EP3984510B1 - Rehabilitationsübungsgerät für arme und beine - Google Patents

Rehabilitationsübungsgerät für arme und beine

Info

Publication number
EP3984510B1
EP3984510B1 EP20887664.9A EP20887664A EP3984510B1 EP 3984510 B1 EP3984510 B1 EP 3984510B1 EP 20887664 A EP20887664 A EP 20887664A EP 3984510 B1 EP3984510 B1 EP 3984510B1
Authority
EP
European Patent Office
Prior art keywords
hinges
support
pair
present disclosure
restraining
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.)
Active
Application number
EP20887664.9A
Other languages
English (en)
French (fr)
Other versions
EP3984510A1 (de
EP3984510A4 (de
Inventor
Dong-Min Choi
Seong-Joong Kim
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
H Robotics Inc
Original Assignee
H Robotics Inc
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
Priority claimed from KR1020190146775A external-priority patent/KR102246049B1/ko
Priority claimed from KR1020200141794A external-priority patent/KR102471990B1/ko
Application filed by H Robotics Inc filed Critical H Robotics Inc
Publication of EP3984510A1 publication Critical patent/EP3984510A1/de
Publication of EP3984510A4 publication Critical patent/EP3984510A4/de
Application granted granted Critical
Publication of EP3984510B1 publication Critical patent/EP3984510B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • 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
    • A61H1/024—Knee
    • 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
    • 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
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0277—Elbow
    • 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
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • 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
    • A61H2201/0157—Constructive details portable
    • 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
    • A61H2201/0161—Size reducing arrangements when not in use, for stowing or transport
    • 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
    • A61H2201/1215—Rotary 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—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
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • 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
    • A61H2201/5097—Control means thereof wireless

