Abstract: One embodiment provides an electric rotary machine unit including: a first electric rotary machine having a first stator; and a second electric rotary machine having a second stator. A coil configured by plural coil segments is disposed in each of the first and second stators. The first and second stators are disposed so that connecting portions of the coil segments or joint portions of leg portions of the coil segments are positioned between the stator cores thereof. First and second feeding portions are interposed between the first and second stators in the axial direction and spaced apart from each other in the circumferential direction.

Abstract: A rotor includes a rotor core, a plurality of permanent magnets, and a rotating shaft. The rotor core includes a through-hole, an inner circumference-side rotor core, an outer circumference-side rotor core, an annular portion, a plurality of inner circumference-side ribs, and a plurality of outer circumference-side ribs. The through-hole is provided on a first inner circumference side of magnet insertion holes. The inner circumference-side rotor core is located on a second inner circumference side of the through-hole. The outer circumference-side rotor core is located on an outer circumference side of the through-hole. The annular portion has a substantially annular shape, and is being provided inside the through-hole. The plurality of inner circumference-side ribs connect the inner circumference-side rotor core and the annular portion and are provided at predetermined intervals in a circumferential direction.

Abstract: The present invention provides a coil end structure of a rotating electric machine which is able to miniaturize the coil end structure without having an insulation coating of a flat wire being affected. A coil segment 4 is composed of a plurality of flat wires. A surface of each flat wire confronting another in a slot 2a (legs 41 and 41) is identical to the surface confronting the other at a coil end (head 42).

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: A slider configured to reduce the wear of rotating bodies and an arc-shaped rail. The slider 32 includes: an insertion portion 321 inserted into the arc-shaped rail 31 through the slit 314; a first rotating body 342 which rolls on the outer peripheral wall 312, and a second rotating body 341 which rolls on the inner peripheral wall 311, wherein the second rotating body 341 includes a pair of lateral rotating bodies 411 disposed in both ends in the width direction and a central rotating body 412 disposed in the central portion in the width direction so as to be displaced in the sliding direction from the lateral rotating bodies 411 and wherein the lateral rotating bodies 411 and the central rotating body 412 are pivotally supported by a pivot member 51 provided so as to be swingable in the sliding direction in an insertion portion 321.

Abstract: A walking assistance device has a drive mechanism, which is provided with a linear-motion actuator including an electric motor installed in the upper link member, nut members which are rotationally driven by the electric motor, and a linear-motion output shaft which linearly moves in the direction of the axial centers of the nut members, and a crank arm which is secured to the lower link member coaxially with a joint axis of a third joint and swingably attached to one end of the linear-motion output shaft. The drive mechanism is constructed such that a translational force output from the linear-motion output shaft of the linear-motion actuator is converted into a rotational driving force of the third joint through the crank arm.

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 means that continuously generate reference 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 walking assistance device is capable of preventing a load transmit portion thereof from falling due to gravity when the operation of an actuator of the walking assistance device is stopped. A leg link is provided with an elastic member that imparts, to a third joint, an urging torque for restraining the flexion degree of the leg link from changing from a predetermined first flexion degree due to the gravity acting on the walking assistance device in a reference state wherein a foot-worn portion connected to the load transmit portion through the leg link is in contact with a ground and the flexion degree of the leg link at the third joint is the first flexion degree.

Abstract: The present invention provides a coil end structure of a rotating electric machine which is able to miniaturize the coil end structure without having an insulation coating of a flat wire being affected. A coil segment 4 is composed of a plurality of flat wires. A surface of each flat wire confronting another in a slot 2a (legs 41 and 41) is identical to the surface confronting the other at a coil end (head 42).

