Toyota Jidosha Kabushiki Kaisha

Yasuhiro Ebihara

Issei Nakashima

Eisuke Aoki

Masayuki Imaida

Shuhei Manabe

Hitoshi Konosu

Kouta Oishi

Yasuhiro Murata

A leg assist device having an abnormality management procedure which appropriately adapts to an abnormal situation is provided. The leg assist device is provided with a leg attachment and a controller. The leg attachment comprises upper and a lower links connected with a rotary joint, and an actuator. The upper link is to be attached to the upper leg of the user. The lower link is to be attached to the lower leg of the user. The actuator swings the lower link relative to the upper link. The controller outputs the commands so that the swing angle of the lower link follows a target trajectory. Further, the controller executes a first abnormality management process in which the controller shuts off torque transmission from the actuator to the user when the controller detects an abnormality before outputting the commands to the actuator.

Leg assist device

A walk assistance device comprises a thigh unit configured to be arranged on a thigh of the user, a shank unit configured to be arranged on a shank of the user, a foot unit configured to be arranged on a foot of the user, a knee position joint unit configured to couple the thigh unit and the shank unit in a swingable manner, and an ankle position joint unit configured to couple the shank unit and the foot unit in a swingable manner. The shank unit comprises a first replaceable member and a second replaceable member that extend along the shank of the user, and a length of the shank unit is adjustable by replacing each of the first and second replaceable members with another one having a different length.

Walk assistance device

Growing community of inventors

Okazaki, Japan

Yasuhiro Ebihara