Definitions

  • the first fixing plate 322 and the first moving plate 324, and the second fixing plate 323 and the second moving plate 325 are operated in conjunction with each other, respectively, so as to be mutually approached or spaced apart with respect to the hinge shaft 321.
  • the pusher 342 has a semicircular arc shape having a predetermined radius of curvature, and is configured to be brought into contact with and spaced apart from the pressurizing member 345 by rotation.
  • connection bar 238 is allowed to be moved inside the through-hole 322a, thereby allowing the movement of the first fixing plate 322 in the longitudinal direction along the connection bar 328.
  • connection bar 328 is fixed to the second fixing plate 323, and the first fixing plate 322 is movably coupled to the connection bar 328, but the present disclosure is not limited thereto.
  • the side of the connection bar 328 may be fixed to the first fixing plate 322, and the second fixing plate 323 may be movably coupled to the connection bar 328.
  • the restraining lever 341 is provided on the second fixing plate 323.
  • FIGS. 9 to 12 are views illustrating an example of a structure for restraining longitudinal movement of a second support 320 according to another embodiment of the present disclosure.
  • a rehabilitation exercise unit 3 may include a rotation stopper 350 provided on a hinge shaft 321 to limit relative movement of a first fixing plate 322 and a second fixing plate 323.
  • the rotation stopper 350 includes a restraining dial 351, a shaft body 353 for forming the hinge shaft 321, a shaft column 354 protruding upward from the shaft body 353, and a shaft plate 352 rotated around the shaft body 354 and connected to the first adjustment link 326a and the third adjustment link 327a to rotate the first adjustment link 326a and the third adjustment link 327a with respect to the shaft body 353.
  • the restraining pin 351c is formed by protruding from an end of the restraining dial 351 oriented toward the shaft body 353, and is inserted into or released from any one selected from among a plurality of restraining holes 352a which will be described later.
  • the catching recess 351c is depressed in a region of the end of the restraining dial 351 oriented toward the shaft body 353, at a position spaced from the restraining pin 351a.
  • a pair of catching recesses 351c are provided opposite to each other.
  • the plurality of restraining holes 352a are formed in the shaft body 353 at a predetermined interval along the circumferential direction of the shaft column 354.
  • the shaft plate 352 has a circular ring shape.
  • the shaft plate 352 is configured such that the first adjustment link 326a and the third adjustment link 327a are connected to an outer circumference thereof, and the restraining dial 351 is rotatably provided on an inner circumference thereof.
  • the shaft plate 352 has a pair of catching protrusions 352b protruding from a region of the inner circumference thereof, and connecting the restraining dial 351 to the shaft plate 352 by being caught by the catching recesses 351c of the restraining dial 351.
  • the elastic member 355 is provided between the shaft column 354 and the restraining dial 351, and generates elastic force acting on the restraining dial 351 so that the restraining pin 351a is inserted into the selected restraining hole 352a.
  • the user adjusts the length by pulling the restraining dial 351 upward so that the restraining dial 351 ascends from the shaft body 353 to a position where the restraining pin 351a is separated from the restraining hole 352a. Then, when the second support 320 is adjusted to a desired length, the user releases the restraining dial 351 so that the restraining dial 351 descends toward the shaft body 353 by the elastic force of the elastic member 355, and at the same time, the restraining pin 351a is inserted into the restraining hole 352a at a corresponding position.
  • the shaft plate 352 when the restraining pin 351a is inserted into the restraining hole 352a, the shaft plate 352 is not rotated with respect to the shaft body 353, so that the length of the second support 320 is not allowed to be adjusted.
  • the catching protrusions 352b of the shaft plate 352 are caught by the catching recesses 351c of the restraining dial 351, so that the restraining dial 351 is prevented from being rotated around the shaft column 354.
  • the shaft plate 352 is rotated with respect to the shaft body 353, so that the length of the second support 320 is allowed to be adjusted.
  • the catching protrusions 352b of the shaft plate 352 are maintained caught by the catching recesses 351c of the restraining dial 351, so that the restraining dial 351 is maintained in a state connected to the shaft plate 352.
  • the restraining dial 351 is allowed to be rotatable forward and backward around the shaft column 354, so that the first fixing plate 322 and the second fixing plate 323 are mutually approached or spaced apart with respect to the shaft body 353, thereby adjusting the length of the second support 320.
  • reference numeral 351b denotes a pin insertion portion into which the restraining pin 351a is inserted and fixed
  • reference numeral 351d denotes a shaft through-hole through which the shaft column 354 passes and fixed.
  • FIG. 10 illustrates a state in which the restraining pin 351a is inserted in the restraining hole 352a in a state of being released from the restraining dial 351.
  • extension brackets 521 are rotatably coupled to the opposite sides of the moving brackets 526 so that the moving bracket 526 is moved in conjunction with movement of the extension brackets 521.
  • the elastic unit 522f pressurize at least one of the pair of extension brackets 521 downward in a state of being installed on the moving bracket 526, so that the connection rod 522 coupled to the extension brackets 521 is pressurized in a direction caught by the catching protrusion 512.
  • the elastic unit 522f is provided in the form of a plate spring.
  • the extension bracket 521 has a skirt 522d extending inward, so that the elastic unit 522f pressurizes the skirt 522d to pressurize the extension bracket 521.
  • the drive module 7 may be selectively couple to any one of the pair of first hinges 311 and 312 and the pair of second hinges 331 and 332.
  • the drive module 7 in the case of the upper limb, when the drive module 7 is mounted on any one of the first hinges 311 and 312, wrist rehabilitation exercise is possible.
  • the drive module 7 is mounted on any one of the second hinges 331 and 332, elbow joint rehabilitation exercise is possible.
  • a mounting position of the drive module 7 may be determined according to rehabilitation of a left or right upper limb.
  • the drive module 7 may be selectively mounted according to rehabilitation of a right or left upper limb.
  • the drive module 7 is selectively mounted on any one of the pair of first hinges 311 and 312 and the pair of second hinges 331 and 332 to pivot the first support 310 or the second support 320.
  • the drive module 7 is mounted on the second hinge 332 located on the right side as viewed from the first support 310 to the third support 330 in FIG. 1 . Therefore, for convenience of explanation, the second hinge 332 located on the right side is hereinafter referred to as a right second hinge 332.
  • a plurality of mounting protrusions 731 are formed on an inside of the ring member 730 at a predetermined interval along the circumferential direction of the ring member 730, and a ring coupling portion 751 to which the ring member 730 of the drive module 7 is coupled is provided circumferentially around an opening of the right second hinge 332.
  • a plurality of catching portions 753 may be formed in the ring coupling portion 751 corresponding to the mounting protrusions 731.
  • the second support 320 includes a shaft coupling bracket 3231 and a drive shaft fixing member 360.
