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

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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
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Germany
Prior art keywords
user
exoskeleton
axis
exoskeletons
hip
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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Withdrawn
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DE102016007741.7A
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German (de)
English (en)
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Anmelder Gleich
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Individual
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Individual
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Priority to DE102016007741.7A priority Critical patent/DE102016007741A1/de
Priority to US16/313,177 priority patent/US20190232485A1/en
Priority to JP2019520199A priority patent/JP2019520230A/ja
Priority to PCT/EP2017/000744 priority patent/WO2018001555A2/de
Priority to EP17740615.4A priority patent/EP3475033B1/de
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Withdrawn legal-status Critical Current

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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
    • B25J9/0006—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—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0048—Programme-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—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
    • B25J9/0057—Programme-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—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B25J9/0069—Programme-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—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-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
US16/313,177 US20190232485A1 (en) 2016-06-27 2017-06-27 Exoskeleton and master
JP2019520199A JP2019520230A (ja) 2016-06-27 2017-06-27 エクソスケルトンとプロキシ
PCT/EP2017/000744 WO2018001555A2 (de) 2016-06-27 2017-06-27 Exoskelett und statthalter
EP17740615.4A EP3475033B1 (de) 2016-06-27 2017-06-27 Exoskelett und statthalter
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

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DE102016007741A1 true DE102016007741A1 (de) 2017-12-28

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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 (enExample)
EP (1) EP3475033B1 (enExample)
JP (2) JP2019520230A (enExample)
DE (1) DE102016007741A1 (enExample)
WO (1) WO2018001555A2 (enExample)

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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
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
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
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
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

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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
CN113597361A (zh) * 2019-04-26 2021-11-02 本田技研工业株式会社 移动体的操纵装置及操纵系统
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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
US20210378904A1 (en) * 2020-06-09 2021-12-09 Arizona Board Of Regents On Behalf Of Northern Arizona University Cable-actuated, kinetically-balanced, parallel torque transfer exoskeleton joint actuator with or without strain sensing
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
CA3196392A1 (en) 2020-10-29 2022-05-05 Zachary F. Lerner 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
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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

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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

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