WO2019086672A1 - Système de manipulation d'un objet devant être déplacé par deux manipulateurs - Google Patents

Système de manipulation d'un objet devant être déplacé par deux manipulateurs Download PDF

Info

Publication number
WO2019086672A1
WO2019086672A1 PCT/EP2018/080183 EP2018080183W WO2019086672A1 WO 2019086672 A1 WO2019086672 A1 WO 2019086672A1 EP 2018080183 W EP2018080183 W EP 2018080183W WO 2019086672 A1 WO2019086672 A1 WO 2019086672A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor
influencer
limb
information
object information
Prior art date
Application number
PCT/EP2018/080183
Other languages
English (en)
Inventor
Fabian Just
Georg RAUTER
Robert Riener
Original Assignee
ETH Zürich
Universität Basel
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 ETH Zürich, Universität Basel filed Critical ETH Zürich
Publication of WO2019086672A1 publication Critical patent/WO2019086672A1/fr

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
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • 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
    • 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
    • A61H2201/164—Feet or leg, e.g. pedal
    • 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
    • A61H2201/5064—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
    • 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
    • A61H2201/5079—Velocity 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
    • A61H2201/5084—Acceleration 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about

Definitions

  • TITLE System for handling an object to be displaced by two influencers
  • the present invention relates to a system for handling an object to be displaced by two influencers. It is on one side especially related to a system where the object is a limb therapy system and the two influencers are a patient and a therapist acting on the limb therapy system, wherein the limb therapy system is configured to provide weight compensation to the patient and/or other types of haptic support or resistance: It is on the other side related to a system where the object is a heavy and mostly cumbersome object, which is displaced by a first influencer being a crane driver, a steerman or a helicopter pilot, wherein a second influencer is a second person near the position where the object is to be positioned.
  • WO 2009/052958 discloses an arm therapy system with at least one drive moving a part of the arm therapy system.
  • it is a first drive and said drive is rotationally driving a part of the arm therapy system about a first axis.
  • this first drive is a lower arm module and it is connected to an upper arm module, wherein the arm therapy system comprises a second drive adapted to rotationally drive said upper arm module about a second axis with further features as that said second axis is oriented nonparallel to the first axis and that the first drive is fixedly connected to an element determining the position of a user to have more control.
  • the aim of the system is to help the user to move his arm, even if his muscles are not capable to lift the arm.
  • the drives can provide support to the point that the user has the impression that his arm is without weight. Such a system helps training persons having lost the capability to easily control their limbs. It can of course be applied to the legs as other limbs as well.
  • a therapist intending to help the training session and taking the hand of the user to indicate him stretching the arm to bend the lower arm or rotate the arm at the shoulder, will exert forces on the limb of the user, then transferred to the connection of the user with the drives and will be seen by the control system of the drives as a movement of the user.
  • WO 2017/012680 Al discloses an arrangement to position a part of the tower of a wind turbine to be used during the installation of the tower.
  • the arrangement comprises a sensor to sense a position of a part of the tower, and means to transmit such sensor information to a place in a certain distance from the sensor.
  • the system further comprises means to evaluate the sensor data, and means to influence the position of the part of the tower according to the evaluation of the sensor data.
  • the user of the limb therapy system is the person manipulating actuators lifting the wind turbine part (or any other heavy part as a heavy load in WO 2014/1 15472 or a pipe as in KR2014/0079589.).
  • the therapist is here the worker at the bottom of the wind turbine tower seeing the swinging tower part and usually informing the load manipulator where he is in order to lower the part correctly at its place.
  • Sensors used to determine the position and orientation of the arm therapy system are well known to someone skilled in the art and are disclosed in WO 2009/052958.
  • DE 10 2014 215 969 discloses sensors used to determine position, distance, inclination etc. of a rotor of a wind turbine as force sensors, GPS, inclination sensors, height sensors. Further sensors used in this context are acceleration sensors.
