WO2008123200A1 - Motion assisting device and its control method - Google Patents

Motion assisting device and its control method Download PDF

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Publication number
WO2008123200A1
WO2008123200A1 PCT/JP2008/055448 JP2008055448W WO2008123200A1 WO 2008123200 A1 WO2008123200 A1 WO 2008123200A1 JP 2008055448 W JP2008055448 W JP 2008055448W WO 2008123200 A1 WO2008123200 A1 WO 2008123200A1
Authority
WO
WIPO (PCT)
Prior art keywords
motion
upper limb
user
assisting device
control method
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.)
Ceased
Application number
PCT/JP2008/055448
Other languages
French (fr)
Japanese (ja)
Inventor
Kenichi Yano
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.)
Gifu University NUC
Original Assignee
Gifu University NUC
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 Gifu University NUC filed Critical Gifu University NUC
Publication of WO2008123200A1 publication Critical patent/WO2008123200A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45111—Meal, food assistance

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Epidemiology (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
  • Prostheses (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)

Abstract

A motion assisting device and its control method for preferably assisting the motion of the upper limb of the user by reproducing a highly-safe, human, smooth motion, giving convenience for the user in any of various scenes, and producing a high rehabilitation training effect. The motion assisting device comprises first detection means for detecting the motion of the upper limb of the user, second detection means for detecting the position and posture of the upper limb, and a manipulator operating under control according to information from these means. The upper limb of the user can separate from the end of the manipulator. By feedback control of the manipulator using information from the first and second detection means, the motion of the upper limb is preferably assisted.
PCT/JP2008/055448 2007-03-27 2008-03-24 Motion assisting device and its control method Ceased WO2008123200A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007082553A JP2008238338A (en) 2007-03-27 2007-03-27 Operation support apparatus and control method thereof
JP2007-082553 2007-03-27

Publications (1)

Publication Number Publication Date
WO2008123200A1 true WO2008123200A1 (en) 2008-10-16

Family

ID=39830697

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/055448 Ceased WO2008123200A1 (en) 2007-03-27 2008-03-24 Motion assisting device and its control method

Country Status (2)

Country Link
JP (1) JP2008238338A (en)
WO (1) WO2008123200A1 (en)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010098358A1 (en) * 2009-02-26 2010-09-02 国立大学法人岐阜大学 Upper limb motion assist device
WO2012117487A1 (en) * 2011-02-28 2012-09-07 村田機械株式会社 Upper limb exercising device
CN103462735A (en) * 2013-09-04 2013-12-25 宁波市镇海惠斌塑业有限公司 Combing device for disabled people
WO2015072480A1 (en) * 2013-11-14 2015-05-21 村田機械株式会社 Training device
US9211646B2 (en) 2009-08-21 2015-12-15 Panasonic Intellectual Property Management Co., Ltd. Control apparatus and control method for robot arm, assembly robot, control program for robot arm, and control-purpose integrated electronic circuit for robot arm
CN105559983A (en) * 2015-12-28 2016-05-11 深圳市尚荣医用工程有限公司 Intelligent care wheelchair and control system thereof
KR20160084392A (en) * 2013-11-14 2016-07-13 데이진 화-마 가부시키가이샤 Training apparatus
US9925034B2 (en) 2011-09-30 2018-03-27 Verily Life Sciences Llc Stabilizing unintentional muscle movements
US10321928B2 (en) 2014-10-09 2019-06-18 Sony Corporation Information processing device, information processing method, and program
US10368669B2 (en) 2011-09-30 2019-08-06 Verily Life Sciences Llc System and method for stabilizing unintentional muscle movements
US10600596B2 (en) 2014-04-21 2020-03-24 Verily Life Sciences Llc Adapter to attach implements to an actively controlled human tremor cancellation platform
CN112976008A (en) * 2021-03-17 2021-06-18 井菊香 Old man feeds meal device

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5352801B2 (en) * 2008-11-11 2013-11-27 国立大学法人三重大学 Noise removing device, noise removing method, and motion correcting device
CN102066057A (en) * 2009-01-22 2011-05-18 松下电器产业株式会社 Apparatus and method for controlling robot arm, robot, program for controlling robot arm, and integrated electronic circuit
WO2011021376A1 (en) * 2009-08-21 2011-02-24 パナソニック株式会社 Control device and control method for robot arm, household robot, control program for robot arm, and integrated electronic circuit for controlling robot arm
KR101237245B1 (en) * 2010-04-07 2013-03-08 대한민국 Eating Assistant Robot
CN102975205B (en) * 2012-11-08 2015-06-17 陕西科技大学 Full-automatic hand-imitation hair-combing machine
KR101417486B1 (en) 2012-12-17 2014-07-08 현대자동차주식회사 Method and system for extracting intended torque for wearable robot
CN103465272B (en) * 2013-09-29 2015-07-22 哈尔滨工业大学 Six-degree-of-freedom humanoid robot arm
US10271770B2 (en) 2015-02-20 2019-04-30 Verily Life Sciences Llc Measurement and collection of human tremors through a handheld tool
US9943430B2 (en) 2015-03-25 2018-04-17 Verily Life Sciences Llc Handheld tool for leveling uncoordinated motion
JP6474380B2 (en) * 2016-12-19 2019-02-27 ヴェリリー ライフ サイエンシズ エルエルシー Hand-held tool for leveling uncoordinated movements
JP2018176292A (en) * 2017-04-03 2018-11-15 川崎重工業株式会社 Food holding apparatus and method of operating the same
US10420663B2 (en) 2017-05-01 2019-09-24 Verily Life Sciences Llc Handheld articulated user-assistive device with behavior control modes
JP7475620B2 (en) * 2018-08-23 2024-04-30 オージー技研株式会社 Motor function recovery training device
CN109172223B (en) * 2018-09-27 2024-07-02 南京脑科医院 Upper limb fixing device convenient for PICC (peripherally inserted central catheter) placement and dressing change operation
US11980305B1 (en) 2020-08-11 2024-05-14 Jeffery James Wagoner Damped articulation system

