Patents by Inventor Toru Takenaka

Toru Takenaka has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Publication number: 20210000678
    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.
    Type: Application
    Filed: September 25, 2018
    Publication date: January 7, 2021
    Inventors: Ken YASUHARA, Yosuke IKEDO, Toru TAKENAKA
  • Patent number: 10856793
    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).
    Type: Grant
    Filed: March 29, 2017
    Date of Patent: December 8, 2020
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Hiroshi Gomi, Yoshinao Sodeyama, Junji Takado, Hiroshi Uematsu, Toru Takenaka
  • Patent number: 10786417
    Abstract: A motion assist device for assisting a motion such as a walking motion of a user includes: a pair of femoral part support units (3L, 3R) configured to be worn by two femoral parts of a user, a single power source (4, 70) for producing power and a power transmission unit (20; 60; 91, 92) for transmitting the power of the power source to the femoral part support units as an opposite phase motion, wherein the power transmission unit includes a differential unit (22; 63, 64; 93, 94) for accommodating a same phase motion of the two femoral part support units. The device may further include a control unit (5) configured to actuate the power source when the femoral part support units are undergoing the opposite phase motion, and to keep the output end of the power source stationary when the femoral part support units are undergoing the same phase motion.
    Type: Grant
    Filed: April 21, 2016
    Date of Patent: September 29, 2020
    Assignee: Honda Motor Co., Ltd.
    Inventors: Kei Shimada, Toru Takenaka
  • Publication number: 20200276490
    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.
    Type: Application
    Filed: March 22, 2018
    Publication date: September 3, 2020
    Inventor: Toru TAKENAKA
  • Publication number: 20200279123
    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.
    Type: Application
    Filed: March 12, 2018
    Publication date: September 3, 2020
    Inventor: Toru TAKENAKA
  • Patent number: 10696326
    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.
    Type: Grant
    Filed: August 22, 2017
    Date of Patent: June 30, 2020
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Toru Takenaka, Hiroshi Gomi, Yoshinao Sodeyama, Kazushi Akimoto, Osamu Kikuchi, Takashi Kudo
  • Patent number: 10583888
    Abstract: A vehicle includes a vehicle frame, a steering swivel unit supported on a head pipe of the vehicle frame and angularly movable about a steering axis, a front wheel angularly movable in unison with the steering swivel unit, and a steering handle mounted on the steering swivel unit. The vehicle has a steering handle turning mechanism that makes the steering handle angularly movable about the steering axis relatively to the steering swivel unit. The steering handle turning mechanism includes a handle turning motor for angularly moving the steering handle about the steering axis.
    Type: Grant
    Filed: December 18, 2017
    Date of Patent: March 10, 2020
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Makoto Araki, Yusuke Yamamoto, Toru Takenaka
  • Publication number: 20200060600
    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.
    Type: Application
    Filed: July 8, 2019
    Publication date: February 27, 2020
    Applicant: Honda Motor Co.,Ltd.
    Inventors: Toru Takenaka, Yasushi Ikeuchi, Hiroshi Uematsu, Koji Akatsuka
  • Patent number: 10548755
    Abstract: Provided is a motion assist device that can minimize the number of actuators that are required for assisting a certain mode of motion of the user while allowing a greater freedom of motion beside from the motion which the motion assist device is designed to assist. A power transmission mechanism for the device includes a belt drive mechanism which is incorporated with a differential mechanism.
    Type: Grant
    Filed: October 23, 2017
    Date of Patent: February 4, 2020
    Assignee: Honda Motor Co., Ltd.
    Inventors: Toru Takenaka, Kei Shimada
  • Patent number: 10548757
    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.
    Type: Grant
    Filed: December 15, 2014
    Date of Patent: February 4, 2020
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Toru Takenaka, Hiroshi Gomi, Yuichi Uebayashi, Yosuke Ikedo, Kenichi Katagiri
  • Patent number: 10543866
    Abstract: A vehicle includes a vehicle frame, a steering swivel unit supported on a head pipe of the vehicle frame and angularly movable about a steering axis, a front wheel angularly movable in unison with the steering swivel unit, and an automatic steering mechanism for angularly moving the steering swivel unit, wherein the vehicle frame includes a main frame extending rearwardly from the head pipe, and the steering mechanism includes a steering motor for angularly moving the steering swivel unit, the steering motor being supported on the main frame.
    Type: Grant
    Filed: December 18, 2017
    Date of Patent: January 28, 2020
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Makoto Araki, Kazushi Akimoto, Toru Takenaka
  • Publication number: 20200008713
    Abstract: A walking support system for supporting a user while walking includes a display unit, a landing timing detection unit configured to detect a timing of a landing while the user walks and a display control unit configured to cause the display unit to display an auxiliary image for prompting the user to change an angle of his/her upper body in synchronization with the timing of the landing on the basis of an output of the landing timing detection unit.
