IN2014KN02945A - - Google Patents

Info

Publication number
IN2014KN02945A
IN2014KN02945A IN2945KON2014A IN2014KN02945A IN 2014KN02945 A IN2014KN02945 A IN 2014KN02945A IN 2945KON2014 A IN2945KON2014 A IN 2945KON2014A IN 2014KN02945 A IN2014KN02945 A IN 2014KN02945A
Authority
IN
India
Prior art keywords
control torque
powered joint
control
interface
signals
Prior art date
Application number
Inventor
Michael Goldfarb
Spencer Murray
Original Assignee
Univ Vanderbilt
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 Univ Vanderbilt filed Critical Univ Vanderbilt
Publication of IN2014KN02945A publication Critical patent/IN2014KN02945A/en

Links

Classifications

    • 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
    • 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
    • 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
    • A61H1/024—Knee
    • 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
    • A61H1/0244—Hip
    • 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
    • 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
    • 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
    • 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
    • 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
    • A61H2201/5002—Means for controlling a set of similar massage devices acting in sequence at different locations on a patient
    • 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
    • A61H2201/5007—Control means thereof computer 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/27—Arm part
    • Y10S901/28—Joint

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Engineering & Computer Science (AREA)
  • Cardiology (AREA)
  • Transplantation (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)

Abstract

An exoskeleton for applying force to at least one lower limb of a user, comprising: a hip segment (110); a thigh segment (108) coupled to the hip segment by a powered joint (102); a plurality of sensors associated with the lower limb; and a control system comprising: a sensor interface for receiving sensor signals; a power interface for transmitting control signals to the at least one powered joint; a processor communicatively coupled to the sensor interface and the power interface; and a computer-readable medium having stored thereon a computer program executable on the processor, the computer program comprising a plurality of code sections for: estimating a configuration of a body of the user associated with the exoskeleton with respect to a gravity vector based on the sensor signals at the sensor interface; computing a first control torque for the at least one powered joint that at least partially compensates gravitational dynamics of the user based on the configuration; calculating a gravitational energy gradient for the at least one powered joint; attenuating the first control torque based at least on the gravitational energy gradient to yield a second control torque; computing a final control torque based, at least in part, on the second control torque, and configuring the control signals at the power interface to cause the final control torque to be applied at the at least one powered joint.
IN2945KON2014 2012-06-15 2013-06-17 IN2014KN02945A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201261660286P 2012-06-15 2012-06-15
PCT/US2013/046107 WO2013188868A1 (en) 2012-06-15 2013-06-17 Movement assistance device

Publications (1)

Publication Number Publication Date
IN2014KN02945A true IN2014KN02945A (en) 2015-05-08

Family

ID=48748506

Family Applications (1)

Application Number Title Priority Date Filing Date
IN2945KON2014 IN2014KN02945A (en) 2012-06-15 2013-06-17

Country Status (7)

Country Link
US (1) US9566705B2 (en)
EP (1) EP2861198B8 (en)
CN (1) CN104582668A (en)
CA (1) CA2876206A1 (en)
ES (1) ES2773853T3 (en)
IN (1) IN2014KN02945A (en)
WO (1) WO2013188868A1 (en)

