WO2012178171A3 - Robotic gait rehabilitation training system - Google Patents

Robotic gait rehabilitation training system Download PDF

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Publication number
WO2012178171A3
WO2012178171A3 PCT/US2012/044019 US2012044019W WO2012178171A3 WO 2012178171 A3 WO2012178171 A3 WO 2012178171A3 US 2012044019 W US2012044019 W US 2012044019W WO 2012178171 A3 WO2012178171 A3 WO 2012178171A3
Authority
WO
WIPO (PCT)
Prior art keywords
training system
gait rehabilitation
pelvis
rehabilitation training
robotic
Prior art date
Application number
PCT/US2012/044019
Other languages
French (fr)
Other versions
WO2012178171A2 (en
WO2012178171A9 (en
Inventor
Maciej PIETRUSINSKI
Constantinos Mavroidis
Paolo Bonato
Ozer Unluhisarcikli
Iahn CAJIGAS
Brian Weinberg
Original Assignee
Northeastern University
Spaulding Rehabilitation Hospital Corporation
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 Northeastern University, Spaulding Rehabilitation Hospital Corporation filed Critical Northeastern University
Priority to US14/129,206 priority Critical patent/US20140213951A1/en
Priority to EP12803468.3A priority patent/EP2723296A2/en
Publication of WO2012178171A2 publication Critical patent/WO2012178171A2/en
Publication of WO2012178171A9 publication Critical patent/WO2012178171A9/en
Publication of WO2012178171A3 publication Critical patent/WO2012178171A3/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • 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
    • A61H1/0244—Hip
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
    • 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
    • A61H2201/0173—Means for preventing injuries
    • A61H2201/0176—By stopping operation
    • 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
    • A61H2201/163—Pelvis holding means therefor
    • 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
    • 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
    • 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
    • A61H2201/5002—Means for controlling a set of similar massage devices acting in sequence at different locations on a patient
    • 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
    • A61H2201/5069—Angle 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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/62—Posture
    • A61H2230/625—Posture used as a control parameter for the apparatus

Landscapes

  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Rehabilitation Therapy (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Vascular Medicine (AREA)
  • Cardiology (AREA)
  • Nursing (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

A robotic gait rehabilitation (RGR) training system is provided to address secondary gait deviations such as hip-hiking. An actuation assembly follows the natural motions of a user's pelvis, while applying corrective moments to pelvic obliquity. A human-robot interface (HRI), in the form of a lower body exoskeleton, is provided to improve the transfer of corrective moments to the pelvis. The system includes an impedance control system incorporating backdrivability that is able to modulate the forces applied onto the body depending on the patient's efforts. Various protocols for use of the system are provided.
PCT/US2012/044019 2011-06-24 2012-06-25 Robotic gait rehabilitation training system with orthopedic lower body exoskeleton for torque transfer to control rotation of pelvis during gait WO2012178171A2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US14/129,206 US20140213951A1 (en) 2011-06-24 2012-06-25 Robotic gait rehabilitation training system with orthopedic lower body exoskeleton for torque transfer to control rotation of pelvis during gait
EP12803468.3A EP2723296A2 (en) 2011-06-24 2012-06-25 Robotic gait rehabilitation training system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201161500797P 2011-06-24 2011-06-24
US61/500,797 2011-06-24

Publications (3)

Publication Number Publication Date
WO2012178171A2 WO2012178171A2 (en) 2012-12-27
WO2012178171A9 WO2012178171A9 (en) 2013-03-28
WO2012178171A3 true WO2012178171A3 (en) 2013-05-16

Family

ID=47423265

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2012/044019 WO2012178171A2 (en) 2011-06-24 2012-06-25 Robotic gait rehabilitation training system with orthopedic lower body exoskeleton for torque transfer to control rotation of pelvis during gait

Country Status (3)

Country Link
US (1) US20140213951A1 (en)
EP (1) EP2723296A2 (en)
WO (1) WO2012178171A2 (en)

