EP1959909B1 - Dispositif destiné à animer der membres - Google Patents

Dispositif destiné à animer der membres Download PDF

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Publication number
EP1959909B1
EP1959909B1 EP06829446A EP06829446A EP1959909B1 EP 1959909 B1 EP1959909 B1 EP 1959909B1 EP 06829446 A EP06829446 A EP 06829446A EP 06829446 A EP06829446 A EP 06829446A EP 1959909 B1 EP1959909 B1 EP 1959909B1
Authority
EP
European Patent Office
Prior art keywords
unit
orthotic
receiving unit
force
orthosis
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.)
Not-in-force
Application number
EP06829446A
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German (de)
English (en)
Other versions
EP1959909A1 (fr
Inventor
Rüdiger RUPP
Michael Vosseler
Markus Knestel
Eberhard Hofer
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Individual
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Individual
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Publication date
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Publication of EP1959909A1 publication Critical patent/EP1959909A1/fr
Application granted granted Critical
Publication of EP1959909B1 publication Critical patent/EP1959909B1/fr
Not-in-force legal-status Critical Current
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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
    • 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
    • A61H2201/12—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
    • A61H2201/1238—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
    • A61H2201/16—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
    • A61H2201/164—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
    • A61H2201/5061—Force 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/12—Feet

