CA3063399C - Articulation de hanche d'exosquelette a force variable - Google Patents

Articulation de hanche d'exosquelette a force variable Download PDF

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Publication number
CA3063399C
CA3063399C CA3063399A CA3063399A CA3063399C CA 3063399 C CA3063399 C CA 3063399C CA 3063399 A CA3063399 A CA 3063399A CA 3063399 A CA3063399 A CA 3063399A CA 3063399 C CA3063399 C CA 3063399C
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CA
Canada
Prior art keywords
exoskeleton
hip joint
body link
link
coupled
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
CA3063399A
Other languages
English (en)
Other versions
CA3063399A1 (fr
Inventor
Gavin A. Barnes
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Lockheed Martin Corp
Original Assignee
Lockheed Martin Corp
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 US15/597,213 external-priority patent/US10518404B2/en
Application filed by Lockheed Martin Corp filed Critical Lockheed Martin Corp
Publication of CA3063399A1 publication Critical patent/CA3063399A1/fr
Application granted granted Critical
Publication of CA3063399C publication Critical patent/CA3063399C/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Rehabilitation Therapy (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Human Computer Interaction (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Prostheses (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un système d'articulation de hanche d'exosquelette à force réglable. Le système comprend une articulation de hanche. L'articulation de hanche comprend un premier élément pouvant tourner autour d'un axe de rotation d'articulation de hanche, le premier élément étant conçu pour être accouplé à une liaison de corps inférieure ou à une liaison de corps supérieure. L'articulation de hanche comprend en outre un second élément pouvant tourner autour de l'axe de rotation d'articulation de hanche, le second élément étant conçu pour être accouplé à l'autre liaison parmi la liaison de corps inférieure et la liaison de corps supérieure. Le système comprend en outre un mécanisme de force réglable accouplé au premier élément et/ou au second élément. Le mécanisme de force réglable comprend un actionneur accouplé au premier élément, l'actionneur comportant un moteur conçu pour appliquer sélectivement une force réglable au second élément en vue d'empêcher la rotation du premier élément par rapport au second élément.
CA3063399A 2017-05-17 2018-05-16 Articulation de hanche d'exosquelette a force variable Active CA3063399C (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US15/597,213 2017-05-17
US15/597,213 US10518404B2 (en) 2015-07-17 2017-05-17 Variable force exoskeleton hip joint
PCT/US2018/032940 WO2018213427A1 (fr) 2017-05-17 2018-05-16 Articulation de hanche d'exosquelette à force variable

Publications (2)

Publication Number Publication Date
CA3063399A1 CA3063399A1 (fr) 2018-11-22
CA3063399C true CA3063399C (fr) 2021-03-09

Family

ID=64274875

Family Applications (1)

Application Number Title Priority Date Filing Date
CA3063399A Active CA3063399C (fr) 2017-05-17 2018-05-16 Articulation de hanche d'exosquelette a force variable

Country Status (3)

Country Link
EP (1) EP3606703A4 (fr)
CA (1) CA3063399C (fr)
WO (1) WO2018213427A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3878601B1 (fr) * 2020-03-12 2022-03-02 C.R.F. Società Consortile per Azioni Dispositif portable pour l'assistance à des mouvements d'inclinaison avant du torse

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070123997A1 (en) * 2005-03-31 2007-05-31 Massachusetts Institute Of Technology Exoskeletons for running and walking
US8057410B2 (en) * 2005-04-13 2011-11-15 The Regents Of The University Of California Semi-powered lower extremity exoskeleton
AU2009341585B2 (en) * 2008-12-18 2015-06-18 Ekso Bionics, Inc. Wearable material handling system
US7922401B2 (en) * 2009-04-01 2011-04-12 Mckay Thomas L Camera rig with center-of-gravity correction system
WO2012154580A1 (fr) * 2011-05-06 2012-11-15 Equipois Inc. Interface de bras d'exosquelette
ITPI20130005A1 (it) * 2013-01-28 2014-07-29 Scuola Superiore Sant Anna Dispositivo robotico per l'assistenza alla forza umana
CA2902577C (fr) * 2013-03-14 2019-06-11 Ekso Bionics, Inc. Emplacements d'articulation de la hanche non anthropomorphiques pour des exosquelettes
KR102120960B1 (ko) * 2014-07-17 2020-06-09 삼성전자주식회사 지지 프레임 및 이를 포함하는 운동 보조 장치
US10195736B2 (en) 2015-07-17 2019-02-05 Lockheed Martin Corporation Variable force exoskeleton hip joint

Also Published As

Publication number Publication date
EP3606703A1 (fr) 2020-02-12
WO2018213427A1 (fr) 2018-11-22
CA3063399A1 (fr) 2018-11-22
EP3606703A4 (fr) 2020-06-24

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EEER Examination request

Effective date: 20200109

H11 Ip right ceased following rejected request for revival

Free format text: ST27 STATUS EVENT CODE: T-6-6-H10-H11-H101 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: TIME LIMIT FOR REVERSAL EXPIRED

Effective date: 20241118