GB2567999A - Robotic upper limb rehabilitation device - Google Patents
Robotic upper limb rehabilitation deviceInfo
- 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- Withdrawn
Links
- 210000001364 upper extremity Anatomy 0.000 title abstract 5
- 210000000245 forearm Anatomy 0.000 abstract 2
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.
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)
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)
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)
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 |
-
2017
- 2017-09-11 WO PCT/US2017/050922 patent/WO2018093448A2/en active Application Filing
- 2017-09-11 GB GB1903064.2A patent/GB2567999A/en not_active Withdrawn
- 2017-09-11 DE DE112017004560.6T patent/DE112017004560T5/en active Pending
Patent Citations (5)
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)
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) |