  • the shaft coupling bracket 3231 may extend toward the drive shaft of the drive module 7. In the embodiment of the present disclosure, as an example, as illustrated in FIG. 21 , the shaft coupling bracket 3231 extends from the second fixing plate 323 of the second support 320 toward the rotary shaft of the drive motor.
  • the drive shaft fixing member 360 fixes the drive shaft 720 inserted through the rotary shaft hole 3322a to the shaft coupling bracket 3231 when the drive module 7 is fastened to the right second hinge 332.
  • the shaft coupling bracket 3231 is pivoted in response to the rotation of the drive shaft 720, so that the entire second support 320 is pivoted with respect to the third support 330.
  • the drive shaft 720 has a polygonal shape in cross-section.
  • FIGS. 21 and 23 illustrate that the drive shaft 720 has a hexagonal shape in cross-section, the scope of the present disclosure is not limited thereto.
  • the drive shaft fixing member 360 may include a polygonal fixing hole 364 having a polygonal inner diameter.
  • the polygonal fixing hole 364 may also be configured to have a hexagonal inner diameter corresponding to the drive shaft 720 having a hexagonal shape in cross-section.
  • the drive shaft fixing member 360 may include a bracket fastening portion 361 and a pair of tightening members 362 and 363.
  • the bracket fastening portion 361 is provided at a first side of the drive shaft fixing member 360 with respect to the polygonal fixing hole 364, and is fastened to the shaft coupling bracket 3231 to fix the drive shaft fixing member 360 to the shaft coupling bracket 3231.
  • the pair of tightening members 362 and 363 are provided at a second side of the drive shaft fixing member 360 with respect to the polygonal fixing hole 364, and are spaced apart from each other with a space 365 formed therebetween. As illustrated in FIG. 22 , the fixing hole 364 is formed between the pair of tightening members 362 and 363. In a state in which the drive shaft 720 is inserted into the polygonal fixing hole 364, the pair of tightening members 362 and 363 are approached to each other, so that the drive shaft 720 inserted into the polygonal fixing hole 364 is tightened and fixed.
  • the pair of tightening members 362 and 363 are branched from the bracket fastening portion 361, but the present disclosure is not limited thereto.
  • the pair of tightening members 362 and 363 may be configured such that two symmetrical members are combined at respective first sides thereof to form the bracket fastening portion 361, with respective second sides thereof spaced apart from each other.
  • the bracket fastening portion 361 is fastened to the shaft coupling bracket 3231 through bolt fastening.
  • a plurality of bolt fastening holes 366c and 366d are formed in the bracket fastening portion 361, and in the present disclosure, as an example, the bolt fastening is performed in the biaxial direction.
  • the plurality of bolt fastening holes 366c and 366da include a pair of bolt fastening holes 366c fastened to coupling holes 3231a formed in a plate surface of the shaft coupling bracket 3231, and a pair of bolt fastening holes 366b fastened to coupling holes 3234a formed in a pair of extension portions 3234 extending in a U-shape from the plate surface of the shaft coupling bracket 3231.
  • any one of the pair of tightening members 362 and 363 may have a first tightening hole 366a passing through a side thereof, and a remaining one of the pair of tightening members 362 and 363 may have a second tightening hole (not illustrated) for fastening a tightening bolt (not illustrated) passing through the first tightening hole so as to adjust the distance between the tightening members 362 and 363.
  • the right second hinge 332 may include a first rotary part 3322 and a second rotary part 3321.
  • the first rotary part 3322 is rotated in conjunction with the right second support 320 in response to rotation of the drive shaft 720.
  • the second rotary part 3321 is installed to be freely rotatable with respect to the first rotary part 3322, and is connected to the third support 330 to be rotated in conjunction with the third support 330.
  • the first rotary part 3322 and the second rotary part 3321 are coaxially coupled around the rotary shaft hole 3322a.
  • the first rotary part 3322 is axially coupled to the shaft coupling bracket 3231 to be rotated relative to the second rotary part 3321 in conjunction with rotation of the drive shaft 720.
  • FIG. 23 is a view illustrating a state in which the drive shaft fixing member 360 is removed
  • FIG. 24 is a view illustrating a state in which the shaft coupling bracket 3231 is removed.
  • the shaft coupling bracket 3231 may further include a bracket coupling hole 3232 and a plurality of rotation synchronization holes 3233.
  • the bracket coupling hole 3322 is formed corresponding to the rotary shaft hole 3322a, and allows passage of the drive shaft 720 passing through the rotary shaft hole 3322a.
  • the drive shaft 720 passing through the bracket coupling hole 3232 is fixed by the drive shaft fixing member 360.
  • the rotation synchronization holes 3233 are formed by passing through the plate surface of the shaft coupling bracket 3231 along the outer periphery of the bracket coupling hole 3232.
  • the first rotary part 3322 may include a plurality of rotation synchronization protrusions 3322b.
  • the rotation synchronization protrusions 3322b are inserted into the respective rotation synchronization holes 3233, so that when the drive shaft 720 is rotated in response to the driving of the drive module 7, the first rotary part 3322 is rotatable in conjunction with rotation of the shaft coupling bracket 3231.
  • the configuration of the right second hinge 332 driven by being coupled to the drive module 7 described with reference to FIGS. 21 to 24 is symmetrically implemented in the remaining second hinge 331.
  • the same mechanism may be applied to each of the first hinges 311 and 312, except that the first support 310 and the second support 320 are configured such that the first support 310 is pivoted in response to the driving of the drive module 7.
  • a hinge cover may be installed where the drive module 7 is not installed from among the pair of first hinges 311 and 312 and the pair of second hinges 331 and 332.
  • FIGS. 25 to 28 illustrate the first hinge 312 on the right side from among the first hinges 311 and 312.
  • the rotation restraining part 770 includes a rotary gear plate 776 rotated in conjunction with the first rotary part 3322, i.e., the first rotary part 3322 rotated in conjunction with the first support 310 or the second support 320, and a gear restraining member 771 installed on the second rotary part 3321.
  • the rotary gear plate 776 may have gear teeth circumferentially formed along an end thereof, and the gear restraining member 771 may have a gear insertion portion 772 formed at an end thereof to be insertable into a space between the gear teeth.
  • the gear insertion portion 772 is inserted into the space between the gear teeth of the rotary gear plate 776 by sliding the gear restraining member 771, rotation of the first rotary part 3322 is restrained.
  • the rotation restraining part 770 may include a pair of restraining protrusions 774 protruding opposite to each other and being able to be elastically pressurized.
  • a pair of restraining recesses 775 may be formed in a plate surface of the second rotary part 3321 at each side of the rotation restraining part 770 along the moving direction of the rotation restraining part 770 so that when the rotation restraining part 770 is moved in the vertical direction, the restraining protrusions 774 are inserted into the restraining recesses 775.
  • the second support 320 performs a pivoting motion by a rotational force of the drive module 7, whereas the first support 310 is limited in pivoting motion, so that the user can exercise an elbow joint while a wrist joint is not moved.
