KR101043207B1 - 휠체어식 보행 보조용 로봇 - Google Patents
휠체어식 보행 보조용 로봇 Download PDFInfo
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- KR101043207B1 KR101043207B1 KR1020080103461A KR20080103461A KR101043207B1 KR 101043207 B1 KR101043207 B1 KR 101043207B1 KR 1020080103461 A KR1020080103461 A KR 1020080103461A KR 20080103461 A KR20080103461 A KR 20080103461A KR 101043207 B1 KR101043207 B1 KR 101043207B1
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- linear guide
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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—Using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
- A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
- A61G5/045—Rear wheel drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
- A61G5/127—Rests specially adapted therefor, e.g. for the head or the feet for lower legs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
- A61G5/128—Rests specially adapted therefor, e.g. for the head or the feet for feet
-
- 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 in a plane substantially parallel to the body-symmetrical-plane
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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
- A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
-
- 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
-
- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2200/00—Information related to the kind of patient or his position
- A61G2200/50—Information related to the kind of patient or his position the patient is supported by a specific part of the body
- A61G2200/52—Underarm
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/14—Standing-up or sitting-down aids
-
- 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
- A61H3/04—Wheeled walking aids for disabled persons
- A61H2003/043—Wheeled walking aids for disabled persons with a drive mechanism
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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
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
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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
-
- 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
- A61H2201/123—Linear 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
- A61H2201/16—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
- A61H2201/1635—Hand or arm, e.g. handle
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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
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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
Abstract
Description
Claims (9)
- 메인 프레임(110)과, 상기 메인 프레임(110)에 설치되는 주행 모터(140)와, 상기 메인 프레임(110)에 설치되어 상기 주행 모터(140)에 의해 구동되는 바퀴(120)를 구비하는 주행부(100);상기 메인 프레임(110)에 고정 결합되는 외측 리니어 가이드(220)와, 상기 외측 리니어 가이드(220)를 따라 상하이동이 가능한 내측 리니어 가이드(230)와, 상기 내측 리니어 가이드(230)에 연결되어 상하이동이 가능한 의자 상단부(240)와, 상기 내측 리니어 가이드(230)에 연결되어 구동되는 의자 하단부(250)를 구비하는 리프트(200);상기 의자 상단부(240)에 고정 결합되는 리프트 체결부(310)와, 허벅지 브레이스(380)가 결합된 상부 프레임(320)과, 종아리 브레이스(390)가 결합된 하부 프레임(330)과, 상기 리프트 체결부(310)와 상기 상부 프레임(320) 사이에 설치되어 상기 리프트 체결부(310)를 기준으로 상기 상부 프레임(320)을 회전시키는 고관절부(340)와, 상기 상부 프레임(320)과 상기 하부 프레임(330) 사이에 설치되어 상기 상부 프레임(320)을 기준으로 상기 하부 프레임(330)을 회전시키는 슬관절부(350)를 구비하는 외골격(300);을 포함하는 휠체어식 보행 보조용 로봇.
- 청구항 1에 있어서,상기 리프트(200)는, 상기 메인 프레임(110)에 고정 결합되고 상기 내측 리니어 가이드(230)에 연결되어 상기 내측 리니어 가이드(230)를 상하로 구동하는 리니어 액추에이터(210)를 더 구비하는 것을 특징으로 하는 휠체어식 보행 보조용 로봇.
- 청구항 1에 있어서,상기 리프트(200)는, 상기 내측 리니어 가이드(230)에 고정 결합되고 상기 외측 리니어 가이드(220)에 상하이동 가능하도록 결합되는 외측 연결 블록(231)을 더 구비하는 것을 특징으로 하는 휠체어식 보행 보조용 로봇.
- 청구항 1에 있어서,상기 리프트(200)는, 상기 의자 상단부(240)에 고정 결합되고 상기 내측 리니어 가이드(230)에 상하이동 가능하도록 결합되는 내측 연결 블록(232)을 더 구비하는 것을 특징으로 하는 휠체어식 보행 보조용 로봇.
- 청구항 4에 있어서,상기 리프트(200)는, 상기 내측 리니어 가이드(230)의 상단에 형성되는 스프라켓(234)과, 한쪽 끝이 상기 메인 프레임(110)에 체결되고 상기 스프라켓(234)을 지나 반대쪽 끝이 상기 내측 연결 블록(232)에 체결되는 체인(260)을 더 구비하며,상기 내측 연결 블록(232)이 상기 체인(260)에 의해 상기 내측 리니어 가이드(230)를 따라 상승하면 상기 의자 상단부(240)도 함께 상승하는 것을 특징으로 하는 휠체어식 보행 보조용 로봇.
