KR102265666B9 - 하지 외골격 로봇의 근력 보조장치 - Google Patents

하지 외골격 로봇의 근력 보조장치

Info

Publication number
KR102265666B9
KR102265666B9 KR20210055758A KR20210055758A KR102265666B9 KR 102265666 B9 KR102265666 B9 KR 102265666B9 KR 20210055758 A KR20210055758 A KR 20210055758A KR 20210055758 A KR20210055758 A KR 20210055758A KR 102265666 B9 KR102265666 B9 KR 102265666B9
Authority
KR
South Korea
Prior art keywords
assisting device
muscle force
exoskeleton robot
force assisting
exoskeleton
Prior art date
Application number
KR20210055758A
Other languages
English (en)
Other versions
KR102265666B1 (ko
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed filed Critical
Application granted granted Critical
Publication of KR102265666B1 publication Critical patent/KR102265666B1/ko
Publication of KR102265666B9 publication Critical patent/KR102265666B9/ko

Links

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
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • 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
    • 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
    • B25J11/008—Manipulators for service tasks
    • 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
    • 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
    • A61H2001/0207—Nutating movement of a body part around its articulation
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Rehabilitation Therapy (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
KR1020210055758A 2020-10-27 2021-04-29 하지 외골격 로봇의 근력 보조장치 KR102265666B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR20200140101 2020-10-27
KR1020200140101 2020-10-27

Publications (2)

Publication Number Publication Date
KR102265666B1 KR102265666B1 (ko) 2021-06-16
KR102265666B9 true KR102265666B9 (ko) 2021-10-27

Family

ID=76602849

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020210055758A KR102265666B1 (ko) 2020-10-27 2021-04-29 하지 외골격 로봇의 근력 보조장치

Country Status (1)

Country Link
KR (1) KR102265666B1 (ko)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113442167B (zh) * 2021-06-21 2022-09-06 长春工业大学 一种柔性变刚度弹性驱动器及其控制方法
WO2023027226A1 (ko) * 2021-08-23 2023-03-02 한국로봇융합연구원 근력보조모듈 및 이를 포함하는 보조력 지원 웨어러블 슈트
KR102604936B1 (ko) * 2021-08-23 2023-11-22 한국로봇융합연구원 근력보조모듈 및 이를 포함하는 웨어러블 슈트
CN114131647B (zh) * 2021-12-06 2022-08-26 之江实验室 一种基于凸轮的杠杆式可变刚度柔性关节

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100924842B1 (ko) * 2008-07-04 2009-11-02 연세대학교 산학협력단 마비환자의 족하수 및 발끌림 방지를 위한 능동형 단하지보조기의 제어방법
KR101390236B1 (ko) * 2012-06-27 2014-04-30 한양대학교 에리카산학협력단 하지 착용형 근력지원로봇
CN105899177B (zh) * 2013-11-29 2020-09-11 雷克斯生物有限公司 助行器
KR101486808B1 (ko) * 2013-12-19 2015-01-29 한국과학기술연구원 스프링을 이용한 외력의 적용범위 조절이 가능한 보행 보조장치
KR20150139056A (ko) 2014-06-02 2015-12-11 대우조선해양 주식회사 리니어 엑추에이터를 적용한 착용로봇
EP3209467B1 (en) * 2014-10-24 2021-11-24 Enhance Technologies, LLC Arm support systems
KR101630570B1 (ko) * 2015-02-27 2016-06-15 서울대학교산학협력단 근력 보조장치
CN109982665B (zh) * 2016-11-10 2022-01-04 国立大学法人东京大学 膝关节
KR20180076694A (ko) * 2016-12-28 2018-07-06 삼성전자주식회사 운동 보조 장치
KR102505214B1 (ko) * 2017-11-15 2023-03-02 삼성전자주식회사 운동 보조 장치
KR102609740B1 (ko) * 2018-02-22 2023-12-04 엘지전자 주식회사 허벅지 고정유닛, 종아리 고정유닛 및 이를 포함하는 근력 보조 로봇

Also Published As

Publication number Publication date
KR102265666B1 (ko) 2021-06-16

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A302 Request for accelerated examination
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
G170 Publication of correction