WO2009054485A1 - 他動運動機器 - Google Patents

他動運動機器 Download PDF

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Publication number
WO2009054485A1
WO2009054485A1 PCT/JP2008/069311 JP2008069311W WO2009054485A1 WO 2009054485 A1 WO2009054485 A1 WO 2009054485A1 JP 2008069311 W JP2008069311 W JP 2008069311W WO 2009054485 A1 WO2009054485 A1 WO 2009054485A1
Authority
WO
WIPO (PCT)
Prior art keywords
center point
foot
displacement
smaller
user
Prior art date
Application number
PCT/JP2008/069311
Other languages
English (en)
French (fr)
Inventor
Youichi Shinomiya
Takahisa Ozawa
Takao Gotou
Kazuhiro Ochi
Original Assignee
Panasonic Electric Works Co., Ltd.
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
Priority claimed from JP2007279681A external-priority patent/JP4900196B2/ja
Priority claimed from JP2007284253A external-priority patent/JP5054484B2/ja
Priority claimed from JP2007341342A external-priority patent/JP2009160180A/ja
Application filed by Panasonic Electric Works Co., Ltd. filed Critical Panasonic Electric Works Co., Ltd.
Priority to EP08842428A priority Critical patent/EP2213272A1/en
Priority to CN200880122996.6A priority patent/CN101909571B/zh
Priority to KR1020107011501A priority patent/KR101152706B1/ko
Priority to US12/739,597 priority patent/US20100262048A1/en
Publication of WO2009054485A1 publication Critical patent/WO2009054485A1/ja

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
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • 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
    • A61H1/005—Moveable platforms, e.g. vibrating or oscillating platforms for standing, sitting, laying or leaning
    • 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
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • 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
    • A61H2201/1215—Rotary drive
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with 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
    • 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
    • A61H2201/1633—Seat
    • 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
    • A61H2201/1635—Hand or arm, e.g. handle
    • 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
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1664—Movement of interface, i.e. force application means linear
    • 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
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure 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
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0406—Standing on the feet
    • 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
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0425—Sitting on the buttocks
    • A61H2203/0431—Sitting on the buttocks in 90°/90°-position, like on a chair
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2208/00—Characteristics or parameters related to the user or player
    • A63B2208/02—Characteristics or parameters related to the user or player posture
    • A63B2208/0204—Standing on the feet
    • 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
    • A63B2220/50—Force related parameters
    • A63B2220/51—Force

Landscapes

  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Rehabilitation Therapy (AREA)
  • Pain & Pain Management (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Biophysics (AREA)
  • Rehabilitation Tools (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

　信号処理部１８において、算出部１８１が、各左足用荷重センサ１６０，１６１の検出結果を用いて使用者の左足の中心点を算出し、各右足用荷重センサ１７０，１７１の検出結果を用いて使用者の右足の中心点を算出する。判定部１８３は、使用者の足ごとに、記憶部１８２の理想特性の中心点に対する算出部１８１で算出された中心点の変位を測定する。左足および右足の両方において、上記変位が予め設定された閾値（原点から理想特性の中心点までの距離の５％の値）未満のとき、判定部１８３は正常動作と判断する。一方、左足と右足の少なくとも何れか一方において、上記変位が閾値以上のとき、判定部１８３は異常動作と判断する。制御部１８０は、一定時間あたりの変位が閾値以上となる回数が予め設定された回数以上となった場合、駆動装置５０を停止させる。これにより、使用者の筋肉を効果的に鍛える。
PCT/JP2008/069311 2007-10-26 2008-10-24 他動運動機器 WO2009054485A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP08842428A EP2213272A1 (en) 2007-10-26 2008-10-24 Passive exercise machine
CN200880122996.6A CN101909571B (zh) 2007-10-26 2008-10-24 被动锻炼机
KR1020107011501A KR101152706B1 (ko) 2007-10-26 2008-10-24 타동 운동 기기
US12/739,597 US20100262048A1 (en) 2007-10-26 2008-10-24 Passive exercise machine

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP2007279681A JP4900196B2 (ja) 2007-10-26 2007-10-26 他動運動機器
JP2007-279681 2007-10-26
JP2007-284253 2007-10-31
JP2007284253A JP5054484B2 (ja) 2007-10-31 2007-10-31 運動補助装置
JP2007-341342 2007-12-28
JP2007341342A JP2009160180A (ja) 2007-12-28 2007-12-28 他動運動機器

Publications (1)

Publication Number Publication Date
WO2009054485A1 true WO2009054485A1 (ja) 2009-04-30

