JP5420405B2 - ロボット骨組、外骨格構造体、装着式のロボットシステム、人体と協調して装着式のロボット骨組を同時に動かす方法、装着式の人間の外骨格を人体の動きと協調して動かせるようにする方法 - Google Patents

ロボット骨組、外骨格構造体、装着式のロボットシステム、人体と協調して装着式のロボット骨組を同時に動かす方法、装着式の人間の外骨格を人体の動きと協調して動かせるようにする方法 Download PDF

Info

Publication number
JP5420405B2
JP5420405B2 JP2009520827A JP2009520827A JP5420405B2 JP 5420405 B2 JP5420405 B2 JP 5420405B2 JP 2009520827 A JP2009520827 A JP 2009520827A JP 2009520827 A JP2009520827 A JP 2009520827A JP 5420405 B2 JP5420405 B2 JP 5420405B2
Authority
JP
Japan
Prior art keywords
force
human body
exoskeleton
robot
skeleton
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.)
Expired - Fee Related
Application number
JP2009520827A
Other languages
English (en)
Japanese (ja)
Other versions
JP2009543706A5 (enExample
JP2009543706A (ja
Inventor
ジェーコブセン，スティーブン・シー
オリバー，マーク
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Raytheon Co
Original Assignee
Raytheon Co
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 Raytheon Co filed Critical Raytheon Co
Publication of JP2009543706A publication Critical patent/JP2009543706A/ja
Publication of JP2009543706A5 publication Critical patent/JP2009543706A5/ja
Application granted granted Critical
Publication of JP5420405B2 publication Critical patent/JP5420405B2/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • 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
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J1/00—Manipulators positioned in space by hand
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A61H2201/0176—By stopping operation
    • 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
    • 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
    • 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
    • A61H2201/164—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
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—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
    • A61H2201/165—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
    • 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
    • A61H2201/5069—Angle 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Rehabilitation Therapy (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Animal Behavior & Ethology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
JP2009520827A 2006-07-17 2007-07-17 ロボット骨組、外骨格構造体、装着式のロボットシステム、人体と協調して装着式のロボット骨組を同時に動かす方法、装着式の人間の外骨格を人体の動きと協調して動かせるようにする方法 Expired - Fee Related JP5420405B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US83147606P 2006-07-17 2006-07-17
US60/831,476 2006-07-17
US11/879,448 US8849457B2 (en) 2006-07-17 2007-07-16 Contact displacement actuator system
US11/879,448 2007-07-16
PCT/US2007/016336 WO2008094191A2 (en) 2006-07-17 2007-07-17 Contact displacement actuator system

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2012248425A Division JP2013082065A (ja) 2006-07-17 2012-11-12 ロボット変位装置

Publications (3)

Publication Number Publication Date
JP2009543706A JP2009543706A (ja) 2009-12-10
JP2009543706A5 JP2009543706A5 (enExample) 2010-11-25
JP5420405B2 true JP5420405B2 (ja) 2014-02-19

Family

ID=39674636

Family Applications (3)

Application Number Title Priority Date Filing Date
JP2009520827A Expired - Fee Related JP5420405B2 (ja) 2006-07-17 2007-07-17 ロボット骨組、外骨格構造体、装着式のロボットシステム、人体と協調して装着式のロボット骨組を同時に動かす方法、装着式の人間の外骨格を人体の動きと協調して動かせるようにする方法
JP2012248425A Pending JP2013082065A (ja) 2006-07-17 2012-11-12 ロボット変位装置
JP2014198301A Pending JP2015027730A (ja) 2006-07-17 2014-09-29 ロボット変位装置

Family Applications After (2)

Application Number Title Priority Date Filing Date
JP2012248425A Pending JP2013082065A (ja) 2006-07-17 2012-11-12 ロボット変位装置
JP2014198301A Pending JP2015027730A (ja) 2006-07-17 2014-09-29 ロボット変位装置

Country Status (6)

Country Link
US (1) US8849457B2 (enExample)
EP (2) EP2626176A1 (enExample)
JP (3) JP5420405B2 (enExample)
KR (1) KR101514467B1 (enExample)
CN (1) CN101489732B (enExample)
WO (1) WO2008094191A2 (enExample)

