WO2008123200A1 - 動作支援装置およびその制御方法 - Google Patents

動作支援装置およびその制御方法 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
English (en)
French (fr)
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/ja
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)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)
  • Prostheses (AREA)

Abstract

　安全性が高く、かつ人間的なスムーズな動きを再現して上肢の動作を好適に支援すると共に、多様な場面で使用者の利便に供し、高いリハビリ効果の期待できる動作支援装置およびその制御方法を提供する。 　使用者の上肢の動作を検出する第１検出手段と、該上肢の位置および姿勢を検出する第２検出手段とを有し、これら各手段からの情報によって制御下に作動するマニピュレータを備え、このマニピュレータの先端には使用者の上肢が離間自在であり、該マニピュレータを該第１検出手段および第２検出手段からの情報でフィードバック制御することで、該上肢の動作を好適に支援する。
PCT/JP2008/055448 2007-03-27 2008-03-24 動作支援装置およびその制御方法 Ceased WO2008123200A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007082553A JP2008238338A (ja) 2007-03-27 2007-03-27 動作支援装置およびその制御方法
JP2007-082553 2007-03-27

Publications (1)

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

Family

ID=39830697

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/055448 Ceased WO2008123200A1 (ja) 2007-03-27 2008-03-24 動作支援装置およびその制御方法

Country Status (2)

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

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010098358A1 (ja) * 2009-02-26 2010-09-02 国立大学法人岐阜大学 上肢動作補助装置
WO2012117487A1 (ja) * 2011-02-28 2012-09-07 村田機械株式会社 上肢訓練装置
CN103462735A (zh) * 2013-09-04 2013-12-25 宁波市镇海惠斌塑业有限公司 残疾人用的梳头装置
WO2015072480A1 (ja) * 2013-11-14 2015-05-21 村田機械株式会社 訓練装置
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 (zh) * 2015-12-28 2016-05-11 深圳市尚荣医用工程有限公司 一种智能照护轮椅及其控制系统
KR20160084392A (ko) * 2013-11-14 2016-07-13 데이진 화-마 가부시키가이샤 훈련 장치
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 (zh) * 2021-03-17 2021-06-18 井菊香 一种老人喂饭装置

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5352801B2 (ja) * 2008-11-11 2013-11-27 国立大学法人三重大学 ノイズ除去装置、ノイズ除去方法および動作補正装置
US20110015787A1 (en) * 2009-01-22 2011-01-20 Yuko Tsusaka Control apparatus and control method for robot arm, robot, control program for robot arm, and integrated electronic circuit
WO2011021376A1 (ja) * 2009-08-21 2011-02-24 パナソニック株式会社 ロボットアームの制御装置及び制御方法、家事ロボット、ロボットアームの制御プログラム、及び、ロボットアーム制御用集積電子回路
KR101237245B1 (ko) * 2010-04-07 2013-03-08 대한민국 식사 보조 로봇
CN102975205B (zh) * 2012-11-08 2015-06-17 陕西科技大学 全自动仿手梳头机
KR101417486B1 (ko) 2012-12-17 2014-07-08 현대자동차주식회사 착용로봇의 의도토크 추출방법 및 추출시스템
CN103465272B (zh) * 2013-09-29 2015-07-22 哈尔滨工业大学 一种六自由度仿人机器人手臂
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 (ja) * 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 非協調動作を水平化するための手持ち式用具
JP2018176292A (ja) * 2017-04-03 2018-11-15 川崎重工業株式会社 食品保持装置およびその動作方法
US10420663B2 (en) 2017-05-01 2019-09-24 Verily Life Sciences Llc Handheld articulated user-assistive device with behavior control modes
JP7475620B2 (ja) * 2018-08-23 2024-04-30 オージー技研株式会社 運動機能回復訓練装置
CN109172223B (zh) * 2018-09-27 2024-07-02 南京脑科医院 一种便于picc置管和换药操作的上肢固定装置
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 (ja) * 1992-04-03 1993-11-02 Matsushita Electric Ind Co Ltd 多関節ロボットの直接教示装置
JPH05341834A (ja) * 1992-06-09 1993-12-24 Matsushita Electric Ind Co Ltd 多関節ロボットの直接教示装置
JPH09141580A (ja) * 1995-11-22 1997-06-03 Yaskawa Electric Corp 直接教示ロボットの動作範囲制限装置
JPH10231100A (ja) * 1996-12-18 1998-09-02 Sankyo Seiki Mfg Co Ltd 力補助装置のモータ制御部
JPH10291800A (ja) * 1997-04-17 1998-11-04 Nissan Motor Co Ltd パワーアシスト付き助力アーム
JPH1158278A (ja) * 1997-08-25 1999-03-02 Yaskawa Electric Corp ロボットの制御装置
JP2007522838A (ja) * 2004-02-05 2007-08-16 モトリカ インク 微細運動制御のリハビリテーション

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05285870A (ja) * 1992-04-03 1993-11-02 Matsushita Electric Ind Co Ltd 多関節ロボットの直接教示装置
JPH05341834A (ja) * 1992-06-09 1993-12-24 Matsushita Electric Ind Co Ltd 多関節ロボットの直接教示装置
JPH09141580A (ja) * 1995-11-22 1997-06-03 Yaskawa Electric Corp 直接教示ロボットの動作範囲制限装置
JPH10231100A (ja) * 1996-12-18 1998-09-02 Sankyo Seiki Mfg Co Ltd 力補助装置のモータ制御部
JPH10291800A (ja) * 1997-04-17 1998-11-04 Nissan Motor Co Ltd パワーアシスト付き助力アーム
JPH1158278A (ja) * 1997-08-25 1999-03-02 Yaskawa Electric Corp ロボットの制御装置
JP2007522838A (ja) * 2004-02-05 2007-08-16 モトリカ インク 微細運動制御のリハビリテーション

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2010098358A1 (ja) * 2009-02-26 2012-09-06 国立大学法人岐阜大学 上肢動作補助装置
WO2010098358A1 (ja) * 2009-02-26 2010-09-02 国立大学法人岐阜大学 上肢動作補助装置
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 (ja) * 2011-02-28 2012-09-07 村田機械株式会社 上肢訓練装置
JPWO2012117487A1 (ja) * 2011-02-28 2014-07-07 村田機械株式会社 上肢訓練装置
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 (zh) * 2013-09-04 2013-12-25 宁波市镇海惠斌塑业有限公司 残疾人用的梳头装置
KR20160085777A (ko) * 2013-11-14 2016-07-18 데이진 화-마 가부시키가이샤 훈련 장치
WO2015072480A1 (ja) * 2013-11-14 2015-05-21 村田機械株式会社 訓練装置
KR20160084392A (ko) * 2013-11-14 2016-07-13 데이진 화-마 가부시키가이샤 훈련 장치
KR102303525B1 (ko) 2013-11-14 2021-09-17 데이진 화-마 가부시키가이샤 훈련 장치
KR102303526B1 (ko) 2013-11-14 2021-09-17 데이진 화-마 가부시키가이샤 훈련 장치
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 (zh) * 2015-12-28 2016-05-11 深圳市尚荣医用工程有限公司 一种智能照护轮椅及其控制系统
CN112976008A (zh) * 2021-03-17 2021-06-18 井菊香 一种老人喂饭装置

Also Published As

Publication number Publication date
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