Abstract: A mobile body (1A) includes: a base body (3) tiltably assembled to a movement operation section (2) that can move on a floor surface; an occupant riding section 6 installed to the base body (3) by a connection mechanism (4); an auxiliary ground contact section 7 connected to the occupant riding section (6) and in contact with the floor surface in a slidable or rollable manner when a tilt amount of the occupant riding section (6) with respect to the floor surface increases to a predetermined amount; and a control device (80) which controls the movement of the movement operation section (2) to stabilize the attitude of the mobile body (1A). The connection mechanism (4) elastically rocks the occupant riding section (6) with respect to the base body (3) according to the movement of the center of gravity of a user P riding on the occupant riding section (6).

Abstract: The present disclosure relates to a hub bracket structure wherein a hub bracket that connects a trailing arm and a hub includes a hub mounting surface, a front connecting surface that connects a front portion of the hub mounting surface and the trailing arm, and a rear connecting surface that connects a rear portion of the hub mounting surface and the trailing arm, each of the front connecting surface and the rear connecting surface is formed in a plate shape extending in up-down and vehicle width directions, and an angle formed by the hub mounting surface and the front connecting surface is greater than an angle formed by the hub mounting surface and the rear connecting surface.

Abstract: A walking support system includes: an information output device (260); a motion detector (220) which detects a motion of a user; a foot landing position detector (230) which detect a foot landing position of the user; a determiner (240) which determines a recommended foot landing position which is a landing position of the feet suitable for stabilizing motions of a gait of the user on the basis of motions of a gait of the user detected by the motion detector, the foot landing position detected by the foot landing position detector, and dynamics; and an output controller (250) which outputs information indicating the recommended foot landing position determined by the determiner to the information output device.

Abstract: A walking support system is a walking support system which supports walking of a user, and includes a display unit, a landing timing detection unit configured to detect landing at the time of walking of the user, a target landing timing setting unit configured to set a target landing timing of the user on the basis of an output of the landing timing detection unit, and a display control unit configured to cause the display unit to display an auxiliary image prompting the user to land at the target landing timing.

Abstract: A manipulation device 51 (master device) includes: an upper-body support part 65 which is mounted on an upper body of an operator P to be able to move together with the operator P as the operator P moves; and a movement command determination unit 94 which determines a movement control command value of a mobile body 1 (slave device) according to an observation value of a motion state including a movement speed of the upper-body support part 65 in a movement environment of the operator P. A reaction force received from the operator P by the upper-body support part 65 can be controlled by action control of a movement mechanism 52 of the manipulation device 51 and a lifting mechanism 60.

Abstract: To provide a frictional drive unit that can arrange drive rollers with high density and facilitate an attachment operation of the drive rollers, a frictional drive unit 2 includes a pair of drive disks 4, a plurality of drive rollers 5 rotatably supported by an outer circumferential portion of each drive disk, a pair of actuators 8 configured to independently rotate the pair of drive disks, and an annular main wheel 7 arranged between the pair of drive disks and coming into contact with the drive rollers. Each drive roller includes a roller shaft 41 and a round roller body 42 provided on an intermediate portion of the roller shaft. Each drive disk includes plural pairs of bearing grooves 45 each receiving both ends of the roller shaft of each drive roller. Each bearing grooves open toward the main wheel.

Abstract: The present disclosure relates to a hub bracket structure wherein a hub bracket that connects a trailing arm and a hub includes a hub mounting surface, a front connecting surface that connects a front portion of the hub mounting surface and the trailing arm, and a rear connecting surface that connects a rear portion of the hub mounting surface and the trailing arm, each of the front connecting surface and the rear connecting surface is formed in a plate shape extending in up-down and vehicle width directions, and an angle formed by the hub mounting surface and the front connecting surface is greater than an angle formed by the hub mounting surface and the rear connecting surface.

Abstract: Provided is a method for evaluating muscle strength characteristics of a limb based on a muscle group model including a first pair of antagonistic one-joint muscles, a second pair of antagonistic one-joint muscles, and a pair of antagonistic two-joint muscles, where the limb has a first rod having a proximal end supported by a first joint and a second rod supported on a free end of the first rod through a second joint. The method includes: measuring a maximum output of a free end of the second rod in at least one predetermined direction; measuring orbiting outputs of the free end of the second rod in all directions in the plane; and creating a hexagonal maximum output distribution corresponding to a contribution amount of each muscle of the muscle group model based on the maximum output in the predetermined direction and the orbiting outputs.

Abstract: A bending and stretching motion assist device includes: left and right thigh links; left and right lower leg links swingably coupled to lower ends of the thigh links; a torso mount member having an annular shape and supporting upper ends of the left and right thigh links swingably on respective sides of left and right hip joints; left and right lower leg mount members respectively attached to lower ends of the left and right lower leg links; an assist force generation device configured to generate assist force in a stretching direction between the lower leg links and the thigh links to assist bending and stretching motion of lower limbs; and a buttocks support member extending between parts of the torso mount member adjacent to connecting parts that connect the torso mount member to the left and right thigh links, respectively, and including a buttocks pad.

