Load detecting device and walk assisting device

Patent metadata

Field	Value
Publication number	US-10507156-B2
Application number	US-201514930236-A
Country	US
Kind code	B2
Filing date	Nov 2, 2015
Priority date	Nov 27, 2014
Publication date	Dec 17, 2019
Grant date	Dec 17, 2019

Abstract

A load detecting device includes a sole shape portion that is formed along a shape of a sole of a walk trainee, and on which the sole gets, a flare portion that is formed so as to project outside the sole shape portion, a first load sensor that is provided at the sole shape portion and detects the load of the sole shape portion, and a second load sensor that is provided at the flare portion and detects the load of the flare portion.

First claim

What is claimed is:

1. A load detecting device comprising:
a sole shape portion configured to contour to an entire sole of a user;
a flare portion projecting away from the sole shape portion;
at least one first load sensor disposed within the sole shape portion and configured to detect a load on the sole shape portion;
a second load sensor disposed within the flare portion and outside of the sole shape portion, the second load sensor being configured to detect a load on the flare portion separate from the load on the sole shape portion; and
a load supporting pin projecting into the flare portion and extending towards the second load sensor such that the load supporting pin and the second load sensor are vertically aligned when the load detecting device is in use.

2. The load detecting device according to claim 1 , further comprising a processor configured to calculate a center of a walking load on the sole of the user based on the loads detected by the first and second load sensors.

3. The load detecting device according to claim 1 , further comprising three first load sensors, two of the three first load sensors are provided on a toe side of the sole shape portion, and one of the three first load sensors is provided on a heel side of the sole shape portion.

4. The load detecting device according to claim 1 , further comprising a storage medium configured to store calibration data of the first and second load sensors.

5. The load detecting device according to claim 1 , further comprising a transceiver configured to wirelessly transmit load data and/or calibration data of the first and second load sensors.

6. A walk assisting device comprising:
the load detecting device according to claim 1 ;
a thigh frame coupled to the load detecting device via an ankle joint portion;
a crus frame coupled to the thigh frame via a knee joint portion; and
a motor configured to drive the knee joint portion.

7. The walk assisting device according to claim 6 , further comprising:
a secondary load detecting device including:
a secondary sole shape portion configured to contour to an entire second sole of the user;
a secondary flare portion projecting away from the secondary sole shape portion;
at least one secondary first load sensor disposed within the secondary sole shape portion and configured to detect a load on the secondary sole shape portion; and
a secondary second load sensor disposed within the secondary flare portion and outside of the secondary sole shape portion, the secondary second load sensor being configured to detect a load on the secondary flare portion separate from the load on the secondary sole shape portion, and

a main processor configured to calculate a center of a total walking load on the load detecting device and the secondary load detecting device, the center of the total walking load being based on the load detected by the first load sensor of the first load detecting device and the secondary second load sensor of the secondary load detecting device.

Assignees

• Toyota Motor Co Ltd

Inventors

• Fujikake Yoshinori

Classifications

• A61H1/024

  Knee (A61H1/0255 takes precedence) · CPC title

• A61H2201/5097

  wireless · CPC title

• A61H2201/5061

  Force sensors · CPC title

• A61H2201/1215

  Rotary drive · CPC title

• A61H2201/165

  Wearable interfaces · CPC title