EP4144331A1 - Dispositif d'aide au mouvement pour articulation du coude - Google Patents

Dispositif d'aide au mouvement pour articulation du coude Download PDF

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Publication number
EP4144331A1
EP4144331A1 EP22194044.8A EP22194044A EP4144331A1 EP 4144331 A1 EP4144331 A1 EP 4144331A1 EP 22194044 A EP22194044 A EP 22194044A EP 4144331 A1 EP4144331 A1 EP 4144331A1
Authority
EP
European Patent Office
Prior art keywords
spool
assistive device
cam
arm
movement
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.)
Granted
Application number
EP22194044.8A
Other languages
German (de)
English (en)
Other versions
EP4144331C0 (fr
EP4144331B1 (fr
Inventor
Emir MOBEDI
Arash AJOUDANI
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.)
Fondazione Istituto Italiano di Tecnologia
Politecnico di Milano
Original Assignee
Fondazione Istituto Italiano di Tecnologia
Politecnico di Milano
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
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Publication of EP4144331A1 publication Critical patent/EP4144331A1/fr
Application granted granted Critical
Publication of EP4144331C0 publication Critical patent/EP4144331C0/fr
Publication of EP4144331B1 publication Critical patent/EP4144331B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • A61H1/0274—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
    • 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
    • A61H2201/1418—Cam
    • 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
    • A61H2201/1614—Shoulder, e.g. for neck stretching
    • 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

