: The present invention provides a rehabilitation device using a walking assistance device (1) having an actuator which generates and provides torque to a lower limb joint of a wearer wearing the walking assistance device (1), comprising a floor reaction force pattern storing unit (330) configured to store a reference floor reaction force pattern; a control target floor reaction force setting unit (340) for determining a control target floor reaction force based on the floor reaction force pattern stored in the floor reaction force pattern storing unit (330); a target torque calculating unit (350) for calculating a target torque of the actuator to achieve the control target floor reaction force determined by the control target floor reaction force setting unit (340); and an actuator output controller (150) for controlling output of the actuator such that the actuator generates a torque matching the target torque calculated by the target torque calculating unit (350); wherein the floor reaction force that the wearer receives is increased and decreased by the application of torque generated by the actuator.

Abstract translation: 本发明提供了一种使用具有致动器的行走辅助装置（1）的康复装置，该致动器产生并向穿着步行辅助装置（1）的佩戴者的下肢关节提供扭矩，所述执行器包括地板反作用力图案存储单元（330） ），其被配置为存储参考底板反作用力模式; 控制目标楼层反作用力设定单元，用于基于存储在地板反作用力图案存储单元中的地板反作用力图形来确定控制目标地面反作用力; 目标扭矩计算单元，用于计算执行器的目标扭矩，以实现由控制目标地面反作用力设定单元确定的控制目标地面反作用力; 以及致动器输出控制器（150），用于控制致动器的输出，使得致动器产生与目标扭矩计算单元（350）计算的目标转矩匹配的转矩; 其中，通过施加由致动器产生的扭矩，佩戴者接受的地板反作用力增大和减小。

公开(公告)号：US07524297B2

公开(公告)日：2009-04-28

申请号：US11220737

申请日：2005-09-07

Applicant: Kei Shimada ,  Takashi Hirata ,  Jun Ashihara ,  Tatsuya Noda ,  Yasushi Ikeuchi

Inventor： Kei Shimada ,  Takashi Hirata ,  Jun Ashihara ,  Tatsuya Noda ,  Yasushi Ikeuchi

IPC: A61F5/00

CPC classification number: A61F5/0102

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US09129793B2

公开(公告)日：2015-09-08

申请号：US13397346

申请日：2012-02-15

Applicant: Tomihiko Ikeda ,  Hiroshi Takahashi ,  Shinichi Ushijima ,  Tetsuya Gouda ,  Kei Shimada

Inventor： Tomihiko Ikeda ,  Hiroshi Takahashi ,  Shinichi Ushijima ,  Tetsuya Gouda ,  Kei Shimada

IPC: H05B37/00 ,  H01J61/54

CPC classification number: H01J61/54 ,  H01J61/547

Abstract: A high pressure discharge lamp with auxiliary lamp comprises: a high pressure discharge lamp having an arc tube and at least one sealing portion, a pair of main electrodes, and a pair of feeders supplying power to the main electrodes; an auxiliary lamp having an airtight case, an inner electrode, and an outer electrode, wherein the inner electrode is arranged at a position so as to part the inner space to large and small spaces, the outer electrode is arranged at a position so as to face the large space, the auxiliary lamp as arranged as the large space faces the sealing portion.

Abstract translation: 具有辅助灯的高压放电灯包括：具有电弧管和至少一个密封部分的一个高压放电灯，一对主电极和向主电极供电的一对馈电器; 具有气密壳体，内部电极和外部电极的辅助灯，其中，所述内部电极布置在将所述内部空间分成大小空间的位置，所述外部电极被布置在 面对大空间，辅助灯排列成大空间面向密封部分。

公开(公告)号：US08562548B2

公开(公告)日：2013-10-22

申请号：US12586227

申请日：2009-09-18

Applicant: Kei Shimada ,  Ken Yasuhara ,  Tetsuya Ido ,  Shuichi Wakita

Inventor： Kei Shimada ,  Ken Yasuhara ,  Tetsuya Ido ,  Shuichi Wakita

IPC: A61H3/00

CPC classification number: A61B5/1038 ,  A61B5/0476 ,  A61B5/14532 ,  A61B5/14553 ,  A61B5/4528 ,  A61B6/037 ,  A61F5/0102 ,  A61H1/0255 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/1623 ,  A61H2201/163 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/168 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2230/10

