WO2020070711A1 - Système d'actionnement à sorties multiples pour articulations robotiques - Google Patents

Système d'actionnement à sorties multiples pour articulations robotiques

Info

Publication number
WO2020070711A1
WO2020070711A1 PCT/IB2019/058481 IB2019058481W WO2020070711A1 WO 2020070711 A1 WO2020070711 A1 WO 2020070711A1 IB 2019058481 W IB2019058481 W IB 2019058481W WO 2020070711 A1 WO2020070711 A1 WO 2020070711A1
Authority
WO
WIPO (PCT)
Prior art keywords
outlet
inlet
power
robotic
configuration
Prior art date
Application number
PCT/IB2019/058481
Other languages
English (en)
Inventor
Francesco Giovacchini
Nicola Vitiello
Andrea BALDONI
Simona CREA
Andrea PARRI
Matteo FANTOZZI
Original Assignee
Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna
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 Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna filed Critical Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna
Publication of WO2020070711A1 publication Critical patent/WO2020070711A1/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
    • A61H1/0292—Stretching or bending or torsioning apparatus for exercising for the spinal column
    • 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
    • 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
    • A61H1/024—Knee
    • 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
    • A61H1/0244—Hip
    • 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
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • 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
    • A61H2201/1215—Rotary drive
    • A61H2201/1223—Frequency controlled AC motor
    • 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
    • A61H2201/1238—Driving means with hydraulic or pneumatic 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1436—Special crank assembly
    • 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
    • A61H2201/1445—Overrunning clutches; One-way clutches
    • 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
    • A61H2201/1463—Special speed variation means, i.e. speed reducer
    • 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
    • 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
    • A61H2201/1628—Pelvis
    • 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
    • A61H2201/1642—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
    • 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
    • A61H2201/5007—Control means thereof computer 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
    • 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

Definitions

  • the invention relates to a system for managing the actuation and the simultaneous under-actuation of prosthetic and/or orthotic joints.
  • the challenge is to reduce the weight of the robotic device capable of expressing this power.
  • the only possibility is to reduce the components that are conceptually necessary to have the required functionality, such as actuators, for example.
  • US2016310344 describes a system for assisting the walk of a user comprising a pair of femoral supports and a unit for the motion transmission.
  • the transmission unit comprises a differential adapted to move in phase the two femoral supports, appropriately distributing the power supplied.
  • US2016310344 does not provide the possibility of switching between various actuation modes, allowing to decide whether to actuate a single joint or a plurality of joints or if to change the transmission ratio on the same joint.
  • the main advantage of the present invention lies in the possibility of selecting the various connection configurations between actuators and robotic joints in real time during the movement of the user.
  • the same actuator can be used to implement several joints simultaneously, thanks to the under-actuation mechanism. It is therefore possible to have a much lower number of actuators than the joints to be moved, with a clear saving in terms of weight and bulk compared to the prior art.
  • a plurality of output paths can be used to actuate the same joint, substantially allowing to change the transmission ratio, i.e. the joint movement.
  • a further advantage can be provided by using a control unit that allows the system to be fully automated, by means of sensors that provide the control unit with information on a user's position, motion and intentions, so that they can be selected in intelligent way the optimal configurations of transmission of the motion.
  • Fig. 1 shows a graphical representation of the principle of operation of the system according to the present invention
  • Fig. 2 shows, in a schematic manner and by way of example, a possible exemplary embodiment of the system for handling robotic joints, according to the present invention, wherein two actuation units are provided for handling five robotic joints arranged throughout the body of the user;
  • Figs. 5A and 5B show, in front and rear view, an example of implementing the system on an exoskeleton for knee and ankle;
  • Figs. 6A and 6B show some possible exemplary embodiments of the connection means that allow to pass between the various transmission configurations .
  • the outlet O l allows the first actuation unit G 1 to actuate the joints R lr R 2 and R 3 by means of a first motion transmission chain M ll whereas the outlet 0 12 allows the first actuation unit G 1 to actuate the joints R 4 and R 5 by means of a second motion transmission chain M 12 .
  • the second actuation unit G 2 instead can actuate the joints R 4 and R 5 by means of a third motion transmission chain M 21 and the joint R 5 by means of a fourth motion transmission chain M 22 .
  • the joints R 4 and R 5 can have multiple actuation channels, coming from different outlets with different powers, ensuring to dynamically adapt to different handling needs, for example during the various phases of a walk or even in the passage between a walk and a race.
  • the system can simply switch between the various configurations, which connect and disconnect the inlets and outlets of the various actuation units, to modify the power supplied on the single joint. For example, it is possible to provide a very high torque to the ankle during the foot support phase, and subsequently to reduce the torque and increase the speed of execution, when the ankle is in the phase of detaching the foot from the ground. Similarly, and at the same time, a transition between different configurations of motion can be made for the knee and the hip .
  • Fig. 4 shows an example of implementing the system 1 on a knee exoskeleton.
  • the two outlets O l and 0 ⁇ 2 both actuate the same robotic joint R lr precisely the knee one, providing the possibility of having an actuation with two different transmission ratios, similarly to a car gear.
  • Figs . 5A and 5B show, in front and rear view, an example of implementing the system on a prosthesis for knee and ankle.
  • Figs. 6A and 6B show some possible exemplary embodiments of the connection means 120 that allow to pass between the various transmission configurations.
  • FIG. 6A a similar exemplary embodiment is shown having 4 outlets 0 llr 0 12 , 0 13 and 0 14 with relative receiving elements 110a, 110b, llOa' , 110b' .
  • There are also 4 rotating elements 125a, 125b, 125a' , 125b' which, in addition to rotate about the respective axes x' and x", can also translate along of them, allowing pass more quickly between the engagement configuration and the disengagement configuration.

