FR2702698A1 - Système exosquelettique. - Google Patents

Système exosquelettique. Download PDF

Info

Publication number: FR2702698A1
Authority: FR; France
Prior art keywords: user; payload; foot; ground; leg member
Prior art date: 1993-03-12
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.): Pending

Application number

FR9402928A

Other languages

English (en)

French (fr)

Inventor

Moscovitz Yigal

Faibish Sorin

Ishai Gideon

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.)

Israel Ministry of Defence

Defence Israel

Original Assignee

Israel Ministry of Defence

Defence Israel

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.)

1993-03-12

Filing date

1994-03-14

Publication date

1994-09-23

1994-03-14 Application filed by Israel Ministry of Defence, Defence Israel filed Critical Israel Ministry of Defence

1994-09-23 Publication of FR2702698A1 publication Critical patent/FR2702698A1/fr

Status Pending legal-status Critical Current

Links

230000033001 locomotion Effects 0.000 claims abstract description 41
238000004146 energy storage Methods 0.000 claims abstract description 9
210000002683 foot Anatomy 0.000 claims description 60
238000000034 method Methods 0.000 claims description 21
230000006641 stabilisation Effects 0.000 claims description 12
238000011105 stabilization Methods 0.000 claims description 12
230000007246 mechanism Effects 0.000 claims description 7
210000000544 articulatio talocruralis Anatomy 0.000 claims description 5
238000004364 calculation method Methods 0.000 claims description 3
230000000087 stabilizing effect Effects 0.000 claims description 2
210000003371 toe Anatomy 0.000 claims description 2
210000002414 leg Anatomy 0.000 description 62
239000013598 vector Substances 0.000 description 16
230000003993 interaction Effects 0.000 description 15
210000000689 upper leg Anatomy 0.000 description 11
210000001624 hip Anatomy 0.000 description 9
210000003414 extremity Anatomy 0.000 description 7
210000003127 knee Anatomy 0.000 description 7
230000009471 action Effects 0.000 description 6
238000013459 approach Methods 0.000 description 6
210000004394 hip joint Anatomy 0.000 description 6
239000003381 stabilizer Substances 0.000 description 6
239000004606 Fillers/Extenders Substances 0.000 description 5
230000008878 coupling Effects 0.000 description 5
238000010168 coupling process Methods 0.000 description 5
238000005859 coupling reaction Methods 0.000 description 5
238000001514 detection method Methods 0.000 description 5
238000005259 measurement Methods 0.000 description 5
210000001364 upper extremity Anatomy 0.000 description 5
238000005516 engineering process Methods 0.000 description 4
238000002474 experimental method Methods 0.000 description 4
230000002452 interceptive effect Effects 0.000 description 4
210000001503 joint Anatomy 0.000 description 4
230000001133 acceleration Effects 0.000 description 3
210000003423 ankle Anatomy 0.000 description 3
230000008901 benefit Effects 0.000 description 3
238000011161 development Methods 0.000 description 3
230000018109 developmental process Effects 0.000 description 3
230000000694 effects Effects 0.000 description 3
230000005484 gravity Effects 0.000 description 3
210000000629 knee joint Anatomy 0.000 description 3
238000007493 shaping process Methods 0.000 description 3
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230000005540 biological transmission Effects 0.000 description 2
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238000013461 design Methods 0.000 description 2
230000009977 dual effect Effects 0.000 description 2
230000008846 dynamic interplay Effects 0.000 description 2
239000013013 elastic material Substances 0.000 description 2
229920001971 elastomer Polymers 0.000 description 2
239000006260 foam Substances 0.000 description 2
239000011159 matrix material Substances 0.000 description 2
239000005060 rubber Substances 0.000 description 2
238000012163 sequencing technique Methods 0.000 description 2
241000272201 Columbiformes Species 0.000 description 1
240000005702 Galium aparine Species 0.000 description 1
101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 1
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101150085170 VEZT gene Proteins 0.000 description 1
239000012190 activator Substances 0.000 description 1
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238000004458 analytical method Methods 0.000 description 1
230000000703 anti-shock Effects 0.000 description 1
230000000712 assembly Effects 0.000 description 1
238000000429 assembly Methods 0.000 description 1
238000005452 bending Methods 0.000 description 1
230000002146 bilateral effect Effects 0.000 description 1
210000000988 bone and bone Anatomy 0.000 description 1
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Classifications

- 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
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive 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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- 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
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B25/00—Stilts or the like
- 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
- 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
- A61H2201/16—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
- A61H2201/163—Pelvis 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
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1676—Pivoting

Landscapes

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

FR9402928A 1993-03-12 1994-03-14 Système exosquelettique. Pending FR2702698A1 (fr)

Applications Claiming Priority (1)

Application Number	Priority Date	Filing Date	Title
IL105034A IL105034A (en)	1993-03-12	1993-03-12	Exoskeletal system

Publications (1)

Publication Number	Publication Date
FR2702698A1 true FR2702698A1 (fr)	1994-09-23

Family

ID=11064608

Family Applications (3)

Application Number	Title	Priority Date	Filing Date
FR9402928A Pending FR2702698A1 (fr)	1993-03-12	1994-03-14	Système exosquelettique.
FR9500155A Pending FR2716777A1 (fr)	1993-03-12	1995-01-09	Membre d'interface pied-sol pour assister le travail musculaire d'un être humain.
FR9500154A Pending FR2716826A1 (fr)	1993-03-12	1995-01-09	Appareil exosquelettique pour assister le travail musculaire d'un être humain.

