CA3063399C - Articulation de hanche d'exosquelette a force variable - Google Patents
Articulation de hanche d'exosquelette a force variable Download PDFInfo
- Publication number
- CA3063399C CA3063399C CA3063399A CA3063399A CA3063399C CA 3063399 C CA3063399 C CA 3063399C CA 3063399 A CA3063399 A CA 3063399A CA 3063399 A CA3063399 A CA 3063399A CA 3063399 C CA3063399 C CA 3063399C
- Authority
- CA
- Canada
- Prior art keywords
- exoskeleton
- hip joint
- body link
- link
- coupled
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
- 210000004394 hip joint Anatomy 0.000 title claims abstract description 112
- 230000007246 mechanism Effects 0.000 claims abstract description 72
- 210000002414 leg Anatomy 0.000 claims description 19
- 210000001624 hip Anatomy 0.000 claims description 18
- 230000004044 response Effects 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 description 7
- 239000011800 void material Substances 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 6
- 244000309466 calf Species 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 210000000689 upper leg Anatomy 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 210000000629 knee joint Anatomy 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000007935 neutral effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0004—Braking devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Human Computer Interaction (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
La présente invention concerne un système d'articulation de hanche d'exosquelette à force réglable. Le système comprend une articulation de hanche. L'articulation de hanche comprend un premier élément pouvant tourner autour d'un axe de rotation d'articulation de hanche, le premier élément étant conçu pour être accouplé à une liaison de corps inférieure ou à une liaison de corps supérieure. L'articulation de hanche comprend en outre un second élément pouvant tourner autour de l'axe de rotation d'articulation de hanche, le second élément étant conçu pour être accouplé à l'autre liaison parmi la liaison de corps inférieure et la liaison de corps supérieure. Le système comprend en outre un mécanisme de force réglable accouplé au premier élément et/ou au second élément. Le mécanisme de force réglable comprend un actionneur accouplé au premier élément, l'actionneur comportant un moteur conçu pour appliquer sélectivement une force réglable au second élément en vue d'empêcher la rotation du premier élément par rapport au second élément.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US15/597,213 US10518404B2 (en) | 2015-07-17 | 2017-05-17 | Variable force exoskeleton hip joint |
| US15/597,213 | 2017-05-17 | ||
| PCT/US2018/032940 WO2018213427A1 (fr) | 2017-05-17 | 2018-05-16 | Articulation de hanche d'exosquelette à force variable |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA3063399A1 CA3063399A1 (fr) | 2018-11-22 |
| CA3063399C true CA3063399C (fr) | 2021-03-09 |
Family
ID=64274875
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA3063399A Active CA3063399C (fr) | 2017-05-17 | 2018-05-16 | Articulation de hanche d'exosquelette a force variable |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP3606703A4 (fr) |
| CA (1) | CA3063399C (fr) |
| WO (1) | WO2018213427A1 (fr) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3878602B1 (fr) | 2020-03-12 | 2022-04-13 | C.R.F. Società Consortile per Azioni | Dispositif portable pour l'assistance à des mouvements d'inclinaison avant du torse |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070123997A1 (en) * | 2005-03-31 | 2007-05-31 | Massachusetts Institute Of Technology | Exoskeletons for running and walking |
| EP1874239B1 (fr) * | 2005-04-13 | 2014-06-11 | The Regents of The University of California | Exosquelette des membres inferieurs semi-motorise |
| US8968222B2 (en) * | 2008-12-18 | 2015-03-03 | Ekso Bionics, Inc. | Wearable material handling system |
| US7922401B2 (en) * | 2009-04-01 | 2011-04-12 | Mckay Thomas L | Camera rig with center-of-gravity correction system |
| WO2012154580A1 (fr) * | 2011-05-06 | 2012-11-15 | Equipois Inc. | Interface de bras d'exosquelette |
| ITPI20130005A1 (it) * | 2013-01-28 | 2014-07-29 | Scuola Superiore Sant Anna | Dispositivo robotico per l'assistenza alla forza umana |
| PL2968053T3 (pl) * | 2013-03-14 | 2022-09-26 | Ekso Bionics, Inc. | Nieantropomorficzne lokalizacje stawu biodrowego dla egzoszkieletu |
| KR102120960B1 (ko) * | 2014-07-17 | 2020-06-09 | 삼성전자주식회사 | 지지 프레임 및 이를 포함하는 운동 보조 장치 |
| US10195736B2 (en) | 2015-07-17 | 2019-02-05 | Lockheed Martin Corporation | Variable force exoskeleton hip joint |
-
2018
- 2018-05-16 EP EP18801352.8A patent/EP3606703A4/fr not_active Withdrawn
- 2018-05-16 WO PCT/US2018/032940 patent/WO2018213427A1/fr unknown
- 2018-05-16 CA CA3063399A patent/CA3063399C/fr active Active
Also Published As
| Publication number | Publication date |
|---|---|
| EP3606703A1 (fr) | 2020-02-12 |
| EP3606703A4 (fr) | 2020-06-24 |
| CA3063399A1 (fr) | 2018-11-22 |
| WO2018213427A1 (fr) | 2018-11-22 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request |
Effective date: 20200109 |