DK1842518T3 - Bevægelseshjælpeindretning af en type til at have på og program til styring - Google Patents
Bevægelseshjælpeindretning af en type til at have på og program til styringInfo
- Publication number
- DK1842518T3 DK1842518T3 DK05809527.4T DK05809527T DK1842518T3 DK 1842518 T3 DK1842518 T3 DK 1842518T3 DK 05809527 T DK05809527 T DK 05809527T DK 1842518 T3 DK1842518 T3 DK 1842518T3
- Authority
- DK
- Denmark
- Prior art keywords
- wearer
- drive source
- joint
- torque
- biosignal
- Prior art date
Links
- 238000001514 detection method Methods 0.000 abstract 2
- 238000006073 displacement reaction Methods 0.000 abstract 2
- 238000000034 method Methods 0.000 abstract 1
Classifications
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- 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
- A61F2/72—Bioelectric control, e.g. myoelectric
-
- 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
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
-
- 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
- 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
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- 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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
-
- 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
- A61H2201/0173—Means for preventing injuries
- A61H2201/0176—By stopping operation
-
- 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
- A61H2201/0173—Means for preventing injuries
- A61H2201/018—By limiting the applied torque or force
-
- 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
- A61H2201/1614—Shoulder, e.g. for neck stretching
-
- 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
- A61H2201/1628—Pelvis
-
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1676—Pivoting
-
- 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
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/60—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/60—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
- A61H2230/605—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG] used as a control parameter for the apparatus
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Engineering & Computer Science (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Physics & Mathematics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Surgery (AREA)
- Transplantation (AREA)
- Cardiology (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Software Systems (AREA)
- Evolutionary Computation (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Artificial Intelligence (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Molecular Biology (AREA)
- Vascular Medicine (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
- Feedback Control In General (AREA)
- Neurology (AREA)
- Numerical Control (AREA)
- Electrotherapy Devices (AREA)
- Table Devices Or Equipment (AREA)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005018295A JP4178187B2 (ja) | 2005-01-26 | 2005-01-26 | 装着式動作補助装置及び制御用プログラム |
PCT/JP2005/021472 WO2006080134A1 (ja) | 2005-01-26 | 2005-11-22 | 装着式動作補助装置及び制御用プログラム |
Publications (1)
Publication Number | Publication Date |
---|---|
DK1842518T3 true DK1842518T3 (da) | 2011-12-05 |
Family
ID=36740168
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DK05809527.4T DK1842518T3 (da) | 2005-01-26 | 2005-11-22 | Bevægelseshjælpeindretning af en type til at have på og program til styring |
