IT202000026975A1 - UPPER LIMBS MOTOR SUPPORT DEVICE - Google Patents
UPPER LIMBS MOTOR SUPPORT DEVICE Download PDFInfo
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- IT202000026975A1 IT202000026975A1 IT102020000026975A IT202000026975A IT202000026975A1 IT 202000026975 A1 IT202000026975 A1 IT 202000026975A1 IT 102020000026975 A IT102020000026975 A IT 102020000026975A IT 202000026975 A IT202000026975 A IT 202000026975A IT 202000026975 A1 IT202000026975 A1 IT 202000026975A1
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- Prior art keywords
- rods
- upper limbs
- motor
- motor support
- mechanical interface
- Prior art date
Links
- 210000001364 upper extremity Anatomy 0.000 title claims description 19
- 210000000707 wrist Anatomy 0.000 description 3
- QEIQEORTEYHSJH-UHFFFAOYSA-N Armin Natural products C1=CC(=O)OC2=C(O)C(OCC(CCO)C)=CC=C21 QEIQEORTEYHSJH-UHFFFAOYSA-N 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 101100498160 Mus musculus Dach1 gene Proteins 0.000 description 1
- 208000007542 Paresis Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000001010 compromised effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 206010019465 hemiparesis Diseases 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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
-
- 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
- A61H2201/1436—Special crank assembly
-
- 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
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)
- Percussion Or Vibration Massage (AREA)
- Motor Or Generator Frames (AREA)
Description
DESCRIZIONE DESCRIPTION
A corredo di una domanda di brevetto per invenzione industriale avente per titolo: ?Dispositivo per supporto motorio degli arti superiori? Accompanying a patent application for an industrial invention entitled: ?Device for motor support of the upper limbs?
L?esercizio motorio ? indispensabile per recuperare la normale funzionalit? del braccio umano quando ? stata compromessa a causa di malattie od infortuni. Inoltre, l?esercizio motorio ? fondamentale negli anziani per il buon funzionamento degli arti superiori e per la prevenzione di infortuni e malattie. Motor exercise? essential to recover the normal functionality? of the human arm when ? been compromised due to illness or injury. Furthermore, the motor exercise? essential in the elderly for the proper functioning of the upper limbs and for the prevention of accidents and diseases.
Odiernamente sono disponibili diversi dispositivi commerciali per la riabilitazione del braccio tra i quali possiamo trovare l?InMotion ARM?, versione clinica del sistema MIT-MANUS concepito presso il Massachusetts Institute of Technology . La struttura meccanica dell?InMotion ARM? ? composta basicamente da cinque aste con due attuatori e un meccanismo per il polso, la cui configurazione offre uno spazio operativo limitato poich? la sua configurazione richiederebbe aste troppo lunghe per ottenere uno spazio operativo pi? ampio che renderebbero il sistema ancora pi? ingombrante. Inoltre, l?InMotion ARM? ha un?interfaccia visiva per l'interazione con il paziente. Tuttavia, il sistema richiede esperienza per un uso efficiente e confortevole. Inoltre, i costi e la mancanza di portabilit? rendono difficile l?uso di questo sistema. l?ARMIN III ? un altro dispositivo ben noto per la riabilitazione dell?arto superiore. Meccanicamente, l?ARMIN III ? un esoscheletro. Per tanto, l?arto deve essere inserito all?interno dell'esoscheletro che ne rende pi? difficile l'utilizzo. Inoltre, il costo del dispositivo lo rende meno accessibile e le sue dimensioni difficile da trasportare. Altri dispositivi popolari di tipo esoscheletro, per la riabilitazione del braccio, come ArmeoPower e Aramis hanno gli stessi inconvenienti, sono difficili da indossare, ingombrati, difficili da trasportare e costosi. Several commercial devices for arm rehabilitation are currently available, among which we can find the?InMotion ARM?, the clinical version of the MIT-MANUS system conceived at the Massachusetts Institute of Technology. The mechanical structure of the InMotion ARM? ? basically composed of five rods with two actuators and a wrist mechanism, the configuration of which offers a limited operating space since it is would its configuration require poles that are too long to obtain more operating space? large that would make the system even more? cumbersome. Furthermore, the InMotion ARM? has a visual interface for interacting with the patient. However, the system requires experience for efficient and comfortable use. Also, the cost and lack of portability? make it difficult to use this system. l?ARMIN III ? another well-known device for upper limb rehabilitation. Mechanically, the ARMIN III ? an exoskeleton. Therefore, the limb must be inserted inside the exoskeleton which makes it more? difficult to use. Furthermore, the cost of the device makes it less accessible and its size difficult to transport. Other popular exoskeleton-type arm rehabilitation devices such as ArmeoPower and Aramis have the same drawbacks, they are difficult to don, cumbersome, difficult to transport and expensive.
