WO2010047485A3 - 휠체어식 보행 보조용 로봇 - Google Patents

휠체어식 보행 보조용 로봇 Download PDF

Info

Publication number
WO2010047485A3
WO2010047485A3 PCT/KR2009/005782 KR2009005782W WO2010047485A3 WO 2010047485 A3 WO2010047485 A3 WO 2010047485A3 KR 2009005782 W KR2009005782 W KR 2009005782W WO 2010047485 A3 WO2010047485 A3 WO 2010047485A3
Authority
WO
WIPO (PCT)
Prior art keywords
linear guide
joined
frame
lift
upper frame
Prior art date
Application number
PCT/KR2009/005782
Other languages
English (en)
French (fr)
Other versions
WO2010047485A2 (ko
Inventor
전도영
문효상
곽신웅
이진환
Original Assignee
서강대학교산학협력단
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 서강대학교산학협력단 filed Critical 서강대학교산학협력단
Priority to US13/125,567 priority Critical patent/US8790284B2/en
Priority to EP09822161.7A priority patent/EP2361734B1/en
Priority to JP2011533095A priority patent/JP5400890B2/ja
Publication of WO2010047485A2 publication Critical patent/WO2010047485A2/ko
Publication of WO2010047485A3 publication Critical patent/WO2010047485A3/ko

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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/045—Rear wheel drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/127—Rests specially adapted therefor, e.g. for the head or the feet for lower legs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
    • A61G5/128—Rests specially adapted therefor, e.g. for the head or the feet for 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
    • 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
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G2200/00—Information related to the kind of patient or his position
    • A61G2200/50—Information related to the kind of patient or his position the patient is supported by a specific part of the body
    • A61G2200/52—Underarm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/10—Parts, details or accessories
    • A61G5/14—Standing-up or sitting-down aids
    • 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
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
    • 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
    • A61H2201/0157—Constructive details portable
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/123—Linear 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
    • A61H2201/16—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
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Engineering & Computer Science (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Neurology (AREA)
  • Biomedical Technology (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)

Abstract

본 발명은 사용자의 하체에 착용하는 외골격을 휠체어 형태의 리프트 및 주행부와 함께 결합한 휠체어식 보행 보조용 로봇에 관한 것이다. 주행부는 메인 프레임에 설치된 주행 모터와 바퀴를 구비한다. 리프트는 메인 프레임에 고정 결합된 외측 리니어 가이드와, 이를 따라 상하이동이 가능한 내측 리니어 가이드와, 내측 리니어 가이드에 연결되어 상하이동이 가능한 의자 상단부와, 외측 리니어 가이드에 연결되어 내측 리니어 가이드가 하강하면 펴지고 상승하면 접히는 의자 하단부를 구비한다. 외골격은 의자 상단부에 고정 결합되는 리프트 체결부와, 허벅지 브레이스가 결합된 상부 프레임과, 종아리 브레이스가 결합된 하부 프레임과, 리프트 체결부와 상부 프레임 사이에 설치되어 리프트 체결부를 기준으로 상부 프레임을 회전시키는 고관절부와, 상부 프레임과 하부 프레임 사이에 설치되어 상부 프레임을 기준으로 하부 프레임을 회전시키는 슬관절부를 구비한다.
PCT/KR2009/005782 2008-10-22 2009-10-09 휠체어식 보행 보조용 로봇 WO2010047485A2 (ko)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US13/125,567 US8790284B2 (en) 2008-10-22 2009-10-09 Wheelchair type robot for walking aid
EP09822161.7A EP2361734B1 (en) 2008-10-22 2009-10-09 Wheelchair type robot for walking aid
JP2011533095A JP5400890B2 (ja) 2008-10-22 2009-10-09 車椅子式歩行補助用ロボット

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2008-0103461 2008-10-22
KR1020080103461A KR101043207B1 (ko) 2008-10-22 2008-10-22 휠체어식 보행 보조용 로봇

Publications (2)

Publication Number Publication Date
WO2010047485A2 WO2010047485A2 (ko) 2010-04-29
WO2010047485A3 true WO2010047485A3 (ko) 2010-08-05

Family

ID=42119804

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2009/005782 WO2010047485A2 (ko) 2008-10-22 2009-10-09 휠체어식 보행 보조용 로봇

Country Status (5)

Country Link
US (1) US8790284B2 (ko)
EP (1) EP2361734B1 (ko)
JP (1) JP5400890B2 (ko)
KR (1) KR101043207B1 (ko)
WO (1) WO2010047485A2 (ko)

