JP2023515036A - 上肢及び下肢用リハビリ運動装置 - Google Patents
上肢及び下肢用リハビリ運動装置 Download PDFInfo
- Publication number
- JP2023515036A JP2023515036A JP2022549612A JP2022549612A JP2023515036A JP 2023515036 A JP2023515036 A JP 2023515036A JP 2022549612 A JP2022549612 A JP 2022549612A JP 2022549612 A JP2022549612 A JP 2022549612A JP 2023515036 A JP2023515036 A JP 2023515036A
- Authority
- JP
- Japan
- Prior art keywords
- rehabilitation exercise
- information
- pair
- rehabilitation
- hinge
- 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.)
- Granted
Links
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 55
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 46
- 230000010365 information processing Effects 0.000 claims abstract description 34
- 238000004891 communication Methods 0.000 claims abstract description 26
- 238000001514 detection method Methods 0.000 claims description 13
- 230000005484 gravity Effects 0.000 claims description 12
- 210000000689 upper leg Anatomy 0.000 claims description 7
- 210000000245 forearm Anatomy 0.000 claims description 6
- 210000002414 leg Anatomy 0.000 claims description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims 1
- 210000000078 claw Anatomy 0.000 description 43
- 230000008878 coupling Effects 0.000 description 23
- 238000010168 coupling process Methods 0.000 description 23
- 238000005859 coupling reaction Methods 0.000 description 23
- 238000010586 diagram Methods 0.000 description 22
- 238000003780 insertion Methods 0.000 description 12
- 230000037431 insertion Effects 0.000 description 12
- 210000001503 joint Anatomy 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 6
- 210000003205 muscle Anatomy 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 210000002310 elbow joint Anatomy 0.000 description 4
- 210000004247 hand Anatomy 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000003857 wrist joint Anatomy 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
-
- 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
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
- A63B21/0058—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/40—Interfaces with the user related to strength training; Details thereof
- A63B21/4041—Interfaces with the user related to strength training; Details thereof characterised by the movements of the interface
- A63B21/4047—Pivoting movement
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/03508—For a single arm or leg
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
- G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
- G06K19/067—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components
- G06K19/07—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components with integrated circuit chips
- G06K19/0723—Record carriers with conductive marks, printed circuits or semiconductor circuit elements, e.g. credit or identity cards also with resonating or responding marks without active components with integrated circuit chips the record carrier comprising an arrangement for non-contact communication, e.g. wireless communication circuits on transponder cards, non-contact smart cards or RFIDs
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/30—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
- A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
- A63B2220/16—Angular positions
