WO2008031023A3 - Exosquelette haptique - Google Patents

Exosquelette haptique Download PDF

Info

Publication number
WO2008031023A3
WO2008031023A3 PCT/US2007/077870 US2007077870W WO2008031023A3 WO 2008031023 A3 WO2008031023 A3 WO 2008031023A3 US 2007077870 W US2007077870 W US 2007077870W WO 2008031023 A3 WO2008031023 A3 WO 2008031023A3
Authority
WO
WIPO (PCT)
Prior art keywords
exoskeleton
steerable
transmissions
haptic
linkages
Prior art date
Application number
PCT/US2007/077870
Other languages
English (en)
Other versions
WO2008031023A2 (fr
WO2008031023A9 (fr
Inventor
Paul M Bosscher
Eric Lafay
Original Assignee
Univ Ohio
Paul M Bosscher
Eric Lafay
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 Univ Ohio, Paul M Bosscher, Eric Lafay filed Critical Univ Ohio
Publication of WO2008031023A2 publication Critical patent/WO2008031023A2/fr
Publication of WO2008031023A9 publication Critical patent/WO2008031023A9/fr
Publication of WO2008031023A3 publication Critical patent/WO2008031023A3/fr

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • 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
    • A61H1/0281—Shoulder
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Rehabilitation Tools (AREA)
  • Gear-Shifting Mechanisms (AREA)

Abstract

Selon la présente invention, un couplage dynamique conçu pour être utilisé dans un exosquelette comprend une pluralité de transmissions orientables raccordées à un premier élément de l'exosquelette et une pluralité de liaisons raccordées entre une des transmissions orientables correspondantes et un second élément correspondant. Les transmissions orientables commandent ainsi le mouvement de l'articulation par l'intermédiaire des liaisons.
PCT/US2007/077870 2006-09-07 2007-09-07 Exosquelette haptique WO2008031023A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US84280806P 2006-09-07 2006-09-07
US60/842,808 2006-09-07

Publications (3)

Publication Number Publication Date
WO2008031023A2 WO2008031023A2 (fr) 2008-03-13
WO2008031023A9 WO2008031023A9 (fr) 2008-06-26
WO2008031023A3 true WO2008031023A3 (fr) 2008-08-07

Family

ID=39158088

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2007/077870 WO2008031023A2 (fr) 2006-09-07 2007-09-07 Exosquelette haptique

Country Status (1)

Country Link
WO (1) WO2008031023A2 (fr)

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2949669B1 (fr) 2009-09-09 2011-11-18 Commissariat Energie Atomique Mecanisme d'epaule pour orthese
FR2958152A1 (fr) * 2010-03-31 2011-10-07 Benjamin Penot Systeme d'articulation complexe pour orthese, prothese, robotique, exosquelette
ES2370895B2 (es) * 2011-08-31 2012-05-08 Universidad Politécnica de Madrid Exoesqueleto robotizado vestible para brazo humano.
ITPI20120069A1 (it) 2012-06-11 2013-12-12 Scuola Superiore S Anna Esoscheletro per l¿interazione fisica con l¿uomo
NL2011907C2 (en) * 2013-12-06 2015-06-09 Univ Delft Tech Upper limb exoskeleton.
DE102015224156A1 (de) * 2015-12-03 2017-06-08 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung zur Bewegungsunterstützung eines menschlichen Schultergelenkes
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
EP3402444B1 (fr) * 2016-01-17 2022-04-06 Human in Motion Robotics Inc. Système et dispositif permettant de guider et de détecter des mouvements de rotation à 3 degrés de liberté d'une articulation cible
US10814473B2 (en) 2016-07-26 2020-10-27 Arizona Board Of Regents On Behalf Of Arizona State University Mechanism for alleviating the effects of joint misalignment between users and wearable robots
US10800031B2 (en) 2016-07-26 2020-10-13 Arizona Board Of Regents On Behalf Of Arizona State University Spherical parallel manipulator architecture for shoulder robotic exoskeleton
CN106074094B (zh) * 2016-08-17 2018-06-15 电子科技大学 一种可解锁的自适应外骨骼膝关节支撑板
FR3057484B1 (fr) 2016-10-14 2018-11-30 Bmexo Dispositif portable de support de charge eloignee de la personne qui la porte
WO2018200436A1 (fr) 2017-04-25 2018-11-01 Ossur Iceland Ehf Système d'interface dans un exosquelette
DE102017112436B4 (de) 2017-06-06 2019-05-29 Ottobock Se & Co. Kgaa Vorrichtung zum Unterstützen wenigstens eines Armes eines Benutzers
CN107595545B (zh) * 2017-09-08 2024-04-26 燕山大学 一种可调心并联式髋关节康复机器人
EP3687743B1 (fr) 2017-09-28 2023-10-25 Ossur Iceland EHF Interface corporelle
US11890751B2 (en) 2017-10-17 2024-02-06 Aalborg Universitet Compact spherical 3-DOF mechanism constructed with scissor linkages
CN107856057B (zh) * 2017-11-30 2024-03-29 深圳市优必选科技有限公司 一种连杆机构及机器人
USD876654S1 (en) 2018-04-24 2020-02-25 Ossur Iceland Ehf Posterior strut
CN109009877B (zh) * 2018-08-21 2020-07-24 嘉兴美年大健康管理有限公司 一种医疗运动辅助工具
EP3959044A1 (fr) * 2019-04-24 2022-03-02 Aalborg Universitet Mécanisme sphérique construit avec des liaisons en ciseaux ayant des moyens de commande
CN112472523B (zh) * 2020-12-10 2024-05-10 清华大学 一种肘关节外骨骼康复训练机器人
WO2023172775A2 (fr) * 2022-03-11 2023-09-14 Carnegie Mellon University Procédés et systèmes de conception de dispositifs cinématiques reconfigurables

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030223844A1 (en) * 2002-05-22 2003-12-04 Organisation Intergouvernementale Dite Agence Spatiale Europeenne Exoskeleton for the human arm, in particular for space applications
US20030227374A1 (en) * 2002-06-10 2003-12-11 Ling Sho-Hung Welkin Modular electrotactile system and method
US20060106326A1 (en) * 2004-10-27 2006-05-18 Massachusetts Institute Of Technology Wrist and upper extremity motion
US20060142657A1 (en) * 2002-03-06 2006-06-29 Mako Surgical Corporation Haptic guidance system and method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060142657A1 (en) * 2002-03-06 2006-06-29 Mako Surgical Corporation Haptic guidance system and method
US20030223844A1 (en) * 2002-05-22 2003-12-04 Organisation Intergouvernementale Dite Agence Spatiale Europeenne Exoskeleton for the human arm, in particular for space applications
US20030227374A1 (en) * 2002-06-10 2003-12-11 Ling Sho-Hung Welkin Modular electrotactile system and method
US20060106326A1 (en) * 2004-10-27 2006-05-18 Massachusetts Institute Of Technology Wrist and upper extremity motion

Also Published As

Publication number Publication date
WO2008031023A2 (fr) 2008-03-13
WO2008031023A9 (fr) 2008-06-26

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