JP5512678B2 - 関節を伸ばしたり曲げたりするためのマルチモータアッセンブリを備えたアクチュエータシステム - Google Patents
関節を伸ばしたり曲げたりするためのマルチモータアッセンブリを備えたアクチュエータシステム Download PDFInfo
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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
- 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
- A61H1/0266—Foot
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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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
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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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
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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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
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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
- 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
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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
- 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
- A61H2201/1445—Overrunning clutches; One-way clutches
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H2201/1463—Special speed variation means, i.e. speed reducer
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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
- 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
- A61H2201/1481—Special movement conversion means
- A61H2201/149—Special movement conversion means rotation-linear or vice versa
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
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- A—HUMAN NECESSITIES
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- 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
- A61H2201/5064—Position sensors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2062—Arrangements for driving the actuator
- F16H2025/2081—Parallel arrangement of drive motor to screw axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
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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)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
- Transmission Devices (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
- Gear Transmission (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
Description
図2に示すように、好ましい実施形態のマルチモータアッセンブリ120は、回転/直線メカニズム150に回転出力を与えるように機能する。マルチモータアッセンブリ120は、駆動シャフト122と、第1のモータサブシステム124と、第2のモータサブシステム126とを備えている。駆動シャフト122は、マルチモータアッセンブリ120からの回転出力を与えるように機能する。第1のモータサブシステム124は、マルチモータアッセンブリ120の回転出力の成分を与えるように機能する。第1のモータサブシステム124は、第1モータ128、第1出力シャフト130、及び第1伝達機構132を含む。第2のモータサブシステム126は、マルチモータアッセンブリ120の回転出力の別の成分を与えるように機能する。第2のモータサブシステム126は、第1モータ134、第2出力シャフト136、及び第2伝達機構138を含む。