Definitions

  • the present invention is related to a movement assistive device for the elbow joint, wearable by a user for elbow effort compensation to be used especially in industrial applications, wherein the actuation system is remotely placed at the upper back of the user's body in order to reduce the weight of the device distributed across the human arm.
  • the actuation system is cable-driven, compliant with human elbow torque/angle profiles, lightweight, and it is provided with energy storage material.
  • Robotic exoskeletons are wearable mechanical devices designed to enhance the physical performance of the wearer, or to assist him/her to regain a weakened or lost functionality.
  • Soft exosuit do not constrain the motion of human joints since all interfaces and transmissions of the assistive forces to the human body are implemented through tendon driven mechanisms and elastic elements.
  • the general idea of these devices is to locate the actuation system proximally and to transmit the force via Bowden cables. In this way, the load and the reflected inertia at the supported joints can be reduced during the execution of physical tasks, while increasing the comfort of the wearer. Due to their low weight, compact structure, and low power consumption ability, they have found several applications targeting the activities of daily living
  • the device is actuated using an agonist/antagonist motorized actuator with a planetary reduction drive located at the upper back of the human. It is also known to exploit the under-actuation principle to support the elbow joint of both arms using a single DC motor coupled with two pinion-bevel gear systems. The clutch and brake subsystems are used to enable an independent control of the two arms from the single actuation unit.
  • the technical object of the present invention is to provide a movement assistive device for the elbow joint which overcomes the drawbacks of the prior art.
  • the object of the present invention is to provide a movement assistive device for the elbow joint wherein the actuation mechanism takes into account the human elbow torque-angle profile.
  • the object is to provide an energy efficient, compliant, comfortable torque movement assisting device, which is able to reproduce the torque/angle characteristic profile of the elbow.
  • the specifically technical object and the specified aims are substantially achieved by a movement assistive device for the elbow joint comprising the technical characteristics described in one or more of the appended claims.
  • the movement assistive device for the elbow joint described integrates a single motor coupled with an elastic bungee and a cam-spool mechanism to enable energy exchange during the elbow flexion movement, while allowing for free-motions during the extension of the joint.
  • numeral 1 designates a movement assistive device 1 for the elbow j oint, wearable by a user for elbow effort compensation.
  • the device 1 is a soft wearable movement assistive device.
  • the movement assistive device 1 for the elbow joint comprises an actuation unit 20 provided with a motor 2.
  • the motor 2 is a single DC motor.
  • the movement assistive device 1 comprises an upper back garment removably attachable to the upper back of the wearer's body and configured for housing at least the actuation unit 20.
  • the movement assistive device 1 comprises a battery pack housed in the upper back garment and configured to power at least the motor 2.
  • the movement assistive device 1 comprises at least two arm garments 3, 4, 3', 4' removably attachable to an arm of the wearer.
  • the at least two arm garments 3, 4, 3', 4' comprise two right arm garments 3,4 attachable to the right arm of the wearer and two left arm garments 3',4' attachable to the left arm of the wearer.
  • the right arm garments 3, 4 and the left arm garments 3', 4' are each embodied as a bracelet wearable by the user.
  • one of the right arm garments 3, 4 and one of the left arm garments 3', 4' are each wearable upstream of the respective elbow, while the other one of the right arm garments 3, 4 and the other one of the left arm garments 3', 4' are each wearable downstream of the respective elbow.
  • the right elbow of the user remains interposed between the right arm garments 3, 4 and the left elbow of the user remains interposed between the left arm garments 3', 4'.
  • the movement assistive device 1 comprises at least one transmission cable 5, 5'.
  • the at least one transmission cable 5, 5' is configured to transfer the drive action of the motor 2 to the at least two arm garments 3, 4, 3', 4' to assist the movement of at least one user elbow.
  • the at least one transmission cable 5, 5' comprises a right transmission cable 5 and a left transmission cable 5'.
  • the right transmission cable 5 is configured to transfer the drive action of the motor 2 to the right arm garments 3, 4 to assist the movement of the right user elbow
  • the left transmission cable 5' is configured to transfer the drive action of the motor 2 to the left arm garments 3', 4' to assist the movement of the left user elbow.
  • the at least one transmission cable 5, 5' is a Bowden cable. More preferably, both the right transmission cable 5 and the left transmission cable 5' are each a Bowden cable.
  • the actuation unit 20 comprises at least one elastic element 6 coupled with the motor 2 and configured to generate, under tension, an elastic force.
  • the actuation unit 20 comprises one elastic element 6 for each arm of the user.
  • the at least one elastic element 6 is a bungee. More preferably, the at least one elastic element 6 is an endless ring type of bungee with a diameter thickness of 5 mm and an initial length of 55 mm. Still preferably, each elastic element 6 is a bungee.
  • the actuation unit 20 comprises at least one supporting mechanism.
  • the actuation unit 20 comprises one supporting mechanism for each arm of the user.
  • each supporting mechanism comprises a plate 17 provided with two supports 18.
  • Each elastic element 6 is mounted on respective two supports 18.
  • the motor 2 is coupled to each plate 17 with a ball-screw mechanism to move said plate 17 linearly.