DK11176919.6T DK2392305T3 (da) | 2005-01-26 | 2005-11-22 | Kropsbåren bevægelseshjælpsindretning og styreprogram |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DK11176919.6T DK2392305T3 (da) | 2005-01-26 | 2005-11-22 | Kropsbåren bevægelseshjælpsindretning og styreprogram |
Country Status (10)
Country | Link |
---|---|
US (3) | US7857774B2 (da) |
EP (2) | EP2392305B1 (da) |
JP (1) | JP4178187B2 (da) |
KR (1) | KR100904937B1 (da) |
CN (1) | CN101111211B (da) |
AT (1) | ATE526000T1 (da) |
CA (1) | CA2596346C (da) |
DK (2) | DK1842518T3 (da) |
RU (1) | RU2364385C2 (da) |
WO (1) | WO2006080134A1 (da) |
Families Citing this family (183)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040064195A1 (en) | 2002-07-15 | 2004-04-01 | Hugh Herr | Variable-mechanical-impedance artificial legs |
JP4200492B2 (ja) * | 2004-03-11 | 2008-12-24 | 国立大学法人 筑波大学 | 装着式動作補助装置 |
JP4178187B2 (ja) | 2005-01-26 | 2008-11-12 | 国立大学法人 筑波大学 | 装着式動作補助装置及び制御用プログラム |
US7981059B2 (en) * | 2005-02-28 | 2011-07-19 | National University Corporation NARA Institute of Science and Technology | Driving force calculating device, driving force calculating method, power assisting device, program, and computer-readable storage medium |
US8500823B2 (en) | 2005-03-31 | 2013-08-06 | Massachusetts Institute Of Technology | Powered artificial knee with agonist-antagonist actuation |
US20070123997A1 (en) | 2005-03-31 | 2007-05-31 | Massachusetts Institute Of Technology | Exoskeletons for running and walking |
US8512415B2 (en) | 2005-03-31 | 2013-08-20 | Massachusetts Institute Of Technology | Powered ankle-foot prothesis |
US8864846B2 (en) | 2005-03-31 | 2014-10-21 | Massachusetts Institute Of Technology | Model-based neuromechanical controller for a robotic leg |
US20060249315A1 (en) | 2005-03-31 | 2006-11-09 | Massachusetts Institute Of Technology | Artificial human limbs and joints employing actuators, springs, and variable-damper elements |
US10307272B2 (en) | 2005-03-31 | 2019-06-04 | Massachusetts Institute Of Technology | Method for using a model-based controller for a robotic leg |
US20070043449A1 (en) | 2005-03-31 | 2007-02-22 | Massachusetts Institute Of Technology | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US11278433B2 (en) | 2005-03-31 | 2022-03-22 | Massachusetts Institute Of Technology | Powered ankle-foot prosthesis |
US20070162152A1 (en) | 2005-03-31 | 2007-07-12 | Massachusetts Institute Of Technology | Artificial joints using agonist-antagonist actuators |
JP2009536228A (ja) * | 2006-05-05 | 2009-10-08 | コロプラスト アクティーゼルスカブ | 架橋ポリアルキレンオキシド及び親水性吸水剤を含む感圧接着剤組成物 |
JP4712620B2 (ja) * | 2006-06-12 | 2011-06-29 | 本田技研工業株式会社 | 歩行補助装具の制御装置 |
JP4862537B2 (ja) * | 2006-07-28 | 2012-01-25 | 沖電気工業株式会社 | 筋力トレーニング装置 |
US8585620B2 (en) | 2006-09-19 | 2013-11-19 | Myomo, Inc. | Powered orthotic device and method of using same |
EP2079361B1 (en) * | 2006-09-19 | 2013-01-09 | Myomo, Inc. | Powered orthotic device |
US10758394B2 (en) * | 2006-09-19 | 2020-09-01 | Myomo, Inc. | Powered orthotic device and method of using same |
JP5098114B2 (ja) * | 2007-02-08 | 2012-12-12 | 国立大学法人 奈良先端科学技術大学院大学 | 駆動力算出装置、駆動力算出方法、筋力補助装置、駆動力算出プログラムおよびコンピュータ読み取り可能な記録媒体 |
JP4946509B2 (ja) * | 2007-02-28 | 2012-06-06 | 沖電気工業株式会社 | 筋力評価システム、装置及び方法 |
JP5283401B2 (ja) * | 2007-03-22 | 2013-09-04 | 国立大学法人 筑波大学 | リハビリテーション支援装置 |
JP4784768B2 (ja) * | 2007-07-02 | 2011-10-05 | 本田技研工業株式会社 | 歩行補助装置 |
JP4789117B2 (ja) * | 2007-08-03 | 2011-10-12 | 本田技研工業株式会社 | 歩行補助装置 |
JP5229621B2 (ja) * | 2007-08-20 | 2013-07-03 | 国立大学法人 筑波大学 | 装着式動作補助装置の動作補助システム及び装着式動作補助装置及び装着式動作補助装置の動作補助方法 |
JP5244348B2 (ja) * | 2007-09-04 | 2013-07-24 | 国立大学法人 筑波大学 | 装着式動作補助装置及びその制御方法 |