Families Citing this family (68)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011127410A2 (en) * 2010-04-09 2011-10-13 Deka Products Limited Partnership System and apparatus for robotic device and methods of using thereof
SE534997C2 (sv) * 2010-06-23 2012-03-13 Gate Rehab Dev Ab Uppresningsstöd
CN101973028B (zh) * 2010-10-15 2011-12-07 北京航空航天大学 一种多关节串联的轮式移动机器人
US11400010B2 (en) * 2011-07-29 2022-08-02 Leonis Medical Corporation Method and system for control and operation of motorized orthotic exoskeleton joints
KR101299351B1 (ko) * 2012-03-07 2013-08-22 서강대학교산학협력단 휠체어 결합형 하지 운동/재활훈련 장치
KR101892237B1 (ko) 2012-05-15 2018-08-31 대한민국 하지 재활 운동 로봇 및 이 로봇의 탑승 및 구동방법
KR20150077413A (ko) 2012-09-17 2015-07-07 프레지던트 앤드 펠로우즈 오브 하바드 칼리지 인간의 움직임에 대한 보조를 위한 소프트 엑소슈트
CN102871822B (zh) * 2012-09-28 2014-12-10 中国科学院深圳先进技术研究院 便携式可穿戴下肢康复及助行外骨骼机器人
AU2013337529B2 (en) 2012-11-01 2018-03-15 British Columbia Institute Of Technology Mobility system including an exoskeleton assembly releasably supported on a wheeled base
WO2014122751A1 (ja) * 2013-02-07 2014-08-14 富士機械製造株式会社 移動補助ロボット
CN105073069B (zh) * 2013-03-13 2017-07-28 埃克苏仿生公司 用于实现释放双手的稳定性的步态矫正系统及方法
KR101474317B1 (ko) 2013-03-13 2014-12-18 한국과학기술연구원 측방 진입 메카니즘을 갖는 보행 재활 장치 및 그 측방 진입 방법
WO2014175707A1 (ko) * 2013-04-25 2014-10-30 세종대학교산학협력단 가변좌석유닛, 보행보조유닛, 및 이들을 포함하는 휠체어
KR101536586B1 (ko) * 2014-03-31 2015-07-14 세종대학교산학협력단 가변좌석유닛을 포함하는 휠체어
KR101508973B1 (ko) 2013-05-14 2015-04-07 한국과학기술연구원 무게중심 이동을 위한 수동 메커니즘을 갖는 보행 재활 로봇
KR101458002B1 (ko) * 2013-05-30 2014-11-06 (재)광주테크노파크 생체인식기반 지능형 상·하지 재활 휠체어 로봇
US10843332B2 (en) 2013-05-31 2020-11-24 President And Fellow Of Harvard College Soft exosuit for assistance with human motion
CN103393508A (zh) * 2013-08-19 2013-11-20 胡大成 电动坐立自训练康复学步轮椅车
BR112016004254B1 (pt) 2013-08-28 2021-03-16 Upnride Robotics Ltd cadeira de rodas vertical
KR101656695B1 (ko) * 2013-11-08 2016-09-13 대한민국 하지보행 보조 로봇
CN105992554A (zh) 2013-12-09 2016-10-05 哈佛大学校长及研究员协会 帮助人移动的辅助柔性套服、柔性套服系统及它们的制造和控制方法
US10881572B2 (en) * 2013-12-13 2021-01-05 ALT Innovations LLC Natural assist simulated gait therapy adjustment system
EP3079642A4 (en) * 2013-12-13 2017-11-01 Alt Innovations LLC Multi-modal gait-based non-invasive therapy platform
US10315067B2 (en) * 2013-12-13 2019-06-11 ALT Innovations LLC Natural assist simulated gait adjustment therapy system
WO2015120186A1 (en) * 2014-02-05 2015-08-13 President And Fellows Of Harvard College Systems, methods, and devices for assisting walking for developmentally-delayed toddlers
EP3128963A4 (en) 2014-04-10 2017-12-06 President and Fellows of Harvard College Orthopedic device including protruding members
US9808073B1 (en) 2014-06-19 2017-11-07 Lockheed Martin Corporation Exoskeleton system providing for a load transfer when a user is standing and kneeling
KR102250235B1 (ko) * 2014-07-17 2021-05-10 삼성전자주식회사 고정 모듈 및 이를 포함하는 운동 보조 장치
EP3708079A1 (en) 2014-09-19 2020-09-16 President And Fellows Of Harvard College Soft exosuit for assistance with human motion
JP6301862B2 (ja) * 2015-03-04 2018-03-28 上銀科技股▲分▼有限公司 下股運動装置およびその制御方法
CN104997597B (zh) * 2015-05-12 2017-07-21 北京理工大学 一种脚踏式下肢外骨骼运动康复轮椅
CN104887462B (zh) * 2015-06-03 2017-09-29 张其高 一种康复用学步椅
US10548800B1 (en) * 2015-06-18 2020-02-04 Lockheed Martin Corporation Exoskeleton pelvic link having hip joint and inguinal joint