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/89—Field sensors, e.g. radar systems
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
- H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
- H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories
- H04M1/72412—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories using two-way short-range wireless interfaces
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Epidemiology (AREA)
- Public Health (AREA)
- Medical Informatics (AREA)
- Primary Health Care (AREA)
- Physics & Mathematics (AREA)
- Biomedical Technology (AREA)
- Theoretical Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Computer Hardware Design (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Animal Behavior & Ethology (AREA)
- Business, Economics & Management (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Veterinary Medicine (AREA)
- General Business, Economics & Management (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
(式1中、
は、前記デバイス制御部によって制御される前記駆動モータの出力トルクであり、
は前記第1ヒンジ部及び前記第2ヒンジ部の旋回時に発生する摩擦力による摩擦力トルクとして予め登録された定数であり,
は前記ユーザ重み値であり、
は前記ユーザ距離値であり、
は前記リハビリ運動ユニットのデバイス重み値として予め登録された定数であり、
は前記駆動モータの回転軸から前記デバイス重み値に対応する重心までの距離であるデバイス距離値であり、
は前記駆動モータの制御回転角度である。)に基づいて駆動モータを制御して、
は式2:
(式2中,
は前記デバイス位置情報に応じて設定されるモータの回転方向値として一対の前記第1ヒンジ部または一対の前記第2ヒンジ部の中の左側または右側に応じて「1」または「-1」に設定され、
は前記駆動モータの絶対回転角度であり、
は前記重力方向角度である。)によって決定することができる。
はデバイス制御部93により制御される駆動モータ91の出力トルクであり、
は第1ヒンジ部311、312及び第2ヒンジ部331、332の回動時に発生する摩擦力による摩擦力トルクである。
はリハビリ運動ユニット3に印加される使用者の上肢または下肢の重みに該当するユーザの重み値であり、
は駆動モータ91の回転軸Oから使用者の重み値に対応する重心までの距離であるユーザ距離値である。また、
はリハビリ運動ユニット3のデバイス重み値であり、
は駆動モータ91の回転軸Oからデバイス重み値に対応する重心までの距離であるデバイス距離値であり、
は駆動モータ91の制御回転角度である。
は、装置位置検出部S1により検出される装置位置情報に応じて設定されるモータの回転方向値として一対の第1ヒンジ部311、312または第2ヒンジ部331、332の中の左側または右側に応じて「-1」または「-1」と設定される。
も可変的である。これにより、デバイス距離値は、第2支持部320の長さの変化を検出する別個のセンサを設けて、第1情報として検出するか、ユーザまたはリハビリ管理者が情報処理端末4に入力して第2情報として提供することができる。
が零になるように駆動モータ91を制御することができる。
3:リハビリ運動ユニット
4:情報処理端末
5:載置台
6:無線通信網
7:駆動モジュール
310:第1支持部
311,312:第1ヒンジ部
320:第2支持部
330:第3支持部
331,332:第21ヒンジ部
Claims (10)
- 上肢及び下肢用リハビリ運動システムにおいて、
腕または脚のリハビリのためのリハビリ運動装置と、前記リハビリ運動装置と無線通信網を介して接続される情報処理端末とを含み、
前記リハビリ運動装置は、第1情報を検出する少なくとも一つの種類のセンサを含み、
前記情報処理端末は、第2情報を無線通信網を介して前記リハビリ運動装置に送信して、
前記リハビリ運動装置は、前記第1情報及び前記第2情報に基づいてリハビリ運動負荷を制御することを特徴とする上肢及び下肢用リハビリ運動システム。 - 前記リハビリ運動装置は、
リハビリ運動ユニットと、
前記リハビリ運動ユニットが載置されて、前記リハビリ運動ユニットが置けれる第1位置と、前記リハビリ運動ユニットが一定の角度で起立した第2位置との間を移動可能にリハビリ運動ユニットを支持する載置台と、を含み、
前記センサは、前記載置台の支持状態に応じて前記リハビリ運動装置が重力方向となす角度を検出する角度センサを含むことを特徴とする請求項1に記載の上肢及び下肢用リハビリ運動システム。 - 前記リハビリ運動ユニットは、
手または足を支持する第1支持部と、
上肢の前腕または下肢の下退を支持する第2支持部と、
前記第1支持部と前記第2支持部とを回転可能に連結する一対の第1ヒンジ部と、
上肢の上腕または下肢の大腿を支持する第3支持部と、
前記第2支持部と前記第3支持部とを回転可能に連結する一対の第2ヒンジ部と、
一対の前記第1ヒンジ部と一対の前記第2ヒンジ部の中のいずれか一つに選択的に装着され、前記第1支持部または前記第2支持部を旋回させる駆動モータが内蔵された駆動モジュールと、
前記リハビリ運動負荷が調整されるように、前記第1情報と前記第2情報に基づいて前記駆動モータのトルクを制御するデバイス制御部とをさらに含み、
前記センサは、一対の前記第1ヒンジ部と一対の前記第2ヒンジ部の中の前記駆動モジュールが装着された位置を検出する装着位置検出部とをさらに含むことを特徴とする請求項2に記載の上肢及び下肢用リハビリ運動システム。 - 前記デバイス制御部は、アクティブ(Active)運動モードで動作する際に、前記アクティブ運動モードへのリハビリが可能になるように、一対の前記第1ヒンジ部または一対の前記第2ヒンジ部にかかるトルクが補償されるように前記第1情報及び前記第2情報に基づいて前記駆動モータを制御することを特徴とする請求項3に記載の上肢及び下肢用リハビリ運動システム。
- 前記第1情報は、前記装着位置検出部によって検出される前記駆動モジュールの装着位置情報と、前記角度センサによって検出される重力方向角度とを含み、
前記第2情報は、前記リハビリ運動ユニットに印加されるユーザの上肢または下肢のユーザ重み値と、前記駆動モータの回転軸から前記ユーザ重み値に対応する中心までの距離であるユーザ距離値とを含むことを特徴とする請求項4に記載の上肢及び下肢用リハビリ運動システム。 - 前記デバイス制御部が前記アクティブ運動モードで動作する際に、
式1:
(式1中、
は、前記デバイス制御部によって制御される前記駆動モータの出力トルクであり、