US8380314B2 (en) * | 2007-09-26 | 2013-02-19 | Medtronic, Inc. | Patient directed therapy control |
WO2009040908A1 (ja) * | 2007-09-27 | 2009-04-02 | Yoshiyuki Sankai | 回動調整装置及び回動装置の制御方法 |
JP4784771B2 (ja) * | 2007-10-01 | 2011-10-05 | 本田技研工業株式会社 | 歩行補助装置 |
KR100965233B1 (ko) | 2008-04-29 | 2010-06-22 | 한양대학교 산학협력단 | 실시간 관절 동작 처리 시스템 |
JP5317536B2 (ja) * | 2008-05-29 | 2013-10-16 | Cyberdyne株式会社 | 装着型人支援装置 |
JP5188279B2 (ja) * | 2008-06-11 | 2013-04-24 | 本田技研工業株式会社 | 歩行補助装置 |
US8181520B2 (en) * | 2008-08-29 | 2012-05-22 | Oki Electric Industry Co., Ltd. | Muscle training device with muscular force measurement function for controlling the axial torque of a joint axle |
US9554922B2 (en) | 2008-09-04 | 2017-01-31 | Bionx Medical Technologies, Inc. | Hybrid terrain-adaptive lower-extremity systems |
US20110082566A1 (en) * | 2008-09-04 | 2011-04-07 | Herr Hugh M | Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis |
CN102149318B (zh) * | 2008-09-10 | 2013-03-06 | 国立大学法人筑波大学 | 生物体信号测量穿戴用具和穿戴式动作辅助装置 |
JP5313609B2 (ja) * | 2008-09-26 | 2013-10-09 | 国立大学法人 筑波大学 | 装着式動作補助装置のフレーム構造。 |
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US20100312152A1 (en) * | 2009-06-03 | 2010-12-09 | Board Of Regents, The University Of Texas System | Smart gait rehabilitation system for automated diagnosis and therapy of neurologic impairment |
US9656117B2 (en) | 2009-06-19 | 2017-05-23 | Tau Orthopedics, Llc | Wearable resistance garment with power measurement |
US10124205B2 (en) | 2016-03-14 | 2018-11-13 | Tau Orthopedics, Llc | Toning garment with modular resistance unit docking platforms |
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JP5640991B2 (ja) | 2009-11-13 | 2014-12-17 | トヨタ自動車株式会社 | 歩行補助装置 |
US8483879B2 (en) * | 2009-11-30 | 2013-07-09 | GM Global Technology Operations LLC | Human-robot interactive system having a human stiffness estimation control algorithm |
JP5430378B2 (ja) * | 2009-12-11 | 2014-02-26 | トヨタ自動車株式会社 | 作業負荷予測装置 |
WO2011117999A1 (ja) * | 2010-03-25 | 2011-09-29 | トヨタ自動車株式会社 | 歩行補助装置 |
CA2795153A1 (en) | 2010-04-05 | 2011-10-13 | Iwalk, Inc. | Controlling torque in a prosthesis or orthosis |
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- 2005-11-22 CA CA2596346A patent/CA2596346C/en active Active
- 2005-11-22 DK DK05809527.4T patent/DK1842518T3/da active
- 2005-11-22 WO PCT/JP2005/021472 patent/WO2006080134A1/ja active Application Filing
- 2005-11-22 RU RU2007132169/14A patent/RU2364385C2/ru active
- 2005-11-22 AT AT05809527T patent/ATE526000T1/de not_active IP Right Cessation
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- 2005-11-22 DK DK11176919.6T patent/DK2392305T3/da active
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EP2392305B1 (en) | 2019-04-03 |
US8932241B2 (en) | 2015-01-13 |
RU2364385C2 (ru) | 2009-08-20 |
DK2392305T3 (da) | 2019-06-24 |
US7857774B2 (en) | 2010-12-28 |
EP2392305A1 (en) | 2011-12-07 |
WO2006080134A1 (ja) | 2006-08-03 |
JP2006204426A (ja) | 2006-08-10 |
US20080161937A1 (en) | 2008-07-03 |
KR20070092312A (ko) | 2007-09-12 |
KR100904937B1 (ko) | 2009-06-29 |
CA2596346A1 (en) | 2006-08-03 |
RU2007132169A (ru) | 2009-03-10 |
EP1842518B1 (en) | 2011-09-28 |
CA2596346C (en) | 2010-06-29 |
EP1842518A4 (en) | 2010-01-20 |
US9427373B2 (en) | 2016-08-30 |
JP4178187B2 (ja) | 2008-11-12 |
EP1842518A1 (en) | 2007-10-10 |
CN101111211A (zh) | 2008-01-23 |
US20110004322A1 (en) | 2011-01-06 |
US20150150747A1 (en) | 2015-06-04 |
ATE526000T1 (de) | 2011-10-15 |
CN101111211B (zh) | 2011-01-19 |
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