HRP20231005T1 - Uređaj za kompenziranje opterećenja, osobito gravitacijskog opterećenja, kojeg se može primijeniti na egzoskelete - Google Patents

Uređaj za kompenziranje opterećenja, osobito gravitacijskog opterećenja, kojeg se može primijeniti na egzoskelete Download PDF

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Publication number
HRP20231005T1
HRP20231005T1 HRP20231005TT HRP20231005T HRP20231005T1 HR P20231005 T1 HRP20231005 T1 HR P20231005T1 HR P20231005T T HRP20231005T T HR P20231005TT HR P20231005 T HRP20231005 T HR P20231005T HR P20231005 T1 HRP20231005 T1 HR P20231005T1
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Croatia
Prior art keywords
compensating device
load
load compensating
rod
main rod
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HRP20231005TT
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English (en)
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Lorenzo AQUILANTE
Mattia TABAGLIO
Daniele RAMIREZ
Francesco Braghin
Alessandra Laura Giulia PEDROCCHI
Marta GANDOLLA
Stefano DALLA GASPERINA
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Agade S.R.L.
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Publication of HRP20231005T1 publication Critical patent/HRP20231005T1/hr

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    • 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
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/0016—Balancing devices using springs
    • 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
    • A61H1/0237—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
    • A61H1/0244—Hip
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/123—Linear 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
    • 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
    • A61H2201/1623—Back
    • A61H2201/1626—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
    • A61H2201/1635—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
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • 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

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Epidemiology (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
  • Jib Cranes (AREA)
  • Massaging Devices (AREA)

Claims (15)