  • US 9,592,608 Bl discloses a robotic system with at least one component and at least one actuator and having information relating to a path in an environment of the robotic system. The movement along that path results from application of an external force to the robotic system and during the recording of the path, deviations are noted and force using the actuator of the system is resisting the deviation.
  • WO 2017/008898 Al discloses a robot programming technique where the input command for a robot is entered by manually exerting a force onto the robot. This manual exertion of an external force allows a direct and automatic determination of an input command, thus facilitating the programming.
  • the limb therapy system comprises the specific configuration of claim 1 of a limb holding element, a therapist interface and location of first and second sensors allowing the therapist to modify a robotic rehabilitation movement applied to the limb in real time. This allows to store and replay said movement without intervention of the therapist. Drive signals of a movement provided by a therapist are stored and can be replayed later on.
  • a system for handling an object to be displaced comprises at least one drive, at least one connection, a control unit, at least a first sensor configured to provide object information from the group encompassing position, orientation, speed, rotational speed, acceleration about the object and at least an object information transmittal system provided for the first influencer. Then the at least one drive is connected via the at least one connection with the object to be displaced. The at least one first sensor is connected with the at least one object information transmittal system in a bidirectional connection or in a distance to generate said object information.
  • each sensor is connected with a transmittal system directly or via a communication connection.
  • Said object information is transmitted via a signal line to the control unit.
  • the system further comprises at least a second sensor and at least an influencer transmittal system for the second influencer, wherein the at least a second sensor is connected with the object and the at least an influencer transmittal system and is configured to provide influencer information from the group encompassing force, torque, force torque, speed, acceleration or distance, from the at least one influencer transmittal system acting on the object, wherein said influencer information is transmitted via a signal line to the control unit, wherein the control unit adds the object information and the at least one influencer information to generate control signals to be transmitted to the at least one drive.
  • HMI Human-Machine Interface
  • the object information transmittal system provides object information from the above mentioned group, e.g. position, which can be delivered when the object information transmittal system comprises a holding element of the limb as a cuff.
  • the system is a limb therapy system and the connections are part of the limb therapy system, wherein the at least one object information transmittal system comprises a user holding element, especially a cuff, wherein the at least one influencer transmittal system comprises a handle, wherein the at least one second sensor is a sensor attached between the handle and the limb therapy system.
  • the limb therapy system can comprise control strategies that allow relieving the a first user attached by an at least one first sensor with a cuff from complete or partial body or limb weight, where the a second user can teach the limb therapy system how much body weight support is provided by manual interaction through the at least one second sensor.
  • the limb therapy system can include any other haptic control strategy that can be continuously manually adapted in support/resistance over the entire training movement by the at least one second user through the at least one second sensor with a handle.
  • the system is an object displacing system, wherein the at least one influencer transmittal system comprises an influencer interface, especially a handle directly attached to the object, wherein the at least one second sensor is a sensor attached between the handle and the object.
  • the at least one influencer transmittal system comprises an influencer interface, specially a handle, held in a distance to the object, wherein the at least one second sensor is a distance sensor incorporated in the handle, wherein the sensor data comprises data from the group encompassing distance, relative speed information, relative acceleration information.
  • control unit adds the object information and the at least one influencer information to generate control signals to be transmitted to the at least one drive
