ATE426379T1 - Aktive steuerung einer fussgelenkorthese - Google Patents

Aktive steuerung einer fussgelenkorthese

Info

Publication number
ATE426379T1
ATE426379T1 AT06750178T AT06750178T ATE426379T1 AT E426379 T1 ATE426379 T1 AT E426379T1 AT 06750178 T AT06750178 T AT 06750178T AT 06750178 T AT06750178 T AT 06750178T AT E426379 T1 ATE426379 T1 AT E426379T1
Authority
AT
Austria
Prior art keywords
ankle
foot
forces
exoskeleton system
techniques
Prior art date
Application number
AT06750178T
Other languages
English (en)
Inventor
Behzad Dariush
Original Assignee
Honda Motor Co Ltd
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 US11/402,487 external-priority patent/US7650204B2/en
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Application granted granted Critical
Publication of ATE426379T1 publication Critical patent/ATE426379T1/de

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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • 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
    • A61H1/0266—Foot
    • 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
    • A61H2201/50—Control means thereof
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Therapy (AREA)
  • Pain & Pain Management (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
  • Prostheses (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)
  • Catalysts (AREA)
AT06750178T 2005-04-12 2006-04-12 Aktive steuerung einer fussgelenkorthese ATE426379T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US67073205P 2005-04-12 2005-04-12
US11/402,487 US7650204B2 (en) 2001-06-29 2006-04-11 Active control of an ankle-foot orthosis

Publications (1)

Publication Number Publication Date
ATE426379T1 true ATE426379T1 (de) 2009-04-15

Family

ID=37087701

Family Applications (1)

Application Number Title Priority Date Filing Date
AT06750178T ATE426379T1 (de) 2005-04-12 2006-04-12 Aktive steuerung einer fussgelenkorthese

Country Status (5)

Country Link
EP (1) EP1868546B1 (de)
JP (1) JP4806447B2 (de)
AT (1) ATE426379T1 (de)
DE (1) DE602006005915D1 (de)
WO (1) WO2006110895A2 (de)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8075633B2 (en) 2003-09-25 2011-12-13 Massachusetts Institute Of Technology Active ankle foot orthosis
ES2586594T3 (es) 2007-07-27 2016-10-17 Vorum Research Corporation Método, aparato, medios y señales para producir una representación de un molde
EP2206088A4 (de) 2007-10-24 2012-04-25 Vorum Res Corp Verfahren, vorrichtung, medien und signale zum anwenden einer formtransformation auf eine dreidimensionale darstellung
CN101336848B (zh) * 2008-08-22 2011-05-04 中国人民解放军海军航空工程学院 人机外骨骼系统及其力控制方法
KR20110074520A (ko) 2008-09-04 2011-06-30 아이워크, 아이엔씨. 하이브리드 지형-적응형 의족 시스템
US20110082566A1 (en) 2008-09-04 2011-04-07 Herr Hugh M Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis
EP2415025B1 (de) 2009-03-31 2017-07-26 Vorum Research Corporation Verfahren und vorrichtung zum anwenden einer rotationstransformation auf einen teil einer dreidimensionalen darstellung eines geräts für einen lebenden körper
WO2011002306A1 (en) * 2009-07-01 2011-01-06 Rex Bionics Limited Control system for a mobility aid
CN102892388A (zh) 2010-04-05 2013-01-23 Iwalk股份有限公司 控制假体或矫形器中的转矩
WO2012096956A1 (en) * 2011-01-10 2012-07-19 Iwalk, Inc. Powered joint orthosis
WO2012097156A2 (en) 2011-01-12 2012-07-19 Iwalk, Inc. Controlling powered human augmentation devices
US9687377B2 (en) 2011-01-21 2017-06-27 Bionx Medical Technologies, Inc. Terrain adaptive powered joint orthosis
WO2012125562A1 (en) 2011-03-11 2012-09-20 Iwalk, Inc. Biomimetic joint actuators
ITFI20110232A1 (it) * 2011-10-21 2013-04-22 Zionamento Sant Anna Metodo per il calcolo del centro di massa per una piattaforma umanoide
US9737419B2 (en) 2011-11-02 2017-08-22 Bionx Medical Technologies, Inc. Biomimetic transfemoral prosthesis
WO2013188510A2 (en) 2012-06-12 2013-12-19 Iwalk, Inc. Prosthetic, orthotic or exoskeleton device
EP3104731B1 (de) 2014-02-12 2023-06-21 University Of South Florida Systeme und verfahren zum entwurf von kinetischen formen
JP7133511B2 (ja) 2019-06-11 2022-09-08 本田技研工業株式会社 情報処理装置、情報処理方法、およびプログラム

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5044360A (en) * 1989-12-26 1991-09-03 United States Manufacturing Company Orthosis with variable motion controls
JP3615702B2 (ja) * 1999-11-25 2005-02-02 ソニー株式会社 脚式移動ロボットの動作制御装置及び動作制御方法、並びに、脚式移動ロボット
US6876903B2 (en) * 2000-11-17 2005-04-05 Honda Giken Kogyo Kabushiki Kaisha Gait pattern generating device for legged mobile robot
JP4611580B2 (ja) * 2001-06-27 2011-01-12 本田技研工業株式会社 トルク付与システム
JP4188607B2 (ja) * 2001-06-27 2008-11-26 本田技研工業株式会社 二足歩行移動体の床反力推定方法及び二足歩行移動体の関節モーメント推定方法
US7390309B2 (en) * 2002-09-23 2008-06-24 Honda Motor Co., Ltd. Human assist system using gravity compensation control system and method using multiple feasibility parameters
US7217247B2 (en) 2002-09-23 2007-05-15 Honda Giken Kogyo Kabushiki Kaisha Gravity compensation method in a human assist system and a human assist system with gravity compensation control
US7251593B2 (en) * 2001-10-29 2007-07-31 Honda Giken Kogyo Kabushiki Kaisha Simulation system, method and computer-readable medium for human augmentation devices
US20040031169A1 (en) * 2001-09-28 2004-02-19 Jensen Jeffrey L. Neuropathic foot protector
JP3844695B2 (ja) * 2002-01-28 2006-11-15 本田技研工業株式会社 二足歩行移動体の床反力作用点推定方法
US8075633B2 (en) * 2003-09-25 2011-12-13 Massachusetts Institute Of Technology Active ankle foot orthosis

Also Published As

Publication number Publication date
JP4806447B2 (ja) 2011-11-02
EP1868546A2 (de) 2007-12-26
JP2008535638A (ja) 2008-09-04
WO2006110895A3 (en) 2007-11-01
EP1868546B1 (de) 2009-03-25
WO2006110895A2 (en) 2006-10-19
DE602006005915D1 (de) 2009-05-07
EP1868546A4 (de) 2008-05-21

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Legal Events

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RER Ceased as to paragraph 5 lit. 3 law introducing patent treaties