DE102016007741A1 - Erfindung das Gebiet betreffend von Exoskeletten, humanoiden Robotern und auch deren Verwendung in teleoperativen Anwendungen in virtuellen Welten oder der realen Welt - Google Patents

Erfindung das Gebiet betreffend von Exoskeletten, humanoiden Robotern und auch deren Verwendung in teleoperativen Anwendungen in virtuellen Welten oder der realen Welt Download PDF

Info

Publication number
DE102016007741A1
DE102016007741A1 DE102016007741.7A DE102016007741A DE102016007741A1 DE 102016007741 A1 DE102016007741 A1 DE 102016007741A1 DE 102016007741 A DE102016007741 A DE 102016007741A DE 102016007741 A1 DE102016007741 A1 DE 102016007741A1
Authority
DE
Germany
Prior art keywords
user
exoskeleton
axis
exoskeletons
hip
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.)
Withdrawn
Application number
DE102016007741.7A
Other languages
German (de)
English (en)
Inventor
Anmelder Gleich
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to DE102016007741.7A priority Critical patent/DE102016007741A1/de
Priority to PCT/EP2017/000744 priority patent/WO2018001555A2/de
Priority to JP2019520199A priority patent/JP2019520230A/ja
Priority to EP17740615.4A priority patent/EP3475033B1/de
Priority to US16/313,177 priority patent/US20190232485A1/en
Publication of DE102016007741A1 publication Critical patent/DE102016007741A1/de
Priority to US17/708,010 priority patent/US12251827B2/en
Priority to JP2022110255A priority patent/JP7455413B2/ja
Withdrawn legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-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
    • 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
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • 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
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/003—Program-controlled manipulators having parallel kinematics
    • B25J9/0045—Program-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0048—Program-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/003—Program-controlled manipulators having parallel kinematics
    • B25J9/0054—Program-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
    • B25J9/0057—Program-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/003—Program-controlled manipulators having parallel kinematics
    • B25J9/0063—Program-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B25J9/0069—Program-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1623—Back
    • 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
    • A61H2201/163—Pelvis 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
    • A61H2201/1645—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support contoured to fit the user
    • 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
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A61H2201/1652—Harness
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Epidemiology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
DE102016007741.7A 2016-06-27 2016-06-27 Erfindung das Gebiet betreffend von Exoskeletten, humanoiden Robotern und auch deren Verwendung in teleoperativen Anwendungen in virtuellen Welten oder der realen Welt Withdrawn DE102016007741A1 (de)

Priority Applications (7)

Application Number Priority Date Filing Date Title
DE102016007741.7A DE102016007741A1 (de) 2016-06-27 2016-06-27 Erfindung das Gebiet betreffend von Exoskeletten, humanoiden Robotern und auch deren Verwendung in teleoperativen Anwendungen in virtuellen Welten oder der realen Welt
PCT/EP2017/000744 WO2018001555A2 (de) 2016-06-27 2017-06-27 Exoskelett und statthalter
JP2019520199A JP2019520230A (ja) 2016-06-27 2017-06-27 エクソスケルトンとプロキシ
EP17740615.4A EP3475033B1 (de) 2016-06-27 2017-06-27 Exoskelett und statthalter
US16/313,177 US20190232485A1 (en) 2016-06-27 2017-06-27 Exoskeleton and master
US17/708,010 US12251827B2 (en) 2016-06-27 2022-03-30 Exoskeleton and master
JP2022110255A JP7455413B2 (ja) 2016-06-27 2022-07-08 エクソスケルトンとプロキシ

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016007741.7A DE102016007741A1 (de) 2016-06-27 2016-06-27 Erfindung das Gebiet betreffend von Exoskeletten, humanoiden Robotern und auch deren Verwendung in teleoperativen Anwendungen in virtuellen Welten oder der realen Welt

Publications (1)

Publication Number Publication Date
DE102016007741A1 true DE102016007741A1 (de) 2017-12-28

Family

ID=59366361

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102016007741.7A Withdrawn DE102016007741A1 (de) 2016-06-27 2016-06-27 Erfindung das Gebiet betreffend von Exoskeletten, humanoiden Robotern und auch deren Verwendung in teleoperativen Anwendungen in virtuellen Welten oder der realen Welt

Country Status (5)

