CN106510985A - 一种基于主从式控制的康复与代步外骨骼机器人 - Google Patents
一种基于主从式控制的康复与代步外骨骼机器人 Download PDFInfo
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- CN106510985A CN106510985A CN201610948525.7A CN201610948525A CN106510985A CN 106510985 A CN106510985 A CN 106510985A CN 201610948525 A CN201610948525 A CN 201610948525A CN 106510985 A CN106510985 A CN 106510985A
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
-
- 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
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Physical Education & Sports Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Rehabilitation Tools (AREA)
Abstract
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CN201610948525.7A CN106510985B (zh) | 2016-10-26 | 2016-10-26 | 一种基于主从式控制的康复与代步外骨骼机器人 |
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CN107791255A (zh) * | 2017-09-15 | 2018-03-13 | 北京石油化工学院 | 一种助老机器人及语音控制系统 |
CN107803006A (zh) * | 2017-11-29 | 2018-03-16 | 哈尔滨体育学院 | 一种残疾人冰壶运动辅助装置 |
CN108030603A (zh) * | 2018-01-26 | 2018-05-15 | 北京理工大学 | 康复轮椅 |
CN108030605A (zh) * | 2018-01-29 | 2018-05-15 | 北京理工大学 | 移动出行机器人 |
CN108095918A (zh) * | 2018-01-29 | 2018-06-01 | 北京理工大学 | 康复训练用机器人 |
CN108451745A (zh) * | 2018-01-29 | 2018-08-28 | 北京理工大学 | 游戏互动方法及系统 |
CN108743260A (zh) * | 2018-06-05 | 2018-11-06 | 河北兆泰医疗器械科技有限公司 | 一种具有多级摇臂结构的智能移位康复车 |
CN109199713A (zh) * | 2018-11-02 | 2019-01-15 | 上海海洋大学 | 一种具有康复用机械外骨骼的轮椅装置 |
CN109620569A (zh) * | 2018-06-08 | 2019-04-16 | 广东技术师范学院 | 基于stm32芯片外挂式轮椅牵引系统 |
CN109924984A (zh) * | 2019-03-22 | 2019-06-25 | 上海电气集团股份有限公司 | 基于人体运动意图检测的机器人运动控制方法及系统 |
CN110236890A (zh) * | 2018-03-07 | 2019-09-17 | 北京大艾机器人科技有限公司 | 用于外骨骼机器人的控制装置 |
WO2019192636A1 (de) * | 2018-04-06 | 2019-10-10 | Juestel Peter | Flugsystem |
CN112618178A (zh) * | 2021-01-28 | 2021-04-09 | 三峡大学 | 一种用于辅助偏瘫患者手脚康复的轮椅 |
CN112807190A (zh) * | 2020-12-28 | 2021-05-18 | 四川大学华西医院 | 一种脊髓损伤康复用智能辅助系统 |
CN113116649A (zh) * | 2021-04-21 | 2021-07-16 | 田蜜香 | 一种具有锻炼下肢功能的康复轮椅 |
CN113747950A (zh) * | 2019-03-11 | 2021-12-03 | Rom科技有限公司 | 用于锻炼或康复设备的系统、方法和装置 |
CN113876501A (zh) * | 2021-09-30 | 2022-01-04 | 华中科技大学 | 一种轮椅式移动双臂协作机器人 |
CN114601696A (zh) * | 2020-12-08 | 2022-06-10 | 山东新松工业软件研究院股份有限公司 | 一种康复助行机器人控制系统及其方法 |
US11404150B2 (en) | 2019-10-03 | 2022-08-02 | Rom Technologies, Inc. | System and method for processing medical claims using biometric signatures |
US11410768B2 (en) | 2019-10-03 | 2022-08-09 | Rom Technologies, Inc. | Method and system for implementing dynamic treatment environments based on patient information |
CN114887297A (zh) * | 2022-06-20 | 2022-08-12 | 江苏经贸职业技术学院 | 一种基于老年人病后康复疏导设备及其系统 |
US11433276B2 (en) | 2019-05-10 | 2022-09-06 | Rehab2Fit Technologies, Inc. | Method and system for using artificial intelligence to independently adjust resistance of pedals based on leg strength |
US11445985B2 (en) | 2019-10-03 | 2022-09-20 | Rom Technologies, Inc. | Augmented reality placement of goniometer or other sensors |
US11471729B2 (en) | 2019-03-11 | 2022-10-18 | Rom Technologies, Inc. | System, method and apparatus for a rehabilitation machine with a simulated flywheel |
US11508482B2 (en) | 2019-10-03 | 2022-11-22 | Rom Technologies, Inc. | Systems and methods for remotely-enabled identification of a user infection |
US11515021B2 (en) | 2019-10-03 | 2022-11-29 | Rom Technologies, Inc. | Method and system to analytically optimize telehealth practice-based billing processes and revenue while enabling regulatory compliance |
US11515028B2 (en) | 2019-10-03 | 2022-11-29 | Rom Technologies, Inc. | Method and system for using artificial intelligence and machine learning to create optimal treatment plans based on monetary value amount generated and/or patient outcome |
US11596829B2 (en) | 2019-03-11 | 2023-03-07 | Rom Technologies, Inc. | Control system for a rehabilitation and exercise electromechanical device |
US11602479B2 (en) | 2018-03-14 | 2023-03-14 | Toyota Motor North America, Inc. | Systems and methods for providing synchronized movements of a powered wheelchair and an exoskeleton |
US11701548B2 (en) | 2019-10-07 | 2023-07-18 | Rom Technologies, Inc. | Computer-implemented questionnaire for orthopedic treatment |
US11752391B2 (en) | 2019-03-11 | 2023-09-12 | Rom Technologies, Inc. | System, method and apparatus for adjustable pedal crank |
US11756666B2 (en) | 2019-10-03 | 2023-09-12 | Rom Technologies, Inc. | Systems and methods to enable communication detection between devices and performance of a preventative action |