Definitions

  • the invention relates to a device for moving limbs of patients with paralysis phenomena.
  • One goal here is to train the residual canker motor skills of e.g. incomplete paraplegics or patients with a post-stroke condition, with the help of stimuli corresponding to those of a real experienced step.
  • a walking pattern is generated by in-phase stimulation of foot sole sensory and leg motor skills.
  • the US 4,834,073 A further shows a device for moving limbs with a receiving unit, which has a cavity with an opening and a bottom surface, a control and control device and at least one orthosis unit, which contains at least one support element and at least one force element, wherein the orthosis unit and the receiving unit via at least one joint in connection.
  • the object of the present invention is to provide a device for the movement of limbs, with which the rehabilitation success can be significantly increased, in particular in a simple manner, with a space-saving construction.
  • a device for moving limbs in particular human extremities, with at least one receiving unit, which has a cavity with an opening and a bottom surface, wherein a plurality of actuators are arranged on the bottom surface, a regulation and control unit, with which the individual actuators are controllable such that cyclic movement patterns are generated, and / or at least one orthosis unit, which contains at least one support element and at least one force element, wherein the orthosis unit and the receiving unit are connected via at least one joint, solved.
  • the device may be characterized in that cyclic movement patterns are formed in the form of at least one wavefront that propagates in a longitudinal direction, a transverse direction, and / or a combination of said directions of the floor surface.
  • stimulus patterns can also be generated in the diagonal direction by overlapping the longitudinal and transverse directions.
  • This can be a stimulation of a part of the sole of the foot up to the complete Sole be generated in which a realistic stimulus pattern of a step is generated; without requiring an actual appearance of the patient on a floor surface, such as on a treadmill.
  • the device can be optimized so that a use in the home area is made possible, since the space requirement is reduced.
  • the stimulation of the sole of the foot creates a natural gait pattern without the need for an actual appearance of the patient.
  • the patient can preferably complete training sessions in a sitting position, whereby the effect of blood loss and the associated complications can be prevented.
  • the device may be characterized in that the orthosis unit may communicate with another orthotic unit via at least one joint. This results in the advantage that further limbs of the limb can be moved in a controlled manner, whereby the realism of the movement pattern is increased and the rehabilitation success is improved.
  • the force element of the device by means of the control and control unit can be controlled such that it generates a relative movement between at least one orthosis unit and another orthotic unit and / or the receiving unit.
  • the controllability and controllability of the force elements can be provided in a particularly simple manner.
  • the orthosis unit can have at least one fastening means. This can be in a particularly simple manner, the adaptability of the entire device or the Orthesenhim be provided to the anatomical conditions of the patient.
  • the receiving unit of the device can have at least one adjustment means on at least one inner surface, which can be regulated in such a way by means of the regulation and control unit that a predetermined force which is substantially perpendicular to the inner surface of the adaptation unit can be generated.
  • the value of the predetermined force can be set to a constant, time-based and / or event-based variable value. It can thus be ensured that the pressure exerted by the adaptation unit on the surface of the limbs can be regulated in such a way that the formation of pressure points and other injuries such as abrasions on the limbs of the patient can be prevented.
  • the generation of a constant surface force the risk of pressure points on the limbs of the patient, due to volume changes of the limbs during movement, can be prevented.
  • an adjustment means ensures an adaptive fixation of the limb in the receiving unit, depending on the extent / volume of the limb, whereby a large-scale connection is created.
  • the limb located in the receiving unit can be pressed onto the bottom surface of the receiving unit by the adjustment means. This results in the advantage that the stimulation of the limb, which is formed by the movement pattern in the form of at least one wavefront propagating in the floor surface, can be enhanced.
  • the fastening means of the device can have at least one adaptation means which can be adjusted by means of the control and control unit can be regulated such that a predetermined, substantially perpendicular to a surface of the fastening means force can be generated.
  • the wearing comfort of the entire device for the patient can thus be increased.
  • the device may be characterized in that the actuators used, the force elements and the adjustment means are pneumatically, hydraulically, mechanically and / or electrically actuated.
  • the actuators used, the force elements and the adjustment means are pneumatically, hydraulically, mechanically and / or electrically actuated.
  • the device can receive at least one akre in the receiving unit, receive at least one distal extremity section in a first orthotic unit, and receive at least one proximal limb section in a second orthotic unit. This can ensure that the movement of an entire, upper and / or lower limb can be regulated.
