DK3225363T3 - Exoskelet til understøttelse af menneskelig bevægelse - Google Patents

Exoskelet til understøttelse af menneskelig bevægelse Download PDF

Info

Publication number
DK3225363T3
DK3225363T3 DK15862885.9T DK15862885T DK3225363T3 DK 3225363 T3 DK3225363 T3 DK 3225363T3 DK 15862885 T DK15862885 T DK 15862885T DK 3225363 T3 DK3225363 T3 DK 3225363T3
Authority
DK
Denmark
Prior art keywords
movement support
human movement
exclusion
support exclusion
human
Prior art date
Application number
DK15862885.9T
Other languages
English (en)
Inventor
Armada Elena García
Soto Manuel Javier Cestari
Merodio Daniel Sanz
De Hijes Xavier Carrillo
Original Assignee
Marsi Bionics S L
Consejo Superior Investigacion
Univ Madrid Politecnica
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 Marsi Bionics S L, Consejo Superior Investigacion, Univ Madrid Politecnica filed Critical Marsi Bionics S L
Application granted granted Critical
Publication of DK3225363T3 publication Critical patent/DK3225363T3/da

Links

Classifications

    • 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
    • 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
    • A61H1/0266—Foot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • 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
    • 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
    • B25J9/00—Programme-controlled manipulators
    • 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
    • A61H2001/0203—Rotation of a body part around its longitudinal axis
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0107—Constructive details modular
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0192—Specific means for adjusting dimensions
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A61H2201/1223—Frequency controlled AC motor
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1238—Driving means with hydraulic or pneumatic drive
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1463—Special speed variation means, i.e. speed reducer
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • 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
    • 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
    • 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
    • A61H2201/1647—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support contoured to fit the user the anatomy of a particular individual
    • 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
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • 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
    • A61H2201/1671—Movement of interface, i.e. force application means rotational
    • 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
    • A61H2201/5007—Control means thereof computer controlled
    • 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
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5025—Activation means
    • A61H2201/503—Inertia activation, i.e. activated by movement
    • 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
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5038—Interfaces to the user freely programmable by 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
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position sensors
    • 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
    • A61H2201/5071—Pressure sensors
    • 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
    • A61H2201/5084—Acceleration sensors
    • 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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/08—Other bio-electrical signals
    • A61H2230/10—Electroencephalographic signals
    • A61H2230/105—Electroencephalographic signals used as a control parameter for the apparatus
    • 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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/60—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
    • A61H2230/605—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG] used as a control parameter for the apparatus

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Epidemiology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Pain & Pain Management (AREA)
  • Engineering & Computer Science (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Nursing (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)
DK15862885.9T 2014-11-27 2015-11-25 Exoskelet til understøttelse af menneskelig bevægelse DK3225363T3 (da)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES201431763A ES2575255B1 (es) 2014-11-27 2014-11-27 Exoesqueleto para asistencia al movimiento humano
PCT/ES2015/070855 WO2016083650A1 (es) 2014-11-27 2015-11-25 Exoesqueleto para asistencia al movimiento humano

Publications (1)

Publication Number Publication Date
DK3225363T3 true DK3225363T3 (da) 2019-09-02

Family

ID=56073666

Family Applications (1)

Application Number Title Priority Date Filing Date
DK15862885.9T DK3225363T3 (da) 2014-11-27 2015-11-25 Exoskelet til understøttelse af menneskelig bevægelse

Country Status (5)

Country Link
US (1) US11324653B2 (da)
EP (1) EP3225363B1 (da)
DK (1) DK3225363T3 (da)
ES (1) ES2575255B1 (da)
WO (1) WO2016083650A1 (da)