  • the position information comes from a distance measurement or other sources relating to an object to be displaced, then the influencer information can easily be processed together with control information moving the object without e.g. visual contact between the different influencers provided for controlling the movement of the usually heavy and voluminous object.
  • Such processing can include adding and subtracting of the signals, which signals can also be amplified or attenuated.
  • the invention also discloses a method for controlling an actuated apparatus comprising touching of one or more sensors mounted on the apparatus, controlling one or more actuators of the apparatus based on signals generated by said sensors.
  • the sensors can measure forces of the operator acting on the apparatus.
  • the sensors can measure pressure of the operator acting on the apparatus.
  • the apparatus may be connected to a nonlinear mechanical system, wherein said non-linear system can be a human.
  • the apparatus can be adapted to support and to guide a second user, especially to connect to an arm or leg of such a second user.
  • the apparatus can support such arm of a user with structural features as disclosed in WO 2009/052958.
  • the apparatus can comprise control strategies that are influenced by the at last a second user with the at least one second sensor to allow relieving the at least a first user attached to the apparatus with the at least a first sensor from perceived body weight or by adding forces that increase the perceived body weight. Forces and torques can also be applied in any other direction at several individual as well as complete limb and body parts in order to support or challenge the at least a first user
  • Such an apparatus can have structural features as shown in EP 2 730 266.
  • the apparatus may be a mobile platform moveable on a surface.
  • the apparatus may comprise storing characteristics of said signals for later replay on the apparatus. Further embodiments of the invention are laid down in the dependent claims.
  • Fig. 1 shows a very schematic perspective view of the overall limb therapy system according to an embodiment of the invention, together with a schematically depicted patient,
  • Fig. 2 shows a handle in use with the system according to Fig, 1 ,
  • Fig. 3 shows schematically the function of the HMI of an arm therapy system according to Fig. 1 with the handles of Fig. 2;
  • Fig. 4 shows schematically the function of an HMI of a general actuating system with here four influencing actuators, especially described in connection with positioning of heavy weight systems,
  • Fig. 5 shows schematically the embodiment of sensor distribution for the arm therapy system according to Fig. 3,
  • Fig. 6 shows schematically a different embodiment of sensor distribution for an arm therapy system according to the invention.
  • Fig. 7 shows schematically a further embodiment of sensor distribution for an arm therapy system according to the invention.
  • Fig. 1 shows a very schematic perspective view of the overall limb therapy system according to one embodiment of the invention, together with a schematically depicted patient, wherein the basis of the drawing was taken from WO 2009/052958 with all reference numerals smaller than 35 are from that prior art document and the numerals greater than 35 are reflecting features according to an embodiment of the present invention.
  • the limb therapy system is an arm therapy system.
  • the structure of the arm therapy system can be attached to a wall 10.
  • a second motor drive M2 is connected with a beam 1 1 to the wall 10. It is also possible that instead of a wall 10 the respective attachment element is adjustable in height, i.e. the position of second motor drive M2 in vertical direction is adjustable.
  • Wall 10 can of course also be replaced by a mobile platform, a chair or the attachment point can be affixed to a harness on the user's back.
  • Profile 21 is connected with second drive motor M2 for an axial rotation around axis A2.
  • axis A2 of second motor drive M2 is a vertical axis, being in parallel to the anteriorposterior or rostrocaudal axis of user 19.
  • Profile 23 is connected via profile 22 with the drive shaft of second motor drive M2 and thus defines the rotational movement of profile 23 about axis A2.
  • Profile 24 provides the distance of radius r communicated to first motor drive Ml via profile 25.
  • first motor drive Ml oriented in parallel to axis Al * which is perpendicular to axis A2, is not in line with axis Al * but a distance r behind, i.e. in the direction of the dorsal side of the user 19, as it can be seen from the intersection of axis A2 with profile 26.
  • Axes Al and Al * are preferably horizontal axes.
  • a profile 26 connects the above mentioned structure to the rotation module for the upper arm of a user 19, comprising a cuff and motors as well as the module for the lower arm of the user 19, wherein here, only a third motor drive M3 as well as the lower arm profile 29 is shown.