  • the device may be characterized in that the geometric dimensions of the receiving unit and / or the orthotic unit can be adjusted continuously and / or discretely.
  • the adaptability of the device to the anatomical conditions of different patients can be further increased.
  • the device may be characterized in that the receiving unit for receiving a foot, a first An orthosis unit for receiving a lower leg and a second orthosis unit for receiving a thigh is used, wherein the force that can be generated by the accommodating means in the receiving unit, on at least a part of the foot surface and the force generated by the located in the attachment means adjustment means can be applied to at least a part of the surface of a thigh, and / or lower leg.
  • the device may be characterized in that a further joint may be provided on a second orthotic unit such that the entire device has at least one rotational degree of freedom.
  • the entire device can be pivoted in a particularly simple manner, for example, a vertical axis, so that access to the device is made easier, especially for wheelchair users.
  • the application of the device to a patient is greatly facilitated thereby, whereby no further operating personnel must be consulted for help.
  • the device may be characterized in that at least one seat is provided, which can be adjustable in height by means of level elements. Additionally or alternatively, the seat may have a seat back which can be varied in its inclination via adjusting elements.
  • the hip joint is moved only passively.
  • the hip angle can be adjusted patient-specific.
  • the advantages of the invention will be mentioned here.
  • a realistic gait pattern can be generated.
  • the present device can be used by patients in a sitting position, whereby the duration of the individual training sessions is extended.
  • the comfort experienced by the patient is increased by the high adaptability of the device to the anatomical conditions.
  • the device can be used in the home.
  • FIG. 1 schematically the overall structure of the device is shown, wherein a receiving unit 51 is connected via a first joint 59, with a first orthosis unit 56. Furthermore, this first orthosis unit 56 is connected via a second joint 59 to a second orthosis unit 56.
  • the said orthotic units 56 each have support elements 57 which function as a supporting basic structure of the orthosis units 56.
  • Two force elements 58 are respectively arranged on the orthotic units 56, the force elements 58 being permanently connected to the respective support element 57 at a first end and being connected to the support element 57 at a second end in such a way that a linear displaceability of the second end relative to the support member 57 is made possible.
  • two force elements 58 are connected to each other at their second ends via, for example, a toothed belt.
  • the timing belt is deflected over a roller. This pulley is in communication with a hinge 59th
  • the force elements on the first orthosis unit 56 are able to apply tensile forces in order to bend the receiving unit 51 relative to the first orthosis unit 56 produce.
  • the force elements on the second orthosis unit 56 are capable of applying tensile forces to produce an angling of the first orthosis units 56 to the second orthosis unit.
  • fastening means 60 are provided on the support elements 57 of the orthotic units 56, with which in each case an orthosis unit 56 can be attached to a limb of a patient.
  • Force elements 58 are provided on the second orthosis unit 56, wherein the force elements 58 are connected at a first end to the support elements 57 of the orthosis units 56 and at another end via a connecting member to the first orthosis unit 56 via a connecting member such that upon generation of a Tensile force in the respective force element 58 is an angle of the first orthosis unit 56 relative to the second orthosis unit 56 takes place.
  • force elements 58 are artificial, pneumatic muscles that can apply a tensile force in the longitudinal direction by contraction.
  • This tensile force of the toothed belt which connects two force elements 58, set in motion.
  • a rotational movement of the deflection roller is generated.
  • the joint Due to the connection between the deflection roller and the respective joint 59, the joint performs such a rotational movement that a pivoting movement of the receiving unit 51 relative to the first orthosis unit 56 and a pivoting movement of the orthosis units 56 is performed to each other.
  • further force elements 58 are arranged, which by contraction in Longitudinal one of the first opposite movement can generate.
  • the force elements may be designed as mechanical, pneumatic, hydraulic and / or electrical power elements.
  • electrical force elements are located within the joints 59 and perform the movements described above.
  • the support members 57 are hereby formed of profiled aluminum.
  • the profiles of the support members 57 may be formed square, circular or U-shaped.
  • the support members 57 may be formed of plastic.
  • the fastening means 60 are formed from plastic and comprise an adjustable locking mechanism.
  • force element valves 64 can be controlled in such a way that the pressure on the pneumatic force elements 58 can be varied via force element pressure lines 63 such that contraction movements of the force elements are produced.
  • the compressed air supply of the lines via a pressure accumulator 65.
  • a pressure supply source to be connected to the device.
  • the regulation of the force element valves 64 takes place as a function of sensor signals of the force element sensors 62 and the rotary encoder 72.
  • An actuator sensor 66 can be used
  • Actuator valves 68 are controlled such that the pressure and thus the extent in the actuators 54 can be varied.