Families Citing this family (105)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8849457B2 (en) * 2006-07-17 2014-09-30 Raytheon Company Contact displacement actuator system
US20090137933A1 (en) * 2007-11-28 2009-05-28 Ishoe Methods and systems for sensing equilibrium
CA2937610C (en) * 2007-12-26 2021-03-23 Rex Bionics Limited Self-contained powered exoskeleton walker for a disabled user
CN102196785B (zh) * 2008-08-28 2014-02-26 雷神公司 仿生机械关节
US8731716B2 (en) 2008-08-28 2014-05-20 Raytheon Company Control logic for biomimetic joint actuators
US20110213599A1 (en) * 2008-08-28 2011-09-01 Raytheon Company Method of Sizing Actuators for a Biomimetic Mechanical Joint
ES2335337B1 (es) * 2009-04-02 2011-02-14 Ikerlan, S.Coop Dispositivo de deteccion de la intencion de movimiento de un usuario,adaptado a un exoesqueleto.
EP2477894A4 (en) * 2009-09-19 2015-09-09 Quan Xiao METHOD AND DEVICE FOR VARIABLE G-POWER EXPERIENCE AND FOR GENERATING IMMERSIVE VR SENSITIVES
KR101572852B1 (ko) * 2010-01-06 2015-12-01 삼성전자 주식회사 팔 보조 장치
CN101786478B (zh) * 2010-02-23 2011-09-07 华东理工大学 具有反力矩结构的虚拟力控制下肢外骨骼机器人
WO2011127410A2 (en) * 2010-04-09 2011-10-13 Deka Products Limited Partnership System and apparatus for robotic device and methods of using thereof
AU2011237368B2 (en) * 2010-04-09 2015-07-23 Ekso Bionics Exoskeleton load handling system and method of use
EP2556010B1 (en) * 2010-04-09 2015-11-25 Lockheed Martin Corporation Portable load lifting system
US9314921B2 (en) 2011-03-17 2016-04-19 Sarcos Lc Robotic lift device with human interface operation
US8892258B2 (en) 2011-04-29 2014-11-18 Raytheon Company Variable strength magnetic end effector for lift systems
US9789603B2 (en) 2011-04-29 2017-10-17 Sarcos Lc Teleoperated robotic system
US8942846B2 (en) 2011-04-29 2015-01-27 Raytheon Company System and method for controlling a teleoperated robotic agile lift system
US8977388B2 (en) 2011-04-29 2015-03-10 Sarcos Lc Platform perturbation compensation
US8831794B2 (en) * 2011-05-04 2014-09-09 Qualcomm Incorporated Gesture recognition via an ad-hoc proximity sensor mesh for remotely controlling objects
WO2012154580A1 (en) * 2011-05-06 2012-11-15 Equipois Inc. Exoskeleton arm interface
KR101290173B1 (ko) * 2011-10-26 2013-07-30 한양대학교 에리카산학협력단 근력 지원용 착용형 로봇
US20130145530A1 (en) * 2011-12-09 2013-06-13 Manu Mitra Iron man suit
US9095981B2 (en) 2012-01-11 2015-08-04 Garrett W. Brown Load and torque resistant caliper exoskeleton
US9616580B2 (en) 2012-05-14 2017-04-11 Sarcos Lc End effector for a robotic arm
KR20140002840A (ko) * 2012-06-26 2014-01-09 한국과학기술연구원 물리적 다접촉 상호작용을 위한 링크 메커니즘
KR101250324B1 (ko) 2012-10-16 2013-04-08 엘아이지넥스원 주식회사 발바닥 센서부를 구비한 착용 로봇
KR101371756B1 (ko) * 2012-12-17 2014-03-12 현대자동차(주) 로봇의 보행제어방법
