DE60238781D1 - Vorrichtung und verfahren zur bestimmung eines gehzustands - Google Patents
Vorrichtung und verfahren zur bestimmung eines gehzustandsInfo
- Publication number
- DE60238781D1 DE60238781D1 DE60238781T DE60238781T DE60238781D1 DE 60238781 D1 DE60238781 D1 DE 60238781D1 DE 60238781 T DE60238781 T DE 60238781T DE 60238781 T DE60238781 T DE 60238781T DE 60238781 D1 DE60238781 D1 DE 60238781D1
- Authority
- DE
- Germany
- Prior art keywords
- destination
- determining
- state
- 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.)
- Expired - Lifetime
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/112—Gait analysis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/1036—Measuring load distribution, e.g. podologic studies
- A61B5/1038—Measuring plantar pressure during gait
-
- 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
-
- 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
-
- 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
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
-
- 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
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—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
- A61H2201/165—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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5069—Angle sensors
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Dentistry (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Physiology (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
- Rehabilitation Tools (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2001318349 | 2001-10-16 | ||
PCT/JP2002/008529 WO2003032833A1 (fr) | 2001-10-16 | 2002-08-23 | Dispositif et procede pour determiner une condition de marche |
Publications (1)
Publication Number | Publication Date |
---|---|
DE60238781D1 true DE60238781D1 (de) | 2011-02-10 |
Family
ID=19136065
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE60238781T Expired - Lifetime DE60238781D1 (de) | 2001-10-16 | 2002-08-23 | Vorrichtung und verfahren zur bestimmung eines gehzustands |
Country Status (5)
Country | Link |
---|---|
US (1) | US6980919B2 (de) |
EP (1) | EP1442704B1 (de) |
JP (1) | JP3908735B2 (de) |
DE (1) | DE60238781D1 (de) |
WO (1) | WO2003032833A1 (de) |
Families Citing this family (49)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7736394B2 (en) | 2002-08-22 | 2010-06-15 | Victhom Human Bionics Inc. | Actuated prosthesis for amputees |
EP1531766B1 (de) | 2002-08-22 | 2012-08-01 | Victhom Human Bionics Inc. | Betätigbare beinprothese für oberschenkelamputierte |
US7815689B2 (en) | 2003-11-18 | 2010-10-19 | Victhom Human Bionics Inc. | Instrumented prosthetic foot |
US7637959B2 (en) | 2004-02-12 | 2009-12-29 | össur hf | Systems and methods for adjusting the angle of a prosthetic ankle based on a measured surface angle |
US20060184280A1 (en) * | 2005-02-16 | 2006-08-17 | Magnus Oddsson | System and method of synchronizing mechatronic devices |
JP4503311B2 (ja) * | 2004-02-25 | 2010-07-14 | 本田技研工業株式会社 | 脚体運動補助装具の発生トルク制御方法 |
JP4200492B2 (ja) | 2004-03-11 | 2008-12-24 | 国立大学法人 筑波大学 | 装着式動作補助装置 |
JP4410051B2 (ja) * | 2004-07-22 | 2010-02-03 | 本田技研工業株式会社 | 角速度計測装置および脚式移動ロボット |
EP1848380B1 (de) | 2004-12-22 | 2015-04-15 | Össur hf | Systeme und verfahren zur bearbeitung der gliedmassenbewegung |
JP4344314B2 (ja) * | 2004-12-28 | 2009-10-14 | 本田技研工業株式会社 | 体重免荷アシスト装置および体重免荷アシストプログラム |
KR100571849B1 (ko) * | 2005-02-04 | 2006-04-17 | 삼성전자주식회사 | 보행자의 보행 횟수 계수방법 및 장치 |
US8849457B2 (en) * | 2006-07-17 | 2014-09-30 | Raytheon Company | Contact displacement actuator system |
WO2008080231A1 (en) | 2007-01-05 | 2008-07-10 | Victhom Human Bionics Inc. | Joint actuation mechanism for a prosthetic and/or orthotic device having a compliant transmission |