  • the actuator sensor 66 supplies a signal to the control and control unit 55, which controls the actuator valves 68. Furthermore, an adjustment means sensor 69 and an adjustment means valve 70 is provided, which is connected via a pressure line 71 to the adjustment means 61 and can be operated in a regulated manner via the regulation and control unit 55.
  • the control and control unit 55, the force element valves 64 and the pressure accumulator 65 are provided in a housing 76 which is connected at its upper end via level elements 77 with a seat 73. With the aid of the control and control unit 55, the level elements 77 can be controlled such that the seat 73 can vary its height with respect to the footprint of the device on which the entire device rests.
  • the housing is connected via sliding elements 78 with the footprint in combination.
  • the displacement elements 78 are designed in the form of rollers. In a further embodiment, not shown, the displacement elements 78 may be wheels, skids and / or sliding elements.
  • the housing 76 With the housing 76 is a control / display instrument 74 in connection, with which the patient can specify parameters to the control and control unit 55, and / or read information relating to the training or the equipment conditions.
  • the patient can be displayed in the form of a feedback function, the current training success for self-control.
  • the patient can apply a force to the orthotic units 57.
  • the device also includes the ability to record relevant data on the training history and possibly read them out with telemetric methods.
  • the receiving unit 51 is connected via a further displacement element 78 with the contact surface area in connection.
  • a linear guide mechanism may be provided, with which the receiving unit 51 can be guided in a controlled linear manner with respect to the footprint. Thereby, a lateral tilting of the device can be prevented.
  • the hinges 59 are connected to rotational angle sensors 72, which in turn output a sensor signal to the control and control unit 55, for detecting the position or the state of motion of said hinges 59.
  • the attachment means 60 comprise adjustment means which are adjustable for adjusting the attachment means 60 to the limbs of the respective patient.
  • the adjustment means 75 for the adjustment means comprise a measuring and an actuator, with the pressure in the adjustment means of the patient is constantly adjustable. The pressure is not controlled by the control unit 55. In another, not shown Embodiment, the pressure in the adjustment means may be controlled by the control unit 55.
  • FIG. 2 shows a longitudinal section through the receiving unit 51.
  • the receiving unit 51 has an opening 52 through which a foot can be introduced.
  • actuators 54 are provided, which extend transversely to the longitudinal direction of the receiving unit 51.
  • the actuator valves 68 can be controlled such that pressure fluctuations in the individual actuators 54 may occur.
  • a force pulse may be generated at a particular location of the floor surface.
  • the actuators 54 are designed in the form of juxtaposed, high-strength hoses. In this case, optionally, multiple, adjacent and / or non-adjacent actuators 54 can be actuated simultaneously or individual actuators 54 independently of one another.
  • the actuators 54 may be designed in the form of mini cylinders.
  • an adjustment means 61 is provided on the inner surface of the receiving unit 51 in the areas that do not form the bottom surface 53.
  • the adjustment means 61 is connected via an adjustment medium pressure line 71 with a Adjustment means valve 70 which is connected to the control and control unit 55.
  • an adaptation means sensor 69 By means of an adaptation means sensor 69, the pressure in the adaptation means 61 can be regulated as desired, so that a constant pressure can be exerted on the foot located in the reception unit 51. Furthermore, however, it is also possible to regulate the adaptation means 61 in such a way that an in constant pressure regulation of the adaptation means takes place.
  • further actuators of the same type as the actuators 54 are positioned in the longitudinal direction of the receiving unit 51.
  • a location-dependent and time-dependent force curve in the transverse direction of the receiving unit 51, in whose bottom surface 53 are generated.
  • a pressure measuring film in order to detect the actual pressure at any point of the sole of the foot can.
  • FIG. 3 shows schematically the generation of a physiological stimulus pattern for generating a step in the sole of the foot.
  • the actuators 54 are arranged in the form of juxtaposed, high-strength hoses transversely to theticianlticianscardi.
  • a location and time-dependent force function on the Foot sole be applied.
  • any desired course of force can be realized, but preferably the force propagates in the form of a wavefront from the heel area to the area of the toe tips over the entire sole of the foot.
  • the actuators 54 are arranged in the form of adjacent hoses, wherein two adjacent hoses have different lengths.
  • FIG. 4 shows the sectional view of the receiving unit 51 along a section line BB, the in FIG. 2 is shown.
  • the actuators 54 In the bottom surface of the actuators 54 are arranged, which can be controlled via the Aktuatorventile 68 in response to a sensor signal which is received by a control and control unit 55.
  • An adjustment means 61 generates a force on a foot or a hand located between the actuators 54 and a surface of the adapter 61. As a result, the force generated by the actuator 54 can be further increased, for example, to a sole of the foot or a palm of the hand.
  • the invention further includes the following aspects.
  • limbs are either passive or active or assistively moved.
  • the devices are based on a rotary drive, which can perform computer-controlled various movement trajectories, for example, to relax the muscles or to reduce spasticity reactions.
  • electrical and / or pneumatic drives are possible.
