JP6499776B2 - 身体着用式上肢運動装置 - Google Patents
身体着用式上肢運動装置 Download PDFInfo
- Publication number
- JP6499776B2 JP6499776B2 JP2017560452A JP2017560452A JP6499776B2 JP 6499776 B2 JP6499776 B2 JP 6499776B2 JP 2017560452 A JP2017560452 A JP 2017560452A JP 2017560452 A JP2017560452 A JP 2017560452A JP 6499776 B2 JP6499776 B2 JP 6499776B2
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- JP
- Japan
- Prior art keywords
- unit
- upper limb
- user
- power transmission
- worn
- 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
- 210000001364 upper extremity Anatomy 0.000 title claims description 65
- 230000005540 biological transmission Effects 0.000 claims description 61
- 210000000245 forearm Anatomy 0.000 claims description 21
- 238000005452 bending Methods 0.000 claims description 4
- 210000000707 wrist Anatomy 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001151 other effect Effects 0.000 description 1
- 229910052709 silver Inorganic materials 0.000 description 1
- 239000004332 silver Substances 0.000 description 1
Images
Classifications
-
- 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
-
- 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
-
- 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
- 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
- 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
- A61H2201/0192—Specific means for adjusting dimensions
-
- 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
-
- 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
- A61H2201/5053—Control means thereof mechanically controlled
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biophysics (AREA)
- Rehabilitation Tools (AREA)
Description
Claims (7)
- 使用者の背中に着用可能に備えられ、駆動力を発生させる駆動ユニット、
使用者の肩に着用可能に備えられる支持ユニット、
使用者の上肢に着用可能に備えられる上肢屈伸ユニット、及び
前記駆動ユニットから前記支持ユニットを経由して前記上肢屈伸ユニットに連結され、前記駆動ユニットの駆動力に応じて前記上肢屈伸ユニットを制御して使用者の上肢を屈伸させる動力伝達部
を含み、
前記動力伝達部は、複列に並ぶ第1ワイヤー及び第2ワイヤーを少なくとも一部区間に備える動力伝達部材を含み、
前記駆動ユニットは、回転に応じて前記第1ワイヤー及び前記第2ワイヤーを縒って該当区間の長さを変化させることによって前記上肢屈伸ユニットを制御する、身体着用式上肢運動装置。 - 使用者の背中に着用可能に備えられ、駆動力を発生させる駆動ユニット、
使用者の肩に着用可能に備えられる支持ユニット、
使用者の上肢に着用可能に備えられる上肢屈伸ユニット、及び
前記駆動ユニットから前記支持ユニットを経由して前記上肢屈伸ユニットに連結され、前記駆動ユニットの駆動力に応じて前記上肢屈伸ユニットを制御して使用者の上肢を屈伸させる動力伝達部
を含み、
前記動力伝達部は、
使用者の上腕の側方向に延びる第1動力伝達部材、及び
使用者の上腕の前方向に延びる第2動力伝達部材
を含み、
前記上肢屈伸ユニットは、
前記第1動力伝達部材と連結され、使用者の上腕を囲む第1上腕固定部、及び
前記第2動力伝達部材と連結され、使用者の上腕を囲む第2上腕固定部
を含み、
前記第1動力伝達部材及び前記第2動力伝達部材の少なくとも一部区間は第1ワイヤー及び第2ワイヤーが並んで複列に備えられ、
前記駆動ユニットは回転に応じて前記第1ワイヤー及び前記第2ワイヤーを縒って該当区間の長さを変化させることによって前記上肢屈伸ユニットを制御する、身体着用式上肢運動装置。 - 前記上肢屈伸ユニットは、
前記第1上腕固定部に使用者の上腕の前方向に備えられる補助アクチュエータ、及び
使用者の前腕を囲む前腕固定部
をさらに含み、
前記第2動力伝達部材は前記補助アクチュエータを経由して前記前腕固定部に連結され、
前記補助アクチュエータは、前記補助アクチュエータと前記前腕固定部の間に設けられた区間の前記第2動力伝達部材に駆動力を伝達する、請求項2に記載の身体着用式上肢運動装置。 - 前記上肢屈伸ユニットは、
使用者の手首を囲むように備えられ、前記前腕固定部と連結されて前記前腕固定部の位置を固定させる位置固定部をさらに含む、請求項3に記載の身体着用式上肢運動装置。 - 前記駆動ユニットは、
前記動力伝達部に駆動力を伝達するメインアクチュエータ、及び
使用者の身体に取り付けられ、前記メインアクチュエータを固定させる駆動フレーム
を含む、請求項1乃至請求項4のいずれか一項に記載の身体着用式上肢運動装置。 - 前記支持ユニットは、
使用者の肩に取り付けられる支持フレーム、及び
前記支持フレームの上面に備えられ、前記動力伝達部の一部を支持する支持部材
を含む、請求項1乃至請求項5のいずれか一項に記載の身体着用式上肢運動装置。 - 前記支持フレームは使用者の肩を囲むように曲面に形成される、請求項6に記載の身体着用式上肢運動装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/KR2015/001369 WO2016129716A1 (ko) | 2015-02-11 | 2015-02-11 | 신체착용식 상지 운동장치 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018506406A JP2018506406A (ja) | 2018-03-08 |
JP6499776B2 true JP6499776B2 (ja) | 2019-04-10 |
Family
ID=56615363
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017560452A Expired - Fee Related JP6499776B2 (ja) | 2015-02-11 | 2015-02-11 | 身体着用式上肢運動装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20180235829A1 (ja) |
EP (1) | EP3257493A4 (ja) |
JP (1) | JP6499776B2 (ja) |
CN (1) | CN107530217A (ja) |
