WO2017026943A1 - Exosquelette - Google Patents

Exosquelette Download PDF

Info

Publication number
WO2017026943A1
WO2017026943A1 PCT/SG2016/050383 SG2016050383W WO2017026943A1 WO 2017026943 A1 WO2017026943 A1 WO 2017026943A1 SG 2016050383 W SG2016050383 W SG 2016050383W WO 2017026943 A1 WO2017026943 A1 WO 2017026943A1
Authority
WO
WIPO (PCT)
Prior art keywords
cable
spool
exosuit
limb
actuator
Prior art date
Application number
PCT/SG2016/050383
Other languages
English (en)
Inventor
Leonardo CAPPELLO
Lorenzo Masia
Original Assignee
Nanyang Technological University
Universita' Degli Studi Di Genova
Fondazione Istituto Italiano Di Tecnologia
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 Nanyang Technological University, Universita' Degli Studi Di Genova, Fondazione Istituto Italiano Di Tecnologia filed Critical Nanyang Technological University
Priority to EP16835544.4A priority Critical patent/EP3334572A4/fr
Priority to CN201680040372.4A priority patent/CN107921628A/zh
Publication of WO2017026943A1 publication Critical patent/WO2017026943A1/fr

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
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor
    • H02P3/14—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor by regenerative braking
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un exosquelette destiné à faciliter le mouvement d'un membre, comprenant un segment supérieur et un segment inférieur raccordés de manière pivotante par l'intermédiaire d'une articulation, l'exosquelette comprenant : un cadre souple conçu pour être porté par un utilisateur sur le membre ; un actionneur fixé au cadre souple, l'actionneur comprenant une bobine capable de tourner dans une première direction et dans une seconde direction, la bobine étant raccordée à un arbre d'un moteur conçu pour faire tourner la bobine ; un premier câble ayant une partie du premier câble enroulée autour d'une première partie de la bobine, le premier câble s'étendant à partir de la bobine le long du cadre souple, le premier câble se terminant au niveau d'une partie avant du segment inférieur de façon à provoquer la flexion du membre lorsque le premier câble est enroulé sur la bobine pendant la rotation de la bobine dans la première direction ; un second câble ayant une partie du second câble enroulée autour d'une seconde partie de la bobine, le second câble s'étendant à partir de la bobine le long du cadre souple, le second câble se terminant au niveau d'une partie arrière du segment inférieur pour provoquer l'extension du membre lorsque le second câble est enroulé sur la bobine pendant la rotation de la bobine dans la seconde direction.
PCT/SG2016/050383 2015-08-11 2016-08-11 Exosquelette WO2017026943A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP16835544.4A EP3334572A4 (fr) 2015-08-11 2016-08-11 Exosquelette
CN201680040372.4A CN107921628A (zh) 2015-08-11 2016-08-11 外骨骼机器衣

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SG10201506263R 2015-08-11
SG10201506263R 2015-08-11

Publications (1)

Publication Number Publication Date
WO2017026943A1 true WO2017026943A1 (fr) 2017-02-16

Family

ID=57983385

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SG2016/050383 WO2017026943A1 (fr) 2015-08-11 2016-08-11 Exosquelette

Country Status (4)

