CN105078708A - 一种外骨骼机器人随动控制装置 - Google Patents
一种外骨骼机器人随动控制装置 Download PDFInfo
- Publication number
- CN105078708A CN105078708A CN201510321729.3A CN201510321729A CN105078708A CN 105078708 A CN105078708 A CN 105078708A CN 201510321729 A CN201510321729 A CN 201510321729A CN 105078708 A CN105078708 A CN 105078708A
- Authority
- CN
- China
- Prior art keywords
- upper arm
- underarm
- microswitch
- exoskeleton robot
- control device
- 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.)
- Granted
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 230000005611 electricity Effects 0.000 claims description 2
- 210000003414 extremity Anatomy 0.000 description 7
- 238000009434 installation Methods 0.000 description 6
- 210000002414 leg Anatomy 0.000 description 4
- 210000000689 upper leg Anatomy 0.000 description 4
- 230000003111 delayed effect Effects 0.000 description 3
- 206010033799 Paralysis Diseases 0.000 description 2
- 206010011968 Decreased immune responsiveness Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 208000021090 palsy Diseases 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- LENZDBCJOHFCAS-UHFFFAOYSA-N tris Chemical compound OCC(N)(CO)CO LENZDBCJOHFCAS-UHFFFAOYSA-N 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
- B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
-
- 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
-
- 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- 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
-
- 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
-
- 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
-
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
-
- 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
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2201/123—Linear 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
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
- A61H2201/1246—Driving means with hydraulic or pneumatic drive by piston-cylinder systems
-
- 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
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2201/5058—Sensors or detectors
- A61H2201/5064—Position sensors
- A61H2201/5066—Limit switches
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pain & Pain Management (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims (9)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510321729.3A CN105078708B (zh) | 2015-06-12 | 2015-06-12 | 一种外骨骼机器人随动控制装置 |
JP2018516615A JP6457699B2 (ja) | 2015-06-12 | 2016-06-07 | 外骨格ロボットのサーボ制御装置 |
PCT/CN2016/085159 WO2016197923A1 (zh) | 2015-06-12 | 2016-06-07 | 一种外骨骼机器人随动控制装置 |
US15/579,941 US10421185B2 (en) | 2015-06-12 | 2016-06-07 | Follow-up control device for an exoskeleton robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510321729.3A CN105078708B (zh) | 2015-06-12 | 2015-06-12 | 一种外骨骼机器人随动控制装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105078708A true CN105078708A (zh) | 2015-11-25 |
CN105078708B CN105078708B (zh) | 2017-05-31 |
Family
ID=54560653
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510321729.3A Active CN105078708B (zh) | 2015-06-12 | 2015-06-12 | 一种外骨骼机器人随动控制装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US10421185B2 (zh) |
JP (1) | JP6457699B2 (zh) |
CN (1) | CN105078708B (zh) |
WO (1) | WO2016197923A1 (zh) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016197923A1 (zh) * | 2015-06-12 | 2016-12-15 | 夏楠 | 一种外骨骼机器人随动控制装置 |
CN109202860A (zh) * | 2017-06-29 | 2019-01-15 | 董石 | 可穿戴的腿部支撑装置 |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106945017A (zh) * | 2017-05-02 | 2017-07-14 | 山东农业大学 | 基于肌电信号控制的手臂助力器及其控制方法 |
CN111658429A (zh) * | 2020-06-15 | 2020-09-15 | 大连理工江苏研究院有限公司金坛分公司 | 一种基于互联网的医养康护用护理设备 |
CN116672670B (zh) * | 2023-04-10 | 2024-02-02 | 中国人民解放军总医院第七医学中心 | 一种承载表面肌电分析技术的肌肉损伤训练装置 |
Citations (6)
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JPH05305102A (ja) * | 1992-04-30 | 1993-11-19 | Nabco Ltd | 義足における歩行速度検出装置 |
CN2199759Y (zh) * | 1994-08-16 | 1995-06-07 | 上海科生假肢公司 | 假上肢中的肘关节自由摆动机构 |
CN201870775U (zh) * | 2010-11-12 | 2011-06-22 | 河南科技大学 | 气压驱动式下肢行走康复训练机器人外骨骼机械结构 |
