WO2017161257A8 - Device and method for strengthening the arms of huaman exoskeletons - Google Patents

Device and method for strengthening the arms of huaman exoskeletons Download PDF

Info

Publication number
WO2017161257A8
WO2017161257A8 PCT/US2017/022949 US2017022949W WO2017161257A8 WO 2017161257 A8 WO2017161257 A8 WO 2017161257A8 US 2017022949 W US2017022949 W US 2017022949W WO 2017161257 A8 WO2017161257 A8 WO 2017161257A8
Authority
WO
WIPO (PCT)
Prior art keywords
huaman
exoskeletons
strengthening
arms
arm
Prior art date
Application number
PCT/US2017/022949
Other languages
French (fr)
Other versions
WO2017161257A1 (en
Inventor
Russ Angold
Nicholas FLEMING
Emily ROGERS
Brett JAEGER
Chris Paretich
Original Assignee
Ekso Bionics, Inc.
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 Ekso Bionics, Inc. filed Critical Ekso Bionics, Inc.
Priority to CN201780018286.8A priority Critical patent/CN109068835A/en
Priority to EP17767624.4A priority patent/EP3429427A4/en
Priority to US16/085,296 priority patent/US10596059B2/en
Publication of WO2017161257A1 publication Critical patent/WO2017161257A1/en
Publication of WO2017161257A8 publication Critical patent/WO2017161257A8/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45F—TRAVELLING OR CAMP EQUIPMENT: SACKS OR PACKS CARRIED ON THE BODY
    • A45F3/00—Travelling or camp articles; Sacks or packs carried on the body
    • A45F3/04—Sacks or packs carried on the body by means of two straps passing over the two shoulders
    • A45F3/08—Carrying-frames; Frames combined with sacks
    • 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
    • A61H1/0277—Elbow
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45F—TRAVELLING OR CAMP EQUIPMENT: SACKS OR PACKS CARRIED ON THE BODY
    • A45F3/00—Travelling or camp articles; Sacks or packs carried on the body
    • A45F3/14—Carrying-straps; Pack-carrying harnesses
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45F—TRAVELLING OR CAMP EQUIPMENT: SACKS OR PACKS CARRIED ON THE BODY
    • A45F4/00—Travelling or camp articles which may be converted into other articles or into objects for other use; Sacks or packs carried on the body and convertible into other articles or into objects for other use
    • A45F4/02—Sacks or packs convertible into other articles or into objects for other use
    • 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
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1614—Shoulder, e.g. for neck stretching
    • A61H2201/1616—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
    • A61H2201/1619—Thorax
    • A61H2201/1621—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
    • A61H2201/1623—Back
    • A61H2201/1626—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
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—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

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • 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)
  • Manipulator (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)

Abstract

An exoskeleton (251) includes an arm brace (230) coupled to an arm (200) of a wearer (250) and a tensile member (257, 258) connected to the arm brace (230). An actuator (285) exerts a pulling force on the tensile member (257, 258). The pulling force reduces a length of the tensile member (257, 258) between the arm brace (230) and the actuator (285) and causes the arm (200) of the wearer (250) to bend at an elbow (202).
PCT/US2017/022949 2016-03-18 2017-03-17 Device and method for strengthening the arms of huaman exoskeletons WO2017161257A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201780018286.8A CN109068835A (en) 2016-03-18 2017-03-17 For reinforcing the device and method of the arm of the ectoskeleton of people
EP17767624.4A EP3429427A4 (en) 2016-03-18 2017-03-17 Device and method for strengthening the arms of huaman exoskeletons
US16/085,296 US10596059B2 (en) 2016-03-18 2017-03-17 Device and method for strengthening the arms of human exoskeletons

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201662310352P 2016-03-18 2016-03-18
US62/310,352 2016-03-18

Publications (2)

Publication Number Publication Date
WO2017161257A1 WO2017161257A1 (en) 2017-09-21
WO2017161257A8 true WO2017161257A8 (en) 2017-11-09

