PL3217942T3 - Egzoszkielet - Google Patents

Egzoszkielet

Info

Publication number
PL3217942T3
PL3217942T3 PL15858390T PL15858390T PL3217942T3 PL 3217942 T3 PL3217942 T3 PL 3217942T3 PL 15858390 T PL15858390 T PL 15858390T PL 15858390 T PL15858390 T PL 15858390T PL 3217942 T3 PL3217942 T3 PL 3217942T3
Authority
PL
Poland
Prior art keywords
exoskeleton
Prior art date
Application number
PL15858390T
Other languages
English (en)
Inventor
Adam Zoss
Darrell MUSICK
Nathan Harding
Original Assignee
Ekso Bionics, Inc.
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 Ekso Bionics, Inc. filed Critical Ekso Bionics, Inc.
Publication of PL3217942T3 publication Critical patent/PL3217942T3/pl

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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • 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
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • 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
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • 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
    • 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
    • A61H2201/1619—Thorax
    • A61H2201/1621—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
    • A61H2201/164—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
    • A61H2201/16—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
    • A61H2201/1652—Harness
    • 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
    • A61H2201/501—Control means thereof computer controlled connected to external computer devices or networks
    • 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
    • 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
    • A61H3/02—Crutches

Landscapes

  • Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Rehabilitation Therapy (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Transplantation (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)
PL15858390T 2014-11-11 2015-11-11 Egzoszkielet PL3217942T3 (pl)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201462078114P 2014-11-11 2014-11-11
PCT/US2015/060124 WO2016077442A1 (en) 2014-11-11 2015-11-11 Methods of enhancing the rehabilitation or training of an exoskeleton wearer
EP15858390.6A EP3217942B1 (en) 2014-11-11 2015-11-11 Exoskeleton

Publications (1)

Publication Number Publication Date
PL3217942T3 true PL3217942T3 (pl) 2022-03-21

Family

ID=55954982

Family Applications (1)

Application Number Title Priority Date Filing Date
PL15858390T PL3217942T3 (pl) 2014-11-11 2015-11-11 Egzoszkielet

Country Status (6)

Country Link
US (1) US10576008B2 (pl)
EP (1) EP3217942B1 (pl)
CN (1) CN107106398B (pl)
ES (1) ES2905096T3 (pl)
PL (1) PL3217942T3 (pl)
WO (1) WO2016077442A1 (pl)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2561605A (en) * 2017-04-21 2018-10-24 Jaguar Land Rover Ltd Gait training apparatus
CN107569367B (zh) * 2017-10-18 2021-09-17 房倩玉 一种下肢康复训练设备
KR102626098B1 (ko) * 2018-12-13 2024-01-18 삼성전자주식회사 보행 보조 장치를 제어하는 방법 및 그 방법을 수행하는 전자 장치
JP7362189B2 (ja) 2019-09-05 2023-10-17 エルジー エナジー ソリューション リミテッド 二次電池およびその二次電池の製造方法
KR102776193B1 (ko) * 2019-10-28 2025-03-11 삼성전자주식회사 웨어러블 장치를 이용한 균형 훈련 방법 및 그 웨어러블 장치
CN111292824A (zh) * 2020-01-20 2020-06-16 深圳市丞辉威世智能科技有限公司 康复方法、康复设备、装置及计算机可读存储介质
US11464691B1 (en) * 2020-02-04 2022-10-11 Eli Razon Assisted standing and walking device with lateral gait control
USD968623S1 (en) * 2020-05-25 2022-11-01 Jtekt Corporation Orthosis
JP1686590S (pl) * 2020-08-21 2021-05-31
CN112068434B (zh) * 2020-09-09 2021-09-21 北京航空航天大学 基于扩展状态观测器的康复机械装置迭代学习控制方法
CN114721258B (zh) * 2022-02-21 2023-03-10 电子科技大学 基于非线性扩展状态观测器的下肢外骨骼反步控制方法
US20230301864A1 (en) * 2022-03-22 2023-09-28 David Barwick Technologies for improving the gait of individuals with parkinson's disease
CN115328183B (zh) * 2022-08-23 2025-07-08 电子科技大学 一种线性扩张观测器、反演控制器及外骨骼装置
CN116492195A (zh) * 2023-04-24 2023-07-28 太原理工大学 一种基于调整步态姿势治疗膝关节炎的装置与控制方法
CN118269058B (zh) * 2024-04-07 2024-10-29 合肥工业大学 一种基于状态机的助力外骨骼机器人运动识别方法

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US4175550A (en) 1978-03-27 1979-11-27 Leininger James R Therapeutic bed
US5255188A (en) 1991-09-16 1993-10-19 Jace Systems, Inc. Universal controller for continuous passive motion devices
US5588841A (en) 1995-04-05 1996-12-31 Mechling; Richard W. Apparatus and method for the teaching of standing balance
TW321903U (en) 1997-06-07 1997-12-01 Jang An Shin Rehabilitation machine for lower limbs disabled person
US6872187B1 (en) 1998-09-01 2005-03-29 Izex Technologies, Inc. Orthoses for joint rehabilitation
US7918808B2 (en) 2000-09-20 2011-04-05 Simmons John C Assistive clothing
DE10225323B4 (de) 2002-06-06 2004-07-08 Romert Gmbh Vorrichtung mit einer Arbeits- und Funktionseinheit
JP4148262B2 (ja) 2003-05-21 2008-09-10 松下電工株式会社 脚部トレーニング装置
EP1734912B1 (en) 2004-02-05 2018-09-26 Motorika Ltd. Apparatus for rehabilitation and training
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US9198821B2 (en) * 2011-09-28 2015-12-01 Northeastern University Lower extremity exoskeleton for gait retraining
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Also Published As

Publication number Publication date
ES2905096T3 (es) 2022-04-07
EP3217942A4 (en) 2018-12-05
CN107106398B (zh) 2024-03-15
CN107106398A (zh) 2017-08-29
EP3217942A1 (en) 2017-09-20
US10576008B2 (en) 2020-03-03
US20180078442A1 (en) 2018-03-22
EP3217942B1 (en) 2022-01-05
WO2016077442A1 (en) 2016-05-19

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