Country Link
US (2) US20190232485A1 (OSRAM)
EP (1) EP3475033B1 (OSRAM)
JP (2) JP2019520230A (OSRAM)
DE (1) DE102016007741A1 (OSRAM)
WO (1) WO2018001555A2 (OSRAM)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108555885A (zh) * 2018-05-15 2018-09-21 西南交通大学 一种可调节重心的外骨骼腰部装置
CN110497387A (zh) * 2019-08-28 2019-11-26 华南理工大学 一种仿生人形机器人的人造骨架和肌肉架构及其设计方法
CN112022631A (zh) * 2020-09-28 2020-12-04 山东理工大学 一种多体位康复训练下肢外骨骼装置
CN112894775A (zh) * 2021-02-05 2021-06-04 李传江 一种增强人体负重能力及耐力的增力型下肢助力外骨骼
CN113771004A (zh) * 2021-08-12 2021-12-10 重庆交通大学 穿戴型随动助力外骨骼身体姿态控制装置
CN113771002A (zh) * 2021-08-12 2021-12-10 重庆交通大学 主动式仿生多杆虚拟穿戴式髋关节
CN113771003A (zh) * 2021-08-12 2021-12-10 重庆交通大学 穿戴型电动智能助残外骨骼身体姿态控制装置
CN114029928A (zh) * 2021-08-12 2022-02-11 重庆交通大学 随动式仿生多杆虚拟穿戴式髋关节
CN114274175A (zh) * 2022-01-24 2022-04-05 仇鹏皓 一种多关节机械手及机械手臂
CN114434421A (zh) * 2021-12-31 2022-05-06 北京林业大学 主被动结合的可穿戴下肢助力外骨骼装置
CN115284303A (zh) * 2022-01-20 2022-11-04 周峰 智能外骨骼机器人
US20230092812A1 (en) * 2020-02-24 2023-03-23 Vanderbilt University Prosthetic knee joint with electronically-controlled transmission
CN121589779A (zh) * 2026-01-30 2026-03-03 南开大学 一种便于力传递的绳驱髋关节外骨骼

Families Citing this family (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9844447B2 (en) * 2010-04-09 2017-12-19 Deka Products Limited Partnership System and apparatus for robotic device and methods of using thereof
US10941843B2 (en) * 2018-01-22 2021-03-09 International Institute Of Information Technology, Hyderabad Telescopic differential screw mechanism based 3-DOF-parallel manipulator platform to achieve omnidirectional bending
US11298285B2 (en) * 2018-03-16 2022-04-12 Arizona Board Of Regents On Behalf Of Northern Arizona University Ankle exoskeleton system and method for assisted mobility and rehabilitation
US12150909B2 (en) 2018-05-11 2024-11-26 Arizona Board Of Regents On Behalf Of Northern Arizona University Exoskeleton device
US11077566B2 (en) 2019-03-12 2021-08-03 Boston Dynamics, Inc. Robotic leg
EP3960390A4 (en) * 2019-04-26 2023-01-18 Honda Motor Co., Ltd. MOVING BODY HANDLING DEVICE AND HANDLING SYSTEM
WO2020250434A1 (ja) * 2019-06-14 2020-12-17 株式会社ロボ・ガレージ 薄型携帯通信端末およびその制御方法並びに制御プログラム
CN110465925B (zh) * 2019-09-19 2022-10-04 哈尔滨工业大学 一种串联弹性驱动的模块化助行外骨骼机器人
CN110801238B (zh) * 2019-11-20 2022-07-01 上海交通大学 一种下肢多关节等速训练测试装置
CN112975941B (zh) * 2019-12-13 2022-06-24 深圳市优必选科技股份有限公司 机器人控制方法、装置、计算机可读存储介质及机器人
EP4161470A4 (en) * 2020-06-09 2024-07-10 Arizona Board of Regents on Behalf of Northern Arizona University CABLE-ACTUATED, KINETIC BALANCED, PARALLEL TORQUE TRANSMITTING EXOSKELETAL JOINT ACTUATOR WITH OR WITHOUT STRAIN MEASUREMENT
US11833103B2 (en) 2020-06-12 2023-12-05 Seoul National University R&Db Foundation Hip joint link apparatus
CN112137820B (zh) * 2020-10-25 2021-07-30 刘明娟 一种医用骨科换药装置
US12440362B2 (en) 2020-10-29 2025-10-14 Arizona Board Of Regents On Behalf Of Northern Arizona University Differential and variable stiffness orthosis design with adjustment methods, monitoring and intelligence
AU2021368773A1 (en) 2020-10-29 2023-06-08 Arizona Board Of Regents On Behalf Of Northern Arizona University Differential and variable stiffness orthosis design with adjustment methods, monitoring and intelligence
CN112936225B (zh) * 2021-01-28 2023-06-27 燕山大学 一种少驱动多自由度输出冗余并联机构及控制方法
SK9321Y1 (sk) * 2021-02-12 2021-09-29 Panza Robotics, s. r. o. Noha robota
CN113370182A (zh) * 2021-05-25 2021-09-10 中国船舶重工集团公司第七一三研究所 一种三自由度外骨骼上肢
CN113146591B (zh) * 2021-05-27 2022-11-25 重庆理工大学 一种具有减震功能的负重助力外骨骼
CN113648183A (zh) * 2021-08-19 2021-11-16 廊坊瑞立达智能机器有限公司 一种踝关节康复训练装置
CN114083518B (zh) * 2021-12-02 2023-08-29 中国科学技术大学 基于轻量化双向驱动助力的膝部柔性外骨骼装置及外骨骼
CN114162358B (zh) * 2022-02-11 2022-05-17 清华大学 一种体感微低重力模拟装置
CN114534172B (zh) * 2022-02-17 2022-09-27 华中科技大学 一种助力相位自动切换的被动负重支撑装置
US12599532B2 (en) * 2023-01-08 2026-04-14 Yaron Y. Glazer Three dimensional log spiral structures for improving transportation
CN116394225B (zh) * 2023-04-20 2024-08-20 哈尔滨工业大学 一种基于鲍登珠链传动的外骨骼关节系统
CN116158960B (zh) * 2023-04-21 2023-06-30 四川省医学科学院·四川省人民医院 糖尿病足用清创装置
CN116638493B (zh) * 2023-05-30 2025-12-19 燕山大学 具有补偿关节力矩的外骨骼串联弹性驱动装置
US20250319601A1 (en) * 2023-12-22 2025-10-16 Sanctuary Cognitive Systems Corporation Systems, Computer Program Products, and Methods for Controlling Robots
CN121447694A (zh) * 2026-01-04 2026-02-03 上海傅利叶智能科技股份有限公司 用于放大动作的关节机构

