Abstract: A motion assisting device comprises a first index value measuring means 65 which measures a first index value indicating a remaining energy amount of an electrical storage device 19 and power regulation means 63 and 64 each of which regulates the motive power of an electric actuator 9 after the time point of measuring the first index value at least according to the first index value measured by the first index value measuring means 65. The power regulation means 63 and 64 regulate the motive power of the electric actuator 9 so that the remaining energy amount of the electrical storage device 19 is maintained at a predetermined lower limit or greater until the end time point of a desired operating time of the motion assisting device A.

Abstract: A system for assisting the motion of a body connected through joints provides a system for imparting a suitable torque to the connected body at the time of various turns including the bending of the joints. The torque imparting system has first and second measuring means, a reference work volume determining means, and an external torque determining means. The first measuring means measures the internal work volume of the around-joint leg. The second measuring means measures an external work volume around a joint imparted to the leg. The reference work volume determining means determines a reference work volume based on the internal work volume. The external torque determining means determines an external torque imparted to the leg so as to reduce the difference between the internal work volume of the leg and the reference work volume, based on the external work volume.

Abstract: An ankle joint structure of a walking assistance device is capable of protecting a user from feeling uncomfortable by properly following the foot motions of the user. An ankle joint has a turn shaft member enabling a ground contact assembly to turn relative to a leg link, a lateral rotation shaft member enabling the ground contact assembly to laterally rotate relative to the leg link, and a longitudinal rotation shaft member enabling the ground contact assembly to longitudinally rotate relative to the leg link. The turn shaft member is connected to the leg link, the longitudinal rotation shaft member is connected to the ground contact assembly, and the lateral rotation shaft member is disposed between the turn shaft member and the longitudinal rotation shaft member.

Abstract: A walking assistance device has a drive mechanism for driving a third joint of a leg link of the walking assistance device, the drive mechanism including a crank arm secured to a lower link member and a linear-motion actuator which has a linear-motion output shaft connected to the crank arm. The angle formed by a straight line connecting a joint axis of the third joint and a connecting portion of the linear-motion output shaft relative to the crank arm and a straight line which passes the connecting portion and which is parallel to the axial center of the linear-motion output shaft changes from an angle closer to the straight angle toward an angle closer to the right angle as the flexion degree of the leg link is increased from a flexion degree corresponding to a state wherein a user is in an upright posture.

Abstract: Displacements of respective joints corresponding to respective joint elements (J9 and the like) of a rigid link model (S1) representing a two-legged walking mobile body (1) are sequentially grasped. Also at the same time, values, in a body coordinate system (BC), of an acceleration vector of the origin of the body coordinate system (BC) fixed to a waist (6) as a rigid element, a floor reaction force vector acting on each leg (2), and a position vector of the point of application of the floor reaction force vector are sequentially grasped. With the use of the grasped values, joint moments respectively generated in an ankle joint (13), a knee joint (14), and a hip joint (9) of each leg (2) are sequentially estimated based on an inverse dynamics model using the body coordinate system. The estimation accuracy of the joint moments of the leg can be enhanced by reducing arithmetic processing using tilt information of the two-legged walking mobile body relative to the gravity direction as much as possible.

Abstract: Provided is a walking assist device including a seat member having a holding portion to be held by a user, a leg link connected to the seat member, and a driving source capable of driving the leg link in a direction of pushing up the seat member. At least a part of the body weight of a user is supported by the leg link through the seat member. The walking assist device can be self-mounted easily by the user. When a holding detection unit detects that the holding portion is held by the user, the walking assist device performs a mounting assist control by driving the leg link in the direction of pushing up the seat member until a seating detection unit detects the contact of the seat member with the crotch of the user.