KR101383722B1 (ko) * 2012-12-17 2014-04-08 현대자동차(주) 로봇의 양팔제어방법
KR101287346B1 (ko) * 2013-02-20 2013-07-23 한양대학교 에리카산학협력단 근력 지원용 착용형 로봇
KR101287349B1 (ko) * 2013-02-20 2013-07-23 한양대학교 에리카산학협력단 근력 지원용 착용형 로봇
CN103407588B (zh) * 2013-08-23 2016-12-28 电子科技大学 一种太空运动辅助装置
JP6284319B2 (ja) * 2013-08-30 2018-02-28 三菱重工業株式会社 パワーアシストスーツ
JP6284318B2 (ja) * 2013-08-30 2018-02-28 三菱重工業株式会社 パワーアシストスーツ
KR20150039386A (ko) * 2013-10-02 2015-04-10 삼성전자주식회사 보행 보조 장치 및 보행 보조 장치의 제어방법
RU2552703C2 (ru) * 2013-10-29 2015-06-10 Федеральное государственное бюджетное военное образовательное учреждение высшего профессионального образования "Военно-технический университет" Министерства обороны Российской Федерации Универсальный общевойсковой экзоскелет
CN103622792A (zh) * 2013-11-25 2014-03-12 北京林业大学 外骨骼助力机器人的信息采集与控制系统
KR101620146B1 (ko) 2013-12-13 2016-05-12 현대자동차주식회사 로봇발의 원터치 착탈장치
KR101490885B1 (ko) * 2013-12-18 2015-02-06 국방과학연구소 보행의도 추정기반 착용로봇 및 그 제어방법
CN103707284B (zh) * 2013-12-29 2016-01-20 哈尔滨理工大学 佩戴式上肢助力臂及其助力方法
US9381642B2 (en) * 2014-01-13 2016-07-05 Massachusetts Institute Of Technology Wearable robot assisting manual tasks
FR3016821B1 (fr) * 2014-01-29 2019-08-02 Robotiques 3 Dimensions Exosquelette a port frontal et procede d'utilisation d'un tel exosquelette.
JP2015157001A (ja) * 2014-02-25 2015-09-03 シャープ株式会社 運動補助装置
CN109363774B (zh) * 2014-03-17 2021-04-09 直观外科手术操作公司 避免活动范围极限的自动推出
US9149938B1 (en) 2014-04-11 2015-10-06 Harris Corporation Robotic exoskeleton with adaptive viscous user coupling
US10369071B2 (en) 2014-05-05 2019-08-06 Genesis Robotics & Motion Technologies Canada, Ulc Exoskeleton suit with hand control to enable walking
US10766133B2 (en) 2014-05-06 2020-09-08 Sarcos Lc Legged robotic device utilizing modifiable linkage mechanism
US10391634B2 (en) 2014-05-16 2019-08-27 Massachusetts Institute Of Technology Apparatus and method for supporting a human body using supernumerary artificial limbs
US9808073B1 (en) 2014-06-19 2017-11-07 Lockheed Martin Corporation Exoskeleton system providing for a load transfer when a user is standing and kneeling
US9499219B1 (en) 2014-08-25 2016-11-22 Google Inc. Touch-down sensing for robotic devices
JP6104867B2 (ja) * 2014-09-19 2017-03-29 Thk株式会社 ロボット上半身の支持構造
CN104669249B (zh) * 2015-02-01 2016-05-04 襄阳新火炬科技有限公司 一种液压驱动式机器人
WO2016179275A1 (en) * 2015-05-05 2016-11-10 Ekso Bionics, Inc. Ensuring operator engagement in an exoskeleton bionic device
US10548800B1 (en) 2015-06-18 2020-02-04 Lockheed Martin Corporation Exoskeleton pelvic link having hip joint and inguinal joint
US10195736B2 (en) 2015-07-17 2019-02-05 Lockheed Martin Corporation Variable force exoskeleton hip joint
US10518404B2 (en) 2015-07-17 2019-12-31 Lockheed Martin Corporation Variable force exoskeleton hip joint
