Abstract: A device and a method that permit easy and accurate determination of a walking condition regardless of differences in foot landing points on soles or lengths of legs of a walker are provided. According to this device, a measuring device measures a parameter indicating a displacement amount of a bottom end portion of a leg of the walker. A first storage device stores patterns of plots in a determination space corresponding to parameters and walking conditions of the walker such that they are associated with each other. Furthermore, a generating device generates plots defined in the determination space by parameters measured by the measuring device. Then, a determining device determines walking conditions of the walker on the basis of the patterns of the plots stored in conjunction with the walking conditions by the first storage device and the patterns of the plots generated by the generating device.

Abstract: In order to achieve a walking assistance device that can be securely fitted to the user's body while allowing a certain degree of freedom, a walking assistance device is provided comprising a hip joint rotational force generator (hip joint actuator 10) mounted on a side of a hip joint and a knee joint rotational force generator (knee joint actuator 26) mounted on a side of a knee joint to provide an assisting force to a movement of a lower limb, wherein the hip joint rotational force generator is fitted to the body via a first linkage means (link plate 30) having at least two degrees of freedom, and wherein the hip joint rotational force generator and the knee joint rotational force generator are connected to each other via a second linkage means (link bar 25) having an expandable and contractable means.

Abstract: In order to provide a walking assistance device that can avoid hampering the motion of the muscles of the user and will not move out of place inadvertently when worn by the user, principal engagement points of a support member (hip support member 1 and/or lower leg support member 2) for securely mounting an assisting force generator (hip joint actuator 10 and/or knee joint actuator 26), which is disposed on a side of at least one joint of a lower limb to provide an assisting force to a movement of the lower limb, are provided at portions where a relatively small amount of movement of skin occurs when a trunk or joint is moved. In this way, the support member can be fastened firmly to the portions where an amount of movement of the skin is small, i.e.

Abstract: There is provided a walking assistance device equipped with an assisting force generator disposed on a side of each of a hip joint and a knee joint, comprising: a hip support member (1) having an attachment means (hip drive source mount 9) capable of repeatedly attaching and detaching a hip joint assisting force generator (hip joint actuator 10); a lower leg support member (2) having an attachment means (knee drive source mount 27) capable of repeatedly attaching and detaching a knee joint assisting force generator (knee joint actuator 26); and a drive unit (3) formed by integrally joining the hip joint assisting force generator and the knee joint assisting force generator via a link bar (25), wherein after the hip support member and the lower leg support member are fitted on a user's body, the assisting force generators of the drive unit are connected to the corresponding attachment means.

Abstract: In order to provide a walking assistance device that can improve the force transmission efficiency from the assisting force generator disposed at a position corresponding to a hip joint to the leg while reducing the load upon the user's body, there is provided a walking assistance device comprising an assisting force generator (hip joint actuator 10) disposed at least on a side of a hip joint to provide an assisting force to a movement of a lower limb, comprising: a hip support member (1) for securely mounting the assisting force generator on the side of the hip joint; a lower leg support member (2) worn on a lower leg portion; and a force transmitting member (link bar 25) connecting the assisting force generator and the lower leg support member.

Abstract: An electric connector of the snap-in-fitting system comprises a couple of male and female connector members both made of an electrically-conductive material. The female connector member has a female engaging part or outer ring part for snap-in-fitting and the male connector member has a male engaging part or outer ring part to be fitted in and engaged with the female engaging part by snap-in-fitting. The interaction part in snap-in-fitting of the male engaging part and the female engaging part is an inclined engaging surface and adapted to apply load to the female engaging part so as to always urge the female engaging part outward. Preferably, the inclined engaging surface is a tapered surface convergent toward the male connector member side.