US10518404B2 (en) 2015-07-17 2019-12-31 Lockheed Martin Corporation Variable force exoskeleton hip joint
US10195736B2 (en) 2015-07-17 2019-02-05 Lockheed Martin Corporation Variable force exoskeleton hip joint
KR20170014704A (ko) 2015-07-31 2017-02-08 전남대학교산학협력단 사용자 의도 인식방법
CN105105986B (zh) * 2015-09-10 2017-05-03 哈尔滨工业大学 具有轮式移动功能的助行外骨骼机器人
US10245204B2 (en) 2015-09-11 2019-04-02 Ekso Bionics, Inc. Devices and methods for improving the utility of an exoskeleton mobility base
CN105326628A (zh) * 2015-11-16 2016-02-17 合肥工业大学 一种外平衡支撑下肢康复助力机构
US10912346B1 (en) 2015-11-24 2021-02-09 Lockheed Martin Corporation Exoskeleton boot and lower link
MX2018006679A (es) * 2015-12-01 2018-11-09 Leonardo Luna Molina Freddy Exoesqueleto dual convertible en asistente caminador y sillas de ruedas.
US10124484B1 (en) 2015-12-08 2018-11-13 Lockheed Martin Corporation Load-bearing powered exoskeleton using electromyographic control
TWI634885B (zh) 2016-01-06 2018-09-11 國立交通大學 用於控制行走輔具的方法
EP3207909B1 (en) * 2016-02-18 2019-09-11 Hexowheel Supporting structure
EP3429512A4 (en) 2016-03-13 2019-10-30 President and Fellows of Harvard College FLEXIBLE ELEMENTS FOR ANCHORING THE BODY
WO2017214259A1 (en) * 2016-06-07 2017-12-14 Worcester Polytechnic Institute Biologically-inspired joints and systems and methods of use thereof
CN109789543B (zh) 2016-07-22 2022-09-27 哈佛大学校长及研究员协会 用于可穿戴系统的控制优化
FR3055798B1 (fr) * 2016-09-13 2022-01-14 Assistive Robotic Tech Dispositif d'aide au deplacement d'un utilisateur
FR3063008B1 (fr) 2017-02-21 2022-03-18 Marc Bardgett Fauteuil roulant d'aide a la marche
WO2018170170A1 (en) 2017-03-14 2018-09-20 President And Fellows Of Harvard College Systems and methods for fabricating 3d soft microstructures
CN107330921A (zh) * 2017-06-28 2017-11-07 京东方科技集团股份有限公司 一种排队装置及其排队控制方法
CA3073504A1 (en) 2017-08-30 2019-03-07 Lockheed Martin Corporation Automatic sensor selection
CA3026301C (en) * 2017-12-05 2023-09-05 Association De La Sclerose En Plaques De L'estrie Inc. Body lightening system for gait training
CN108127647B (zh) * 2018-02-13 2024-06-07 中山市沃倍特智能医疗器械股份有限公司 长续航且轻量化的智能外骨骼机器人
WO2019160203A1 (ko) * 2018-02-13 2019-08-22 엘지전자 주식회사 다기능 복합 지지 장치
CN108309593B (zh) * 2018-02-22 2019-12-03 哈尔滨工业大学 一种轮足同构变形式轮椅外骨骼机器人
US11602479B2 (en) * 2018-03-14 2023-03-14 Toyota Motor North America, Inc. Systems and methods for providing synchronized movements of a powered wheelchair and an exoskeleton
KR101955925B1 (ko) 2018-06-29 2019-03-12 대한민국 하지 재활 운동 로봇 및 이 로봇의 탑승 및 구동방법
CN109262632B (zh) * 2018-12-05 2023-09-12 济南大学 一种多关节轻型轮椅机械手臂
CN110124272B (zh) * 2019-06-12 2020-11-06 宋洪波 一种腰椎术后康复锻炼装置
US10966897B2 (en) * 2019-07-02 2021-04-06 Mike Bankowski Automated walker assembly
WO2021084579A1 (ja) * 2019-10-28 2021-05-06 マコトバイオニクス株式会社 歩行可能な車椅子
CN110919665B (zh) * 2019-11-15 2022-07-15 合肥工业大学 一种可分离式多功能康复机器人
KR102396507B1 (ko) 2019-12-16 2022-05-12 주식회사 스위브 재활 기능과 횡단보도 안전 기능을 갖는 휠체어 장치
US11883714B2 (en) 2020-12-24 2024-01-30 ALT Innovations LLC Upper body gait ergometer and gait trainer
CN112932908B (zh) * 2021-01-25 2023-03-24 袁伟 一种防跌倒且便于移动的骨科用康复训练装置
CN112999018B (zh) * 2021-03-29 2023-02-28 迈宝智能科技(苏州)有限公司 一种主被动切换的穿戴式下肢负重外骨骼
US11717280B2 (en) 2021-06-30 2023-08-08 Innovative Medical Products, Inc. Modular distractor apparatus, system, and method