WO (1) | WO2016129716A1 (ja) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6893804B2 (ja) * | 2017-03-10 | 2021-06-23 | 第一高周波工業株式会社 | パワーアシスト装置 |
GB2567010A (en) * | 2017-10-02 | 2019-04-03 | Univ Strathclyde | Apparatus for the rehabilitation, assistance and/or augmentation of arm strength in a user |
KR102131755B1 (ko) * | 2019-01-03 | 2020-07-08 | 주식회사 메디앤퓨처스 | 능동적인 재활운동이 가능한 착용식 상지 재활운동기구 |
CA3132645A1 (en) | 2019-03-04 | 2020-09-10 | Georgia Tech Research Corporation | Voice-activated, compact, and portable robotic system |
CN109938966B (zh) * | 2019-04-03 | 2022-08-16 | 陕西省人民医院 | 康复科用上肢康复器 |
JP6940549B2 (ja) * | 2019-04-26 | 2021-09-29 | 学校法人冬木学園 | 肩装具、肩装具を用いたリハビリテーション方法 |
DE102019113684A1 (de) * | 2019-05-22 | 2020-11-26 | Ottobock Se & Co. Kgaa | Vorrichtung zum Unterstützen wenigstens eines Armes |
US20210113414A1 (en) * | 2019-10-18 | 2021-04-22 | Sue-May Kang | Therapeutic active-motion apparatus that increases joint-electricity for improving the active motion of affected shoulder |
CN113318408A (zh) * | 2021-05-08 | 2021-08-31 | 武汉城市职业学院 | 一种短跑摆臂训练装置 |
WO2024049113A1 (ko) * | 2022-08-29 | 2024-03-07 | 삼성전자주식회사 | 탄성 케이블을 이용한 착용형 피트니스 장치 |
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DE2615209A1 (de) * | 1975-04-15 | 1976-10-28 | Teufel Wilh Jul Fa | Universal-orthese |
DE3345386A1 (de) * | 1983-12-15 | 1985-06-27 | Ernst Knoll Feinmechanik, 7801 Umkirch | Einrichtung zum abstuetzen eines armes |
JPH0588524U (ja) * | 1991-06-28 | 1993-12-03 | 株式会社飯倉総合研究所 | 下腕筋力回復用補装具 |
JPH07204233A (ja) * | 1994-01-19 | 1995-08-08 | Kazuhiro Kawada | 身体補助装置 |
WO1995032842A2 (en) * | 1994-05-19 | 1995-12-07 | Exos, Inc. | Sensory feedback exoskeleton armmaster |
JPH11253505A (ja) * | 1998-03-12 | 1999-09-21 | Sanyo Electric Co Ltd | 身体補助装置 |
EP1609451A4 (en) * | 2003-03-28 | 2010-02-10 | Univ Tokyo Science | DEVICE FOR DAMAGING WEAR JOINT |
EP1685452A4 (en) * | 2003-10-27 | 2010-12-15 | Technion Res & Dev Foundation | TWIN THREAD ACTUATOR |
KR100911269B1 (ko) * | 2005-10-11 | 2009-08-11 | 파나소닉 주식회사 | 동작 지원 장치 및 동작 지원 방법 |
US20080066574A1 (en) * | 2006-09-19 | 2008-03-20 | Nidec Corporation | Actuator |
KR100950060B1 (ko) * | 2007-08-30 | 2010-04-02 | 한정수 | 복합 관절 운동용 재활기구 |
KR101065420B1 (ko) * | 2008-12-16 | 2011-09-16 | 한양대학교 산학협력단 | 상지거동을 위한 착용형 로봇장치 |
FR2949669B1 (fr) * | 2009-09-09 | 2011-11-18 | Commissariat Energie Atomique | Mecanisme d'epaule pour orthese |
US8591441B2 (en) * | 2010-10-22 | 2013-11-26 | Peter M. Bonutti | Shoulder orthosis including flexion/extension device |
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JP5804310B2 (ja) * | 2011-05-24 | 2015-11-04 | 学校法人東京理科大学 | 上腕保持装置、及び、上腕補助装置 |
CN102319162B (zh) * | 2011-07-29 | 2013-02-20 | 北京航空航天大学 | 外骨骼式拇指运动功能康复机器人 |
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CN102727360B (zh) * | 2012-06-06 | 2014-06-18 | 常州汉迪机器人科技有限公司 | 人体上肢康复机器人 |
CN103271810A (zh) * | 2013-06-14 | 2013-09-04 | 王玉发 | 一种手指康复设备 |
CN203576847U (zh) * | 2013-09-30 | 2014-05-07 | 冯晓明 | 便携式上肢偏瘫康复训练机器人 |
-
2015
- 2015-02-11 EP EP15882079.5A patent/EP3257493A4/en not_active Withdrawn
- 2015-02-11 WO PCT/KR2015/001369 patent/WO2016129716A1/ko active Application Filing
- 2015-02-11 CN CN201580075874.6A patent/CN107530217A/zh active Pending
- 2015-02-11 US US15/549,375 patent/US20180235829A1/en not_active Abandoned
- 2015-02-11 JP JP2017560452A patent/JP6499776B2/ja not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
EP3257493A4 (en) | 2018-10-17 |
CN107530217A (zh) | 2018-01-02 |
US20180235829A1 (en) | 2018-08-23 |
EP3257493A1 (en) | 2017-12-20 |
WO2016129716A1 (ko) | 2016-08-18 |
JP2018506406A (ja) | 2018-03-08 |
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