US 12,005,023 B2
Gait motion assisting apparatus
Yukari Kurauchi, Kyoto (JP)
Assigned to Suncall Corporation, Kyoto (JP)
Appl. No. 17/273,081
Filed by Suncall Corporation, Kyoto (JP)
PCT Filed Sep. 9, 2019, PCT No. PCT/JP2019/035295
§ 371(c)(1), (2) Date Mar. 3, 2021,
PCT Pub. No. WO2020/079988, PCT Pub. Date Apr. 23, 2020.
Claims priority of application No. 2018-196364 (JP), filed on Oct. 18, 2018.
Prior Publication US 2021/0315766 A1, Oct. 14, 2021
Int. Cl. A61H 3/00 (2006.01); A61H 1/02 (2006.01)
CPC A61H 3/00 (2013.01) [A61H 1/024 (2013.01); A61H 1/0266 (2013.01); A61H 2003/007 (2013.01); A61H 2201/1215 (2013.01); A61H 2201/14 (2013.01); A61H 2201/1642 (2013.01); A61H 2201/1671 (2013.01); A61H 2201/1676 (2013.01); A61H 2201/5064 (2013.01); A61H 2201/5069 (2013.01); A61H 2201/5084 (2013.01); A61H 2205/102 (2013.01); A61H 2205/106 (2013.01); A61H 2205/12 (2013.01); A61H 2230/625 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A gait motion assisting apparatus attachable to a knee-ankle-foot orthosis including a thigh attachment to which a user's thigh is attached, a thigh frame supporting the thigh attachment and extending in a substantially vertical direction, a lower leg attachment to which the user's lower leg is attached and a lower leg frame supporting the lower leg attachment and extending in a substantially vertical direction, the lower leg frame being rotatable relative to the thigh frame around a brace-side pivot axis line that is coaxial with a swing axis line of the user's knee joint, the gait motion assisting apparatus comprising,
an electric motor,
a casing housing the electric motor,
a driving arm driven and rotated around an actuator-side pivot axis line by rotational power operatively transmitted via a transmission mechanism from an output shaft of the electric motor,
an upper connecting mechanism connecting an upper part of the casing to the thigh frame,
a lower connecting mechanism operatively connecting a distal end portion of the driving arm to the lower leg frame, and
an intermediate connecting mechanism having the actuator-side pivot axis line arranged coaxially with the brace-side pivot axis line,
wherein the intermediate connecting mechanism includes a ball stud arranged at the knee-ankle-foot orthosis so as to extend outward in the user width direction on the brace-side pivot axis line X, and an accommodation depression arranged so as to open toward the knee-ankle-foot orthosis on the actuator-side pivot axis line, the ball stud capable of being inserted into the accommodation depression, and
wherein the accommodation depression is arranged at an innermost power-transmitting member among components forming the transmission mechanism and the driving arm that is arranged coaxially with the actuator-side pivot axis line and is accessible from the inner side in the user width direction.