JP2013542014A - 傾斜センサを一体化した歩行運動補助装置 - Google Patents
傾斜センサを一体化した歩行運動補助装置 Download PDFInfo
- Publication number
- JP2013542014A JP2013542014A JP2013534456A JP2013534456A JP2013542014A JP 2013542014 A JP2013542014 A JP 2013542014A JP 2013534456 A JP2013534456 A JP 2013534456A JP 2013534456 A JP2013534456 A JP 2013534456A JP 2013542014 A JP2013542014 A JP 2013542014A
- Authority
- JP
- Japan
- Prior art keywords
- leg
- instrument
- tilt
- joint
- tilt sensor
- 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.)
- Pending
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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2201/5002—Means for controlling a set of similar massage devices acting in sequence at different locations on a patient
-
- 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
- A61H2201/5069—Angle 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
- A61H2201/5071—Pressure 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
- A61H2201/5097—Control means thereof wireless
Abstract
【選択図】図1A
Description
Claims (9)
- 歩行運動補助外骨格器具であって:
人の胴体の部分に固定するための体幹支持物を含む複数の装具、および前記人の脚の部位にそれぞれ接続するための脚部位装具;
前記複数の装具のうち2つの装具を接続するための、および前記2つの装具間の相対角運動を提供するための、少なくとも1つの電動式ジョイント;
前記外骨格の傾斜を検知するための、前記外骨格器具に搭載された少なくとも1つの傾斜センサ;および
前記少なくとも1つの傾斜センサのうちの傾斜センサから検知信号を受信するための、前記検知信号に従って前記電動式ジョイントを作動させるための命令を備えるアルゴリズムでプログラムされるコントローラ
を備える歩行運動補助外骨格器具。 - 遠隔制御手段を備える、請求項1に記載の器具。
- 前記アルゴリズムが、前記少なくとも1つの傾斜センサのうちの傾斜センサにより検知された検知傾斜がしきい値を超えたときに、後ろ脚を前方に振り動かすように前記電動式ジョイントを動作させることを備える、請求項1に記載の器具。
- 前記アルゴリズムが、前記少なくとも1つの傾斜センサのうちの傾斜センサにより検知された検知傾斜がしきい値を超えたときに、前脚を後方に伸ばすように前記電動式ジョイントを動作させることを備える、請求項1に記載の器具。
- 前記少なくとも1つの傾斜センサのうちの傾斜センサが前記体幹支持物に搭載される、請求項1に記載の器具。
- 前記少なくとも1つの傾斜センサのうちの傾斜センサが、傾斜が前記体幹支持物の傾斜と実質的に等しい、前記外骨格器具の構成要素に搭載される、請求項1に記載の器具。
- 前記少なくとも1つの電動式ジョイントのうちのジョイントが、前記ジョイントにより接続された前記2つの装具間の角度を検知するための角度センサを備える、請求項1に記載の器具。
- 前記アルゴリズムが、検知角度に従って前記電動式ジョイントを作動させるための命令を含む、請求項7に記載の器具。
- 前記アルゴリズムが、検知角度が所定の範囲内の角度であるときに、脚の前進運動を停止させることを備える、請求項8に記載の器具。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/909,746 US20120101415A1 (en) | 2010-10-21 | 2010-10-21 | Locomotion assisting apparatus with integrated tilt sensor |
US12/909,746 | 2010-10-21 | ||
PCT/IL2011/000799 WO2012052988A2 (en) | 2010-10-21 | 2011-10-10 | Locomotion assisting apparatus with integrated tilt sensor |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2013542014A true JP2013542014A (ja) | 2013-11-21 |
Family
ID=45973574
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013534456A Pending JP2013542014A (ja) | 2010-10-21 | 2011-10-10 | 傾斜センサを一体化した歩行運動補助装置 |
Country Status (11)
Country | Link |
---|---|
US (3) | US20120101415A1 (ja) |
EP (2) | EP4082506A1 (ja) |
JP (1) | JP2013542014A (ja) |
KR (1) | KR20130105867A (ja) |
CN (1) | CN103328051A (ja) |
AU (1) | AU2011319487A1 (ja) |
BR (1) | BR112013009760A2 (ja) |
CA (1) | CA2815572A1 (ja) |
ES (1) | ES2915693T3 (ja) |
RU (2) | RU2013122414A (ja) |
WO (1) | WO2012052988A2 (ja) |
Cited By (4)
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CN103901902A (zh) * | 2014-03-26 | 2014-07-02 | 中国科学院深圳先进技术研究院 | 负重外骨骼机器人脱离装置及脱离方法 |
JP2017154210A (ja) * | 2016-03-02 | 2017-09-07 | パナソニック株式会社 | 動作支援装置、及び、動作支援システム |
JP2019084335A (ja) * | 2017-11-09 | 2019-06-06 | フリー バイオニクス タイワン インコーポレイテッドFree Bionics Taiwan Inc. | 外骨格型ロボット及びその制御方法 |
CN109938971A (zh) * | 2019-04-15 | 2019-06-28 | 哈工大机器人(合肥)国际创新研究院 | 一种可穿戴的下肢髋关节和膝关节助力装置 |
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US8096965B2 (en) | 2008-10-13 | 2012-01-17 | Argo Medical Technologies Ltd. | Locomotion assisting device and method |
EP2477894A4 (en) * | 2009-09-19 | 2015-09-09 | Quan Xiao | METHOD AND DEVICE FOR VARIABLE G-POWER EXPERIENCE AND FOR GENERATING IMMERSIVE VR SENSITIVES |