Families Citing this family (51)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8435309B2 (en) 2007-01-05 2013-05-07 Victhom Human Bionics Joint actuation mechanism for a prosthetic and/or orthotic device having a compliant transmission
CA2676067C (en) 2007-01-19 2017-06-20 Victhom Human Bionics, Inc. Reactive layer control system for prosthetic and orthotic devices
US9060884B2 (en) 2011-05-03 2015-06-23 Victhom Human Bionics Inc. Impedance simulating motion controller for orthotic and prosthetic applications
US9044346B2 (en) * 2012-03-29 2015-06-02 össur hf Powered prosthetic hip joint
TR201816406T4 (tr) 2013-02-26 2018-11-21 Oessur Hf Gelişmiş stabilitesi ve esnek enerji dönüşü olan prostetik ayak.
EP2967920B1 (en) 2013-03-14 2021-04-21 Ossur Hf Prosthetic ankle: a method of controlling based on adaptation to speed
FR3016821B1 (fr) * 2014-01-29 2019-08-02 Robotiques 3 Dimensions Exosquelette a port frontal et procede d'utilisation d'un tel exosquelette.
CN106456339B (zh) 2014-04-11 2020-02-07 奥索有限责任公司 具有可去除柔性构件的义肢脚
US10449105B2 (en) * 2014-10-26 2019-10-22 Springactive, Inc. System and method of bidirectional compliant joint torque actuation
JP6301862B2 (ja) * 2015-03-04 2018-03-28 上銀科技股▲分▼有限公司 下股運動装置およびその制御方法
US20190091472A1 (en) * 2015-06-02 2019-03-28 Battelle Memorial Institute Non-invasive eye-tracking control of neuromuscular stimulation system
CN108472145B (zh) 2016-01-17 2021-07-02 人类运动机器人技术公司 用于引导和检测3-dof旋转目标关节的运动的系统和设备
US11191653B2 (en) * 2016-11-03 2021-12-07 University Of New Brunswick Powered lower limb devices and methods of control thereof
US11198213B2 (en) * 2016-11-10 2021-12-14 Shenzhen Milebot Robotics Co., Ltd. Flexible driver, robot joint, robot and exoskeleton robot
US10912666B2 (en) * 2016-12-08 2021-02-09 University Of Washington Energy storage device for an exoskeleton
US20180289579A1 (en) * 2017-04-11 2018-10-11 The Trustees Of Columbia University In The City Of New York Powered Walking Assistant and Associated Systems and Methods
US20200323727A1 (en) * 2017-04-11 2020-10-15 The Trustees Of Columbia University In The City Of New York Powered Walking Assistant and Associated Systems and Methods
CN108938337B (zh) * 2017-05-19 2024-02-06 南京拓步智能科技有限公司 一种足踝康复助力型外骨骼装置
US11207014B2 (en) 2017-08-30 2021-12-28 Lockheed Martin Corporation Automatic sensor selection
CN108030645B (zh) * 2018-01-10 2024-02-13 山东科技大学 一种可穿戴式下肢移动外骨骼机器人
CN108098741A (zh) * 2018-01-12 2018-06-01 水逸阳 一种下肢外骨骼助力装置及其控制方法
CN108392378B (zh) * 2018-01-28 2019-09-20 浙江大学 下肢康复训练外骨骼系统及其步行控制方法与髋关节结构
WO2019173184A1 (en) * 2018-03-05 2019-09-12 Ossur Iceland Ehf Modular rehabilitation system
US20210022944A1 (en) * 2018-03-28 2021-01-28 Lockheed Martin Corporation Lower-body exoskeleton using electromyography for direct force amplification
CN208799474U (zh) * 2018-07-05 2019-04-30 北京京东方光电科技有限公司 一种用于人体腿部康复训练的柔性服
RU186439U1 (ru) * 2018-07-05 2019-01-21 Общество С Ограниченной Ответственностью "Экзоатлет" Торсовое звено экзоскелета
KR102094294B1 (ko) * 2018-08-02 2020-03-31 주식회사 엑소시스템즈 웨어러블 장치 및 사용자 전자 장치를 이용하여 재활 프로그램을 실행하는 재활 시스템
CN109176463B (zh) * 2018-08-07 2023-06-02 长沙紫宸科技开发有限公司 一种多功能辅助臂自平衡机械外骨骼
CN109303669A (zh) * 2018-10-17 2019-02-05 苏州帝维达生物科技有限公司 一种多自由度移动式下肢康复机器人
KR102586197B1 (ko) * 2018-12-10 2023-10-11 삼성전자주식회사 운동 보조 장치
RU2739278C2 (ru) * 2019-02-07 2020-12-22 Акционерное общество "Волжский электромеханический завод" Способ четырехопорного передвижения детского экзоскелета
DE102019119033A1 (de) * 2019-07-12 2021-01-14 Exoiq Gmbh Exoskelett mit einem pneumatischem aktor
CN110393657A (zh) * 2019-07-14 2019-11-01 西安萨默尔机器人科技有限公司 新型外骨骼下肢助力机器人
US20210015694A1 (en) * 2019-07-16 2021-01-21 Ecole Polytechnique Federale De Lausanne (Epfl) Bio-inspired standing balance controller for a full-mobilization exoskeleton
RU196167U1 (ru) * 2019-09-12 2020-02-18 Общество с ограниченной ответственностью "Экзомед" Стопа экзоскелета
CN113143298B (zh) * 2020-03-31 2023-06-02 重庆牛迪创新科技有限公司 肢体骨骼肌发力状态检测装置及方法、发力状态识别设备
CN111603362A (zh) * 2020-05-25 2020-09-01 上海壹佰米网络科技有限公司 一种下肢骨骼机器人
CN114474144B (zh) * 2020-11-12 2023-07-07 福建天泉教育科技有限公司 一种模块化活动关节
CN112757263B (zh) * 2021-01-19 2022-08-30 上海集弗科技有限公司 一种适用于机械外骨骼的脊椎结构及机械外骨骼
DE102021130308A1 (de) * 2021-11-19 2023-05-25 German Bionic Systems Gmbh Exoskelett mit einer automatischen Stelleinheit zur Größenverstellung und dazugehörige Verfahren
CN114642573B (zh) * 2021-04-20 2024-04-23 安杰莱科技(杭州)有限公司 一种康复用外骨骼
CN114050702B (zh) * 2021-04-27 2023-03-31 四川大学华西医院 基于永磁无轴承电机的下肢外骨骼支架自平衡系统
EP4082504A1 (en) 2021-04-30 2022-11-02 Marsi Bionics, S.L. Exoskeleton comprising a plurality of autonomously operable modules
US20230018247A1 (en) * 2021-07-15 2023-01-19 Google Llc Brain-activity actuated extended-reality device
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
CN113771010A (zh) * 2021-09-23 2021-12-10 无锡美安雷克斯医疗机器人有限公司 一种多自由度仿生外骨骼
CN113858201B (zh) * 2021-09-29 2023-04-25 清华大学 用于柔性驱动机器人的自适应变阻抗控制方法、系统与设备
CN114191261B (zh) * 2021-11-25 2023-12-15 天津大学 迭代学习脑控电刺激和智能支撑系统与下肢康复训练方法
CN114712175A (zh) * 2022-02-28 2022-07-08 郑州大学 一种用于脑卒中患者的行走辅助装置
CN114733145B (zh) * 2022-04-02 2022-10-04 深圳市人民医院 智能多功能下肢康复训练一体机
CN115006190B (zh) * 2022-04-06 2023-06-02 南京航空航天大学 一种坐式可变刚度外骨骼及变柔顺性按需辅助控制方法

