Abstract: A walking assistance device having an ankle joint limited in a swingable range in a rolling direction, enabling a user to open his/her legs apart more easily. The walking assistance device includes a seating member 1, a pair of leg links 2 and 2 which support the seating member 1 from below, and a ground contact member 8 connected to each leg link 2 through an ankle joint 7. The ankle joint 7 has a coupling mechanism 100 which includes a joint shaft member 106 and a retaining portion which swingably retains the joint shaft member 106 in the rolling direction in a predetermined range ?. The joint shaft member 106 is inclined to an abduction side in the rolling direction from the middle position of the predetermined range ? in which the joint shaft member is swingable in the rolling direction when the walking assistance device is in an upright state.

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: 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, 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 curved guide mechanism includes a guide unit having an arcuate guide track, and a movable body movably engaged with the guide track via a plurality of engagement elements. The guide track is constituted by a guide groove formed in the guide unit. The movable body is provided with at least three engagement elements including inner engagement elements movably engaged with an inner peripheral rail portion formed on the inner peripheral side of the guide groove, and an outer engagement element movably engaged with an outer peripheral rail portion formed on the outer peripheral side of the guide groove. The engagement elements are spaced apart from one another in a longitudinal direction of the guide groove.

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 compact and easy-to-use walking assisting device capable of reducing constrained feeling given to a user and allowing a free swing of the arms of the user in walking. The walking assisting device comprises one or more leg links to which ground contact members are connected at their lower ends respectively and a load transfer portion connected to the upper ends of the leg links, in which at least a part of the weight of the user is supported by the leg links via the load transfer portion, wherein the load transfer portion includes a seat member for the user to sit astride, wherein connecting portions with the upper ends of the leg links connected thereto are attached to the undersurface of the seat member, and wherein the connecting portion have a degree of freedom allowing the forward/backward and lateral swings of the leg links.

Abstract: A curved guide mechanism includes a guide unit having an arcuate guide track, and a movable body movably engaged with the guide track via a plurality of engagement elements. The guide track is constituted by a guide groove formed in the guide unit. The movable body is provided with at least three engagement elements including inner engagement elements movably engaged with an inner peripheral rail portion formed on the inner peripheral side of the guide groove, and an outer engagement element movably engaged with an outer peripheral rail portion formed on the outer peripheral side of the guide groove. The engagement elements are spaced apart from one another in a longitudinal direction of the guide groove.

Abstract: A walking assisting device that transmits a force generated by a leg link to a user's trunk via a load transfer portion. The leg link includes a first link connected to the load transfer portion via a first joint portion, a second link connected to a foot attachment portion via a second joint portion, a third joint portion which connects the first link to the second link so as to be free to bend and stretch, and a driving source which drives the third joint portion. Even if a flexion angle of the third joint portion reaches zero degree, the controllability is maintained in the direction of pushing up the load transfer portion so that the leg link can be extended straight with the user's leg extended straight. An interlock system retracts and extends the second link and increases and decreases the flexion angle of the third joint portion.

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 walking assistancing device having leg links (2L, 2R) connected to a load transfer portion (1) via first joints (3), wherein each leg link is free to bend and stretch at a second joint (5) in the middle of the leg link and is formed in such a length that the leg link is bent with the second joint projecting forward of a reference line (L2) even if a user is standing upright, where the reference line is defined as a line connecting a forward/backward swing fulcrum (3a) of the leg link to a third joint (7) at the lower end of the leg link, thereby improving the stabality by diminishing a moment in a forward tilting direction generated in the leg link when the user is standing upright.

Abstract: A walking aid apparatus comprising a sitting member which a user sits astride and leg links each coupled to a connection provided on the undersurface of the sitting member in such a way as to be free to swing in the forward/backward direction, which improves the stability of the sitting member. The connection is adapted in such a way that a forward/backward swinging fulcrum of the leg links is located above the sitting member. More specifically, the connection is provided with an arc-shaped guide track longitudinal in the forward/backward direction and having the center of curvature above the sitting member, so that each of the leg links swings along the guide track in the forward/backward direction. If the leg links are allowed to swing freely also in the lateral direction, preferably the lateral swinging fulcrum of the leg links is also located above the sitting member.

