JP4677047B2 - 外骨格のアクチュエータを制御する方法及び制御装置 - Google Patents

外骨格のアクチュエータを制御する方法及び制御装置 Download PDF

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Publication number
JP4677047B2
JP4677047B2 JP2009548236A JP2009548236A JP4677047B2 JP 4677047 B2 JP4677047 B2 JP 4677047B2 JP 2009548236 A JP2009548236 A JP 2009548236A JP 2009548236 A JP2009548236 A JP 2009548236A JP 4677047 B2 JP4677047 B2 JP 4677047B2
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Prior art keywords
exoskeleton
impedance
negative
user
limb
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Expired - Fee Related
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Japanese (ja)
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JP2010517616A5 (enExample
JP2010517616A (ja
Inventor
アギレオリンジャー、ガブリエル
ゴスワミ、アンバリシュ
コルゲート、エドワード、ジェー．
ペシュキン、ミカエル、エー．
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Honda Motor Co Ltd
Northwestern University
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Honda Motor Co Ltd
Northwestern University
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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
    • 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
    • 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
    • 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
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force 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
    • A61H2201/5079—Velocity sensors

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
  • Prostheses (AREA)
JP2009548236A 2007-02-02 2007-07-09 外骨格のアクチュエータを制御する方法及び制御装置 Expired - Fee Related JP4677047B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US88803507P 2007-02-02 2007-02-02
US11/696,110 US7731670B2 (en) 2007-02-02 2007-04-03 Controller for an assistive exoskeleton based on active impedance
PCT/US2007/073093 WO2008097336A2 (en) 2007-02-02 2007-07-09 Controller for an assistive exoskeleton based on active impedance

Publications (3)

Publication Number Publication Date
JP2010517616A JP2010517616A (ja) 2010-05-27
JP2010517616A5 JP2010517616A5 (enExample) 2010-08-12
JP4677047B2 true JP4677047B2 (ja) 2011-04-27

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JP2009548236A Expired - Fee Related JP4677047B2 (ja) 2007-02-02 2007-07-09 外骨格のアクチュエータを制御する方法及び制御装置

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Country Link
US (1) US7731670B2 (enExample)
JP (1) JP4677047B2 (enExample)
WO (1) WO2008097336A2 (enExample)

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Also Published As

Publication number Publication date
WO2008097336A3 (en) 2008-11-13
US20080188907A1 (en) 2008-08-07
US7731670B2 (en) 2010-06-08
JP2010517616A (ja) 2010-05-27
WO2008097336A2 (en) 2008-08-14

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