  • each plate 17 is moved linearly by the motor 2, the respective elastic element 6 is elongated, namely the respective elastic element 6 generates an elastic force. It should also be noted that the elastic force generated by each elastic element 6 is configured to assist the movement of a respective user elbow.
  • the at least one transmission cable 5, 5' connects the at least one elastic element 6 to the at least two arm garments 3,4,3',4' to apply the assistive torque to the wearer's arm.
  • the right transmission cable 5 connects a respective elastic element 6 to the right arm garments 3, 4, while the left transmission cable 5' connects a respective elastic element 6 to the left arm garments 3', 4'.
  • the actuation unit 20 comprises at least one cam-spool mechanism 7, 7' configured to elongate the at least one elastic element 6 as a function of human elbow torque/angle profile.
  • the elastic force generated by a respective elastic element 6 is transferred to a respective cam-spool mechanism 7, 7' as an input elastic force.
  • the actuation unit 20 comprises two cam-spool mechanisms 7,7', one for each arm of the user.
  • each cam-spool mechanism 7, 7' is configured to elongate a respective elastic element 6 as a function of a respective human elbow torque/angle profile.
  • each cam-spool mechanism 7, 7' comprises a rotatable camshaft 9 to move a respective transmission cable 5, 5'. More in detail, each cam-spool mechanism 7, 7' comprises a fixed cam with rotatable camshaft 9 to move a respective transmission cable 5, 5' around the fixed cam.
  • the fixed cam is a cam curve 8.
  • the cam curve 8 defines a part of the cam-spool mechanism 7, 7' having a curved shape, that is not a movable part.
  • Each transmission cable 5, 5' is channeled in a respective first guide 81 of the cam curve 8. Namely, each elastic element 6 is connected to a respective camshaft 9 by a respective transmission cable 5, 5'.
  • each cam-spool mechanism 7, 7' comprises a roller 10 and a spool 11 provided with a slot 12.
  • the spool 11 is coupled with the camshaft 9 through the roller 10 that can slide inside the slot 12.
  • the roller 10 is configured to vary the input elastic force.
  • Each transmission cable 5,5' moves around a respective cam curve 8 via a respective roller 10.
  • Each transmission cable 5, 5' is also channeled in a respective second guide 111 of the spool 11.
  • each transmission cable 5, 5' is firstly channeled in a respective cam curve 8 through a respective camshaft 9 and then each transmission cable 5, 5' is channeled in a respective spool 11 to finally reach the respective two arm garments 3, 4, 3', 4'.
  • each cam-spool mechanism 7, 7' the rotation axis of the camshaft 9 is decoupled and offset from the rotation axis of the spool 11.
  • the rotation axis of the camshaft 9 is distinct, parallel and misaligned with respect to the rotation axis of the spool 11.
  • each cam-spool mechanism 7, 7' comprises an eccentric shaft 15 operatively coupled with the respective spool 11 and the respective camshaft 9 . Since the rotation axis of the eccentric shaft 15 is parallel to the rotation axis of the camshaft 9, the spool 11 performs its rotation parallel to the rotation axis of the camshaft 9 as well. It should also be noted that, the incorporation of the eccentric shaft 15 achieves a reliable bedding for the spool 11. In fact, due to the geometry of the eccentric shaft 15, the working range of the camshaft 9 increases, since the roller 10 can approach the rotation center of the spool 11 for small degrees.
  • each cam-spool mechanism 7, 7' comprises a flange 16 to align the respective spool 11 and the respective eccentric shaft 15 on the same axis.
  • the actuation unit 20 comprises a control unit for driving the motor 2.
  • Said control unit is in signal communication with an external device.
  • the control unit is configured to activate the motor 2 so that the motor 2 can generate the drive action upon receival of a command signal by the external device.
  • the desired torque trend of the elbow joint to balance a load at hand was firstly calculated. More in details, a bungee has been selected as the elastic element 6, to provide an intrinsically soft interaction between movement assistive device 1 and the elbow, and to form a mechanical filter against dynamic uncertainties. This choice is due to the intrinsic damping, and the high energy storage density due to a larger elongation possibility.
  • the cam-spool mechanism 7, 7' described above has been designed.
  • the transmission cable 5, 5' length has been estimated by considering the forearm width equal to 50 mm, the distance between the position point of the arm garments 3,4, 3', 4' on the user arm and the rotation center of the user elbow equal to 100 mm and the forearm length equal to 150 mm.
  • the design of the cam-spool mechanism 7, 7' considers two objectives. First of all, the cam-spool mechanism 7, 7' shall permit a transmission cable 5, 5' length of 178 mm to be wrapped/released during the flexion/extension movement. Then, the cam-spool mechanism 7, 7' should provide a variable cam lever length h that shapes the torque/angle profile generated by the movement assistive device 1 to that of the human elbow.
  • the cam 8 and the user elbow are supposed to perform equivalent angles, namely the elbow angle indicated as ⁇ .
  • R sin ⁇ curve is drawn for value of the elbow angle equal to 116° and assuming R equal to 40 mm to obtain the cam 8 profile, as visible in Fig. 5 .
  • This graph is divided by four equal segments of angle ⁇ to explain the geometrical derivation of the cam 8, and the y axis of each ⁇ segment displays the cam 8 radius that is aimed to be matched with the sinusoidal curve.
  • the circles, whose radii vary by R sin ⁇ are drawn for each segment of angle ⁇ with respect to the center, indicated as O 1 in Fig. 5 .
  • cam-spool mechanism 7, 7' having rotation axis of the cam 8 and the spool 11 separated.
  • the cam 8 is fixed, while the transmission cable 5,5' rotates around it via the roller 10, which is housed in the slot 12 opened in the spool 11. Namely, the transmission cable 5,5' is moved around the cam 8 curve trough the camshaft 9.