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3468179A (en) 1968-03-26 1969-09-23 Kearney & Trecker Corp Recirculating ball worm drive
US5650704A (en) 1995-06-29 1997-07-22 Massachusetts Institute Of Technology Elastic actuator for precise force control
US6190278B1 (en) 1998-07-21 2001-02-20 Morsetec Europe S.P.A. Double strand roller chain with phased or offset pins
DE102010023914A1 (de) 2010-03-02 2011-09-08 Marcel Reese Verfahren und Vorrichtung zur Steuerung eines Statthalters

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030115954A1 (en) * 2001-12-07 2003-06-26 Vladimir Zemlyakov Upper extremity exoskeleton structure and method
AU2002359961A1 (en) * 2002-12-31 2004-07-22 Massimo Bergamasco Tendon-driven rotational joint for exoskeleton structure
WO2008124017A1 (en) * 2007-04-06 2008-10-16 University Of Delaware Passive swing assist leg exoskeleton
WO2008124025A1 (en) * 2007-04-06 2008-10-16 University Of Delaware Powered orthosis
JP2009178253A (ja) * 2008-01-29 2009-08-13 Toyota Motor Corp 脚部補助具
KR101706094B1 (ko) * 2010-01-14 2017-02-14 삼성전자주식회사 로봇용 관절 구동장치 및 이를 포함하는 로봇, 로봇용 관절 구동장치의 케이블 연결방법
US8771208B2 (en) * 2010-08-19 2014-07-08 Sunil K. Agrawal Powered orthosis systems and methods
ITPI20120069A1 (it) * 2012-06-11 2013-12-12 Scuola Superiore S Anna Esoscheletro per l¿interazione fisica con l¿uomo
DE102012105313A1 (de) * 2012-06-19 2013-12-19 Technische Universität München Agiles, angetriebenes Gelenk mit drei Freiheitsgraden
JP5937935B2 (ja) * 2012-09-21 2016-06-22 川崎重工業株式会社 装着型動作補助装置
WO2015002850A1 (en) * 2013-07-05 2015-01-08 Rubin Jacob A Whole-body human-computer interface
WO2015099858A2 (en) * 2013-09-30 2015-07-02 Board Of Regents, The University Of Texas System Upper-body robotic exoskeleton
DE102014009028A1 (de) * 2014-06-24 2015-12-24 Otto Bock Healthcare Gmbh Beinorthese und Orthese
US10639785B2 (en) * 2015-05-18 2020-05-05 The Regents Of The University Of California Variable force generators for arm supporting exoskeletons
US20190201273A1 (en) * 2016-09-09 2019-07-04 Qatar Foundation For Education, Science, And Community Development Robotic upper limb rehabilitation device
US11135119B2 (en) * 2017-04-21 2021-10-05 Board Of Regents, The University Of Texas System Adaptable robotic gait trainer
WO2018218129A1 (en) * 2017-05-25 2018-11-29 Vanderbilt University Upper extremity assistance device
KR101963869B1 (ko) * 2018-02-05 2019-07-31 김형식 상하지 보행 재활 기기

