WO2014068509A3 - Exosquelette de main - Google Patents

Exosquelette de main Download PDF

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Publication number
WO2014068509A3
WO2014068509A3 PCT/IB2013/059809 IB2013059809W WO2014068509A3 WO 2014068509 A3 WO2014068509 A3 WO 2014068509A3 IB 2013059809 W IB2013059809 W IB 2013059809W WO 2014068509 A3 WO2014068509 A3 WO 2014068509A3
Authority
WO
WIPO (PCT)
Prior art keywords
elements
attachment
distal
pair
rotation
Prior art date
Application number
PCT/IB2013/059809
Other languages
English (en)
Other versions
WO2014068509A2 (fr
Inventor
Yasheen BRIJLAL
Lester Ryan John
Sudesh SIVARASU
Original Assignee
University Of Cape Town
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 University Of Cape Town filed Critical University Of Cape Town
Priority to CN201380057411.8A priority Critical patent/CN104768714A/zh
Priority to EP13824005.6A priority patent/EP2914404A2/fr
Publication of WO2014068509A2 publication Critical patent/WO2014068509A2/fr
Publication of WO2014068509A3 publication Critical patent/WO2014068509A3/fr
Priority to ZA2015/02680A priority patent/ZA201502680B/en

Links

Classifications

    • 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
    • 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
    • A61H1/0285—Hand
    • A61H1/0288—Fingers
    • 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
    • A61H2201/1671—Movement of interface, i.e. force application means rotational
    • 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
    • A61H2201/5007—Control means thereof computer controlled
    • 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
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5038—Interfaces to the user freely programmable by 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
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position 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

Landscapes

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

Abstract

L'invention concerne un dispositif d'exosquelette de main ayant au moins trois unités robotiques. L'une est conçue pour être fixée au pouce et a deux éléments à fixer aux phalanges distale et proximale. Les deux autres ont chacune trois éléments à fixer aux phalanges distale, centrale et proximale de l'index et du majeur. Les éléments de chaque unité robotique sont reliés entre eux par un matériel approprié pour permettre un déplacement angulaire relatif des éléments autour d'un axe de rotation qui correspond sensiblement à l'axe de rotation d'un mouvement d'articulation interphalangienne d'un utilisateur. Un actionneur est associé au matériel d'interconnexion pour permettre un réglage des deux éléments dans chacune de deux directions opposées. Un capteur détecte la position ou la force angulaire d'un premier élément par rapport à l'autre élément de chaque paire. Une unité de commande informatisée commande un déplacement des éléments de chaque paire au moyen de l'actionneur associé.
PCT/IB2013/059809 2012-11-01 2013-10-31 Exosquelette de main WO2014068509A2 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201380057411.8A CN104768714A (zh) 2012-11-01 2013-10-31 手外骨骼
EP13824005.6A EP2914404A2 (fr) 2012-11-01 2013-10-31 Exosquelette de main
ZA2015/02680A ZA201502680B (en) 2012-11-01 2015-04-21 Hand exoskeleton

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ZA2012/08238 2012-11-01
ZA201208238 2012-11-01

Publications (2)

Publication Number Publication Date
WO2014068509A2 WO2014068509A2 (fr) 2014-05-08
WO2014068509A3 true WO2014068509A3 (fr) 2014-06-26

Family

ID=50000029

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2013/059809 WO2014068509A2 (fr) 2012-11-01 2013-10-31 Exosquelette de main

Country Status (4)