Abstract: The present invention provides a rehabilitation device using a walking assistance device (1) having an actuator which generates and provides torque to a lower limb joint of a wearer wearing the walking assistance device (1), comprising a floor reaction force pattern storing unit (330) configured to store a reference floor reaction force pattern; a control target floor reaction force setting unit (340) for determining a control target floor reaction force based on the floor reaction force pattern stored in the floor reaction force pattern storing unit (330); a target torque calculating unit (350) for calculating a target torque of the actuator to achieve the control target floor reaction force determined by the control target floor reaction force setting unit (340); and an actuator output controller (150) for controlling output of the actuator such that the actuator generates a torque matching the target torque calculated by the target torque calculating unit (350); wherein the floor reaction force that the wearer receives is increased and decreased by the application of torque generated by the actuator.

Abstract translation: 本发明提供了一种使用具有致动器的行走辅助装置（1）的康复装置，该致动器产生并向穿着步行辅助装置（1）的佩戴者的下肢关节提供扭矩，所述执行器包括地板反作用力图案存储单元（330） ），其被配置为存储参考底板反作用力模式; 控制目标楼层反作用力设定单元，用于基于存储在地板反作用力图案存储单元中的地板反作用力图形来确定控制目标地面反作用力; 目标扭矩计算单元，用于计算执行器的目标扭矩，以实现由控制目标地面反作用力设定单元确定的控制目标地面反作用力; 以及致动器输出控制器（150），用于控制致动器的输出，使得致动器产生与目标扭矩计算单元（350）计算的目标转矩匹配的转矩; 其中，通过施加由致动器产生的扭矩，佩戴者接受的地板反作用力增大和减小。

公开(公告)号：US20130099679A1

公开(公告)日：2013-04-25

申请号：US13397346

申请日：2012-02-15

Applicant: Tomihiko IKEDA ,  Hiroshi TAKAHASHI ,  Shinichi USHIJIMA ,  Tetsuya GOUDA ,  Kei SHIMADA

Inventor： Tomihiko IKEDA ,  Hiroshi TAKAHASHI ,  Shinichi USHIJIMA ,  Tetsuya GOUDA ,  Kei SHIMADA

IPC: H05B41/02

CPC classification number: H01J61/54 ,  H01J61/547

Abstract: A high pressure discharge lamp with auxiliary lamp comprises: a high pressure discharge lamp having an arc tube and at least one sealing portion, a pair of main electrodes, and a pair of feeders supplying power to the main electrodes; an auxiliary lamp having an airtight case, an inner electrode, and an outer electrode, wherein the inner electrode is arranged at a position so as to part the inner space to large and small spaces, the outer electrode is arranged at a position so as to face the large space, the auxiliary lamp as arranged as the large space faces the sealing portion.

Abstract translation: 具有辅助灯的高压放电灯包括：具有电弧管和至少一个密封部分的一个高压放电灯，一对主电极和向主电极供电的一对馈电器; 具有气密壳体，内部电极和外部电极的辅助灯，其中，所述内部电极布置在将所述内部空间分成大小空间的位置，所述外部电极被布置在 面对大空间，辅助灯排列成大空间面向密封部分。

公开(公告)号：US08313448B2

公开(公告)日：2012-11-20

申请号：US12536525

申请日：2009-08-06

Applicant: Kei Shimada ,  Ken Yasuhara

Inventor： Kei Shimada ,  Ken Yasuhara

IPC: A61H1/00 ,  A61F5/00 ,  A61B5/117

CPC classification number: A61F5/0102 ,  A61H1/0255 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/14 ,  A61H2201/1623 ,  A61H2201/163 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5061

Abstract: The present invention provides a walking assistance device comprising a pelvis support member (10) adapted to be worn on a hip of a wearer; a thigh support member (20) adapted to be worn on a thigh of the wearer; a leg support member (40) adapted to be worn on a leg of the wearer; a knee joint hinge (60) disposed at a position corresponding to a side part of a knee of the wearer and connecting the leg support member (40) to the thigh support member (20) in a manner that enables back-and forth rotation of the leg support member (40) with respect to the thigh support member (20); and a power generator assembly (100) mounted to the pelvis support member (10) at a position corresponding to a side part of a hip joint of the wearer; wherein the power generator assembly (100) comprises a hip joint power generator (110) and a knee joint power generator (120) each having an output member (116, 126, respectively), with the output member (116) of the hip joint power generator (110) being connected to the thigh support member (20) in a power-transmittable manner and the output member (126) of the knee joint power generator (120) being connected to the leg support member (40) via a power transmitting mechanism (90) which transmits power generated by the knee joint power generator (120) to the leg support member (40).

