WO1995032842A3 - Controleur exosquelettal de mouvement de bras a retroaction sensorielle - Google Patents

Controleur exosquelettal de mouvement de bras a retroaction sensorielle Download PDF

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Publication number
WO1995032842A3
WO1995032842A3 PCT/US1995/006376 US9506376W WO9532842A3 WO 1995032842 A3 WO1995032842 A3 WO 1995032842A3 US 9506376 W US9506376 W US 9506376W WO 9532842 A3 WO9532842 A3 WO 9532842A3
Authority
WO
WIPO (PCT)
Prior art keywords
sensory feedback
armmaster
exoskeleton
limb
feedback exoskeleton
Prior art date
Application number
PCT/US1995/006376
Other languages
English (en)
Other versions
WO1995032842A2 (fr
Inventor
Bin An
Thomas H Massie
Vladimir Vayner
Original Assignee
Exos Inc
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 Exos Inc filed Critical Exos Inc
Priority to AU25982/95A priority Critical patent/AU2598295A/en
Publication of WO1995032842A2 publication Critical patent/WO1995032842A2/fr
Publication of WO1995032842A3 publication Critical patent/WO1995032842A3/fr

Links

Classifications

    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/20—Casings or enclosures characterised by the shape, form or construction thereof with channels or ducts for flow of cooling medium
    • H02K5/203—Casings or enclosures characterised by the shape, form or construction thereof with channels or ducts for flow of cooling medium specially adapted for liquids, e.g. cooling jackets
    • 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
    • B25J19/0054—Cooling means

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un dispositif à rétroaction sensorielle de type exosquelettal extrayant les données de position et de force en provenance d'un utilisateur et appliquant les forces et couples à un membre. Le dispositif comporte le même nombre de degrés de liberté (Ddl, 111, 117, 121, 131, 141) que le membre auquel il est rattaché. Le dispositif met en ÷uvre pour cela des dispositifs aux centres déportés, des éléments de structure mécanique adaptables et des systèmes portables monoblocs de refroidissement des moteurs électriques (200, 201, 202a, 202c).
PCT/US1995/006376 1994-05-19 1995-05-19 Controleur exosquelettal de mouvement de bras a retroaction sensorielle WO1995032842A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU25982/95A AU2598295A (en) 1994-05-19 1995-05-19 Sensory feedback exoskeleton armmaster

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US24587394A 1994-05-19 1994-05-19
US08/245,873 1994-05-19

Publications (2)

Publication Number Publication Date
WO1995032842A2 WO1995032842A2 (fr) 1995-12-07
WO1995032842A3 true WO1995032842A3 (fr) 1996-01-11

Family

ID=22928445

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1995/006376 WO1995032842A2 (fr) 1994-05-19 1995-05-19 Controleur exosquelettal de mouvement de bras a retroaction sensorielle

Country Status (2)

Country Link
AU (1) AU2598295A (fr)
WO (1) WO1995032842A2 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104552316A (zh) * 2013-10-21 2015-04-29 苏茂 人手前臂桡尺关节运动检测装置