WO2013116900A1 (en) * | 2012-02-07 | 2013-08-15 | S.A.M. Bracing Pty Ltd | Joint for rehabilitation device |
CN203524949U (zh) * | 2013-07-02 | 2014-04-09 | 于长陆 | 假肢智能助行器 |
CN204814699U (zh) * | 2015-06-12 | 2015-12-02 | 夏楠 | 一种外骨骼机器人随动控制装置 |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2005253539A (ja) * | 2004-03-09 | 2005-09-22 | Univ Kurume | 筋力増強器 |
CN101400324B (zh) * | 2006-03-09 | 2013-09-11 | 加利福尼亚大学董事会 | 功率产生腿 |
JP2009207840A (ja) * | 2008-03-06 | 2009-09-17 | Toyota Motor Corp | 歩行動作補助装置 |
CN102098986B (zh) * | 2008-07-23 | 2015-09-09 | 伯克利仿生技术公司 | 外骨骼和控制该外骨骼的迈步腿的方法 |
WO2010036791A1 (en) * | 2008-09-24 | 2010-04-01 | Berkeley Bionics | Hip and knee actuation systems for lower limb orthotic devices |
IT1393365B1 (it) * | 2009-03-20 | 2012-04-20 | Dinon | Dispositivo di riabilitazione motoria robotizzato |
CN102499859B (zh) | 2011-11-08 | 2014-04-16 | 上海交通大学 | 下肢外骨骼行走康复机器人 |
CN103040586A (zh) * | 2012-12-20 | 2013-04-17 | 上海大学 | 用于下肢运动训练的外骨骼机器人及其运动控制方法 |
EP2842527A1 (en) * | 2013-08-26 | 2015-03-04 | ETH Zurich | Wearable posture assisting device |
JP5880504B2 (ja) * | 2013-09-17 | 2016-03-09 | 株式会社安川電機 | 動作補助装置 |
CN103536426B (zh) * | 2013-10-12 | 2014-07-09 | 华中科技大学 | 一种气动肌肉驱动的穿戴式肘关节康复训练装置 |
US10766133B2 (en) * | 2014-05-06 | 2020-09-08 | Sarcos Lc | Legged robotic device utilizing modifiable linkage mechanism |
EP2985009B1 (en) * | 2014-08-13 | 2017-09-06 | Harris Corporation | Robotic exoskeleton with fall control and actuation |
CA2884905A1 (en) * | 2014-09-10 | 2016-03-10 | Norberto Velazquez Nino | Adjustable mechanical exoskeleton, for a biped animal with impaired bone and muscle |
CN105078708B (zh) * | 2015-06-12 | 2017-05-31 | 绍兴市上虞区幻想动力机器人科技有限公司 | 一种外骨骼机器人随动控制装置 |
JP6684902B2 (ja) * | 2015-06-26 | 2020-04-22 | ユー. エス. バイオニクス、インク. | 脚部装置 |
-
2015
- 2015-06-12 CN CN201510321729.3A patent/CN105078708B/zh active Active
-
2016
- 2016-06-07 JP JP2018516615A patent/JP6457699B2/ja active Active
- 2016-06-07 US US15/579,941 patent/US10421185B2/en active Active
- 2016-06-07 WO PCT/CN2016/085159 patent/WO2016197923A1/zh active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05305102A (ja) * | 1992-04-30 | 1993-11-19 | Nabco Ltd | 義足における歩行速度検出装置 |
CN2199759Y (zh) * | 1994-08-16 | 1995-06-07 | 上海科生假肢公司 | 假上肢中的肘关节自由摆动机构 |
CN201870775U (zh) * | 2010-11-12 | 2011-06-22 | 河南科技大学 | 气压驱动式下肢行走康复训练机器人外骨骼机械结构 |
WO2013116900A1 (en) * | 2012-02-07 | 2013-08-15 | S.A.M. Bracing Pty Ltd | Joint for rehabilitation device |
CN203524949U (zh) * | 2013-07-02 | 2014-04-09 | 于长陆 | 假肢智能助行器 |
CN204814699U (zh) * | 2015-06-12 | 2015-12-02 | 夏楠 | 一种外骨骼机器人随动控制装置 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2016197923A1 (zh) * | 2015-06-12 | 2016-12-15 | 夏楠 | 一种外骨骼机器人随动控制装置 |
US10421185B2 (en) | 2015-06-12 | 2019-09-24 | Hangzhou Qisu Technology Co., Ltd. | Follow-up control device for an exoskeleton robot |
CN109202860A (zh) * | 2017-06-29 | 2019-01-15 | 董石 | 可穿戴的腿部支撑装置 |
Also Published As
Publication number | Publication date |
---|---|
US20180361570A1 (en) | 2018-12-20 |
CN105078708B (zh) | 2017-05-31 |
US10421185B2 (en) | 2019-09-24 |
JP6457699B2 (ja) | 2019-01-23 |
WO2016197923A1 (zh) | 2016-12-15 |
JP2018518344A (ja) | 2018-07-12 |
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Effective date of registration: 20170412 Address after: Shangyu District, Dongguan Street in Zhejiang province Shaoxing City Lianxing village 312300 Applicant after: Shangyu Shaoxing District fantasy Power Robot Technology Co., Ltd. Address before: 312300 Zhejiang Province, Shaoxing city Shangyu District City Street revitalization village 28 Room 501 Applicant before: Xia Nan |
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Effective date of registration: 20191113 Address after: 310000 room 602, unit 1, building 3, Shuimu Qinghuayuan South District, Xianlin street, Yuhang District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Qisu Technology Co., Ltd Address before: Shangyu District, Dongguan Street in Zhejiang province Shaoxing City Lianxing village 312300 Patentee before: Shangyu Shaoxing District fantasy Power Robot Technology Co., Ltd. |
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