・ハイギアモータモード:第1のモータサブシステム124が第1方向に動力を与え、第2出力シャフト136をスピンしたり第2のモータサブシステム126からの抗力を与えたりしない。
・ローギアモータモード:第2のモータサブシステム126が第1方向に動力を与える(第1のモータサブシステム124からの抗力と共に)。
・合成モータモード:第1のモータサブシステム124及び第2のモータサブシステム126が第1方向に動力を与える。
・ハイギアモータモード:第1のモータサブシステム124が逆方向に動力を与える(第2のモータサブシステム126からの抗力と共に)。
上述したマルチモータアッセンブリ120の第1の変形例において、一方向クラッチ140は、好ましくは、第2伝達機構138内に位置され、より詳細には、第1出力シャフト130に装着されたプーリーに位置される。他の変形例では、一方向クラッチ140は、第2モータ134と駆動シャフト122との間の適当な位置に装着される。
好ましい実施形態の回転/直線メカニズム150は、マルチモータアッセンブリ120からの回転出力を、最終的にユーザの関節を伸ばしたり曲げたりする直線運動へと変換するように機能する。好ましい実施形態では、回転/直線メカニズム150は、マルチモータアッセンブリ120の回転出力を受け容れるボールスクリュー152と、このボールスクリュー152に接続されてこのボールスクリュー152と協働し、ボールスクリュー152の回転運動を直線運動へ変換するボールナット154とを備えている。マルチモータアッセンブリ120の駆動シャフト122及び回転/直線メカニズム150のボールスクリュー152は、同じシャフトの異なる区分であるのが好ましい。一方の区分は、第1伝達機構132からのプーリー(又はギア)を含み、他方の区分は、ボールスクリュー152の半円形螺旋溝を含む。しかしながら、駆動シャフト122及びボールスクリュー152は、プーリー又はギア構成体のような適当な仕方で接続された個別のシャフトでもよい。別の実施形態では、回転/直線メカニズム150は、マルチモータアッセンブリ120からの回転出力を関節の屈曲及び伸長へと変換する適当な装置又は方法を含んでもよい。
好ましい実施形態のコントローラは、幾つかの動作モードの1つにおいてアクチュエータシステム100を動作するように機能する。コントローラは、好ましくは、可動レール158の位置を推定するためのセンサ(例えば、第1モータ128及び第2モータ134のエンコーダ)と、マルチモータアッセンブリ120により与えられるか又は外部ファクタ(例えば、ユーザの身体への重力)により関節に加えられる力を推定するためにボールナット154に設けられるセンサとを含む。又、コントローラは、関節に加えられるか又はマルチモータアッセンブリ120に必要とされる将来の力を予想又は決定するための他のセンサを含んでもよい。しかしながら、コントローラは、適当な方法又は装置を使用して、可動レール158の位置及びマルチモータアッセンブリ120に必要な力を推定してもよい。
アクチュエータシステム100の当業者であれば、以上の詳細な説明、添付図面、及び特許請求の範囲から、本発明の好ましい実施形態に対して本発明の範囲から逸脱せずに、変更や修正がなされ得ることが明らかであろう。第1の例として、アクチュエータシステム100は、第1モータ128及び第2モータ134を伴うマルチモータアッセンブリ120を備えるものとして説明したが、マルチモータアッセンブリ120は、付加的なモータ(付加的な一方向クラッチ140を伴ったり伴わなかったりして)含んでもよい。又、付加的な例として、アクチュエータシステム100は、回転/直線メカニズム150を含むものとして説明したが、マルチモータアッセンブリ120の回転出力は、その回転出力を直線出力へ変換するメカニズムをもたずに使用されることも考えられる。
110:関節
120:マルチモータアッセンブリ
122:駆動シャフト
124:第1のモータサブシステム
126:第2のモータサブシステム
128:第1モータ
130:第1出力シャフト
132:第1伝達機構
134:第2モータ
136:第2出力シャフト
138:第2伝達機構
140:クラッチ
150:回転/直線メカニズム
152:ボールスクリュー
154:ボールナット
156:直線スライド
158:可動レール
160:伸長ストップ
162:屈曲ストップ
262:ラッチ
Claims (14)
- 生物の関節の伸びを補助するためのアクチュエータシステムにおいて、
回転出力を与えるように動作可能に接続された複数のモータから成るマルチモータアッセンブリを備え、
前記マルチモータアッセンブリの回転出力を受け容れてその回転出力を直線運動へと変換する回転/直線メカニズムを備え、
伸長ストップが取り付けられた可動レールを備え、前記回転/直線メカニズムは、前記伸長ストップに力を加えるように構成され、前記伸長ストップは、伸長方向における前記回転/直線メカニズムの直線運動によって駆動されて生物の関節を伸ばすように構成され、
前記アクチュエータシステムを複数の動作モードで動作するコントローラを備え、前記複数の動作モードは、前記回転/直線メカニズムが前記伸長ストップに接触しない自由運動モードを含む、
アクチュエータシステム。 - 前記マルチモータアッセンブリは、
前記回転/直線メカニズムへ回転出力を与える駆動シャフトと、
第1出力シャフト、及びこの第1出力シャフトを前記駆動シャフトに接続する第1伝達機構を有する第1のモータサブシステムと、
第2出力シャフト、及びこの第2出力シャフトを前記駆動シャフトに結合する第2伝達機構を有する第2のモータサブシステムと、
を含む請求項1に記載のアクチュエータシステム。 - 前記第1伝達機構は、前記駆動シャフトの回転と前記第1出力シャフトの回転との第1ギア比を定義し、前記第2伝達機構は、前記駆動シャフトの回転と前記第2出力シャフトの回転との第2ギア比を少なくとも一部分定義し、前記第2ギア比は、前記第1ギア比とは異なるものである、請求項2に記載のアクチュエータシステム。
