The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 22, 2022
Filed:
Oct. 19, 2018
Suncall Corporation, Kyoto, JP;
National University Corporation Kyoto Institute of Technology, Kyoto, JP;
Kyoto University, Kyoto, JP;
Rei Takahashi, Kyoto, JP;
Yukinobu Makihara, Tokyo, JP;
Yuichi Sawada, Kyoto, JP;
Yoshiyuki Higashi, Kyoto, JP;
Tadao Tsuboyama, Kyoto, JP;
Noriaki Ichihashi, Kyoto, JP;
Koji Ohata, Kyoto, JP;
Suncall Corporation, Kyoto, JP;
Abstract
The gait motion assisting device according to the present invention replicates movement of user's leg including thigh and lower leg around hip joint by pendulum movement of a rod-like rigid body, estimates hip joint angle and hip joint angular velocity of thigh calculated based on equation of motion of the pendulum movement by a state estimator using angle-related signal received from a thigh orientation detecting means as the observation, calculates the thigh phase angle using the estimated hip joint angle and the estimated hip joint angular velocity, and outputs assisting force having torque value calculated based on the thigh phase angle.