は前記第1ヒンジ部及び前記第2ヒンジ部の旋回時に発生する摩擦力による摩擦力トルクとして予め登録された定数であり,
は前記ユーザ重み値であり、
は前記ユーザ距離値であり、
は前記リハビリ運動ユニットのデバイス重み値として予め登録された定数であり、
は前記駆動モータの回転軸から前記デバイス重み値に対応する重心までの距離であるデバイス距離値であり、
は前記駆動モータの制御回転角度である。)
に基づいて前記駆動モータを制御して、
は式2,
式2:
(式2中,
は前記デバイス位置情報に応じて設定されるモータの回転方向値として一対の前記第1ヒンジ部または一対の前記第2ヒンジ部の中の左側または右側に応じて「1」または「-1」に設定され、
は前記モータの絶対回転角度であり、
は前記重力方向角度である。)
によって決定されることを特徴とする請求項5に記載の上肢及び下肢用リハビリ運動システム。 - 前記第2支持部はその長さが調節可能に設けられて、
前記第2支持部の長さ調整に応じた前記デバイス距離値は、前記第1情報として測定され登録されるか、前記第2情報として前記情報処理端末から前記リハビリ運動装置に送信され登録されることを特徴とする請求項6に記載の上肢及び下肢用リハビリ運動システム。 - 前記装着位置検出部は、
一対の前記第1ヒンジ部と一対の前記第2ヒンジ部のそれぞれに設けられる被検出モジュールと、
駆動モジュールに設けられ、一対の前記第1ヒンジ部と一対の前記第2ヒンジ部の中のいずれか一つに前記駆動モジュールが装着される際に、前記被検出モジュールを認識するセンサモジュールとを含み、
それぞれの前記第1ヒンジ部と前記第2ヒンジ部に設けられる被検出モジュールは区別可能であることを特徴とする請求項4に記載の上肢及び下肢用リハビリ運動システム。 - 前記センサモジュールはホールセンサを含み、
それぞれの前記被検出モジュールは、
前記第1ヒンジ部及び前記第2ヒンジ部に互いに対応する位置にそれぞれ内蔵された磁石部材と、
前記磁石部材を外部に露出させるために前記第1ヒンジ部及び前記第2ヒンジ部に形成された磁石孔とを含み、
それぞれの前記磁石孔は位置と大きさの中の少なくとも一つが異なって設けられ、前記ホールセンサにより装着位置が区別されて認識されることを特徴とする請求項7に記載の上肢及び下肢用リハビリ運動システム。 - 前記被検出モジュールは、前記第1ヒンジ部及び前記第2ヒンジ部に設けられ、それぞれの当該位置に対する情報が埋め込まれた近距離通信基盤のタグを含み、
前記センサモジュールは、前記駆動モジュールが前記第1ヒンジ部または前記第2ヒンジ部に設けられる際に前記タグに記憶された情報を認識するリーダを含むことを特徴とする請求項7に記載の上肢及び下肢用リハビリ運動システム。
Applications Claiming Priority (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2020-0022972 | 2020-02-25 | ||
KR20200022972 | 2020-02-25 | ||
KR1020200141794A KR102471990B1 (ko) | 2020-02-25 | 2020-10-29 | 상지 및 하지용 재활 운동 장치 |
KR10-2020-0141794 | 2020-10-29 | ||
KR1020210004009A KR102559266B1 (ko) | 2021-01-12 | 2021-01-12 | 상지 및 하지용 재활 운동 시스템 |
KR10-2021-0004009 | 2021-01-12 | ||
PCT/KR2021/000439 WO2021172745A1 (ko) | 2020-02-25 | 2021-01-13 | 상지 및 하지용 재활 운동 시스템 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2023515036A true JP2023515036A (ja) | 2023-04-12 |
JP7431994B2 JP7431994B2 (ja) | 2024-02-15 |
Family
ID=77491151
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2022549612A Active JP7431994B2 (ja) | 2020-02-25 | 2021-01-13 | 上肢及び下肢用リハビリ運動装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20220401783A1 (ja) |
EP (1) | EP4112033A4 (ja) |
JP (1) | JP7431994B2 (ja) |
WO (1) | WO2021172745A1 (ja) |
Families Citing this family (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11957956B2 (en) | 2019-05-10 | 2024-04-16 | Rehab2Fit Technologies, Inc. | System, method and apparatus for rehabilitation and exercise |
US11801423B2 (en) | 2019-05-10 | 2023-10-31 | Rehab2Fit Technologies, Inc. | Method and system for using artificial intelligence to interact with a user of an exercise device during an exercise session |
US11957960B2 (en) | 2019-05-10 | 2024-04-16 | Rehab2Fit Technologies Inc. | Method and system for using artificial intelligence to adjust pedal resistance |
US11433276B2 (en) | 2019-05-10 | 2022-09-06 | Rehab2Fit Technologies, Inc. | Method and system for using artificial intelligence to independently adjust resistance of pedals based on leg strength |
US11833393B2 (en) | 2019-05-15 | 2023-12-05 | Rehab2Fit Technologies, Inc. | System and method for using an exercise machine to improve completion of an exercise |
US11896540B2 (en) | 2019-06-24 | 2024-02-13 | Rehab2Fit Technologies, Inc. | Method and system for implementing an exercise protocol for osteogenesis and/or muscular hypertrophy |
US11071597B2 (en) | 2019-10-03 | 2021-07-27 | Rom Technologies, Inc. | Telemedicine for orthopedic treatment |