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7153242B2 (en) 2001-05-24 2006-12-26 Amit Goffer Gait-locomotor apparatus
US7278979B2 (en) 2004-09-07 2007-10-09 Honda Motor Co., Ltd. Walking assistance device having a pelvis support member that is easy to wear
AU2006206394B2 (en) 2005-01-18 2011-10-13 The Regents Of The University Of California Low power lower extremity exoskeleton
US20070123997A1 (en) 2005-03-31 2007-05-31 Massachusetts Institute Of Technology Exoskeletons for running and walking
CA2604892C (en) * 2005-04-13 2014-07-08 The Regents Of The University Of California Semi-powered lower extremity exoskeleton
NZ586912A (en) 2007-12-26 2013-03-28 Rex Bionics Ltd Walking aid as exoskeleton from pelvic support down to foot supports to power assist walking for a user
US8096965B2 (en) 2008-10-13 2012-01-17 Argo Medical Technologies Ltd. Locomotion assisting device and method
WO2012027336A1 (en) 2010-08-23 2012-03-01 The Regents Of The University Of California Orthesis system and methods for control of exoskeletons
US20120101415A1 (en) 2010-10-21 2012-04-26 Amit Goffer Locomotion assisting apparatus with integrated tilt sensor
WO2012178171A2 (en) * 2011-06-24 2012-12-27 Northeastern University Robotic gait rehabilitation training system with orthopedic lower body exoskeleton for torque transfer to control rotation of pelvis during gait
WO2013019749A1 (en) 2011-07-29 2013-02-07 Global Medical Device Partners, Inc. Exoskeleton for gait assistance and rehabilitation
JP5982767B2 (ja) * 2011-09-26 2016-08-31 ソニー株式会社 運動補助装置及び運動補助方法、コンピューター・プログラム、並びにプログラム記録媒体
ITRM20120482A1 (it) * 2012-10-09 2014-04-10 Uni Campus Bio Medico Di Rom A Dispositivo robotico per l'assistenza e la riabilitazione degli arti inferiori.
US10398617B2 (en) * 2015-04-29 2019-09-03 Steering Solutions Ip Holding Corporation Adjustable position pivot for medical assist device