  • the rotation axis of the camshaft 9 and the rotation axis of the spool 11 are decoupled in order to permit to match the human elbow angle with the corresponding cam lever length h.
  • the spool 11 rotation is in 1:1 relationship with respect to the elbow angle while the camshaft 9 rotates twice as much as the spool 11.
  • the desired cam lever length h can be obtained without adding an extra cable transmission to the movement assistive device 1.
  • the proposed movement assistive device 1 enables the following two functionalities. Under no payload conditions when the elbow joint needs to move without any constraints the roller 10 performs a linear motion in the slot 12, adapting to the elbow rotation and varying the cam lever length h continuously around the spool 11 rotation axis. In this case, the bungee is tensioned only to avoid relaxation on the transmission cable 5, 5' (to achieve high transparency).
  • the human when assistance is needed, the human can take the load with an almost fully extended arm. This condition requires a higher elastic force generated by the movement assistive device 1 to counteract the load. As the human flexes the elbow, the elbow angle and the cam lever length h increase (as can be seen in Fig.6 ), which results in applying less pretension on the elastic element 6. In other words, the initially stored elastic force can be adjusted mechanically as a function of the cam lever length h during the flexion movement. This is, in fact, one of the significant reasons why the cam-spool mechanism 7, 7' is integrated into the movement assistive device 1.
  • the diameter of the camshaft 9 has been set equal to 40 mm, while the maximum elbow angle has been considered equal to 116°.
  • the transmission cable 5, 5' length wrapped around the camshaft 9 is calculated to determine the necessary stroke in the ball-screw transmission of the actuation unit 20.
  • the rotation angle of the camshaft 9 is twice the spool 11 rotation angle.
  • the ball-screw stroke is selected as 100 mm.
  • the elastic element 6 integrated in the movement assistive device 1 provides an intrinsically soft interaction between the actuation unit 20 of the movement assistive device 1 and the limb of the human body, where the actuation output is applied, and forms a mechanical filter against dynamic uncertainties, absorbing sudden motions or possible control issues, protecting both the actuation of the movement assistive device 1 as well the human subject from feeling such dynamic force transients. Furthermore, the elastic element 6 enables energy storage and recycling, which leads to the reduction of energy consumption.
  • the elastic element 6 is preferably a rubber-type elastic element in the form of a bungee cord.
  • This selection choice was driven by a number of performance characteristics of this type of elastic element, including its large elongation, intrinsic damping feature, lightweight property, and low sensitivity in mechanical misalignment.
  • this type of elastic element also permits a variety of configurations such as U shape.
  • a first prototype of a user elbow is manufactured considering the human forearm dimensions and the location of the arm garments 3, 4, 3', 4' on the user arm.
  • Said first prototype is made of plastic and several holes are opened on this first prototype with 15° resolution to measure the torque variation in seven test angles.
  • a second plastic prototype of a user elbow is fabricated similarly to the first prototype.
  • a first encoder is attached to the second prototype, while a second encoder is coupled with the flange 16 to compare if spool 11 and the second prototype achieve the same rotations.
  • the first prototype is coupled rigidly with an F/T sensor (ATI-Mini45, SI 145-5), and they are both fixed to a table through apparatus. Center pins and screws are used to engage the first prototype and F/T sensor so that the applied assistive force can be measured in different test angles.
  • the second prototype is free to rotate, and the aim is to measure the motion range of the movement assistive device 1.
  • a motor driver and a data acquisition card communicating through EtherCAT at 1kHz is used to control the movement assistive device 1.
  • a PID regulator is used through MATLAB/Simulink Real-Time ® interface to drive the motor 2 in power unit.
  • the resultant linear position error on the ball-screw mechanism was detected between ⁇ 0.15 mm. Additionally, a 0.5 ⁇ 0.1 Nm bias torque is maintained with the help of the movement assistive device 1 in the fixed-end experiment to avoid relaxation on the transmission cable 5, 5' and compensate for any backlash in the assembly.
  • the force profile of the bungee is evaluated by tensioning the bungee between 0 - 10 mm (0.5 mm position increment) in each predetermined elbow test angle (15 - 105°) and measuring the resultant torque around the rotation center of the first prototype of a user elbow.
  • the movement assistive device 1 is tested to demonstrate the strength of the cam-spool mechanism 7, 7'.
  • the desired torque profile which is expected to be delivered by the assistive device 1
  • the desired torque profile is calculated by considering a payload of 5N.
  • the first prototype of a user elbow is configured and fixed mechanically in all the test points (15° - 105°) one by one, and the spool 11 is rotated through the motor 2 to the same position as that of the first prototype.
  • the bungee is tensioned, starting from 1-10 mm (1 mm position increment) with the help of the motor 2 in each test angle. Every pretension is repeated three times (standard deviation ⁇ 0.1 - 0.0006).
  • the average values of those data are extracted from the bias torque, and they are graphically represented in the plot reported in Fig.8 .
  • the closest torque values to the desired ones are selected, and the corresponding pretension values are defined as "selected pretensions" for the calibration of desired torque profile. Those selected pretensions are applied to first prototype of a user elbow in all the test angles. The trend of the results are represented in the plot reported in Fig.9 .
  • plot report in Fig.10 shows the desired force on the transmission cable 5, 5', which is calculated by using the measured torque values.