1. Uređaj za kompenziranje opterećenja (201, 301, 501, 601, 701, 901), koji sadrži: – potpomognuti spoj (3; 302), konfiguriran da ga ograničuje nosiva struktura (102, 104; 303; 702, 704); – glavni štap (304), koji sadrži bliski kraj (305), povezan s navedenim potpomognutim spojem (3; 302), te dodatno sadrži udaljeni kraj (306), konfiguriran da ga opterećuje primijenjeno opterećenje (11); – pomoćni štap (307), koji sadrži prvi kraj (308) i drugi kraj (309), gdje je navedeni prvi kraj (308) uzglobljen s navedenim glavnim štapom (304), kako bi se navedeni pomoćni štap (307) mogao zakretati u odnosu na navedeni glavni štap (304), gdje se navedeni drugi kraj (309) pomiče po ravnini na kojoj leži navedeno primijenjeno opterećenje (11); – elastični element (310, 910), konfiguriran za osiguravanje elastične sile, koja djeluje između navedenog drugog kraja (309) navedenog pomoćnog štapa (307) i navedenog udaljenog kraja (306) navedenog glavnog štapa (304); naznačen time što dodatno sadrži: – upravljački sustav (313; 613), konfiguriran za modificiranje razmaka između navedenog drugog kraja (309) navedenog pomoćnog štapa (307) i navedenog potpomognutog spoja (3; 302), kako bi se promijenilo predopterećenje navedenog elastičnog elementa (310, 910); pri čemu je navedeni elastični element (310, 910) konfiguriran za osiguravanje navedene elastične sile na temelju kinematičke konfiguracije navedenog uređaja za kompenziranje opterećenja (201, 301, 501, 601, 701, 901), kako bi se kompenziralo navedeno primijenjeno opterećenje (11) u njegovoj komponenti poprečnoj u odnosu na navedeni glavni štap (304).
2. Uređaj za kompenziranje opterećenja u skladu s patentnim zahtjevom 1, pri čemu navedeni upravljački sustav (313; 613) sadrži pokretni upravljački element (314; 614), kojem je pridružena navedena nosiva struktura (303).
3. Uređaj za kompenziranje opterećenja u skladu s patentnim zahtjevom 2, pri čemu navedeni upravljački sustav (313) dodatno sadrži upravljački štap (320), koji povezuje navedeni pokretni upravljački element (314) s navedenim drugim krajem (309) navedenog pomoćnog štapa (307), te pri čemu navedeni pokretni upravljački element (314) sadrži linearni aktuator (321), s kojim je uzglobljen navedeni upravljački štap (320).
4. Uređaj za kompenziranje opterećenja u skladu s patentnim zahtjevom 3, pri čemu se navedeni linearni aktuator (321) pomiče po nagnutom elementu (322; 522), kojeg ograničuje navedena nosiva struktura (303), gdje navedeni nagnuti element (322; 522) ima nagib određen na temelju željenih kinematičkih karakteristika navedenog uređaja za kompenziranje opterećenja (201, 301, 501, 601, 701, 901).
5. Uređaj za kompenziranje opterećenja u skladu s patentnim zahtjevom 2, pri čemu navedeni upravljački sustav (613) dodatno sadrži kabel (620), koji povezuje navedeni pokretni upravljački element (614) s navedenim drugim krajem (309) navedenog pomoćnog štapa (307), te pri čemu navedeni pokretni upravljački element (614) sadrži kolotur pogonjen motorom (621), na kojem je navedeni kabel (620) prilagođen za namatanje ili odmatanje.
6. Uređaj za kompenziranje opterećenja u skladu s patentnim zahtjevom 5, pri čemu je navedeni kolotur pogonjen motorom (621) u fiksnom položaju u odnosu na navedeni potpomognuti spoj (302), te pri čemu je drugi razmak između navedenog kolotura pogonjenog motorom (621) i navedenog potpomognutog spoja (302) određen na temelju željenih kinematičkih karakteristika navedenog uređaja za kompenziranje opterećenja (201, 301, 501, 601, 701, 901).
7. Uređaj za kompenziranje opterećenja u skladu s bilo kojim od patentnih zahtjeva 1 do 6, pri čemu je navedeni upravljački sustav (313; 613) dodatno konfiguriran za mijenjanje relativnog kuta između navedenog glavnog štapa (304) i navedenog pomoćnog štapa (307).
8. Uređaj za kompenziranje opterećenja u skladu s bilo kojim od patentnih zahtjeva 1 do 7, pri čemu je navedeni upravljački sustav (313; 613) dodatno konfiguriran za smanjivanje razlike između navedene poprečne komponente navedenog primijenjenog opterećenja (11) i nasuprotne poprečne komponente koju daje navedena elastična sila.
9. Uređaj za kompenziranje opterećenja u skladu s bilo kojim od patentnih zahtjeva 1 do 8, koji dodatno sadrži više senzora, konfiguriranih za mjerenje apsolutnog položaja navedenog glavnog štapa (304) i dodatno za mjerenje zakretnog momenta, koji opterećuje navedeni potpomognuti spoj (3; 302) kao posljedica navedenog primijenjenog opterećenja (11), te dodatno sadrži najmanje jedan procesor, operativno povezan s navedenim više senzora i s navedenim upravljačkim sustavom (313; 613), konfiguriranim za izračunavanje navedenog predopterećenja kako bi se kompenziralo navedeni zakretni moment, koji opterećuje navedeni potpomognuti spoj (3; 302).
10. Uređaj za kompenziranje opterećenja u skladu s bilo kojim od patentnih zahtjeva 1 do 9, pri čemu je navedeni elastični element (310, 910) barem posredno povezan s navedenim drugim krajem (309) navedenog pomoćnog štapa (307).
11. Uređaj za kompenziranje opterećenja u skladu s bilo kojim od patentnih zahtjeva 1 do 10, koji dodatno sadrži kompenzacijski kabel (311), gdje navedeni kompenzacijski kabel (311) povezuje navedeni drugi kraj (309) navedenog pomoćnog štapa (307) s navedenim elastičnim elementom (310).
12. Uređaj za kompenziranje opterećenja u skladu s patentnim zahtjevom 11, pri čemu se navedeni elastični element (310) pruža aksijalno i uglavnom je paralelan u odnosu na navedeni glavni štap (304), gdje navedeni uređaj za kompenziranje opterećenja (301, 501, 601, 701, 901) dodatno sadrži kolotur (312), u blizini navedenog udaljenog kraja (306) navedenog glavnog štapa (304), gdje navedeni kompenzacijski kabel (311) međudjeluje s navedenim koloturom (312).
13. Uređaj za kompenziranje opterećenja u skladu s bilo kojim od patentnih zahtjeva 1 do 12, pri čemu se navedeni pomoćni štap (307) pruža od navedenog glavnog štapa (304), u smjeru suprotnom prevladavajućem smjeru navedenog primijenjenog opterećenja (11).
14. Uređaj za kompenziranje opterećenja u skladu s bilo kojim od patentnih zahtjeva 1 do 13, pri čemu navedeni udaljeni kraj (306) navedenog glavnog štapa (304) odgovara podupiraču pokretnog strukturnog elementa (130; 703), podložnog promjenjivim opterećenjima.
15. Egzoskelet (100; 700), koji sadrži najmanje jedan uređaj za kompenziranje opterećenja (201, 301, 501, 601, 701, 901) u skladu s bilo kojim od patentnih zahtjeva 1 do 14.
HRP20231005TT 2019-06-03 2020-05-29 Uređaj za kompenziranje opterećenja, osobito gravitacijskog opterećenja, kojeg se može primijeniti na egzoskelete HRP20231005T1 (hr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
IT102019000007848A IT201900007848A1 (it) 2019-06-03 2019-06-03 Dispositivo di compensazione di carichi, in particolare di carichi gravitazionali, applicabile ad esoscheletri
EP20729721.9A EP3975968B8 (en) 2019-06-03 2020-05-29 Load compensation device, in particular of gravitational loads, applicable to exoskeletons
PCT/EP2020/064944 WO2020245038A1 (en) 2019-06-03 2020-05-29 Load compensation device, in particular of gravitational loads, applicable to exoskeletons

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HRP20231005T1 true HRP20231005T1 (hr) 2023-12-08

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US (1) US20220218552A1 (hr)
EP (1) EP3975968B8 (hr)
JP (1) JP2022535076A (hr)
CN (1) CN114144150A (hr)
BR (1) BR112021024250A2 (hr)
CA (1) CA3142550A1 (hr)
ES (1) ES2955334T3 (hr)
HR (1) HRP20231005T1 (hr)
HU (1) HUE063304T2 (hr)
IT (1) IT201900007848A1 (hr)
MX (1) MX2021014846A (hr)
PL (1) PL3975968T3 (hr)
WO (1) WO2020245038A1 (hr)

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EP3975968C0 (en) 2023-06-07
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US20220218552A1 (en) 2022-07-14
HUE063304T2 (hu) 2024-01-28
BR112021024250A2 (pt) 2022-02-15
CA3142550A1 (en) 2020-12-10
MX2021014846A (es) 2022-02-21
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