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07163607A (ja) * 1993-12-13 1995-06-27 Tokyo R & D:Kk 階段歩行等の電動補助装置
KR20060039970A (ko) * 2004-11-04 2006-05-10 학교법인 서강대학교 근력증강을 위한 보행보조기기 및 그 제어방법
JP2007014698A (ja) * 2005-07-11 2007-01-25 Tokyo Univ Of Science 歩行補助装置
KR100716597B1 (ko) * 2005-12-30 2007-05-09 서강대학교산학협력단 지능형 근력 및 보행 보조용 로봇
JP2007181639A (ja) * 2006-01-05 2007-07-19 Tateshi Takahashi 起立補助椅子

Family Cites Families (30)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3964786A (en) * 1974-12-20 1976-06-22 David Mashuda Mechanized wheelchair
CH588860A5 (ko) * 1975-06-03 1977-06-15 Valutec Ag
US4054319A (en) * 1975-10-23 1977-10-18 The United States Of America As Represented By The Secretary Of The Navy Stand-aid invalid wheelchair
US4390076A (en) * 1979-08-01 1983-06-28 The United States Of America As Represented By The Secretary Of The Navy Integrated wheelchair and ambulator
US4456086A (en) * 1979-08-01 1984-06-26 The United States Of America As Represented By The Secretary Of The Navy Integrated wheelchair and ambulator
GB8305331D0 (en) * 1983-02-25 1983-03-30 Booth E Mobile chair with elevating seat
US4809804A (en) * 1986-08-25 1989-03-07 Falcon Rehabilitation Products, Inc. Combination wheelchair and walker apparatus
US5137102A (en) * 1986-08-25 1992-08-11 Retec Pr, Inc. Combination wheelchair and walker apparatus
US5096008A (en) * 1990-09-24 1992-03-17 Jericho Corporation Stand-up wheelchair
US5265689A (en) * 1991-01-14 1993-11-30 Kauffmann Ricardo M Prosthetic device for lifting and lowering a person thereon
US5366036A (en) * 1993-01-21 1994-11-22 Perry Dale E Power stand-up and reclining wheelchair
US5701968A (en) * 1995-04-03 1997-12-30 Licile Salter Packard Children's Hospital At Stanford Transitional power mobility aid for physically challenged children
US6053519A (en) * 1996-11-13 2000-04-25 The Advanced Technologies Corp. Occupant operated motorized vehicle with lift assist
JP3032746B2 (ja) * 1997-06-24 2000-04-17 アルファー精工株式会社 車椅子
US6231067B1 (en) * 1998-01-12 2001-05-15 Fena Design, Inc. Motorized standing wheelchair
FR2779945B1 (fr) * 1998-06-23 2000-11-10 Internat Diffusion Consommateu Noix d'articulation pour accoudoir de fauteuil d'handicape et fauteuil en faisant application
CA2350738C (en) * 1998-11-17 2007-01-23 Altimate Medical, Inc. Disabled user lift system
US6203106B1 (en) * 1999-05-17 2001-03-20 Activeaid, Inc. Chair for handicapped individuals
US6773032B2 (en) * 1999-06-06 2004-08-10 Don L. Redman Ambulatory apparatus
FR2813520B1 (fr) * 2000-09-07 2002-12-06 Idc Medical Dispositif de maintien corporel pour fauteuil verticalisateur et fauteuil en faisant application
JP2003019055A (ja) * 2001-07-11 2003-01-21 Komura Seisakusho:Kk 昇降椅子
CH695010A5 (de) * 2001-09-21 2005-11-15 Levo Ag Aufrichtrollstuhl.
CA2433816C (en) * 2003-06-25 2010-07-13 Prodije 9061-7457 Quebec Inc. Dismountable multi-position stander
US7614639B2 (en) * 2004-10-12 2009-11-10 Invacare Corporation Modular standing frame
JP3113742U (ja) * 2004-12-10 2005-09-22 延盛 王 電動起立補助装置付歩行器兼車椅子
JP2007252888A (ja) * 2006-02-21 2007-10-04 Kawamura Cycle:Kk 歩行補助器兼用車いす
JP2007307118A (ja) * 2006-05-18 2007-11-29 Shigeki Toyama 歩行訓練装置
JP2008029676A (ja) * 2006-07-31 2008-02-14 Yuzu Inc 歩行補助装置
CN100548256C (zh) * 2006-12-07 2009-10-14 浙江大学 一种轮椅式截瘫患者行走训练机器人
CH712922B1 (de) * 2007-07-13 2018-03-15 Levo Ag Wohlen Aufrichteinheit für Aufrichtrollstühle und Therapiegeräte.

