WO2018093039A3 - 다양한 상지재활 훈련모드를 위한 댐핑 조절식 견관절 추종 장치 - Google Patents

다양한 상지재활 훈련모드를 위한 댐핑 조절식 견관절 추종 장치 Download PDF

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Publication number
WO2018093039A3
WO2018093039A3 PCT/KR2017/010513 KR2017010513W WO2018093039A3 WO 2018093039 A3 WO2018093039 A3 WO 2018093039A3 KR 2017010513 W KR2017010513 W KR 2017010513W WO 2018093039 A3 WO2018093039 A3 WO 2018093039A3
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WO
WIPO (PCT)
Prior art keywords
shoulder joint
upper limb
tracking device
damping
joint tracking
Prior art date
Application number
PCT/KR2017/010513
Other languages
English (en)
French (fr)
Other versions
WO2018093039A2 (ko
Inventor
박형순
이경섭
김호진
Original Assignee
한국과학기술원
대한민국(국립재활원장)
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
Priority claimed from KR1020160152460A external-priority patent/KR101997068B1/ko
Priority claimed from KR1020170122137A external-priority patent/KR102048569B1/ko
Application filed by 한국과학기술원, 대한민국(국립재활원장) filed Critical 한국과학기술원
Priority to US16/347,872 priority Critical patent/US11484460B2/en
Publication of WO2018093039A2 publication Critical patent/WO2018093039A2/ko
Publication of WO2018093039A3 publication Critical patent/WO2018093039A3/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
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0281—Shoulder
    • 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
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/02—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters
    • 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
    • A61H2201/0165—Damping, vibration related features
    • 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
    • A61H2201/1215—Rotary 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
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • 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
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1664—Movement of interface, i.e. force application means linear
    • 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
    • A61H2201/5053—Control means thereof mechanically 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/062—Shoulders

Landscapes

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

Abstract

견관절 추종 장치로서, 피훈련자의 견관절의 수직 방향 움직임과 팔의 무게, 팔에 부착되는 재활 운동 장치의 무게에 대한 중력을 보상하는 중력 보상 스프링, 그리고 견관절 재활 장치의 일측에 설치되어 중력 보상 스프링과 연결되어 있으며, 피훈련자에 의해 가해지는 힘에 대응하는 댐핑 저항력을 힘이 가해지는 방향과 반대 방향으로 인가하여, 견관절 재활 장치의 모든 방향 움직임을 제어하는 견관절 추종 장치를 포함한다.
PCT/KR2017/010513 2016-11-16 2017-09-22 다양한 상지재활 훈련모드를 위한 댐핑 조절식 견관절 추종 장치 WO2018093039A2 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US16/347,872 US11484460B2 (en) 2016-11-16 2017-09-22 Damping-adjustable shoulder joint tracking apparatus for various upper extremity rehabilitation modes

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR1020160152460A KR101997068B1 (ko) 2016-11-16 2016-11-16 상지 재활을 위한 어깨 관절 추종 및 중력 보상 장치
KR10-2016-0152460 2016-11-16
KR10-2017-0122137 2017-09-21
KR1020170122137A KR102048569B1 (ko) 2017-09-21 2017-09-21 다양한 상지재활 훈련모드를 위한 댐핑 조절식 견관절 추종 장치

Publications (2)

Publication Number Publication Date
WO2018093039A2 WO2018093039A2 (ko) 2018-05-24
WO2018093039A3 true WO2018093039A3 (ko) 2018-07-05

Family

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PCT/KR2017/010513 WO2018093039A2 (ko) 2016-11-16 2017-09-22 다양한 상지재활 훈련모드를 위한 댐핑 조절식 견관절 추종 장치

Country Status (2)

Country Link
US (1) US11484460B2 (ko)
WO (1) WO2018093039A2 (ko)

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US10966893B2 (en) * 2018-03-23 2021-04-06 Hiwin Technologies Corp. Exoskeleton apparatus for limb rehabilitation
CN108814902B (zh) * 2018-06-29 2020-01-10 华中科技大学 一种人机运动匹配且能对侧互换的上肢外骨骼康复装置
JP2022552095A (ja) * 2019-10-11 2022-12-15 エンドクエスト ロボティクス インコーポレイテッド ロボット外科手術用の７自由度位置決め装置
CN113082592A (zh) * 2021-04-07 2021-07-09 上海柔妹子信息科技有限公司 一种可变阻尼导轨及上肢康复训练设备的可变阻尼系统
CN113520801A (zh) * 2021-08-19 2021-10-22 淮北贵翔堂医药有限公司 一种全自动中风胳膊康复训练装置
CN113893131A (zh) * 2021-10-20 2022-01-07 南通大学 一种带有肩关节被动跟踪功能的绳索驱动上肢外骨骼康复机器人

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Also Published As

Publication number Publication date
US20190269571A1 (en) 2019-09-05
WO2018093039A2 (ko) 2018-05-24
US11484460B2 (en) 2022-11-01

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