Honda Motor Co., Ltd.

Honda Giken Kogyo Kabushiki Kaisha

Takashi Hirata

Hisashi Katoh

Kei Shimada

Taiji Koyama

Takako Fujii

Yasushi Ikeuchi

Ken Yasuhara

Yoshirou Koyama

Hideo Shimizu

Jun Ashihara

Tatsuya Noda

Kiyoshi Oikawa

Akio Koike

Toshinobu Okaji

Yuki Araki

Masami Saito

A motion assisting device or the like, wherein the asymmetry degree of the motion patterns of human limbs is evaluated according to the variation patterns of the values of a pair of posture variables which vary with the postures in the respective same locations of the limbs. Furthermore, the evaluation result of the degree of the asymmetry can be utilized as the foundation of the motion control of the actuator of the motion assisting device. As a result, the motion of the human limbs can be assisted by the motion assisting device in such a manner that the balance of the motion patterns of the limbs is adjusted.

Motion assisting device, control method therefor, and rehabilitation method

In a belt buckle device including a tongue piece () connected to an end of a belt extending in a longitudinal direction and a hook member () configured to be selectively connected to the tongue piece by engaging a first lateral bar of the tongue piece in a hook opening () defined by a hook portion () thereof, a longitudinal dimension (B) between the free end of the tongue piece and a base end side of the first lateral bar is substantially equal to or smaller than a width (A) of the entrance of the hook opening, and the effective thickness (C) of the first lateral bar is greater than the width (A) of the entrance of the hook opening. Thus, the first lateral bar is held inside the hook opening as long as the tongue piece is kept in a flat position in a reliable manner. In particular, the first lateral bar can be freely introduced into the hook opening simply by raising the base end of the tongue piece while the first lateral bar is applied to the entrance of the hook opening so that the belt buckle device can be readily fastened even when the belt buckle device cannot be viewed from a proper viewing angle. Also, the belt buckle device can be readily fastened with a minimum dexterity requirement and very quickly.

Belt buckle device

When securing a frame () made of a rigid member for carrying a heavy object such as a drive unit () for a walking assistance device on the hip of a wearer, a hip protective belt () made of fabric is wrapped around the hip of the wearer, and the frame () is secured thereon via a flexible plate () and a pressure plate () located on an outer side of the flexible plate () and having a higher rigidity than the flexible plate (). 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.

Hip support member

A femoral support member () comprises a stiff frame () made of an elongated rectangular plate member curved so as to extend along an outer side and front of a femoral part of a wearer and a flexible belt () extending along a rear of the femoral part. The femoral support member allows a walking assistance force to be transmitted to the femoral part of the wearer in a favorable manner. Also, the pressure and stress on the wearer are minimized, and a favorable fit can be achieved.

Femoral support member for a walking assistance device

In order to provide a walking assistance device that can avoid hampering the motion of the muscles of the user and will not move out of place inadvertently when worn by the user, principal engagement points of a support member for securely mounting an assisting force generator, which is disposed on a side of at least one joint of a lower limb to provide an assisting force to a movement of the lower limb, are provided at portions where a relatively small amount of movement of skin occurs when a trunk or joint is moved. In this way, the support member can be fastened firmly to the portions where an amount of movement of the skin is small and therefore it is possible to reduce the uncomfortable pressure caused during motion while preventing the support member from inadvertently moving out of place.

Walking assistance device

In order to provide a walking assistance device capable of favorably providing an assisting force for maintaining the upright posture while reducing the sense of pressure when worn by the user, a hip support member () of the walking assisting device, which comprises an assisting force generator (hip joint actuator) disposed at least on a side of a hip joint to provide an assisting force to a movement of a lower limb, is provided with: a back support () equipped with pads () for respectively abutting an intermediate portion between right and left erector spinae muscles, lateral outer sides of the spinae muscles and right and left iliac crests; and a belt () connected to the back support for tightening a lower part of the rectus abdominis muscle. In this way, a supporting force can be provided to the lumbar vertebrae to steadily keep the upright posture while reducing a resistance to a bending movement of the waist caused by the support member. Further, the drive torque from the assisting force generator can be supported by the whole hip portion and this can contribute to preventing inadvertent move of the support member.