Families Citing this family (65)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9022956B2 (en) 2011-06-10 2015-05-05 U.S. Bionics, Inc. Trunk supporting exoskeleton and method of use
US9744066B2 (en) 2011-06-10 2017-08-29 The Regents Of The University Of California Trunk supporting exoskeleton and method of use
CA2885228C (en) 2012-09-17 2021-07-20 President And Fellows Of Harvard College Soft exosuit for assistance with human motion
CN108670195B (en) 2013-05-31 2022-05-10 哈佛大学校长及研究员协会 Soft machine armor for assisting human body movement
KR102115950B1 (en) * 2013-11-07 2020-06-05 삼성전자주식회사 A walk-assistive robot and a method for controlling the walk-assistive robot
EP4104757A3 (en) * 2013-12-09 2023-01-04 President and Fellows of Harvard College Assistive flexible suits, flexible suit systems, and methods for making and control thereof to assist human mobility
JP5927173B2 (en) 2013-12-27 2016-06-01 本田技研工業株式会社 Joint mechanism
KR102186859B1 (en) * 2014-01-09 2020-12-04 삼성전자주식회사 a walking assist device and a method for controlling the the walking assist device
FR3016821B1 (en) * 2014-01-29 2019-08-02 Robotiques 3 Dimensions EXOSQUELETTE WITH FRONT PORT AND METHOD OF USING SUCH AN EXOSQUELET.
FR3018469B1 (en) 2014-03-11 2016-04-01 Robotiques 3 Dimensions EXOSQUE PANTS.
WO2015157731A1 (en) 2014-04-10 2015-10-15 President And Fellows Of Harvard College Orthopedic device including protruding members
US9498395B2 (en) * 2014-04-16 2016-11-22 Stephen C. Golden, JR. Joint movement detection device and system for coordinating motor output with manual wheelchair propulsion
WO2015190938A1 (en) * 2014-06-12 2015-12-17 Auckland Uniservices Limited A rehabilitation exoskeleton and an apparatus for transmitting torque
JP5889367B2 (en) * 2014-06-19 2016-03-22 本田技研工業株式会社 Walking assistance device and walking assistance program
KR102250238B1 (en) 2014-08-18 2021-05-10 삼성전자주식회사 A fixing module and a motion assist apparatus comprising thereof
US10449105B2 (en) * 2014-10-26 2019-10-22 Springactive, Inc. System and method of bidirectional compliant joint torque actuation
US20160158593A1 (en) * 2014-12-04 2016-06-09 Florida Institute for Human and Machine Cognition Exoskeleton-Based Exercise and Training Device
CN104398368B (en) * 2014-12-10 2017-02-01 电子科技大学 Walking assistance outer skeleton robot with transversely-arranged motors
US10576619B2 (en) 2014-12-26 2020-03-03 Samsung Electronics Co., Ltd. Assisting torque setting method and apparatus
US20160213496A1 (en) * 2015-01-28 2016-07-28 Steering Solutions Ip Holding Corporation Integrated power generation for human exoskeletons and method of generating power
WO2016160624A1 (en) 2015-03-27 2016-10-06 Other Lab Llc Lower-leg exoskeleton system and method
CN204798295U (en) * 2015-04-27 2015-11-25 上海璟和技创机器人有限公司 Low limbs rehabilitation training robot
US10390973B2 (en) * 2015-05-11 2019-08-27 The Hong Kong Polytechnic University Interactive exoskeleton robotic knee system
KR102529617B1 (en) * 2015-07-23 2023-05-09 삼성전자주식회사 Method for walking assist, and devices operating the same
EP3158893B1 (en) * 2015-10-21 2021-04-28 noonee AG Seat unit for wearable sitting posture assisting device
CN105456000B (en) * 2015-11-10 2018-09-14 华南理工大学 A kind of ambulation control method of wearable bionic exoskeleton pedipulator convalescence device
CN105287164B (en) * 2015-11-13 2018-01-05 华南理工大学 A kind of convalescence device speed of travel control method rocked based on trunk
WO2017105996A1 (en) * 2015-12-14 2017-06-22 Board Of Regents, The University Of Texas System Torque control methods and devices for powered orthosis
CA3010960C (en) 2016-01-17 2020-03-10 Human In Motion Robotics Inc. System and device for guiding and detecting motions of 3-dof rotational target joint
CN109069278A (en) 2016-03-13 2018-12-21 哈佛大学校长及研究员协会 Flexible member for being anchored on body
KR101836636B1 (en) * 2016-05-19 2018-03-09 현대자동차주식회사 Wearable walking assistant robot and method for controlling the same
WO2018017436A1 (en) 2016-07-22 2018-01-25 President And Fellows Of Harvard College Controls optimization for wearable systems
US11801153B2 (en) * 2016-07-29 2023-10-31 The United States Of America, As Represented By The Secretary, Department Of Health And Human Services Powered gait assistance systems
CN106256336B (en) * 2016-08-22 2018-07-31 江苏中科伟思智能机器人科技有限公司 The ectoskeleton disabled aiding robot that logic-based returns walks phase switching method
CN106176149A (en) * 2016-09-08 2016-12-07 电子科技大学 A kind of ectoskeleton gait analysis system based on multi-sensor fusion and method
US10912666B2 (en) * 2016-12-08 2021-02-09 University Of Washington Energy storage device for an exoskeleton
CN106620991B (en) * 2017-01-09 2019-03-15 北华大学 A kind of College Students'Mental Health dredges auxiliary device
FR3061653B1 (en) * 2017-01-10 2019-05-31 Wandercraft METHOD FOR SETTING UP AN EXOSQUELET
WO2018135402A1 (en) * 2017-01-19 2018-07-26 パナソニックＩｐマネジメント株式会社 Device for preventing falls when walking, control device, control method, and program
EP3512482B1 (en) * 2017-02-08 2021-01-06 Parker-Hannificn Corporation Legged mobility exoskeleton device with enhanced actuator mechanism employing magnetic coupling
US11014804B2 (en) 2017-03-14 2021-05-25 President And Fellows Of Harvard College Systems and methods for fabricating 3D soft microstructures
US11207234B2 (en) * 2017-04-12 2021-12-28 Cleveland State University Actuating device for powered orthosis
CN107582334B (en) * 2017-08-29 2023-04-18 中国科学院深圳先进技术研究院 Exoskeleton robot and knee joint part thereof
CA3072622A1 (en) 2017-08-29 2019-03-07 Roam Robotics Inc. Semi-supervised intent recognition system and method
JP6925231B2 (en) * 2017-10-23 2021-08-25 サンコール株式会社 Walking motion assist device
US11679056B2 (en) 2018-02-08 2023-06-20 Ekso Bionics Holdings, Inc. Advanced gait control system and methods enabling continuous walking motion of a powered exoskeleton device
EP3788447B1 (en) * 2018-04-30 2023-10-04 Vanderbilt University A control method for a robotic system
WO2020014257A1 (en) * 2018-07-10 2020-01-16 Dephy, Inc. Wearable joint augmentation system
TWI702977B (en) * 2018-09-07 2020-09-01 國立交通大學 Walking rehabilitation robot system
CN109248050A (en) * 2018-11-09 2019-01-22 深圳华创测试技术有限公司 A kind of device of walking aid
EP3881983A4 (en) * 2018-11-12 2022-01-19 NEC Corporation Load reduction device, load reduction method, and storage medium storing program
KR102626098B1 (en) * 2018-12-13 2024-01-18 삼성전자주식회사 Method for controlling a walking assist device and electronic device performing the method
CN109592084B (en) * 2018-12-29 2022-03-15 电子科技大学 Device for simulating load experiment of wearing person in low-gravity environment
CN110251370B (en) * 2019-05-22 2021-06-08 安徽大学 Passive gravity self-balancing lower limb exoskeleton structure
CN110394782B (en) * 2019-07-11 2020-10-16 北京理工大学 Shank composite construction and contain this shank composite construction's humanoid robot
CN110576429A (en) * 2019-10-10 2019-12-17 浙江海洋大学 Auxiliary supporting device for operation of heavy tools of ship
KR20210053389A (en) * 2019-11-01 2021-05-12 삼성전자주식회사 Walking assist device deformable based on thigh shape
US11931307B2 (en) 2019-12-13 2024-03-19 Roam Robotics Inc. Skiing exoskeleton control method and system
US11642857B2 (en) 2020-02-25 2023-05-09 Roam Robotics Inc. Fluidic actuator manufacturing method
US20210369540A1 (en) * 2020-05-27 2021-12-02 Roam Robotics Inc. User interface and feedback systems and methods for a mobile robot
CN112428253B (en) * 2020-08-07 2023-05-09 天津大学 Torque editable passive exoskeleton driver
CN112656649A (en) * 2020-12-05 2021-04-16 深圳市领为创新科技有限公司 Control system and control method for medical intelligent auxiliary wearable device
EP4011347A1 (en) 2020-12-14 2022-06-15 Able Human Motion, S.L. Powered-knee exoskeleton system
WO2022137031A1 (en) * 2020-12-22 2022-06-30 Iuvo S.R.L Wearable robot, system and method for correcting gait impairments
EP4321772A1 (en) 2022-08-10 2024-02-14 Able Human Motion, S.L. Backdrivable actuator for exoskeleton

