KR100855538B1 - 보행 보조 장치 - Google Patents
보행 보조 장치 Download PDFInfo
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- KR100855538B1 KR100855538B1 KR1020077018637A KR20077018637A KR100855538B1 KR 100855538 B1 KR100855538 B1 KR 100855538B1 KR 1020077018637 A KR1020077018637 A KR 1020077018637A KR 20077018637 A KR20077018637 A KR 20077018637A KR 100855538 B1 KR100855538 B1 KR 100855538B1
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- seating member
- leg
- leg link
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- 210000001503 joint Anatomy 0.000 description 3
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- 238000005859 coupling reaction Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
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- 229920000049 Carbon (fiber) Polymers 0.000 description 1
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- 210000004394 hip joint Anatomy 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
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- 239000013585 weight reducing agent Substances 0.000 description 1
Images
Classifications
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- 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
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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
- A61H1/024—Knee
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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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
- 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
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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
- A61H2201/1409—Hydraulic or pneumatic means
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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
- A61H2201/16—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
- A61H2201/1633—Seat
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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
- A61H2201/16—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
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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
- A61H2201/16—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
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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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1676—Pivoting
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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
- 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
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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
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
Landscapes
- 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)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
Abstract
Description
Claims (9)
- 이용자가 걸터앉듯이 하여 착좌하는 착좌 부재와, 착좌 부재의 하면에 설치한 연결부에 연결되는 다리 링크를 구비하는 보행 보조 장치로서,상기 다리 링크는 상기 착좌 부재에 대하여 상기 연결부를 통하여 전후방향으로 요동 자유롭게 연결되고,상기 연결부는 상기 다리 링크의 전후방향의 요동 지지점이 상기 착좌 부재의 상방에 위치하도록 구성되어 있는 것을 특징으로 하는 보행 보조 장치.
- 이용자가 걸터앉듯이 하여 착좌하는 착좌 부재와, 착좌 부재의 하면에 설치한 연결부에 연결되는 다리 링크를 구비하는 보행 보조 장치로서,상기 다리 링크는 상기 착좌 부재에 대하여 상기 연결부를 통하여 횡방향으로 요동 자유롭게 연결되고,상기 연결부는 상기 다리 링크의 횡방향의 요동 지지점이 상기 착좌 부재의 상방에 위치하도록 구성되어 있는 것을 특징으로 하는 보행 보조 장치.
- 이용자가 걸터앉듯이 하여 착좌하는 착좌 부재와, 착좌 부재의 하면에 설치한 연결부에 연결되는 다리 링크를 구비하는 보행 보조 장치로서,상기 다리 링크는 상기 착좌 부재에 대하여 상기 연결부를 통하여 전후방향 및 횡방향으로 요동 자유롭게 연결되고,상기 연결부는 상기 다리 링크의 전후방향의 요동 지지점과 횡방향의 요동 지지점이 각각 상기 착좌 부재의 상방에 위치하도록 구성되어 있는 것을 특징으로 하는 보행 보조 장치.
- 제 1 항에 있어서, 상기 연결부는 상기 착좌 부재의 상방에 곡률 중심을 갖는 전후방향으로 긴 원호 모양의 안내 궤도를 구비하고, 이 안내 궤도에 상기 다리 링크의 상단부가 이동 자유롭게 걸어맞추어짐으로써 상기 곡률 중심이 상기 다리 링크의 전후방향의 요동 지지점이 되도록 구성되어 있는 것을 특징으로 하는 보행 보조 장치.
- 제 4 항에 있어서, 상기 다리 링크는 중간에 회전식의 관절부를 갖는 굴신 자유로운 링크로 구성되고, 상기 다리 링크의 상단부는 상기 관절부와 상기 안내 궤도의 곡률 중심을 연결하는 선보다 후방에 위치하는 상기 안내 궤도의 부분에 걸어맞추어지는 것을 특징으로 하는 보행 보조 장치.
- 제 3 항에 있어서, 상기 연결부는 상기 착좌 부재의 상방에 곡률 중심을 갖는 전후방향으로 긴 원호 모양의 안내 궤도를 구비하고, 이 안내 궤도에 상기 다리 링크의 상단부가 이동 자유롭게 걸어맞추어짐으로써 상기 곡률 중심이 상기 다리 링크의 전후방향의 요동 지지점이 되도록 구성되는 것을 특징으로 하는 보행 보조 장치.