  • Motors including said third motor drive M3, can be chosen and arranged according to WO 2006/058442 or another prior art device for a limb actuating system.
  • object to be displaced This can refer to different parts of the limb, i.e. the hand/wrist, the forearm or the upper arm as well as the equivalent parts of the leg for a lower limb therapy system.
  • a first handle 41 is attached at profile 26 and a second handle 42 is attached at lower arm profile 29.
  • First handle 41 can be seized with the left hand of a therapist and second handle 42 can be seized with the right hand of said therapist. Then, moving the handles 41 as well as 42 in the 3D environment moves the arm therapy system and thus the arm of the user 19. It is also possible that two persons or therapists or influencers are handling the handles 41 and 42 separately.
  • Fig. 2 shows a handle 40 in use with the system according to Fig, 1.
  • Handle 40 can be either first handle 41 or second handle 42. It is also possible that there is a further, i.e. third handle (not shown at the hand portion of the arm therapy system) and it is possible that there is only provided one lower arm handle 42. This is independent from the function according to the invention.
  • Handle 40 is attached at profile 20 of the arm therapy system.
  • Profile 20 can be profile 26 or profile 29 or any other movable profile, wherein the movement of said therapy system portion can be a translation, a rotation or a combined movement.
  • Handle 40 comprises at least two parts. It comprises a grip portion 46, which can be a knob, a bar like handhold etc. Said grip portion 46 is attached to the profile 20 via a sensor case 45.
  • Said sensor case 45 comprises at least one sensor detecting a force or moment imparted by the therapist onto the grip portion 46. In the present description the reference numeral 45 is used for the sensor as well.
  • the slits 47 indicate that a torque sensor can also be implemented as sensor 45 or as part of a multi-sensor assembly having a plurality of sensors as mentioned below, since then grip portion 46 can be inclined in view of the longitudinal axis 48 of the handle 40.
  • Sensor 45 is connecting profile 20 with grip portion 46 directly or indirectly. It can be a force sensor, a torque sensor, a force torque sensor, a speed sensor, an acceleration sensor or a distance sensor. In this context it is noted that sensor 45 is not necessarily exactly one sensor. It can be a plurality of sensors of one kind or combining different sensor types. It is especially possible that it is a 6 DOF sensor, so that a therapist gripping handle bar 46 and pushing it into a specific direction in relationship to connecting profile 20 is sensed by the different sensors.
  • This movement of the handle bar 46 providing a specific movement of the arm holding equipment drives the drives of the apparatus. Therefore, in a method of using the apparatus control signals providing this movement of the apparatus can be stored and replayed with a user's limb 19 in a cuff 35 of the apparatus.
  • the method of storing said drive signals is a technical method independent of the presence of the user's limb 19 in the apparatus.
  • Fig. 3 now shows schematically the function of the HMI (human machine interface) of an arm therapy system according to Fig. 1 with the handles 40 of Fig. 2.
  • limb therapy systems (especially for arm or leg) are intended to compensate for the lack of force of a user through reducing the felt weight of the limb in question by the driven exoskeleton. It is also possible to enhance the possibilities of the user through boosting any movement and force imparted by the user on the cuffs holding its members. Therefore the system comprises a number of sensors 31 at the attachment or contact points of the cuffs 35 with the profiles of the attachment system to measure the intended relative movement of the user within the encompassing exoskeleton.
  • sensors can be force sensors, torque sensors, force torque sensors, speed sensors, acceleration sensors or distance sensors, as mentioned above for the sensors 45.
  • these sensors 31 (two are shown in Fig. 3) mainly sense the user's impact on the system "on the other side” of the system.
  • the measurement principles are identical, the sensor signals stemming from sensors 31 are from “inside” the system whereas the signals from sensors 45 are provided form “outside” by the therapist.
  • the reference numeral 35 is used for an underarm cuff as well as a glove-like cuff to maintain the hand.
  • the system can allow to guide a patient with external arms 61 and 62 at the upper arm, the forearm and the hand.
  • a therapist only has two arms 61 and 62 to guide the handles but the control unit is configured to memorize the movement performed by the therapist with his guiding hands 61 and 62 for hand and forearm (as shown in Fig. 3) and then the therapist can switch to upper arm and forearm whereby the movement of the hand, especially the wrist joint guided beforehand by arm 62 is repeated automatically.
