SE1750781A1 - Device for moving an arm and a method of operating the device - Google Patents

Device for moving an arm and a method of operating the device

Info

Publication number
SE1750781A1
SE1750781A1 SE1750781A SE1750781A SE1750781A1 SE 1750781 A1 SE1750781 A1 SE 1750781A1 SE 1750781 A SE1750781 A SE 1750781A SE 1750781 A SE1750781 A SE 1750781A SE 1750781 A1 SE1750781 A1 SE 1750781A1
Authority
SE
Sweden
Prior art keywords
arm
operating
moving
distal end
driving mechanism
Prior art date
Application number
SE1750781A
Other languages
English (en)
Other versions
SE542072C2 (en
Inventor
Pontus Renmarker
Robin Gustafsson
Sofie Woge
Original Assignee
Tendo Ab
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 Tendo Ab filed Critical Tendo Ab
Priority to SE1750781A priority Critical patent/SE542072C2/en
Priority to AU2018289227A priority patent/AU2018289227C1/en
Priority to JP2019571223A priority patent/JP7197521B2/ja
Priority to DK18740661.6T priority patent/DK3638461T3/da
Priority to US16/621,672 priority patent/US11969364B2/en
Priority to CA3066374A priority patent/CA3066374A1/en
Priority to EP18740661.6A priority patent/EP3638461B1/en
Priority to PCT/SE2018/050656 priority patent/WO2018236279A1/en
Publication of SE1750781A1 publication Critical patent/SE1750781A1/sv
Publication of SE542072C2 publication Critical patent/SE542072C2/en

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
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A61H1/0288—Fingers
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • 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
    • A61F5/013—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 for the arms, hands or fingers
    • 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
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • 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
    • B25J19/02—Sensing devices
    • 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
    • B25J19/06—Safety devices
    • B25J19/063—Safety devices working only upon contact with an outside object
    • B25J19/065—Mechanical fuse
    • 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
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2002/6854—Operating or control means for locking or unlocking a joint
    • 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
    • A61F2210/00—Particular material properties of prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof
    • A61F2210/0057—Particular material properties of prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof stretchable
    • 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
    • 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
    • B25J19/06—Safety devices
    • B25J19/068—Actuating means with variable stiffness
SE1750781A 2017-06-19 2017-06-19 A device for pivoting a body member around a joint SE542072C2 (en)

Priority Applications (8)

Application Number Priority Date Filing Date Title
SE1750781A SE542072C2 (en) 2017-06-19 2017-06-19 A device for pivoting a body member around a joint
AU2018289227A AU2018289227C1 (en) 2017-06-19 2018-06-19 Device for moving an arm and a method of operating the device
JP2019571223A JP7197521B2 (ja) 2017-06-19 2018-06-19 腕を動かすための装置および装置を操作する方法
DK18740661.6T DK3638461T3 (da) 2017-06-19 2018-06-19 Indretning til bevægelse af en arm og fremgangsmåde til drift af indretningen
US16/621,672 US11969364B2 (en) 2017-06-19 2018-06-19 Device for moving an arm and a method of operating the device
CA3066374A CA3066374A1 (en) 2017-06-19 2018-06-19 Device for moving an arm and a method of operating the device
EP18740661.6A EP3638461B1 (en) 2017-06-19 2018-06-19 Device for moving an arm and a method of operating the device
PCT/SE2018/050656 WO2018236279A1 (en) 2017-06-19 2018-06-19 DEVICE FOR ARMS MOVEMENT AND METHOD FOR OPERATING THE DEVICE

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1750781A SE542072C2 (en) 2017-06-19 2017-06-19 A device for pivoting a body member around a joint

Publications (2)

Publication Number Publication Date
SE1750781A1 true SE1750781A1 (en) 2018-12-20
SE542072C2 SE542072C2 (en) 2020-02-18

Family

ID=62909575

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1750781A SE542072C2 (en) 2017-06-19 2017-06-19 A device for pivoting a body member around a joint

Country Status (8)

Country Link
US (1) US11969364B2 (sv)
EP (1) EP3638461B1 (sv)
JP (1) JP7197521B2 (sv)
AU (1) AU2018289227C1 (sv)
CA (1) CA3066374A1 (sv)
DK (1) DK3638461T3 (sv)
SE (1) SE542072C2 (sv)
WO (1) WO2018236279A1 (sv)

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US11346426B1 (en) * 2018-07-23 2022-05-31 Amazon Technologies, Inc. Cable rotation apparatus
DE102019120563A1 (de) * 2019-07-30 2021-02-04 Moveri GmbH Therapie- und/oder Trainingsgerät zur Stimulierung von Extremitäten des menschlichen Körpers
US20210298936A1 (en) * 2020-03-25 2021-09-30 Myomo, Inc. Backdrivable, Electrically Powered Orthotic Device
CN115348851A (zh) * 2020-03-31 2022-11-15 袁博 一种助力外骨骼的并联弹性驱动器及其控制方法
CN112428253B (zh) * 2020-08-07 2023-05-09 天津大学 一种扭矩可编辑被动外骨骼驱动器
US11919153B2 (en) * 2020-10-15 2024-03-05 Intuitive Surgical Operations, Inc. Counterbalance mechanism including drive ratio
CN112641598B (zh) * 2020-12-15 2021-10-15 中国科学院自动化研究所 具有内收外展和屈曲伸展的手指康复外骨骼机器人
DE102020134703A1 (de) * 2020-12-22 2022-06-23 Ottobock Se & Co. Kgaa Verfahren zum Steuern eines Gelenkes einer orthopädietechnischen Einrichtung und derartiges Gelenk
CN112842830B (zh) * 2020-12-30 2023-03-10 江苏集萃微纳自动化系统与装备技术研究所有限公司 基于柔性凸轮系统的外骨骼膝关节驱动结构及方法
TWI763544B (zh) * 2021-06-18 2022-05-01 財團法人工業技術研究院 致動器
CN113413577A (zh) * 2021-07-06 2021-09-21 吴一丹 一种往复收缩式偏瘫手指康复器
IT202100022091A1 (it) * 2021-08-19 2023-02-19 Eta Bioengineering S R L Esoscheletro soft sotto-attuato con sistema di attuazione a cavi per l’assistenza degli arti superiori
CN114404215B (zh) * 2021-12-23 2022-10-28 燕山大学 一种驱动凸轮的可穿戴外骨骼机械手
WO2023230106A1 (en) * 2022-05-24 2023-11-30 The Regents Of The University Of Colorado, A Body Corporate Extramuscular-assisted robotic glove
EP4353199A1 (en) * 2022-10-14 2024-04-17 Technische Universität München A bionic joint and a prosthesis for replacing an elbow joint

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Also Published As

Publication number Publication date
EP3638461B1 (en) 2020-12-09
WO2018236279A1 (en) 2018-12-27
US11969364B2 (en) 2024-04-30
JP7197521B2 (ja) 2022-12-27
EP3638461A1 (en) 2020-04-22
DK3638461T3 (da) 2021-02-15
CA3066374A1 (en) 2018-12-27
SE542072C2 (en) 2020-02-18
AU2018289227A2 (en) 2020-01-30
US20200121478A1 (en) 2020-04-23
AU2018289227B2 (en) 2023-07-20
AU2018289227C1 (en) 2023-12-21
AU2018289227A1 (en) 2020-01-16
JP2020524059A (ja) 2020-08-13

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