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3468179A (en) 1968-03-26 1969-09-23 Kearney & Trecker Corp Recirculating ball worm drive
US5650704A (en) 1995-06-29 1997-07-22 Massachusetts Institute Of Technology Elastic actuator for precise force control
US6190278B1 (en) 1998-07-21 2001-02-20 Morsetec Europe S.P.A. Double strand roller chain with phased or offset pins
DE102010023914A1 (de) 2010-03-02 2011-09-08 Marcel Reese Verfahren und Vorrichtung zur Steuerung eines Statthalters

Non-Patent Citations (10)

* Cited by examiner, † Cited by third party
Title
„Dsign of a Walking Assistance Lower Limb Exoskeleton for Paraplegic Patients and Hardware Validation Using Cop", Jung-Hoon Kim et al., http://cdn.intechopen.com/pdfs-wm/42836.pdf
„Exoskeleton for Walking Assistance", Qingcong Wu et al.
„Series Elastic Actuators for legged robots" J. Pratt, Krupp, 2004; "Stiffness Isn't Everything",G. Pratt et al, 1995
AirLegs, https://www.youtube.com/watch?v=U2e4tGokqe0
FORTIS by Lockheed Martin http://robrady.com/design-project/lockheed-martin-fortis-human-powered-exoskeleton
http://robots.ihmc.us/humanoid-robots/
http://www.ai.mit.edu/projects/labtours/LeggedRobots/LeggedRobots.ppt, Seite 17
http://www.jontse.com/portfolio/m2.html, Fig. 1
POWERLOADER PLL-01, https://www.youtube.com/watch?v=vdhUpR-dzgk
Walkagain Project, https://www.youtube.com/watch?v=TcAvtglo9Jg

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108555885A (zh) * 2018-05-15 2018-09-21 西南交通大学 一种可调节重心的外骨骼腰部装置
CN110497387A (zh) * 2019-08-28 2019-11-26 华南理工大学 一种仿生人形机器人的人造骨架和肌肉架构及其设计方法
US20230092812A1 (en) * 2020-02-24 2023-03-23 Vanderbilt University Prosthetic knee joint with electronically-controlled transmission
CN112022631A (zh) * 2020-09-28 2020-12-04 山东理工大学 一种多体位康复训练下肢外骨骼装置
CN112894775A (zh) * 2021-02-05 2021-06-04 李传江 一种增强人体负重能力及耐力的增力型下肢助力外骨骼
CN113771004B (zh) * 2021-08-12 2023-04-18 重庆交通大学 穿戴型随动助力外骨骼身体姿态控制装置
CN113771003A (zh) * 2021-08-12 2021-12-10 重庆交通大学 穿戴型电动智能助残外骨骼身体姿态控制装置
CN114029928A (zh) * 2021-08-12 2022-02-11 重庆交通大学 随动式仿生多杆虚拟穿戴式髋关节
CN113771002A (zh) * 2021-08-12 2021-12-10 重庆交通大学 主动式仿生多杆虚拟穿戴式髋关节
CN113771004A (zh) * 2021-08-12 2021-12-10 重庆交通大学 穿戴型随动助力外骨骼身体姿态控制装置
CN113771003B (zh) * 2021-08-12 2023-04-18 重庆交通大学 穿戴型电动智能助残外骨骼身体姿态控制装置
CN114029928B (zh) * 2021-08-12 2023-05-05 重庆交通大学 随动式仿生多杆虚拟穿戴式髋关节
CN114434421A (zh) * 2021-12-31 2022-05-06 北京林业大学 主被动结合的可穿戴下肢助力外骨骼装置
CN115284303A (zh) * 2022-01-20 2022-11-04 周峰 智能外骨骼机器人
CN114274175A (zh) * 2022-01-24 2022-04-05 仇鹏皓 一种多关节机械手及机械手臂
CN121589779A (zh) * 2026-01-30 2026-03-03 南开大学 一种便于力传递的绳驱髋关节外骨骼
CN121589779B (zh) * 2026-01-30 2026-03-27 南开大学 一种便于力传递的绳驱髋关节外骨骼

