Abstract: Drive disks are configured to rotate a main wheel by applying a frictional force thereto. Each of the drive disks includes a base and a plurality of rollers. The base includes a first sheet metal member and a second sheet metal member. The first sheet metal member includes a first central part and a plurality of first arm parts. The second sheet metal member includes a second central part and a plurality of second arm parts. Each of the rollers has a first end and a second end in an axial direction thereof. Each of the first arm parts and each of the second arm parts support the first end of one of two rollers adjacent to each other and the second end of the other of the two rollers adjacent to each other.

Abstract: A manufacturing apparatus for a drive disk includes: an upper member and a lower member each including a base and protrusions. Each protrusion is defined by a plurality of surfaces including a first side surface inclined with respect to opposed surfaces of the drive disk and a second side surface parallel to the opposed surfaces. The first side surface of the protrusion of the upper member and the first side surface of the protrusion of the lower member are parallel to each other and face away from each other. The second side surface of the protrusion of the upper member and the second side surface of the protrusion of the lower member face away from each other. The first side surface of the protrusion of the upper member and the first side surface of the protrusion of the lower member come into contact with each other to form the slot.

Abstract: Provided is a steering mechanism (8) including a swing bar (81a) which swings in response to input from a rider, a cam guide (83c) slidable on a peripheral surface of a column section (5a), a ball joint (82a) which slides the cam guide (83c) in response to the swinging of the swing bar (81a), a cam follower (83b) vertically provided on the peripheral surface of the column section (5a) to rotate the column section (5a) in response to the sliding of the cam guide (83c), and a coil spring (83e) which returns the cam guide (83c) to a predetermined rotation angle. The cam follower (83b) comes in contact with a cam surface (83c4) of the cam guide (83c) which has a recess surface shape, at two positions on the peripheral surface, in a state where the column section (5a) is located at a predetermined position.

Abstract: An operation device 5 includes: a base 40; an operation part 45, extending in a left-right direction; and a pair of left and right first connection parts 50, provided between the base and the operation part, and disposed apart from each other in the left-right direction. Each first connection part includes: a first end 56, connected to the base; a second end 55, connected to the operation part; a first elastic member 63, connecting the second end with respect to the first end to be displaceable in a front-rear direction; and a first distance sensor 65A, 65B, measuring a relative distance of the second end with respect to the first end in the front-rear direction.

Abstract: A cart includes a vehicle body, at least one omnidirectional wheel provided at the vehicle body and configured to move the vehicle body in all directions along a floor, a drive unit configured to drive the omnidirectional wheel, a handle provided at the vehicle body and configured to accept an operation by a user, at least one sensor configured to detect loads in a width direction and a front-and-rear direction of the vehicle body applied to the handle, and a control unit configured to control the drive unit based on the loads detected by the sensor, wherein the handle includes a first portion extending in the width direction and at least one second portion extending in a front-and-rear direction.

Abstract: A manufacturing apparatus for a drive disk includes: an upper member and a lower member each including a base and protrusions. Each protrusion is defined by a plurality of surfaces including a first side surface inclined with respect to opposed surfaces of the drive disk and a second side surface parallel to the opposed surfaces. The first side surface of the protrusion of the upper member and the first side surface of the protrusion of the lower member are parallel to each other and face away from each other. The second side surface of the protrusion of the upper member and the second side surface of the protrusion of the lower member face away from each other. The first side surface of the protrusion of the upper member and the first side surface of the protrusion of the lower member come into contact with each other to form the slot.

Abstract: Drive disks are configured to rotate a main wheel by applying a frictional force thereto. Each of the drive disks includes a base and a plurality of rollers. The base includes a first sheet metal member and a second sheet metal member. The first sheet metal member includes a first central part and a plurality of first arm parts. The second sheet metal member includes a second central part and a plurality of second arm parts. Each of the rollers has a first end and a second end in an axial direction thereof. Each of the first arm parts and each of the second arm parts support the first end of one of two rollers adjacent to each other and the second end of the other of the two rollers adjacent to each other.

Abstract: Drive disks are configured to rotate a main wheel by applying a frictional force thereto. Each of the drive disks includes a base and a plurality of rollers. The base includes a first sheet metal member and a second sheet metal member. The first sheet metal member includes a first central part and a plurality of first arm parts. The second sheet metal member includes a second central part and a plurality of second arm parts. Each of the rollers has a first end and a second end. Each of the first arm parts includes a first supporting part and a second supporting part. Each of the second arm parts includes a third supporting part and a fourth supporting part. The first supporting part and the second supporting part are inclined to each other. The third supporting part and the fourth supporting part are inclined to each other.