Family

ID=40579587

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/069311 WO2009054485A1 (ja) 2007-10-26 2008-10-24 他動運動機器

Country Status (6)

Country Link
US (1) US20100262048A1 (ja)
EP (1) EP2213272A1 (ja)
KR (1) KR101152706B1 (ja)
CN (1) CN101909571B (ja)
TW (1) TWI363619B (ja)
WO (1) WO2009054485A1 (ja)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012012683A1 (en) * 2010-07-23 2012-01-26 Avacen, Inc. Methods and apparatus for therapeutic application of thermal energy
US8905951B2 (en) * 2011-08-27 2014-12-09 Restorative Therapies, Inc. Motorized functional electrical stimulation step and stand trainer
KR101278018B1 (ko) 2011-09-15 2013-06-24 김영기 척추 운동 장치
KR101337361B1 (ko) * 2012-03-29 2013-12-06 김재화 무릎관절 회전각 측정장치 및 그를 이용한 측정 방법
US9192509B2 (en) 2013-03-11 2015-11-24 Avacen, Inc. Methods and apparatus for therapeutic application of thermal energy including blood viscosity adjustment
US9687385B2 (en) 2013-03-11 2017-06-27 Avacen, Inc. Methods and apparatus for therapeutic application of thermal energy including blood viscosity adjustment
US9416652B2 (en) 2013-08-08 2016-08-16 Vetco Gray Inc. Sensing magnetized portions of a wellhead system to monitor fatigue loading
CN103537070B (zh) * 2013-11-06 2016-01-20 廖明忠 站立式平衡训练器及站立式平衡训练方法
EP3064187A1 (en) * 2015-03-06 2016-09-07 ArjoHuntleigh AB Patient transfer and training aid
AU2017354122B2 (en) 2016-11-04 2023-09-21 Restorative Therapies, Inc. Functional electrical stimulation ergometer including automatic spasm control
WO2018144948A1 (en) 2017-02-03 2018-08-09 Avacen Medical, Inc. Systems and methods for evaluating blood circulation and early detection of cardiovascular issues
CN107754217A (zh) * 2017-10-27 2018-03-06 南京思伯德生物科技有限公司 智能下肢康复器
KR101957222B1 (ko) * 2018-05-21 2019-03-12 한국과학기술연구원 개인 맞춤형 실시간 피드백 하지 재활 시스템
CN112526983B (zh) * 2020-09-11 2022-10-28 深圳银星智能集团股份有限公司 一种机器人的路径规划方法、主控芯片及机器人

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004110568A1 (ja) * 2003-05-21 2004-12-23 Matsushita Electric Works, Ltd. 脚部トレーニング装置
JP2006034640A (ja) * 2004-07-27 2006-02-09 Matsushita Electric Works Ltd 運動補助装置
JP2006325999A (ja) * 2005-05-26 2006-12-07 Matsushita Electric Works Ltd 運動補助装置
US20070027410A1 (en) * 2005-07-29 2007-02-01 Cost Jay A Continuous passive and active motion machine for the ankle
JP2007089650A (ja) 2005-09-27 2007-04-12 Matsushita Electric Works Ltd 運動補助装置

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5049079A (en) * 1988-12-19 1991-09-17 John H. Peterson Closed loop ski simulation and instructional system
US5368532A (en) * 1993-02-03 1994-11-29 Diversified Products Corporation Treadmill having an automatic speed control system
JP4862895B2 (ja) * 2007-01-30 2012-01-25 パナソニック電工株式会社 歩行能力診断システム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004110568A1 (ja) * 2003-05-21 2004-12-23 Matsushita Electric Works, Ltd. 脚部トレーニング装置
JP2006034640A (ja) * 2004-07-27 2006-02-09 Matsushita Electric Works Ltd 運動補助装置
JP2006325999A (ja) * 2005-05-26 2006-12-07 Matsushita Electric Works Ltd 運動補助装置
US20070027410A1 (en) * 2005-07-29 2007-02-01 Cost Jay A Continuous passive and active motion machine for the ankle
JP2007089650A (ja) 2005-09-27 2007-04-12 Matsushita Electric Works Ltd 運動補助装置

Also Published As

Publication number Publication date
TW200934466A (en) 2009-08-16
CN101909571A (zh) 2010-12-08
KR20100085139A (ko) 2010-07-28
KR101152706B1 (ko) 2012-06-15
US20100262048A1 (en) 2010-10-14
CN101909571B (zh) 2012-11-28
EP2213272A1 (en) 2010-08-04
TWI363619B (en) 2012-05-11

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