Also Published As

Publication number Publication date
ES2575255B1 (es) 2017-04-06
EP3225363A4 (en) 2018-08-01
WO2016083650A1 (es) 2016-06-02
US11324653B2 (en) 2022-05-10
US20170340504A1 (en) 2017-11-30
ES2575255A1 (es) 2016-06-27
EP3225363A1 (en) 2017-10-04
EP3225363B1 (en) 2019-07-03

Similar Documents

Publication Publication Date Title
DK3225363T3 (da) Exoskelet til understøttelse af menneskelig bevægelse
DK3235465T3 (da) Implantat
DK3134402T3 (da) 4-amino-imidazoquinolinforbindelser
DK3466976T3 (da) Anti-her2-antistof-lægemiddelkonjugat
BR112016018920A2 (pt) stent altamente flexível
DK3183051T3 (da) Væske-til-luftmembranenergivekslere
DK3119396T3 (da) Muscarinreceptoragonister
DK3006072T3 (da) Karadgang
DK3110442T3 (da) Modificerede meningokok-fhbp-polypeptider
DK3176486T3 (da) Koblingsbeslag
DE112015001664A5 (de) Betätigungsaktuator
BR112016016826A2 (pt) suporte flexível
DK3154703T3 (da) Fuldkappe-snekkecentrifuge
DK3110439T3 (da) Pcsk9-vacciner
DE112015005041A5 (de) Gargerätevorrichtung
DK2932944T3 (da) Støtteortose
DE112015002984A5 (de) Positioniereinheit
DE102014000623A8 (de) Halbhohlnietelement
DK3009858T3 (da) Skyradar
DK3182940T3 (da) Støttestruktur
DK3154942T3 (da) Fremstilling af piperidin-4-carbothioamid
DE112015001633A5 (de) Betätigungsaktuator
DK3212127T3 (da) Prothesensystem
DK3091875T3 (da) Vipbar taburet
DE112014006602A5 (de) Positioniersystem