CN106510985B - 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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- CN106510985B CN106510985B CN201610948525.7A CN201610948525A CN106510985B CN 106510985 B CN106510985 B CN 106510985B CN 201610948525 A CN201610948525 A CN 201610948525A CN 106510985 B CN106510985 B CN 106510985B
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- 230000033001 locomotion Effects 0.000 claims abstract description 70
- 238000012549 training Methods 0.000 claims description 84
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- 230000001105 regulatory effect Effects 0.000 claims description 4
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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)
- Orthopedic Medicine & Surgery (AREA)
- Physical Education & Sports Medicine (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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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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CN106510985A CN106510985A (zh) | 2017-03-22 |
CN106510985B true CN106510985B (zh) | 2018-06-19 |
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CN201610948525.7A Active 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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Families Citing this family (50)
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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 |
CN108635795B (zh) * | 2017-11-29 | 2019-11-22 | 东阳市善水环境工程有限公司 | 一种用于残疾人冰壶运动辅助的电动轮椅 |
CN108030603A (zh) * | 2018-01-26 | 2018-05-15 | 北京理工大学 | 康复轮椅 |
CN108095918A (zh) * | 2018-01-29 | 2018-06-01 | 北京理工大学 | 康复训练用机器人 |
CN108451745B (zh) * | 2018-01-29 | 2021-08-13 | 北京理工大学 | 游戏互动方法及系统 |
CN108030605A (zh) * | 2018-01-29 | 2018-05-15 | 北京理工大学 | 移动出行机器人 |
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 |
DE102018002782A1 (de) * | 2018-04-06 | 2019-10-10 | Peter Jüstel | Flugsystem |
CN108743260B (zh) * | 2018-06-05 | 2020-08-11 | 河北雅诗莉医药科技有限公司 | 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 |
EP3938060B1 (en) * | 2019-03-11 | 2023-09-06 | ROM Technologies, Inc. | System, method and apparatus for exercise or rehabilitation equipment |
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 |
US11185735B2 (en) | 2019-03-11 | 2021-11-30 | Rom Technologies, Inc. | System, method and apparatus for adjustable pedal crank |
US20200289889A1 (en) | 2019-03-11 | 2020-09-17 | Rom Technologies, Inc. | Bendable sensor device for monitoring joint extension and flexion |
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 |
US11957960B2 (en) | 2019-05-10 | 2024-04-16 | Rehab2Fit Technologies Inc. | Method and system for using artificial intelligence to adjust pedal resistance |
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 |
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 |
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 |
US11071597B2 (en) | 2019-10-03 | 2021-07-27 | Rom Technologies, Inc. | Telemedicine for orthopedic treatment |
US11701548B2 (en) | 2019-10-07 | 2023-07-18 | Rom Technologies, Inc. | Computer-implemented questionnaire for orthopedic treatment |
US11101028B2 (en) | 2019-10-03 | 2021-08-24 | Rom Technologies, Inc. | Method and system using artificial intelligence to monitor user characteristics during a telemedicine session |
US11830601B2 (en) | 2019-10-03 | 2023-11-28 | Rom Technologies, Inc. | System and method for facilitating cardiac rehabilitation among eligible users |
US20210134432A1 (en) | 2019-10-03 | 2021-05-06 | Rom Technologies, Inc. | Method and system for implementing dynamic treatment environments based on patient information |
US11069436B2 (en) | 2019-10-03 | 2021-07-20 | Rom Technologies, Inc. | System and method for use of telemedicine-enabled rehabilitative hardware and for encouraging rehabilitative compliance through patient-based virtual shared sessions with patient-enabled mutual encouragement across simulated social networks |
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 |
US20210128080A1 (en) | 2019-10-03 | 2021-05-06 | Rom Technologies, Inc. | Augmented reality placement of goniometer or other sensors |
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 |
US11961603B2 (en) | 2019-10-03 | 2024-04-16 | Rom Technologies, Inc. | System and method for using AI ML and telemedicine to perform bariatric rehabilitation via an electromechanical machine |
US11955220B2 (en) | 2019-10-03 | 2024-04-09 | Rom Technologies, Inc. | System and method for using AI/ML and telemedicine for invasive surgical treatment to determine a cardiac treatment plan that uses an electromechanical machine |
US11955222B2 (en) | 2019-10-03 | 2024-04-09 | Rom Technologies, Inc. | System and method for determining, based on advanced metrics of actual performance of an electromechanical machine, medical procedure eligibility in order to ascertain survivability rates and measures of quality-of-life criteria |
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 |
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 |
US20210134412A1 (en) | 2019-10-03 | 2021-05-06 | Rom Technologies, Inc. | System and method for processing medical claims using biometric signatures |
US11923065B2 (en) | 2019-10-03 | 2024-03-05 | Rom Technologies, Inc. | Systems and methods for using artificial intelligence and machine learning to detect abnormal heart rhythms of a user performing a treatment plan with an electromechanical machine |
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 |
US11955221B2 (en) | 2019-10-03 | 2024-04-09 | Rom Technologies, Inc. | System and method for using AI/ML to generate treatment plans to stimulate preferred angiogenesis |
US11978559B2 (en) | 2019-10-03 | 2024-05-07 | Rom Technologies, Inc. | Systems and methods for remotely-enabled identification of a user infection |
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 |
US11955223B2 (en) | 2019-10-03 | 2024-04-09 | Rom Technologies, Inc. | System and method for using artificial intelligence and machine learning to provide an enhanced user interface presenting data pertaining to cardiac health, bariatric health, pulmonary health, and/or cardio-oncologic health for the purpose of performing preventative actions |
US11075000B2 (en) | 2019-10-03 | 2021-07-27 | Rom Technologies, Inc. | Method and system for using virtual avatars associated with medical professionals during exercise sessions |
US11826613B2 (en) | 2019-10-21 | 2023-11-28 | Rom Technologies, Inc. | Persuasive motivation for orthopedic treatment |
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