Abstract: A motor-driven vehicle includes: a motor, a first rotational shaft to be driven to rotate by the motor, a clutch, a second rotational shaft to be driven to rotate by the motor via the clutch, an arm configured to rotate in association with rotation of the second rotational shaft, and at least two wheels, wherein each of the at least two wheels being attached to the arm at a position offset from a rotation center of the arm, and each of the at least two wheels being rotatable in association with rotation of the first rotational shaft.

Abstract: A travelling apparatus having a high travelling performance with a simple structure is provided. A travelling apparatus according to an embodiment includes: a frame; front wheels disposed in a front of the frame; first links configured to be extendable and retractable and coupled between the front wheels and an oscillation axis located in a rear of the front wheels; and first linear motion mechanisms that are coupled between the frame and the first links and are extended and retracted so as to rotate the first links about the oscillation axis.

Abstract: A motor-driven vehicle includes: a motor, a first rotational shaft to be driven to rotate by the motor, a clutch, a second rotational shaft to be driven to rotate by the motor via the clutch, an arm configured to rotate in association with rotation of the second rotational shaft, and at least two wheels, wherein each of the at least two wheels being attached to the arm at a position offset from a rotation center of the arm, and each of the at least two wheels being rotatable in association with rotation of the first rotational shaft.

Abstract: An upper limb rehabilitation support device includes a first handle that is connected with a first rotating shaft, gripped by a trainee's right hand and rotated, a second handle that is connected with a second rotating shaft, gripped by a trainee's left hand and rotated, a connecting part structured so as to connect the first rotating shaft and the second rotating shaft with each other and interlock rotations of the first handle and the second handle, and a switching part structured so as to switch directions of the rotations of the first handle and the second handle, which are interlocked by the connecting part, with respect to the other handles when one of the first handle and the second handle rotates.

Abstract: An electric wheelchair operation apparatus includes a sliding part disposed in an armrest part, a dial part disposed on a tip side of the armrest part, the dial part configured to be moved together with the sliding part in the vehicle forward/backward direction, and an electric wheelchair drive control unit configured to control a traveling motion of an electric wheelchair by associating the amount of movement of the sliding part and/or the moved position thereof with respect to the reference point in the vehicle forward/backward direction detected by a first sensor with a traveling motion of the electric wheelchair in a forward/backward direction and associating the amount of rotation, the rotational position, and/or the rotational torque of the dial part detected by a second sensor with a turning motion of the electric wheelchair in a left/right direction.

Abstract: A travelling apparatus having a high travelling performance with a simple structure is provided. A travelling apparatus according to an embodiment includes: a frame; front wheels disposed in a front of the frame; first links configured to be extendable and retractable and coupled between the front wheels and an oscillation axis located in a rear of the front wheels; and first linear motion mechanisms that are coupled between the frame and the first links and are extended and retracted so as to rotate the first links about the oscillation axis.

Abstract: An upper-limb rehabilitation assisting device includes first and second handles coupled to first and second rotating shafts and rotationally operated by hands on a paralytic limb side and a healthy limb side; first and second biosignal detecting parts that detect first and second biosignals corresponding to the paralytic limb side and the healthy limb side; first and second drive parts that drive the first and second rotating shafts; and a control part that performs a cooperative control of the first rotating shaft and the second rotating shaft. The control part controls the torques of the first and second drive parts at the time of the cooperative control of the first and second rotating shafts the basis of the degree of cooperation between the first and second biosignals.

Abstract: When a vehicle body is on board an escalator, a control device makes an ejection determination by use of an external sensor. The control device makes an ejection determination by use of front-wheel rotation sensors. The control device makes an ejection determination by use of an inclination detecting unit. The control device switches a control mode from a boarding control mode to an ejection control mode, when at least one of the above three ejection determinations is affirmatively made.

Abstract: An upper limb rehabilitation support device includes a first handle that is connected with a first rotating shaft, gripped by a trainee's right hand and rotated, a second handle that is connected with a second rotating shaft, gripped by a trainee's left hand and rotated, a connecting part structured so as to connect the first rotating shaft and the second rotating shaft with each other and interlock rotations of the first handle and the second handle, and a switching part structured so as to switch directions of the rotations of the first handle and the second handle, which are interlocked by the connecting part, with respect to the other handles when one of the first handle and the second handle rotates.

Abstract: An electric wheelchair operation apparatus includes a sliding part disposed in an armrest part, a dial part disposed on a tip side of the armrest part, the dial part configured to be moved together with the sliding part in the vehicle forward/backward direction, and an electric wheelchair drive control unit configured to control a traveling motion of an electric wheelchair by associating the amount of movement of the sliding part and/or the moved position thereof with respect to the reference point in the vehicle forward/backward direction detected by a first sensor with a traveling motion of the electric wheelchair in a forward/backward direction and associating the amount of rotation, the rotational position, and/or the rotational torque of the dial part detected by a second sensor with a turning motion of the electric wheelchair in a left/right direction.

