Honda Motor Co., Ltd.

Yoshinao Sodeyama

Toru Takenaka

Hiroshi Gomi

Yosuke Ikedo

Kenichi Katagiri

Kazushi Akimoto

Takashi Kudo

Hiroshi Uematsu

Junji Takado

Osamu Kikuchi

A wheel frame () includes a cylindrical hub () into which an axle () is rotatably inserted, a six-axis force sensor () having an insertion hole () into which the hub () is inserted, and an outer flange () extending radially outward from an input section () of the six-axis force sensor (), wherein a hand rim () is attached to the outer flange ().

Wheel frame of driving wheel of a wheel chair including an ergometer including improved stabilization for increasing torque measurement of a user

The steering angles of front wheelsand rear wheelsof a vehiclecan be respectively controlled by a front wheel steering angle control actuatorand a rear wheel steering angle control actuator. If a steering wheelis operated in a turning direction of the vehiclewhile the vehicleis traveling in a straight line, then a controllerchanges the steering angle of the front wheelsto approach to a steering angle specified on the basis of an operation amount after the steering wheelis operated, and also controls the front wheel steering angle control actuatorand the rear wheel steering angle control actuatorto change the steering angles of the rear wheelsto the opposite direction of the turning direction of the vehicleimmediately after the steering wheelis operated.

Vehicle

A movement assistance device is provided with thigh frames, lower leg frames, and knee joint mechanisms which are disposed on the outer side and the inner side, respectively, of each knee of a person to be assisted. Each of the thigh frames has a first main frame, which extends in the longitudinal direction of a thigh from a base disposed on one side of the hip of the person to be assisted to the outer knee joint mechanism, a second main frame, which obliquely extends on the front side of the thigh from the base to the inner knee joint mechanism, and a body support member, which is extended between the two main frames on the rear surface side of the thigh.

Movement assistance device

A present invention provides a joint power control device. A joint interlock displacement part () of a power transmission movable mechanism (), which is comprising of a moving pulley () and the like, is connected to a joint mechanism () disposed between a first member () and a second member (). A flexible lengthy member (), which is one of two flexible lengthy members () extending from the power transmission movable mechanism (), is connected to a control mechanism () that controls the movement of the flexible lengthy member (). Further, an elastic structure () is engaged with the other flexible lengthy member ().

Joint mechanism control device

A joint power generating device () has a multilayer structure constituted by alternately stacking an elastic member (), which incorporates a hermetically sealed air chamber, and a partition plate () with high stiffness, an elastic structure (), which has a through hole () formed therein, and a flexible lengthy member () inserted in the through hole (). The joint power generating device () is configured to transmit a force between the lengthy member () and the elastic structure () such that the force for compressing the elastic structure () increases as the tension on the lengthy member () increases.

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Saitama, Japan

Yoshinao Sodeyama