US11955222B2 (en) | 2019-10-03 | 2024-04-09 | Rom Technologies, Inc. | System and method for determining, based on advanced metrics of actual performance of an electromechanical machine, medical procedure eligibility in order to ascertain survivability rates and measures of quality-of-life criteria |
US11955220B2 (en) | 2019-10-03 | 2024-04-09 | Rom Technologies, Inc. | System and method for using AI/ML and telemedicine for invasive surgical treatment to determine a cardiac treatment plan that uses an electromechanical machine |
US12020800B2 (en) | 2019-10-03 | 2024-06-25 | Rom Technologies, Inc. | System and method for using AI/ML and telemedicine to integrate rehabilitation for a plurality of comorbid conditions |
US11101028B2 (en) | 2019-10-03 | 2021-08-24 | Rom Technologies, Inc. | Method and system using artificial intelligence to monitor user characteristics during a telemedicine session |
US11961603B2 (en) | 2019-10-03 | 2024-04-16 | Rom Technologies, Inc. | System and method for using AI ML and telemedicine to perform bariatric rehabilitation via an electromechanical machine |
US11830601B2 (en) | 2019-10-03 | 2023-11-28 | Rom Technologies, Inc. | System and method for facilitating cardiac rehabilitation among eligible users |
US11075000B2 (en) | 2019-10-03 | 2021-07-27 | Rom Technologies, Inc. | Method and system for using virtual avatars associated with medical professionals during exercise sessions |
US11955221B2 (en) | 2019-10-03 | 2024-04-09 | Rom Technologies, Inc. | System and method for using AI/ML to generate treatment plans to stimulate preferred angiogenesis |
US12020799B2 (en) | 2019-10-03 | 2024-06-25 | Rom Technologies, Inc. | Rowing machines, systems including rowing machines, and methods for using rowing machines to perform treatment plans for rehabilitation |
US11923065B2 (en) | 2019-10-03 | 2024-03-05 | Rom Technologies, Inc. | Systems and methods for using artificial intelligence and machine learning to detect abnormal heart rhythms of a user performing a treatment plan with an electromechanical machine |
US11955223B2 (en) | 2019-10-03 | 2024-04-09 | Rom Technologies, Inc. | System and method for using artificial intelligence and machine learning to provide an enhanced user interface presenting data pertaining to cardiac health, bariatric health, pulmonary health, and/or cardio-oncologic health for the purpose of performing preventative actions |
US11915815B2 (en) | 2019-10-03 | 2024-02-27 | Rom Technologies, Inc. | System and method for using artificial intelligence and machine learning and generic risk factors to improve cardiovascular health such that the need for additional cardiac interventions is mitigated |
US11978559B2 (en) | 2019-10-03 | 2024-05-07 | Rom Technologies, Inc. | Systems and methods for remotely-enabled identification of a user infection |
US11915816B2 (en) | 2019-10-03 | 2024-02-27 | Rom Technologies, Inc. | Systems and methods of using artificial intelligence and machine learning in a telemedical environment to predict user disease states |
US11887717B2 (en) | 2019-10-03 | 2024-01-30 | Rom Technologies, Inc. | System and method for using AI, machine learning and telemedicine to perform pulmonary rehabilitation via an electromechanical machine |