  • control unit 50 In case that the movement of the simultaneously guided forearm diverges from the initial training (forearm plus hand) then either the new or an average of the movement path of the arm is memorized by the control unit 50 to be able to repeat the movement without interference of the therapist, which allows the patient inter alia to gain confidence in its movement even if the apparatus is relieving part of the weight of the arm to support the movement. Then the control unit can also memorize such movements for further training sessions which can also be used as starting point for a new improved help from the therapist, e.g. with less weight relieve or towards a greater amplitude of movement.
  • the prototype depicted in Fig. 3 uses the disposition of sensors as shown in Fig. 5. It is f course possible to use the disposition of the sensors as shown in Fig. 6 and Fig. 7 with an adequate adaption of the control setting as explained in connection with these drawings.
  • the arrows 51 represent the sensor signal as well as the transmission path of the sensor information stemming from "inside" sensors 31 of the arm therapy system towards a control unit 50.
  • the arrow 52 represents the sensor signal as well as the transmission path of the sensor information stemming from "outside" sensors 46 of the therapist actuated handles 41 and 42 towards said control unit 50.
  • Said position information also comprises rotational information about the orientation of the different arm system components in the 3D space around the user. This information can be usually obtained through position of the drives Ml , M2 and M3 of Fig. 1 or it can be obtained by sensing the position of the elements from the outside e.g. per photo-recognition.
  • the three signal streams 51 , 52 and 53 comprise information from the two sensor groups (user and therapist - "inside” and “outside”) as well as position/orientation information and are conveyed to the controller inside control unit 50 especially adding the different signals 51 and 52 to a resulting force and moment which can be virtual.
  • the intelligent controller of the control unit 50 generates control signals which are contingently modulated under consideration of the position / orientation information available and transmitted as control signals 55 to motor drives Ml , M2; M3 etc. .
  • the signals 55 driving the motor drives are similar as the drive signals issued by the control unit as known from the prior art WO 2009/052958 in view of the position of the arm therapy system with the proviso that the signals are augmented with processed input signal information from the group encompassing inter alia force, torque, speed and acceleration information depending on the sensors used in sensor cases 45 allowing a transparent movement of the therapy system by the therapist, i.e. guiding the user's arm in a transparent way without losing the advantage of the arm (and system) weight compensation.
  • Fig. 4 shows schematically the function of an HMI of a general actuating system with here four influencing players, especially described in connection with positioning of heavy weight systems 1 10.
  • the weight to be displaced has the reference numeral 1 10. It is connected mechanically with an actuator MX.
  • This can be a single motor drive or a combination of several drives.
  • the "weight” is the therapy system 10 and there are at least three drives Ml , M2 and M3.
  • the connection 1 1 1 can be a solid mechanical connection. It can be a resilient connection and it can be e.g. a rope connection, wherein the drive is incorporated in a travelling crane and also comprise a winch relating to the length of the one or more rope(s), or it is a rope leading from a helicopter maintaining its position above a structure where the load is to be delivered.
  • the actuator MX receives control signals via control signal line 155.
  • Fig. 4 shows an application with a plurality of influencing systems. If the control unit 150 knows the mechanical properties of the object 1 10 to be displaced as mass or the geometric stiffness matrix than it is possible that the influence and actuation of the different system can be separated one from the other. This does not simply apply to the example of Fig. 4 but also to the system of Fig. 1 since there are two sensing systems with sensors 31 and 41/42, connected to the user 19 and the therapist 61/62.
  • sensor 131 is related to one or more sensors integrated into sensor 131. This can be "a" 6DOF sensor 131.
  • Sensor 131 and object information transmittal system 135 is connected with a bidirectional, especially haptical connection 134 or it can be provided by a distance measurement, especially a continuous distance measurement over time in intervals short enough to have a valid distance information taking into account small enough changes.
