JP6180618B2 - マニピュレータ機構 - Google Patents
マニピュレータ機構 Download PDFInfo
- Publication number
- JP6180618B2 JP6180618B2 JP2016505752A JP2016505752A JP6180618B2 JP 6180618 B2 JP6180618 B2 JP 6180618B2 JP 2016505752 A JP2016505752 A JP 2016505752A JP 2016505752 A JP2016505752 A JP 2016505752A JP 6180618 B2 JP6180618 B2 JP 6180618B2
- Authority
- JP
- Japan
- Prior art keywords
- coupler
- manipulator
- link
- crank
- rotary joint
- 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
Links
- 230000033001 locomotion Effects 0.000 claims description 19
- 239000012636 effector Substances 0.000 claims description 16
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 235000007516 Chrysanthemum Nutrition 0.000 claims 1
- 244000189548 Chrysanthemum x morifolium Species 0.000 claims 1
- 230000001419 dependent effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 210000004197 pelvis Anatomy 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- 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
- 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
-
- 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
- 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
- A63B21/15—Arrangements for force transmissions
- A63B21/151—Using flexible elements for reciprocating movements, e.g. ropes or chains
- A63B21/152—Bowden-type cables
-
- 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
- A63B21/16—Supports for anchoring force-resisters
- A63B21/169—Supports for anchoring force-resisters for anchoring on or against a wall
-
- 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
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single 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
- 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
- A61H2201/1436—Special crank assembly
-
- 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
-
- 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
-
- 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
- A61H2201/165—Wearable interfaces
- A61H2201/1652—Harness
-
- 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
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
- F16H21/16—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for interconverting rotary motion and reciprocating motion
- F16H21/18—Crank gearings; Eccentric gearings
Landscapes
- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biophysics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
- Rehabilitation Tools (AREA)
Description
フレームと、
第1リンクと、
第2リンクと、
第1カプラとを備え、
第1カプラ上の端点が、その軌跡の一部に実質的な直線を第1の方向に描くよう、エヴァンス直線機構を形成するように配置されるマニピュレータが提供され、
第2リンクが、クランクを介して、このクランクの作動によって第1カプラ上の端点が第1の方向に垂直な第2の方向に実質的に直線状に動くように、フレームに取り付けられる。
L1は、第1カプラ(118;218)の回転軸とクランク(144;248)の回転軸との間の、第2リンク(122;222)に沿った距離であり;
L2は、第1リンク(114;214)の回転軸の間の、第1カプラ(118;218)に沿った距離であり;
L3は、第1カプラ(118;218)の回転軸と端点(128;228)との間の、第1カプラ(118;218)に沿った距離であり;
マニピュレータは、L2がL22=L1*L3によって決定される値の10%以内となるように構成される。
第1カプラに接続され、該第1カプラと共に動くように構成された第2カプラと、
第1カプラと第2カプラとを接続するエンドエフェクタとを備える。
Claims (14)
- フレーム(112;212)と、
第1リンク(114;214)と、
第2リンク(122;222)と、