  • the first support 310 performs a pivoting motion by the rotational force of the drive module 7, whereas the second support 320 is limited in pivoting motion, so that the user can exercise the wrist joint while the elbow joint is not moved.
  • the above configuration may be applied equally to the second hinges 331 and 332.
  • FIG. 26 is a view illustrating the configuration of a rotation restraining part 770 according to another embodiment of the present disclosure.
  • a pair of restraining recesses 774a are formed on each side of the rotation restraining part 270, and a restraining rod 775a installed in the second rotary part 3321 is inserted into the restraining recesses 774a.
  • the restraining rod 775a is elastically pressurized in a direction of being inserted into the restraining recesses 774a, and, for example, may have a configuration that is pressurized in the direction of being inserted into the restraining recesses 774a by an elastic force of a spring.
  • the drive module 7 may include a gear protrusion.
  • the gear protrusion is installed on a position capable of being in contact with the gear restraining member 771 at a position where the gear restraining member 771 is meshed with the rotary gear plate 776.
  • the drive module 7 is prevented from being fastened to the first hinges 311 and 312 or the second hinges 331 or 332 in a state in which the gear restraining member 771 is meshed with the rotary gear plate 776, i.e., in a state in which the first rotary part 3322 and the second rotary part 3321 cannot be rotated relative to each other.
  • each of the first hinges 311 and 312 and the second hinges 331 and 332 may have a status display window 773 on which a current status is displayed in response to the operation of the gear restraining member 771.
  • 'Lock' may be displayed on the status display window 773.
  • 'Unlock' may be displayed on the status display window 773.
  • this may be mechanically implemented so that such characters are displayed in conjunction with sliding movement of the gear restraining member 771.
  • the gear restraining member 771 is installed on the second rotary part 3321 and the rotary gear plate 776 is configured to be rotated in conjunction with the first rotary part 3322.
  • the opposite example may be applied.
  • the gear restraining member 771 may be installed on the first rotary part 3322, and the rotary gear plate 776 may be configured to be rotated in conjunction with the second rotary part 3321.
  • the rehabilitation exercise apparatus 1 may enable the user to perform rehabilitation by selectively mounting the drive module 7 to each hinge in response to a position of the upper or lower limb to be exercised.
  • the rehabilitation exercise device 1 when the drive module 7 is mounted on the left second hinge 311 or the left second hinge 331, the rehabilitation exercise device 1 according to the embodiment of the present disclosure is worn on a right upper limb to exercise, without causing interference of the drive module 7 with a user's torso.
  • the drive module 7 when the drive module 7 is mounted on the left first hinge 311, exercise of a right wrist joint is possible.
  • exercise of a right elbow joint is possible.
  • the rehabilitation exercise device 1 When the drive module 7 is mounted on the right second hinge 312 or the left second hinge 332, the rehabilitation exercise device 1 according to the embodiment of the present disclosure is worn on a left upper limb to exercise, without causing interference of the drive module 7 with the user's torso.
  • the drive module 7 when the drive module 7 is mounted on the right first hinge 312, exercise of a left wrist joint is possible.
  • the drive module 7 is mounted on the right second hinge 332, exercise of a left elbow joint is possible.
  • the drive module 7 may be configured to enable interworking with an app installed in a smart device such as a smart phone.
  • a smart device such as a smart phone.
  • the rehabilitation exercise apparatus 1 may include a mounting position detecting part for automatically detecting the mounting position of the drive module 7.
  • the mounting position detecting part detects the mounting position where the drive module 7 is mounted from among the pair of first hinges 311 and 312 and the pair of second hinges 331 and 332.
  • the mounting position detecting part includes a to-be-detected module, and a sensor module HS.
  • the to-be-detected module is installed on each of the pair of first hinges 311 and 312 and the pair of second hinges 331 and 332.
  • the sensor module HS is installed in the drive module 7, and recognizes the to-be-detected module when the drive module 7 is mounted on any one of the first hinges 311 and 312 and the second hinges 331 and 332.
  • the respective to-be-detected modules installed on the first hinges 311 and 312 and the second hinges 331 and 332 are configured to be distinguishably recognized, so that the sensor module HS recognizes where the drive module 7 is installed from among the first hinges 311 and 312 and the second hinges 331 and 332.
  • FIGS. 28 and 29 are views illustrating an example of the configuration of a mounting position detecting part according to an embodiment of the present disclosure.
  • the sensor module HS according to the embodiment of the present disclosure includes a Hall sensor.
  • the Hall sensor is installed in the body housing 710 of the drive module 7.
  • the respective to-be-detected modules include magnet members M and magnet holes 810a, 810b, 810c, and 810d.
  • the respective magnet members M may be embedded in the first hinges 331 and the second hinges 331 and 332 at positions corresponding to each other.
  • the magnet members M are installed at positions detectable by the Hall sensor when the drive module 7 is mounted on the first hinges 311 and 312 or the second hinges 331 and 332.
  • the magnet holes 810a, 810b, 810c, and 810d are formed in the first hinges 311 and 312 and the second hinges 331 and 332, respectively, to allow exposure of the magnet members M therethrough.
  • the respective magnet holes 810a, 810b, 810c, and 810d may be configured to differ in at least one of position and size, so that when detecting the magnetic fields of the magnet members M, the Hall sensor recognizes the mounting position of the drive module 7 by detecting magnetic fields having different characteristics according to the positions and sizes of the magnet holes 810a, 810b, 810c, and 810d.
  • the four magnet holes 810a, 810b, 810c, and 810d formed in the first hinges 311 and 312 and the second hinges 331 and 332, respectively, may be located at upper and lower positions with respect to the Hall sensor.
  • the magnet hole 810a is formed in the right first hinge 312
  • the magnet hole 810b is formed in the left first hinge 311
  • the magnet hole 810c is formed in the right second hinge 332
  • the magnet hole 810d is formed in the left second hinge 331
  • the mounting position of the drive module 7 is recognized by detecting magnetic fields having different characteristics according to the positions of the magnet holes 810a, 810b, 810c, and 810d.
  • magnet holes 810a, 810b, 810c, and 810d have different positions and sizes, other configurations are possible as long as magnetic field characteristics are distinguishable.
  • the to-be-detected module may include a short-range communication tag, for example, a RF or NFC tag, in which information on a corresponding position is embedded, and the sensor module HS may include a reader that recognizes the information embedded in the tag.
  • a short-range communication tag for example, a RF or NFC tag
  • the sensor module HS may include a reader that recognizes the information embedded in the tag.
  • the present disclosure can find application in a rehabilitation exercise device for rehabilitation of a patient's upper or lower limb.

