Honda Motor Co., Ltd.

Honda Giken Kogyo Kabushiki Kaisha

Tetsuya Ido

Yasushi Ikeuchi

Ken Yasuhara

Yosuke Endo

Kei Shimada

Keishiro Kikuchi

Ritsuo Hara

Shuichi Wakita

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

Rehabilitation device and controlling method thereof

A training device capable of converting kinetic energy of an agent into electric energy while applying to the agent a resistance force of a variation behavior appropriate to a motion behavior of the agent. According to the training device, a strength and a direction of a resistance force applied to the agent can be varied via a regenerative braking on a motor according to at least one of a variation behavior of a relative posture between an upper body and a leg of the agent and a temporal variation behavior of the relative posture therebetween.

Training device

A walking assistance device () has a body-mounted assembly () installed on the waist of a user (A), foot-mounted assemblies (L,R) installed on feet, and leg links (L,R) which connect the foot-mounted assemblies (L,R) to the body-mounted assembly (). The foot-mounted assemblies (L,R) are provided with floor reaction force sensors (L,R). Results obtained by multiplying the absolute values of floor reaction force vectors (three-dimensional vectors) detected by the floor reaction force sensors (L,R) by a predetermined ratio are defined as target values of the magnitudes of the supporting forces transmitted to the leg links (L,R) from the foot-mounted assemblies (L,R). Actuators (L,R) of the leg links (L,R) are controlled such that the supporting forces having the magnitudes of the target values act on the leg links (L,R) from the foot-mounted assemblies (L,R) through the intermediary of joints (L,R).

Walking assistance device

A control device and a control program of a walking assisting device, wherein a desired assist ratio, which is a desired value of the ratio of a force to be supplied by a walking assisting device () in a total tread force of a user (A) relative to the total tread forces is set, the shares of a lifting force to be applied to the user (A) from a seating part () which are to be borne by the leg links (L,R) are determined from the desire assist ratio and the tread forces of the legs of the user (A) measured on the basis of outputs of force sensors (), and actuators () of the leg links (L,R) are controlled such that the determined shares of the lifting force are generated from the leg links (L,R). Thus, a force required for the user (A) to support himself/herself by his/her legs on a floor can be reduced while reducing the number of parts to be attached to each leg of the user (A), and an assisting force for achieving such reductions can be properly shared between the leg links (L,R) corresponding to the legs of the user (A).

Control device and control program of walking assisting device

A control device and a control program of a walking assisting device, wherein a desired assist ratio, which is a desired value of the ratio of a force to be supplied by a walking assisting device in a total tread force of a user relative to the total tread forces is set, the shares of a lifting force to be applied to the user from a seating part which are to be borne by the leg links are determined from the desire assist ratio and the tread forces of the legs of the user measured on the basis of outputs of force sensors, and actuators of the leg links are controlled such that the determined shares of the lifting force are generated from the leg links. Thus, a force required for the user to support himself/herself by his/her legs on a floor can be reduced while reducing the number of parts to be attached to each leg of the user, and an assisting force for achieving such reductions can be properly shared between the leg links corresponding to the legs of the user.

A device and a method that permit easy and accurate determination of a walking condition regardless of differences in foot landing points on soles or lengths of legs of a walker are provided. According to this device, a measuring device measures a parameter indicating a displacement speed or a displacement acceleration of a bottom end portion of one leg with respect to a bottom end portion of the other leg of the walker. A first storage device stores patterns of plots corresponding to parameters and walking conditions of the walker. A generating device generates plots defined in the determination space by parameters measured by the measuring device. A determining device determines walking conditions of the walker on the basis of the patterns of the plots stored and retained in conjunction with the walking conditions by the first storage device and the patterns of the plots generated by the generating device.

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Wako, Japan

Tetsuya Ido