A system for managing exercise of an animal such as a human being so that the motion of the animal is induced with an appropriate scale and rhythm in accordance with the physiological conditions of the animal is provided. According to the exercise management system () of the present invention, during the process where the user's walking motion is induced by an operation of a walking motion induction device (), a walking ratio (k) and a physiological variable such as consumed energy are measured. Then, the walking ratio (k) in the state where the physiological variable attains an appropriate value in consideration of activation of physical functions or reduction of body load of the user is set as a recommended walking ratio (k). This ensures that the recommended walking ratio (k) is set as appropriate in consideration of activation of the physical functions of the user or the like. As the walking motion is induced based on this recommended walking ratio (k) by the walking motion induction device (), the induction scale and rhythm can be controlled appropriately so that the step width (q) and the walking rate (p) are appropriate in consideration of activation of the physical functions of the user or the like.

Exercise management system

A system for managing exercise of an animal such as a human being so that the animal can be trained to move with an appropriate scale and rhythm while harmonizing the motion of the animal with the operations of two devices which induce the motion of the animal in different manners, is provided. According to the exercise management system () of the present invention, the speed of the walking motion of the user is adjusted by an operation of a treadmill (first motion induction device) (). The user's walking motion is induced with the motion scale being adjusted with a rhythm harmonized with the motion rhythm of the animal by an operation of a walking motion induction device (second motion induction device) (). At this time, the operation of the walking motion induction device () is controlled based on the walking speed v (walking rate p, as required). Accordingly, it is possible to train the user so that the user walks with an appropriate scale and rhythm, while realizing harmonization between the walking motion of the user, the operation of the treadmill (), and the operation of the walking motion induction device ().

A system for assisting the motion of a body connected through joints provides a system for imparting a suitable torque to the connected body at the time of various turns including the bending of the joints. The torque imparting system has first and second measuring means, a reference work volume determining means, and an external torque determining means. The first measuring means measures the internal work volume of the around-joint leg. The second measuring means measures an external work volume around a joint imparted to the leg. The reference work volume determining means determines a reference work volume based on the internal work volume. The external torque determining means determines an external torque imparted to the leg so as to reduce the difference between the internal work volume of the leg and the reference work volume, based on the external work volume.

Torque imparting system

In order to achieve a walking assistance device that can be securely fitted to the user's body while allowing a certain degree of freedom, a walking assistance device is provided comprising a hip joint rotational force generator (hip joint actuator) mounted on a side of a hip joint and a knee joint rotational force generator (knee joint actuator) mounted on a side of a knee joint to provide an assisting force to a movement of a lower limb, wherein the hip joint rotational force generator is fitted to the body via a first linkage means (link plate) having at least two degrees of freedom, and wherein the hip joint rotational force generator and the knee joint rotational force generator are connected to each other via a second linkage means (link bar) having an expandable and contractable means. In this way, deformation in lateral and torsional directions of the first linkage means and expansion/contraction of the second linkage means can absorb a deviation in position between the joints of the user's body and the assisting force generators.

In walking assistance device, a force detector () is provided between thigh retaining member () that directly retain the thigh of the user and a thigh support member () that is actuated by an actuator (TA) 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 () connected to the thigh support member and two pairs of resilient arms () 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.

Walking assistance device provided with a force sensor

In order to provide a walking assistance device that can improve the force transmission efficiency from the assisting force generator disposed at a position corresponding to a hip joint to the leg while reducing the load upon the user's body, there is provided a walking assistance device comprising an assisting force generator (hip joint actuator) disposed at least on a side of a hip joint to provide an assisting force to a movement of a lower limb, comprising: a hip support member () for securely mounting the assisting force generator on the side of the hip joint; a lower leg support member () worn on a lower leg portion; and a force transmitting member (link bar) connecting the assisting force generator and the lower leg support member. In this way, the torque around the hip joint generated by the assisting force generator can be transmitted to the parts lower than the knee, and this can reduce an amount of force applied to the point of application of force on the body compared with the case where the torque is applied directly upon the thigh.

In a walking assistance device that includes a pelvis support member adapted to be worn around a hip of a wearer and at least one actuator having a base end mounted on the pelvis support member and a free end engaging a thigh of the wearer, the pelvis support member comprises a substantially U-shaped base portion having a relatively high rigidity and adapted to be worn around the hip of the wearer and a pair of flaps having a relatively high resilient flexibility and extending from either end of the base portion toward each other; free ends of the flaps defining a gap smaller than a width of the hip of the wearer. Therefore, the wearer can bend the flaps outward so as to define a gap wide enough to pass the hip of the wearer, and once the wearer is fit into the pelvis support member, the flaps are allowed to return to their original shape owing to their resiliency, and engage the front side part of the hip of the wearer. The base portion, on the other hand, may be given with an adequate rigidity to support the actuator without any problem.

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Wako, Japan

Takashi Hirata