JP2018521750A - 外骨格を効率的に着脱するための機構 - Google Patents
外骨格を効率的に着脱するための機構 Download PDFInfo
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- JP2018521750A JP2018521750A JP2017566800A JP2017566800A JP2018521750A JP 2018521750 A JP2018521750 A JP 2018521750A JP 2017566800 A JP2017566800 A JP 2017566800A JP 2017566800 A JP2017566800 A JP 2017566800A JP 2018521750 A JP2018521750 A JP 2018521750A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 18
- 210000002414 leg Anatomy 0.000 description 25
- 230000008878 coupling Effects 0.000 description 12
- 238000010168 coupling process Methods 0.000 description 12
- 238000005859 coupling reaction Methods 0.000 description 12
- 238000000926 separation method Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 210000000689 upper leg Anatomy 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 3
- 210000000629 knee joint Anatomy 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/605—Hip joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/64—Knee joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment 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
- 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
-
- 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
- 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
-
- 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
- A61H2201/1454—Special bearing arrangements
-
- 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
- A61H2201/1463—Special speed variation means, i.e. speed reducer
-
- 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
-
- 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
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1676—Pivoting
-
- 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
- A61H2201/5007—Control means thereof computer controlled
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Biomedical Technology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Cardiology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
- Rehabilitation Tools (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
Description
101 手動装置
102 外骨格脚部
104 外骨格残部本体
106 ユーザ
108 空洞
109 ハウジング
109 雌部材
110 ラッチ
112 ラッチ機構
114 骨盤支持部
116 ヒップアクチュエータ
117 クリップ本体
118 突起要素
120 ハンドル
121 クリップベース
124 フック
126 膝ジョイント
128 大腿部ブレース
130 脛部ブレース
132 側方大腿部支持バー
134 脛部側方支持バー
140 カバープレート
142 ストッパ
Claims (18)
- 外骨格脚部を外骨格の残部本体から迅速に取付け、取り外すための手動装置において、
上記外骨格の上記残部本体に結合されたハウジングにより形成された空洞と、
上記外骨格の上記残部本体に結合され、ラッチ機構を有するラッチと、
上記外骨格脚部に結合されたクリップ本体であって、当該クリップ本体の端部から延びる突起要素を含む、上記クリップ本体と、
上記クリップ本体上のクリップベースと回転可能に結合されたハンドルと、
上記ハンドルに回転可能に結合されたフックとを有し、
上記フックが上記ラッチ機構と係合し、かつ上記ハンドルが第1のラッチ解除位置から第2のラッチ位置まで回転されられたとき、上記突起要素が上記空洞内へと移動することを特徴とする手動装置。 - 上記手動装置は、上記外骨格のユーザによる、片手での上記外骨格脚部の上記外骨格の上記残部本体への連結を可能にする請求項1記載の手動装置。
- ユーザが上記ハンドルを当該ユーザの脚部の外側表面に向けて押して上記突起要素を上記空洞に挿入するように、上記ハンドルを構成する請求項1記載の手動装置。
- ユーザが上記ハンドルを当該ユーザの脚部の外側表面から遠ざかる方向に押して上記突起要素を上記空洞から取り外すように、上記ハンドルを構成する請求項1記載の手動装置。
- 上記突起要素が上記外骨格脚部の一部として製造される請求項1記載の手動装置。
- 上記ハウジングは、上記外骨格の上記残部本体の一部として製造される請求項1記載の手動装置。
- 上記ラッチは、上記外骨格の上記残部本体の一部として製造される請求項1記載の手動装置。
- 外骨格の第1の構成要素に対して上記外骨格の第2の構成要素を迅速に取付け、取り外すための手動装置において、
上記外骨格の上記第2の構成要素に結合されたハウジングにより形成された空洞と、
上記外骨格の上記第2の構成要素に結合され、ラッチ機構を有するラッチと、
上記第1の構成要素に結合されたクリップ本体であって、当該クリップ本体の端部から延びる突起要素を含む、上記クリップ本体と、
上記クリップ本体上のクリップベースと回転可能に結合されたハンドルと、
上記ハンドルに回転可能に結合されたフックとを有し、
上記フックが上記ラッチ機構と係合し、かつ上記ハンドルが第1のラッチ解除位置から第2のラッチ位置まで回転されられたとき、上記突起要素が上記空洞内へと移動することを特徴とする手動装置。 - 上記第1の構成要素が外骨格脚部であり、上記第2の構成要素が上記外骨格の残部本体である請求項8記載の手動装置。
- 上記第2の構成要素が外骨格脚部であり、上記第1の構成要素が上記外骨格の残部本体である請求項8記載の手動装置。
- 上記突起要素が上記外骨格脚部の一部として製造される請求項8記載の手動装置。
- 上記ハウジングは、上記外骨格の上記残部本体の一部として製造される請求項8記載の手動装置。
- 上記ラッチは、上記外骨格の上記残部本体の一部として製造される請求項8記載の手動装置。