Landscapes

  • 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)

Claims (2)

  1. Rehabilitationsgerät (1) für die oberen und unteren Gliedmaßen, wobei das Rehabilitationsgerät (1) umfasst:
    eine erste Stütze (310), die die Hand oder den Fuß eines Benutzers stützt;
    eine zweite Stütze (320), die den Unterarm oder die Wade eines Benutzers stützt;
    ein Paar erster Scharniere (311, 312), die die erste Stütze (310) und die zweite Stütze (320) drehbar miteinander verbinden;
    eine dritte Stütze (330), die den Oberarm oder Oberschenkel eines Benutzers stützt;
    ein Paar zweiter Scharniere (331, 332), die die zweite Stütze (320) und die dritte Stütze (330) drehbar miteinander verbinden;
    ein Antriebsmodul (7), das wahlweise an einem der ersten Scharniere (311, 312) oder den zweiten Scharnieren (331, 332) angebracht ist und dazu dient, die erste Stütze (310) oder die zweite Stütze (320) zu schwenken; und
    ein Montagepositionserfassungsteil, das eine Montageposition erfasst, an der das Antriebsmodul (7) aus dem Paar erster Scharniere (311, 312) und dem Paar zweiter Scharniere (331, 332) montiert ist, wobei das Montagepositionserfassungsteil umfasst:
    ein zu erfassendes Modul, das an jedem der ersten Scharniere (311, 312) und den zweiten Scharnieren (331, 332) angebracht ist; und
    ein Sensormodul (HS), das in dem Antriebsmodul (7) installiert ist und so konfiguriert ist, dass es das zu erkennende Modul erkennt, wenn das Antriebsmodul (7) an einem der ersten Scharniere (311, 312) und den zweiten Scharnieren (331, 332) montiert ist,
    wobei die jeweiligen zu erkennenden Module, die an den ersten Scharnieren (311, 312) und den zweiten Scharnieren (331, 332) installiert sind, so konfiguriert sind, dass sie unterscheidbar erkannt werden können, wobei das Sensormodul (HS) einen Hall-Sensor umfasst; wobei das zu erfassende Modul umfasst:
    ein Magnetelement (M), das in jedes der ersten Scharniere (311, 312) und der zweiten Scharniere (331, 332) so eingebettet ist, dass die jeweiligen Magnetelemente (M) an einander entsprechenden Positionen angeordnet sind; und
    ein Magnetloch (810a, 810b, 810c, 810d) in jedem der ersten Scharniere (311, 312) und der zweiten Scharniere (331, 332) ausgebildet ist, um das Magnetelement (M) durch diese hindurch freizulegen,
    wobei die jeweiligen Magnetlöcher (810a, 810b, 810c, 810d) so konfiguriert sind, dass sie sich in mindestens einer ihrer Eigenschaften, nämlich ihrer Position und/oder ihrer Größe, unterscheiden, so dass der Hall-Sensor die Montageposition des Antriebsmoduls (7) unterscheidbar erkennen kann.
  2. Rehabilitationsübungsgerät (1) nach Anspruch 1, wobei das zu erkennende Modul einen Kurzstreckenkommunikations-Tag umfasst, der an jedem der ersten Scharniere (311, 312) und zweiten Scharniere (331, 332) angebracht ist und in den Informationen über eine entsprechende Position eingebettet sind; und
    das Sensormodul (HS) einen Leser umfasst, der die in dem Tag eingebetteten Informationen erkennt, wenn das Antriebsmodul an dem ersten Scharnier (311, 312) oder dem zweiten Scharnier (331, 332) angebracht ist.
EP20887664.9A 2019-11-15 2020-11-02 Rehabilitationsübungsgerät für arme und beine Active EP3984510B1 (de)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR1020190146775A KR102246049B1 (ko) 2019-11-15 2019-11-15 상지 및 하지용 재활 운동 장치
KR20200022972 2020-02-25
KR1020200141794A KR102471990B1 (ko) 2020-02-25 2020-10-29 상지 및 하지용 재활 운동 장치
PCT/KR2020/015122 WO2021096128A1 (ko) 2019-11-15 2020-11-02 상지 및 하지용 재활 운동 장치

Publications (3)

Publication Number Publication Date
EP3984510A1 EP3984510A1 (de) 2022-04-20
EP3984510A4 EP3984510A4 (de) 2023-08-16
EP3984510B1 true EP3984510B1 (de) 2025-07-23

Family

ID=75912732

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20887664.9A Active EP3984510B1 (de) 2019-11-15 2020-11-02 Rehabilitationsübungsgerät für arme und beine

Country Status (3)

Country Link
EP (1) EP3984510B1 (de)
JP (1) JP7231750B2 (de)
WO (1) WO2021096128A1 (de)