Esaminando lo stato dell?arte brevettuale, un dispositivo con struttura ad H ? presentato nel brevetto WO 2014/092645 A1. Il dispositivo guida il movimento dell?arto superiore lungo guide lineari con sistema a cavi alimentato da due motori. Il movimento si svolge in un piano lungo le guide ad H con movimenti indipendenti lungo gli assi X e Y e con movimenti diagonali a 45 gradi. Tuttavia, i movimenti sono limitati alle guide ed altre traiettorie di movimento non sono possibili. Un dispositivo meccanico per gli esercizi coordinati degli arti superiore ? presentato nel brevetto WO 2010/059066 A. Il meccanismo ? stato progettato come trainer bilaterale in modo che il paziente aziona il meccanismo con una delle sue braccia e pu? essere usata per esempio per i pazienti che soffrono di emiparesi. Tuttavia, il sistema ? limitato alla terapia che richiede il lavoro congiunto delle due braccia per produrre un movimento speculare dal movimento di una sola delle braccia da parte del paziente. Un meccanismo capace di guidare movimenti del braccio umano con una configurazione seriale ? presentato nel brevetto CN 104666049 A. Il meccanismo ? ingombrante e presenta una struttura complessa che lo rende pi? difficile da usare. Una struttura esoscheletrica per la riabilitazione di un arto superiore ? presentata nel brevetto WO 2016/166652 A1. In particolare, l?invenzione si riferisce ad un giunto cilindrico che produce la torsione di un segmento longitudinale di un arto superiore. Tuttavia, il meccanismo ? limitato ad assistere solamente esercizi di flesso-estensione ed abduzione-adduzione degli arti superiori. Nel brevetto US 8,251,879 B2 ? proposto un meccanismo progettato particolarmente per la rotazione interna ed esterna della spalla degli arti superiori senza tener conto altri movimenti del braccio. Il brevetto US 8,801,639 B2 presenta un altro dispositivo per la assistenza motoria del braccio. Il dispositivo ha una struttura esoscheletrica composta da due aste rigide collegate con giunti di quattro gradi li libert? che sono associabile all?avambraccio ed alla parte superiore del braccio per la assistenza della spalla e il gomito. Comunque, questo dispositivo ha un telaio ingombrante che ? difficile da trasportare. Inoltre, la struttura dell'esoscheletro ? difficile da indossare. Nel brevetto IT 201600107499 A1 ? proposto un dispositivo per la riabilitazione motoria degli arti superiori. Il dispositivo ? composto da nove aste e sette giunti rotoidali, un?interfaccia meccanica e due o pi? supporti rotolanti. Sebbene il dispositivo presenti vantaggi di portabilit? oltre alla possibilit? di eseguire diversi esercizi planari, ha un numero elevato di aste e giunti che aumentano l?errore cumulativo per raggiungere una posizione, causando meno precisione nel movimento. D?altra parte, i supporti rotolanti producono attrito sui piani di lavoro provocando un movimento meno morbido. Looking at the state of the patent art, an H-structure device ? presented in patent WO 2014/092645 A1. The device guides the movement of the upper limb along linear guides with a cable system powered by two motors. The movement takes place in one plane along the H-shaped guides with independent movements along the X and Y axes and with diagonal movements at 45 degrees. However, the movements are limited to the guides and other movement paths are not possible. A mechanical device for coordinated upper limb exercises? presented in patent WO 2010/059066 A. The mechanism ? It was designed as a bilateral trainer so that the patient operates the mechanism with one of his arms and can be used for example for patients suffering from hemiparesis. However, the system limited to therapy that requires the joint work of the two arms to produce a mirror movement from the movement of only one of the patient's arms. A mechanism capable of driving human arm movements with a serial configuration? presented in patent CN 104666049 A. The mechanism? bulky and has a complex structure that makes it more? difficult to use. An exoskeletal structure for the rehabilitation of an upper limb? presented in patent WO 2016/166652 A1. In particular, the invention refers to a cylindrical joint which produces the torsion of a longitudinal segment of an upper limb. However, the mechanism? limited to assisting only flexion-extension and abduction-adduction exercises of the upper limbs. In US patent 8,251,879 B2 ? proposed a mechanism designed especially for internal and external rotation of the shoulder of the upper limbs without taking into account other movements of the arm. US patent 8,801,639 B2 presents another device for arm motor assistance. The device has an exoskeletal structure composed of two rigid rods connected with four degrees of freedom joints. which are attachable to the forearm and upper arm for shoulder and elbow assistance. However, this device has a bulky chassis that is ? difficult to transport. Furthermore, the structure of the exoskeleton ? difficult to wear. In the patent IT 201600107499 A1 ? proposed a device for motor rehabilitation of the upper limbs. The device ? composed of nine rods and seven revolving joints, a? mechanical interface and two or more? rolling supports. Although the device has portability advantages? in addition to the possibility to perform different planar exercises, has a large number of rods and joints which increase the cumulative error to reach a position, causing less precision in movement. On the other hand, rolling supports produce friction on the work surfaces causing a less smooth movement.