  • the influencer system can be the user 19 (from the example of Fig. 1), a crane operator or a helicopter pilot, or steerman, if an object is to be unloaded from a ship. Then it is a human user providing distance, orientation, acceleration etc. information via sensors 131 to control unit 150 via signal lines 153.
  • a first influencer system 141 is docked at object 110 connected with the bidirectional connection 134 to a second sensor 145.
  • a second influencer system 142 is docked at object 1 10 comiected with the bidirectional connection 134 to a further second sensor 145'.
  • These two influencer systems 141 and 142 can be compared to the two handles 41 and 42 of Fig. 1 with sensors 145 and 145' in the connection with the object 1 10.
  • further influencer systems until a x-th influencer system 149 can also be docked at object 1 10 connected with the bidirectional connection 134 to an x-th sensor system 145".
  • the application with heavy load systems often involves a heavy metallic object 1 10.
  • the sensor 131, 145, 145, 145" can comprise a magnetic base which can be removably attached to the object.
  • the sensor devices are then contained in a sensor case 45 and connected to a handle 41 of the system 135, 141, 142, 149.
  • a person approaches the object 1 10 to the intended place via a motor drive system MX.
  • MX motor drive system
  • a second person attaches the system 141 with the sensor 45 at the object 1 10.
  • the sensor data can also be used in scaled form. This is related to the possibility to scale the sensor data up or down.
  • the intelligent controller inside control unit 150 does not necessarily know the position of the object to be displaced or the orientation of the handling system.
  • a scaled actuation for the different systems i.e. to provide differently scaled actuation for the different driving signals.
  • Fig. 5 shows schematically the embodiment of sensor distribution for the arm therapy system according to Fig. 3.
  • the reference numerals of that embodiment are used but it is clear that the lower arm of the user 19 can be the upper arm or an object 1 10 of Fig. 4.
  • the arm is held by a cuff 35, as the object 1 10 may be contacted by the object information transmittal system 135.
  • the cuff 35 is connected via user movement sensor 31 to a drive connection profile 126.
  • This profile is similar to profiles 25 and 26 of Fig. 1 or the connection with actuator 111 of Fig. 4.
  • This drive connection profile 126 is displaced through actuation by drive MS.
  • the reference numeral MS is related to the drive and sensor(s) relating to the drive. Such sensors can comprise position sensors for the drive position, acceleration sensors etc.
  • the at least one first sensor is the movement sensor 31 and is connected with the at least one object information transmittal system in a bidirectional connection which means that the element holding the limb 19 is maintained by e.g. a cuff 35 connected with the movement sensor 31 in a stiff or rigid mechanical connection which can transfer forces influencing the object, i.e. limb, information as mentioned as position, orientation, speed, rotational speed or acceleration.
  • This connection can be direct as in Fig. 5 and 6 and can include a drive MS as shown in Fig. 7.
  • the drive connection profile 126 is connected via sensor 45 to influencer interface or handle 40.
  • the handle 40 is intended to be gripped by therapist arm 61.
  • the control unit 50 as shown for Fig. 3 uses the internal object position information from sensor 31 (as internal sensor) and processes it together with the independent signals from the influencer interface 40 via external sensor 45. Thus these signals can be processed together and determine the movement of the device.
  • the drive MS especially if it is a drive to rotate connection 126 around an axis, has an encoder acting as additional sensor which can be used as information in the then over-determined system.
  • Fig. 6 shows schematically a different embodiment of sensor distribution for an arm therapy system according to the invention, where the external sensor 45 is omitted. Influencer interface 40 is directly acting onto the drive and sensor MS. Then the control unit 50 has internal position and torque information from the internal sensor 31 and combined internal and external information from the sensor from drive and sensor MS. The control unit 50 can then extract the external influencer information from this combined signal.
  • Fig. 7 shows schematically a further embodiment of sensor distribution for an arm therapy system according to the invention, where the internal sensor 31 is omitted.
  • the cuff 35 is directly connected to the drive connection profile 126. Since the therapist acts with his arm 61 onto the influencer interface 40 and thus via the sensor 45 onto the same drive connection profile 126, the control unit 50 has one external signal from sensor 45 and a combined internal and external signal to process, which also allows to extract here the internal user related signal from the combined signal.