WO2008086629A1 (en) | 2007-01-19 | 2008-07-24 | Victhom Human Bionics Inc. | Reactive layer control system for prosthetic and orthotic devices |
US20080275669A1 (en) * | 2007-04-13 | 2008-11-06 | Tomohiro Ihashi | Pedometer |
ITKR20070004A1 (it) * | 2007-12-04 | 2009-06-05 | Istituto S Anna Di Ezio Puglie | Sistema e metodo per la riabilitazione |
CN102036626B (zh) | 2008-03-24 | 2014-07-02 | 奥瑟Hf公司 | 经股的假肢系统和用于操作该系统的方法 |
AU2011311954B2 (en) * | 2010-10-06 | 2014-08-07 | Ekso Bionics | Human machine interfaces for lower extremity orthotics |
US9789603B2 (en) | 2011-04-29 | 2017-10-17 | Sarcos Lc | Teleoperated robotic system |
US9060884B2 (en) | 2011-05-03 | 2015-06-23 | Victhom Human Bionics Inc. | Impedance simulating motion controller for orthotic and prosthetic applications |
US9532877B2 (en) | 2011-11-11 | 2017-01-03 | Springactive, Inc. | Robotic device and method of using a parallel mechanism |
US10543109B2 (en) | 2011-11-11 | 2020-01-28 | Össur Iceland Ehf | Prosthetic device and method with compliant linking member and actuating linking member |
US9044346B2 (en) | 2012-03-29 | 2015-06-02 | össur hf | Powered prosthetic hip joint |
US9616580B2 (en) | 2012-05-14 | 2017-04-11 | Sarcos Lc | End effector for a robotic arm |
JP5768021B2 (ja) * | 2012-08-07 | 2015-08-26 | 日本電信電話株式会社 | 歩容測定装置、方法及びプログラム |
EP2961355B1 (de) | 2013-02-26 | 2018-08-22 | Össur hf | Fussprothese mit verbesserter stabilität und elastischer energierückspeisung |
EP2967920B1 (de) | 2013-03-14 | 2021-04-21 | Ossur Hf | Knöchelprothese: verfahren zur steuerung auf basis einer geschwindigkeitsanpassung |
JP6330287B2 (ja) * | 2013-10-29 | 2018-05-30 | セイコーエプソン株式会社 | ロボット、ロボット用当接部材 |
WO2015157723A1 (en) | 2014-04-11 | 2015-10-15 | össur hf | Prosthetic foot with removable flexible members |
US10766133B2 (en) | 2014-05-06 | 2020-09-08 | Sarcos Lc | Legged robotic device utilizing modifiable linkage mechanism |
DE102015209607A1 (de) | 2014-05-23 | 2015-11-26 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren zur Detektion eines Bewegungsschritts und zur Ermittlung der Bewegung und/oder Bewegungsgeschwindigkeit eines Beine aufweisenden Körpers, insbesondere eines Fußgängers |
KR102482436B1 (ko) * | 2015-09-02 | 2022-12-28 | 삼성전자주식회사 | 보행 보조 장치 및 그 동작 방법 |
RU2598124C1 (ru) * | 2015-10-19 | 2016-09-20 | Общество С Ограниченной Ответственностью "Экзоатлет" | Способ задания желаемых траекторий движения экзоскелета для передвижения пользователя с нарушением функций опорно-двигательного аппарата, устройство содействия ходьбе этого пользователя и способ управления этим устройством |
US10765537B2 (en) | 2016-11-11 | 2020-09-08 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators for use within a robotic system |
US10828767B2 (en) | 2016-11-11 | 2020-11-10 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements |
US10919161B2 (en) | 2016-11-11 | 2021-02-16 | Sarcos Corp. | Clutched joint modules for a robotic system |
US10821614B2 (en) | 2016-11-11 | 2020-11-03 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
US10843330B2 (en) | 2017-12-07 | 2020-11-24 | Sarcos Corp. | Resistance-based joint constraint for a master robotic system |
US11331809B2 (en) | 2017-12-18 | 2022-05-17 | Sarcos Corp. | Dynamically controlled robotic stiffening element |
US11351675B2 (en) | 2018-12-31 | 2022-06-07 | Sarcos Corp. | Robotic end-effector having dynamic stiffening elements for conforming object interaction |
US11241801B2 (en) | 2018-12-31 | 2022-02-08 | Sarcos Corp. | Robotic end effector with dorsally supported actuation mechanism |
US10906191B2 (en) | 2018-12-31 | 2021-02-02 | Sarcos Corp. | Hybrid robotic end effector |