Families Citing this family (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2839916B1 (fr) * 2002-05-22 2004-10-15 Agence Spatiale Europeenne Exosquelette pour bras humain, notamment pour des applications spatiales
WO2004058457A1 (fr) * 2002-12-31 2004-07-15 Fabio Salsedo Articulation rotative entrainee par un element de tension pour structure exosquelettique
AU2002368501A1 (en) * 2002-12-31 2004-07-22 Massimo Bergamasco Ekoskeleton interface apparatus
WO2004087033A1 (fr) * 2003-03-28 2004-10-14 Hitachi Medical Corporation Dispositif d'entraînement de joint d'usure
FR2861983B1 (fr) * 2003-11-07 2006-02-17 Patrick Sadok Systeme d'exosquelette pour segment biologique a mouvement proportionnel et assemblage exosquelettique de tels systemes
US20090149783A1 (en) * 2004-11-30 2009-06-11 Eidgenossische Technische Hochschule Zurich System And Method For A Cooperative Arm Therapy And Corresponding Rotation Module
FR2917323B1 (fr) * 2007-06-12 2009-10-02 Commissariat Energie Atomique Mecanisme de rotation d'avant-bras et orthese comportant un tel mecanisme
EP2052709A1 (fr) * 2007-10-24 2009-04-29 ETH Zurich Système pour le traitement des bras
FR2949669B1 (fr) * 2009-09-09 2011-11-18 Commissariat Energie Atomique Mecanisme d'epaule pour orthese
IT1401979B1 (it) * 2010-09-28 2013-08-28 C N R Consiglio Naz Ricerche Dispositivo biomedico per la riabilitazione robotizzata dell'arto superiore umano, particolarmente per la riabilitazione neuromotoria dell'articolazione della spalla e del gomito.
JP5883256B2 (ja) * 2011-09-13 2016-03-09 川崎重工業株式会社 装着型動作支援装置
PL2723536T3 (pl) 2011-06-21 2018-08-31 Sabanci University Egzoszkielet
CN103831832B (zh) * 2012-11-26 2016-04-06 苏茂 双向力反馈从手手臂控制装置
CN104552313A (zh) * 2013-10-18 2015-04-29 苏茂 人手上臂旋转运动检测装置
CN104552225A (zh) * 2013-10-18 2015-04-29 苏茂 人手上臂运动检测平台
CN104552310A (zh) * 2013-10-21 2015-04-29 苏茂 附着于人手前臂的可拆装充气式平台
CN103622793B (zh) * 2013-11-28 2015-03-18 上海交通大学 自助式双侧同步外骨骼康复机构
JP6358427B2 (ja) * 2014-06-13 2018-07-18 国立大学法人 筑波大学 装着式動作補助装置
JP6208102B2 (ja) * 2014-09-04 2017-10-04 富士ソフト株式会社 人型ロボット
WO2016113715A2 (fr) * 2015-01-18 2016-07-21 Calabrian High Tech Srl Système robotique série-parallèle hybride, auto-équilibré à six degrés de liberté pour rééducation de membres supérieurs et inférieurs, gauches et droits
ITUB20160136A1 (it) * 2016-01-18 2017-07-18 Calabrian High Tech Srl Sistema robotico ibrido seriale parallelo auto-bilanciato a sei gradi di libertà per riabilitazione degli arti superiori ed inferiori, destri e sinistri
WO2016129716A1 (fr) * 2015-02-11 2016-08-18 한국기술교육대학교 산학협력단 Dispositif d'exercice des membres supérieurs du type porté sur le corps
ITPI20150027A1 (it) 2015-04-11 2016-10-11 Azienda Ospedaliera Pisana Sistema esoscheletrico ad alta ergonomia per l'arto superiore
US10569413B2 (en) 2015-12-22 2020-02-25 Ekso Bionics, Inc. Exoskeleton and method of providing an assistive torque to an arm of a wearer
US10058994B2 (en) 2015-12-22 2018-08-28 Ekso Bionics, Inc. Exoskeleton and method of providing an assistive torque to an arm of a wearer
US10918559B2 (en) 2017-04-25 2021-02-16 Ossur Iceland Ehf Interface system in an exoskeleton
CN107198639B (zh) * 2017-05-12 2019-05-03 北京工业大学 一种用于上肢康复外骨骼机构的主被融合关节
EP3445306A4 (fr) * 2017-05-25 2020-03-04 U.S. Bionics, Inc. Ensemble tronc et de hanche réglable destiné à un appareil d'exosquelette
CN111148606B (zh) 2017-09-28 2023-04-07 奥索冰岛有限公司 身体接合装置
USD876654S1 (en) 2018-04-24 2020-02-25 Ossur Iceland Ehf Posterior strut
NL2023503B1 (en) 2019-07-15 2021-02-08 Yumen Bionics B V Exoskeleton for supporting a user's arm
JP2021146479A (ja) * 2020-03-23 2021-09-27 川崎重工業株式会社 冷却媒体流路体、冷却装置、ロボット、及び冷却装置のロボットへの取り付け方法
CN116276899B (zh) * 2023-01-31 2023-08-29 哈尔滨商业大学 一种机器人关节装置

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2407597A1 (fr) * 1977-10-26 1979-05-25 Cem Comp Electro Mec Perfectionnements aux moteurs electriques fermes a refroidissement par eau
US4661032A (en) * 1984-12-20 1987-04-28 Agency Of Industrial Science & Technology, Ministry Of International Trade & Industry Bilateral master-slave manipulator control device
EP0364947A2 (fr) * 1988-10-19 1990-04-25 Hitachi, Ltd. Système manipulateur maître-esclave
US5038089A (en) * 1988-03-23 1991-08-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Synchronized computational architecture for generalized bilateral control of robot arms

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2407597A1 (fr) * 1977-10-26 1979-05-25 Cem Comp Electro Mec Perfectionnements aux moteurs electriques fermes a refroidissement par eau
US4661032A (en) * 1984-12-20 1987-04-28 Agency Of Industrial Science & Technology, Ministry Of International Trade & Industry Bilateral master-slave manipulator control device
US5038089A (en) * 1988-03-23 1991-08-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Synchronized computational architecture for generalized bilateral control of robot arms
EP0364947A2 (fr) * 1988-10-19 1990-04-25 Hitachi, Ltd. Système manipulateur maître-esclave

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104552316A (zh) * 2013-10-21 2015-04-29 苏茂 人手前臂桡尺关节运动检测装置

Also Published As

Publication number Publication date
WO1995032842A2 (fr) 1995-12-07
AU2598295A (en) 1995-12-21

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