Abstract: A body weight support device of the present invention is equipped with a body attachment part attached to a user's body, a floor contact part provided contactably on a floor, a leg link part for connecting the body attachment part to the floor contact part through a joint part, an actuator for driving the joint part, and a control unit for controlling a drive of the actuator, wherein the control unit drives the actuator so that the leg link part gives a body weight support force to the user through the body attachment part.

Abstract: A walking assisting device that transmits a force generated by a leg link to a user's trunk via a load transfer portion. The leg link includes a first link connected to the load transfer portion via a first joint portion, a second link connected to a foot attachment portion via a second joint portion, a third joint portion which connects the first link to the second link so as to be free to bend and stretch, and a driving source which drives the third joint portion. Even if a flexion angle of the third joint portion reaches zero degree, the controllability is maintained in the direction of pushing up the load transfer portion so that the leg link can be extended straight with the user's leg extended straight. An interlock system retracts and extends the second link and increases and decreases the flexion angle of the third joint portion.

Abstract: An apparatus for assisting limb includes a body attachment, a link for upper leg, and a knee joint unit, a link for lower leg, a lower limb attachment, a drive unit and a knee joint actuator. The body attachment is attached to a trunk of a user. The link for upper leg is placed alongside with an upper leg of the user and coupled with the body attachment. The link for lower leg is placed alongside with a lower leg of the user and coupled with the link for the upper leg via the knee joint unit. The lower limb attachment is attached to one of the lower leg and a foot of the user, and coupled with the link for lower leg. The knee joint actuator is placed in the body attachment so as to apply rotational torque to the knee joint unit via the drive unit.

Abstract: A gas liquid centrifugal separator includes a cylindrical vessel having an axis extending in a vertical direction, an exhaust port in a top wall of the vessel which discharges gas separated from a liquid-gas mixture, a drainage port provided in a bottom wall of the vessel which discharges liquid separated from the liquid-gas mixture, and an introducing port in a peripheral wall of the vessel which introduces the mixture into the vessel. Gas-liquid separation is conducted by an inverted conical liquid surface formed in an upper separating chamber of the vessel as a result of the mixture traveling circumferentially along an inner peripheral surface of the vessel.

Abstract: A gas liquid centrifugal separator conducts a gas-liquid separating treatment of a mixture comprising a liquid and a gas contained in the liquid to separate the gas and the liquid from each other. The separator includes a cylindrical vessel having an axis extending in a vertical direction, an exhaust port provided in a top wall of the cylindrical vessel for discharging the separated gas, a drainage port provided in a bottom wall of the cylindrical vessel for discharging the separated liquid, and an introducing port provided in a peripheral wall of the cylindrical vessel for introducing the mixture into the cylindrical vessel in order to conduct the gas-liquid separation treatment utilizing an inverted conical liquid surface formed by causing the mixture to travel circumferentially travel along an inner peripheral surface of the cylindrical vessel. Thus, the separation of the mixture into the gas and the liquid can be conducted reliably, and the internal structure of the cylindrical vessel can be simplified.

Abstract: In a water electrolyzing system of a solar-power-generating type, a low power generated by a photovoltaic generator and not reaching a level required for the operation of a water electrolyzer is utilized effectively. A water electrolyzing system includes a water electrolyzer, a first photovoltaic generator which is a power source of the water electrolyzer, and at least one electric device, for example, an accumulating device and a heater for raising the temperature of water to be electrolyzed. When a power generated by the first photovoltaic generator is lower than a level required for the operation of the water electrolyzer, if the temperature of the water to be electrolyzed is lower than 80°, the generated power is supplied to the temperature-raising heater, or if T≧80°, the generated power is supplied to the accumulating device and accumulated therein.