  • the mechanism, apparatus and method for generating physiological relevant force signals for lower limb stimulation may be characterized by therapeutic functions, patient safety, comfortable handling, and modular design, including, but not limited to, the device components base unit, foot plate option, option Noppenrolle, computer and power supply can be marked.
  • the base unit can by a thigh orthosis 1, drives 2, 3 at the attachment points 4, 5 and the attachment points 6 for the boom 7 via drive belt or rods 8, 9 and rotary encoder 10 with bearing (11) to the boom 12 for the lower leg orthosis 13 be marked to the attachment points 14 of the lower leg orthosis 13.
  • the device with the option foot plate by the means of electric or pneumatic drive 21 via one of the lower leg braces 13 mounted in the attachment points 20, 22 movably mounted 23, 27 foot plate 26 made generating a mechanical pressure or vibration stimulus of the lower extremities detected by force sensors 24, 25 to be characterized.
  • the device with the option Noppenrolle by the means of electric or pneumatic actuators 32, 33 with drive belt or rod 34 via a attached to the lower leg orthosis 13 in the attachment points 30, 31 rotatably mounted 35, with rotary encoder 36 monitored Noppenrollenaufhnatureung 37, consisting of stored 44 nub roller 42 with a transverse bar 38 fixed drive 43 and spring 40 and the force sensors 39, 41, made generating a mechanical stimulus to the physiological pressure load of the lower limb may be characterized.
  • the device can be characterized by the implementation of controls, regulations and trajectory generation for the generation of physiologically reproducible movement trajectories and monitoring of patient safety with a computer with a connected user interface.
  • the device can be characterized by the space-saving provision and distribution of the power supply for the electric and / or pneumatic drives in accordance with the signals generated by the computer.
  • the reference numeral 1 denotes a thigh orthosis.
  • Reference numeral 2 designates an (el., Pneumatic.) Drive connected to a computer for rotation of the lower leg orthosis.
  • the reference numeral 3 denotes an optional (el., pneumatic.) drive connected to a computer for rotation of the lower leg orthosis.
  • Reference numeral 4 denotes attachment points for driving the lower leg orthosis.
  • Reference numeral 6 designates fastening points for fastening the arm 7 to a thigh orthosis.
  • Reference numeral 7 denotes a cantilever of the thigh orthosis.
  • Reference numeral 8 denotes an optional drive belt or a drive rod.
  • Reference numeral 9 denotes a drive belt or a drive rod.
  • Reference numeral 10 denotes a rotary encoder connected to a computer.
  • Reference numeral 11 denotes a bearing having a rotational degree of freedom.
  • Reference numeral 12 denotes the boom of a lower leg orthosis.
  • Reference numeral 13 denotes a lower leg orthosis.
  • the reference numeral 14 denotes the attachment points of the boom of the lower leg orthosis.
  • the reference numeral 1 denotes a thigh orthosis.
  • the reference numeral 2 denotes a (el., Pneumatic.) Drive, which is connected to a computer for rotation of the lower leg orthosis.
  • the reference numeral 3 denotes an optional (el., Pneumat.) Drive, which is connected to a computer for rotation of the lower leg orthosis.
  • Reference numeral 4 denotes attachment points for driving the lower leg orthosis.
  • Reference numeral 6 designates fastening points for fastening the arm 7 to a thigh orthosis.
  • Reference numeral 7 denotes a cantilever of the thigh orthosis.
  • Reference numeral 8 denotes an optional drive belt or a drive rod.
  • Reference numeral 9 denotes a drive belt or a drive rod.
  • Reference numeral 10 denotes a rotary encoder connected to a computer.
  • the reference numeral 11 denotes a bearing with a rotational degree of freedom.
  • Reference numeral 12 denotes the boom of a lower leg orthosis.
  • Reference numeral 13 denotes a lower leg orthosis.
  • the reference numeral 14 denotes the attachment points of the boom of the lower leg orthosis.
  • the reference numeral 20 denotes an attachment point of the drive of the foot plate.
  • the reference numeral 21 designates an (el., Pneumatic.) Drive of the foot plate, which is connected to a computer.
  • Reference numeral 22 denotes attachment points of the guide of the foot plate.
  • Reference numeral 23 denotes the guide of the foot plate.
  • Reference numeral 24 denotes a force sensor connected to a computer.
  • Reference numeral 25 denotes an optional force sensor connected to a computer.
  • Reference numeral 26 denotes the foot plate.
  • Reference numeral 27 denotes a monovalent bearing.
  • reference numeral 30 denotes the attachment points of the drive of the stimulus option.
  • Reference numeral 31 denotes the attachment points of the drive of the stimulus option.
  • Reference numerals 32 and 33 denote (el., Pneumatic) drive of the stimulus option connected to a computer.
  • Reference numeral 24 denotes a drive belt or a drive rod.
  • Reference numeral 35 denotes a rotary encoder connected to a computer.
  • Reference numeral 36 denotes a bearing having a rotational degree of freedom.
  • Reference numeral 37 denotes a knobbed roller suspension.
  • Reference numeral 38 denotes a crossbar which is firmly connected to the contemplat Grandeoption.
  • Reference numeral 39 denotes a force sensor connected to a computer.
  • Reference numeral 40 denotes a spring.
  • Reference numeral 41 denotes an optional force sensor connected to a computer.
  • Reference numeral 42 denotes a knobbed roller.
  • Reference numeral 43 denotes a (el., Pneumatic.) Drive a nub roller, which is connected to a computer.
  • Reference numeral 44 denotes a monovalent bearing.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Claims (14)