- 제 6 항에 있어서, 상기 다리 링크는 중간에 회전식의 관절부를 갖는 굴신 자유로운 링크로 구성되고, 상기 다리 링크의 상단부는 상기 관절부와 상기 안내 궤도의 곡률 중심을 연결하는 선보다 후방에 위치하는 상기 안내 궤도의 부분에 걸어맞추어지는 것을 특징으로 하는 보행 보조 장치.
- 제 5 항 또는 제 7 항에 있어서, 상기 관절부를 구동하는 구동원을 구비하는 것을 특징으로 하는 보행 보조 장치.
- 제 1 항, 제 2 항, 제 3 항, 제 4 항, 제 6 항 중 어느 한 항에 있어서, 상기 다리 링크는 중간에 관절부를 갖고, 이 관절부를 구동하는 구동원을 구비하는 것을 특징으로 하는 보행 보조 장치.
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JPJP-P-2005-00155329 | 2005-05-27 | ||
JP2005155329 | 2005-05-27 | ||
JPJP-P-2005-00223803 | 2005-08-02 | ||
JP2005223803 | 2005-08-02 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20070102552A KR20070102552A (ko) | 2007-10-18 |
KR100855538B1 true KR100855538B1 (ko) | 2008-09-01 |
Family
ID=37452124
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020077018637A KR100855538B1 (ko) | 2005-05-27 | 2006-05-29 | 보행 보조 장치 |
Country Status (8)
Country | Link |
---|---|
US (1) | US8114034B2 (ko) |
EP (2) | EP2168548B1 (ko) |
JP (1) | JP4782115B2 (ko) |
KR (1) | KR100855538B1 (ko) |
BR (1) | BRPI0607755A2 (ko) |
CA (1) | CA2595557C (ko) |
RU (1) | RU2389468C9 (ko) |
WO (1) | WO2006126711A1 (ko) |
Families Citing this family (51)
Publication number | Priority date | Publication date | Assignee | Title |
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JP4620012B2 (ja) | 2006-08-22 | 2011-01-26 | 本田技研工業株式会社 | 歩行補助装置 |
JP5235838B2 (ja) * | 2008-11-06 | 2013-07-10 | 本田技研工業株式会社 | 歩行補助装置 |
US9572395B2 (en) * | 2009-06-23 | 2017-02-21 | Mark Costin Roser | Human locomotion assisting shoe and clothing |
EP2583657B1 (en) | 2010-06-21 | 2015-02-18 | Toyota Jidosha Kabushiki Kaisha | Leg support device |
US9789603B2 (en) | 2011-04-29 | 2017-10-17 | Sarcos Lc | Teleoperated robotic system |
US11400010B2 (en) * | 2011-07-29 | 2022-08-02 | Leonis Medical Corporation | Method and system for control and operation of motorized orthotic exoskeleton joints |
RU2493805C1 (ru) * | 2012-02-20 | 2013-09-27 | Вячеслав Геннадьевич Иванов | Экзоскелетон инвалида |
US9616580B2 (en) | 2012-05-14 | 2017-04-11 | Sarcos Lc | End effector for a robotic arm |
US9265647B2 (en) | 2012-08-09 | 2016-02-23 | Egas Jose-Joaquim DeSousa | Dynamic load bearing shock absorbing exoskeletal knee brace |
US20140046234A1 (en) * | 2012-08-09 | 2014-02-13 | Egas Jose-Joaquim DeSousa | Dynamic Load Bearing Shock Absorbing Exoskeletal Knee Brace |
JP2015529574A (ja) | 2012-09-17 | 2015-10-08 | プレジデント アンド フェローズ オブ ハーバード カレッジ | 人間動作を補助するための軟性外骨格スーツ |
US10843332B2 (en) | 2013-05-31 | 2020-11-24 | President And Fellow Of Harvard College | Soft exosuit for assistance with human motion |
WO2015060751A1 (ru) * | 2013-10-21 | 2015-04-30 | Общество С Ограниченной Ответственностью "Экзоатлет" | Голеностопное шарнирное сочленение экзоскелетона |
KR20160098354A (ko) | 2013-12-09 | 2016-08-18 | 프레지던트 앤드 펠로우즈 오브 하바드 칼리지 | 보조 가요성 수트들, 가요성 수트 시스템들, 및 사람의 이동을 돕기 위해 이들을 만들고 제어하는 방법들 |
EP3102171A4 (en) | 2014-02-05 | 2018-03-28 | President and Fellows of Harvard College | Systems, methods, and devices for assisting walking for developmentally-delayed toddlers |