Abstract: Provided is a steering mechanism (8) including a swing bar (81a) which swings in response to input from a rider, a cam guide (83c) slidable on a peripheral surface of a column section (5a), a ball joint (82a) which slides the cam guide (83c) in response to the swinging of the swing bar (81a), a cam follower (83b) vertically provided on the peripheral surface of the column section (5a) to rotate the column section (5a) in response to the sliding of the cam guide (83c), and a coil spring (83e) which returns the cam guide (83c) to a predetermined rotation angle. The cam follower (83b) comes in contact with a cam surface (83c4) of the cam guide (83c) which has a recess surface shape, at two positions on the peripheral surface, in a state where the column section (5a) is located at a predetermined position.

Abstract: A wheel frame (16a) includes a cylindrical hub (16c) into which an axle (11b) is rotatably inserted, a six-axis force sensor (16e) having an insertion hole (16e1) into which the hub (16c) is inserted, and an outer flange (16f) extending radially outward from an input section (16e2) of the six-axis force sensor (16e), wherein a hand rim (17) is attached to the outer flange (16f).

Abstract: The steering angles of front wheels 3f and rear wheels 3r of a vehicle 1 can be respectively controlled by a front wheel steering angle control actuator 35 and a rear wheel steering angle control actuator 44. If a steering wheel 20 is operated in a turning direction of the vehicle 1 while the vehicle 1 is traveling in a straight line, then a controller 60 changes the steering angle of the front wheels 3f to approach to a steering angle specified on the basis of an operation amount after the steering wheel 20 is operated, and also controls the front wheel steering angle control actuator 35 and the rear wheel steering angle control actuator 44 to change the steering angles of the rear wheels 3r to the opposite direction of the turning direction of the vehicle 1 immediately after the steering wheel 20 is operated.

Abstract: A joint mechanism 4 has a zigzag structure 13 extending in a zigzag pattern between a first member 11 and a second member 12. A flexible lengthy member 16 fixed to the first member 11 extends from the first member 11 toward the second member 12 and is travelable with respect to the second member 12. A tension application unit 30 that applies a tension to the flexible lengthy member 16 is configured to be capable of changing a tension to apply.

Abstract: 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.

Abstract: Provided is a wheel frame capable of measuring in detail the magnitude and the direction of a driving force while suppressing increase in weight and size of a driving wheel. A wheel flame (16a) includes a cylindrical hub (16c) into which an axle (11b) is rotatably inserted, a six-axis force sensor (16e) having an insertion hole (16e1) into which the hub (16c) is inserted, and an outer flange (16f) extending radially outward from an input section (16e2) of the six-axis force sensor (16e), wherein a hand rim (17) is attached to the outer flange (16f).

Abstract: A present invention provides a joint power control device. A joint interlock displacement part (52) of a power transmission movable mechanism (53), which is comprising of a moving pulley (51) and the like, is connected to a joint mechanism (5) disposed between a first member (2) and a second member (3). A flexible lengthy member (32), which is one of two flexible lengthy members (32, 32) extending from the power transmission movable mechanism (53), is connected to a control mechanism (54) that controls the movement of the flexible lengthy member (32). Further, an elastic structure (31) is engaged with the other flexible lengthy member (32).

Abstract: A joint power generating device (8) has a multilayer structure constituted by alternately stacking an elastic member (41), which incorporates a hermetically sealed air chamber, and a partition plate (42) with high stiffness, an elastic structure (31), which has a through hole (43) formed therein, and a flexible lengthy member (32) inserted in the through hole (43). The joint power generating device (8) is configured to transmit a force between the lengthy member (32) and the elastic structure (31) such that the force for compressing the elastic structure (31) increases as the tension on the lengthy member (32) increases.

Abstract: The steering angles of front wheels 3f and rear wheels 3r of a vehicle 1 can be respectively controlled by a front wheel steering angle control actuator 35 and a rear wheel steering angle control actuator 44. If a steering wheel 20 is operated in a turning direction of the vehicle 1 while the vehicle 1 is traveling in a straight line, then a controller 60 changes the steering angle of the front wheels 3f to approach to a steering angle specified on the basis of an operation amount after the steering wheel 20 is operated, and also controls the front wheel steering angle control actuator 35 and the rear wheel steering angle control actuator 44 to change the steering angles of the rear wheels 3r to the opposite direction of the turning direction of the vehicle 1 immediately after the steering wheel 20 is operated.

Abstract: 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.

Abstract: In a mobile vehicle 1 having a vehicle body 2, a front wheel 3f, and a rear wheel 3r, the steering control wheel 3f can be steered by a steering actuator 8 about a steering axis Csf which is tilted backward. The steering actuator 8 is controlled by a control device 15. The height a, from a ground surface 110, of the intersection point Ef of the steering axis Csf of the steering control wheel 3f and a virtual straight line connecting the ground contact point of the steering control wheel 3f and the center of axle of the steering control wheel 3f in a basic posture state of the mobile vehicle 1 is set to satisfy a prescribed condition.