Abstract: A walking assistance device having a seating member (1) on which a user (P) can sit astride, and support members (2L, 2R) which support the seating member (1). The seating member (1) has a backward movement prevention section (1b) for preventing the seating member (1) from being displaced backward relative to the user (P) sitting on the seating member (1). The backward movement prevention section (1b) is constructed so as to be in contact with an inguinal part (Q) of the user (P). The arrangement restrains backward dislocation of the seating member (1) relative to the user (P), thus permitting improved stability when the user is seated.

Abstract: A control device for a walking assistance device includes a seating section on which a user is seated, a pair of left and right foot sole installation sections fitted to the foot soles of the legs of the user, a pair of left and right leg links which connect the seating section to the foot sole installation sections, actuators which drive joints of the leg links, and an acting force detection means which detects force acting on the user from the seating section. The control device controls a driving force of at least one of the actuators according to the detected value of the acting force so that the force acting on the user is maintained at a least at a predetermined lower limit of upward force. Thus, desired user motions, such as jumping can be performed while appropriate force acts on the user from the seating section.

Abstract: A control system for a walking assist device includes a ground detecting means having a plurality of force sensors equipped to each foot attachment portion. Each ground sensor selectively outputs a ground state output and non-ground state output in accordance with whether the foot attachment portion is grounded at a position immediately below the ground sensor. The control system is equipped with a means that continuously generate preference data for each of the ground detecting means, where the reference data increases and decreases in value in accordance with the change of a total number of the ground sensors generating ground state output in the ground detecting means. Also, a means that determines a mutual desired proportion of the supporting force to be applied to the both leg links from the floor side is provided.

Abstract: A control device for a walking assist device is provided. The control device has a means that decides whether the total sum of measured values of treading forces of the legs of a user is greater than a predetermined value and a means which determines a predetermined ratio according to observed values or desired values of reference parameters obtained immediately before a negative determination result by using supporting forces acting on the leg links from the floor side as the reference parameters. This is in the case where the determination result of the decision means is negative and is a process undertaken instead of determining the predetermined ratio between the supporting forces acting on the leg links according to the measured values of the treading forces of the legs of the user.

Abstract: A power transmission system, which transmits a driving force from a rotary actuator to a third joint of a leg link, applies a driving torque to the third joint from an output shaft of the rotary actuator via a driving crank arm, a connecting rod, and a driven crank arm. A translational force (rod transmitting force) generated at the connecting rod in the longitudinal direction thereof is measured on the basis of an output of a force sensor fixed to the connecting rod. With the rod transmitting force or a driving torque applied to the third joint by the rod transmitting force as a controlled variable, the driving force of the rotary actuator is feedback-controlled according to the measured value of the rod transmitting force and a desired value of the controlled variable so that the controlled variable coincides with the desired value.

Abstract: Provided is a walking assist device including a seat member, a leg link having a joint portion, and a driving source for the joint portion. The walking assist device allows a user to rest by sitting on the seat member. Accordingly, the walking assist device further includes a lock mechanism disposed in the joint portion and an operation unit for the lock mechanism. When the operation unit is switched on, the driving source is controlled to increase an up-pushing force on the seat member. A variation rate on the up-pushing force is increased with time to a given value where the lock mechanism is initiated.

Abstract: A control device and a control program of a walking assisting device, wherein a desired assist ratio, which is a desired value of the ratio of a force to be supplied by a walking assisting device in a total tread force of a user relative to the total tread forces is set, the shares of a lifting force to be applied to the user from a seating part which are to be borne by the leg links are determined from the desire assist ratio and the tread forces of the legs of the user measured on the basis of outputs of force sensors, and actuators of the leg links are controlled such that the determined shares of the lifting force are generated from the leg links. Thus, a force required for the user to support himself/herself by his/her legs on a floor can be reduced while reducing the number of parts to be attached to each leg of the user, and an assisting force for achieving such reductions can be properly shared between the leg links corresponding to the legs of the user.

Abstract: In walking assistance device, a force detector (21) is provided between thigh retaining member (9) that directly retain the thigh of the user and a thigh support member (2) that is actuated by an actuator (TA1) provided in hip coupling portion. Thereby, the load acting on the hip coupling portion can be accurately detected, and the output of the force detector can be favorably used for the purpose of controlling the actuator so as to minimize the force that is applied to the thigh of the user.