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KR101289005B1 (en) * 2012-02-08 2013-07-23 주식회사 피앤에스미캐닉스 Walking training apparatus
US9351900B2 (en) 2012-09-17 2016-05-31 President And Fellows Of Harvard College Soft exosuit for assistance with human motion
ITRM20120482A1 (en) * 2012-10-09 2014-04-10 Uni Campus Bio Medico Di Rom A ROBOTIC DEVICE FOR ASSISTANCE AND REHABILITATION OF LOWER LIMBS.
US11540744B1 (en) * 2013-01-19 2023-01-03 Bertec Corporation Force measurement system
US11857331B1 (en) * 2013-01-19 2024-01-02 Bertec Corporation Force measurement system
KR20160016925A (en) 2013-05-31 2016-02-15 프레지던트 앤드 펠로우즈 오브 하바드 칼리지 Soft exosuit for assistance with human motion
EP2815734A1 (en) * 2013-06-21 2014-12-24 Hocoma AG Apparatus for automated walking training
US10383784B2 (en) * 2013-07-30 2019-08-20 Northeastern University Gait training system and methods
CN115089444A (en) * 2013-12-09 2022-09-23 哈佛大学校长及研究员协会 Method of promoting gait improvement
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
US10864100B2 (en) 2014-04-10 2020-12-15 President And Fellows Of Harvard College Orthopedic device including protruding members
US9782892B2 (en) 2014-05-02 2017-10-10 Ekso Bionics, Inc. Exoskeleton and method of increasing the flexibility of an exoskeleton joint
KR102250265B1 (en) * 2014-09-01 2021-05-10 삼성전자주식회사 Apparatus and method for adjusting torque pattern
JP6878271B2 (en) 2014-09-19 2021-05-26 プレジデント アンド フェローズ オブ ハーバード カレッジ Soft exo suit to assist people's exercise
ES2575255B1 (en) * 2014-11-27 2017-04-06 Consejo Superior De Investigaciones Científicas (Csic) EXO SKELETON FOR HUMAN MOVEMENT ASSISTANCE
CN204798295U (en) * 2015-04-27 2015-11-25 上海璟和技创机器人有限公司 Low limbs rehabilitation training robot
US9782322B2 (en) 2015-07-16 2017-10-10 Honda Motor Co., Ltd. Resistive exoskeleton control design framework
US10248093B2 (en) * 2015-12-07 2019-04-02 AndrosRobotics, LLC Compliant force control module
CN108472145B (en) * 2016-01-17 2021-07-02 人类运动机器人技术公司 System and apparatus for guiding and detecting motion of a 3-DOF rotational target joint
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CN106176127B (en) * 2016-07-18 2018-08-10 广东铭凯医疗机器人有限公司 Whole body for rehabilitation training coordinates multi-functional support robot and its operating method
WO2018017436A1 (en) 2016-07-22 2018-01-25 President And Fellows Of Harvard College Controls optimization for wearable systems
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KR102708848B1 (en) * 2017-02-16 2024-09-25 삼성전자주식회사 Motion assist apparatus
US11014804B2 (en) 2017-03-14 2021-05-25 President And Fellows Of Harvard College Systems and methods for fabricating 3D soft microstructures
US11090528B2 (en) 2017-05-04 2021-08-17 The Trustees Of The University Of Pennsylvania Robotic physical therapy systems and data analysis of user interactions
WO2019094096A1 (en) * 2017-11-07 2019-05-16 Djo, Llc Brace having integrated remote patient monitoring technology and method of using same
US20190159954A1 (en) * 2017-11-28 2019-05-30 Steering Solutions Ip Holding Corporation Biomechanical assistive device for collecting clinical data
US10492977B2 (en) * 2017-12-14 2019-12-03 Bionic Yantra Private Limited Apparatus and system for limb rehabilitation
JP6958374B2 (en) * 2018-01-18 2021-11-02 トヨタ自動車株式会社 Walking training device and its control method
CN108785996A (en) * 2018-04-23 2018-11-13 大连大学 A kind of action apparatus for correcting and application method for the elderly's strength rehabilitation training
CO2018007555A1 (en) * 2018-07-18 2018-09-20 Univ Autonoma De Bucaramanga Unab Marching trainer system
TWI684442B (en) * 2018-07-27 2020-02-11 國立陽明大學 Gait learning auxiliary system and its application method
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Also Published As

Publication number Publication date
US20140213951A1 (en) 2014-07-31
WO2012178171A2 (en) 2012-12-27
EP2723296A2 (en) 2014-04-30
WO2012178171A9 (en) 2013-03-28

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