KR102481533B1 (ko) 2015-09-04 2022-12-26 삼성전자주식회사 운동 보조 장치 및 이를 제어하는 방법
US10912346B1 (en) 2015-11-24 2021-02-09 Lockheed Martin Corporation Exoskeleton boot and lower link
US10124484B1 (en) 2015-12-08 2018-11-13 Lockheed Martin Corporation Load-bearing powered exoskeleton using electromyographic control
CN105501325B (zh) * 2015-12-17 2017-08-01 常州大学 仿人机器人两自由度并联减振机械足
CN105438309B (zh) * 2015-12-17 2017-07-14 常州大学 仿人机器人两自由度混联抗冲击机械足
FR3053242B1 (fr) * 2016-07-04 2018-06-29 Commissariat A L`Energie Atomique Et Aux Energies Alternatives Exosquelette ambulatoire - procede de commande d'un exosquelette ambulatoire
CN106112988B (zh) * 2016-08-18 2018-05-22 黄河科技学院 用于连接四肢外骨骼机构的人体躯干机械外骨骼装置
CN109789048A (zh) * 2016-10-07 2019-05-21 重新行走机器人技术有限公司 用于外骨骼系统中的压力检测的装置、系统和方法
US10828767B2 (en) 2016-11-11 2020-11-10 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements
US10821614B2 (en) 2016-11-11 2020-11-03 Sarcos Corp. Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly
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
US10919161B2 (en) 2016-11-11 2021-02-16 Sarcos Corp. Clutched joint modules for a robotic system
EP3523809B1 (en) * 2017-03-22 2024-09-25 Ekso Bionics Holdings, Inc. Mobility assistance devices with automated assessment and adjustment control
CN108942879B (zh) * 2017-05-19 2021-03-12 中国航天时代电子公司 一种可穿戴全关节双向力反馈一体化闭环操控装置和方法
RU2645804C1 (ru) * 2017-06-07 2018-02-28 Дмитрий Андреевич Журавлёв Бионический экзоскелет
US11207014B2 (en) 2017-08-30 2021-12-28 Lockheed Martin Corporation Automatic sensor selection
DE102017123574A1 (de) * 2017-10-10 2019-04-11 Exoiq Gmbh System zur muskelkraftunterstützung
US10835443B2 (en) * 2017-11-13 2020-11-17 Free Bionics Taiwan Inc. Exoskeleton robot
US10843330B2 (en) 2017-12-07 2020-11-24 Sarcos Corp. Resistance-based joint constraint for a master robotic system
US11331809B2 (en) 2017-12-18 2022-05-17 Sarcos Corp. Dynamically controlled robotic stiffening element
WO2019123374A1 (en) * 2017-12-21 2019-06-27 Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna Wearable robot with perfected control architecture
CN108542393B (zh) * 2018-03-30 2024-08-02 深圳市丞辉威世智能科技有限公司 足底传感装置和穿戴式外骨骼
RU187357U1 (ru) * 2018-04-06 2019-03-01 Федеральное государственное казенное военное образовательное учреждение высшего образования "Военная академия материально-технического обеспечения имени генерала армии А.В. Хрулёва" Министерства обороны Российской Федерации Устройство крепления потенциально опасных изделий универсального общевойскового экзоскелета
CN208799474U (zh) * 2018-07-05 2019-04-30 北京京东方光电科技有限公司 一种用于人体腿部康复训练的柔性服
US11241801B2 (en) 2018-12-31 2022-02-08 Sarcos Corp. Robotic end effector with dorsally supported actuation mechanism
US10906191B2 (en) 2018-12-31 2021-02-02 Sarcos Corp. Hybrid robotic end effector