Abstract: In order to provide a walking assistance device capable of favorably providing an assisting force for maintaining the upright posture while reducing the sense of pressure when worn by the user, a hip support member (1) of the walking assisting device, which comprises an assisting force generator (hip joint actuator 10) disposed at least on a side of a hip joint to provide an assisting force to a movement of a lower limb, is provided with: a back support (4) equipped with pads (18, 19, 20) for respectively abutting an intermediate portion between right and left erector spinae muscles, lateral outer sides of the spinae muscles and right and left iliac crests; and a belt (5) connected to the back support for tightening a lower part of the rectus abdominis muscle. In this way, a supporting force can be provided to the lumbar vertebrae to steadily keep the upright posture while reducing a resistance to a bending movement of the waist caused by the support member.

Abstract: A reduction gear (49) for a walking assistance system is provided that includes first to third planetary gear mechanisms (P1 to P3) between an input shaft (Si) connected to a motor (48) and an output shaft (So), the second planetary gear mechanism (P2) being disposed radially outside the first planetary gear mechanism (P1) connected to the input shaft (Si), and the third planetary gear mechanism (P3) being disposed outside, in the direction of an axis L, the first planetary gear mechanism (P1). It is therefore possible, while reducing the speed of rotation of the input shaft (Si) in three stages by the first to the third planetary gear mechanisms (P1 to P3) and transmitting the rotation to the output shaft (So), to reduce the thickness of the reduction gear (49) compared with a case in which the first to the third planetary gear mechanisms (P1 to P3) are disposed so as to be stacked in the direction of the axis (L), thereby improving the appearance when a user is fitted with the walking assistance system.

Abstract: Whether a motion state of leg bodies (2) is a single stance state or a double stance state is sequentially determined and a total reaction force (F) is estimated on the basis of an equation of motion for a center of gravity (G0) of a bipedal walking body (1). If the motion state is the single stance state, then the estimated value of the total floor reaction force (F) is directly used as an estimated value of the floor reaction force of the leg body (2). If the motion state is the double stance state, then a floor reaction force (Fr) of the leg body (2) at the rear side is determined, using measurement data of elapsed time of the double stance state and moving speed of a bipedal walking body (1) and pre-established characteristic data, and the floor reaction force (Fr) is subtracted from the total floor reaction force (F) to determine a floor reaction force (Ff) of the leg body (2) at the front side.

Abstract: A method is presented for determination of single stance or double stance state of leg bodies of a bipedal mobile body (BMB). In a single stance state, a floor reaction force acting on a leg body touching the ground is estimated based on an equation of motion for the center of gravity (GO) of a BMB. In a double stance state, floor reaction forces, Fr and Ff respectively, acting on the leg bodies are estimated based on an equation of motion for GO of a BMB and an expression of relation between components of Fr and Ff on the respective leg bodies and positions of ankle portions of the leg bodies relative to the GO of the BMB. Further, based on an inverse dynamics model, knee and hip joint moments of each leg body are estimated using floor reaction force values.

Abstract: A device and a method that permit easy and accurate determination of a walking condition regardless of differences in foot landing points on soles or lengths of legs of a walker are provided. According to this device, a measuring device measures a parameter indicating a displacement amount of a bottom end portion of a leg of the walker. A first storage device stores patterns of plots in a determination space corresponding to parameters and walking conditions of the walker such that they are associated with each other. Furthermore, a generating device generates plots defined in the determination space by parameters measured by the measuring device. Then, a determining device determines walking conditions of the walker on the basis of the patterns of the plots stored in conjunction with the walking conditions by the first storage device and the patterns of the plots generated by the generating device.

Abstract: Whether a motion state of leg bodies (2) is a single stance state or a double stance state is sequentially determined and a total reaction force (F) is estimated on the basis of an equation of motion for a center of gravity (G0) of a bipedal walking body (1). If the motion state is the single stance state, then the estimated value of the total floor reaction force (F) is directly used as an estimated value of the floor reaction force of the leg body (2). If the motion state is the double stance state, then a floor reaction force (Fr) of the leg body (2) at the rear side is determined, using measurement data of elapsed time of the double stance state and moving speed of a bipedal walking body (1) and pre-established characteristic data, and the floor reaction force (Fr) is subtracted from the total floor reaction force (F) to determine a floor reaction force (Ff) of the leg body (2) at the front side.

