JP2015515301A - 電動外骨格ユニット - Google Patents
電動外骨格ユニット Download PDFInfo
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- JP2015515301A JP2015515301A JP2015501048A JP2015501048A JP2015515301A JP 2015515301 A JP2015515301 A JP 2015515301A JP 2015501048 A JP2015501048 A JP 2015501048A JP 2015501048 A JP2015501048 A JP 2015501048A JP 2015515301 A JP2015515301 A JP 2015515301A
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- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 7
- 210000001624 hip Anatomy 0.000 claims description 38
- 210000000689 upper leg Anatomy 0.000 claims description 26
- 210000002414 leg Anatomy 0.000 claims description 9
- 210000000629 knee joint Anatomy 0.000 claims description 6
- 238000013459 approach Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 2
- 210000003127 knee Anatomy 0.000 description 32
- 244000309466 calf Species 0.000 description 21
- 210000002683 foot Anatomy 0.000 description 9
- 238000000034 method Methods 0.000 description 7
- 210000004394 hip joint Anatomy 0.000 description 5
- 210000001503 joint Anatomy 0.000 description 5
- 210000000544 articulatio talocruralis Anatomy 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000037230 mobility Effects 0.000 description 3
- 206010033799 Paralysis Diseases 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 208000035475 disorder Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010033892 Paraplegia Diseases 0.000 description 1
- 208000000474 Poliomyelitis Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000002169 hydrotherapy Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 210000004197 pelvis Anatomy 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 230000008288 physiological mechanism Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
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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
- A61H1/0237—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
- 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
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
-
- 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
- A61H1/0266—Foot
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/14—Standing-up or sitting-down aids
-
- 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
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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
- 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
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
- A61H2201/1246—Driving means with hydraulic or pneumatic drive by piston-cylinder systems
-
- 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
- A61H2201/1616—Holding means therefor
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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
- 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
- A61H2201/1628—Pelvis
- A61H2201/163—Pelvis holding means therefor
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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
- 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
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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
- 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
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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
- 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
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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
- 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
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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
- 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
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5097—Control means thereof wireless
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- Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (15)
- ユーザの移動を促進するための電動外骨格装置であって、
前記ユーザの胴体に取り付けるための胴体基部と、
前記ユーザの下肢に結合するように構成される一対の脚部材と、
を備え、
各脚部材は、
第1の支持部分が第2の支持部分上部にある、第1の支持部分および第2の支持部分と、
2つの電動関節であって、前記電動関節のうち1つは前記第1の支持部分を前記第2の支持部分に接続し、別の電動関節は前記第1の支持部分を前記胴体基部に接続する2つの電動関節と、
前記電動関節を移動するように構成される2つのモータと、
を備え、
前記モータは前記上部支持部分に結合される、電動外骨格装置。 - 前記2つまたは複数のモータは前記電動外骨格装置の大腿部支持部分に結合される、請求項1に記載の電動外骨格装置。
- 前記2つまたは複数のモータは、前記電動外骨格装置の重量の配分を変更するように構成される、請求項1または2に記載の電動外骨格装置。
- 前記2つまたは複数のモータは、前記電動外骨格装置をユーザに容易に取り付けられるように構成される、請求項1〜3のいずれか1つに記載の電動外骨格装置。
- 前記2つまたは複数のモータは、前記電動外骨格装置をユーザから容易に取り外せるように構成される、請求項1〜4のいずれか1つに記載の電動外骨格装置。
- 前記2つまたは複数のモータは同一の種類のモータである、請求項1〜5のいずれか1つに記載の電動外骨格装置。
- 前記2つまたは複数のモータは様々な種類のモータである、請求項1〜6のいずれか1つに記載の電動外骨格装置。
- 前記モータは、前記電動外骨格装置に不安定さを加えるように構成される、請求項1〜7のいずれか1つに記載の電動外骨格装置。
- 前記上部支持部分はユーザの大腿部に隣接している、請求項1〜8のいずれか1つに記載の電動外骨格装置。
- 前記上部支持部分はユーザの膝関節の上にある、請求項1〜9のいずれか1つに記載の電動外骨格装置。
- 前記上部支持部分はユーザの胴体に隣接している、請求項1〜8および10のいずれか1つに記載の電動外骨格装置。
- 前記上部支持部分はユーザの腰に隣接している、請求項1〜8および10のいずれか1つに記載の電動外骨格装置。
- 前記2つまたは複数のモータは、前記電動外骨格装置を操作するために必要なトルクのレベルを低減するように構成される、請求項1〜12のいずれか1つに記載の電動外骨格装置。
- 前記2つまたは複数のモータの配置は、前記電動外骨格装置の外側の可視性を低減するように構成される、請求項1〜13のいずれか1つに記載の電動外骨格装置。