Landscapes

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

Abstract

La présente invention concerne un système permettant de manipuler un objet (110) à déplacer qui comprend au moins un entraînement (MX), au moins une liaison (111) au niveau de l'objet à déplacer, une unité de commande (150), au moins un premier capteur (131) configuré pour fournir des informations d'objet (152) dans le groupe comprenant la position, l'orientation, la vitesse, la vitesse de rotation, l'accélération autour de l'objet (110), et au moins un premier système de transmission (135). L'entraînement (MX) est relié par l'intermédiaire de la liaison (111) à l'objet (110) à déplacer. Le premier capteur (131) est connecté au premier système de transmission (135) dans une connexion bidirectionnelle ou à une distance pour générer lesdites informations d'objet. Lesdites informations d'objet sont transmises par l'intermédiaire d'une ligne de signal à l'unité de commande (150). Ensuite, au moins un deuxième capteur (145, 145', 145") et au moins un deuxième système de transmission (141, 142, 149) sont fournis, le deuxième capteur étant connecté à l'objet et au deuxième système de transmission et étant configuré pour fournir des informations d'influenceur dans le groupe comprenant la force, le couple, le couple de force, la vitesse, l'accélération ou la distance, à partir du deuxième système de transmission agissant sur l'objet, lesdites informations d'influenceur étant transmises par l'intermédiaire d'une ligne de signal à l'unité de commande qui ajoute les informations d'objet et l'au moins une information d'influenceur pour générer des signaux de commande (155) devant être transmis à l'au moins un entraînement.
PCT/EP2018/080183 2017-11-03 2018-11-05 Système de manipulation d'un objet devant être déplacé par deux manipulateurs WO2019086672A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP17199974.1 2017-11-03
EP17199974 2017-11-03

Publications (1)

Publication Number Publication Date
WO2019086672A1 true WO2019086672A1 (fr) 2019-05-09

Family

ID=60320639

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/080183 WO2019086672A1 (fr) 2017-11-03 2018-11-05 Système de manipulation d'un objet devant être déplacé par deux manipulateurs

Country Status (1)

Country Link
WO (1) WO2019086672A1 (fr)

Citations (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5466213A (en) * 1993-07-06 1995-11-14 Massachusetts Institute Of Technology Interactive robotic therapist
WO2000071026A1 (fr) * 1999-05-26 2000-11-30 Rutgers, The State University Of New Jersey Systeme de reeducation de cheville
US6212443B1 (en) 1995-09-14 2001-04-03 Kabushiki Kaisha Yaskawa Denki Teaching unit for robots
WO2006058442A1 (fr) 2004-11-30 2006-06-08 Eidgenössische Technische Hochschule Zürich Systeme et procede pour une therapie du bras cooperative et module de rotation utilise a cette fin
US20080070752A1 (en) * 2004-02-05 2008-03-20 Motorika, Inc. Fine Motor Control Rehabilitation
US20080288020A1 (en) * 2004-02-05 2008-11-20 Motorika Inc. Neuromuscular Stimulation
WO2009052958A1 (fr) 2007-10-24 2009-04-30 Eth Zurich Système pour une thérapie du bras
DE102007062108A1 (de) 2007-12-21 2009-07-02 Kuka Roboter Gmbh Industrieroboter und Verfahren zum Programmieren eines Industrieroboters
EP2730266A1 (fr) 2012-11-09 2014-05-14 Hocoma AG Appareil d'entraînement à la marche
KR20140079589A (ko) 2012-12-17 2014-06-27 현대중공업 주식회사 중량물의 위치 제어 장치
WO2014115472A1 (fr) 2013-01-28 2014-07-31 村田機械株式会社 Dispositif de transfert et procédé de transfert
US20150351991A1 (en) * 2013-01-16 2015-12-10 Ekso Bionics, Inc. Interface for Adjusting the Motion of a Powered Orthotic Device through Externally Applied Forces
DE102014215969A1 (de) 2014-08-12 2016-02-18 Wobben Properties Gmbh Verfahren zum Installieren eines Rotorblattes an einer Windenergieanlage
WO2017008898A1 (fr) 2015-07-14 2017-01-19 Kuka Roboter Gmbh Détermination d'une instruction d'entrée pour un robot, qui est entrée en exerçant manuellement une force sur le robot
WO2017012680A1 (fr) 2015-07-21 2017-01-26 Siemens Aktiengesellschaft Système de positionnement de tour
US9592608B1 (en) 2014-12-15 2017-03-14 X Development Llc Methods and systems for providing feedback during teach mode