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05285870A (en) * 1992-04-03 1993-11-02 Matsushita Electric Ind Co Ltd Direct teaching device for multijoint robot
JPH05341834A (en) * 1992-06-09 1993-12-24 Matsushita Electric Ind Co Ltd Direct teaching device for articulated robot
JPH09141580A (en) * 1995-11-22 1997-06-03 Yaskawa Electric Corp Direct teaching robot movement range limiting device
JPH10231100A (en) * 1996-12-18 1998-09-02 Sankyo Seiki Mfg Co Ltd Motor controller for force assisting device
JPH10291800A (en) * 1997-04-17 1998-11-04 Nissan Motor Co Ltd Assist arm with power assist
JPH1158278A (en) * 1997-08-25 1999-03-02 Yaskawa Electric Corp Robot control device
JP2007522838A (en) * 2004-02-05 2007-08-16 モトリカ インク Rehabilitation of fine motor control

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05285870A (en) * 1992-04-03 1993-11-02 Matsushita Electric Ind Co Ltd Direct teaching device for multijoint robot
JPH05341834A (en) * 1992-06-09 1993-12-24 Matsushita Electric Ind Co Ltd Direct teaching device for articulated robot
JPH09141580A (en) * 1995-11-22 1997-06-03 Yaskawa Electric Corp Direct teaching robot movement range limiting device
JPH10231100A (en) * 1996-12-18 1998-09-02 Sankyo Seiki Mfg Co Ltd Motor controller for force assisting device
JPH10291800A (en) * 1997-04-17 1998-11-04 Nissan Motor Co Ltd Assist arm with power assist
JPH1158278A (en) * 1997-08-25 1999-03-02 Yaskawa Electric Corp Robot control device
JP2007522838A (en) * 2004-02-05 2007-08-16 モトリカ インク Rehabilitation of fine motor control

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2010098358A1 (en) * 2009-02-26 2012-09-06 国立大学法人岐阜大学 Upper limb movement assist device
WO2010098358A1 (en) * 2009-02-26 2010-09-02 国立大学法人岐阜大学 Upper limb motion assist device
US9211646B2 (en) 2009-08-21 2015-12-15 Panasonic Intellectual Property Management Co., Ltd. Control apparatus and control method for robot arm, assembly robot, control program for robot arm, and control-purpose integrated electronic circuit for robot arm
WO2012117487A1 (en) * 2011-02-28 2012-09-07 村田機械株式会社 Upper limb exercising device
JPWO2012117487A1 (en) * 2011-02-28 2014-07-07 村田機械株式会社 Upper limb training device
US10368669B2 (en) 2011-09-30 2019-08-06 Verily Life Sciences Llc System and method for stabilizing unintentional muscle movements
US9925034B2 (en) 2011-09-30 2018-03-27 Verily Life Sciences Llc Stabilizing unintentional muscle movements
US11944216B2 (en) 2011-09-30 2024-04-02 Verily Life Sciences Llc System and method for stabilizing unintentional muscle movements
US10455963B2 (en) 2011-09-30 2019-10-29 Verily Life Sciences, LLC System and method for stabilizing unintentional muscle movements
CN103462735A (en) * 2013-09-04 2013-12-25 宁波市镇海惠斌塑业有限公司 Combing device for disabled people
KR20160085777A (en) * 2013-11-14 2016-07-18 데이진 화-마 가부시키가이샤 Training device
WO2015072480A1 (en) * 2013-11-14 2015-05-21 村田機械株式会社 Training device
KR20160084392A (en) * 2013-11-14 2016-07-13 데이진 화-마 가부시키가이샤 Training apparatus
KR102303526B1 (en) 2013-11-14 2021-09-17 데이진 화-마 가부시키가이샤 Training apparatus
KR102303525B1 (en) 2013-11-14 2021-09-17 데이진 화-마 가부시키가이샤 Training device
US10600596B2 (en) 2014-04-21 2020-03-24 Verily Life Sciences Llc Adapter to attach implements to an actively controlled human tremor cancellation platform
US10321928B2 (en) 2014-10-09 2019-06-18 Sony Corporation Information processing device, information processing method, and program
CN105559983A (en) * 2015-12-28 2016-05-11 深圳市尚荣医用工程有限公司 Intelligent care wheelchair and control system thereof
CN112976008A (en) * 2021-03-17 2021-06-18 井菊香 Old man feeds meal device

Also Published As

Publication number Publication date
JP2008238338A (en) 2008-10-09

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