EP3616672A1 (en) * | 2014-03-31 | 2020-03-04 | Parker Hannifin Corporation | Wearable robotic device |
EP3128963A4 (en) | 2014-04-10 | 2017-12-06 | President and Fellows of Harvard College | Orthopedic device including protruding members |
US10512583B2 (en) * | 2014-05-06 | 2019-12-24 | Sarcos Lc | Forward or rearward oriented exoskeleton |
US10766133B2 (en) | 2014-05-06 | 2020-09-08 | Sarcos Lc | Legged robotic device utilizing modifiable linkage mechanism |
US10533542B2 (en) | 2014-05-06 | 2020-01-14 | Sarcos Lc | Rapidly modulated hydraulic supply for a robotic device |
US10406676B2 (en) | 2014-05-06 | 2019-09-10 | Sarcos Lc | Energy recovering legged robotic device |
USD789254S1 (en) * | 2014-05-23 | 2017-06-13 | Honda Motor Co., Ltd. | Upper body support frame with electric motor for walking aids |
US10434030B2 (en) | 2014-09-19 | 2019-10-08 | President And Fellows Of Harvard College | Soft exosuit for assistance with human motion |
US10561564B2 (en) * | 2014-11-07 | 2020-02-18 | Unlimited Tomorrow, Inc. | Low profile exoskeleton |
EP3158893B1 (en) * | 2015-10-21 | 2021-04-28 | noonee AG | Seat unit for wearable sitting posture assisting device |
EP3429512A4 (en) | 2016-03-13 | 2019-10-30 | President and Fellows of Harvard College | FLEXIBLE ELEMENTS FOR ANCHORING THE BODY |
EP3241531A1 (en) * | 2016-05-04 | 2017-11-08 | noonee AG | Leg unit for a wearable sitting posture assisting device |
CN109789543B (zh) | 2016-07-22 | 2022-09-27 | 哈佛大学校长及研究员协会 | 用于可穿戴系统的控制优化 |
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KR102696482B1 (ko) | 2016-12-28 | 2024-08-21 | 삼성전자주식회사 | 운동 보조 장치 |
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- 2006-05-29 EP EP09015820.5A patent/EP2168548B1/en not_active Not-in-force
- 2006-05-29 RU RU2007148516/14A patent/RU2389468C9/ru not_active IP Right Cessation
- 2006-05-29 KR KR1020077018637A patent/KR100855538B1/ko active IP Right Grant
- 2006-05-29 US US11/816,348 patent/US8114034B2/en not_active Expired - Fee Related
- 2006-05-29 CA CA2595557A patent/CA2595557C/en not_active Expired - Fee Related
- 2006-05-29 JP JP2007517931A patent/JP4782115B2/ja not_active Expired - Fee Related
- 2006-05-29 EP EP06746936A patent/EP1905408B1/en not_active Not-in-force
- 2006-05-29 WO PCT/JP2006/310658 patent/WO2006126711A1/ja active Application Filing
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Also Published As
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EP2168548A1 (en) | 2010-03-31 |
RU2007148516A (ru) | 2009-07-10 |
EP1905408A1 (en) | 2008-04-02 |
US8114034B2 (en) | 2012-02-14 |
EP1905408A4 (en) | 2008-07-23 |
EP2168548B1 (en) | 2016-10-19 |
JPWO2006126711A1 (ja) | 2008-12-25 |
EP1905408B1 (en) | 2012-07-25 |
US20080156363A1 (en) | 2008-07-03 |
CA2595557C (en) | 2011-04-12 |
WO2006126711A1 (ja) | 2006-11-30 |
KR20070102552A (ko) | 2007-10-18 |
RU2389468C2 (ru) | 2010-05-20 |
BRPI0607755A2 (pt) | 2009-10-06 |
JP4782115B2 (ja) | 2011-09-28 |
CA2595557A1 (en) | 2006-11-30 |
RU2389468C9 (ru) | 2011-05-27 |
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