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1. (WO2017110930) WEARABLE MOTION ASSISTING DEVICE PERFORMANCE EVALUATION DEVICE AND PERFORMANCE EVALUATION METHOD
Latest bibliographic data on file with the International Bureau

Pub. No.: WO/2017/110930 International Application No.: PCT/JP2016/088219
Publication Date: 29.06.2017 International Filing Date: 21.12.2016
IPC:
B25J 19/00 (2006.01) ,A61F 2/62 (2006.01) ,A61F 2/64 (2006.01) ,A61F 2/68 (2006.01) ,A61F 2/76 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19
Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
A HUMAN NECESSITIES
61
MEDICAL OR VETERINARY SCIENCE; HYGIENE
F
FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, E.G. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
2
Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
50
Prostheses not implantable in the body
60
Artificial legs or feet or parts thereof
62
adjustable, e.g. adjustable shank, thigh, or tubular skeletal system
A HUMAN NECESSITIES
61
MEDICAL OR VETERINARY SCIENCE; HYGIENE
F
FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, E.G. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
2
Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
50
Prostheses not implantable in the body
60
Artificial legs or feet or parts thereof
64
Knee joints
A HUMAN NECESSITIES
61
MEDICAL OR VETERINARY SCIENCE; HYGIENE
F
FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, E.G. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
2
Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
50
Prostheses not implantable in the body
68
Operating or control means
A HUMAN NECESSITIES
61
MEDICAL OR VETERINARY SCIENCE; HYGIENE
F
FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, E.G. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
2
Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
50
Prostheses not implantable in the body
76
Means for assembling, fitting, or testing prostheses, e.g. for measuring or balancing
Applicants:
CYBERDYNE株式会社 CYBERDYNE INC. [JP/JP]; 茨城県つくば市学園南二丁目2番地1 2-2-1, Gakuen-Minami, Tsukuba-shi, Ibaraki 3050818, JP
Inventors:
鍋嶌 厚太 NABESHIMA, Cota; JP
Agent:
特許業務法人サンネクスト国際特許事務所 SUNNEXT INTERNATIONAL PATENT OFFICE; 東京都品川区東品川二丁目3番12号 シーフォ-トスクエア センタ-ビルディング16階 Seafort Square Center Building, 16F, 2-3-12, Higashishinagawa, Shinagawa-ku, Tokyo 1400002, JP
Priority Data:
2015-25068622.12.2015JP
Title (EN) WEARABLE MOTION ASSISTING DEVICE PERFORMANCE EVALUATION DEVICE AND PERFORMANCE EVALUATION METHOD
(FR) DISPOSITIF D'ASSISTANCE AU MOUVEMENT PORTABLE, DISPOSITIF D'ÉVALUATION DE PERFORMANCE ET PROCÉDÉ D'ÉVALUATION DE PERFORMANCE
(JA) 装着式動作補助装置の性能評価装置及び性能評価方法
Abstract:
(EN) [Problem] To provide a performance evaluation device and a performance evaluation method that can, using a comparatively simple configuration, efficiently evaluate performance of a wearable motion assisting device that assists in the motion of the lumbar region of a person wearing the device. [Solution] With a wearable motion assisting device worn by being fixed to links on both thighs and a link on the body trunk, while the drive force from a first and second drive source is controlled so that the orientation of the body trunk link and the rotational angles of each hip joint and each knee joint are made to virtually match the motion of the lumbar region of the wearer, the torque applied to the axial line in the pitch direction with respect to the body trunk link in each hip joint is detected, and the performance of the assisting force due to the wearable motion assisting device is evaluated on the basis of the torque detection results according to the drive control of the first and second drive source.
(FR) [Problème] Fournir un dispositif d'évaluation de performance et un procédé d'évaluation de performance qui peuvent, au moyen d'une configuration comparativement simple, d'évaluer efficacement les performances d'un dispositif d'assistance au mouvement portable qui facilite le mouvement de la région lombaire d'une personne portant le dispositif. [Solution] Avec un dispositif d'assistance au mouvement portable selon la présente invention porté en étant fixé à des liaisons sur les deux cuisses et une liaison sur le tronc du corps, tandis que la force d'entraînement d'une première et une deuxième source d'entraînement est commandée de sorte que l'orientation du tronc du corps et les angles de rotation de chaque articulation de hanche et chaque articulation de genou soient amenés à correspondre virtuellement au mouvement de la région lombaire de l’utilisateur, le couple appliqué à la ligne axiale dans la direction d’inclinaison par rapport à la liaison de tronc du corps dans chaque articulation de hanche est détecté, et les performances de la force d'assistance due au dispositif d'assistance au mouvement portable sont évaluées sur la base des résultats de détection de couple en fonction de la commande d'entraînement de la première et la deuxième source d'entraînement.
(JA) [課題]本発明は、装着者の腰部の動作をアシストする装着式動作補助装置を比較的簡易な構成で効率良く性能評価することが可能な性能評価装置及び性能評価方法を提供する。[解決手段]装着式動作補助装置を両大腿リンク及び体幹リンクに固定して装着した状態で、体幹リンクの姿勢と各股関節及び各膝関節の回転角度とを、装着者の腰部の動作に仮想的に合わせるように、第1及び第2の駆動源による駆動力を制御しながら、各股関節における体幹リンクに対するピッチ方向の軸線に作用するトルクを検出し、第1及び第2の駆動源の駆動制御に応じたトルクの検出結果に基づいて、当該装着式動作補助装置によるアシスト力の性能を評価する。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Organization (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Japanese (JA)
Filing Language: Japanese (JA)
Also published as:
EP3395512US20190011330