KR20100082989A - 하지근력지원용 착용형 로봇 - Google Patents
하지근력지원용 착용형 로봇 Download PDFInfo
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- KR20100082989A KR20100082989A KR1020090002321A KR20090002321A KR20100082989A KR 20100082989 A KR20100082989 A KR 20100082989A KR 1020090002321 A KR1020090002321 A KR 1020090002321A KR 20090002321 A KR20090002321 A KR 20090002321A KR 20100082989 A KR20100082989 A KR 20100082989A
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- KR
- South Korea
- Prior art keywords
- exoskeleton
- robot
- fastened
- knee
- joint
- Prior art date
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- 210000003141 lower extremity Anatomy 0.000 title claims description 18
- 230000003387 muscular Effects 0.000 title 1
- 210000004394 hip joint Anatomy 0.000 claims abstract description 29
- 210000003127 knee Anatomy 0.000 claims abstract description 25
- 210000002414 leg Anatomy 0.000 claims abstract description 8
- 210000003205 muscle Anatomy 0.000 claims description 24
- 210000000629 knee joint Anatomy 0.000 claims description 22
- 210000003423 ankle Anatomy 0.000 claims description 17
- 238000000034 method Methods 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 abstract description 6
- 210000000689 upper leg Anatomy 0.000 abstract description 4
- 230000000694 effects Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 210000000544 articulatio talocruralis Anatomy 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 210000001624 hip Anatomy 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000033772 system development Effects 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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
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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
-
- 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
- A61H1/0244—Hip
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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
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0165—Damping, vibration related features
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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
- A61H2201/1614—Shoulder, e.g. for neck stretching
- A61H2201/1616—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
- A61H2201/1628—Pelvis
- A61H2201/163—Pelvis 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
- A61H2201/164—Feet or leg, e.g. pedal
-
- 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
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Engineering & Computer Science (AREA)
- Nursing (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
Description
Claims (8)
- 인체의 양쪽 다리에 착용하는 로봇에 있어서,중앙고정부;상기 중앙고정부 하단의 양쪽에 형성된 힌지부분인 고관절부;상기 고관절부에 체결되고 강성을 갖는 대퇴골격부; 및상기 대퇴골격부의 하단에 체결되는 상부외골격 및 상기 상부외골격과 회전가능한 무릎관절부로 체결된 하부외골격을 포함하는 외골격, 및 상기 상부외골격과 상기 하부외골격이 체결되고 인체에 착용하는 무릎보조기를 포함하는 무릎부를 포함하며,상기 고관절부 또는 상기 무릎관절부 중에 하나의 관절부에만 관절을 작동하는 구동기가 체결된 것을 특징으로 하는 하지근력지원용 착용형 로봇.
- 제1항에 있어서,상기 하부외골격의 하단에 체결되고 인체의 발목에 착용하는 발목부를 더 포함하며, 상기 발목부에는 인체의 발바닥과 접하는 바닥체가 형성되어, 로봇자체의 무게 및 부가된 중량물의 무게를 지면으로 내려주어 인체 하지에서 느끼는 중량감을 감소시키는 것을 특징으로 하는 하지근력지원용 착용형 로봇.
- 제2항에 있어서,상기 바닥체가 탄성변형되는 지지대로 연결된 것을 특징으로 하는 하지근력지원용 착용형 로봇.
- 제1항에 있어서,상기 중앙고정부가 인체에 착용하기 위한 어깨끈이 형성된 상체착용부와 상기 상체착용부에 체결되고 하단에 상기 고관절부가 형성된 결합부를 포함하여 이루어지는 것을 특징으로 하는 하지근력지원용 착용형 로봇.
- 제1항 내지 제4항 중 어느 한 항에 있어서,상기 무릎관절부에 상기 상부외골격과 상기 하부외골격을 회전시키는 구동기가 체결되고, 상기 대퇴골격부가 탄성을 갖는 것을 특징으로 하는 하지근력지원용 착용형 로봇.
- 제5항에 있어서,상기 대퇴골격부가 스프링 댐퍼를 포함하는 4절링크인 것을 특징으로 하는 하지근력지원용 착용형 로봇.
- 제5항에 있어서,상기 무릎관절부에 하모닉 드라이버 감속기가 설치된 것을 특징으로 하는 하지근력지원용 착용형 로봇.
- 제1항 내지 제4항 중 어느 한 항에 있어서,상기 고관절부에 힌지를 회전시키는 구동기가 체결되고, 상기 무릎관절부에 상기 상부외골격과 상기 하부외골격에 연결된 회전탄성부재가 설치된 것을 특징으로 하는 하지근력지원용 착용형 로봇.
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020090002321A KR101073525B1 (ko) | 2009-01-12 | 2009-01-12 | 하지근력지원용 착용형 로봇 |
US13/143,759 US8702632B2 (en) | 2009-01-12 | 2009-02-27 | Wearable robot for assisting muscular strength of lower extremity |
PCT/KR2009/000939 WO2010079862A1 (en) | 2009-01-12 | 2009-02-27 | Wearable robot for assisting muscular strength of lower extremity |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020090002321A KR101073525B1 (ko) | 2009-01-12 | 2009-01-12 | 하지근력지원용 착용형 로봇 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20100082989A true KR20100082989A (ko) | 2010-07-21 |
KR101073525B1 KR101073525B1 (ko) | 2011-10-17 |
Family
ID=42316617
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020090002321A KR101073525B1 (ko) | 2009-01-12 | 2009-01-12 | 하지근력지원용 착용형 로봇 |
Country Status (3)
Country | Link |
---|---|
US (1) | US8702632B2 (ko) |
KR (1) | KR101073525B1 (ko) |
WO (1) | WO2010079862A1 (ko) |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101222916B1 (ko) * | 2010-12-29 | 2013-01-16 | 경북대학교 산학협력단 | 허리 지지구조 및 이를 이용한 하지 근력지원 로봇슈트. |
KR101226926B1 (ko) * | 2011-03-08 | 2013-01-28 | 한양대학교 에리카산학협력단 | 하지근력지원용 착용형 로봇 |
KR101244851B1 (ko) * | 2011-12-27 | 2013-03-18 | 한양대학교 에리카산학협력단 | 하지근력지원용 착용형 로봇 |
KR101258094B1 (ko) * | 2011-08-30 | 2013-04-25 | 현대로템 주식회사 | 근력지원로봇용 토크 발생장치 및 이를 구비한 근력지원로봇의 발목 구조체 |
KR101290174B1 (ko) * | 2011-10-26 | 2013-07-30 | 한양대학교 에리카산학협력단 | 근력 지원용 착용형 로봇 |
CN104188675A (zh) * | 2014-09-24 | 2014-12-10 | 哈尔滨工业大学 | 具有人体运动检测功能的外骨骼机器人系统及控制方法 |
US8977397B2 (en) | 2012-12-27 | 2015-03-10 | Hyundai Motor Company | Method for controlling gait of robot |
KR101641883B1 (ko) * | 2015-05-22 | 2016-07-22 | 웨어러텍(주) | 관절보조기구 |
US10342724B2 (en) | 2014-03-28 | 2019-07-09 | Samsung Electronics Co., Ltd. | Joint assembly and walking assistance robot |
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KR20120071555A (ko) * | 2010-12-23 | 2012-07-03 | 한국전자통신연구원 | 재활 로봇 제어 장치 |
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KR101371756B1 (ko) * | 2012-12-17 | 2014-03-12 | 현대자동차(주) | 로봇의 보행제어방법 |
PL2968053T3 (pl) * | 2013-03-14 | 2022-09-26 | Ekso Bionics, Inc. | Nieantropomorficzne lokalizacje stawu biodrowego dla egzoszkieletu |
AU2014348761A1 (en) | 2013-11-12 | 2016-05-12 | Ekso Bionics, Inc. | Machine to human interfaces for communication from a lower extremity orthotic |
KR101496417B1 (ko) | 2013-11-19 | 2015-02-26 | 현대로템 주식회사 | 무릎관절용 근력보조로봇 및 이의 제어방법 |
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US20160158593A1 (en) * | 2014-12-04 | 2016-06-09 | Florida Institute for Human and Machine Cognition | Exoskeleton-Based Exercise and Training Device |
KR101539552B1 (ko) * | 2015-05-27 | 2015-07-29 | 이기호 | 보행 보조장치 |
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US10518404B2 (en) | 2015-07-17 | 2019-12-31 | Lockheed Martin Corporation | Variable force exoskeleton hip joint |
US10195736B2 (en) | 2015-07-17 | 2019-02-05 | Lockheed Martin Corporation | Variable force exoskeleton hip joint |
CN106690490B (zh) * | 2015-11-16 | 2018-04-03 | 璟茂实业股份有限公司 | 关节护具的辅助弹性装置 |
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US8702632B2 (en) | 2014-04-22 |
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KR101073525B1 (ko) | 2011-10-17 |
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