Abstract: It is judged whether a motion state of leg bodies 2 is a single stance state or a double stance state. When it is the single stance state, a floor reaction force F acting on the leg body 2 touching the ground is estimated based on the equation of motion for the center of gravity G0 of a bipedal walking moving body 1. When it is the double stance state, floor reaction forces Fr, Ff respectively acting on the leg bodies 2 are estimated based on the equation of motion for the center of gravity G0 of the bipedal walking moving body 1, and the expression of relation between components of the floor reaction forces Fr, Ff on the respective leg bodies 2 and positions of ankle portions 12 of the leg bodies 2 relative to the center of gravity G0 of the bipedal walking moving body 1. Further, based on an inverse dynamics model using estimated values of the floor reaction forces Fr, Ff, moments acting on a knee joint 10 and a hip joint 8 of each leg body 2 are estimated.

Abstract: Through the construction of a system capable of suitably assisting the motion of a connected body connected through joints, such as a leg of a walker, according to the various motional conditions of the connected body, a system is provided that is capable of imparting a suitable torque to the connected body according to the motional situation of the connected body at the time of various turns including the bending of the joints. The torque imparting system comprises a first measuring means 6, a second measuring means 7, a reference work volume determining means 8, and an external torque determining means 10. The first measuring means 6 measures the internal work volume w1 of the around-joint leg (the connected body). The second measuring means 7 measures an external work volume w2 around a joint imparted to the leg. The reference work volume determining means 8 determines a reference work volume w0 on the basis of the internal work volume w1 of the leg measured by the first measuring means 6.

Abstract: A cylinder block has a cylinder block body and a cylinder liner block mounted by casting in the cylinder block body. The cylinder liner block is formed from a material having a rigidity larger than that of the cylinder block body, and the cylinder liner block comprises a liner section mounted by casting in position in a cylinder barrel portion of the cylinder block body, and a reinforcing wall section mounted by casting in position in a bearing wall of a crank case portion of the cylinder block body. Thus, it is possible to increase the wear resistance of cylinders in the cylinder block, as well as to provide an increase in performance by reductions in vibration and noise of the engine including the cylinder block, and to provide reductions in size, weight and cost of the cylinder block by a reduction in thickness of the bearing walls.

Abstract: A cylinder block has a cylinder block body and a cylinder liner block mounted by casting in the cylinder block body. The cylinder liner block is formed from a material having a rigidity larger than that of the cylinder block body, and the cylinder liner block comprises a liner section mounted by casting in position in a cylinder barrel portion of the cylinder block body, and a reinforcing wall section mounting by casting in position in a bearing wall of a crank case portion of the cylinder block body in a. Thus, it is possible to increase the wear resistance of cylinders in the cylinder block, as well as to provide an increase in performance by reductions in vibration and noise of the engine including the cylinder block, and to provide reductions in size, weight and cost of the cylinder block by a reduction in thickness of the bearing walls.

Abstract: In a cylinder sleeve assembly comprising a plurality of cylinder sleeves whose adjacent cylindrical peripheral walls are coupled to each other, a plurality of sink mark inhibiting projections biting into the cylinder sleeve assembly during casting a cylinder block are provided in each of valley-like areas of an outer peripheral surface of the cylinder sleeve assembly which are located on opposite sides of a coupled portion of the adjacent peripheral walls. Thus, the adhesion between the cylinder barrel assembly and the cylinder sleeve assembly is enhanced. In addition, the adhesion is further enhanced by providing a predetermined inclination to each of the sink mark inhibiting projections.

Abstract: A blow-by gas recovering system for an internal combustion engine has two blow-by gas outlets spaced longitudinally of the crankshaft and each communicating with the crank chamber. Both outlets also communicate with a chamber for separating blow-by gas from lubricating oil. Blow by gas from the separating chamber is introduced into the engine intake system.