- 外骨格の第1の構成要素に対して上記外骨格の第2の構成要素を迅速に取付け、取り外すための手動装置において、
上記外骨格の上記第1の構成要素に結合されたハウジングにより形成された空洞と、
上記外骨格の上記第2の構成要素に結合され、ラッチ機構を有するラッチと、
上記第2の構成要素に結合されたクリップ本体であって、当該クリップ本体の端部から延びる突起要素を含む、上記クリップ本体と、
上記クリップ本体上のクリップベースと回転可能に結合されたハンドルと、
上記ハンドルに回転可能に結合されたフックとを有し、
上記フックが上記ラッチ機構と係合し、かつ上記ハンドルが第1のラッチ解除位置から第2のラッチ位置まで回転されられたとき、上記突起要素が上記空洞内へと移動することを特徴とする手動装置。 - 上記第1の構成要素が外骨格脚部であり、上記第2の構成要素が上記外骨格の残部本体である請求項14記載の手動装置。
- 上記第2の構成要素が外骨格脚部であり、上記第1の構成要素が上記外骨格の残部本体である請求項14記載の手動装置。
- 上記突起要素が上記第2の構成要素の一部として製造される請求項14記載の手動装置。
- 上記空洞は、上記第1の構成要素の一部として製造される請求項14記載の手動装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201562183407P | 2015-06-23 | 2015-06-23 | |
US62/183,407 | 2015-06-23 | ||
PCT/US2016/038999 WO2016210117A1 (en) | 2015-06-23 | 2016-06-23 | A mechanism for efficient donning and doffing of an exoskeleton |
Publications (3)
Publication Number | Publication Date |
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JP2018521750A true JP2018521750A (ja) | 2018-08-09 |
JP2018521750A5 JP2018521750A5 (ja) | 2019-07-18 |
JP6670861B2 JP6670861B2 (ja) | 2020-04-01 |
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Application Number | Title | Priority Date | Filing Date |
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JP2017566800A Active JP6670861B2 (ja) | 2015-06-23 | 2016-06-23 | 外骨格を効率的に着脱するための機構 |
Country Status (6)
Country | Link |
---|---|
US (2) | US9987151B2 (ja) |
EP (1) | EP3313331A4 (ja) |
JP (1) | JP6670861B2 (ja) |
KR (1) | KR20180053637A (ja) |
CN (1) | CN107735056B (ja) |
WO (1) | WO2016210117A1 (ja) |
Families Citing this family (9)
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CA2943359A1 (en) * | 2014-03-31 | 2015-10-08 | Parker-Hannifin Corporation | Wearable robotic device |
US9949537B2 (en) * | 2015-03-06 | 2018-04-24 | Apple Inc. | Clasp mechanism for wrist-worn devices |
WO2019098561A1 (ko) | 2017-11-20 | 2019-05-23 | 주식회사 엘지화학 | 회전식 디스크 시스템을 활용한 중금속 정성 및 정량 분석 디바이스 및 분석 방법 |
DE102017223757B4 (de) * | 2017-12-22 | 2023-05-25 | Bauerfeind Ag | Hartrahmen mit verschwenkbarer Brücke |
CN109223450B (zh) * | 2018-08-30 | 2020-12-01 | 佛山市顺德区孝德嘉医疗科技有限公司 | 一种便于病人安装的机器人 |
DE102018126324A1 (de) * | 2018-10-23 | 2020-04-23 | Otto Bock Healthcare Products Gmbh | Orthopädietechnisches Gelenk und orthopädietechnische Einrichtung |
JP1645452S (ja) * | 2019-06-04 | 2019-11-11 | ||
US20200397641A1 (en) * | 2019-06-20 | 2020-12-24 | Free Bionics Taiwan Inc. | Assistive device and control method thereof |
USD946770S1 (en) * | 2020-09-29 | 2022-03-22 | ManaMed Inc. | Medical device |
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-
2016
- 2016-06-23 KR KR1020187001968A patent/KR20180053637A/ko unknown
- 2016-06-23 US US15/190,920 patent/US9987151B2/en active Active
- 2016-06-23 WO PCT/US2016/038999 patent/WO2016210117A1/en active Application Filing
- 2016-06-23 EP EP16815290.8A patent/EP3313331A4/en not_active Withdrawn
- 2016-06-23 CN CN201680036976.1A patent/CN107735056B/zh active Active
- 2016-06-23 JP JP2017566800A patent/JP6670861B2/ja active Active
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2017
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Also Published As
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CN107735056A (zh) | 2018-02-23 |
WO2016210117A1 (en) | 2016-12-29 |
JP6670861B2 (ja) | 2020-04-01 |
US20160374836A1 (en) | 2016-12-29 |
US9987151B2 (en) | 2018-06-05 |
EP3313331A4 (en) | 2019-04-24 |
EP3313331A1 (en) | 2018-05-02 |
CN107735056B (zh) | 2018-12-14 |
US20180110632A1 (en) | 2018-04-26 |
KR20180053637A (ko) | 2018-05-23 |
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