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  • Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Epidemiology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)
  • Joints Allowing Movement (AREA)
  • Non-Disconnectible Joints And Screw-Threaded Joints (AREA)
EP22194044.8A 2021-09-07 2022-09-06 Dispositif d'aide au mouvement pour articulation du coude Active EP4144331B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102021000023081A IT202100023081A1 (it) 2021-09-07 2021-09-07 Dispositivo di assistenza al movimento per l’articolazione del gomito

Publications (3)

Publication Number Publication Date
EP4144331A1 true EP4144331A1 (fr) 2023-03-08
EP4144331C0 EP4144331C0 (fr) 2024-03-20
EP4144331B1 EP4144331B1 (fr) 2024-03-20

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EP22194044.8A Active EP4144331B1 (fr) 2021-09-07 2022-09-06 Dispositif d'aide au mouvement pour articulation du coude

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EP (1) EP4144331B1 (fr)
IT (1) IT202100023081A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014151584A1 (fr) 2013-03-15 2014-09-25 Alterg, Inc. Système et procédé de commande d'un dispositif d'orthèse
WO2017026943A1 (fr) 2015-08-11 2017-02-16 Nanyang Technological University Exosquelette
WO2018165413A1 (fr) 2017-03-08 2018-09-13 Abilitech Medical, Inc. Système et procédé d'augmentation de mouvement par câble
US20200000670A1 (en) 2018-06-29 2020-01-02 Huazhong University Of Science And Technology Gravity balancing device for rehabilitation robot arm
US20200261298A1 (en) 2019-02-19 2020-08-20 Hyundai Motor Company Wearable apparatus for assisting muscular strength

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014151584A1 (fr) 2013-03-15 2014-09-25 Alterg, Inc. Système et procédé de commande d'un dispositif d'orthèse
WO2017026943A1 (fr) 2015-08-11 2017-02-16 Nanyang Technological University Exosquelette
WO2018165413A1 (fr) 2017-03-08 2018-09-13 Abilitech Medical, Inc. Système et procédé d'augmentation de mouvement par câble
US20200000670A1 (en) 2018-06-29 2020-01-02 Huazhong University Of Science And Technology Gravity balancing device for rehabilitation robot arm
US20200261298A1 (en) 2019-02-19 2020-08-20 Hyundai Motor Company Wearable apparatus for assisting muscular strength

Also Published As

Publication number Publication date
IT202100023081A1 (it) 2023-03-07
EP4144331C0 (fr) 2024-03-20
EP4144331B1 (fr) 2024-03-20

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