- 청구항 3에 있어서,상기 리프트(200)는, 상기 외측 리니어 가이드(220)에 형성된 랙기어(222)와, 상기 랙기어(222)에 맞물리고 상기 외측 연결 블록(231)에 헛돌도록 회전축이 결합된 제1 스퍼기어(233)와, 상기 제1 스퍼기어(233)에 맞물리고 상기 의자 하단부(250)에 회전축이 고정 결합된 제2 스퍼기어(251)를 더 구비하며,상기 외측 연결 블록(231)이 상기 내측 리니어 가이드(230)에 의해 상승하면, 상기 외측 연결 블록(231)에 헛돌도록 결합됨과 동시에 상기 랙기어(222)에 맞물린 상기 제1 스퍼기어(233)가 상승하면서 회전하고, 상기 제1 스퍼기어(233)와 맞물린 상기 제2 스퍼기어(251)가 반대방향으로 회전하면서 상승하고, 상기 제2 스퍼기어(251)의 회전축에 고정된 상기 의자 하단부(250)가 아래쪽으로 접히도록 회전하는 것을 특징으로 하는 휠체어식 보행 보조용 로봇.
- 청구항 1에 있어서,상기 리프트(200)는 상기 의자 상단부(240)에 설치되는 허리 브레이스를 더 구비하는 것을 특징으로 하는 휠체어식 보행 보조용 로봇.
- 청구항 1에 있어서,상기 외골격(300)은 상기 리프트 체결부(310)의 양측에 설치되어 상기 고관절부(340)에 회전 구동력을 제공하는 고관절 구동부(360)를 더 구비하는 것을 특징으로 하는 휠체어식 보행 보조용 로봇.
- 청구항 1에 있어서,상기 외골격(300)은 상기 슬관절부(350)에 직접 설치되어 상기 슬관절부(350)에 회전 구동력을 제공하는 슬관절 구동부(370)를 더 구비하는 것을 특징으로 하는 휠체어식 보행 보조용 로봇.
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020080103461A KR101043207B1 (ko) | 2008-10-22 | 2008-10-22 | 휠체어식 보행 보조용 로봇 |
US13/125,567 US8790284B2 (en) | 2008-10-22 | 2009-10-09 | Wheelchair type robot for walking aid |
JP2011533095A JP5400890B2 (ja) | 2008-10-22 | 2009-10-09 | 車椅子式歩行補助用ロボット |
EP09822161.7A EP2361734B1 (en) | 2008-10-22 | 2009-10-09 | Wheelchair type robot for walking aid |
PCT/KR2009/005782 WO2010047485A2 (ko) | 2008-10-22 | 2009-10-09 | 휠체어식 보행 보조용 로봇 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020080103461A KR101043207B1 (ko) | 2008-10-22 | 2008-10-22 | 휠체어식 보행 보조용 로봇 |
Publications (2)
Publication Number | Publication Date |
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KR20100044360A KR20100044360A (ko) | 2010-04-30 |
KR101043207B1 true KR101043207B1 (ko) | 2011-06-22 |
Family
ID=42119804
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Application Number | Title | Priority Date | Filing Date |
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KR1020080103461A KR101043207B1 (ko) | 2008-10-22 | 2008-10-22 | 휠체어식 보행 보조용 로봇 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8790284B2 (ko) |
EP (1) | EP2361734B1 (ko) |
JP (1) | JP5400890B2 (ko) |
KR (1) | KR101043207B1 (ko) |
WO (1) | WO2010047485A2 (ko) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20130127750A (ko) | 2012-05-15 | 2013-11-25 | 대한민국(국립재활원장) | 하지 재활 운동 로봇 및 이 로봇의 탑승 및 구동방법 |
KR20180083825A (ko) | 2018-06-29 | 2018-07-23 | 대한민국(국립재활원장) | 하지 재활 운동 로봇 및 이 로봇의 탑승 및 구동방법 |
Families Citing this family (66)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AU2011237357B2 (en) * | 2010-04-09 | 2016-05-19 | Deka Products Limited Partnership | System and apparatus for robotic device and methods of using thereof |
SE534997C2 (sv) * | 2010-06-23 | 2012-03-13 | Gate Rehab Dev Ab | Uppresningsstöd |
CN101973028B (zh) * | 2010-10-15 | 2011-12-07 | 北京航空航天大学 | 一种多关节串联的轮式移动机器人 |
US11400010B2 (en) * | 2011-07-29 | 2022-08-02 | Leonis Medical Corporation | Method and system for control and operation of motorized orthotic exoskeleton joints |
KR101299351B1 (ko) * | 2012-03-07 | 2013-08-22 | 서강대학교산학협력단 | 휠체어 결합형 하지 운동/재활훈련 장치 |
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JP5400890B2 (ja) | 2014-01-29 |
WO2010047485A3 (ko) | 2010-08-05 |
US8790284B2 (en) | 2014-07-29 |
KR20100044360A (ko) | 2010-04-30 |
EP2361734A2 (en) | 2011-08-31 |
US20110201978A1 (en) | 2011-08-18 |
EP2361734B1 (en) | 2017-03-22 |
EP2361734A4 (en) | 2016-01-06 |
JP2012506289A (ja) | 2012-03-15 |
WO2010047485A2 (ko) | 2010-04-29 |
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