GB2567999A - Robotic upper limb rehabilitation device - Google Patents

Robotic upper limb rehabilitation device

Info

Publication number
GB2567999A
GB2567999A GB1903064.2A GB201903064A GB2567999A GB 2567999 A GB2567999 A GB 2567999A GB 201903064 A GB201903064 A GB 201903064A GB 2567999 A GB2567999 A GB 2567999A
Authority
GB
United Kingdom
Prior art keywords
upper limb
exoskeleton
assembly
robotic
rehabilitation device
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.)
Withdrawn
Application number
GB1903064.2A
Other versions
GB201903064D0 (en
Inventor
Soltani-Zarrin Rana
Zeiaee Amin
Langari Reza
Tafreshi Reza
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.)
Qatar Foundation for Education Science and Community Development
Original Assignee
Qatar Foundation for Education Science and Community Development
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 Qatar Foundation for Education Science and Community Development filed Critical Qatar Foundation for Education Science and Community Development
Publication of GB201903064D0 publication Critical patent/GB201903064D0/en
Publication of GB2567999A publication Critical patent/GB2567999A/en
Withdrawn legal-status Critical Current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
    • A61H1/0277—Elbow
    • 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
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • 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
    • A61H2201/0103—Constructive details inflatable
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/123—Linear 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
    • A61H2201/165—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
    • A61H2201/50—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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors

Landscapes

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

Abstract

The robotic upper limb rehabilitation device (10) assists in rehabilitation of an upper limb of a human patient recovering from a stroke or the like. The device (10) is an exoskeleton having an articulated shoulder assembly (12) having five degrees of freedom, including at least two degrees of freedom simulating inner shoulder movement. An upper arm member (14) is pivotally attached to the shoulder assembly (12), and a forearm assembly (16) is pivotally attached to the upper arm member (14). An inflatable handgrip (18) extends from the forearm assembly (16). A robotic control unit 50 receives signals from sensors (52, 54, 56, 58, 60, 61) and is configured to activate actuators (22, 24, 26, 28, 30, 32) attached to the exoskeleton to assist upper limb movement when required, or to permit the exoskeleton to conform to upper limb movement when no assistance is required.
GB1903064.2A 2016-09-09 2017-09-11 Robotic upper limb rehabilitation device Withdrawn GB2567999A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201662385941P 2016-09-09 2016-09-09
PCT/US2017/050922 WO2018093448A2 (en) 2016-09-09 2017-09-11 Robotic upper limb rehabilitation device

Publications (2)

Publication Number Publication Date
GB201903064D0 GB201903064D0 (en) 2019-04-24
GB2567999A true GB2567999A (en) 2019-05-01

Family

ID=62145596

Family Applications (1)

Application Number Title Priority Date Filing Date
GB1903064.2A Withdrawn GB2567999A (en) 2016-09-09 2017-09-11 Robotic upper limb rehabilitation device

Country Status (3)

Country Link
DE (1) DE112017004560T5 (en)
GB (1) GB2567999A (en)
WO (1) WO2018093448A2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT201900010026A1 (en) * 2019-06-26 2020-12-26 Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna Apparatus capable of implementing a distal joint and transferring constraint reactions to an under-implemented shoulder exoskeleton

