WO2018093039A3 - 다양한 상지재활 훈련모드를 위한 댐핑 조절식 견관절 추종 장치 - Google Patents

다양한 상지재활 훈련모드를 위한 댐핑 조절식 견관절 추종 장치 Download PDF

Info

Publication number
WO2018093039A3
WO2018093039A3 PCT/KR2017/010513 KR2017010513W WO2018093039A3 WO 2018093039 A3 WO2018093039 A3 WO 2018093039A3 KR 2017010513 W KR2017010513 W KR 2017010513W WO 2018093039 A3 WO2018093039 A3 WO 2018093039A3
Authority
WO
WIPO (PCT)
Prior art keywords
shoulder joint
upper limb
tracking device
damping
joint tracking
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/KR2017/010513
Other languages
English (en)
French (fr)
Other versions
WO2018093039A2 (ko
Inventor
박형순
이경섭
김호진
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.)
Korea Advanced Institute of Science and Technology KAIST
National Rehabilitation Center
Original Assignee
Korea Advanced Institute of Science and Technology KAIST
National Rehabilitation Center
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 KR1020160152460A external-priority patent/KR101997068B1/ko
Priority claimed from KR1020170122137A external-priority patent/KR102048569B1/ko
Application filed by Korea Advanced Institute of Science and Technology KAIST, National Rehabilitation Center filed Critical Korea Advanced Institute of Science and Technology KAIST
Priority to US16/347,872 priority Critical patent/US11484460B2/en
Publication of WO2018093039A2 publication Critical patent/WO2018093039A2/ko
Publication of WO2018093039A3 publication Critical patent/WO2018093039A3/ko
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • 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
    • A61H1/0281—Shoulder
    • 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
    • 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
    • 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
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/02—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0165—Damping, vibration related features
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • 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
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1664—Movement of interface, i.e. force application means linear
    • 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
    • A61H2201/5053—Control means thereof mechanically controlled
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/062—Shoulders

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Rehabilitation Therapy (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biophysics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

견관절 추종 장치로서, 피훈련자의 견관절의 수직 방향 움직임과 팔의 무게, 팔에 부착되는 재활 운동 장치의 무게에 대한 중력을 보상하는 중력 보상 스프링, 그리고 견관절 재활 장치의 일측에 설치되어 중력 보상 스프링과 연결되어 있으며, 피훈련자에 의해 가해지는 힘에 대응하는 댐핑 저항력을 힘이 가해지는 방향과 반대 방향으로 인가하여, 견관절 재활 장치의 모든 방향 움직임을 제어하는 견관절 추종 장치를 포함한다.
PCT/KR2017/010513 2016-11-16 2017-09-22 다양한 상지재활 훈련모드를 위한 댐핑 조절식 견관절 추종 장치 Ceased WO2018093039A2 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US16/347,872 US11484460B2 (en) 2016-11-16 2017-09-22 Damping-adjustable shoulder joint tracking apparatus for various upper extremity rehabilitation modes

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR1020160152460A KR101997068B1 (ko) 2016-11-16 2016-11-16 상지 재활을 위한 어깨 관절 추종 및 중력 보상 장치
KR10-2016-0152460 2016-11-16
KR1020170122137A KR102048569B1 (ko) 2017-09-21 2017-09-21 다양한 상지재활 훈련모드를 위한 댐핑 조절식 견관절 추종 장치
KR10-2017-0122137 2017-09-21

Publications (2)

Publication Number Publication Date
WO2018093039A2 WO2018093039A2 (ko) 2018-05-24
WO2018093039A3 true WO2018093039A3 (ko) 2018-07-05

Family

ID=62145652

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2017/010513 Ceased WO2018093039A2 (ko) 2016-11-16 2017-09-22 다양한 상지재활 훈련모드를 위한 댐핑 조절식 견관절 추종 장치

Country Status (2)

Country Link
US (1) US11484460B2 (ko)
WO (1) WO2018093039A2 (ko)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10966893B2 (en) * 2018-03-23 2021-04-06 Hiwin Technologies Corp. Exoskeleton apparatus for limb rehabilitation
CN108814902B (zh) * 2018-06-29 2020-01-10 华中科技大学 一种人机运动匹配且能对侧互换的上肢外骨骼康复装置
US12193770B2 (en) 2019-10-11 2025-01-14 Board Of Regents Of The University Of Texas System Seven degree of freedom positioning device for robotic surgery
CN113082592A (zh) * 2021-04-07 2021-07-09 上海柔妹子信息科技有限公司 一种可变阻尼导轨及上肢康复训练设备的可变阻尼系统
CA3229385A1 (en) * 2021-08-18 2023-02-23 Narendranath LAKSHMIPATHY Exercise system and climbing simulator
CN113520801B (zh) * 2021-08-19 2024-10-08 淮北贵翔堂医药有限公司 一种全自动中风胳膊康复训练装置
CN113893131A (zh) * 2021-10-20 2022-01-07 南通大学 一种带有肩关节被动跟踪功能的绳索驱动上肢外骨骼康复机器人
CN115463005B (zh) * 2022-09-30 2025-08-01 杭州程天科技发展有限公司 一种用于康复训练的外骨骼机器人

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20100069293A (ko) * 2008-12-16 2010-06-24 한성대학교 산학협력단 상지거동을 위한 착용형 로봇장치
KR20110066567A (ko) * 2009-12-11 2011-06-17 대한민국(국립재활원장) 공압근육을 이용한 양팔 재활 운동 기구
KR20120015704A (ko) * 2010-08-13 2012-02-22 한국과학기술원 뇌졸중 환자의 상지 재활을 위한 외골격 로봇
KR20120119738A (ko) * 2011-04-22 2012-10-31 한양대학교 에리카산학협력단 복합 관절 운동용 재활기구

