(EN)In a frame structure of a wearable motion assisting device, a waist section connection mechanism (200) comprises a top end mounting metal fitting (210) fitted and fixed to an upper socket section secured to the waist support section of a waist tightening member (30) and a bottom end mounting metal fitting (220) fitted and fixed to a lower socket section formed at the upper part of the housing of a drive motor. An assembly (250) formed by combining an elastic member (230) with a rigid member (240) is disposed between the top end mounting metal fitting (210) and the bottom end mounting metal fitting (220). The assembly is elastically deformed according to the motions of the waist and the legs of the wearer (12), and supports the weight applied to the waist of the wearer. The assembly (250) of the waist section connection mechanism (200) is the combination of an elastic member (230) formed of an elastic block (260) with elasticity and a rigid member (240) formed by vertically arranging a plurality of metal plates (270) parallel to each other.
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A lower limb orthotic device (100) includes a thigh link (101) connected to a hip link (102) through a hip joint (103). a hip torque generator (106) including a hip actuator (110) and a first mechanical transmission mechanism (111) interposed between the thigh link ( 101) and the hip link (102), a shank link (104) connected to the thigh link (101) through a knee joint ( 105), a knee torque generator ( 107) including a knee actuator (112) and a second mechanical transmission mechanism (113) interposed between the thigh link (101) and the shank link (104), and a controller (108), such as for a common motor (154) and pump (156) connected to the hip and knee torque generators (106, 107), for regulating relative positions of the various components in order to power a user through a natural walking motion, with the first and second mechanical transmission mechanisms (111, 113) aiding in evening out torque over the ranges of motion, while also increasing the range of motion where the torque generators (106, 107) can produce a non-zero torque.

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The present invention provides a rehabilitation device using a walking assistance device (1) having an actuator which generates and provides torque to a lower limb joint of a wearer wearing the walking assistance device (1), comprising a floor reaction force pattern storing unit (330) configured to store a reference floor reaction force pattern; a control target floor reaction force setting unit (340) for determining a control target floor reaction force based on the floor reaction force pattern stored in the floor reaction force pattern storing unit (330); a target torque calculating unit (350) for calculating a target torque of the actuator to achieve the control target floor reaction force determined by the control target floor reaction force setting unit (340); and an actuator output controller (150) for controlling output of the actuator such that the actuator generates a torque matching the target torque calculated by the target torque calculating unit (350); wherein the floor reaction force that the wearer receives is increased and decreased by the application of torque generated by the actuator.

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(EN)A wearing tool for measuring biological signals which measures biological signals from the body surface of a wearer. The wearing tool is provided with a wearing tool body which is formed so as to cover the body surface of the wearer therewith, biological signal detection means which are provided at predetermined sites on the inner surface of the wearing tool body and detect the biological signals from the body surface of the wearer, and signal transmission means which output the detection signals detected by the biological signal detection means.
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An operating status of a motor in a drive unit is analyzed to extend the life of the motor. A wearable motion assistive device 1 includes a shoulder joint mechanism 5 and an elbow joint mechanism 6 for aiding a movement of the shoulder joint and the elbow joint, and a control unit 100 having a control circuit for controlling drive units 11 for the shoulder and elbow joint mechanisms 5 and 6. The control unit 100 controls the drive units 11 based on a physical quantity and a biosignal detected by an angle sensor, a torque sensor, and a biosignal detecting sensor. A controller in the drive unit 11 includes a motor monitoring unit for monitoring an operational status of the motor, and a motor control unit for limiting a drive signal supplied to the motor based on a monitoring result provided by the motor monitoring unit, in order to prevent an overload state of the motor.

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