US11351675B2 (en) 2018-12-31 2022-06-07 Sarcos Corp. Robotic end-effector having dynamic stiffening elements for conforming object interaction
US10765911B1 (en) 2019-03-01 2020-09-08 Dustin Hamoy Core exercise assembly
JP7132159B2 (ja) * 2019-03-11 2022-09-06 本田技研工業株式会社 動作支援装置の制御装置
CN110834318B (zh) * 2019-11-16 2021-06-01 兵器工业卫生研究所 一种主动助力装甲车救援外骨骼机器人
US11298287B2 (en) 2020-06-02 2022-04-12 Dephy, Inc. Systems and methods for a compressed controller for an active exoskeleton
US11148279B1 (en) 2020-06-04 2021-10-19 Dephy, Inc. Customized configuration for an exoskeleton controller
US11147733B1 (en) 2020-06-04 2021-10-19 Dephy, Inc. Systems and methods for bilateral wireless communication
US11389367B2 (en) * 2020-06-05 2022-07-19 Dephy, Inc. Real-time feedback-based optimization of an exoskeleton
US12090069B2 (en) 2020-08-25 2024-09-17 Dephy, Inc. Systems and methods for a water resistant active exoskeleton
US11173093B1 (en) 2020-09-16 2021-11-16 Dephy, Inc. Systems and methods for an active exoskeleton with local battery
US20220176547A1 (en) 2020-12-07 2022-06-09 Sarcos Corp. Method for Sensor Suite Discrepancy Detection and Safe Operation of a Robotic Exoskeleton
US11833676B2 (en) 2020-12-07 2023-12-05 Sarcos Corp. Combining sensor output data to prevent unsafe operation of an exoskeleton
US20220176558A1 (en) 2020-12-07 2022-06-09 Sarcos Corp. Redundant Control Policies for Safe Operation of an Exoskeleton
US20220176559A1 (en) 2020-12-07 2022-06-09 Sarcos Corp. Method for Redundant Control Policies for Safe Operation of an Exoskeleton
US20220176561A1 (en) 2020-12-07 2022-06-09 Sarcos Corp. Sensor Suite Discrepancy Detection System for Safe Operation of an Exoskeleton
US11794345B2 (en) 2020-12-31 2023-10-24 Sarcos Corp. Unified robotic vehicle systems and methods of control
DE112021007650T5 (de) * 2021-07-21 2024-04-11 Fanuc Corporation Roboter-steuerungsvorrichtung, die den roboter auf der grundlage von vorrichtungsdaten steuert, und korrekturvorrichtung für das betriebsprogramm
USD1005361S1 (en) 2021-08-13 2023-11-21 Festool Gmbh Wearable robotic exoskeleton with belts
US11826907B1 (en) 2022-08-17 2023-11-28 Sarcos Corp. Robotic joint system with length adapter
US11717956B1 (en) 2022-08-29 2023-08-08 Sarcos Corp. Robotic joint system with integrated safety
WO2024098070A1 (en) 2022-11-04 2024-05-10 Sarcos Corp. Robotic end-effector having dynamic stiffening elements with resilient spacers for conforming object interaction
US11897132B1 (en) 2022-11-17 2024-02-13 Sarcos Corp. Systems and methods for redundant network communication in a robot
US11924023B1 (en) 2022-11-17 2024-03-05 Sarcos Corp. Systems and methods for redundant network communication in a robot
CN119734243B (zh) * 2024-12-27 2025-10-31 哈尔滨工业大学 一种基于形状记忆聚合物驱动器的人机交互机械手及其应用