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2567010A (en) * 2017-10-02 2019-04-03 Univ Strathclyde Apparatus for the rehabilitation, assistance and/or augmentation of arm strength in a user
CN108818618B (en) * 2018-06-29 2020-07-10 华中科技大学 Rehabilitation robot arm gravity balancing device
CN109044728B (en) * 2018-07-26 2020-10-09 蔡天明 Medical shoulder joint rehabilitation training robot with bionic arm
CN109044729B (en) * 2018-07-26 2020-10-02 蔡天明 Medical shoulder joint rehabilitation training robot
CN110812106B (en) * 2018-08-14 2021-08-17 中国科学院宁波材料技术与工程研究所 Intelligent hand rehabilitation training device
CN108939396A (en) * 2018-09-26 2018-12-07 东南大学 A kind of rope driving wearing type upper limb recovery training robot and its application method
CN109172282A (en) * 2018-10-17 2019-01-11 苏州帝维达生物科技有限公司 A kind of upper limb rehabilitation robot of seven freedom
CN109453014A (en) * 2018-12-21 2019-03-12 上海市第十人民医院 A kind of device for healing and training elbow joint
CN109806110A (en) * 2019-02-22 2019-05-28 广州哈罗博康复机器人生产有限公司 Arm rehabilitation device and healing robot
CN109760021A (en) * 2019-02-26 2019-05-17 广州海同工业技术有限公司 A kind of wearable upper limb assistance exoskeleton
CN110181482A (en) * 2019-05-23 2019-08-30 北京邮电大学 A kind of modularization seven freedom upper limb exoskeleton robot
CN110123584B (en) * 2019-06-06 2024-02-13 长春理工大学 Six-degree-of-freedom wearable flexible rope driven exoskeleton type upper limb rehabilitation training robot
EP3797933A1 (en) * 2019-09-27 2021-03-31 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Arrangement for a controlled movement of an arm of human
DE102019131005A1 (en) * 2019-11-17 2021-05-20 Exoiq Gmbh EXOSKELETO JOINT DRIVE WITH NON-LINEAR TRANSMISSION
KR20220110193A (en) * 2019-12-03 2022-08-05 휴먼 인 모션 로보틱스 인코포레이티드 Motion guiding device and motion guiding assistance system
CN111067760B (en) * 2019-12-31 2022-11-08 上海机器人产业技术研究院有限公司 Upper limb rehabilitation training robot based on omnidirectional mobile platform
CN117426932A (en) * 2023-12-21 2024-01-23 江西求是高等研究院 Portable rehabilitation chair

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070225620A1 (en) * 2006-03-23 2007-09-27 Carignan Craig R Portable Arm Exoskeleton for Shoulder Rehabilitation
US20110251533A1 (en) * 2008-12-16 2011-10-13 Jungsoo Han Wearable robotic system for rehabilitation training of the upper limbs
KR20120015704A (en) * 2010-08-13 2012-02-22 한국과학기술원 Robot shoulder mechanism for stroke patients rehabilitation
US20130060171A1 (en) * 2008-05-09 2013-03-07 National Taiwan University Rehabilitation and training apparatus and method of controlling the same
US20130237883A1 (en) * 2010-09-28 2013-09-12 C.N.R. Consiglio Nazionale Ricerche Biomedical device for robotized rehabilitation of a human upper limb, particularly for neuromotor rehabilitation of the shoulder and elbow joint

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070225620A1 (en) * 2006-03-23 2007-09-27 Carignan Craig R Portable Arm Exoskeleton for Shoulder Rehabilitation
US20130060171A1 (en) * 2008-05-09 2013-03-07 National Taiwan University Rehabilitation and training apparatus and method of controlling the same
US20110251533A1 (en) * 2008-12-16 2011-10-13 Jungsoo Han Wearable robotic system for rehabilitation training of the upper limbs
KR20120015704A (en) * 2010-08-13 2012-02-22 한국과학기술원 Robot shoulder mechanism for stroke patients rehabilitation
US20130237883A1 (en) * 2010-09-28 2013-09-12 C.N.R. Consiglio Nazionale Ricerche Biomedical device for robotized rehabilitation of a human upper limb, particularly for neuromotor rehabilitation of the shoulder and elbow joint

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020261167A1 (en) * 2019-06-25 2020-12-30 Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna Apparatus capable of actuating a distal joint and transferring the constraining reactions in an underactuated shoulder exoskeleton
IT201900010026A1 (en) * 2019-06-26 2020-12-26 Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna Apparatus capable of implementing a distal joint and transferring constraint reactions to an under-implemented shoulder exoskeleton

Also Published As

Publication number Publication date
WO2018093448A2 (en) 2018-05-24
DE112017004560T5 (en) 2019-05-16
WO2018093448A3 (en) 2018-06-28
GB201903064D0 (en) 2019-04-24

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Legal Events

Date Code Title Description
WAP Application withdrawn, taken to be withdrawn or refused ** after publication under section 16(1)