- 前記第2伝達機構は、前記第2出力シャフトを前記第1出力シャフトに接続し、前記第2伝達機構及び第1伝達機構は、協働して前記第2ギア比を定義する、請求項3に記載のアクチュエータシステム。
- 前記第2のモータサブシステムは、更に、前記第2出力シャフトの一回転方向を前記第1出力シャフトの回転に連結する一方向クラッチを含む、請求項4に記載のアクチュエータシステム。
- 前記第2伝達機構は、前記第2出力シャフトを前記駆動シャフトに接続し、そして前記第2伝達機構は、前記第2ギア比を定義する、請求項3に記載のアクチュエータシステム。
- 前記第1のモータサブシステムは、第1モータを含み、前記第2のモータサブシステムは、第2モータを含み、そして前記第1モータ及び第2モータは、同じ性能特性を有する、請求項6に記載のアクチュエータシステム。
- 前記コントローラは、前記アクチュエータシステムを、次のモータモード、即ち
前記マルチモータアッセンブリが前記回転/直線メカニズムに回転出力を与えるように、前記コントローラが、前記第1のモータサブシステム及び第2のモータサブシステムの両方に電流を供給する連続的可変伝達モータモード、及び
前記マルチモータアッセンブリが前記回転/直線メカニズムに回転出力を与えるように、前記コントローラが、前記第1のモータサブシステムのみに電流を供給するハイギアモータモード、
において動作させる、請求項2に記載のアクチュエータシステム。 - 前記回転/直線メカニズムは、前記マルチモータアッセンブリの回転出力を受け容れるスクリューと、このスクリューと協働するナットであって、スクリューの回転運動をナットの直線運動へと変換するナットとを含み、前記伸長ストップは、前記ナットの直線運動によって伸長方向に駆動されて生物の関節を伸ばすようにする、請求項1に記載のアクチュエータシステム。
- 前記可動レールは、伸長方向に直線運動して生物の関節を伸ばすように構成されている、請求項9に記載のアクチュエータシステム。
- 前記伸長ストップが患者によって前記ナットを押すように屈曲方向に移動されるときに前記マルチモータアッセンブリを後方に駆動させるように構成されている、請求項10に記載のアクチュエータシステム。
- 前記コントローラは、前記ナット又は前記可動レールの位置を検出するように構成されている、請求項10に記載のアクチュエータシステム。
- 前記コントローラは、前記ナット又は前記可動レールの検出位置に基づいて前記マルチモータアッセンブリに電流を供給するように構成されている、請求項12に記載のアクチュエータシステム。
- 前記アクチュエータシステムは、前記ナットが生物の関節を屈曲方向に駆動できないように屈曲ストップなしで構成されている、請求項9に記載のアクチュエータシステム。
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US12/191,837 | 2008-08-14 | ||
US12/191,837 US8058823B2 (en) | 2008-08-14 | 2008-08-14 | Actuator system with a multi-motor assembly for extending and flexing a joint |
PCT/US2009/053939 WO2010019917A1 (en) | 2008-08-14 | 2009-08-14 | Actuator system with a multi-motor assembly for extending and flexing a joint |
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JP2012500062A JP2012500062A (ja) | 2012-01-05 |
JP2012500062A5 JP2012500062A5 (ja) | 2012-06-07 |
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JP2014064569A Pending JP2014147803A (ja) | 2008-08-14 | 2014-03-26 | 関節を伸ばしたり曲げたりするためのマルチモータアッセンブリを備えたアクチュエータシステム |
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EP (1) | EP2324267A4 (ja) |
JP (2) | JP5512678B2 (ja) |
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-
2008
- 2008-08-14 US US12/191,837 patent/US8058823B2/en active Active
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2009
- 2009-08-14 JP JP2011523208A patent/JP5512678B2/ja active Active
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CN102187118A (zh) | 2011-09-14 |
US8058823B2 (en) | 2011-11-15 |
US20100039052A1 (en) | 2010-02-18 |
WO2010019917A1 (en) | 2010-02-18 |
EP2324267A1 (en) | 2011-05-25 |
JP2012500062A (ja) | 2012-01-05 |
EP2324267A4 (en) | 2016-01-27 |
CN102187118B (zh) | 2015-04-29 |
JP2014147803A (ja) | 2014-08-21 |
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