Country Link
EP (1) EP3334572A4 (fr)
CN (1) CN107921628A (fr)
SG (1) SG10201912505YA (fr)
WO (1) WO2017026943A1 (fr)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107297738A (zh) * 2017-08-22 2017-10-27 北京铁甲钢拳科技有限公司 机械臂控制系统
WO2018165413A1 (fr) * 2017-03-08 2018-09-13 Abilitech Medical, Inc. Système et procédé d'augmentation de mouvement par câble
WO2018236279A1 (fr) * 2017-06-19 2018-12-27 Tendo Ab Dispositif destiné à mettre en mouvement un bras et procédé de fonctionnement du dispositif
FR3074078A1 (fr) * 2017-11-28 2019-05-31 Commissariat A L`Energie Atomique Et Aux Energies Alternatives Membre inferieur d’exosquelette
WO2019108655A1 (fr) * 2017-11-28 2019-06-06 Seismic Holdings, Inc. Systèmes d'exocombinaison et procédés
SE541434C2 (en) * 2016-10-05 2019-10-01 Bioservo Tech Aktiebolag Arm lifting support device
CN110328656A (zh) * 2019-08-12 2019-10-15 河北工业大学 一种柔性外骨骼助力机器人鲍登线预紧机构
WO2020049164A1 (fr) * 2018-09-06 2020-03-12 Myoswiss Ag Dispositif portable d'aide active
FR3085838A1 (fr) 2018-09-19 2020-03-20 Lilas Deville Dispositif et procede d'assistance a la mobilisation d'une articulation
WO2021191558A1 (fr) * 2020-03-25 2021-09-30 Human Mechanical Technologies Brassard de fixation d'un bras d'un exosquelette a un membre superieur d'un utilisateur
IT202100022091A1 (it) 2021-08-19 2023-02-19 Eta Bioengineering S R L Esoscheletro soft sotto-attuato con sistema di attuazione a cavi per l’assistenza degli arti superiori
IT202100023081A1 (it) * 2021-09-07 2023-03-07 Milano Politecnico Dispositivo di assistenza al movimento per l’articolazione del gomito
US11969364B2 (en) 2017-06-19 2024-04-30 Tendo Ab Device for moving an arm and a method of operating the device

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109124982A (zh) * 2018-06-29 2019-01-04 燕山大学 一种可穿戴康复助力柔性气动关节
CN109176469B (zh) * 2018-09-13 2021-07-06 天津大学 基于线驱动和气动夹持原理的可变刚度柔性外骨骼系统
IT201900010026A1 (it) 2019-06-26 2020-12-26 Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna Apparato in grado di attuare un giunto distale e di trasferire le reazioni vincolari in un esoscheletro di spalla sotto-attuato
CN111012627A (zh) * 2019-12-30 2020-04-17 吉林大学 一种有源上肢运动康复助力外骨骼

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1308675A (en) * 1919-05-06 1919-07-01 Leslie C Kelley Pedomotor.
JP2007167484A (ja) * 2005-12-26 2007-07-05 Matsushita Electric Ind Co Ltd 筋力補助装置
US20130040783A1 (en) * 2011-08-11 2013-02-14 The Charles Stark Draper Laboratory, Inc. Exoskeleton suit for adaptive resistance to movement
CA2885228A1 (fr) 2012-09-17 2014-07-17 President And Fellows Of Harvard College Exosquelette motorise souple d'assistance au mouvement humain
CA2932883A1 (fr) 2013-12-09 2015-06-18 President And Fellows Of Harvard College Combinaisons d'assistance flexibles, systemes de combinaisons flexibles et procedes de fabrication et de commande de celles-ci pour une aide a la mobilite d'une personne
US20150190249A1 (en) * 2012-06-27 2015-07-09 Hitachi, Ltd. Wearable Power Assist System

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201005935Y (zh) * 2006-12-07 2008-01-16 浙江大学 多体位外骨骼下肢康复训练机器人
JP5079458B2 (ja) * 2007-11-07 2012-11-21 アクティブリンク株式会社 動作支援装置
EP2621416B1 (fr) * 2010-09-27 2017-05-10 Vanderbilt University Dispositif d'assistance au mouvement

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1308675A (en) * 1919-05-06 1919-07-01 Leslie C Kelley Pedomotor.
JP2007167484A (ja) * 2005-12-26 2007-07-05 Matsushita Electric Ind Co Ltd 筋力補助装置
US20130040783A1 (en) * 2011-08-11 2013-02-14 The Charles Stark Draper Laboratory, Inc. Exoskeleton suit for adaptive resistance to movement
US20150190249A1 (en) * 2012-06-27 2015-07-09 Hitachi, Ltd. Wearable Power Assist System
CA2885228A1 (fr) 2012-09-17 2014-07-17 President And Fellows Of Harvard College Exosquelette motorise souple d'assistance au mouvement humain
CA2932883A1 (fr) 2013-12-09 2015-06-18 President And Fellows Of Harvard College Combinaisons d'assistance flexibles, systemes de combinaisons flexibles et procedes de fabrication et de commande de celles-ci pour une aide a la mobilite d'une personne