  1. Dispositif pour faire bouger des membres, en particulier des extrémités humaines, comportant
    - au moins une unité de réception (51) qui présente une cavité avec une ouverture (52) et une surface de fond (53),
    - une unité de régulation et de commande (55) et
    - au moins une unité d'orthèse (56) qui contient au moins un élément d'appui (57) et au moins un élément moteur (58), l'unité d'orthèse (56) et l'unité de réception (51) étant reliées par au moins une articulation (59),
    caractérisé en ce qu'une pluralité d'actionneurs (54) est disposée sur la surface de fond (53) et en ce que différents actionneurs (54) peuvent être commandés avec l'unité de régulation et de commande (55) de manière à produire des modèles de mouvements cycliques.
  2. Dispositif selon la revendication 1, caractérisé en ce que le modèle de mouvement cyclique se présente sous la forme d'au moins un front d'onde qui se propage dans la direction longitudinale et/ou la direction transversale de la surface de fond (53).
  3. Dispositif selon l'une au moins des revendications précédentes, caractérisé en ce que l'unité d'orthèse (56) est reliée par au moins une articulation (59) à une autre unité d'orthèse (56).
  4. Dispositif selon l'une au moins des revendications précédentes, caractérisé en ce que l'élément moteur (58) peut être commandé à l'aide de l'unité de régulation et de commande (55) de manière à produire un mouvement relatif entre au moins une unité d'orthèse (56) et une autre unité d'orthèse (56) ou l'unité de réception (51).
  5. Dispositif selon l'une au moins des revendications précédentes, caractérisé en ce que l'unité d'orthèse (56) comporte en outre au moins un moyen de fixation (60).
  6. Dispositif selon l'une au moins des revendications précédentes, caractérisé en ce que l'unité de réception (51) comporte sur au moins une surface intérieure au moins un moyen d'adaptation (61) qui peut être commandé au moyen de l'unité de régulation et de commande (55) de manière à produire une force prédéterminée, sensiblement perpendiculaire à la surface intérieure des moyens d'adaptation (61).
  7. Dispositif selon l'une au moins des revendications précédentes, caractérisé en ce que le moyen de fixation (60) comporte au moins un moyen d'adaptation qui peut être commandé au moyen de l'unité de régulation et de commande (55) de manière à produire une force prédéterminée, sensiblement perpendiculaire à une surface supérieure du moyen de fixation (60).
  8. Dispositif selon l'une au moins des revendications précédentes, caractérisé en ce que les actionneurs (54), les éléments moteurs (58) ainsi que le moyen d'adaptation (61) peuvent être actionnés de manière pneumatique, hydraulique, mécanique et/ou électrique.
  9. Dispositif selon l'une au moins des revendications précédentes, caractérisé en ce que l'articulation (59) est une articulation-charnière.
  10. Dispositif selon l'une au moins des revendications précédentes, caractérisé en ce que l'unité de réception (51) sert à recevoir au moins l'une des extrémités, une première unité d'orthèse à recevoir un segment d'extrémité distal et une seconde unité d'orthèse à recevoir un segment d'extrémité proximal.
  11. Dispositif selon l'une au moins des revendications précédentes, caractérisé en ce que les dimensions géométriques de l'unité de réception (51) et/ou de l'unité d'orthèse (56) sont réglables en continu et/ou de manière discrète.
  12. Dispositif selon l'une au moins des revendications précédentes, caractérisé en ce que l'unité de réception (51) sert à recevoir un pied, une première unité d'orthèse à recevoir une jambe et une seconde unité d'orthèse à recevoir une cuisse, la force, qui est exercée par le moyen d'adaptation (61) se trouvant dans l'unité de réception (51), étant produite sur au moins une partie de la surface du pied et la force qui est produite par le moyen d'adaptation se trouvant dans les moyens de fixation (60), étant exercée sur au moins une partie de la surface d'une cuisse et/ou d'une jambe.
  13. Dispositif selon l'une au moins des revendications précédentes, caractérisé en ce qu'il est prévu, sur une seconde unité d'orthèse, une autre articulation de manière que l'ensemble du dispositif présente au moins un degré de liberté en rotation.
  14. Dispositif selon l'une au moins des revendications précédentes, caractérisé en ce qu'il est prévu en outre un siège (73) qui est réglable en hauteur à l'aide d'éléments de niveau.
EP06829446A 2005-12-09 2006-12-08 Dispositif destiné à animer der membres Not-in-force EP1959909B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005059342A DE102005059342A1 (de) 2005-12-09 2005-12-09 Mechanismus, Vorrichtung und Verfahren zur Erzeugung von physiologisch relevanten Kraftsignalen für die Stimulation der unteren Extremitäten
PCT/EP2006/011850 WO2007065706A1 (fr) 2005-12-09 2006-12-08 Dispositif destine a animer des membres