Families Citing this family (73)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12029940B2 (en) 2019-03-11 2024-07-09 Rom Technologies, Inc. Single sensor wearable device for monitoring joint extension and flexion
US11471729B2 (en) 2019-03-11 2022-10-18 Rom Technologies, Inc. System, method and apparatus for a rehabilitation machine with a simulated flywheel
US11433276B2 (en) 2019-05-10 2022-09-06 Rehab2Fit Technologies, Inc. Method and system for using artificial intelligence to independently adjust resistance of pedals based on leg strength
US11957956B2 (en) 2019-05-10 2024-04-16 Rehab2Fit Technologies, Inc. System, method and apparatus for rehabilitation and exercise
US11801423B2 (en) 2019-05-10 2023-10-31 Rehab2Fit Technologies, Inc. Method and system for using artificial intelligence to interact with a user of an exercise device during an exercise session
US12102878B2 (en) 2019-05-10 2024-10-01 Rehab2Fit Technologies, Inc. Method and system for using artificial intelligence to determine a user's progress during interval training
US11904207B2 (en) 2019-05-10 2024-02-20 Rehab2Fit Technologies, Inc. Method and system for using artificial intelligence to present a user interface representing a user's progress in various domains
US11957960B2 (en) 2019-05-10 2024-04-16 Rehab2Fit Technologies Inc. Method and system for using artificial intelligence to adjust pedal resistance
US11833393B2 (en) 2019-05-15 2023-12-05 Rehab2Fit Technologies, Inc. System and method for using an exercise machine to improve completion of an exercise
US11896540B2 (en) 2019-06-24 2024-02-13 Rehab2Fit Technologies, Inc. Method and system for implementing an exercise protocol for osteogenesis and/or muscular hypertrophy
US12402804B2 (en) 2019-09-17 2025-09-02 Rom Technologies, Inc. Wearable device for coupling to a user, and measuring and monitoring user activity
US11071597B2 (en) 2019-10-03 2021-07-27 Rom Technologies, Inc. Telemedicine for orthopedic treatment
US12154672B2 (en) 2019-10-03 2024-11-26 Rom Technologies, Inc. Method and system for implementing dynamic treatment environments based on patient information
US12427376B2 (en) 2019-10-03 2025-09-30 Rom Technologies, Inc. Systems and methods for an artificial intelligence engine to optimize a peak performance
US12087426B2 (en) 2019-10-03 2024-09-10 Rom Technologies, Inc. Systems and methods for using AI ML to predict, based on data analytics or big data, an optimal number or range of rehabilitation sessions for a user
US11139060B2 (en) 2019-10-03 2021-10-05 Rom Technologies, Inc. Method and system for creating an immersive enhanced reality-driven exercise experience for a user
US12605613B2 (en) 2022-05-04 2026-04-21 Rom Technologies, Inc. Systems and methods for using smart exercise devices to perform cardiovascular rehabilitation
US12176089B2 (en) 2019-10-03 2024-12-24 Rom Technologies, Inc. System and method for using AI ML and telemedicine for cardio-oncologic rehabilitation via an electromechanical machine
US12020799B2 (en) 2019-10-03 2024-06-25 Rom Technologies, Inc. Rowing machines, systems including rowing machines, and methods for using rowing machines to perform treatment plans for rehabilitation
US12224052B2 (en) 2019-10-03 2025-02-11 Rom Technologies, Inc. System and method for using AI, machine learning and telemedicine for long-term care via an electromechanical machine
US11923065B2 (en) 2019-10-03 2024-03-05 Rom Technologies, Inc. Systems and methods for using artificial intelligence and machine learning to detect abnormal heart rhythms of a user performing a treatment plan with an electromechanical machine
US12562243B2 (en) 2019-10-03 2026-02-24 Rom Technologies, Inc. System and method for processing medical claims using biometric signatures
US12539446B2 (en) 2019-10-03 2026-02-03 Rom Technologies, Inc. Method and system for using sensors to optimize a user treatment plan in a telemedicine environment
US12020800B2 (en) 2019-10-03 2024-06-25 Rom Technologies, Inc. System and method for using AI/ML and telemedicine to integrate rehabilitation for a plurality of comorbid conditions
US11270795B2 (en) 2019-10-03 2022-03-08 Rom Technologies, Inc. Method and system for enabling physician-smart virtual conference rooms for use in a telehealth context
US12220201B2 (en) 2019-10-03 2025-02-11 Rom Technologies, Inc. Remote examination through augmented reality
US11087865B2 (en) 2019-10-03 2021-08-10 Rom Technologies, Inc. System and method for use of treatment device to reduce pain medication dependency
US11317975B2 (en) 2019-10-03 2022-05-03 Rom Technologies, Inc. Method and system for treating patients via telemedicine using sensor data from rehabilitation or exercise equipment
US12548656B2 (en) 2019-10-03 2026-02-10 Rom Technologies, Inc. System and method for an enhanced patient user interface displaying real-time measurement information during a telemedicine session
US11961603B2 (en) 2019-10-03 2024-04-16 Rom Technologies, Inc. System and method for using AI ML and telemedicine to perform bariatric rehabilitation via an electromechanical machine
US11955222B2 (en) 2019-10-03 2024-04-09 Rom Technologies, Inc. System and method for determining, based on advanced metrics of actual performance of an electromechanical machine, medical procedure eligibility in order to ascertain survivability rates and measures of quality-of-life criteria
US11978559B2 (en) 2019-10-03 2024-05-07 Rom Technologies, Inc. Systems and methods for remotely-enabled identification of a user infection
US11075000B2 (en) 2019-10-03 2021-07-27 Rom Technologies, Inc. Method and system for using virtual avatars associated with medical professionals during exercise sessions
US12478837B2 (en) 2019-10-03 2025-11-25 Rom Technologies, Inc. Method and system for monitoring actual patient treatment progress using sensor data
US11265234B2 (en) 2019-10-03 2022-03-01 Rom Technologies, Inc. System and method for transmitting data and ordering asynchronous data
US11955220B2 (en) 2019-10-03 2024-04-09 Rom Technologies, Inc. System and method for using AI/ML and telemedicine for invasive surgical treatment to determine a cardiac treatment plan that uses an electromechanical machine
US12230381B2 (en) 2019-10-03 2025-02-18 Rom Technologies, Inc. System and method for an enhanced healthcare professional user interface displaying measurement information for a plurality of users
US12589279B2 (en) 2019-10-03 2026-03-31 Rom Technologies, Inc. Systems and methods of using artificial intelligence and machine learning for generating an alignment plan capable of enabling the aligning of a user's body during a treatment session
US12420145B2 (en) 2019-10-03 2025-09-23 Rom Technologies, Inc. Systems and methods of using artificial intelligence and machine learning for generating alignment plans to align a user with an imaging sensor during a treatment session
US12230382B2 (en) 2019-10-03 2025-02-18 Rom Technologies, Inc. Systems and methods for using artificial intelligence and machine learning to predict a probability of an undesired medical event occurring during a treatment plan
US11915816B2 (en) 2019-10-03 2024-02-27 Rom Technologies, Inc. Systems and methods of using artificial intelligence and machine learning in a telemedical environment to predict user disease states
US11515021B2 (en) 2019-10-03 2022-11-29 Rom Technologies, Inc. Method and system to analytically optimize telehealth practice-based billing processes and revenue while enabling regulatory compliance
US20230245750A1 (en) 2019-10-03 2023-08-03 Rom Technologies, Inc. Systems and methods for using elliptical machine to perform cardiovascular rehabilitation
US11325005B2 (en) 2019-10-03 2022-05-10 Rom Technologies, Inc. Systems and methods for using machine learning to control an electromechanical device used for prehabilitation, rehabilitation, and/or exercise
US12191018B2 (en) 2019-10-03 2025-01-07 Rom Technologies, Inc. System and method for using artificial intelligence in telemedicine-enabled hardware to optimize rehabilitative routines capable of enabling remote rehabilitative compliance
US12469587B2 (en) 2019-10-03 2025-11-11 Rom Technologies, Inc. Systems and methods for assigning healthcare professionals to remotely monitor users performing treatment plans on electromechanical machines
US12380984B2 (en) 2019-10-03 2025-08-05 Rom Technologies, Inc. Systems and methods for using artificial intelligence and machine learning to generate treatment plans having dynamically tailored cardiac protocols for users to manage a state of an electromechanical machine
US11282608B2 (en) 2019-10-03 2022-03-22 Rom Technologies, Inc. Method and system for using artificial intelligence and machine learning to provide recommendations to a healthcare provider in or near real-time during a telemedicine session
US12555667B2 (en) 2019-10-03 2026-02-17 Rom Technologies, Inc. Systems and methods for using AI/ML and for cardiac and pulmonary treatment via an electromechanical machine related to urologic disorders and antecedents and sequelae of certain urologic surgeries
US11887717B2 (en) 2019-10-03 2024-01-30 Rom Technologies, Inc. System and method for using AI, machine learning and telemedicine to perform pulmonary rehabilitation via an electromechanical machine
US12062425B2 (en) 2019-10-03 2024-08-13 Rom Technologies, Inc. System and method for implementing a cardiac rehabilitation protocol by using artificial intelligence and standardized measurements
US11282604B2 (en) 2019-10-03 2022-03-22 Rom Technologies, Inc. Method and system for use of telemedicine-enabled rehabilitative equipment for prediction of secondary disease
US11955221B2 (en) 2019-10-03 2024-04-09 Rom Technologies, Inc. System and method for using AI/ML to generate treatment plans to stimulate preferred angiogenesis
US11101028B2 (en) 2019-10-03 2021-08-24 Rom Technologies, Inc. Method and system using artificial intelligence to monitor user characteristics during a telemedicine session
US12100499B2 (en) 2020-08-06 2024-09-24 Rom Technologies, Inc. Method and system for using artificial intelligence and machine learning to create optimal treatment plans based on monetary value amount generated and/or patient outcome
US12150792B2 (en) 2019-10-03 2024-11-26 Rom Technologies, Inc. Augmented reality placement of goniometer or other sensors
US11069436B2 (en) 2019-10-03 2021-07-20 Rom Technologies, Inc. System and method for use of telemedicine-enabled rehabilitative hardware and for encouraging rehabilitative compliance through patient-based virtual shared sessions with patient-enabled mutual encouragement across simulated social networks
US11955223B2 (en) 2019-10-03 2024-04-09 Rom Technologies, Inc. System and method for using artificial intelligence and machine learning to provide an enhanced user interface presenting data pertaining to cardiac health, bariatric health, pulmonary health, and/or cardio-oncologic health for the purpose of performing preventative actions
US11282599B2 (en) 2019-10-03 2022-03-22 Rom Technologies, Inc. System and method for use of telemedicine-enabled rehabilitative hardware and for encouragement of rehabilitative compliance through patient-based virtual shared sessions
US12246222B2 (en) 2019-10-03 2025-03-11 Rom Technologies, Inc. Method and system for using artificial intelligence to assign patients to cohorts and dynamically controlling a treatment apparatus based on the assignment during an adaptive telemedical session
US11915815B2 (en) 2019-10-03 2024-02-27 Rom Technologies, Inc. System and method for using artificial intelligence and machine learning and generic risk factors to improve cardiovascular health such that the need for additional cardiac interventions is mitigated
US11830601B2 (en) 2019-10-03 2023-11-28 Rom Technologies, Inc. System and method for facilitating cardiac rehabilitation among eligible users
US12420143B1 (en) 2019-10-03 2025-09-23 Rom Technologies, Inc. System and method for enabling residentially-based cardiac rehabilitation by using an electromechanical machine and educational content to mitigate risk factors and optimize user behavior
US12347543B2 (en) 2019-10-03 2025-07-01 Rom Technologies, Inc. Systems and methods for using artificial intelligence to implement a cardio protocol via a relay-based system
US12327623B2 (en) 2019-10-03 2025-06-10 Rom Technologies, Inc. System and method for processing medical claims
US11826613B2 (en) 2019-10-21 2023-11-28 Rom Technologies, Inc. Persuasive motivation for orthopedic treatment
US12562271B2 (en) 2019-11-06 2026-02-24 Rom Technologies, Inc. System for remote treatment utilizing privacy controls
US12424319B2 (en) 2019-11-06 2025-09-23 Rom Technologies, Inc. System for remote treatment utilizing privacy controls
US11107591B1 (en) 2020-04-23 2021-08-31 Rom Technologies, Inc. Method and system for describing and recommending optimal treatment plans in adaptive telemedical or other contexts
CN115955937B (zh) 2020-06-26 2025-09-09 罗姆科技股份有限公司 用于锚固电子装置并测量关节角度的系统、方法和设备
US12515104B2 (en) 2020-10-28 2026-01-06 Rom Technologies, Inc. Systems and methods for using machine learning to control a rehabilitation and exercise electromechanical device
US20220314072A1 (en) 2021-03-30 2022-10-06 Rehab2Fit Technologies, Inc. Adjustment of exercise based on artificial intelligence, exercise plan, and user feedback
CN114404881B (zh) * 2022-01-07 2023-08-29 冯雪 一种神经内科下肢康复训练装置

