WO2018093448A3 - Robotic upper limb rehabilitation device - Google Patents

Robotic upper limb rehabilitation device Download PDF

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Publication number
WO2018093448A3
WO2018093448A3 PCT/US2017/050922 US2017050922W WO2018093448A3 WO 2018093448 A3 WO2018093448 A3 WO 2018093448A3 US 2017050922 W US2017050922 W US 2017050922W WO 2018093448 A3 WO2018093448 A3 WO 2018093448A3
Authority
WO
WIPO (PCT)
Prior art keywords
upper limb
exoskeleton
assembly
robotic
rehabilitation device
Prior art date
Application number
PCT/US2017/050922
Other languages
French (fr)
Other versions
WO2018093448A2 (en
Inventor
Rana SOLTANI-ZARRIN
Amin ZEIAEE
Reza LANGARI
Reza TAFRESHI
Original Assignee
Qatar Foundation For Education, Science And Community Development
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 Qatar Foundation For Education, Science And Community Development filed Critical Qatar Foundation For Education, Science And Community Development
Priority to DE112017004560.6T priority Critical patent/DE112017004560T5/en
Priority to GB1903064.2A priority patent/GB2567999A/en
Publication of WO2018093448A2 publication Critical patent/WO2018093448A2/en
Publication of WO2018093448A3 publication Critical patent/WO2018093448A3/en
Priority to US16/298,777 priority patent/US20190201273A1/en

Links

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
    • A61H1/0277—Elbow
    • 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
    • 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
    • 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
    • A61H2201/0103—Constructive details inflatable
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/123—Linear 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
    • A61H2201/16—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
    • A61H2201/5058—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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors

Landscapes

  • 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)
  • Rehabilitation Tools (AREA)

Abstract

The robotic upper limb rehabilitation device (10) assists in rehabilitation of an upper limb of a human patient recovering from a stroke or the like. The device (10) is an exoskeleton having an articulated shoulder assembly (12) having five degrees of freedom, including at least two degrees of freedom simulating inner shoulder movement. An upper arm member (14) is pivotally attached to the shoulder assembly (12), and a forearm assembly (16) is pivotally attached to the upper arm member (14). An inflatable handgrip (18) extends from the forearm assembly (16). A robotic control unit 50 receives signals from sensors (52, 54, 56, 58, 60, 61) and is configured to activate actuators (22, 24, 26, 28, 30, 32) attached to the exoskeleton to assist upper limb movement when required, or to permit the exoskeleton to conform to upper limb movement when no assistance is required.
PCT/US2017/050922 2016-09-09 2017-09-11 Robotic upper limb rehabilitation device WO2018093448A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE112017004560.6T DE112017004560T5 (en) 2016-09-09 2017-09-11 Robot arm rehabilitation device
GB1903064.2A GB2567999A (en) 2016-09-09 2017-09-11 Robotic upper limb rehabilitation device
US16/298,777 US20190201273A1 (en) 2016-09-09 2019-03-11 Robotic upper limb rehabilitation device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201662385941P 2016-09-09 2016-09-09
US62/385,941 2016-09-09

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US16/298,777 Continuation-In-Part US20190201273A1 (en) 2016-09-09 2019-03-11 Robotic upper limb rehabilitation device

Publications (2)

Publication Number Publication Date
WO2018093448A2 WO2018093448A2 (en) 2018-05-24
WO2018093448A3 true WO2018093448A3 (en) 2018-06-28

Family

ID=62145596

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2017/050922 WO2018093448A2 (en) 2016-09-09 2017-09-11 Robotic upper limb rehabilitation device

Country Status (3)

Country Link
DE (1) DE112017004560T5 (en)
GB (1) GB2567999A (en)
WO (1) WO2018093448A2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110812106B (en) * 2018-08-14 2021-08-17 中国科学院宁波材料技术与工程研究所 Intelligent hand rehabilitation training device