    Type: Application
    Filed: March 12, 2018
    Publication date: January 9, 2020
    Inventor: Toru TAKENAKA
  • Publication number: 20200008712
    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.
    Type: Application
    Filed: February 28, 2018
    Publication date: January 9, 2020
    Inventor: Toru TAKENAKA
  • Patent number: 10524973
    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.
    Type: Grant
    Filed: December 17, 2015
    Date of Patent: January 7, 2020
    Assignee: Honda Motor Co., Ltd.
    Inventors: Yoshinao Sodeyama, Toru Takenaka, Hiroshi Gomi, Yosuke Ikedo, Kenichi Katagiri
  • Patent number: 10518837
    Abstract: A vehicle includes a vehicle body and a front wheel that is disposed anterior to the vehicle body and that is steerable about a steering axis. The vehicle body includes a vehicle body frame and a steering rotation unit that is supported on the vehicle body frame and that rotates about the steering axis. The vehicle includes a variable trail length mechanism. The variable trail length mechanism includes an oscillation unit that supports front forks that are disposed to be oscillatable in a fore-aft direction and that support the front wheel, and an electric motor that oscillates the oscillation unit. The electric motor is supported by the vehicle body.
    Type: Grant
    Filed: December 19, 2017
    Date of Patent: December 31, 2019
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Makoto Araki, Takashi Kudo, Toru Takenaka
  • Patent number: 10457346
    Abstract: A vehicle includes a vehicle body, a front wheel that is disposed anterior to the vehicle body and that is steerable about a steering axis, and a front fork that supports the front wheel. The vehicle body includes a vehicle body frame and a steering rotation unit that is supported on the vehicle body frame and that rotates about the steering axis. The vehicle includes a variable trail length mechanism. The variable trail length mechanism includes an oscillation shaft that extends in a vehicle width direction to thereby connect the front fork oscillatably with the steering rotation unit. The oscillation shaft is disposed at a position overlapping an axis of the front fork in a vehicle side elevational view.
    Type: Grant
    Filed: December 19, 2017
    Date of Patent: October 29, 2019
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Makoto Araki, Takashi Kudo, Toru Takenaka
  • Patent number: 10350129
    Abstract: Provided is a walking assist device including a main frame configured to be worn by a user, a power unit mounted on the main frame, a pair of power transmission members for transmitting assist force provided by the power unit to femoral parts of the user and a control unit for controlling an operation of the power unit, wherein the control unit comprises a differential angle computation unit for computing a differential angle between angular positions of the femoral parts of the user about respective hip joints of the user; a differential angle phase computation unit for computing a differential angle phase according to the differential angle; and an assist force computation unit for computing an assist force to be applied to the user according to the differential angle phase.
    Type: Grant
    Filed: May 16, 2016
    Date of Patent: July 16, 2019
    Assignee: Honda Motor Co., Ltd.
    Inventors: Toru Takenaka, Tatsuya Ishikawa, Ken Yasuhara
  • Publication number: 20190083023
    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).
    Type: Application
    Filed: March 29, 2017
    Publication date: March 21, 2019
    Applicant: HONDA MOTOR CO., LTD.
    Inventors: Hiroshi Gomi, Yoshinao Sodeyama, Junji Takado, Hiroshi Uematsu, Toru Takenaka
  • Patent number: 10207762
    Abstract: A control device (60) of a mobile body (1) calculates a center-of-gravity displacement degree index value representing an estimate of the degree of displacement of the center of gravity of the operator in the lateral direction of a vehicle body (2) from a predetermined reference position with respect to the vehicle body (2), and determines a control input for an actuator (15), which can cause a moment in the roll direction to act on the vehicle body (2), so as to increase the degree of displacement of the center of gravity of the operator indicated by the center-of-gravity displacement degree index value in a state of presence of such displacement. The control device (60) controls the actuator (15) in accordance with the control input.
    Type: Grant
    Filed: June 16, 2016
    Date of Patent: February 19, 2019
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Toru Takenaka, Kazushi Akimoto, Yuichi Uebayashi, Shinya Shirokura, Tomohiro Kawakami, Makoto Araki
  • Patent number: 10201436
    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).
    Type: Grant
    Filed: December 22, 2015
    Date of Patent: February 12, 2019
    Assignee: Honda Motor Co., Ltd.
    Inventors: Yosuke Ikedo, Toru Takenaka, Hiroshi Gomi, Yoshinao Sodeyama, Kenichi Katagiri