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07163607A (ja) * 1993-12-13 1995-06-27 Tokyo R & D:Kk 階段歩行等の電動補助装置
KR20060039970A (ko) * 2004-11-04 2006-05-10 학교법인 서강대학교 근력증강을 위한 보행보조기기 및 그 제어방법
JP2007014698A (ja) * 2005-07-11 2007-01-25 Tokyo Univ Of Science 歩行補助装置
KR100716597B1 (ko) * 2005-12-30 2007-05-09 서강대학교산학협력단 지능형 근력 및 보행 보조용 로봇
JP2007181639A (ja) * 2006-01-05 2007-07-19 Tateshi Takahashi 起立補助椅子

Also Published As

Publication number Publication date
EP2361734A4 (en) 2016-01-06
US20110201978A1 (en) 2011-08-18
KR20100044360A (ko) 2010-04-30
US8790284B2 (en) 2014-07-29
KR101043207B1 (ko) 2011-06-22
JP5400890B2 (ja) 2014-01-29
EP2361734B1 (en) 2017-03-22
WO2010047485A2 (ko) 2010-04-29
JP2012506289A (ja) 2012-03-15
EP2361734A2 (en) 2011-08-31

Similar Documents

Publication Publication Date Title
WO2010047485A3 (ko) 휠체어식 보행 보조용 로봇
CN101984946B (zh) 坐式外骨骼下肢康复机器人
CN104434472B (zh) 一种外骨骼辅助训练机器人
CN107411939B (zh) 一种单侧下肢残疾人士专用助力康复机器人
US9649243B2 (en) Body lift-assist walker device
WO2012024562A3 (en) Powered orthosis systems and methods
CN204618778U (zh) 起立蹲坐行走多功能康复器
CN107811805A (zh) 穿戴式下肢外骨骼康复机器人
WO2006078871A3 (en) Lower extremity exoskeleton
CN204352127U (zh) 一种外骨骼辅助训练机器人
KR20150010714A (ko) 모터달린 체외골격 유닛
US20180036146A1 (en) Mechanical exoskeleton wearable apparatus, operation control method and operation control device for the same
CN204072560U (zh) 躁动病人约束床
CN106236419B (zh) 一种手助力站立轮椅车
CN106333830A (zh) 一种下肢康复机器人助行机构
MX2018006679A (es) Exoesqueleto dual convertible en asistente caminador y sillas de ruedas.
CN104546384A (zh) 基于气动和粒子减震的老年助行保护装置
CN111012627A (zh) 一种有源上肢运动康复助力外骨骼
CN105997438A (zh) 一种自调节可穿戴腿部动力支具
KR101299351B1 (ko) 휠체어 결합형 하지 운동/재활훈련 장치
CN104490562A (zh) 可穿戴式u型肢体助力气囊及其制作方法
CN105496733A8 (zh) 一种行走助力装置
CN204050084U (zh) 多功能腿部骨折康复轮椅
KR20130127750A (ko) 하지 재활 운동 로봇 및 이 로봇의 탑승 및 구동방법
WO2014179855A3 (pt) Exoesqueletoesteira apropriado como órtese para o auxílio da locomoção humana

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 09822161

Country of ref document: EP

Kind code of ref document: A2

WWE Wipo information: entry into national phase

Ref document number: 13125567

Country of ref document: US

WWE Wipo information: entry into national phase

Ref document number: 2011533095

Country of ref document: JP

NENP Non-entry into the national phase

Ref country code: DE

REEP Request for entry into the european phase

Ref document number: 2009822161

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 2009822161

Country of ref document: EP