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5101472A (en) * 1990-10-04 1992-03-31 Repperger Daniel W Military robotic controller with majorizing function and nonlinear torque capability
US5282460A (en) * 1992-01-06 1994-02-01 Joyce Ann Boldt Three axis mechanical joint for a power assist device
US5476441A (en) * 1993-09-30 1995-12-19 Massachusetts Institute Of Technology Controlled-brake orthosis
US7390309B2 (en) * 2002-09-23 2008-06-24 Honda Motor Co., Ltd. Human assist system using gravity compensation control system and method using multiple feasibility parameters
JP3844695B2 (en) 2002-01-28 2006-11-15 本田技研工業株式会社 Method of estimating floor reaction force action point for bipedal mobile body
JP2006075456A (en) 2004-09-13 2006-03-23 Tohoku Univ Wearing type support system based on human body model
US20070123997A1 (en) * 2005-03-31 2007-05-31 Massachusetts Institute Of Technology Exoskeletons for running and walking
WO2007016781A1 (en) 2005-08-10 2007-02-15 Simon Fraser University Methods and apparatus for harvesting biomechanical energy
US7190141B1 (en) * 2006-01-27 2007-03-13 Villanova University Exoskeletal device for rehabilitation
WO2008124017A1 (en) * 2007-04-06 2008-10-16 University Of Delaware Passive swing assist leg exoskeleton
WO2010025403A1 (en) * 2008-08-28 2010-03-04 Raytheon Sarcos, Llc Control logic for biomimetic joint actuators
US9011354B2 (en) * 2008-09-24 2015-04-21 Ekso Bionics, Inc. Hip and knee actuation systems for lower limb orthotic devices
ATE531313T1 (en) * 2009-04-07 2011-11-15 Syco Di Hedvig Haberl & C S A S SYSTEM FOR CONTROLLING A HAPTIC EXOSKELETON DEVICE FOR REHABILITATION PURPOSES AND CORRESPONDING HAPTIC EXOSKELETON DEVICE
JP5588724B2 (en) * 2010-04-23 2014-09-10 本田技研工業株式会社 Walking motion assist device
JP2012045194A (en) * 2010-08-27 2012-03-08 Advanced Telecommunication Research Institute International Exoskeleton type robot

Also Published As

Publication number Publication date
EP2861198B1 (en) 2020-01-08
EP2861198A1 (en) 2015-04-22
EP2861198B8 (en) 2020-03-04
CN104582668A (en) 2015-04-29
US20150142130A1 (en) 2015-05-21
US9566705B2 (en) 2017-02-14
CA2876206A1 (en) 2013-12-19
WO2013188868A1 (en) 2013-12-19
ES2773853T3 (en) 2020-07-15

Similar Documents

Publication Publication Date Title
IN2014KN02945A (en)
CA2897620C (en) Methods and apparatus for body weight support system
WO2013036925A3 (en) Isolated orthosis for thumb actuation
WO2016089466A3 (en) Soft exosuit for assistance with human motion
WO2015095611A3 (en) Closed-loop hybrid orthotic system for rehabilitation and functional mobility assistance
GB2557554A (en) Human exoskeleton devices for heavy tool support and use
WO2017021965A3 (en) Body movement feedback system and method
WO2013188510A3 (en) Prosthetic, orthotic or exoskeleton device
MX2015004478A (en) Robotic device for assistance and rehabilitation of lower limbs.
WO2014194163A3 (en) User-coupled human-machine interface
WO2014151065A3 (en) Exosuit system
EP3043875A4 (en) Method to determine body's physiological response to physical exercise for assessing readiness and to provide feedback, and system for implementing the method
EP4104757A3 (en) Assistive flexible suits, flexible suit systems, and methods for making and control thereof to assist human mobility
IN2013MU03647A (en)
EP3777677A3 (en) Soft exosuit for assistance with human motion
EP3417306A4 (en) System and method for the generation and use of an electro-thermal battery model
WO2015004540A3 (en) Dynamic modification of modulation throughout a therapy period
WO2014028305A3 (en) Mobility assistance device
MX2012012636A (en) Energy recovery ventilation control system.
MX347342B (en) Hybrid systems and methods for low-latency user input processing and feedback.
WO2013169305A8 (en) Haptic feedback with improved output response
WO2014125387A3 (en) Robotic device for assisting human force
MX2018006679A (en) Dual-use exoskeleton convertible into a walking aid and a wheelchair.
MX2016014744A (en) Vehicle control based on connectivity of a portable device.
GB201315285D0 (en) Task control in a computing system