Abstract: The travelling apparatus according to exemplary embodiments includes front wheels, which are driving wheels, an upper frame, first linear motion mechanisms configured to be extendable and retractable and couple the front wheels to the upper frame, middle wheels configured to be disposed at a back of the front wheels, second linear motion mechanisms configured to be extendable and retractable and couple a riding part to the middle wheels, rear wheels configured to be disposed at a back of the middle wheels, lower links configured to couple the middle wheels to the rear wheels, respectively, rear links configured to couple the lower links to the upper frame, and a third linear motion mechanism configured to change an angle between the upper frame and the rear links.

Abstract: When a vehicle body is on board an escalator, a control device makes an ejection determination by use of an external sensor. The control device makes an ejection determination by use of front-wheel rotation sensors. The control device makes an ejection determination by use of an inclination detecting unit. The control device switches a control mode from a boarding control mode to an ejection control mode, when at least one of the above three ejection determinations is affirmatively made.

Abstract: An upper-limb rehabilitation assisting device includes first and second handles coupled to first and second rotating shafts and rotationally operated by hands on a paralytic limb side and a healthy limb side; first and second biosignal detecting parts that detect first and second biosignals corresponding to the paralytic limb side and the healthy limb side; first and second drive parts that drive the first and second rotating shafts; and a control part that performs a cooperative control of the first rotating shaft and the second rotating shaft. The control part controls the torques of the first and second drive parts at the time of the cooperative control of the first and second rotating shafts the basis of the degree of cooperation between the first and second biosignals.

Abstract: The travelling apparatus according to exemplary embodiments includes front wheels, which are driving wheels, an upper frame, first linear motion mechanisms configured to be extendable and retractable and couple the front wheels to the upper frame, middle wheels configured to be disposed at a back of the front wheels, second linear motion mechanisms configured to be extendable and retractable and couple a riding part to the middle wheels, rear wheels configured to be disposed at a back of the middle wheels, lower links configured to couple the middle wheels to the rear wheels, respectively, rear links configured to couple the lower links to the upper frame, and a third linear motion mechanism configured to change an angle between the upper frame and the rear links.

Abstract: A rehabilitation system that assists an action of a paretic arm due to brain damage, such as a stroke, includes: a detecting unit configured to detect an assist action that a healthy arm assists the paretic arm; an assist unit configured to cause the paretic arm to carry out bending and stretching actions; an adjustment unit configured to adjust an operation timing, operation speed, bending load or stretching load of the assist unit in response to detection of the assist action by the detecting unit; and a control unit configured to cause the assist unit to operate in accordance with the operation timing, operation speed, bending load or stretching load, adjusted by the adjustment unit.

Abstract: A rehabilitation system that assists an action of a paretic arm due to brain damage, such as a stroke, includes: a detecting unit configured to detect an assist action that a healthy arm assists the paretic arm; an assist unit configured to cause the paretic arm to carry out bending and stretching actions; an adjustment unit configured to adjust an operation timing, operation speed, bending load or stretching load of the assist unit in response to detection of the assist action by the detecting unit; and a control unit configured to cause the assist unit to operate in accordance with the operation timing, operation speed, bending load or stretching load, adjusted by the adjustment unit.

Abstract: A traveling device 10 includes ground touching detection means to detect a ground touching state in which a ground touching member touches a road surface, and control means to perform inversion control by controlling the driving of a wheel. When a ground touching state of the ground touching member is detected by the ground touching detection means, the control means suspends the inversion control. Further, when the start of braking is detected by the braking detection means and a ground touching state of the ground touching member is detected by the ground touching means, the control means may suspend the inversion control.

Abstract: An inverted pendulum type moving body according to the present invention includes: first actuators that rotationally drive wheels each disposed on an axle; and a turning motion control portion that controls the first actuators when the inverted pendulum type moving body comes into contact with an obstacle so as to allow the inverted pendulum type moving body to perform a turning motion.

Abstract: A steering device for steering a moving body has: an operating part; a detecting part that detects a physical quantity based on a magnitude and direction of a force applied to the operating part; and a controller that drives the moving body based on the physical quantity detected by the detecting part and controls an amount of movement and a direction of movement of the moving body. The controller has a dead zone for controlling the amount of movement without receiving influence of the magnitude of the physical quantity until the physical quantity detected by the detecting part exceeds a predetermined threshold value, and determines the threshold value in accordance with a moving speed of the moving body.

Abstract: A wheeled inverted pendulum mobile unit having: a driving wheel; a body that is tiltable about an axle of the driving wheel with respect to a vertical direction; a plurality of support members that extend downward from the body in the vertical direction, wherein the bottom ends of the plurality of support members are in contact with a ground before and behind the axle of the driving wheel, and the bottom ends moves up and down, with respect to the body, as the body tilts with respect to the vertical direction; and a lock mechanism that locks positions of the bottom ends of the support members with respect to the body.