CN111604890B (zh) * | 2019-12-30 | 2021-05-25 | 合肥工业大学 | 一种适用于外骨骼机器人的运动控制方法 |
US11833676B2 (en) | 2020-12-07 | 2023-12-05 | Sarcos Corp. | Combining sensor output data to prevent unsafe operation of an exoskeleton |
US11794345B2 (en) | 2020-12-31 | 2023-10-24 | Sarcos Corp. | Unified robotic vehicle systems and methods of control |
US11826907B1 (en) | 2022-08-17 | 2023-11-28 | Sarcos Corp. | Robotic joint system with length adapter |
US11717956B1 (en) | 2022-08-29 | 2023-08-08 | Sarcos Corp. | Robotic joint system with integrated safety |
US11924023B1 (en) | 2022-11-17 | 2024-03-05 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
US11897132B1 (en) | 2022-11-17 | 2024-02-13 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4371945A (en) * | 1980-12-01 | 1983-02-01 | Lawrence Joseph Karr | Electronic pedometer |
US4631676A (en) * | 1983-05-25 | 1986-12-23 | Hospital For Joint Diseases Or | Computerized video gait and motion analysis system and method |
JP3530959B2 (ja) | 1993-12-13 | 2004-05-24 | 株式会社東京アールアンドデー | 平地歩行、階段歩行の電動補助装置 |
EP1018467B1 (de) * | 1996-07-25 | 2003-10-22 | Honda Giken Kogyo Kabushiki Kaisha | Vorrichtung zur nachbildung des ganges für einen zweibeinigen robotor |
DE69943148D1 (de) * | 1998-04-20 | 2011-03-03 | Honda Motor Co Ltd | Steuereinheit für einen mit beinen beweglichen roboter |
JPH11347020A (ja) | 1998-06-05 | 1999-12-21 | Tokico Ltd | 消費カロリ演算装置 |
CA2241359A1 (en) * | 1998-06-19 | 1999-12-19 | The Governors Of The University Of Alberta | Goniometer and method of use thereof |
JP2000325329A (ja) | 1999-03-16 | 2000-11-28 | Hoya Corp | 階段歩行認識装置 |
JP3443077B2 (ja) * | 1999-09-20 | 2003-09-02 | ソニー株式会社 | ロボットの運動パターン生成装置及び運動パターン生成方法、並びにロボット |
JP2001108479A (ja) | 1999-10-08 | 2001-04-20 | Shinichi Ito | 歩数計 |
JP3555107B2 (ja) * | 1999-11-24 | 2004-08-18 | ソニー株式会社 | 脚式移動ロボット及び脚式移動ロボットの動作制御方法 |
JP3615702B2 (ja) * | 1999-11-25 | 2005-02-02 | ソニー株式会社 | 脚式移動ロボットの動作制御装置及び動作制御方法、並びに、脚式移動ロボット |
JP4480843B2 (ja) * | 2000-04-03 | 2010-06-16 | ソニー株式会社 | 脚式移動ロボット及びその制御方法、並びに、脚式移動ロボット用相対移動測定センサ |
US6741911B2 (en) * | 2000-09-20 | 2004-05-25 | John Castle Simmons | Natural robot control |
WO2002030626A1 (fr) * | 2000-10-11 | 2002-04-18 | Sony Corporation | Systeme de commande de robot et procede de commande de robot |
DE60141092D1 (de) * | 2000-11-17 | 2010-03-04 | Honda Motor Co Ltd | Gangmustererzeugungssystem für beweglichen Roboter mit Beinen |
TW499349B (en) * | 2000-11-17 | 2002-08-21 | Sony Corp | Legged mobile robot, leg structure of legged mobile robot, and mobile leg unit for legged mobile robot |
WO2002045913A1 (fr) * | 2000-11-20 | 2002-06-13 | Sony Corporation | Dispositif et procede permettant de commander le fonctionnement d'un robot a jambes et ensemble robot |
US6850818B2 (en) * | 2001-10-22 | 2005-02-01 | Sony Corporation | Robot apparatus and control method thereof |
JP3714268B2 (ja) * | 2002-03-18 | 2005-11-09 | ソニー株式会社 | ロボット装置 |
-
2002
- 2002-08-23 DE DE60238781T patent/DE60238781D1/de not_active Expired - Lifetime
- 2002-08-23 EP EP02760731A patent/EP1442704B1/de not_active Expired - Fee Related
- 2002-08-23 US US10/492,075 patent/US6980919B2/en not_active Expired - Lifetime
- 2002-08-23 WO PCT/JP2002/008529 patent/WO2003032833A1/ja active Application Filing
- 2002-08-23 JP JP2003535641A patent/JP3908735B2/ja not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
EP1442704A4 (de) | 2008-05-28 |
JP3908735B2 (ja) | 2007-04-25 |
JPWO2003032833A1 (ja) | 2005-01-27 |
WO2003032833A1 (fr) | 2003-04-24 |
US6980919B2 (en) | 2005-12-27 |
EP1442704B1 (de) | 2010-12-29 |
US20040246769A1 (en) | 2004-12-09 |
EP1442704A1 (de) | 2004-08-04 |
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