Family Applications After (2)

Application Number	Title	Priority Date	Filing Date
FR9500155A Pending FR2716777A1 (fr)	1993-03-12	1995-01-09	Membre d'interface pied-sol pour assister le travail musculaire d'un être humain.
FR9500154A Pending FR2716826A1 (fr)	1993-03-12	1995-01-09	Appareil exosquelettique pour assister le travail musculaire d'un être humain.

Country Status (5)

Country	Link
JP (1)	JPH07112035A (de)
DE (1)	DE4408351A1 (de)
FR (3)	FR2702698A1 (de)
GB (1)	GB2278041A (de)
IL (1)	IL105034A (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
WO2017121971A1 (fr) *	2016-01-15	2017-07-20	Robotiques 3 Dimensions	Exosquelette avec jambes télescopiques a l'arrière

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US7251593B2 (en) *	2001-10-29	2007-07-31	Honda Giken Kogyo Kabushiki Kaisha	Simulation system, method and computer-readable medium for human augmentation devices
JP3930399B2 (ja) *	2002-08-21	2007-06-13	本田技研工業株式会社	歩行補助装置
WO2005025464A2 (en) *	2003-09-11	2005-03-24	The Cleveland Clinic Foundation	Apparatus for assisting body movement
JP4344314B2 (ja)	2004-12-28	2009-10-14	本田技研工業株式会社	体重免荷アシスト装置および体重免荷アシストプログラム
US8002719B2 (en)	2005-05-27	2011-08-23	Honda Motor Co., Ltd.	Walking assistance device
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CN101132755B (zh) *	2005-05-27	2010-09-15	本田技研工业株式会社	行走辅助装置
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JP2009268728A (ja) *	2008-05-08	2009-11-19	Honda Motor Co Ltd	歩行補助装置
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US9789603B2 (en)	2011-04-29	2017-10-17	Sarcos Lc	Teleoperated robotic system
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Citations (9)

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Publication number	Priority date	Publication date	Assignee	Title
US406328A (en) *		1889-07-02		Peters
US1587749A (en) *	1924-07-14	1926-06-08	Albert S Bierly	Propulsive-spring foot support
US1726028A (en) *		1929-08-27		keller
US3358678A (en) *	1964-07-29	1967-12-19	Kultsar Emery	Moving and support system for the human body
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Also Published As

Publication number	Publication date
IL105034A0 (en)	1993-07-08
DE4408351A1 (de)	1994-09-15
GB9404822D0 (en)	1994-04-27
FR2716826A1 (fr)	1995-09-08
GB2278041A (en)	1994-11-23
FR2716777A1 (fr)	1995-09-08
JPH07112035A (ja)	1995-05-02
IL105034A (en)	1998-03-10

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FR2702698A1 (fr)	1994-09-23	Système exosquelettique.
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US20170143573A1 (en)	2017-05-25	Exoskeleton comprising a foot structure
EP3393730B1 (de)	2020-02-12	Modulare exoskelettstruktur mit kraftunterstützung für den benutzer
Kazerooni et al.	2007	That which does not stabilize, will only make us stronger
Popovic et al.	2004	Angular momentum regulation during human walking: biomechanics and control
KR101490885B1 (ko)	2015-02-06	보행의도 추정기반 착용로봇 및 그 제어방법
EP3393729B1 (de)	2020-02-12	Exoskelettstruktur zur bereitstellung von kraftunterstützung für einen benutzer
EP3393726B1 (de)	2022-02-09	Modulare exoskelettstruktur mit einem rückseitigen trägermodul
CA3009549C (fr)	2022-09-13	Module de pied pour une structure d'exosquelette
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WO2015136214A1 (fr)	2015-09-17	Chausson d'exosquelette
CA3049713A1 (fr)	2018-07-19	Procede de mise en mouvement d'un exosquelette
FR3046100B1 (fr)	2019-07-05	Structure modulaire d'exosquelette pour l'assistance a l'effort d'un utilisateur
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FR3117393A1 (fr)	2022-06-17	Procédé de mise en mouvement d’UN exosquelette
FR3113829A1 (fr)	2022-03-11	Procédé de mise en mouvement de l’exosquelette
WO2016051081A1 (fr)	2016-04-07	Exosquelette avec porte outil centre et procédé d'utilisation d'un tel exosquelette
WO2023057727A1 (fr)	2023-04-13	Procede de mise en mouvement d'un exosquelette
Lokesh et al.	2006	Design of Robotic Exosuit For Gait Assistance In Paraplegics