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2567010A (en) * 2017-10-02 2019-04-03 Univ Strathclyde Apparatus for the rehabilitation, assistance and/or augmentation of arm strength in a user
CN108818618B (en) * 2018-06-29 2020-07-10 华中科技大学 Rehabilitation robot arm gravity balancing device
CN109044728B (en) * 2018-07-26 2020-10-09 蔡天明 Medical shoulder joint rehabilitation training robot with bionic arm
CN109044729B (en) * 2018-07-26 2020-10-02 蔡天明 Medical shoulder joint rehabilitation training robot
CN108939396A (en) * 2018-09-26 2018-12-07 东南大学 A kind of rope driving wearing type upper limb recovery training robot and its application method
CN109172282A (en) * 2018-10-17 2019-01-11 苏州帝维达生物科技有限公司 A kind of upper limb rehabilitation robot of seven freedom
CN109453014A (en) * 2018-12-21 2019-03-12 上海市第十人民医院 A kind of device for healing and training elbow joint
CN109806110A (en) * 2019-02-22 2019-05-28 广州哈罗博康复机器人生产有限公司 Arm rehabilitation device and healing robot
CN109760021A (en) * 2019-02-26 2019-05-17 广州海同工业技术有限公司 A kind of wearable upper limb assistance exoskeleton
CN110181482A (en) * 2019-05-23 2019-08-30 北京邮电大学 A kind of modularization seven freedom upper limb exoskeleton robot
CN110123584B (en) * 2019-06-06 2024-02-13 长春理工大学 Six-degree-of-freedom wearable flexible rope driven exoskeleton type upper limb rehabilitation training robot
IT201900010026A1 (en) * 2019-06-26 2020-12-26 Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna Apparatus capable of implementing a distal joint and transferring constraint reactions to an under-implemented shoulder exoskeleton
EP3797933A1 (en) * 2019-09-27 2021-03-31 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Arrangement for a controlled movement of an arm of human
DE102019131005A1 (en) * 2019-11-17 2021-05-20 Exoiq Gmbh EXOSKELETO JOINT DRIVE WITH NON-LINEAR TRANSMISSION
KR20220110193A (en) * 2019-12-03 2022-08-05 휴먼 인 모션 로보틱스 인코포레이티드 Motion guiding device and motion guiding assistance system
CN111067760B (en) * 2019-12-31 2022-11-08 上海机器人产业技术研究院有限公司 Upper limb rehabilitation training robot based on omnidirectional mobile platform
CN117426932A (en) * 2023-12-21 2024-01-23 江西求是高等研究院 Portable rehabilitation chair

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070225620A1 (en) * 2006-03-23 2007-09-27 Carignan Craig R Portable Arm Exoskeleton for Shoulder Rehabilitation
US20110251533A1 (en) * 2008-12-16 2011-10-13 Jungsoo Han Wearable robotic system for rehabilitation training of the upper limbs
KR20120015704A (en) * 2010-08-13 2012-02-22 한국과학기술원 Robot shoulder mechanism for stroke patients rehabilitation
US20130060171A1 (en) * 2008-05-09 2013-03-07 National Taiwan University Rehabilitation and training apparatus and method of controlling the same
US20130237883A1 (en) * 2010-09-28 2013-09-12 C.N.R. Consiglio Nazionale Ricerche Biomedical device for robotized rehabilitation of a human upper limb, particularly for neuromotor rehabilitation of the shoulder and elbow joint

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070225620A1 (en) * 2006-03-23 2007-09-27 Carignan Craig R Portable Arm Exoskeleton for Shoulder Rehabilitation
US20130060171A1 (en) * 2008-05-09 2013-03-07 National Taiwan University Rehabilitation and training apparatus and method of controlling the same
US20110251533A1 (en) * 2008-12-16 2011-10-13 Jungsoo Han Wearable robotic system for rehabilitation training of the upper limbs
KR20120015704A (en) * 2010-08-13 2012-02-22 한국과학기술원 Robot shoulder mechanism for stroke patients rehabilitation
US20130237883A1 (en) * 2010-09-28 2013-09-12 C.N.R. Consiglio Nazionale Ricerche Biomedical device for robotized rehabilitation of a human upper limb, particularly for neuromotor rehabilitation of the shoulder and elbow joint

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110812106B (en) * 2018-08-14 2021-08-17 中国科学院宁波材料技术与工程研究所 Intelligent hand rehabilitation training device

Also Published As

Publication number Publication date
GB2567999A (en) 2019-05-01
DE112017004560T5 (en) 2019-05-16
WO2018093448A2 (en) 2018-05-24
GB201903064D0 (en) 2019-04-24

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