Country Link
EP (1) EP2914404A2 (fr)
CN (1) CN104768714A (fr)
WO (1) WO2014068509A2 (fr)
ZA (1) ZA201502680B (fr)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CO6960102A1 (es) * 2014-05-19 2014-05-30 Univ Militar Nueva Granada Dispositivo exoesquelético de rehabilitación para los dedos de la mano
ES2558024B1 (es) * 2014-07-31 2016-11-10 Universidad Miguel Hernández De Elche Dispositivo robótico modular y auto-adaptativo para la rehabilitación de la mano y procedimiento de uso
CN104257488B (zh) * 2014-09-30 2016-03-30 安阳工学院 一种三指节牵引式手指康复训练器
CN104840334B (zh) * 2015-04-30 2017-03-29 东南大学 一种手指运动功能康复训练装置
CN104921907B (zh) * 2015-07-17 2017-01-11 东南大学 用于偏瘫患者康复训练的手指运动机构及康复训练装置
ES2804838T3 (es) * 2016-01-29 2021-02-09 Fundacion Tecnalia Res & Innovation Dispositivo de rehabilitación de manos
CN105902364A (zh) * 2016-04-01 2016-08-31 北京所乐思国际商务有限公司 一种易穿戴关节运动辅助装置及穿戴方法
ITUA20163264A1 (it) * 2016-05-09 2017-11-09 Univ Degli Studi Di Siena Dispositivo da dito personalizzabile con retroazione kinestetica e cutanea
ITUA20163624A1 (it) 2016-05-09 2017-11-20 Nsi Soc A Responsabilita Limitata Semplificata Unipersonale Impianto dentale monofasico.
WO2018036571A1 (fr) * 2016-08-25 2018-03-01 Moreno Arango Juan David Orthèses robotiques pour réhabilitation de la main et du poignet
DE102016123153A1 (de) 2016-11-30 2018-05-30 Helmut-Schmidt-Universität Universität der Bundeswehr Hamburg Vorrichtung und verfahren zur muskelkraftunterstützung
CN106943277A (zh) * 2017-04-18 2017-07-14 上海理工大学 自适应穿戴式柔顺外骨骼康复机械手
CN107233190B (zh) * 2017-06-26 2019-04-30 东南大学 一种用于偏瘫患者的多自由度拇指康复训练装置
WO2019033001A1 (fr) * 2017-08-10 2019-02-14 The Regents Of The University Of California Exosquelette de main dextre
CN110269774B (zh) * 2018-03-15 2022-05-31 深圳市震有智联科技有限公司 一种康复机器人的自动校准系统
IT201800003847A1 (it) * 2018-03-21 2019-09-21 Marco Ceccarelli Meccanismo per esoscheletro di dito
CN108873004B (zh) * 2018-04-28 2023-12-29 京东方科技集团股份有限公司 一种测距装置、测距系统及测距方法
CN109172265B (zh) * 2018-08-31 2022-02-25 京东方科技集团股份有限公司 手指外骨骼机器人
CN109106558A (zh) * 2018-09-07 2019-01-01 南京伟思医疗科技股份有限公司 一种柔性关节外骨骼机器人及其控制方法
CN109363893B (zh) * 2018-12-03 2024-05-03 上海健康医学院 一种刚柔耦合式外骨骼手康复训练装置
CN114129389B (zh) * 2021-12-03 2023-08-29 山西工程职业学院 膝关节骨关节炎步态监视装置及分析方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009016478A2 (fr) * 2007-07-30 2009-02-05 Scuola Superiore Di Studi Universitari S.Anna Dispositif mécatronique portable
WO2011127410A2 (fr) * 2010-04-09 2011-10-13 Deka Products Limited Partnership Système et appareil pour dispositif robotisé, et procédés pour son utilisation
US20120059291A1 (en) * 2010-09-03 2012-03-08 Bes Rehab Ltd. Apparatus for manipulating joints of a limb

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1264718B1 (it) 1993-10-08 1996-10-04 Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant Anna Dispositivo atto a fornire una retroazione di forza ad un'unita' fisiologica, da utilizzarsi in particolare come interfaccia avanzata
CN201182660Y (zh) * 2008-04-10 2009-01-21 侯文浩 多关节伺服控制的康复、助残仿生手
CN101721290B (zh) * 2009-11-17 2012-05-23 北京航空航天大学 外骨骼式手指运动功能康复机器人
KR20110080921A (ko) * 2010-01-07 2011-07-13 삼성전자주식회사 로봇 핸드

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009016478A2 (fr) * 2007-07-30 2009-02-05 Scuola Superiore Di Studi Universitari S.Anna Dispositif mécatronique portable
WO2011127410A2 (fr) * 2010-04-09 2011-10-13 Deka Products Limited Partnership Système et appareil pour dispositif robotisé, et procédés pour son utilisation
US20120059291A1 (en) * 2010-09-03 2012-03-08 Bes Rehab Ltd. Apparatus for manipulating joints of a limb

Also Published As

Publication number Publication date
WO2014068509A2 (fr) 2014-05-08
EP2914404A2 (fr) 2015-09-09
ZA201502680B (en) 2016-06-29
CN104768714A (zh) 2015-07-08

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