# US 10,441,444 B2 · Motion reproducing system and motion reproducing apparatus

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- Number: US 10,441,444 B2
- Document ID: US10441444B2
- Status: Granted
- Kind: B2
- Application number: 15/319,264
- Filed: 2015-06-23
- Published: 2017-05-25
- Granted: 2019-10-15
- Earliest claimed: 2014-06-23
- Assignees: Cyberdyne Inc.; University of Tsukuba
- Applicants: Cyberdyne Inc.; University of Tsukuba
- Inventors: Yoshiyuki Sankai
- Web page: https://patentgrep.com/patent/US10441444B2

## CPC

- B25J 11/00: Manipulators not otherwise provided for
- A61B 5/11: Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb {(A61B5/1038 takes precedence; motion detection to correct for motion artifacts in physiological signals A61B5/721)}
- A61B 5/1121: {Determining geometric values, e.g. centre of rotation or angular range of movement}
- A61F 2/38: for elbows or knees
- A61F 2/54: Artificial arms or hands or parts thereof
- A61F 2/60: Artificial legs or feet or parts thereof
- A61F 2/72: Bioelectric control, e.g. myoelectric
- B25J 9/0006: {Exoskeletons, i.e. resembling a human figure}
- B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)}
- A61F 2002/704: {computer-controlled, e.g. robotic control}
- A61F 2005/0155: {with actuating means}
- A61H 1/0274: {for the upper limbs}
- A61H 1/0277: {Elbow}
- A61H 2003/007: {secured to the patient, e.g. with belts}
- A61H 2201/5069: Angle sensors
- A61H 2201/5084: Acceleration sensors
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C)
- A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N)

## Abstract

There is provided a motion reproducing system and a motion reproducing apparatus that store human motions and reproduce them. The motion reproducing system includes a data acquiring apparatus acquiring body motion data representing a motion of a subject during the motion, and transmitting the body motion data, a data managing apparatus receiving the body motion data from the data acquiring apparatus, the data managing apparatus including a memory storing the body motion data, and a motion reproducing apparatus receiving the body motion data stored in the memory from the data managing apparatus, and allowing a reproducer to reproduce the motion of the subject using the body motion data, the motion being performed at the time of acquisition of the body motion data.

## Claims

### Claim 1

A motion reproducing system comprising:
a data acquiring apparatus acquiring human body motion data representing a human motion of a human patient during the motion, and transmitting the human body motion data;
a data managing apparatus receiving the human body motion data from the data acquiring apparatus, the data managing apparatus including a memory storing the human body motion data; and
a motion reproducing apparatus receiving the human body motion data stored in the memory from the data managing apparatus, and allowing the patient to reproduce the motion using the human body motion data, the motion being performed at the time of acquisition of the human body motion data,
wherein the data acquiring apparatus is a first wearable motion assisting apparatus including a first frame and a first drive unit, the first frame being worn along a portion between joints of a body of the patient and rotatably connected to the first drive unit, the first wearable motion assisting apparatus comprising:
a first biological signal detector detecting a biological signal generated in accordance with a motion of the patient;
a first angular sensor detecting a rotation angle of a joint corresponding to the motion of the patient;
a first torque sensor detecting an output torque of the first drive unit;
a relative force detector detecting a force acting on the first frame, the force being relatively determined by a relationship between the output torque of the first drive unit and a muscle force of the patient;
a first control unit calculating an assist force to be applied from the first drive unit to the first frame on the basis of the output torque of the first drive unit, the biological signal, the rotation angle, and the force acting on the first frame; and
a first communicating unit transmitting the output torque of the first drive unit, the biological signal, the rotation angle, and the force acting on the first frame as the human body motion data to the data managing apparatus;
wherein the motion reproducing apparatus is a second wearable motion assisting apparatus including a second frame and a second drive unit, the second frame being worn along a portion between joints of a body of the patient and rotatably connected to the second drive unit, the second wearable motion assisting apparatus comprising:
a second biological signal detector detecting a biological signal generated in accordance with a motion of the patient;
a second angular sensor detecting a rotation angle of a joint corresponding to the motion of the patient;
a second torque sensor detecting an output torque of the second drive unit;
a second communicating unit receiving the human body motion data from the data managing apparatus; and
a second control unit calculating an assist control output torque on the basis of, of the human body motion data, the output torque of the first drive unit, the biological signal detected by the first biological signal detector, the rotation angle detected by the first angular sensor, and the force acting on the first frame, calculating an angle control output torque for making equal the rotation angle detected by the first angular sensor and the rotation angle detected by the second angular sensor, and calculating an assist force to be applied from the second drive unit to the second frame on the basis of the assist control output torque and the angle control output torque;
wherein the second control unit calculates a force control output torque for making equal or proportional the output torque of the second drive unit and the output torque of the first drive unit included in the human body motion data, and calculates the assist force to be applied from the second drive unit to the second frame on the basis of the assist control output torque, the angle control output torque, and the force control output torque.

### Claim 2 (depends on 1)

The motion reproducing system according to claim 1, wherein the data acquiring apparatus is a motion capture apparatus, and is configured to acquire a rotation angle of a joint of the subject as the body motion data.

### Claim 3 (depends on 1)

The motion reproducing system according to claim 1, wherein the data managing apparatus includes a billing function unit configured to bill the motion reproducing apparatus when a request to send out the body motion data stored in the memory is received from the motion reproducing apparatus.