La presente proposta di brevetto risolve i limiti dei dispostivi esistenti tramiti un dispositivo per supporto motorio degli arti superiori con una struttura semplice, facile da costruire e trasportare che consente l?esecuzione di diversi movimenti all'interno di un ampio spazio operativo planare. This patent proposal solves the limitations of existing devices through a device for motor support of the upper limbs with a simple structure, easy to build and transport which allows the execution of different movements within a large planar operating space.
L?invenzione viene descritta con riferimento alla figura allegata: The invention is described with reference to the attached figure:
- La Figura 1 presenta uno schema concettuale della struttura del dispositivo. - Figure 1 presents a conceptual diagram of the structure of the device.
Con riferimento alla Figura 1, il dispositivo per supporto motorio degli arti superiori (1) che comprende un meccanismo articolato composto da un?interfaccia meccanica modulare (16, 17), due attuatori (9, 10), sette aste (2, 3, 4, 5, 6, 7, 8) e cinque giunti rotoidali (11, 12, 13, 14, 15), dove le aste (3, 4, 5, 6, 7, 8) sono collegate opportunamente tramiti i giunti rotoidali (11, 12, 13, 14, 15) cos? come gli attuatori (9, 10) sono collegati opportunamente alle aste (3, 5) e all?asta telaio (2), costituendo un meccanismo planare a due gradi di libert? in modo da produrre il movimento planare dell?interfaccia meccanica (16, 17). In dettaglio, le aste (3) e (5) sono mosse rispettivamente degli attuatori (9, 10), trasmettendo il movimento alle aste (4, 6, 7, 8) che sono collegate tramiti i giunti rotoidali (11, 12, 13, 14, 15) fino a muovere l?interfaccia meccanica (16, 17) dove il punto di guida motoria (16) pu? tracciare diverse traiettorie e forme geometriche descritte su un spazio operativo planare grazie all?attuazione coordinata degli attuatori (9,10). In particolare, il rapporto costruttivo del dispositivo causa che il punto di guida motoria (16) e il giunto (13) seguano traiettorie uguali ma di scale dimensionali diverse che dipendono della relazione dimensionale delle aste (3, 4, 5, 6, 7, 8). Come conseguenza, le caratteristiche del moto del punto di guida motoria (16) possono essere modificate agendo sulla relazione dimensionale delle aste (3, 4, 5, 6, 7, 8) cos? come lo spazio operativo pu? essere aumentato o diminuito ridimensionando le aste (3, 4, 5, 6, 7, 8) oppure la forma dello spazio operativo pu? essere variata agendo sulla relazione dimensionale delle aste (3, 4, 5, 6, 7, 8). L?interfaccia meccanica modulare (16, 17) ? intercambiabile ed idonea alla implementazione di sensori e alla implementazione di ulteriori attuatori per il controllo del movimento del polso. Inoltre, l?asta (8) e il supporto (17) sono collegate tramite un giunto rotoidale idoneo per un comodo moto relativo mantenendo il punto di guida motoria (16) come punto in comune tra l?asta (8) e il supporto (17). Ulteriormente, l?interfaccia meccanica modulare (16, 17) ? caratterizzata di una forma ergonomica e confortevole che permette l?alloggio dell?avambraccio e della mano o pure uno dei due come appropriato in ogni caso. L?asta telaio (2) ? concepita per permettere il collegamento del dispositivo su piani di lavoro orizzontali, verticali ed inclinati. Inoltre, l?asta telaio (2) ed il piano di lavoro possono essere collegati tramite dispositivi di fissaggio temporale per facilitare lo scambio tra i piani di lavoro. With reference to Figure 1, the device for motor support of the upper limbs (1) which comprises an articulated mechanism composed of a modular mechanical interface (16, 17), two actuators (9, 10), seven rods (2, 3, 4, 5, 6, 7, 8) and five revolving joints (11, 12, 13, 14, 15), where the rods (3, 4, 5, 6, 7, 8) are suitably connected via the revolving joints ( 11, 12, 13, 14, 15) so? how are the actuators (9, 10) suitably connected to the rods (3, 5) and to the frame rod (2), constituting a planar mechanism with two degrees of freedom? so as to produce the planar movement of the mechanical interface (16, 17). In detail, the rods (3) and (5) are respectively moved by the actuators (9, 10), transmitting the movement to the rods (4, 6, 7, 8) which are connected via the rotary joints (11, 12, 13 , 14, 15) up to move the mechanical interface (16, 17) where