Family Cites Families (43)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3358678A (en) * 1964-07-29 1967-12-19 Kultsar Emery Moving and support system for the human body
US3449769A (en) * 1966-06-27 1969-06-17 Cornell Aeronautical Labor Inc Powered exoskeletal apparatus for amplifying human strength in response to normal body movements
US3535711A (en) * 1967-11-01 1970-10-27 Gen Electric Cutaneous stimuli sensor and transmission network
JPS63150175A (ja) * 1986-12-15 1988-06-22 工業技術院長 歩行ロボツトの脚機構
US5101427A (en) * 1988-11-16 1992-03-31 Canon Kabushiki Kaisha Communication apparatus connected to ISDN
JPH03165765A (ja) * 1989-11-27 1991-07-17 Koyou Sokushin Jigyodan 介護作業補助装置
US5117814A (en) * 1990-03-16 1992-06-02 Q-Motus, Inc. Dynamic splint
JPH0413580A (ja) * 1990-04-28 1992-01-17 Sumitomo Heavy Ind Ltd 建築作業用マニピュレータ
US5101472A (en) * 1990-10-04 1992-03-31 Repperger Daniel W Military robotic controller with majorizing function and nonlinear torque capability
US5282460A (en) * 1992-01-06 1994-02-01 Joyce Ann Boldt Three axis mechanical joint for a power assist device
US5516249A (en) * 1994-05-10 1996-05-14 Technical Research Associates, Inc. Exoskeleton with kinesthetic feedback and robotic control
JP2761574B2 (ja) * 1994-07-06 1998-06-04 工業技術院長 力補助装置の制御方法及びその装置
JP3706655B2 (ja) 1994-09-09 2005-10-12 本田技研工業株式会社 リンク装置及び人工ハンド
WO1997010081A1 (en) * 1995-09-11 1997-03-20 Kabushiki Kaisha Yaskawa Denki Robot controller
US5865770A (en) * 1995-12-06 1999-02-02 Schectman; Leonard A. Device to counteract paralysis
JPH1142259A (ja) * 1997-07-28 1999-02-16 Technol Res Assoc Of Medical & Welfare Apparatus 歩行補助装具
US6016385A (en) * 1997-08-11 2000-01-18 Fanu America Corp Real time remotely controlled robot
JPH1156931A (ja) 1997-08-21 1999-03-02 Tadao Totsuka 移搬支援ロボット
JP3999888B2 (ja) * 1998-02-24 2007-10-31 松下電工株式会社 抱き上げ補助装置及びその制御方法
JP2000070312A (ja) * 1998-09-02 2000-03-07 Yamaha Motor Co Ltd 介護用補助装置
US6890747B2 (en) * 2000-10-23 2005-05-10 Warner-Lambert Company Phosphoinositide 3-kinases
JP3701582B2 (ja) * 2001-05-22 2005-09-28 独立行政法人科学技術振興機構 イグゾスケルトン装置、イグゾスケルトンサイボーグ装置及び、イグゾスケルトンサイボーグシステム
JP4188607B2 (ja) 2001-06-27 2008-11-26 本田技研工業株式会社 二足歩行移動体の床反力推定方法及び二足歩行移動体の関節モーメント推定方法
EP1402182B1 (en) * 2001-07-05 2006-05-17 Sarcos LC Rapid response power conversion device
EP1442704B1 (en) * 2001-10-16 2010-12-29 Honda Giken Kogyo Kabushiki Kaisha Walking condition determining device and method
FR2839916B1 (fr) 2002-05-22 2004-10-15 Agence Spatiale Europeenne Exosquelette pour bras humain, notamment pour des applications spatiales
JP2004105261A (ja) 2002-09-13 2004-04-08 Matsushita Electric Ind Co Ltd 身体装着型パワーアシスト機器
US7402142B2 (en) * 2002-09-23 2008-07-22 Honda Giken Kogyo Kabushiki Kaisha Method and processor for obtaining moments and torques in a biped walking system
US7396337B2 (en) * 2002-11-21 2008-07-08 Massachusetts Institute Of Technology Powered orthotic device
US6966882B2 (en) * 2002-11-25 2005-11-22 Tibion Corporation Active muscle assistance device and method
JP4120008B2 (ja) * 2003-02-25 2008-07-16 独立行政法人科学技術振興機構 運動機能補助装置
CA2522097C (en) * 2003-04-28 2012-09-25 Stephen James Crampton Cmm arm with exoskeleton
US7628218B2 (en) 2003-07-17 2009-12-08 Roynat Inc. Apparatus for attaching a ground-engaging tool to an implement frame
US7549969B2 (en) * 2003-09-11 2009-06-23 The Cleveland Clinic Foundation Apparatus for assisting body movement
JP4503311B2 (ja) 2004-02-25 2010-07-14 本田技研工業株式会社 脚体運動補助装具の発生トルク制御方法
DE102004029513B3 (de) 2004-06-18 2005-09-29 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung zur autarken Eigenfortbewegungsunterstützung und/oder -kontrolle eines gehbehinderten Menschen
US7066116B2 (en) 2004-07-29 2006-06-27 Sarcos Investments Lc Valve system for a rapid response power conversion device
JP4107595B2 (ja) * 2004-08-12 2008-06-25 茨城県 擬似ウェアラブルリフト
US7524297B2 (en) * 2004-09-08 2009-04-28 Honda Motor Co., Ltd. Walking assistance device provided with a force sensor
WO2006058442A1 (de) * 2004-11-30 2006-06-08 Eidgenössische Technische Hochschule Zürich System und verfahren für die kooperative armtherapie sowie rotationsmodul dafür
JP4541867B2 (ja) 2004-12-16 2010-09-08 本田技研工業株式会社 外力制御方法、外力制御システム及び外力制御プログラム
JP4426432B2 (ja) * 2004-12-17 2010-03-03 本田技研工業株式会社 脚体運動補助装具の補助モーメント制御方法
US8849457B2 (en) * 2006-07-17 2014-09-30 Raytheon Company Contact displacement actuator system