Family

ID=59851006

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2017/022949 WO2017161257A1 (en) 2016-03-18 2017-03-17 Device and method for strengthening the arms of huaman exoskeletons

Country Status (4)

Country Link
US (1) US10596059B2 (en)
EP (1) EP3429427A4 (en)
CN (1) CN109068835A (en)
WO (1) WO2017161257A1 (en)

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WO2017006322A2 (en) * 2015-07-06 2017-01-12 Rewalk Robotics Ltd. Methods and apparatuses for exoskeleton attachment
US11214789B2 (en) 2016-05-03 2022-01-04 Flodesign Sonics, Inc. Concentration and washing of particles with acoustics
MX2019004640A (en) * 2016-10-21 2019-09-18 Skel Ex Holding B V Force-balancing support, mechanical apparatus and wearable support device.
US11026859B1 (en) * 2017-04-20 2021-06-08 United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Wearable robotic upper body garment
CN108818601B (en) * 2018-07-27 2020-07-28 新昌县凌智机械有限公司 Manipulator for engineering
CN109291038B (en) * 2018-09-28 2024-02-27 赤源动力（大连）科技有限责任公司 Wearable shoulder assistance exoskeleton
DE102018127553B4 (en) * 2018-11-05 2020-11-05 Ottobock Se & Co. Kgaa Device for supporting at least one arm of a user
KR102142570B1 (en) 2019-04-04 2020-08-10 현대자동차(주) Upper arm module of wearable muscular strength assisting apparatus and wearable muscular strength assisting apparatus including the same
IT201900007848A1 (en) 2019-06-03 2020-12-03 Milano Politecnico Load compensation device, in particular gravitational loads, applicable to exoskeletons
CN110787024B (en) * 2019-06-26 2021-07-20 东南大学 Shoulder joint rehabilitation exoskeleton mechanism adopting unpowered compensation joints
CN110774270A (en) * 2019-11-29 2020-02-11 耿泽坤 Mechanical arm is stabilized to firearms ectoskeleton
US11853034B2 (en) * 2020-05-08 2023-12-26 Skip Innovations, Inc. Exosuit activity transition control
RU206244U1 (en) * 2021-03-09 2021-09-02 Общество с ограниченной ответственностью "Экзомед" ADAPTIVE DEVICE FOR EASIER HANDLING
CN113894772B (en) * 2021-09-28 2023-01-03 浙江国丰集团有限公司 Bionic forearm wearable mechanism
US11781712B1 (en) * 2021-09-30 2023-10-10 Christian Curry Arm support device
CN115342684B (en) * 2022-08-05 2024-01-05 南京理工大学 Flexible wearable device for improving shooting stability of single-hand gun

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US4843921A (en) 1988-04-18 1989-07-04 Kremer Stephen R Twisted cord actuator
US5212900A (en) * 1989-02-14 1993-05-25 Edward Perry Limb brace support device for fishing rods
US5178137A (en) * 1990-03-16 1993-01-12 Motus, Inc. Segmented dynamic splint
US5685830A (en) * 1990-07-30 1997-11-11 Bonutti; Peter M. Adjustable orthosis having one-piece connector section for flexing
US5878500A (en) 1997-11-14 1999-03-09 Emerson; Ernest R. Self-opening folding knife
FR2839916B1 (en) 2002-05-22 2004-10-15 Agence Spatiale Europeenne EXOSQUELET FOR HUMAN ARMS, ESPECIALLY FOR SPATIAL APPLICATIONS
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Also Published As

Publication number Publication date
US10596059B2 (en) 2020-03-24
EP3429427A4 (en) 2019-12-25
US20190350794A1 (en) 2019-11-21
EP3429427A1 (en) 2019-01-23
CN109068835A (en) 2018-12-21
WO2017161257A1 (en) 2017-09-21

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