Patent Citations (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5466213A (en) * 1993-07-06 1995-11-14 Massachusetts Institute Of Technology Interactive robotic therapist
US6212443B1 (en) 1995-09-14 2001-04-03 Kabushiki Kaisha Yaskawa Denki Teaching unit for robots
WO2000071026A1 (fr) * 1999-05-26 2000-11-30 Rutgers, The State University Of New Jersey Systeme de reeducation de cheville
US20080070752A1 (en) * 2004-02-05 2008-03-20 Motorika, Inc. Fine Motor Control Rehabilitation
US20080288020A1 (en) * 2004-02-05 2008-11-20 Motorika Inc. Neuromuscular Stimulation
WO2006058442A1 (fr) 2004-11-30 2006-06-08 Eidgenössische Technische Hochschule Zürich Systeme et procede pour une therapie du bras cooperative et module de rotation utilise a cette fin
WO2009052958A1 (fr) 2007-10-24 2009-04-30 Eth Zurich Système pour une thérapie du bras
DE102007062108A1 (de) 2007-12-21 2009-07-02 Kuka Roboter Gmbh Industrieroboter und Verfahren zum Programmieren eines Industrieroboters
EP2730266A1 (fr) 2012-11-09 2014-05-14 Hocoma AG Appareil d'entraînement à la marche
KR20140079589A (ko) 2012-12-17 2014-06-27 현대중공업 주식회사 중량물의 위치 제어 장치
US20150351991A1 (en) * 2013-01-16 2015-12-10 Ekso Bionics, Inc. Interface for Adjusting the Motion of a Powered Orthotic Device through Externally Applied Forces
WO2014115472A1 (fr) 2013-01-28 2014-07-31 村田機械株式会社 Dispositif de transfert et procédé de transfert
DE102014215969A1 (de) 2014-08-12 2016-02-18 Wobben Properties Gmbh Verfahren zum Installieren eines Rotorblattes an einer Windenergieanlage
US9592608B1 (en) 2014-12-15 2017-03-14 X Development Llc Methods and systems for providing feedback during teach mode
WO2017008898A1 (fr) 2015-07-14 2017-01-19 Kuka Roboter Gmbh Détermination d'une instruction d'entrée pour un robot, qui est entrée en exerçant manuellement une force sur le robot
WO2017012680A1 (fr) 2015-07-21 2017-01-26 Siemens Aktiengesellschaft Système de positionnement de tour

Similar Documents

Publication Publication Date Title
EP2349168B1 (fr) Système universel d'entraînement haptique
Zhou et al. RML glove—An exoskeleton glove mechanism with haptics feedback
US5354162A (en) Actuator system for providing force feedback to portable master support
CN110678157B (zh) 机电机器人操作器装置
US20090182436A1 (en) Robot Arm
JP2019500925A (ja) ロボットシステム及びロボットシステムをバックドライブする方法
CN107708595A (zh) 超灵巧型手术系统用户接口装置
CN110997084B (zh) 上肢运动器械及其控制方法
CN111067760B (zh) 一种基于全向移动平台的上肢康复训练机器人
Sutapun et al. A 4-DOF upper limb exoskeleton for stroke rehabilitation: kinematics mechanics and control
Sarac et al. AssistOn-Mobile: a series elastic holonomic mobile platform for upper extremity rehabilitation
CN114129392B (zh) 可调控末端指尖力的自适应冗余驱动外骨骼康复机器人
CN108025437B (zh) 康复系统及方法
Park et al. Development of a dual-cable hand exoskeleton system for virtual reality
WO2019086672A1 (fr) Système de manipulation d'un objet devant être déplacé par deux manipulateurs
KR20160082430A (ko) 재활 로봇
US20180065246A1 (en) System for Cooperation Between a Human and a Robotic Device
JP2023175889A (ja) 外科手術ロボットアームの移動制御
EP2067462B1 (fr) Système et procédé de réhabilitation
Decker et al. A hand exoskeleton device for robot assisted sensory-motor training after stroke
JP6957036B2 (ja) 位置・力制御装置
EP3406407A1 (fr) Système de robot présentant des performances de mouvement adaptatif
EP2678759A2 (fr) Système et dispositif tactile pour interaction homme-machine
KR101999543B1 (ko) 손잡이 각도 조정 기능이 부가된 상지 운동 기구
JP2000102576A (ja) 歩行訓練装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18800073

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18800073

Country of ref document: EP

Kind code of ref document: A1