Abstract: A walking assistance device (1) has a receiving portion (2) which receives a part of the weight of a user (A) applied from above and a pair of left and right leg links (3R, 3L) connected to the receiving portion (2) through first joints (10R, 10L), with foot attachment portions (15R, 15L) at lower ends of the leg links (3R, 3L) attached to the feet of the legs of the user (A), respectively. The leg links (3R, 3L) are connected to the receiving portion (2) in such a way that, when each leg of the user (A) is a standing leg, a line of action of a supporting force transmitted from a third joint (14R, 14L) of the leg link (3R, 3L) to a crus frame (13R, 13L) out of the supporting force acting on the leg link (3R, 3L) from the floor side passes through a specific point (P) located upper than the receiving portion (2) within an anteroposterior width of a contact surface between the receiving portion (2) and the user (A) from the third joint (14R, 14L), viewed in the sagittal plane.

Abstract: A walk assistance device capable of transmitting a force generated by a leg link to a user's trunk via a load transfer portion, wherein the leg link includes an upper first link portion connected to the load transfer portion via a first joint portion, a lower second link portion connected to a foot attachment portion via a second joint portion, a middle third joint portion connecting the first link portion to the second link portion such that a distance between the first joint portion and the second joint portion is variable, and a driving source that drives the third joint portion. The moment of inertia around the first joint portion of the leg link is reduced to decrease a load on the user's leg in walking. The driving source is disposed above the third joint portion of the first link portion so that the center-of-gravity of the entire leg link is located above the third joint portion.

Abstract: A walking assistance device having a leg link connected to a load transfer portion via a first joint and to a foot attachment portion via a second joint, and having an intermediate third joint moving such that a distance between the first joint and the second joint is variable; a drive source for the third joint; and a battery for the drive source. When in an upstanding position, force in the forward-backward direction is prevented from acting on the load transfer portion to enhance stability. Also, a moment of inertia of the leg link is decreased to curtail a load applied to the leg of the user. The drive source and the battery are located at positions higher than the third joint, and when the user is in an upstanding position, a plane passing through the second joint lies between the drive source and the battery.

Abstract: A control device and a control program of a walking assisting device, wherein a desired assist ratio, which is a desired value of the ratio of a force to be supplied by a walking assisting device (1) in a total tread force of a user (A) relative to the total tread forces is set, the shares of a lifting force to be applied to the user (A) from a seating part (2) which are to be borne by the leg links (3L, 3R) are determined from the desire assist ratio and the tread forces of the legs of the user (A) measured on the basis of outputs of force sensors (38, 38, 39, 39), and actuators (27, 27) of the leg links (3L, 3R) are controlled such that the determined shares of the lifting force are generated from the leg links (3L, 3R).

Abstract: Target joint support moments of each leg are determined by estimating joint moments of the each leg necessary for the person A wearing a leg motion support orthosis (1) to make a motion independently and according to the estimated joint moments. Moreover, floor reaction forces for the support orthosis (1) to make a motion independently are estimated, and then estimated values of actual joint support moments actually applied from the support orthosis (1) to the joints of the each leg of the person (A) are found by using the estimated floor reaction forces and outputs of the force sensor (22) provided in a leg link portion (4) of the support orthosis (1). Torque generation units (15) and (16) of the support orthosis (1) are controlled in such a way that the estimated values of the actual joint support moments are coincident with the target joint support moments. Thereby, the leg motion of the person can be supported.

Abstract: A method and processor for obtaining torques to be applied to joints of a leg of a biped walking system include obtaining moments acting around the joints of the leg, using the vertical component of the ground reaction force acting on the leg at the point of application of the ground reaction force and incorporating the attitude of the leg and the vertical component of acceleration of the center of gravity of the whole body including the leg.