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7204814B2 (en) * 2003-05-29 2007-04-17 Muscle Tech Ltd. Orthodynamic rehabilitator
WO2006052954A2 (en) * 2004-11-09 2006-05-18 Northeastern University Electro-rheological fluid brake and actuator devices and orthotic devices using the same
KR101163903B1 (ko) 2010-08-13 2012-07-09 한국과학기술원 뇌졸중 환자의 상지 재활을 위한 외골격 로봇
KR101248237B1 (ko) * 2011-01-03 2013-03-27 최주희 무릎관절 재활운동기구
KR101317817B1 (ko) * 2011-09-29 2013-10-15 연세대학교 원주산학협력단 근전도 피드백 기반의 능동형 상지 재활 훈련 시스템
KR101360325B1 (ko) * 2012-05-04 2014-02-12 가톨릭대학교 산학협력단 슬관절 운동기구 및 운동방법
JP2014054273A (ja) * 2012-09-11 2014-03-27 Univ Of Tsukuba 駆動ユニット及びその駆動ユニットを備えた装着式動作補助装置
WO2015099858A2 (en) * 2013-09-30 2015-07-02 Board Of Regents, The University Of Texas System Upper-body robotic exoskeleton
KR102122856B1 (ko) * 2013-12-17 2020-06-15 삼성전자주식회사 보행 보조 장치 및 그 제어 방법
JP2015217440A (ja) * 2014-05-14 2015-12-07 国立大学法人信州大学 ロボティックウェア
KR101602728B1 (ko) * 2014-08-25 2016-03-11 주식회사 바로텍시너지 고정훈련과 이동훈련이 가능한 분리형 하지 재활로봇
KR101850992B1 (ko) * 2015-11-18 2018-04-20 주식회사 시드테크 상지 재활훈련 장치 및 방법
US20200121485A1 (en) * 2017-06-20 2020-04-23 Opum Technologies Limited Orthosis or exoskeleton system with modular elements

