发明名称 |
MOTION ASSIST APPARATUS |
摘要 |
The present invention provides a motion assist apparatus capable of reducing the discomfort of a user that may be caused when a motion is assisted. A motion assist apparatus 1 has actuators 11, which apply a force for controlling the posture of the upper body of a user P through the intermediary of a second frame 14, a posture estimation sensor PS, which detects a posture angle θ of the upper body of the user P, a control unit C, which controls the actuators 11 to reduce a deviation dθ of a posture angle θ from a reference posture angle θ0, and a trigger sensor TS, which detects the occurrence of a trigger event. The control unit C sets the posture angle at the time of the occurrence of the trigger event as the reference posture angle θ0. |
申请公布号 |
US2015335461(A1) |
申请公布日期 |
2015.11.26 |
申请号 |
US201514717030 |
申请日期 |
2015.05.20 |
申请人 |
HONDA MOTOR CO., LTD. |
发明人 |
KUROMIYA Yasuhito;GOTO Hiroyuki;NAKATSUKA Makoto;SHIMIZU Hideo;ISHIKAWA Tatsuya |
分类号 |
A61F5/02;F16M13/04;B25J9/00 |
主分类号 |
A61F5/02 |
代理机构 |
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代理人 |
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主权项 |
1. A motion assist apparatus comprising:
a first orthosis adapted to be attached to a leg of a user; a second orthosis adapted to be attached to an upper body of the user; a first frame connected to the first orthosis; a second frame connected to the second orthosis; an actuator that applies a force to the user through the intermediary of the first orthosis and the second orthosis by transmitting a driving force to the first frame or the second frame; a posture estimation sensor that detects a posture angle of the upper body relative to a vertical plane having a longitudinal direction of the user defined as a perpendicular direction thereof; a control unit that controls the drive of the actuator such that a force for reducing a deviation of the posture angle from a reference posture angle is applied to the user; and a trigger sensor that detects an occurrence of a trigger event, wherein the control unit sets, as the reference posture angle, a posture angle detected by the posture estimation sensor in a case where the trigger sensor detects the occurrence of the trigger event. |
地址 |
Tokyo JP |