JP2019520230A - エクソスケルトンとプロキシ - Google Patents

エクソスケルトンとプロキシ Download PDF

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Publication number
JP2019520230A
JP2019520230A JP2019520199A JP2019520199A JP2019520230A JP 2019520230 A JP2019520230 A JP 2019520230A JP 2019520199 A JP2019520199 A JP 2019520199A JP 2019520199 A JP2019520199 A JP 2019520199A JP 2019520230 A JP2019520230 A JP 2019520230A
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JP
Japan
Prior art keywords
exoskeleton
axis
user
degrees
actuator
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
Application number
JP2019520199A
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English (en)
Japanese (ja)
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JP2019520230A5 (enExample
Inventor
リース，マルセル
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Individual
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Individual
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of JP2019520230A publication Critical patent/JP2019520230A/ja
Publication of JP2019520230A5 publication Critical patent/JP2019520230A5/ja
Priority to JP2022110255A priority Critical patent/JP7455413B2/ja
Pending legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • 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
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
    • B25J9/0057—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base with kinematics chains of the type spherical-prismatic-spherical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
    • B25J9/0069—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base with kinematics chains of the type universal-prismatic-universal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • A61H2201/1623—Back
    • 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
    • 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
    • A61H2201/1645—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support contoured to fit the user
    • 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
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A61H2201/1652—Harness
    • 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
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Epidemiology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
JP2019520199A 2016-06-27 2017-06-27 エクソスケルトンとプロキシ Pending JP2019520230A (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2022110255A JP7455413B2 (ja) 2016-06-27 2022-07-08 エクソスケルトンとプロキシ

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102016007741.7 2016-06-27
DE102016007741.7A DE102016007741A1 (de) 2016-06-27 2016-06-27 Erfindung das Gebiet betreffend von Exoskeletten, humanoiden Robotern und auch deren Verwendung in teleoperativen Anwendungen in virtuellen Welten oder der realen Welt
PCT/EP2017/000744 WO2018001555A2 (de) 2016-06-27 2017-06-27 Exoskelett und statthalter

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2022110255A Division JP7455413B2 (ja) 2016-06-27 2022-07-08 エクソスケルトンとプロキシ

Publications (2)

Publication Number Publication Date
JP2019520230A true JP2019520230A (ja) 2019-07-18
JP2019520230A5 JP2019520230A5 (enExample) 2020-08-06

Family

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Family Applications (2)

Application Number Title Priority Date Filing Date
JP2019520199A Pending JP2019520230A (ja) 2016-06-27 2017-06-27 エクソスケルトンとプロキシ
JP2022110255A Active JP7455413B2 (ja) 2016-06-27 2022-07-08 エクソスケルトンとプロキシ

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2022110255A Active JP7455413B2 (ja) 2016-06-27 2022-07-08 エクソスケルトンとプロキシ

Country Status (5)

Country Link
US (2) US20190232485A1 (enExample)
EP (1) EP3475033B1 (enExample)
JP (2) JP2019520230A (enExample)
DE (1) DE102016007741A1 (enExample)
WO (1) WO2018001555A2 (enExample)

Cited By (1)

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JPWO2020217794A1 (enExample) * 2019-04-26 2020-10-29