Abstract: Provided is a travel motion assist device capable of assisting a travel motion of a user without causing any discomfort, and has a high level of versatility. A travel motion assist device includes an assist drive unit configured to be worn on a prescribed joint of the user required for the travel motion of the user, and to be driven in a corresponding manner, a torso motion detection unit configured to be worn on a torso of the user, and to detect the displacement of a center of gravity C indicating the movement of the torso, and a control unit configured to control an operation of the assist drive unit, wherein the control unit estimates a phase of the travel motion of the user according to a detection result of the torso motion detection unit, and drives the assist drive unit at a prescribed phase.

Abstract: Provided is a motion transmission mechanism 30 of a limb motion support device 1A configured so as not to transmit the movements of a pair of braces 10R and 10L attached to right and left legs to spring members 20R and 20L in a state where the bending degrees of the right and left legs are smaller than a predetermined bending degree in the case where both of the right and left legs equipped with the braces 10L and 10R are bent from a stretched state and configured to transmit the movements of the braces 10L and 10R to the spring members 20L and 20R via a wire 31 after the bending degrees of the legs increase to be larger than the predetermined bending degree.

Abstract: To allow the elastic member to smoothly expand and contract while suppressing increase in size and preventing curving of the elastic member, a tensile force generating device (60) includes: a base member (23); a guide pipe (29) having a base end (29a) fixed to the base member and a free end (29b), the guide pipe being provided with a first slot (29c) extending in a longitudinal direction; a tubular elastic member (30) fitted over the guide pipe 29 and having a base end (33) supported by the base member on a side of the base end (29a) of the guide pipe (29); a flexible wire (41) passed into the guide pipe (29) from a side of the base end (29a) of the guide pipe (29); an end member (44) slidably mounted on the guide pipe (29) and supporting a free end (34) of the elastic member (30); and a slider (50) slidably received in the guide pipe (29), joined to a tip of the wire (41), and joined to the end member (44) through the first slot (29c).

Abstract: A muscular strength characteristic evaluation method evaluates a muscular strength characteristic of a limb 3 including a first rod L1 having a base end supported by a first joint Ji, and a second rod L2 supported by a free end of the first rod via a second joint J2. The muscular strength characteristic evaluation method includes the following steps. In Step ST1, a free end of the second rod is moved at two or more different velocities va, vb, and vc in a predetermined direction, and an output at the free end of the second rod is respectively measured at a predetermined position O. In Step ST2, a function indicating a relationship between the output and the velocity in a direction is calculated based on the output and the velocity. In Steps ST3 and ST4, the muscular strength characteristic is evaluated based on the function.

Abstract: A moving body manipulation system is provided. A master device that manipulates a slave device includes an upper body support portion mounted on a base and foot mounts. When a manipulator on a master device performs a walking operation, a control device controls an operation of the master device so that a lateral position of the foot mount on a free leg side follows a foot on a free leg side of the manipulator and an upper body support portion relatively moves with respect to the foot mount on a support leg side along with the base while suppressing a lateral position of the base from deviating from a reference position.

Abstract: A moving body manipulation system is provided. A master device that manipulates a slave device includes an upper body support portion mounted on a base and foot mounts. A control device controls an operation of the master device so that a lateral position of the foot mount on a free leg side follows a foot on a free leg side of a manipulator and the upper body support portion moves relatively with respect to the foot mount on a support leg side together with the base to change a tilt posture or up-down direction position of each foot mount in response to a floor shape on the side of the slave device when the manipulator performs a walking operation on the master device.

Abstract: A mobile body (1A) includes: a base body (3) tiltably assembled to a movement operation section (2) that can move on a floor surface; an occupant riding section 6 installed to the base body (3) by a connection mechanism (4); an auxiliary ground contact section 7 connected to the occupant riding section (6) and in contact with the floor surface in a slidable or rollable manner when a tilt amount of the occupant riding section (6) with respect to the floor surface increases to a predetermined amount; and a control device (80) which controls the movement of the movement operation section (2) to stabilize the attitude of the mobile body (1A). The connection mechanism (4) elastically rocks the occupant riding section (6) with respect to the base body (3) according to the movement of the center of gravity of a user P riding on the occupant riding section (6).

Abstract: A walking support device includes a shape detector configured to detect a shape of a road surface on which a user moves, and a display controller configured to provide an auxiliary image emphasizing an uneven state of the road surface such that the auxiliary image is superimposed on the shape of the road surface on the basis of a result of the detection of the shape detector.

Abstract: A walking support device includes a shape detector configured to detect a shape of a road surface on which a user moves, and a display controller configured to provide an auxiliary image emphasizing an uneven state of the road surface such that the auxiliary image is superimposed on the shape of the road surface on the basis of a result of the detection of the shape detector.

Abstract: Provided is a travel motion assist device capable of assisting a travel motion of a user without causing any discomfort, and has a high level of versatility. A travel motion assist device includes an assist drive unit configured to be worn on a prescribed joint of the user required for the travel motion of the user, and to be driven in a corresponding manner, a torso motion detection unit configured to be worn on a torso of the user, and to detect the displacement of a center of gravity C indicating the movement of the torso, and a control unit configured to control an operation of the assist drive unit, wherein the control unit estimates a phase of the travel motion of the user according to a detection result of the torso motion detection unit, and drives the assist drive unit at a prescribed phase.

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).