Also Published As

Publication number Publication date
EP3984510A1 (de) 2022-04-20
JP2022523165A (ja) 2022-04-21
WO2021096128A1 (ko) 2021-05-20
EP3984510A4 (de) 2023-08-16
JP7231750B2 (ja) 2023-03-01

Similar Documents

Publication Publication Date Title
EP3984510B1 (de) Rehabilitationsübungsgerät für arme und beine
EP3984512B1 (de) Trainingsvorrichtung zur rehabilitation der oberen und unteren extremitäten
EP3984508B1 (de) Rehabilitationsübungsgerät für obere und untere gliedmassen
EP3984511B1 (de) Rehabilitationsübungsgerät für obere und untere gliedmassen
US11819468B2 (en) Rehabilitation exercise device for upper and lower limbs
US12599530B2 (en) Rehabilitation exercise device for upper and lower limbs
US20230346628A1 (en) Rehabilitation exercise device for upper and lower limbs
EP3984513B1 (de) Rehabilitationsübungsgerät für obere und untere gliedmassen
EP3984509B1 (de) Rehabilitationsübungsgerät für obere und untere gliedmassen
KR102471990B1 (ko) 상지 및 하지용 재활 운동 장치
KR102469723B1 (ko) 상지 및 하지용 재활 운동 장치
EP4112033A1 (de) Rehabilitationsübungsgerät für obere und untere gliedmassen
US20110009788A1 (en) Orthotic Device with Removably Attachable Actuator
US12376982B2 (en) Spherical joint mobilization brace

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20220114

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
A4 Supplementary search report drawn up and despatched

Effective date: 20230713

RIC1 Information provided on ipc code assigned before grant

Ipc: A61H 1/00 20060101ALI20230707BHEP

Ipc: A61H 1/02 20060101AFI20230707BHEP

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20250305

RAP3 Party data changed (applicant data changed or rights of an application transferred)

Owner name: H ROBOTICS INC.

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602020055219

Country of ref document: DE

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20250723

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20251124

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250723

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1815655

Country of ref document: AT

Kind code of ref document: T

Effective date: 20250723

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20251123

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20251125

Year of fee payment: 6

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20251023

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250723

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250723

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250723

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20251024

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250723

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250723

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250723

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250723

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20251023

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250723

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250723

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250723

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250723

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250723