Toyota Jidosha Kabushiki Kaisha

Kabushiki Kaisha Toyota Chuo Kenkyusho

Riken Corporation

Hisayoshi Sugihara

Yutaka Nonomura

Motohiro Fujiyoshi

Takashi Izuo

Hitoshi Yamada

Masashi Yamashita

Shingo Shimoda

Keiichi Kitajo

Takashi Yamamoto

Kouji Tsukada

Keisuke Suga

Ryosuke Tajima

Yuji Tsusaka

An upper limb rehabilitation support device includes a first handle that is connected with a first rotating shaft, gripped by a trainee's right hand and rotated, a second handle that is connected with a second rotating shaft, gripped by a trainee's left hand and rotated, a connecting part structured so as to connect the first rotating shaft and the second rotating shaft with each other and interlock rotations of the first handle and the second handle, and a switching part structured so as to switch directions of the rotations of the first handle and the second handle, which are interlocked by the connecting part, with respect to the other handles when one of the first handle and the second handle rotates.

Upper limb rehabilitation support device

An upper-limb rehabilitation assisting device includes first and second handles coupled to first and second rotating shafts and rotationally operated by hands on a paralytic limb side and a healthy limb side; first and second biosignal detecting parts that detect first and second biosignals corresponding to the paralytic limb side and the healthy limb side; first and second drive parts that drive the first and second rotating shafts; and a control part that performs a cooperative control of the first rotating shaft and the second rotating shaft. The control part controls the torques of the first and second drive parts at the time of the cooperative control of the first and second rotating shafts the basis of the degree of cooperation between the first and second biosignals.

Upper-limb rehabilitation assisting device and method for controlling the same

A sensor unit has a reference base. An acceleration sensor block and angular velocity sensor support rods are arranged on the reference base, using a bottom face and one side face of the reference base as reference faces. Three acceleration sensors, which detect accelerations that act in the directions in which an X-axis, a Y-axis, and a Z-axis extend, are fitted to three faces of the acceleration sensor block, respectively. Three angular velocity sensors, which detect angular velocities about the X-axis, the Y-axis, and the Z-axis, are fitted to boards that are fitted, via rubber bushings serving as vibration-proofing rubber members, to the angular velocity sensor support rods with screws, respectively.

Sensor unit

An angular velocity detected by an angular velocity sensor () is integrated by a small angle matrix calculator () and a matrix adding calculator (), and then restored as a posture angle (angular velocity posture angle) by a matrix posture angle calculator (). A posture matrix is calculated by a tilt angle calculator () and an acceleration matrix calculator () and an acceleration detected by an acceleration sensor () is restored as a posture angle (acceleration posture angle) by a matrix posture angle calculator (). Low pass filters () each extract a low range component, the difference between the two is calculated by a differencer (), and only the drift amount is extracted. A subtracter () removes the drift amount from the angular velocity posture angle and the result is output from an output device (). In addition, a posture angle matrix calculator () converts the result to a posture matrix, which it feeds back to the matrix adding calculator ().

Moving body posture angle detecting apparatus

A structure is presented in which it is easy to adjust, to a determined value, distance between electrodes of a condenser formed in an electrostatic capacity-type displacement sensor. A displacement sensor has a conductive lower layer, an insulating layer stacked on the conductive lower layer and a conductive upper layer stacked on the insulating layer. The conductive lower layer is divided into a first lower region and a second lower region by a groove penetrating the conductive lower layer. The insulating layer is stacked on the conductive lower layer at selected portions. The conductive upper layer is stacked on the insulating layer at selected portions. The conductive upper layer has a beam connected via the insulating layer to the first lower region and the second lower region at a pair of ends of the beam. The conductive upper layer has a first upper portion forming one of electrodes of a first condenser. The first upper portion extends from a position above the first lower region to a position above the second lower region. The insulating layer is not formed between the first upper portion and the first lower region, but is formed between the first upper portion and the second lower region.

Displacement sensor

A legged robot and a legged robot walking control method are disclosed, which enable stable walking without force sensors on leg tips. A legged robot of the present invention comprises a torso, a leg link, which is swingably connected to the torso, storing meansfor storing leg tip gait data describing a time-series change in a target leg tip motion, storing meansfor storing torso gait data describing a time-series change in a target torso motion, which realizes a target ZMP following the change in the target leg tip motion, torso motion detection meansfor detecting an actual torso motion, deviation calculation meansfor calculating a deviation of the actual torso motion from the target torso motion, correction quantity calculation meansfor determining a correction quantity from the calculated deviation based on a prescribed transfer function, and correction meansfor correcting the target torso gait data based on the determined correction quantity.

Growing community of inventors

Aichi-ken, Japan

Hisayoshi Sugihara