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6210363B2 (ko) 1980-02-27 1987-03-05 Northrop Corp
US5015926A (en) * 1990-02-02 1991-05-14 Casler John A Electronically controlled force application mechanism for exercise machines
US5569120A (en) * 1994-06-24 1996-10-29 University Of Maryland-Baltimore County Method of using and apparatus for use with exercise machines to achieve programmable variable resistance
JP2000279463A (ja) * 1999-03-31 2000-10-10 Sanyo Electric Co Ltd 上肢機能回復訓練装置
JP4481089B2 (ja) 2004-06-04 2010-06-16 学校法人東海大学 転倒防止装置及びそれを用いた歩行支援装置
US8317730B2 (en) * 2007-02-16 2012-11-27 Rehabtek Llc Robotic rehabilitation apparatus and method
JP2008237804A (ja) 2007-03-29 2008-10-09 Kumagai Gumi Co Ltd 歩行支援装置
US8251879B2 (en) * 2007-05-31 2012-08-28 Matthew Binns Shoulder rehabilitation and exercise device
US7976444B2 (en) * 2007-05-31 2011-07-12 Matthew Binns Shoulder rehabilitation and exercise device
US8905950B2 (en) * 2008-03-04 2014-12-09 Bonutti Research, Inc. Shoulder ROM orthosis
EP2408526A4 (en) * 2009-03-20 2016-10-26 Univ Northeastern REHABILITATION SYSTEM WITH MULTIPLE FREEDOMS WITH INTELLIGENT MULTIMODAL FLUIDIC ACTUATOR
KR101572852B1 (ko) 2010-01-06 2015-12-01 삼성전자 주식회사 팔 보조 장치
CN102258849B (zh) * 2011-04-22 2012-11-28 上海交通大学 上肢偏瘫康复机器人
JP6210363B2 (ja) 2013-05-24 2017-10-11 株式会社安川電機 訓練装置
JP2016533248A (ja) * 2013-09-27 2016-10-27 バレット・テクノロジー，エルエルシー マルチアクティブ軸の非外骨格リハビリテーション装置
KR101682948B1 (ko) 2014-03-27 2016-12-07 대한민국(국립재활원장) 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치
KR101669130B1 (ko) 2014-09-25 2016-10-25 한국과학기술원 견관절의 해부학적 구조에 적응하는 다자유도 재활치료 로봇

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20100069293A (ko) * 2008-12-16 2010-06-24 한성대학교 산학협력단 상지거동을 위한 착용형 로봇장치
KR20110066567A (ko) * 2009-12-11 2011-06-17 대한민국(국립재활원장) 공압근육을 이용한 양팔 재활 운동 기구
KR20120015704A (ko) * 2010-08-13 2012-02-22 한국과학기술원 뇌졸중 환자의 상지 재활을 위한 외골격 로봇
KR20120119738A (ko) * 2011-04-22 2012-10-31 한양대학교 에리카산학협력단 복합 관절 운동용 재활기구

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PARK, JEONG-HO ET AL: "Development of a Passive Shoulder Joint Tracking Device for l.6 Rehabilita1ion of Natural Arm Mo1ions wi1lt a Robot", KSME 2015 AMMAL MEETING, 1 November 2015 (2015-11-01), pages 2132 - 2135 *

Also Published As

Publication number Publication date
WO2018093039A2 (ko) 2018-05-24
US20190269571A1 (en) 2019-09-05
US11484460B2 (en) 2022-11-01

Similar Documents

Publication Publication Date Title
US20170189257A1 (en) Shoulder joint rehabilitation assistive device
WO2013033669A3 (en) Actively controlled wearable orthotic devices and active modular elastomer sleeve for wearable orthotic devices
WO2009149206A3 (en) Therapeutic method and device for rehabilitation
WO2011008934A3 (en) Actively controlled orthotic devices
US20160288325A1 (en) Robot Arm
WO2011087890A3 (en) Recognizing user intent in motion capture system
WO2012105902A8 (en) Device for physical exercise
TW200942443A (en) Bicycle suspension having stroke and damper adjustment
EP2942162A3 (en) Energy recovering legged robotic device
JP2016503317A5 (ko)
KR101682948B1 (ko) 상지 재활을 위한 중력이 보상되는 어깨관절 추종 장치
WO2014151400A3 (en) Musculoskeletal vibration system providing independent vibration and bias control
WO2017168004A3 (de) Trainingsgerät und verfahren
IT1390763B1 (it) Attrezzatura multifunzionale di fitness per muscolatura arti inferiori
WO2009015473A8 (en) Hydraulic articulating joint
GB0707789D0 (en) Seat with fynamic seat back
RU2015155263A (ru) Тренажер
MX377662B (es) Exoesqueleto multiarticular de resistencia ajustable para ejercicios de musculacion y rehabilitacion.
WO2014200343A3 (en) Device with improved actuating means and method for use thereof
WO2012136314A8 (de) Bewegungsfixierung
WO2018115803A8 (en) Rehabilitation aid
KR200480122Y1 (ko) 트레드밀의 조정완충내진구조
WO2019033035A3 (en) A device for movement and resistance training of the lower extremities
Fu et al. Analysis and study on dynamical characteristics of variable stiffness joint actuator
KR102317401B9 (ko) 보행 재활훈련로봇의 환자 체중부담 경감장치

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17871409

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17871409

Country of ref document: EP

Kind code of ref document: A2