JP7103703B2 - 動作補助装置 - Google Patents

動作補助装置 Download PDF

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Publication number
JP7103703B2
JP7103703B2 JP2021575724A JP2021575724A JP7103703B2 JP 7103703 B2 JP7103703 B2 JP 7103703B2 JP 2021575724 A JP2021575724 A JP 2021575724A JP 2021575724 A JP2021575724 A JP 2021575724A JP 7103703 B2 JP7103703 B2 JP 7103703B2
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JP
Japan
Prior art keywords
arm
finger
assisting device
operation assisting
base member
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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.)
Active
Application number
JP2021575724A
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English (en)
Japanese (ja)
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JPWO2021157390A5 (https=
JPWO2021157390A1 (https=
Inventor
計成 畑崎
昌宏 粕谷
達也 關
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.)
MELTIN MMI CO., LTD.
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MELTIN MMI CO., LTD.
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Publication of JPWO2021157390A5 publication Critical patent/JPWO2021157390A5/ja
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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
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A61H1/0288—Fingers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • 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
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration 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
    • A61H2201/01—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
    • A61H2201/12—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
    • A61H2201/12—Driving means
    • A61H2201/1238—Driving means with hydraulic or pneumatic drive
    • A61H2201/1246—Driving means with hydraulic or pneumatic drive by piston-cylinder systems
    • 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
    • A61H2201/1635—Hand or arm, e.g. handle
    • 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
    • A61H2201/5058—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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/08—Other bio-electrical signals
    • A61H2230/085—Other bio-electrical signals used as a control parameter for the apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-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
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Program-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Epidemiology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Human Computer Interaction (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)
  • Prostheses (AREA)
JP2021575724A 2020-02-06 2021-01-22 動作補助装置 Active JP7103703B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2020018898 2020-02-06
JP2020018898 2020-02-06
PCT/JP2021/002265 WO2021157390A1 (ja) 2020-02-06 2021-01-22 動作補助装置

Publications (3)

Publication Number Publication Date
JPWO2021157390A1 JPWO2021157390A1 (https=) 2021-08-12
JPWO2021157390A5 JPWO2021157390A5 (https=) 2022-03-25
JP7103703B2 true JP7103703B2 (ja) 2022-07-20

Family

ID=77199314

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021575724A Active JP7103703B2 (ja) 2020-02-06 2021-01-22 動作補助装置

Country Status (3)

Country Link
EP (1) EP4101435B1 (https=)
JP (1) JP7103703B2 (https=)
WO (1) WO2021157390A1 (https=)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4418998A1 (en) * 2021-10-20 2024-08-28 MindMaze Group SA Hand therapy device
JP2023136649A (ja) * 2022-03-17 2023-09-29 日本電気株式会社 負荷軽減装置、負荷軽減方法及び負荷軽減プログラム
CN114848395A (zh) * 2022-05-05 2022-08-05 法罗适(上海)医疗技术有限公司 一种线驱手套连接装置、线驱手套及使用方法
EP4535334A4 (en) * 2022-06-02 2025-04-23 Sony Group Corporation INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING METHOD AND INFORMATION PROCESSING PROGRAM
WO2025009038A1 (ja) * 2023-07-03 2025-01-09 株式会社ソニー・インタラクティブエンタテインメント 装着部材及び力覚提示装置

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002345861A (ja) 2001-05-29 2002-12-03 Harada Denshi Kogyo Kk 指動作補助装置
JP2007275486A (ja) 2006-04-12 2007-10-25 Actment Co Ltd 関節駆動装置
JP2011115248A (ja) 2009-12-01 2011-06-16 Oki Electric Industry Co Ltd 装着型動作支援装置
JP2013017718A (ja) 2011-07-13 2013-01-31 R-Techs:Kk 手指リハビリ装置
JP2014519945A (ja) 2011-06-23 2014-08-21 リハビット−テック・リミテッド 外傷肢を回復させるための装置および方法
JP2016055079A (ja) 2014-09-12 2016-04-21 セイコーエプソン株式会社 駆動装置およびその駆動方法
WO2018055812A1 (ja) 2016-09-26 2018-03-29 Cyberdyne株式会社 動作支援装置

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6565563B1 (en) * 1996-09-23 2003-05-20 John M. Agee Method and apparatus for increasing the range of motion of one or more contracted joints through external forces independently transmitted to the skeleton
US6110130A (en) * 1997-04-21 2000-08-29 Virtual Technologies, Inc. Exoskeleton device for directly measuring fingertip position and inferring finger joint angle
BR112018016609B1 (pt) * 2016-02-15 2023-01-24 Lime Medical Gmbh Dispositivo de terapia para realizar um movimento sustentado, passivo e/ou ativamente assistido dos dedos e do polegar da mão de um paciente
JP6784978B2 (ja) * 2016-08-23 2020-11-18 学校法人明治大学 計測装置及び計測方法
CN106239485B (zh) * 2016-09-23 2018-05-04 合肥工业大学 可穿戴式大拇指康复训练机械手

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002345861A (ja) 2001-05-29 2002-12-03 Harada Denshi Kogyo Kk 指動作補助装置
JP2007275486A (ja) 2006-04-12 2007-10-25 Actment Co Ltd 関節駆動装置
JP2011115248A (ja) 2009-12-01 2011-06-16 Oki Electric Industry Co Ltd 装着型動作支援装置
JP2014519945A (ja) 2011-06-23 2014-08-21 リハビット−テック・リミテッド 外傷肢を回復させるための装置および方法
JP2013017718A (ja) 2011-07-13 2013-01-31 R-Techs:Kk 手指リハビリ装置
JP2016055079A (ja) 2014-09-12 2016-04-21 セイコーエプソン株式会社 駆動装置およびその駆動方法
WO2018055812A1 (ja) 2016-09-26 2018-03-29 Cyberdyne株式会社 動作支援装置

Also Published As

Publication number Publication date
US20230075880A1 (en) 2023-03-09
WO2021157390A1 (ja) 2021-08-12
EP4101435A4 (en) 2024-02-28
EP4101435A1 (en) 2022-12-14
EP4101435B1 (en) 2025-09-17
JPWO2021157390A1 (https=) 2021-08-12

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