第1カプラ(118;218)とを備え、
前記第1カプラ上の端点(128;228)が、その軌跡の一部に実質的な直線を第1の方向(D1)に描くよう、エヴァンス直線機構を形成するように配置されるマニピュレータ(110;210)であって、
前記第2リンク(122;222)が、クランク(144;248)を介して、該クランクの作動によって前記第1カプラ上の前記端点が前記第1の方向に垂直な第2の方向(D2)に実質的に直線状に動くように、前記フレームに取り付けられるマニピュレータ。 - 請求項1に記載のマニピュレータ(110;210)において、
L1は、前記第1カプラ(118;218)の回転軸と前記クランク(144;248)の回転軸との間の前記第2リンク(122;222)に沿った距離であり;
L2は、前記第1リンク(114;214)の回転軸の間の、前記第1カプラ(118;218)に沿った距離であり;
L3は、前記第1カプラ(118;218)の前記回転軸と前記端点(128;228)との間の、前記第1カプラ(118;218)に沿った距離であり;
前記マニピュレータが、L2がL22=L1*L3によって決定される値の10%以内となるように構成されるマニピュレータ。 - 請求項1又は2に記載のマニピュレータ(110;210)において、前記第1カプラの前記端点を前記第1の方向に動かすために前記マニピュレータを連結するように構成された、第1モータ(132;232)を有する第1作動アセンブリを備えるマニピュレータ。
- 請求項3に記載のマニピュレータ(110;210)において、前記第1作動アセンブリが、前記第1モータ(132;232)によって駆動される第1作動アセンブリクランク(134;234)によって駆動される第3リンク(138;238)を備え、該第3リンクが前記第1カプラを駆動するように配置されるマニピュレータ。
- 請求項4に記載のマニピュレータ(110;210)において、前記第3リンクが前記第1リンク(114;214)と前記第2リンク(122;222)との間で前記第1カプラ(118;218)に取り付けられるマニピュレータ。
- 請求項1〜5の何れか一項に記載のマニピュレータ(110;210)において、
前記第1カプラ(218)に接続され、該第1カプラと共に動くように構成される第2カプラ(266)と、
前記第1カプラと前記第2カプラとを接続するエンドエフェクタ(284)とを備えるマニピュレータ。 - 請求項6に記載のマニピュレータ(210)において、前記第1カプラ及び第2カプラが前記エンドエフェクタから離間したカプラコネクタ(268)によって接続されるマニピュレータ。
- 請求項7に記載のマニピュレータ(210)において、前記第1カプラ及び第2カプラ(218,266)が、平行リンク機構の2つの平行な辺を形成するように、前記エンドエフェクタ(284)及び前記カプラコネクタ(268)によって接続されるマニピュレータ。
- 請求項6〜8の何れか一項に記載のマニピュレータ(210)において、前記第2カプラ(266)に接続される追加の第2リンク(274)を備え、該追加の第2リンク(274)が追加のクランク(262)を介して、該クランクの作動によって前記第2カプラ上の点が前記第2の方向(D2)に実質的に直線状に動くように、前記フレームに取り付けられるマニピュレータ。
- 請求項9に記載のマニピュレータ(210)において、前記クランク(248)及び前記追加のクランク(262)が同期運動するように配置されるマニピュレータ。
- 請求項9又は10に記載のマニピュレータ(210)において、前記クランク(248)及び前記追加のクランク(262)が共通の作動アセンブリによって駆動されるマニピュレータ。
- 請求項4に従属する場合の請求項11に記載のマニピュレータ(210)において、第2モータが共通のプッシュロッド(258)を介して前記クランク(248)及び前記追加のクランク(262)を駆動するマニピュレータ。
- 請求項1〜12の何れか一項に記載のマニピュレータを備えるリハビリ装置。
- 請求項1〜12の何れか一項に記載のマニピュレータを備える歩行訓練装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB201305989A GB201305989D0 (en) | 2013-04-03 | 2013-04-03 | Manipulator mechanism |
GB1305989.4 | 2013-04-03 | ||
PCT/EP2014/055651 WO2014161726A1 (en) | 2013-04-03 | 2014-03-20 | Manipulator mechanism |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016522090A JP2016522090A (ja) | 2016-07-28 |
JP6180618B2 true JP6180618B2 (ja) | 2017-08-16 |
Family
ID=48445179
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016505752A Expired - Fee Related JP6180618B2 (ja) | 2013-04-03 | 2014-03-20 | マニピュレータ機構 |
Country Status (9)
Country | Link |
---|---|
US (1) | US10449669B2 (ja) |
EP (1) | EP2981396B1 (ja) |
JP (1) | JP6180618B2 (ja) |
KR (1) | KR20150139505A (ja) |
CN (1) | CN105121101B (ja) |
AU (1) | AU2014247305B2 (ja) |
CA (1) | CA2906261C (ja) |
GB (1) | GB201305989D0 (ja) |
WO (1) | WO2014161726A1 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10710118B2 (en) | 2014-02-11 | 2020-07-14 | Vibrant Composites Inc. | Complex mass trajectories for improved haptic effect |
US10315220B2 (en) * | 2014-02-11 | 2019-06-11 | Vibrant Composites Inc. | Complex mass trajectories for improved haptic effect |
DE102018102210B4 (de) | 2018-02-01 | 2021-12-16 | Michael Utech | Vorrichtung für das Gehtraining eines Individuums |
