ES2797326T3 - Exoesqueleto y método para proporcionar un par de asistencia a un brazo de un usuario - Google Patents

Exoesqueleto y método para proporcionar un par de asistencia a un brazo de un usuario Download PDF

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Publication number
ES2797326T3
ES2797326T3 ES18188086T ES18188086T ES2797326T3 ES 2797326 T3 ES2797326 T3 ES 2797326T3 ES 18188086 T ES18188086 T ES 18188086T ES 18188086 T ES18188086 T ES 18188086T ES 2797326 T3 ES2797326 T3 ES 2797326T3
Authority
ES
Spain
Prior art keywords
arm
exoskeleton
support assembly
user
arm support
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
ES18188086T
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English (en)
Spanish (es)
Inventor
Russ Angold
James Lubin
Mario Solano
Chris Paretich
Tom Mastaler
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.)
Ekso Bionics Inc
Original Assignee
Ekso Bionics 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
Application filed by Ekso Bionics Inc filed Critical Ekso Bionics Inc
Application granted granted Critical
Publication of ES2797326T3 publication Critical patent/ES2797326T3/es
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0281—Shoulder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • 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)
  • Rehabilitation Tools (AREA)
ES18188086T 2015-12-22 2016-12-21 Exoesqueleto y método para proporcionar un par de asistencia a un brazo de un usuario Active ES2797326T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US201562270996P 2015-12-22 2015-12-22

Publications (1)

Publication Number Publication Date
ES2797326T3 true ES2797326T3 (es) 2020-12-01

Family

ID=57583090

Family Applications (2)

Application Number Title Priority Date Filing Date
ES18188086T Active ES2797326T3 (es) 2015-12-22 2016-12-21 Exoesqueleto y método para proporcionar un par de asistencia a un brazo de un usuario
ES16205837.4T Active ES2690989T3 (es) 2015-12-22 2016-12-21 Exoesqueleto y método para proporcionar un par de asistencia a un brazo de un usuario

Family Applications After (1)

Application Number Title Priority Date Filing Date
ES16205837.4T Active ES2690989T3 (es) 2015-12-22 2016-12-21 Exoesqueleto y método para proporcionar un par de asistencia a un brazo de un usuario

Country Status (6)

Country Link
US (1) US10058994B2 (enExample)
EP (2) EP3421188B1 (enExample)
JP (1) JP6563888B2 (enExample)
KR (1) KR101989218B1 (enExample)
CA (1) CA2952403C (enExample)
ES (2) ES2797326T3 (enExample)

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EP3189945B1 (en) 2018-09-12
ES2690989T3 (es) 2018-11-23
EP3421188B1 (en) 2020-05-13
CA2952403A1 (en) 2017-06-22
KR20170074814A (ko) 2017-06-30
US10058994B2 (en) 2018-08-28
EP3189945A1 (en) 2017-07-12
EP3421188A1 (en) 2019-01-02
JP2017159442A (ja) 2017-09-14
KR101989218B1 (ko) 2019-06-13
CA2952403C (en) 2019-10-29
US20170173783A1 (en) 2017-06-22

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