US11801423B2 (en) | 2019-05-10 | 2023-10-31 | Rehab2Fit Technologies, Inc. | Method and system for using artificial intelligence to interact with a user of an exercise device during an exercise session |
US11830601B2 (en) | 2019-10-03 | 2023-11-28 | Rom Technologies, Inc. | System and method for facilitating cardiac rehabilitation among eligible users |
US11826613B2 (en) | 2019-10-21 | 2023-11-28 | Rom Technologies, Inc. | Persuasive motivation for orthopedic treatment |
US11887717B2 (en) | 2019-10-03 | 2024-01-30 | Rom Technologies, Inc. | System and method for using AI, machine learning and telemedicine to perform pulmonary rehabilitation via an electromechanical machine |
US11904207B2 (en) | 2019-05-10 | 2024-02-20 | Rehab2Fit Technologies, Inc. | Method and system for using artificial intelligence to present a user interface representing a user's progress in various domains |
US11915816B2 (en) | 2019-10-03 | 2024-02-27 | Rom Technologies, Inc. | Systems and methods of using artificial intelligence and machine learning in a telemedical environment to predict user disease states |
US11915815B2 (en) | 2019-10-03 | 2024-02-27 | Rom Technologies, Inc. | System and method for using artificial intelligence and machine learning and generic risk factors to improve cardiovascular health such that the need for additional cardiac interventions is mitigated |
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US11950861B2 (en) | 2019-10-03 | 2024-04-09 | Rom Technologies, Inc. | Telemedicine for orthopedic treatment |
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Cited By (57)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107791255A (zh) * | 2017-09-15 | 2018-03-13 | 北京石油化工学院 | 一种助老机器人及语音控制系统 |
CN107803006A (zh) * | 2017-11-29 | 2018-03-16 | 哈尔滨体育学院 | 一种残疾人冰壶运动辅助装置 |
CN107803006B (zh) * | 2017-11-29 | 2018-08-03 | 哈尔滨体育学院 | 一种残疾人冰壶运动辅助装置 |
CN108030603A (zh) * | 2018-01-26 | 2018-05-15 | 北京理工大学 | 康复轮椅 |
CN108030605A (zh) * | 2018-01-29 | 2018-05-15 | 北京理工大学 | 移动出行机器人 |
CN108095918A (zh) * | 2018-01-29 | 2018-06-01 | 北京理工大学 | 康复训练用机器人 |
CN108451745A (zh) * | 2018-01-29 | 2018-08-28 | 北京理工大学 | 游戏互动方法及系统 |
CN110236890A (zh) * | 2018-03-07 | 2019-09-17 | 北京大艾机器人科技有限公司 | 用于外骨骼机器人的控制装置 |
CN110236890B (zh) * | 2018-03-07 | 2024-04-23 | 北京大艾机器人科技有限公司 | 用于外骨骼机器人的控制装置 |
US11602479B2 (en) | 2018-03-14 | 2023-03-14 | Toyota Motor North America, Inc. | Systems and methods for providing synchronized movements of a powered wheelchair and an exoskeleton |
WO2019192636A1 (de) * | 2018-04-06 | 2019-10-10 | Juestel Peter | Flugsystem |
CN108743260A (zh) * | 2018-06-05 | 2018-11-06 | 河北兆泰医疗器械科技有限公司 | 一种具有多级摇臂结构的智能移位康复车 |
CN109620569A (zh) * | 2018-06-08 | 2019-04-16 | 广东技术师范学院 | 基于stm32芯片外挂式轮椅牵引系统 |
CN109199713A (zh) * | 2018-11-02 | 2019-01-15 | 上海海洋大学 | 一种具有康复用机械外骨骼的轮椅装置 |
US11471729B2 (en) | 2019-03-11 | 2022-10-18 | Rom Technologies, Inc. | System, method and apparatus for a rehabilitation machine with a simulated flywheel |
US11541274B2 (en) | 2019-03-11 | 2023-01-03 | Rom Technologies, Inc. | System, method and apparatus for electrically actuated pedal for an exercise or rehabilitation machine |
CN113747950A (zh) * | 2019-03-11 | 2021-12-03 | Rom科技有限公司 | 用于锻炼或康复设备的系统、方法和装置 |
US11904202B2 (en) | 2019-03-11 | 2024-02-20 | Rom Technolgies, Inc. | Monitoring joint extension and flexion using a sensor device securable to an upper and lower limb |
US11596829B2 (en) | 2019-03-11 | 2023-03-07 | Rom Technologies, Inc. | Control system for a rehabilitation and exercise electromechanical device |
US11752391B2 (en) | 2019-03-11 | 2023-09-12 | Rom Technologies, Inc. | System, method and apparatus for adjustable pedal crank |
CN109924984A (zh) * | 2019-03-22 | 2019-06-25 | 上海电气集团股份有限公司 | 基于人体运动意图检测的机器人运动控制方法及系统 |
CN109924984B (zh) * | 2019-03-22 | 2022-01-21 | 上海电气集团股份有限公司 | 基于人体运动意图检测的机器人运动控制方法及系统 |
US11904207B2 (en) | 2019-05-10 | 2024-02-20 | Rehab2Fit Technologies, Inc. | Method and system for using artificial intelligence to present a user interface representing a user's progress in various domains |
US11801423B2 (en) | 2019-05-10 | 2023-10-31 | Rehab2Fit Technologies, Inc. | Method and system for using artificial intelligence to interact with a user of an exercise device during an exercise session |
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