Abstract: Provided is a bipedal walking robot which includes a linear actuator, which connects a crus link and a foot of each leg away from an ankle joint, for driving the foot to rock around the ankle joint with respect to the crus link according to a telescopic motion thereof. The robot is capable of applying a desired moment to the foot for walking on stairs without increasing the linear actuator in size. The linear actuator is disposed in such a way that a telescopic force therefrom acts on a line inclined backward with respect to a connection line connecting a knee joint and the ankle joint. Preferably, a connection portion, which is connected to the crus link, of the linear actuator is disposed backward than from the connection line, and a connection portion, which is connected to the foot, of the linear actuator is disposed forward from the connection line.

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: In a walking assist device having leg links each connected to a support member through a first joint and having a first link and second link connected to the first link through a second joint, and actuators to be operated to displace the first and second links relative to each other to produce assist forces that assist part of user's body weight to assist the user to walk, it is configured such that a forward protruding amount of the second joint to be protruded with change of an angle between the first and second links about the second joint is changed. With this, it becomes possible to decrease the forward protruding amount to be protruded from the trunk of the user with change of the angle about the second joint, thereby decreasing the inertia force about the vertical axis, while mitigating the unnatural impression of the appearance.

Abstract: A motor stator (10) is provided with a stator core (11) having a plurality of slots (16), insulation members (12) which are disposed in the plurality of slots, and coils of a plurality of phases (13) which are respectively formed by distributed-winding wires (20) in prescribed slots of the plurality of slots disposed spaced apart at intervals of a predetermined number of slots via the insulation members. The wires are disposed within the insulation members in a condition that tensions are applied to the wires. The stator core, the insulation members and the coils are physically fixed together by the tensions of the wires.

Abstract: A coil spring 14 is provided in a leg link 3. In the case where an extent of flexion of the leg link 3 is not more than a predetermined extent, the coil spring 14 applies, to a third joint 8, a first biasing force for preventing the extent of flexion of the leg link 3 from decreasing due to gravity acting on a body weight support device A. In the case where the extent of flexion of the leg link 3 exceeds the predetermined extent, the coil spring 14 applies, to the third joint 8, a second biasing force for decreasing the extent of flexion, where the second biasing force is larger than the first biasing force and increases with an increase of the extent of flexion. This enables a sufficient support force to be generated when standing up from a half-sitting posture or a crouching posture, without significantly interfering with walking.

Abstract: A slider configured to reduce the wear of rotating bodies and an arc-shaped rail. The slider 32 includes: an insertion portion 321 inserted into the arc-shaped rail 31 through the slit 314; a first rotating body 342 which rolls on the outer peripheral wall 312, and a second rotating body 341 which rolls on the inner peripheral wall 311, wherein the second rotating body 341 includes a pair of lateral rotating bodies 411 disposed in both ends in the width direction and a central rotating body 412 disposed in the central portion in the width direction so as to be displaced in the sliding direction from the lateral rotating bodies 411 and wherein the lateral rotating bodies 411 and the central rotating body 412 are pivotally supported by a pivot member 51 provided so as to be swingable in the sliding direction in an insertion portion 321.

Abstract: A walking assistance device is capable of preventing a load transmit portion thereof from falling due to gravity when the operation of an actuator of the walking assistance device is stopped. A leg link is provided with an elastic member that imparts, to a third joint, an urging torque for restraining the flexion degree of the leg link from changing from a predetermined first flexion degree due to the gravity acting on the walking assistance device in a reference state wherein a foot-worn portion connected to the load transmit portion through the leg link is in contact with a ground and the flexion degree of the leg link the third joint is the first flexion degree.

Abstract: A walking assistance device has a drive mechanism, which is provided with a linear-motion actuator including an electric motor installed in the upper link member, nut members which are rotationally driven by the electric motor, and a linear-motion output shaft which linearly moves in the direction of the axial centers of the nut members, and a crank arm which is secured to the lower link member coaxially with a joint axis of a third joint and swingably attached to one end of the linear-motion output shaft. The drive mechanism is constructed such that a translational force output from the linear-motion output shaft of the linear-motion actuator is converted into a rotational driving force of the third joint through the crank arm.

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: 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: 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.