US20120101415A1 (en) * | 2010-10-21 | 2012-04-26 | Amit Goffer | Locomotion assisting apparatus with integrated tilt sensor |
TWI549986B (zh) | 2011-05-19 | 2016-09-21 | Mitsubishi Gas Chemical Co | A high-flow polycarbonate copolymer, a method for producing a high molecular weight aromatic polycarbonate resin, and an aromatic polycarbonate compound |
JP5501325B2 (ja) * | 2011-11-30 | 2014-05-21 | 本田技研工業株式会社 | 歩行補助装置 |
US20130145530A1 (en) * | 2011-12-09 | 2013-06-13 | Manu Mitra | Iron man suit |
US20140005577A1 (en) * | 2012-06-28 | 2014-01-02 | Amit Goffer | Airbag for exoskeleton device |
JP6535283B2 (ja) * | 2012-09-07 | 2019-06-26 | ザ リージェンツ オブ ザ ユニバーシティ オブ カリフォルニア | 制御可能な非能動性人口膝 |
CA2902175A1 (en) | 2013-03-13 | 2014-10-09 | Ekso Bionics, Inc. | Gait orthotic device and method for protecting gait orthotic device and user from damage |
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US9855181B2 (en) | 2013-03-15 | 2018-01-02 | Bionik Laboratories, Inc. | Transmission assembly for use in an exoskeleton apparatus |
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-
2010
- 2010-10-21 US US12/909,746 patent/US20120101415A1/en not_active Abandoned
-
2011
- 2011-10-10 CA CA2815572A patent/CA2815572A1/en not_active Abandoned
- 2011-10-10 EP EP22159563.0A patent/EP4082506A1/en active Pending
- 2011-10-10 RU RU2013122414/14A patent/RU2013122414A/ru unknown
- 2011-10-10 RU RU2016118307A patent/RU2016118307A/ru unknown
- 2011-10-10 AU AU2011319487A patent/AU2011319487A1/en not_active Abandoned
- 2011-10-10 BR BR112013009760A patent/BR112013009760A2/pt not_active Application Discontinuation
- 2011-10-10 ES ES11833961T patent/ES2915693T3/es active Active
- 2011-10-10 WO PCT/IL2011/000799 patent/WO2012052988A2/en active Application Filing
- 2011-10-10 KR KR1020137013021A patent/KR20130105867A/ko not_active Application Discontinuation
- 2011-10-10 EP EP11833961.3A patent/EP2629855B8/en active Active
- 2011-10-10 CN CN2011800614614A patent/CN103328051A/zh active Pending
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2016
- 2016-04-22 US US15/136,844 patent/US10849816B2/en active Active
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2020
- 2020-11-30 US US17/107,453 patent/US20210290471A1/en active Pending
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JP2002301124A (ja) * | 2001-04-06 | 2002-10-15 | Honda Motor Co Ltd | 歩行補助装置 |
JP2010162064A (ja) * | 2009-01-13 | 2010-07-29 | Toyota Motor Corp | 歩行訓練システム |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103901902A (zh) * | 2014-03-26 | 2014-07-02 | 中国科学院深圳先进技术研究院 | 负重外骨骼机器人脱离装置及脱离方法 |
JP2017154210A (ja) * | 2016-03-02 | 2017-09-07 | パナソニック株式会社 | 動作支援装置、及び、動作支援システム |
JP2019084335A (ja) * | 2017-11-09 | 2019-06-06 | フリー バイオニクス タイワン インコーポレイテッドFree Bionics Taiwan Inc. | 外骨格型ロボット及びその制御方法 |
CN109938971A (zh) * | 2019-04-15 | 2019-06-28 | 哈工大机器人(合肥)国际创新研究院 | 一种可穿戴的下肢髋关节和膝关节助力装置 |
Also Published As
Publication number | Publication date |
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KR20130105867A (ko) | 2013-09-26 |
RU2016118307A (ru) | 2018-10-29 |
CA2815572A1 (en) | 2012-04-26 |
US20160235616A1 (en) | 2016-08-18 |
US20120101415A1 (en) | 2012-04-26 |
AU2011319487A1 (en) | 2013-06-06 |
US10849816B2 (en) | 2020-12-01 |
EP2629855B8 (en) | 2022-08-24 |
WO2012052988A3 (en) | 2013-04-18 |
EP2629855A2 (en) | 2013-08-28 |
EP2629855A4 (en) | 2014-05-07 |
ES2915693T3 (es) | 2022-06-24 |
RU2016118307A3 (ja) | 2018-10-29 |
RU2013122414A (ru) | 2014-11-27 |
EP4082506A1 (en) | 2022-11-02 |
BR112013009760A2 (pt) | 2016-07-19 |
US20210290471A1 (en) | 2021-09-23 |
WO2012052988A2 (en) | 2012-04-26 |
CN103328051A (zh) | 2013-09-25 |
EP2629855B1 (en) | 2022-03-02 |
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