the motor guide point (16) can? trace different trajectories and geometric shapes described on a planar operating space thanks to the coordinated actuation of the actuators (9,10). In particular, the constructive relationship of the device causes the motor guide point (16) and the joint (13) to follow equal trajectories but on different dimensional scales which depend on the dimensional relationship of the rods (3, 4, 5, 6, 7, 8). As a consequence, the characteristics of the motion of the motor guide point (16) can be modified by acting on the dimensional relationship of the rods (3, 4, 5, 6, 7, 8) so? as the operating space pu? be increased or decreased by resizing the auctions (3, 4, 5, 6, 7, 8) or the shape of the operating space pu? be varied by acting on the dimensional relationship of the rods (3, 4, 5, 6, 7, 8). The modular mechanical interface (16, 17) ? interchangeable and suitable for the implementation of sensors and for the implementation of further actuators for the control of the movement of the wrist. Furthermore, the rod (8) and the support (17) are connected via a revolving joint suitable for a comfortable relative motion maintaining the motor guide point (16) as a common point between the rod (8) and the support ( 17). Furthermore, the modular mechanical interface (16, 17) ? characterized by an ergonomic and comfortable shape that allows the accommodation of the forearm and the hand or even one of the two as appropriate in each case. The frame rod (2) ? designed to allow connection of the device on horizontal, vertical and inclined work surfaces. Furthermore, the frame rod (2) and the worktable can be connected by time fasteners to facilitate the exchange between the worktables.
Tra le caratteristiche pi? notevoli possiamo trovare che il dispositivo pu? essere usato in ambienti casalinghi od ospedalieri poich? la progettazione meccanica permette la sua portabilit? ed adattabilit? su diversi piani di lavoro. Inoltre, la progettazione strutturale del dispositivo permette l?assistenza motoria sia del braccio umano destro che del sinistro su un piano di lavoro orizzontale, verticale od inclinato. Durante l?assistenza motoria il gomito e la spalla possono essere coinvolti in maniera indipendente o coordinata, ed eventualmente il movimento del polso pu? essere assistito tramite l?interfaccia meccanica che ? idonea alla implementazione di ulteriori attuatori e sensori. Il dispositivo ? caratterizzato de una struttura semplice e leggera che permette un facile trasporto, impiego e costruzione. In aggiunta, dacch? il dispositivo ? a due gradi di libert? le traiettorie dei movimenti generati per l?assistenza motoria sono adattabili a diverse dimensioni e forme a seconda delle esigenze terapeutiche e della fisionomia del paziente. Inoltre, poich? il fissaggio del dispositivo ? effettuato tramite l?asta telaio, il dispositivo non richiede la presenta obbligatoria di un tavolo a sostegno delle altre aste o dell?interfaccia meccanica ma solo della disponibilit? dello spazio opportuno per permettere il movimento del meccanismo. Among the features remarkable we can find that the device pu? be used in home or hospital environments since? the mechanical design allows its portability? and adaptability? on different work surfaces. Furthermore, the structural design of the device allows motor assistance of both the right and left human arms on a horizontal, vertical or inclined work plane. During motor assistance the elbow and the shoulder can be involved independently or in a coordinated way, and eventually the movement of the wrist can be assisted through the? mechanical interface that ? suitable for the implementation of additional actuators and sensors. The device ? characterized by a simple and light structure that allows easy transport, use and construction. In addition, dach? the device ? two degrees of freedom? the trajectories of the movements generated for motor assistance can be adapted to different sizes and shapes according to the therapeutic needs and the patient's physiognomy. Furthermore, since fixing the device ? carried out through the? frame rod, the device does not require the obligatory presentation of a table to support the other rods or of the mechanical interface but only of the availability? adequate space to allow movement of the mechanism.