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3334572A4 *

Cited By (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE541434C2 (en) * 2016-10-05 2019-10-01 Bioservo Tech Aktiebolag Arm lifting support device
JP2020509834A (ja) * 2017-03-08 2020-04-02 アビリテック・メディカル・インコーポレーテッド ケーブル動作式動作強化システムおよび方法
WO2018165413A1 (fr) * 2017-03-08 2018-09-13 Abilitech Medical, Inc. Système et procédé d'augmentation de mouvement par câble
WO2018236279A1 (fr) * 2017-06-19 2018-12-27 Tendo Ab Dispositif destiné à mettre en mouvement un bras et procédé de fonctionnement du dispositif
US11969364B2 (en) 2017-06-19 2024-04-30 Tendo Ab Device for moving an arm and a method of operating the device
AU2018289227B2 (en) * 2017-06-19 2023-07-20 Tendo Ab Device for moving an arm and a method of operating the device
CN107297738B (zh) * 2017-08-22 2023-05-12 北京铁甲钢拳科技有限公司 机械臂控制系统
CN107297738A (zh) * 2017-08-22 2017-10-27 北京铁甲钢拳科技有限公司 机械臂控制系统
US10836029B2 (en) 2017-11-28 2020-11-17 Seismic Holdings, Inc. Exosuit load bearing distribution systems
US11192237B2 (en) 2017-11-28 2021-12-07 Seismic Holdings, Inc. Exosuit systems and methods
FR3074078A1 (fr) * 2017-11-28 2019-05-31 Commissariat A L`Energie Atomique Et Aux Energies Alternatives Membre inferieur d’exosquelette
WO2019108655A1 (fr) * 2017-11-28 2019-06-06 Seismic Holdings, Inc. Systèmes d'exocombinaison et procédés
WO2019105756A1 (fr) * 2017-11-28 2019-06-06 Commissariat A L`Energie Atomique Et Aux Energies Alternatives Membre inférieur d' exosquelette
CN112654339A (zh) * 2018-09-06 2021-04-13 迈欧瑞士股份公司 可穿戴主动辅助装置
WO2020049164A1 (fr) * 2018-09-06 2020-03-12 Myoswiss Ag Dispositif portable d'aide active
FR3085838A1 (fr) 2018-09-19 2020-03-20 Lilas Deville Dispositif et procede d'assistance a la mobilisation d'une articulation
WO2020058621A1 (fr) 2018-09-19 2020-03-26 Deville Lilas Dispositif et procede d'assistance a la mobilisation d'une articulation
CN110328656A (zh) * 2019-08-12 2019-10-15 河北工业大学 一种柔性外骨骼助力机器人鲍登线预紧机构
CN110328656B (zh) * 2019-08-12 2024-04-12 河北工业大学 一种柔性外骨骼助力机器人鲍登线预紧机构
WO2021191558A1 (fr) * 2020-03-25 2021-09-30 Human Mechanical Technologies Brassard de fixation d'un bras d'un exosquelette a un membre superieur d'un utilisateur
FR3108545A1 (fr) * 2020-03-25 2021-10-01 Human Mechanical Technologies Brassard de fixation d’un bras d’un exosquelette à un membre supérieur d’un utilisateur
IT202100022091A1 (it) 2021-08-19 2023-02-19 Eta Bioengineering S R L Esoscheletro soft sotto-attuato con sistema di attuazione a cavi per l’assistenza degli arti superiori
WO2023021159A1 (fr) 2021-08-19 2023-02-23 Eta Bioengineering S.R.L. Exosquelette souple sous-actionné doté d'un système d'actionnement par câbles pour assistance de membre supérieur
IT202100023081A1 (it) * 2021-09-07 2023-03-07 Milano Politecnico Dispositivo di assistenza al movimento per l’articolazione del gomito
EP4144331A1 (fr) 2021-09-07 2023-03-08 Politecnico di Milano Dispositif d'aide au mouvement pour articulation du coude

Also Published As

Publication number Publication date
SG10201912505YA (en) 2020-02-27
EP3334572A4 (fr) 2019-04-10
EP3334572A1 (fr) 2018-06-20
CN107921628A (zh) 2018-04-17

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