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US11298285B2 (en) * 2018-03-16 2022-04-12 Arizona Board Of Regents On Behalf Of Northern Arizona University Ankle exoskeleton system and method for assisted mobility and rehabilitation
US12150909B2 (en) 2018-05-11 2024-11-26 Arizona Board Of Regents On Behalf Of Northern Arizona University Exoskeleton device
CN108555885A (zh) * 2018-05-15 2018-09-21 西南交通大学 一种可调节重心的外骨骼腰部装置
US11077566B2 (en) 2019-03-12 2021-08-03 Boston Dynamics, Inc. Robotic leg
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CN110497387A (zh) * 2019-08-28 2019-11-26 华南理工大学 一种仿生人形机器人的人造骨架和肌肉架构及其设计方法
CN110465925B (zh) * 2019-09-19 2022-10-04 哈尔滨工业大学 一种串联弹性驱动的模块化助行外骨骼机器人
CN110801238B (zh) * 2019-11-20 2022-07-01 上海交通大学 一种下肢多关节等速训练测试装置
CN112975941B (zh) * 2019-12-13 2022-06-24 深圳市优必选科技股份有限公司 机器人控制方法、装置、计算机可读存储介质及机器人
EP4110237B1 (en) * 2020-02-24 2025-04-09 Vanderbilt University Prosthetic knee joint with electronically-controlled transmission
US20210378904A1 (en) * 2020-06-09 2021-12-09 Arizona Board Of Regents On Behalf Of Northern Arizona University Cable-actuated, kinetically-balanced, parallel torque transfer exoskeleton joint actuator with or without strain sensing
US11833103B2 (en) * 2020-06-12 2023-12-05 Seoul National University R&Db Foundation Hip joint link apparatus
CN112022631A (zh) * 2020-09-28 2020-12-04 山东理工大学 一种多体位康复训练下肢外骨骼装置
CN112137820B (zh) * 2020-10-25 2021-07-30 刘明娟 一种医用骨科换药装置
US12440362B2 (en) 2020-10-29 2025-10-14 Arizona Board Of Regents On Behalf Of Northern Arizona University Differential and variable stiffness orthosis design with adjustment methods, monitoring and intelligence
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CN112936225B (zh) * 2021-01-28 2023-06-27 燕山大学 一种少驱动多自由度输出冗余并联机构及控制方法
CN112894775B (zh) * 2021-02-05 2023-05-19 美康达智能科技(山东)有限责任公司 一种增强人体负重能力及耐力的增力型下肢助力外骨骼
SK9321Y1 (sk) * 2021-02-12 2021-09-29 Panza Robotics, s. r. o. Noha robota
CN113370182A (zh) * 2021-05-25 2021-09-10 中国船舶重工集团公司第七一三研究所 一种三自由度外骨骼上肢
CN113146591B (zh) * 2021-05-27 2022-11-25 重庆理工大学 一种具有减震功能的负重助力外骨骼
CN113771003B (zh) * 2021-08-12 2023-04-18 重庆交通大学 穿戴型电动智能助残外骨骼身体姿态控制装置
CN114029928B (zh) * 2021-08-12 2023-05-05 重庆交通大学 随动式仿生多杆虚拟穿戴式髋关节
CN113771004B (zh) * 2021-08-12 2023-04-18 重庆交通大学 穿戴型随动助力外骨骼身体姿态控制装置
CN113771002B (zh) * 2021-08-12 2023-04-18 重庆交通大学 主动式仿生多杆虚拟穿戴式髋关节
CN113648183A (zh) * 2021-08-19 2021-11-16 廊坊瑞立达智能机器有限公司 一种踝关节康复训练装置
CN114083518B (zh) * 2021-12-02 2023-08-29 中国科学技术大学 基于轻量化双向驱动助力的膝部柔性外骨骼装置及外骨骼
CN114434421B (zh) * 2021-12-31 2024-06-25 北京林业大学 主被动结合的可穿戴下肢助力外骨骼装置
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CN114162358B (zh) * 2022-02-11 2022-05-17 清华大学 一种体感微低重力模拟装置
CN114534172B (zh) * 2022-02-17 2022-09-27 华中科技大学 一种助力相位自动切换的被动负重支撑装置
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Publication number Priority date Publication date Assignee Title
JPWO2020217794A1 (enExample) * 2019-04-26 2020-10-29
JP7150155B2 (ja) 2019-04-26 2022-10-07 本田技研工業株式会社 移動体の操縦装置及び操縦システム

Also Published As

Publication number Publication date
EP3475033A2 (de) 2019-05-01
EP3475033B1 (de) 2025-07-23
US20190232485A1 (en) 2019-08-01
JP2022130730A (ja) 2022-09-06
US20220219314A1 (en) 2022-07-14
DE102016007741A1 (de) 2017-12-28
WO2018001555A3 (de) 2018-04-05
JP7455413B2 (ja) 2024-03-26
WO2018001555A2 (de) 2018-01-04
EP3475033C0 (de) 2025-07-23
US12251827B2 (en) 2025-03-18

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