- 前記2つまたは複数のモータの配置は、自然な歩行運動に近づくか、または実現するように構成される、請求項1〜14のいずれか1つに記載の電動外骨格装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/426,071 | 2012-03-21 | ||
US13/426,071 US20130253385A1 (en) | 2012-03-21 | 2012-03-21 | Motorized exoskeleton unit |
PCT/IL2013/050220 WO2013140390A1 (en) | 2012-03-21 | 2013-03-10 | Motorized exoskeleton unit |
Publications (1)
Publication Number | Publication Date |
---|---|
JP2015515301A true JP2015515301A (ja) | 2015-05-28 |
Family
ID=49212450
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015501048A Pending JP2015515301A (ja) | 2012-03-21 | 2013-03-10 | 電動外骨格ユニット |
Country Status (11)
Country | Link |
---|---|
US (1) | US20130253385A1 (ja) |
EP (1) | EP2828042A1 (ja) |
JP (1) | JP2015515301A (ja) |
KR (1) | KR20150010714A (ja) |
CN (1) | CN104302451A (ja) |
AU (1) | AU2013236977A1 (ja) |
BR (1) | BR112014023459A8 (ja) |
CA (1) | CA2869694A1 (ja) |
IL (1) | IL234739A0 (ja) |
RU (1) | RU2014140134A (ja) |
WO (1) | WO2013140390A1 (ja) |
Families Citing this family (51)
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US9789603B2 (en) | 2011-04-29 | 2017-10-17 | Sarcos Lc | Teleoperated robotic system |
US20130145530A1 (en) * | 2011-12-09 | 2013-06-13 | Manu Mitra | Iron man suit |
US9616580B2 (en) | 2012-05-14 | 2017-04-11 | Sarcos Lc | End effector for a robotic arm |
CA2885228C (en) | 2012-09-17 | 2021-07-20 | President And Fellows Of Harvard College | Soft exosuit for assistance with human motion |
EP3003231B1 (en) | 2013-05-31 | 2019-09-18 | President and Fellows of Harvard College | Soft exosuit for assistance with human motion |
WO2015029005A1 (en) * | 2013-08-28 | 2015-03-05 | Amit Goffer | Standing wheelchair |
JP2016539775A (ja) * | 2013-11-29 | 2016-12-22 | レックス バイオニクス リミテッド | 移動補助具 |
CN105992554A (zh) | 2013-12-09 | 2016-10-05 | 哈佛大学校长及研究员协会 | 帮助人移动的辅助柔性套服、柔性套服系统及它们的制造和控制方法 |
EP3102171A4 (en) | 2014-02-05 | 2018-03-28 | President and Fellows of Harvard College | Systems, methods, and devices for assisting walking for developmentally-delayed toddlers |
WO2015143157A1 (en) * | 2014-03-21 | 2015-09-24 | Ekso Bionics, Inc. | Ambulatory exoskeleton and method of relocating exoskeleton |
EP3128963A4 (en) | 2014-04-10 | 2017-12-06 | President and Fellows of Harvard College | Orthopedic device including protruding members |
US10512583B2 (en) | 2014-05-06 | 2019-12-24 | Sarcos Lc | Forward or rearward oriented exoskeleton |
US10406676B2 (en) | 2014-05-06 | 2019-09-10 | Sarcos Lc | Energy recovering legged robotic device |
US10533542B2 (en) | 2014-05-06 | 2020-01-14 | Sarcos Lc | Rapidly modulated hydraulic supply for a robotic device |
US10766133B2 (en) * | 2014-05-06 | 2020-09-08 | Sarcos Lc | Legged robotic device utilizing modifiable linkage mechanism |
US9757254B2 (en) * | 2014-08-15 | 2017-09-12 | Honda Motor Co., Ltd. | Integral admittance shaping for an exoskeleton control design framework |
WO2016089466A2 (en) | 2014-09-19 | 2016-06-09 | President And Fellows Of Harvard College | Soft exosuit for assistance with human motion |
US20160158593A1 (en) * | 2014-12-04 | 2016-06-09 | Florida Institute for Human and Machine Cognition | Exoskeleton-Based Exercise and Training Device |
KR102287300B1 (ko) * | 2014-12-11 | 2021-08-06 | 삼성전자주식회사 | 데이터 처리 아키텍쳐 및 데이터 처리 방법 |
US10390973B2 (en) | 2015-05-11 | 2019-08-27 | The Hong Kong Polytechnic University | Interactive exoskeleton robotic knee system |
US11253992B2 (en) | 2015-07-06 | 2022-02-22 | Rewalk Robotics Ltd. | Methods and apparatuses for exoskeleton attachment |
KR102541908B1 (ko) | 2015-07-21 | 2023-06-09 | 삼성전자주식회사 | 프레임 모듈 및 이를 포함하는 운동 보조 장치 |
MX2015014864A (es) * | 2015-10-22 | 2017-04-21 | Fernando Razgado Hernandez Luis | Exoesqueleto multiarticular de resistencia ajustable para ejercicios de musculacion y rehabilitacion. |
US11344467B2 (en) | 2015-12-04 | 2022-05-31 | Rewalk Robotics Ltd. | Apparatus and systems for powering supports for exoskeletons |
FR3046099B1 (fr) * | 2015-12-24 | 2017-12-22 | Sagem Defense Securite | Structure d'exosquelette pour l'assistance a l'effort d'un utilisateur |
EP3429512A4 (en) | 2016-03-13 | 2019-10-30 | President and Fellows of Harvard College | FLEXIBLE ELEMENTS FOR ANCHORING THE BODY |
WO2017218661A1 (en) | 2016-06-14 | 2017-12-21 | University Of Houston System | Customizable orthotic/prosthetic braces and lightweight modular exoskeleton |
EP3487666A4 (en) | 2016-07-22 | 2020-03-25 | President and Fellows of Harvard College | OPTIMIZING ORDERS FOR PORTABLE SYSTEMS |
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US10765537B2 (en) | 2016-11-11 | 2020-09-08 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators for use within a robotic system |
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US20130253385A1 (en) | 2013-09-26 |
IL234739A0 (en) | 2014-11-30 |
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BR112014023459A8 (pt) | 2017-07-25 |
AU2013236977A1 (en) | 2014-10-09 |
EP2828042A1 (en) | 2015-01-28 |
KR20150010714A (ko) | 2015-01-28 |
CN104302451A (zh) | 2015-01-21 |
CA2869694A1 (en) | 2013-09-26 |
WO2013140390A1 (en) | 2013-09-26 |
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