Also Published As

Publication number Publication date
US12251827B2 (en) 2025-03-18
EP3475033B1 (de) 2025-07-23
EP3475033C0 (de) 2025-07-23
WO2018001555A2 (de) 2018-01-04
US20220219314A1 (en) 2022-07-14
EP3475033A2 (de) 2019-05-01
JP2019520230A (ja) 2019-07-18
JP7455413B2 (ja) 2024-03-26
JP2022130730A (ja) 2022-09-06
WO2018001555A3 (de) 2018-04-05
US20190232485A1 (en) 2019-08-01

Similar Documents

Publication Publication Date Title
EP3475033B1 (de) Exoskelett und statthalter
DE102018103892B4 (de) Mobiler Roboter und Beinanordnung hierfür sowie Verfahren zum Ausführen einer Laufbewegung
DE60020315T2 (de) Beweglicher Roboter mit Beinen und Vorrichtung für sein Hüftgelenk
CN107343843B (zh) 外骨骼、外骨骼关节致动器及用于造成外骨骼的移动的方法
DE102016113401B3 (de) Fortbewegungshilfe für motorisch und/oder kognitiv eingeschränkte Personen
DE102009022560B4 (de) Vorrichtung zur therapeutischen Behandlung und/oder zum Training der unteren Extremitäten eines Menschen
DE112016001610T5 (de) Kabelschleifen-Betätigungselement für ein Exoskelett
DE102004029513B3 (de) Vorrichtung zur autarken Eigenfortbewegungsunterstützung und/oder -kontrolle eines gehbehinderten Menschen
DE112010000770T5 (de) Gehunterstützungseinrichtung
EP3050550A1 (de) Vorrichtung für das training und die therapeutische behandlung und/oder unterstützung der unteren extremitäten eines menschen
EP3880147B1 (de) Rehabilitationsvorrichtung
EP2674353A1 (de) Axial bewegliches Pedal
DE202008001590U1 (de) Multifunktionales Trainingsgerät für menschliche Gangvarianten
DE102016122282A1 (de) System und verfahren zur reduktion von auf eine wirbelsäule wirkenden kräften
EP4255698B1 (de) Kopplungsvorrichtung, system mit einem autonomen fahrzeug und einer patiententransportvorrichtung, sowie verfahren zum betreiben eines solchen systems
DE102012105104B4 (de) Axial bewegliches Pedal
WO2023233205A1 (de) Exoskelett und verfahren zu dessen handhabung
EP2741994A1 (de) Vorrichtung zum verfahren von lasten mit zumindest teilweisem gewichtsausgleich
DE19610618A1 (de) Bewegungsapparat zur stufenlos dosierbaren Gewichtsentlastung von direkt und indirekt gehbehinderten Patienten
DE102014010705A1 (de) Vorrichtung und Verfahren zur Verbesserung der Mobilität von Personen
EP3831239B1 (de) Individuelle personentransporteinrichtung sowie verfahren zum betreiben einer individuellen personentransporteinrichtung
WO2004010043A1 (de) Vorrichtung zum bewegen eines körpers oder mehrerer körper
WO2025036931A1 (de) Vorrichtung zum beweglichen lagern, bewegen und/oder erfassen eines beines, system umfassend zwei derartige vorrichtungen und verfahren zum betreiben derselben
DE4432875A1 (de) Vorrichtung und Verfahren zur Ausführung eines Bewegungsablaufes
EP3549571A1 (de) Vorrichtung für das training, die therapeutische behandlung und/oder die unterstützung der unteren extremitäten eines menschen und verwendung

Legal Events

Date Code Title Description
R119 Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee