US20050239613A1 - Device and process for adjusting the height of and the relief force acting on a weight - Google Patents

Device and process for adjusting the height of and the relief force acting on a weight Download PDF

Info

Publication number
US20050239613A1
US20050239613A1 US11/107,641 US10764105A US2005239613A1 US 20050239613 A1 US20050239613 A1 US 20050239613A1 US 10764105 A US10764105 A US 10764105A US 2005239613 A1 US2005239613 A1 US 2005239613A1
Authority
US
United States
Prior art keywords
cable
force
weight
length adjustment
control unit
Prior art date
Legal status (The legal status 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 status listed.)
Abandoned
Application number
US11/107,641
Other languages
English (en)
Inventor
Gery Colombo
Ranier Bucher
Robert Riener
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hocoma AG
Original Assignee
Hocoma AG
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 Hocoma AG filed Critical Hocoma AG
Assigned to HOCOMA AG reassignment HOCOMA AG ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: BUCHER, RAINER, COLOMBO, GERY, RIENER, ROBERT
Publication of US20050239613A1 publication Critical patent/US20050239613A1/en
Abandoned legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/0009—Games or sports accessories not covered in groups A63B1/00 - A63B69/00 for handicapped persons
    • 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
    • A61H2201/0192—Specific means for adjusting dimensions
    • 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
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • 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
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B2022/0094—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements for active rehabilitation, e.g. slow motion devices
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/10—Positions
    • A63B2220/13—Relative positions
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2230/00—Measuring physiological parameters of the user
    • A63B2230/62—Measuring physiological parameters of the user posture
    • A63B2230/625—Measuring physiological parameters of the user posture used as a control parameter for the apparatus
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/0064—Attachments on the trainee preventing falling

Definitions

  • the present invention relates to a device and a process for adjusting the height of and the relief force acting on a weight, especially on the weight of a patient within a locomotion training means to be used for walking therapy of paraparetic or hemiparetic patients.
  • the invention relates to an automatic unloading device that allows unloading an object attached to one end of a rope by a precise counter force.
  • the invention relates to a device and a process, which can be used within a locomotion training of patients with walking impairments in any phase of rehabilitation.
  • said type of unloading system can be used for different applications but is preferably intended for the use in body weight supported treadmill training.
  • This type of training is for example being used to train neurologically impaired patients to walk again during rehabilitation. For such incomplete paraplegic patients the possibility exists of improving walking ability up to normality by means of adequate locomotion training.
  • the required therapy at present takes place on a treadmill, where walking is first made possible for the patient by defined weight relief and partially by additional assisting guidance of the legs by physiotherapists (Wickelgren, I. Teaching the spinal cord to walk. Science, 1998, 279, 319-321). already in use, which actively move the legs of recumbent patients.
  • body weight supported treadmill training a patient is walking on a treadmill, while he is partially suspended from part of his body weight.
  • EP 1 137 378 discloses an automatic machine, which is used in treadmill therapy (walking therapy) of paraparetic and hemiparetic patients and which automatically guides the legs on the treadmill.
  • Said machine consists of a driven and controlled orthotic device, which guides the legs in a physiological pattern of movement, a treadmill and a relief mechanism.
  • the knee and hip joints of the orthotic device are each provided with a drive.
  • Said orthotic device is stabilized on a treadmill with stabilizing means in such a manner that the patient does not have to keep his/her equilibrium.
  • the orthotic device can be adjusted in height and can be adapted to different patients.
  • the unloading is achieved by a counterweight that is attached to the other end of a rope, which is connected to the patient by a harness.
  • This is by definition a simple method and the results are often acceptable for regular treadmill training.
  • One disadvantage is occurring if the patient has to be suspended by a large amount of his body weight. If a large mass has to be attached on the other side of the rope the inertia of the mass is causing large forces during the up and down acceleration of the body. Also, it is not very easy to change the amount of unloading during the training with most of the conventional counterweight systems.
  • Either the therapist has to lift weight to or from the system to change the suspension or the patient has to be lifted by a winch to be able to connect additional counterweights to the system. to change the suspension or the patient has to be lifted by a winch to be able to connect additional counterweights to the system.
  • Prior art discloses devices to provide a reliable positioning of the device height, but are cumbersome to adapt to different patients. Another limitation of this approach is furthermore the limited liberty of changes to be made in the course of the application of the walking program for the patient.
  • One object of the invention is therefore to describe a device allowing faster response times and more precise determination of the height of the patient's position and of the relief force.
  • the present invention relates on the insight that the functions of the cable adjustment means have to be separated to be able to achieve an electronically controlled fast adjustment of the relief force.
  • the set object is met in accordance with the invention by means of a device in accordance with the wording of claim 1 .
  • the features according to claim 1 uses two different cable length adjustment means. One is provided to adjust the length of the cable to define the height of the suspended weight. The other is provided to adjust the length of the cable to define the relief force acting on the suspended weight.
  • the invention enhances the control of height and relief force through the separation of the functions.
  • the height of the weight depends on the patient, whether he is a tall or a small person. This is adjusted at the beginning of a training session.
  • the corresponding device can act slowly, even manually.
  • the relief force has to be controlled during the actual therapy.
  • the second cable length adjustment means divides the necessary relief force in a first static part, providing an approximate force response, and a second dynamic part, providing the fast fluctuations of the relief force while the patient is walking.
  • the different devices are motorized and connected to a computer means with memory, the memory comprising database entries for different patients (height of suspension and intended general relief force) and different walking therapies (fine tuned relief force programs). This allows a quick and reliable determination and adjustment of the height for different patients and of the relief force within the training program of every patient.
  • a benefit of the device according to the invention is therefore that any patient can readily mount the apparatus to use the treadmill therapy, which is very easy to adjust for his needs. No special preparation of the treadmill, and no dedicated elastic means are required.
  • FIG. 1 shows a perspective view of a device according to one embodiment of the invention
  • FIG. 2 shows a schematic diagram of the controller in combination with the device according to FIG. 1 .
  • FIG. 1 shows a perspective view of a device for adjusting the height of and relief force acting on a weight according to one embodiment of the invention.
  • the device comprises two main components: one static part 1 and another dynamic part 2 .
  • the static component 1 comprises a winch 10 controlling a primary cable 11 to which the patient is attached.
  • the primary cable 11 fixed at the turning sleeve of the winch 10 is running preferably parallel to the longitudinal main axis 20 of the dynamic part 2 of the device. Said longitudinal main axis 20 is directed vertically to the ground.
  • Cable 11 is redirected by a fixed roller 12 towards the dynamic part 2 of the device, engages the moving roller 21 being part of said dynamic part 2 and leaves the dynamic part 2 as adjusted cable portion 13 of the cable 11 .
  • the cable 11 is then leaving the device redirected by one or more fixed rollers 14 ; the corresponding prolongation of the cable 11 has received the reference numeral 30 .
  • a patient who intends to use a known apparatus for a treadmill therapy e.g. according to EP 1 137 378, is attached in said prolongation 30 of the cable 11 in a harness (not shown) oriented vertically.
  • the winch 10 is statically suspending the patient so he cannot fall and therefore is also responsible for the safety of the patient per se.
  • winch 10 is used to statically adjust the length of cable 11 provided to said harness, it is also possible to fix cable 11 at the location of the winch 10 and to provide a drive unit connected to the fixation of a roller upstream of the dynamic part 2 , e.g. roller 12 , so that said roller 12 can be moved in direction of longitudinal axis 20 .
  • a roller or a combination of rollers downstream of the dynamic part 2 , e.g. roller 14 , being mounted with a drive unit so that said roller(s) 14 can be moved in direction of longitudinal axis 20 to adjust the length of the cable 11 provided to attach a patient.
  • the static part 1 comprises a unit connected to the frame 32 .
  • the static part 1 does not act directly on the cable.
  • Said unit is provided to move frame 32 in the direction of longitudinal axis 20 . With a fixed end of cable 11 said movement of frame 32 moves roller 21 and therefore lengthens or shortens the free cable 13 .
  • All these alternative units for winch 10 can constitute the static part 1 of the device to provide a static adjustment of the length of the cable 11 provided in said prolongation 30 which corresponds to the intended height of the harness for use in a walking therapy.
  • the dynamic part 2 comprises an elastic means.
  • the elastic means of the embodiment is a spring means 22 provided as two helicoidal springs provided on either side of a central spindle 23 . Beside the use of helicoidal springs 22 it is also possible to use different types of elastic means, being able to exert a force in the approximate range of the intended weight to be attached to the prolongation 30 of the cable 11 .
  • Springs 22 are attached between a bottom plate 24 and a top plate 25 .
  • the bottom plate 24 is attached to a spindle drive 31 connected with spindle 23 engaging a thread within bottom plate 24 .
  • Spindle drive 31 shows a handle but can also be motorized and connected to a control unit.
  • Top plate 25 is connected to a pulley 21 , pulling the cable 11 down. Through use of the redirection of cable portion 13 the rollers 12 , 14 and 21 have the function of a pulley block. It can be intended to use even more redirections to translate the adjustment of the cable length of the prolongation 30 into a much smaller movement of the pulley 21 .
  • the linear drive 26 is controlled by said electronic control unit, e.g. provided as a computer system, through a closed loop controller in such a way, that the force acting on the force transducer 27 can be controlled precisely.
  • the force acting on the force transducer 27 is mostly directly proportional to the force acting on cable 13 at the harness. Due to frictional effects the force can be considerably influenced, especially following the choice of the material of the rope 13 and/or the pulleys. These differences from direct proportionality can be controlled through a programmed controller and/or through introduction of a disturbance value.
  • the force transducer 27 can also be mounted to measure the force acting on the pulley 14 , on the pulley 12 or near the patient at the other side 30 of the cable 11 , being the connecting link to a harness supporting the patient (weight 40 ).
  • a treadmill training of a neurologically impaired patient can be performed as follows: First the patient, attached to the other side 30 of the cable 11 with a harness, would be suspended over the walking surface by the winch 10 (static unloading system 1 ) until standing.
  • the amount of unloading is defined by the control unit.
  • a small motor attached to the spindle drive 31 that determines the tension of the springs 22 would then extend the springs 22 up to a length that more or less corresponds to the desired unloading of the patient. Like this the dynamic system is already unloading the patient nearly with the desired force.
  • This closed loop control of body weight support allows for perfect accommodation of partial weight bearing exercise.
  • the up and down movement of the patient causes the force to be not constant during the training if only the springs 22 were attached. Therefore the linear drive 26 can adjust the position of the pulley 21 online, as controlled by the close loop controller, so the force acting on the rope 11 will be constant, or corresponding to a desired force trajectory, during the whole training.
  • the dynamic drive adds a motor driven force to the spring force in a manner to compensate the influence of the position of the device on the spring force due to friction based effects due to the choice of the material of the rope and the pulleys.
  • the device can only guarantee a precise, desired unloading, as long as the weight can be adjusted by the linear drive 26 . This is not possible anymore, if the patient moves up or down too much, meaning that the linear drive 26 is approaching the end of the range of motion. This is detected by the control unit, as the movement of the linear drive 26 is measured with a position sensor, e.g. a ultrasound transducer mounted beneath top plate 25 . The control unit can therefore readjust the position of the patient with the winch 10 in terms to bring the linear drives 26 back into the range of operation.
  • a position sensor e.g. a ultrasound transducer mounted beneath top plate 25 .
  • FIG. 2 shows a schematic diagram of the electronic controller unit in combination with the device according to FIG. 1 .
  • the winch 10 , the actuator 26 , e.g. the linear drive, and the bias means 31 , e.g. the spindle drive, are shown receiving an controller signal I and outputting a signal proportional to a well-defined force F or position x.
  • the boxes of FIG. 2 showing a actual device according to FIG. 1 have received the same reference numeral, although it is clear for someone skilled in the art that the boxes of FIG. 2 further comprise the electronic controller components to deliver the control signals mentioned.
  • Numeral 40 is used to define the weight of e.g. a human subject to use the treadmill for which the device for adjusting the height of and the relief force acting on said weight 40 is provided.
  • a position sensor 34 (not shown in FIG. 1 ) measures X real and outputs X measured .
  • the force sensor 27 measures F real and outputs F measured .
  • the (static) position of the cable x measured is input to the winch controller 35 , acting via a control signal I winch on the winch 10 to define the predetermined height, which can be input to the winch controller 35 via a key means or an electronic signal of said electronic control unit comprising the walking program for a patient.
  • the key means or an electronic signal of said electronic control unit comprising the walking program for a patient generates the input F desired .
  • a mixer 36 is provided to output the difference signal of F desired and F measured .
  • Said difference signal F diff is input to a force controller 37 outputting the corresponding control signal I drive which is fed to the actuator 26 to dynamically change the length of the cable 13 to control the force relief.
  • F desired is also the input to the spring load controller 38 , outputting a signal I springs to bias means 31 , which in turn moves bottom plate 24 to adjust the static weight compensation by springs 22 .
  • the length of the springs 22 is controlled with the bias means 31 to move the bottom plate 24 into a position that the tension of the springs 22 is such that patient is unloaded approximately by the desired force F desired.
  • the spring load controller 38 has therefore a far slower response than the force controller 37 .
  • a position sensor 34 (not shown) is provided to directly measure the length of the springs 22 .
  • This can be a position sensor mounted near top plate 25 measuring the distance of said sensor from bottom plate 24 or from the element holding pulley 12 or 14 .
  • Said position sensor inputs a spring length signal to the controller as shown in FIG. 2 , especially into block 38 showing the spring load controller.
  • the signal issued from position sensor 34 is fed to the force controller 37 to generate a disturbance value.
  • frictional effects can hamper the usual proportionality between spring length and load.
  • the additional feeding of the actual position value to the force controller 37 and/or the spring load controller 38 enables the controller to adapt the force F drive .

Landscapes

  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Tools (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
US11/107,641 2004-04-16 2005-04-15 Device and process for adjusting the height of and the relief force acting on a weight Abandoned US20050239613A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP04405236A EP1586291B1 (fr) 2004-04-16 2004-04-16 Appareil pour régler la hauteur et la force de soulagement agissant sur un poids
EP04405236.3 2004-04-16

Publications (1)

Publication Number Publication Date
US20050239613A1 true US20050239613A1 (en) 2005-10-27

Family

ID=34932061

Family Applications (1)

Application Number Title Priority Date Filing Date
US11/107,641 Abandoned US20050239613A1 (en) 2004-04-16 2005-04-15 Device and process for adjusting the height of and the relief force acting on a weight

Country Status (4)

Country Link
US (1) US20050239613A1 (fr)
EP (1) EP1586291B1 (fr)
AT (1) ATE391482T1 (fr)
DE (1) DE602004012959T2 (fr)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080287268A1 (en) * 2007-05-14 2008-11-20 Joseph Hidler Body Weight Support System and Method of Using the Same
US20100312152A1 (en) * 2009-06-03 2010-12-09 Board Of Regents, The University Of Texas System Smart gait rehabilitation system for automated diagnosis and therapy of neurologic impairment
US20110120567A1 (en) * 2009-05-15 2011-05-26 Alterg, Inc. Differential air pressure systems
WO2015065303A1 (fr) 2013-11-01 2015-05-07 Bama Teknoloji Tibbi Cihazlar Danismanlik Saglik Bilisim Sanayi Ve Ticaret Limited Sirketi Mécanisme d'équilibrage de poids
WO2016032413A1 (fr) 2014-08-28 2016-03-03 Kose Kemal Cem Dispositif de thérapie de locomotion et de rééducation
US20170202726A1 (en) * 2014-07-07 2017-07-20 P & S Mechanics Co., Ltd. Walking assistance robot load compensation system and walking training apparatus having same
US10406059B2 (en) 2014-04-21 2019-09-10 The Trustees Of Columbia University In The City Of New York Human movement research, therapeutic, and diagnostic devices, methods, and systems
TWI680780B (zh) * 2017-02-02 2020-01-01 大武源工業股份有限公司 低底盤跑步機
US10639510B2 (en) 2017-03-20 2020-05-05 The Trustees Of Columbia University In The City Of New York Human musculoskeletal support and training system methods and devices
CN114423393A (zh) * 2019-06-13 2022-04-29 威古尔德曼有限公司 用于神经肌肉功能训练的步态训练器
US11452653B2 (en) 2019-01-22 2022-09-27 Joseph Hidler Gait training via perturbations provided by body-weight support system
US11654327B2 (en) 2017-10-31 2023-05-23 Alterg, Inc. System for unweighting a user and related methods of exercise
US11752058B2 (en) 2011-03-18 2023-09-12 Alterg, Inc. Differential air pressure systems and methods of using and calibrating such systems for mobility impaired users

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1908442A1 (fr) 2006-10-05 2008-04-09 Hocoma AG Dispositif pour régler la précontrainte dans un lien élastique autour d'une valeur de tension prédéterminée ou une position prédéterminée
CN102600031B (zh) * 2012-03-22 2013-09-25 北京威力恒科技股份有限公司 一种治疗康复系统
EP2730266B1 (fr) 2012-11-09 2016-07-20 Hocoma AG Appareil d'entraînement à la marche
EP2815734A1 (fr) 2013-06-21 2014-12-24 Hocoma AG Appareil d'entraînement à la marche automatisé
DE102014004997A1 (de) 2014-04-01 2015-10-15 h/p/cosmos holding gmbh Körpergewichtsentlastungs-Vorrichtung mit Rumpfstabilisierung in Kombination mit Sturzsicherung und automatischer Laufgurt-Abschaltung sowie Patienten-Anhebung bei Sturz für die Laufbandergometer-Anwendung in Ergometrie, Therapie, Rehabilitation, kardiopulmonare Diagnostik, Gleichgewichtstraining, Orthopädie, Neurologie, Lauftraining, Bewegungsanalyse, Gangschule, Funktionstraining, Leistungsdiagnostik, Sprint-Training, Athletik, Sport und Fitness
EP3166558B1 (fr) 2014-07-09 2018-08-29 Hocoma AG Appareil pour l'entraînement à la marche
CN104739617A (zh) * 2015-04-16 2015-07-01 河海大学常州校区 一种下肢自适应悬吊支架
EP3675790A1 (fr) * 2017-08-30 2020-07-08 Multi Tower Company IVS Robot de levage de patient à deux points, quatre points et plusieurs points de levage
DE102018102210B4 (de) * 2018-02-01 2021-12-16 Michael Utech Vorrichtung für das Gehtraining eines Individuums
CN110450135B (zh) * 2019-07-30 2021-01-19 华中科技大学鄂州工业技术研究院 一种动态悬吊式体重支持系统

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4410175A (en) * 1981-07-17 1983-10-18 Shamp Ellis W Safety suspension unit and harness for developing jumps in figure skating
US5273502A (en) * 1991-06-19 1993-12-28 Soma, Inc. Therapeutic unloading apparatus and method
US5695432A (en) * 1994-09-23 1997-12-09 Tranås Rostfria AB Arrangement for practizing walking
US6273844B1 (en) * 2000-08-25 2001-08-14 Paradigm Health Systems International, Inc. Unloading system for therapy, exercise and training
US20020065173A1 (en) * 2000-11-20 2002-05-30 Gerry Cook Exercise hoist
US6680975B1 (en) * 1992-02-29 2004-01-20 Samsung Electronics Co., Ltd. Signal encoding and decoding system and method
US7041069B2 (en) * 2002-07-23 2006-05-09 Health South Corporation Powered gait orthosis and method of utilizing same

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6821233B1 (en) 1998-11-13 2004-11-23 Hocoma Ag Device and method for automating treadmill therapy
IL132421A0 (en) * 1999-10-17 2001-03-19 Rogozinski Joseph An inflatable seat as a walking aid
US7381163B2 (en) * 2001-10-24 2008-06-03 The Regents Of The University Of California Closed-loop force controlled body weight support system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4410175A (en) * 1981-07-17 1983-10-18 Shamp Ellis W Safety suspension unit and harness for developing jumps in figure skating
US5273502A (en) * 1991-06-19 1993-12-28 Soma, Inc. Therapeutic unloading apparatus and method
US6680975B1 (en) * 1992-02-29 2004-01-20 Samsung Electronics Co., Ltd. Signal encoding and decoding system and method
US5695432A (en) * 1994-09-23 1997-12-09 Tranås Rostfria AB Arrangement for practizing walking
US6273844B1 (en) * 2000-08-25 2001-08-14 Paradigm Health Systems International, Inc. Unloading system for therapy, exercise and training
US20020065173A1 (en) * 2000-11-20 2002-05-30 Gerry Cook Exercise hoist
US7041069B2 (en) * 2002-07-23 2006-05-09 Health South Corporation Powered gait orthosis and method of utilizing same

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009023321A2 (fr) * 2007-05-14 2009-02-19 Joseph Hidler Système de soutien de poids corporel et procédé d'utilisation de celui-ci
WO2009023321A3 (fr) * 2007-05-14 2009-04-09 Joseph Hidler Système de soutien de poids corporel et procédé d'utilisation de celui-ci
US7883450B2 (en) * 2007-05-14 2011-02-08 Joseph Hidler Body weight support system and method of using the same
US20080287268A1 (en) * 2007-05-14 2008-11-20 Joseph Hidler Body Weight Support System and Method of Using the Same
US20110120567A1 (en) * 2009-05-15 2011-05-26 Alterg, Inc. Differential air pressure systems
US8464716B2 (en) 2009-05-15 2013-06-18 Alterg, Inc. Differential air pressure systems
US9642764B2 (en) 2009-05-15 2017-05-09 Alterg, Inc. Differential air pressure systems
US20100312152A1 (en) * 2009-06-03 2010-12-09 Board Of Regents, The University Of Texas System Smart gait rehabilitation system for automated diagnosis and therapy of neurologic impairment
US11752058B2 (en) 2011-03-18 2023-09-12 Alterg, Inc. Differential air pressure systems and methods of using and calibrating such systems for mobility impaired users
WO2015065303A1 (fr) 2013-11-01 2015-05-07 Bama Teknoloji Tibbi Cihazlar Danismanlik Saglik Bilisim Sanayi Ve Ticaret Limited Sirketi Mécanisme d'équilibrage de poids
US9795531B2 (en) 2013-11-01 2017-10-24 Bama Teknoloji Tibbi Cihazlar Danismanlik Saglik Bilisim Sanayi Veticaret Limited Sirketi Weight balancing mechanism
US10406059B2 (en) 2014-04-21 2019-09-10 The Trustees Of Columbia University In The City Of New York Human movement research, therapeutic, and diagnostic devices, methods, and systems
US20170202726A1 (en) * 2014-07-07 2017-07-20 P & S Mechanics Co., Ltd. Walking assistance robot load compensation system and walking training apparatus having same
US10617589B2 (en) * 2014-07-07 2020-04-14 P & S Mechanics Co., Ltd. Walking assistance robot load compensation system and walking training apparatus having same
US10596058B2 (en) 2014-08-28 2020-03-24 Kemal Cem KOSE Locomotion therapy and rehabilitation device
WO2016032413A1 (fr) 2014-08-28 2016-03-03 Kose Kemal Cem Dispositif de thérapie de locomotion et de rééducation
TWI680780B (zh) * 2017-02-02 2020-01-01 大武源工業股份有限公司 低底盤跑步機
US10639510B2 (en) 2017-03-20 2020-05-05 The Trustees Of Columbia University In The City Of New York Human musculoskeletal support and training system methods and devices
US11654327B2 (en) 2017-10-31 2023-05-23 Alterg, Inc. System for unweighting a user and related methods of exercise
US11452653B2 (en) 2019-01-22 2022-09-27 Joseph Hidler Gait training via perturbations provided by body-weight support system
CN114423393A (zh) * 2019-06-13 2022-04-29 威古尔德曼有限公司 用于神经肌肉功能训练的步态训练器

Also Published As

Publication number Publication date
ATE391482T1 (de) 2008-04-15
EP1586291A1 (fr) 2005-10-19
DE602004012959D1 (de) 2008-05-21
DE602004012959T2 (de) 2008-10-23
EP1586291B1 (fr) 2008-04-09

Similar Documents

Publication Publication Date Title
US20050239613A1 (en) Device and process for adjusting the height of and the relief force acting on a weight
US8192331B2 (en) Device for adjusting the prestress of an elastic means around a predetermined tension or position
EP1772134A1 (fr) Dispositif et procédé à bande de roulement pour thérapie automatique
CN106535852B (zh) 用于步态训练的设备
US10124209B2 (en) Walking training apparatus
US5830162A (en) Apparatus for the antigravity modification of the myotensions adapting the human posture in all of the planes of space
US5372561A (en) Apparatus for suspension assisted ambulation
EP3095430B1 (fr) Appareil d'entraînement à la marche
AU2001286760B2 (en) Powered gait orthosis and method of utilizing same
US20070054784A1 (en) Suspension system for walk training
US11452653B2 (en) Gait training via perturbations provided by body-weight support system
US5697894A (en) Device for the application of traction or pressing force to the patient in the treatment of an injured or diseased part of the support or motion organs
JP2021513380A (ja) 人の体重を少なくとも部分的に軽減するための軽減システム
EP0625897B1 (fr) Appareil de modification antigravifique et tridimensionnelle des tensions musculaires assurant l'adaptation posturale du corps humain
Wing et al. Standing stability in the frontal plane determined by lateral forces applied to the hip
JP7298488B2 (ja) 歩行訓練システム
KR101844489B1 (ko) 강성 조절형 체중 지지 장치
US20240099925A1 (en) Suspension and weight relief system for walking on the ground and for leg rehabilitation exercises
JP2000237252A (ja) 介助装置およびそれを用いた歩行訓練装置
PL232728B1 (pl) Urządzenie rehabilitacyjne dla osób z niepełnosprawnością ruchową kończyn dolnych, zwłaszcza do reedukacji chodu oraz sposób sterowania urządzeniem
KR101407465B1 (ko) 자세균형 및 보행훈련 장치
ITFI20070104A1 (it) "un apparecchio per la correzione di difetti di motricita' con monitoraggio

Legal Events

Date Code Title Description
AS Assignment

Owner name: HOCOMA AG, SWITZERLAND

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:COLOMBO, GERY;BUCHER, RAINER;RIENER, ROBERT;REEL/FRAME:016481/0498;SIGNING DATES FROM 20050420 TO 20050425

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION