EP4096612C0 - Modulares exoskelettsystem - Google Patents

Modulares exoskelettsystem

Info

Publication number
EP4096612C0
EP4096612C0 EP21707367.5A EP21707367A EP4096612C0 EP 4096612 C0 EP4096612 C0 EP 4096612C0 EP 21707367 A EP21707367 A EP 21707367A EP 4096612 C0 EP4096612 C0 EP 4096612C0
Authority
EP
European Patent Office
Prior art keywords
exoskeleton system
modular exoskeleton
modular
exoskeleton
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
EP21707367.5A
Other languages
English (en)
French (fr)
Other versions
EP4096612A1 (de
EP4096612B1 (de
Inventor
Andrea Scoglio
Giovanni Cappiello
Stefano Mazzoleni
Alessandro Ridolfi
Benedetto Allotta
Jonathan Gelli
Lorenzo Bartalucci
Matteo Bianchi
Nicola Secciani
Valle Andrea Della
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.)
Universita degli Studi di Firenze
Humanware SRL
Original Assignee
Universita degli Studi di Firenze
Humanware SRL
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Universita degli Studi di Firenze, Humanware SRL filed Critical Universita degli Studi di Firenze
Publication of EP4096612A1 publication Critical patent/EP4096612A1/de
Application granted granted Critical
Publication of EP4096612C0 publication Critical patent/EP4096612C0/de
Publication of EP4096612B1 publication Critical patent/EP4096612B1/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
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A61H1/0288—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/065—Hands
    • A61H2205/067—Fingers

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)
  • Manipulator (AREA)
EP21707367.5A 2020-01-29 2021-01-29 Modulares exoskelettsystem Active EP4096612B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102020000001738A IT202000001738A1 (it) 2020-01-29 2020-01-29 Sistema esoscheletrico modulare
PCT/IB2021/050706 WO2021152523A1 (en) 2020-01-29 2021-01-29 Modular exoskeletal system

Publications (3)

Publication Number Publication Date
EP4096612A1 EP4096612A1 (de) 2022-12-07
EP4096612C0 true EP4096612C0 (de) 2025-08-06
EP4096612B1 EP4096612B1 (de) 2025-08-06

Family

ID=70295943

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21707367.5A Active EP4096612B1 (de) 2020-01-29 2021-01-29 Modulares exoskelettsystem

Country Status (3)

Country Link
EP (1) EP4096612B1 (de)
IT (1) IT202000001738A1 (de)
WO (1) WO2021152523A1 (de)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114177003A (zh) * 2021-12-22 2022-03-15 河海大学常州校区 一种新型刚柔耦合型外骨骼手康复机构及其工作方法

Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4403474B2 (ja) * 1999-12-09 2010-01-27 ソニー株式会社 触覚提示機構及びこれを用いた力触覚提示装置
EP2178680B1 (de) 2007-07-30 2014-05-07 Scuola Superiore Di Studi Universitari S. Anna Tragbares mechatronisches gerät
US8574178B2 (en) 2009-05-26 2013-11-05 The Hong Kong Polytechnic University Wearable power assistive device for helping a user to move their hand
EP2549971B1 (de) * 2010-03-23 2014-12-03 Idrogenet S.R.L. Vorrichtung zur handrehabilitation
US9532916B2 (en) 2012-03-30 2017-01-03 Rehab-Robotics Company Limited Wearable power assistive device for hand rehabilitation
ITPI20120094A1 (it) 2012-08-28 2014-03-01 Scuola Superiore S Anna Dispositivo esoscheletrico indossabile per la riabilitazione della mano
WO2015095459A1 (en) 2013-12-18 2015-06-25 Board Of Regents, The University Of Texas System Robotic finger exoskeleton
US10423227B2 (en) 2014-07-21 2019-09-24 Dexta Robotics Hand exoskeleton force feedback system
ES2558024B1 (es) 2014-07-31 2016-11-10 Universidad Miguel Hernández De Elche Dispositivo robótico modular y auto-adaptativo para la rehabilitación de la mano y procedimiento de uso
ITUB20161088A1 (it) 2016-02-26 2017-08-26 Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna Dispositivo esoscheletrico per la mano
CN108201497B (zh) * 2016-12-20 2020-10-02 富伯生医科技股份有限公司 穿戴式手部复健辅具系统
CN107432816B (zh) * 2017-09-21 2019-07-16 哈尔滨工业大学 一种拇指功能康复的外骨骼机器人

Also Published As

Publication number Publication date
EP4096612A1 (de) 2022-12-07
IT202000001738A1 (it) 2021-07-29
WO2021152523A1 (en) 2021-08-05
EP4096612B1 (de) 2025-08-06

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