La presente invenzione ? descritta con riferimento a forme predefinite di realizzazione. ? da intendersi che possono esistere altre forme di realizzazione che afferiscono al medesimo nucleo inventivo, come definito dall?ambito di protezione delle rivendicazioni dichiarate. The present invention ? described with reference to predefined embodiments. ? it should be understood that there may exist other embodiments which pertain to the same inventive core, as defined by the scope of protection of the declared claims.
Claims (6)
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IT102020000026975A IT202000026975A1 (en) | 2020-11-19 | 2020-11-19 | UPPER LIMBS MOTOR SUPPORT DEVICE |
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IT102020000026975A IT202000026975A1 (en) | 2020-11-19 | 2020-11-19 | UPPER LIMBS MOTOR SUPPORT DEVICE |
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Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5466213A (en) * | 1993-07-06 | 1995-11-14 | Massachusetts Institute Of Technology | Interactive robotic therapist |
WO2010059066A1 (en) | 2008-11-19 | 2010-05-27 | Industrial Research Limited | Exercise device and system |
US8251879B2 (en) | 2007-05-31 | 2012-08-28 | Matthew Binns | Shoulder rehabilitation and exercise device |
WO2014092645A1 (en) | 2012-12-10 | 2014-06-19 | Nanyang Technological University | An apparatus for upper body movement |
CN104666049A (en) | 2015-02-02 | 2015-06-03 | 南京理工大学 | Novel portable upper-limb rehabilitation robot |
WO2016166652A1 (en) | 2015-04-11 | 2016-10-20 | Scuola Superiore S. Anna | Ergonomic exoskeleton system for the upper limb |
IT201600107499A1 (en) | 2016-10-26 | 2018-04-26 | Marco Ceccarelli | Device for motor assistance of the arm |
AU2018273807A1 (en) * | 2017-05-26 | 2019-12-05 | The University Of Melbourne | Electromechanical robotic manipulandum device |
US10596056B2 (en) * | 2014-07-15 | 2020-03-24 | Institute Of Automation Chinese Academy Of Sciences | Upper limb rehabilitation robot system |
-
2020
- 2020-11-19 IT IT102020000026975A patent/IT202000026975A1/en unknown
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5466213A (en) * | 1993-07-06 | 1995-11-14 | Massachusetts Institute Of Technology | Interactive robotic therapist |
US8251879B2 (en) | 2007-05-31 | 2012-08-28 | Matthew Binns | Shoulder rehabilitation and exercise device |
WO2010059066A1 (en) | 2008-11-19 | 2010-05-27 | Industrial Research Limited | Exercise device and system |
WO2014092645A1 (en) | 2012-12-10 | 2014-06-19 | Nanyang Technological University | An apparatus for upper body movement |
US10596056B2 (en) * | 2014-07-15 | 2020-03-24 | Institute Of Automation Chinese Academy Of Sciences | Upper limb rehabilitation robot system |
CN104666049A (en) | 2015-02-02 | 2015-06-03 | 南京理工大学 | Novel portable upper-limb rehabilitation robot |
WO2016166652A1 (en) | 2015-04-11 | 2016-10-20 | Scuola Superiore S. Anna | Ergonomic exoskeleton system for the upper limb |
IT201600107499A1 (en) | 2016-10-26 | 2018-04-26 | Marco Ceccarelli | Device for motor assistance of the arm |
AU2018273807A1 (en) * | 2017-05-26 | 2019-12-05 | The University Of Melbourne | Electromechanical robotic manipulandum device |
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