WO2012057452A3 - 슬-족관절 에너지 저장-방출 방식의 보행 보조 장치 - Google Patents

슬-족관절 에너지 저장-방출 방식의 보행 보조 장치 Download PDF

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Publication number
WO2012057452A3
WO2012057452A3 PCT/KR2011/006959 KR2011006959W WO2012057452A3 WO 2012057452 A3 WO2012057452 A3 WO 2012057452A3 KR 2011006959 W KR2011006959 W KR 2011006959W WO 2012057452 A3 WO2012057452 A3 WO 2012057452A3
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WO
WIPO (PCT)
Prior art keywords
foot
shinbone
support part
disposed
energy
Prior art date
Application number
PCT/KR2011/006959
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English (en)
French (fr)
Other versions
WO2012057452A2 (ko
Inventor
김철웅
한기봉
Original Assignee
주식회사 트리플씨메디칼
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 주식회사 트리플씨메디칼 filed Critical 주식회사 트리플씨메디칼
Publication of WO2012057452A2 publication Critical patent/WO2012057452A2/ko
Publication of WO2012057452A3 publication Critical patent/WO2012057452A3/ko

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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
    • A61H1/024—Knee
    • 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
    • A61H1/0266—Foot
    • 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
    • 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

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Prostheses (AREA)
  • Rehabilitation Tools (AREA)

Abstract

본 발명의 일 실시예에 의하면, 보행 보조 장치는 착용자의 발에 착용되는 족부; 상기 족부에 설치되며, 상기 발이 초기접지기에서 부하반응기로 이동할 때 에너지를 저장하는 족부에너지저장유닛; 일측이 상기 족부에 연결되며, 상기 착용자의 경골부에 대응되도록 배치되어 상기 경골부와 연동되는 경골지지부; 상기 경골지지부의 타측에 연결되어 회전가능하며, 상기 착용자의 대퇴부에 대응되도록 배치되어 상기 대퇴부와 연동되는 대퇴지지부; 그리고 상기 경골지지부에 설치되며, 상기 족부에 연결되어 상기 발이 초기접지기에서 부하반응기로 이동할 때 에너지를 저장하는 슬부에너지저장 유닛을 포함한다.
PCT/KR2011/006959 2010-10-28 2011-09-21 슬-족관절 에너지 저장-방출 방식의 보행 보조 장치 WO2012057452A2 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020100106117A KR101221331B1 (ko) 2010-10-28 2010-10-28 슬-족관절 에너지 저장-방출 방식의 보행 보조 장치
KR10-2010-0106117 2010-10-28

Publications (2)

Publication Number Publication Date
WO2012057452A2 WO2012057452A2 (ko) 2012-05-03
WO2012057452A3 true WO2012057452A3 (ko) 2012-06-21

Family

ID=45994502

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2011/006959 WO2012057452A2 (ko) 2010-10-28 2011-09-21 슬-족관절 에너지 저장-방출 방식의 보행 보조 장치

Country Status (2)

Country Link
KR (1) KR101221331B1 (ko)
WO (1) WO2012057452A2 (ko)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103040594A (zh) * 2013-01-24 2013-04-17 哈尔滨工业大学 一种准被动式踝关节运动助力装置
CN105030486A (zh) * 2015-07-27 2015-11-11 燕山大学 一种助行外骨骼无动力机械足
CN106456432A (zh) * 2014-03-21 2017-02-22 万德克拉夫特公司 包括足部结构的外骨骼