Also Published As

Publication number Publication date
KR20090040338A (ko) 2009-04-23
EP2043823A2 (en) 2009-04-08
US20090210093A1 (en) 2009-08-20
JP2015027730A (ja) 2015-02-12
CN101489732A (zh) 2009-07-22
US8849457B2 (en) 2014-09-30
WO2008094191A3 (en) 2008-10-02
EP2626176A1 (en) 2013-08-14
JP2009543706A (ja) 2009-12-10
WO2008094191A2 (en) 2008-08-07
EP2043823A4 (en) 2010-06-02
JP2013082065A (ja) 2013-05-09
EP2043823B1 (en) 2014-06-25
KR101514467B1 (ko) 2015-04-22
CN101489732B (zh) 2015-01-28

Similar Documents

Publication Publication Date Title
JP5420405B2 (ja) ロボット骨組、外骨格構造体、装着式のロボットシステム、人体と協調して装着式のロボット骨組を同時に動かす方法、装着式の人間の外骨格を人体の動きと協調して動かせるようにする方法
JP2009543706A5 (enExample)
Kazerooni et al. Hybrid control of the Berkeley lower extremity exoskeleton (BLEEX)
Kazerooni et al. That which does not stabilize, will only make us stronger
Kazerooni et al. The Berkeley lower extremity exoskeleton
Wang et al. Design and control of the MINDWALKER exoskeleton
Surdilovic et al. STRING-MAN: Wire-robot technology for safe, flexible and human-friendly gait rehabilitation
US10206844B2 (en) Interface for adjusting the motion of a powered orthotic device through externally applied forces
CN102256580A (zh) 可穿用式物料操作系统
Reyes et al. Shoulder-support exoskeletons for overhead work: Current state, challenges and future directions
Nakamura et al. Realizing model-based wearable antigravity muscles support with dynamics terms
Huang et al. Hybrid control of the Berkeley lower extremity exoskeleton (BLEEX)
Tang et al. Electro-hydraulic servo system for Human Lower-limb Exoskeleton based on sliding mode variable structure control
Ahmed et al. Survey of on-line control strategies of human-powered augmentation exoskeleton systems
Chen et al. WPAL for enhancing human strength and endurance during walking
Chen et al. A PAWL for enhancing strength and endurance during walking using interaction force and dynamical information
Al-Shuka et al. On high-level control of power-augmentation lower extremity exoskeletons: Human walking intention
Chu Design of the Berkeley lower extremity exoskeleton (BLEEX)
Tanveer et al. Exoskeleton-wheelchair synergy for rehabilitation & user assistance
Ahmed et al. Design and Simulation of a 3D Model Lower Limb Exoskeleton for Rehabilitation
Rakshit et al. A trajectory optimization formulation for assistive robotic devices
Zheng Control strategy of lower-limb exoskeleton
Huang Robotics locomotion control
Rodić et al. Design and operation of exoskeletons for limb replacement or performance enhancement
Alouane Human centered assistive control strategies for lower limb wearable robotic devices

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20100715

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20101008

A711 Notification of change in applicant

Free format text: JAPANESE INTERMEDIATE CODE: A712

Effective date: 20110629

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20120510

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20120808

A602 Written permission of extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A602

Effective date: 20120815

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20121112

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20130318

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20130618

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: 20131022

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20131120

R150 Certificate of patent or registration of utility model

Ref document number: 5420405

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313113

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

LAPS Cancellation because of no payment of annual fees