US11590647B2 (en) * | 2018-04-17 | 2023-02-28 | Arizona Board Of Regents On Behalf Of Arizona State University | Four-bar parallel actuated architecture for exoskeleton |
CN110116402B (zh) * | 2019-06-06 | 2022-03-25 | 哈尔滨工业大学 | 基于耦合钢丝绳传动的三自由度机械臂 |
AU2020372185A1 (en) * | 2019-10-21 | 2022-06-09 | Tech Gym Pty Ltd | Systems for mechanically assisting rehabilitation of a patient |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5326218A (en) * | 1993-03-08 | 1994-07-05 | Fallas David M | Robotic arm for handling product |
JPH07276270A (ja) * | 1994-04-01 | 1995-10-24 | S G:Kk | 平行リンク方式多関節ロボット |
SE511804C2 (sv) * | 1996-03-14 | 1999-11-29 | Abb Ab | Anordning för relativ förflyttning av två element |
CA2351083C (en) * | 1998-11-13 | 2008-11-18 | Hocoma Ag | Device and method for automating treadmill therapy |
IT1312398B1 (it) * | 1999-05-05 | 2002-04-17 | Vortex Systems Srl | Manipolatore industriale ad alta velocit{ |
US7125388B1 (en) * | 2002-05-20 | 2006-10-24 | The Regents Of The University Of California | Robotic gait rehabilitation by optimal motion of the hip |
US7998040B2 (en) * | 2005-04-11 | 2011-08-16 | The Regents Of The University Of Colorado | Force assistance device for walking rehabilitation therapy |
US7544155B2 (en) * | 2005-04-25 | 2009-06-09 | University Of Delaware | Gravity balanced orthosis apparatus |
CN100391699C (zh) * | 2006-06-28 | 2008-06-04 | 江苏工业学院 | 用于并联运动装备的二自由度空间并联机构 |
WO2008124025A1 (en) * | 2007-04-06 | 2008-10-16 | University Of Delaware | Powered orthosis |
CN101121265A (zh) * | 2007-09-13 | 2008-02-13 | 江苏工业学院 | 用于三维运动的单自由度空间机构 |
CN102172912A (zh) * | 2011-02-23 | 2011-09-07 | 常州大学 | 一种二自由度并联操作手 |
CN102886777B (zh) * | 2012-10-25 | 2015-05-06 | 浙江理工大学 | 一种具有大横向位移的二自由度并联机构 |
-
2013
- 2013-04-03 GB GB201305989A patent/GB201305989D0/en not_active Ceased
-
2014
- 2014-03-20 KR KR1020157025104A patent/KR20150139505A/ko active IP Right Grant
- 2014-03-20 AU AU2014247305A patent/AU2014247305B2/en not_active Ceased
- 2014-03-20 EP EP14711279.1A patent/EP2981396B1/en not_active Not-in-force
- 2014-03-20 CN CN201480016548.3A patent/CN105121101B/zh not_active Expired - Fee Related
- 2014-03-20 JP JP2016505752A patent/JP6180618B2/ja not_active Expired - Fee Related
- 2014-03-20 WO PCT/EP2014/055651 patent/WO2014161726A1/en active Application Filing
- 2014-03-20 US US14/781,924 patent/US10449669B2/en not_active Expired - Fee Related
- 2014-03-20 CA CA2906261A patent/CA2906261C/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
US10449669B2 (en) | 2019-10-22 |
CA2906261C (en) | 2019-07-09 |
JP2016522090A (ja) | 2016-07-28 |
EP2981396B1 (en) | 2018-08-22 |
WO2014161726A1 (en) | 2014-10-09 |
KR20150139505A (ko) | 2015-12-11 |
CN105121101B (zh) | 2017-09-08 |
AU2014247305A1 (en) | 2015-10-01 |
CA2906261A1 (en) | 2014-10-09 |
CN105121101A (zh) | 2015-12-02 |
EP2981396A1 (en) | 2016-02-10 |
GB201305989D0 (en) | 2013-05-15 |
US20160031079A1 (en) | 2016-02-04 |
AU2014247305B2 (en) | 2016-06-16 |
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