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101356021B1 (ko) * 2012-12-14 2014-01-28 한국과학기술원 에너지 저장형 보행 보조 장치
KR101482455B1 (ko) * 2013-12-06 2015-01-13 주식회사 포스코 하중 적응형 관절장치와 하중 적응형 관절장치를 이용한 근력지원로봇
FR3018682B1 (fr) * 2014-03-21 2017-11-03 Wandercraft Exosquelette comprenant une structure de pied
KR101630927B1 (ko) * 2014-08-06 2016-06-16 주식회사 포스코 하지착용장치 및 이를 포함하는 근력지원로봇
KR101650101B1 (ko) * 2015-03-23 2016-08-23 한국기계연구원 발목 강성 보조 장치 및 작동 방법
KR101677192B1 (ko) * 2015-04-02 2016-11-17 한양대학교 에리카산학협력단 링크 구조를 이용한 무릎 모듈 및 이를 포함한 착용형 외골격 로봇
KR20170067084A (ko) * 2015-12-07 2017-06-15 주식회사 피앤에스미캐닉스 족관절 로봇 및 이를 포함하는 보행 훈련 로봇
KR20180075301A (ko) 2016-12-26 2018-07-04 삼성전자주식회사 운동 보조 장치
IT201700084346A1 (it) 2017-07-24 2019-01-24 Scuola Superiore Santanna Dispositivo indossabile di camminata assistita
EP3695822A4 (en) * 2017-10-11 2021-10-27 Il Soo Kim GAITING DEVICE
KR101975493B1 (ko) * 2017-10-19 2019-08-28 가톨릭관동대학교산학협력단 충격완화 보행 보조기
KR101983067B1 (ko) * 2018-01-29 2019-05-29 부산대학교 산학협력단 보행 보조 장치
CN109677502B (zh) * 2019-01-25 2024-03-26 山东省科学院自动化研究所 一种机器人仿生足部机构及双足机器人
CN109771895B (zh) * 2019-02-25 2020-11-24 橙象医疗科技（广州）有限公司 一种辅助行走恢复的控制方法及装置
CN110666783B (zh) * 2019-11-20 2021-03-16 北京工业大学 一种髋关节外骨骼助力机构
CN111000706B (zh) * 2019-12-14 2022-02-22 深圳先进技术研究院 一种自适应踝关节外骨骼
CN110812132B (zh) * 2019-12-14 2022-02-01 深圳先进技术研究院 踝关节外骨骼
CN111671624B (zh) * 2020-06-22 2021-08-27 山东大学 一种穿戴式跖趾关节步行助力装置

Citations (5)

* Cited by examiner, † Cited by third party
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US5362288A (en) * 1993-03-26 1994-11-08 Eli Razon Device for assisting running, walking or jumping
JPH09206347A (ja) * 1996-02-02 1997-08-12 Toyoda Mach Works Ltd 短下肢装具およびその評価装置
JP2007195900A (ja) * 2006-01-23 2007-08-09 Toko Kogyo Kk 歩行補助具
KR100871720B1 (ko) * 2007-06-27 2008-12-08 재단법인 산재의료관리원 신전보조형 보조기용 무릎관절장치
US20090036815A1 (en) * 2005-07-13 2009-02-05 Honda Motor Co., Ltd. Walking assistance device

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* Cited by examiner, † Cited by third party
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US20060185703A1 (en) * 2001-03-30 2006-08-24 Townsend Barry W Mobility assistance apparatus
WO2007005574A2 (en) * 2005-06-30 2007-01-11 University Of Virginia Patent Foundation Method and system for energy returning ankle foot orthosis (erafo)

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5362288A (en) * 1993-03-26 1994-11-08 Eli Razon Device for assisting running, walking or jumping
JPH09206347A (ja) * 1996-02-02 1997-08-12 Toyoda Mach Works Ltd 短下肢装具およびその評価装置
US20090036815A1 (en) * 2005-07-13 2009-02-05 Honda Motor Co., Ltd. Walking assistance device
JP2007195900A (ja) * 2006-01-23 2007-08-09 Toko Kogyo Kk 歩行補助具
KR100871720B1 (ko) * 2007-06-27 2008-12-08 재단법인 산재의료관리원 신전보조형 보조기용 무릎관절장치

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103040594A (zh) * 2013-01-24 2013-04-17 哈尔滨工业大学 一种准被动式踝关节运动助力装置
CN106456432A (zh) * 2014-03-21 2017-02-22 万德克拉夫特公司 包括足部结构的外骨骼
CN105030486A (zh) * 2015-07-27 2015-11-11 燕山大学 一种助行外骨骼无动力机械足

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Publication number Publication date
KR101221331B1 (ko) 2013-01-17
KR20120044683A (ko) 2012-05-08
WO2012057452A2 (ko) 2012-05-03

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