Landscapes

  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • General Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Neurology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Quick-Acting Or Multi-Walled Pipe Joints (AREA)

Abstract

Un système (1) pour manipuler des articulations robotiques conçues pour accompagner le mouvement d'un utilisateur, ledit système (1) comprenant un nombre prédéterminé p d'articulations robotiques R K (R 1 — R p ), avec k = 1,2,...,p. Le système (1) comprend ensuite un nombre prédéterminé n d'unités d'actionnement G i (G1 — Gn), avec i= 1,2,...,n, chaque unité d'actionnement G i comprenant une entrée l i (l 1 - l n ) agencée pour fournir une puissance d'entrée Q i , un nombre prédéterminé m i de sorties O ij (O11 - Onmn), avec j= 1,2,...,m i , chaque sortie O ij agencée pour exprimer une puissance de sortie T ij , un nombre m i de chaînes de transmission de mouvement M ij (M11 - Mnmn) agencé pour transférer ladite puissance de sortie T ij à au moins une desdites articulations robotiques R k . En outre, chaque unité d'actionnement G i est adaptée pour être disposée entre un nombre m i de configurations C ih , dans chaque configuration C ih ladite entrée l i étant connectée à un nombre h de sorties O ij , avec 1 ≤ h ≤ m i .
PCT/IB2019/058481 2018-10-05 2019-10-04 Système d'actionnement à sorties multiples pour articulations robotiques WO2020070711A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102018000009202 2018-10-05
IT102018000009202A IT201800009202A1 (it) 2018-10-05 2018-10-05 Sistema di attuazione ad uscite multiple per giunti robotici

Publications (1)

Publication Number Publication Date
WO2020070711A1 true WO2020070711A1 (fr) 2020-04-09

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2019/058481 WO2020070711A1 (fr) 2018-10-05 2019-10-04 Système d'actionnement à sorties multiples pour articulations robotiques

Country Status (2)

Country Link
IT (1) IT201800009202A1 (fr)
WO (1) WO2020070711A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070241696A1 (en) * 2006-03-31 2007-10-18 Michel Lauria High Performance Differential Actuator for Robotic Interaction Tasks
WO2013019749A1 (fr) * 2011-07-29 2013-02-07 Global Medical Device Partners, Inc. Exosquelette pour assistance et rééducation à la marche
JP2013208293A (ja) * 2012-03-30 2013-10-10 Equos Research Co Ltd 歩行支援装置、及び歩行支援プログラム
EP2754538A1 (fr) * 2011-09-06 2014-07-16 Wakayama University Dispositif robotique à assistance de puissance et procédé de commande de celui-ci
US20160310344A1 (en) * 2015-04-23 2016-10-27 Honda Motor Co., Ltd. Motion assist device
WO2018039803A1 (fr) * 2016-09-02 2018-03-08 Exonetik Inc. Contrôleur et système de téléprésence utilisant des appareils d'embrayage à fluide magnétorhéologique
US20180125692A1 (en) * 2016-11-04 2018-05-10 Honda Motor Co., Ltd. Motion assist device

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070241696A1 (en) * 2006-03-31 2007-10-18 Michel Lauria High Performance Differential Actuator for Robotic Interaction Tasks
WO2013019749A1 (fr) * 2011-07-29 2013-02-07 Global Medical Device Partners, Inc. Exosquelette pour assistance et rééducation à la marche
EP2754538A1 (fr) * 2011-09-06 2014-07-16 Wakayama University Dispositif robotique à assistance de puissance et procédé de commande de celui-ci
JP2013208293A (ja) * 2012-03-30 2013-10-10 Equos Research Co Ltd 歩行支援装置、及び歩行支援プログラム
US20160310344A1 (en) * 2015-04-23 2016-10-27 Honda Motor Co., Ltd. Motion assist device
WO2018039803A1 (fr) * 2016-09-02 2018-03-08 Exonetik Inc. Contrôleur et système de téléprésence utilisant des appareils d'embrayage à fluide magnétorhéologique
US20180125692A1 (en) * 2016-11-04 2018-05-10 Honda Motor Co., Ltd. Motion assist device

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