KR102334851B9 - 리프트장치를 구비한 재활훈련용 보행 보조로봇 - Google Patents

리프트장치를 구비한 재활훈련용 보행 보조로봇

Info

Publication number
KR102334851B9
KR102334851B9 KR1020190133236A KR20190133236A KR102334851B9 KR 102334851 B9 KR102334851 B9 KR 102334851B9 KR 1020190133236 A KR1020190133236 A KR 1020190133236A KR 20190133236 A KR20190133236 A KR 20190133236A KR 102334851 B9 KR102334851 B9 KR 102334851B9
Authority
KR
South Korea
Prior art keywords
lift device
rehabilitation training
assist robot
gait assist
gait
Prior art date
Application number
KR1020190133236A
Other languages
English (en)
Other versions
KR102334851B1 (ko
KR20210048935A (ko
Inventor
이진원
김호연
Original Assignee
에이치엠에이치 주식회사
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 by 에이치엠에이치 주식회사 filed Critical 에이치엠에이치 주식회사
Priority to KR1020190133236A priority Critical patent/KR102334851B1/ko
Publication of KR20210048935A publication Critical patent/KR20210048935A/ko
Application granted granted Critical
Publication of KR102334851B1 publication Critical patent/KR102334851B1/ko
Publication of KR102334851B9 publication Critical patent/KR102334851B9/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
    • 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
    • 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
    • A61H1/0218—Drawing-out devices
    • A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
    • 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 together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • 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
    • 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
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • 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
    • A61H2201/1652—Harness
    • 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
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • 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
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5043—Displays
    • 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
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0481—Hanging
    • 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
    • A61H2230/80—Weight

Landscapes

  • Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Epidemiology (AREA)
  • General Health & Medical Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)
KR1020190133236A 2019-10-24 2019-10-24 리프트장치를 구비한 재활훈련용 보행 보조로봇 KR102334851B1 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020190133236A KR102334851B1 (ko) 2019-10-24 2019-10-24 리프트장치를 구비한 재활훈련용 보행 보조로봇

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020190133236A KR102334851B1 (ko) 2019-10-24 2019-10-24 리프트장치를 구비한 재활훈련용 보행 보조로봇

Publications (3)

Publication Number Publication Date
KR20210048935A KR20210048935A (ko) 2021-05-04
KR102334851B1 KR102334851B1 (ko) 2021-12-03
KR102334851B9 true KR102334851B9 (ko) 2022-06-10

Family

ID=75914151

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020190133236A KR102334851B1 (ko) 2019-10-24 2019-10-24 리프트장치를 구비한 재활훈련용 보행 보조로봇

Country Status (1)

Country Link
KR (1) KR102334851B1 (ko)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20240082083A (ko) * 2022-12-01 2024-06-10 경북대학교 산학협력단 이동 대상의 낙상 방지와 위치 추종을 위한 크레인 시스템 및 그에 따른 제어방법

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100391830B1 (ko) * 2000-12-28 2003-07-12 대한민국 보행장애인의 재활훈련을 위한 복지용 로봇
JP4404752B2 (ja) * 2004-11-18 2010-01-27 Ｙｋｋ株式会社 クリップ
KR100716597B1 (ko) * 2005-12-30 2007-05-09 서강대학교산학협력단 지능형 근력 및 보행 보조용 로봇
US8474794B2 (en) * 2009-03-06 2013-07-02 Liko Research & Development Ab Lift control systems for lifting devices and lifting devices comprising the same
US8205776B2 (en) * 2009-12-31 2012-06-26 Fellowes, Inc. Dual function clip device for an electronic device having a screen
KR101221046B1 (ko) 2010-11-26 2013-02-13 주식회사 바이오닉스 지능형 외골격 로봇기반의 일상생활 보조 및 재활훈련 시스템
KR101451793B1 (ko) * 2012-10-17 2014-10-21 황원규 소형 크레인 고정장치
KR20170067080A (ko) * 2015-12-07 2017-06-15 주식회사 피앤에스미캐닉스 보행 훈련장치 및 보행 훈련방법
KR101869968B1 (ko) * 2016-03-25 2018-06-21 에이치엠에이치 주식회사 하지 외골격을 구비한 보행 보조 로봇
KR20180010838A (ko) * 2016-07-22 2018-01-31 주식회사 사이보그-랩 계단 보행 기능을 갖는 분리형 트레드밀을 구비한 하지 재활 훈련 시스템
EP3509558B1 (en) * 2016-09-08 2022-10-26 Trexo Robotics Inc. Mobile weight-bearing powered orthosis device
KR101979938B1 (ko) 2017-05-10 2019-05-20 에이치엠에이치 주식회사 보행 보조 로봇
US10492977B2 (en) * 2017-12-14 2019-12-03 Bionic Yantra Private Limited Apparatus and system for limb rehabilitation
KR101980571B1 (ko) * 2018-08-03 2019-05-21 (주) 티로보틱스 환자의 재활 치료를 위한 정형용 운동 장치

Also Published As

Publication number Publication date
KR102334851B1 (ko) 2021-12-03
KR20210048935A (ko) 2021-05-04

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E90F Notification of reason for final refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
G170 Re-publication after modification of scope of protection [patent]