US11069436B2 (en) | 2019-10-03 | 2021-07-20 | Rom Technologies, Inc. | System and method for use of telemedicine-enabled rehabilitative hardware and for encouraging rehabilitative compliance through patient-based virtual shared sessions with patient-enabled mutual encouragement across simulated social networks |
US11826613B2 (en) | 2019-10-21 | 2023-11-28 | Rom Technologies, Inc. | Persuasive motivation for orthopedic treatment |
US11654329B1 (en) * | 2020-09-30 | 2023-05-23 | Anna Koroknyai | Glute rebuilding device |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100580971B1 (ko) * | 2004-10-20 | 2006-05-16 | 전북대학교산학협력단 | 복합관절 운동용 재활운동기구 |
KR101163903B1 (ko) | 2010-08-13 | 2012-07-09 | 한국과학기술원 | 뇌졸중 환자의 상지 재활을 위한 외골격 로봇 |
US11011262B2 (en) * | 2015-10-07 | 2021-05-18 | Kinex Medical Company, Llc | Retrofitted continuous passive motion devices |
JP6757971B2 (ja) * | 2016-11-11 | 2020-09-23 | 充宣 大平 | 下肢関節運動装置 |
KR101930418B1 (ko) * | 2017-04-25 | 2018-12-18 | 한국기계연구원 | 상지 재활 로봇 |
KR102021306B1 (ko) * | 2018-07-04 | 2019-09-16 | 박미려 | 3차원 발목관절 운동 치료기 |
CN109248408A (zh) * | 2018-10-17 | 2019-01-22 | 苏州帝维达生物科技有限公司 | 一种全身康复机器人 |
CN109718060A (zh) * | 2019-03-15 | 2019-05-07 | 慈溪市人民医院 | 一种康复训练机器人 |
-
2021
- 2021-01-13 WO PCT/KR2021/000439 patent/WO2021172745A1/ko unknown
- 2021-01-13 EP EP21761457.7A patent/EP4112033A4/en active Pending
- 2021-01-13 US US17/779,529 patent/US20220401783A1/en active Pending
- 2021-01-13 JP JP2022549612A patent/JP7431994B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
EP4112033A1 (en) | 2023-01-04 |
JP7431994B2 (ja) | 2024-02-15 |
EP4112033A4 (en) | 2024-05-01 |
WO2021172745A1 (ko) | 2021-09-02 |
US20220401783A1 (en) | 2022-12-22 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP2023515036A (ja) | 上肢及び下肢用リハビリ運動装置 | |
JP7256281B2 (ja) | 上肢及び下肢用リハビリ運動装置 | |
JP7198364B2 (ja) | 上肢及び下肢用リハビリ運動装置 | |
JP7231750B2 (ja) | 上肢及び下肢用リハビリ運動装置 | |
KR102559266B1 (ko) | 상지 및 하지용 재활 운동 시스템 | |
JP7231751B2 (ja) | 上肢及び下肢用リハビリ運動装置 | |
JP7202474B2 (ja) | 上肢及び下肢用リハビリ運動装置 | |
EP3984511A1 (en) | Rehabilitation exercise device for upper and lower limbs | |
US20230346627A1 (en) | Rehabilitation exercise device for upper and lower limbs | |
KR102469723B1 (ko) | 상지 및 하지용 재활 운동 장치 | |
KR102606960B1 (ko) | 손목 운동 장치 및 이를 이용한 상지 및 하지용 재활 운동 장치 | |
KR102352604B1 (ko) | 상지 및 하지용 재활 운동 장치 | |
KR102387577B1 (ko) | 상지 및 하지용 재활 운동 장치 | |
KR102352603B1 (ko) | 상지 및 하지용 재활 운동 장치 | |
KR20220057020A (ko) | 상지 및 하지용 재활 운동 장치 | |
KR102352602B1 (ko) | 상지 및 하지용 재활 운동 장치 | |
KR20120082219A (ko) | 와이어 구동방식 외골격 로봇과 그 구동방법 | |
WO2013168738A1 (ja) | 運動訓練装置 | |
KR101494685B1 (ko) | 하지 훈련 운동기구 | |
JPWO2007043308A1 (ja) | 動作支援装置および動作支援方法 | |
JP2008012358A (ja) | 動作支援装置 | |
KR102588952B1 (ko) | 트러스 구조를 갖는 착용식 의자 | |
EP3560472A1 (en) | Multi-functional therapeutic hospital bed convertible into a standing aid | |
Sakaki et al. | Rehabilitation robot in primary walking pattern training for SCI patient at home | |
JP2019098051A (ja) | 下肢トレーニング装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20220817 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20230818 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20230912 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20231205 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20240130 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20240202 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7431994 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |