BRPI0607755A2 - aparelho de ajuda ao caminhar - Google Patents

aparelho de ajuda ao caminhar

Info

Publication number
BRPI0607755A2
BRPI0607755A2 BRPI0607755-2A BRPI0607755A BRPI0607755A2 BR PI0607755 A2 BRPI0607755 A2 BR PI0607755A2 BR PI0607755 A BRPI0607755 A BR PI0607755A BR PI0607755 A2 BRPI0607755 A2 BR PI0607755A2
Authority
BR
Brazil
Prior art keywords
leg
oscillating
seating
connecting bars
connecting part
Prior art date
Application number
BRPI0607755-2A
Other languages
English (en)
Inventor
Yasushi Ikeuchi
Tatsuya Noda
Jun Ashihara
Yutaka Hiki
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Publication of BRPI0607755A2 publication Critical patent/BRPI0607755A2/pt

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024—Knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1409—Hydraulic or pneumatic means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628—Pelvis
    • A61H2201/1633—Seat
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors

Landscapes

  • Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Public Health (AREA)
  • Rehabilitation Therapy (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Rehabilitation Tools (AREA)
  • Prostheses (AREA)

Abstract

APARELHO DE AJUDA AO CAMINHAR. Um dispositivo de auxílio ao caminhar, compreendendo um elemento de sentar (1) para um usuário (P) sentar no mesmo em uma postura com uma perna de cada lado e a barras de ligação de perna (2L, 2R) conectadas longitudinalmente de modo oscilante em uma parte de conexão (3) é encaixada na superfície inferior do elemento de sentar (1) A parte de conexão (3) é formada de modo que os pivós oscilantes das barras de ligação de pernas (2L, 2R) na direção longitudinal são posicionados acima do elemento de sentar (1) para aumentar a estabilidade do elemento de sentar (1) Mais especificamente, uma rota de guia em formato de arco circular 32 tendo o centro de curvatura (3a) posicionado no lado superior do elemento de sentar (1) e se estendendo na direção longitudinal é formado na parte de conexão (3) de modo que as barras de ligação de perna (2L, 2R) podem ser longitudinalmente oscilados ao longo da rota de guia (32) Quando as barras de ligação de perna (2L, 2R) são formadas de modo oscilante também na direção lateral, também os pivós oscilantes das barras de ligação de pernas (2L, 2R) na direção lateral são desejavelmente posicionados no lado superior do elemento de sentar (1)
BRPI0607755-2A 2005-05-27 2006-05-29 aparelho de ajuda ao caminhar BRPI0607755A2 (pt)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2005155329 2005-05-27
JP2005223803 2005-08-02
PCT/JP2006/310658 WO2006126711A1 (ja) 2005-05-27 2006-05-29 歩行補助装置

Publications (1)

Publication Number Publication Date
BRPI0607755A2 true BRPI0607755A2 (pt) 2009-10-06

Family

ID=37452124

Family Applications (1)

Application Number Title Priority Date Filing Date
BRPI0607755-2A BRPI0607755A2 (pt) 2005-05-27 2006-05-29 aparelho de ajuda ao caminhar

Country Status (8)

Country Link
US (1) US8114034B2 (pt)
EP (2) EP2168548B1 (pt)
JP (1) JP4782115B2 (pt)
KR (1) KR100855538B1 (pt)
BR (1) BRPI0607755A2 (pt)
CA (1) CA2595557C (pt)
RU (1) RU2389468C9 (pt)
WO (1) WO2006126711A1 (pt)

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US9572395B2 (en) * 2009-06-23 2017-02-21 Mark Costin Roser Human locomotion assisting shoe and clothing
JP5083461B2 (ja) 2010-06-21 2012-11-28 トヨタ自動車株式会社 脚支援装置
US9789603B2 (en) 2011-04-29 2017-10-17 Sarcos Lc Teleoperated robotic system
US11400010B2 (en) * 2011-07-29 2022-08-02 Leonis Medical Corporation Method and system for control and operation of motorized orthotic exoskeleton joints
RU2493805C1 (ru) * 2012-02-20 2013-09-27 Вячеслав Геннадьевич Иванов Экзоскелетон инвалида
US9616580B2 (en) 2012-05-14 2017-04-11 Sarcos Lc End effector for a robotic arm
US9265647B2 (en) 2012-08-09 2016-02-23 Egas Jose-Joaquim DeSousa Dynamic load bearing shock absorbing exoskeletal knee brace
US20140046234A1 (en) * 2012-08-09 2014-02-13 Egas Jose-Joaquim DeSousa Dynamic Load Bearing Shock Absorbing Exoskeletal Knee Brace
CA2885228C (en) 2012-09-17 2021-07-20 President And Fellows Of Harvard College Soft exosuit for assistance with human motion
CN115040073A (zh) * 2013-05-31 2022-09-13 哈佛大学校长及研究员协会 运动控制系统
WO2015060751A1 (ru) * 2013-10-21 2015-04-30 Общество С Ограниченной Ответственностью "Экзоатлет" Голеностопное шарнирное сочленение экзоскелетона
WO2015088863A2 (en) 2013-12-09 2015-06-18 President And Fellows Of Harvard College Assistive flexible suits, flexible suit systems, and methods for making and control thereof to assist human mobility
EP3102171A4 (en) 2014-02-05 2018-03-28 President and Fellows of Harvard College Systems, methods, and devices for assisting walking for developmentally-delayed toddlers
ES2880106T3 (es) 2014-03-31 2021-11-23 Parker Hannifin Corp Dispositivo robótico llevable
EP3128963A4 (en) 2014-04-10 2017-12-06 President and Fellows of Harvard College Orthopedic device including protruding members
US10512583B2 (en) * 2014-05-06 2019-12-24 Sarcos Lc Forward or rearward oriented exoskeleton
US10766133B2 (en) 2014-05-06 2020-09-08 Sarcos Lc Legged robotic device utilizing modifiable linkage mechanism
US10533542B2 (en) 2014-05-06 2020-01-14 Sarcos Lc Rapidly modulated hydraulic supply for a robotic device
US10406676B2 (en) 2014-05-06 2019-09-10 Sarcos Lc Energy recovering legged robotic device
USD789254S1 (en) * 2014-05-23 2017-06-13 Honda Motor Co., Ltd. Upper body support frame with electric motor for walking aids
EP3194769B1 (en) 2014-09-19 2020-04-08 President and Fellows of Harvard College Soft exosuit for assistance with human motion
US10561564B2 (en) * 2014-11-07 2020-02-18 Unlimited Tomorrow, Inc. Low profile exoskeleton
EP3158893B1 (en) 2015-10-21 2021-04-28 noonee AG Seat unit for wearable sitting posture assisting device
US11590046B2 (en) 2016-03-13 2023-02-28 President And Fellows Of Harvard College Flexible members for anchoring to the body
EP3241531A1 (en) * 2016-05-04 2017-11-08 noonee AG Leg unit for a wearable sitting posture assisting device
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US10919161B2 (en) 2016-11-11 2021-02-16 Sarcos Corp. Clutched joint modules for a robotic system
US10821614B2 (en) 2016-11-11 2020-11-03 Sarcos Corp. Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly
US10765537B2 (en) 2016-11-11 2020-09-08 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators for use within a robotic system
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KR20180076694A (ko) 2016-12-28 2018-07-06 삼성전자주식회사 운동 보조 장치
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CN108705535B (zh) * 2018-06-04 2021-04-16 鲁东大学 平面3r操作臂逆运动学实现方法
CN109367643B (zh) * 2018-11-02 2021-03-16 常州大学 一种基于连杆结构的四足爬行仿生机器人
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CN110496016B (zh) * 2019-08-21 2021-10-22 浙江大学宁波理工学院 一种辅助行走装置
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Also Published As

Publication number Publication date
JPWO2006126711A1 (ja) 2008-12-25
RU2007148516A (ru) 2009-07-10
RU2389468C2 (ru) 2010-05-20
KR100855538B1 (ko) 2008-09-01
EP2168548A1 (en) 2010-03-31
JP4782115B2 (ja) 2011-09-28
EP1905408A4 (en) 2008-07-23
KR20070102552A (ko) 2007-10-18
EP2168548B1 (en) 2016-10-19
WO2006126711A1 (ja) 2006-11-30
CA2595557C (en) 2011-04-12
RU2389468C9 (ru) 2011-05-27
US20080156363A1 (en) 2008-07-03
EP1905408A1 (en) 2008-04-02
EP1905408B1 (en) 2012-07-25
US8114034B2 (en) 2012-02-14
CA2595557A1 (en) 2006-11-30

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Legal Events

Date Code Title Description
B07A Application suspended after technical examination (opinion) [chapter 7.1 patent gazette]
B09B Patent application refused [chapter 9.2 patent gazette]
B12B Appeal against refusal [chapter 12.2 patent gazette]
B08F Application dismissed because of non-payment of annual fees [chapter 8.6 patent gazette]

Free format text: REFERENTE A 15A ANUIDADE.

B08K Patent lapsed as no evidence of payment of the annual fee has been furnished to inpi [chapter 8.11 patent gazette]

Free format text: REFERENTE AO DESPACHO 8.6 PUBLICADO NA RPI 2622 DE 06/04/2021.