Abstract translation: 本发明提供了一种行走辅助装置，其包括适于佩戴在穿着者的臀部上的骨盆支撑构件（10） 大腿支撑构件（20），其适于佩戴在穿戴者的大腿上; 腿部支撑构件（40），其适于佩戴在穿着者的腿上; 膝关节铰链（60），其设置在与穿着者的膝盖的侧部相对应的位置处，并且以能够前后转动的方式将腿支撑构件（40）连接到大腿支撑构件（20） 腿支撑构件（40）相对于大腿支撑构件（20）; 以及发电机组件（100），其在对应于穿着者的髋关节的侧部的位置处安装到骨盆支撑构件（10）; 其中所述发电机组件（100）包括髋关节发电机（110）和膝关节发电机（120），每个所述髋关节发电机具有输出部件（116,126），所述输出部件（116）分别与所述髋关节的输出部件 发电机（110）以可动力传递的方式连接到大腿支撑构件（20），并且膝关节发电机（120）的输出构件（126）通过动力连接到腿支撑构件（40） 传递机构（90），其将由膝关节发电机（120）产生的动力传递到腿支撑构件（40）。

公开(公告)号：US08034005B2

公开(公告)日：2011-10-11

申请号：US12681322

申请日：2008-08-19

Applicant: Ken Yasuhara ,  Kei Shimada ,  Yosuke Endo

Inventor： Ken Yasuhara ,  Kei Shimada ,  Yosuke Endo

IPC: A61H1/00 ,  A61H1/02 ,  A61H5/00

CPC classification number: A61H1/0244 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/1215 ,  A61H2201/1616 ,  A61H2201/1628 ,  A61H2201/1635 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  B25J9/0006

Abstract: A motion assist device for assisting a periodical motion of a creature such as a human by applying a force with appropriate strength to the creature so as to match a motion scale with a desired motion scale thereof regardless of a motion rhythm of the periodical motion. According to the motion assist device (1), a second model is corrected so as to approximate a value of a motion variable (ξ) to a desired value (ξ0). A second oscillator (ξ2) is generated according to the corrected second model. A periodical force (torque) (T) applied to the human (P) is controlled according to the second oscillator (ξ2).

Abstract translation: 一种运动辅助装置，用于通过向生物施加适当强度的力来辅助诸如人的生物的周期性运动，以使动作比例与期望的运动比例匹配，而不管周期运动的运动节奏如何。 根据运动辅助装置（1），对第二模型进行校正，以使运动变量（＆xgr;）的值近似为期望值（＆xgr; 0）。 根据校正的第二模型生成第二振荡器（＆amp; xgr2）。 根据第二振荡器（＆xgr; 2）控制施加到人（P）的周期力（扭矩）（T）。

公开(公告)号：US20100234777A1

公开(公告)日：2010-09-16

申请号：US12681322

申请日：2008-08-19

Applicant: Ken Yasuhara ,  Kei Shimada ,  Yosuke Endo

Inventor： Ken Yasuhara ,  Kei Shimada ,  Yosuke Endo

IPC: A61F5/00

CPC classification number: A61H1/0244 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/1215 ,  A61H2201/1616 ,  A61H2201/1628 ,  A61H2201/1635 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  B25J9/0006

Abstract: A motion assist device for assisting a periodical motion of a creature such as a human by applying a force with appropriate strength to the creature so as to match a motion scale with a desired motion scale thereof regardless of a motion rhythm of the periodical motion. According to the motion assist device (1), a second model is corrected so as to approximate a value of a motion variable (ξ) to a desired value (ξ0). A second oscillator (ξ2) is generated according to the corrected second model. A periodical force (torque) (T) applied to the human (P) is controlled according to the second oscillator (ξ2).

Abstract translation: 一种运动辅助装置，用于通过向生物施加适当强度的力来辅助诸如人的生物的周期性运动，以使动作比例与期望的运动比例匹配，而不管周期运动的运动节奏如何。 根据运动辅助装置（1），对第二模型进行校正，以将运动变量（＆xgr;）的值近似为期望值（＆xgr; 0）。 根据校正的第二模型生成第二振荡器（＆amp; xgr2）。 根据第二振荡器（＆xgr; 2）控制施加到人（P）的周期力（扭矩）（T）。