Publications (2)

Publication Number Publication Date
EP1959909A1 EP1959909A1 (fr) 2008-08-27
EP1959909B1 true EP1959909B1 (fr) 2010-02-24

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Application Number Title Priority Date Filing Date
EP06829446A Not-in-force EP1959909B1 (fr) 2005-12-09 2006-12-08 Dispositif destiné à animer der membres

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EP (1) EP1959909B1 (fr)
AT (1) ATE458463T1 (fr)
DE (2) DE102005059342A1 (fr)
WO (1) WO2007065706A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008012996A1 (de) * 2008-03-07 2009-09-17 Pohlig Gmbh Orthese
DE102008023573A1 (de) * 2008-05-05 2009-11-12 Medireha GmbH Produkte für die medizinische Rehabilitation Beinbewegungsschiene zur repetitiven Bewegung des Knie- und Hüftgelenks mit Assistenzfunktion bei aktiver Nutzung
GB2471560B (en) 2009-06-29 2014-04-16 Mark Ital Weight-bearing leg support with cushioning means
DE102011111974A1 (de) 2011-08-31 2013-02-28 Paul Hettmer Medizintechnische Apparatur zur optimierten Durchführung von Mobilisations- und Rehabilitations-Maßnahmen bei labilen, oft intensivmedizinisch betreuten Patienten
DE102015001846B4 (de) 2015-02-17 2018-03-15 Reha & Medi Hoffmann Gmbh Krankenfahrstuhl mit Vibrationseinheit

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4834073A (en) * 1987-02-20 1989-05-30 Medical Technology, Inc. Passive motion exerciser
US5239987A (en) * 1991-12-06 1993-08-31 Jace Systems Anatomically correct continuous passive motion device for a limb
US5476441A (en) * 1993-09-30 1995-12-19 Massachusetts Institute Of Technology Controlled-brake orthosis
AT401724B (de) * 1994-12-23 1996-11-25 Bumba Walter Ing Fussreflexzonenmassagevorrichtung
US5628722A (en) * 1995-03-03 1997-05-13 Solomonow; Moshe Method for maintaining knee stability of a user suffering from damage of a knee ligament
WO1999003440A1 (fr) * 1997-07-16 1999-01-28 Alexander Stohr Attelles et ortheses pneumatiques permettant d'executer des mouvements
JPH1142259A (ja) * 1997-07-28 1999-02-16 Technol Res Assoc Of Medical & Welfare Apparatus 歩行補助装具
US6517503B1 (en) * 1998-09-18 2003-02-11 Becker Orthopedic Appliance Company Orthosis knee joint
US7416537B1 (en) * 1999-06-23 2008-08-26 Izex Technologies, Inc. Rehabilitative orthoses
US7153242B2 (en) * 2001-05-24 2006-12-26 Amit Goffer Gait-locomotor apparatus
JP3930399B2 (ja) * 2002-08-21 2007-06-13 本田技研工業株式会社 歩行補助装置
US6837831B2 (en) * 2002-12-19 2005-01-04 Chin-Tsun Lee Combined exerciser/massage device
JP4121913B2 (ja) * 2003-08-08 2008-07-23 三洋電機株式会社 マッサージ機
DE102004029513B3 (de) * 2004-06-18 2005-09-29 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung zur autarken Eigenfortbewegungsunterstützung und/oder -kontrolle eines gehbehinderten Menschen

Also Published As

Publication number Publication date
EP1959909A1 (fr) 2008-08-27
DE102005059342A1 (de) 2007-06-14
WO2007065706A1 (fr) 2007-06-14
DE502006006282D1 (de) 2010-04-08
ATE458463T1 (de) 2010-03-15

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