IT1401979B1 - Dispositivo biomedico per la riabilitazione robotizzata dell'arto superiore umano, particolarmente per la riabilitazione neuromotoria dell'articolazione della spalla e del gomito. - Google Patents
Dispositivo biomedico per la riabilitazione robotizzata dell'arto superiore umano, particolarmente per la riabilitazione neuromotoria dell'articolazione della spalla e del gomito.Info
- Publication number
- IT1401979B1 IT1401979B1 ITMI2010A001769A ITMI20101769A IT1401979B1 IT 1401979 B1 IT1401979 B1 IT 1401979B1 IT MI2010A001769 A ITMI2010A001769 A IT MI2010A001769A IT MI20101769 A ITMI20101769 A IT MI20101769A IT 1401979 B1 IT1401979 B1 IT 1401979B1
- Authority
- IT
- Italy
- Prior art keywords
- rehabilitation
- neuromotory
- articulation
- elbow
- shoulder
- Prior art date
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
-
- 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
- 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
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—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
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)
- Manipulator (AREA)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ITMI2010A001769A IT1401979B1 (it) | 2010-09-28 | 2010-09-28 | Dispositivo biomedico per la riabilitazione robotizzata dell'arto superiore umano, particolarmente per la riabilitazione neuromotoria dell'articolazione della spalla e del gomito. |
PCT/IB2011/054247 WO2012042471A1 (en) | 2010-09-28 | 2011-09-27 | Biomedical device for robotized rehabilitation of a human upper limb, particularly for neuromotor rehabilitation of the shoulder and elbow joint |
EP11778695.4A EP2621448A1 (en) | 2010-09-28 | 2011-09-27 | Biomedical device for robotized rehabilitation of a human upper limb, particularly for neuromotor rehabilitation of the shoulder and elbow joint |
US13/876,433 US8801639B2 (en) | 2010-09-28 | 2011-09-27 | Biomedical device for robotized rehabilitation of a human upper limb, particularly for neuromotor rehabilitation of the shoulder and elbow joint |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ITMI2010A001769A IT1401979B1 (it) | 2010-09-28 | 2010-09-28 | Dispositivo biomedico per la riabilitazione robotizzata dell'arto superiore umano, particolarmente per la riabilitazione neuromotoria dell'articolazione della spalla e del gomito. |
Publications (2)
Publication Number | Publication Date |
---|---|
ITMI20101769A1 ITMI20101769A1 (it) | 2012-03-29 |
IT1401979B1 true IT1401979B1 (it) | 2013-08-28 |
Family
ID=43738968
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ITMI2010A001769A IT1401979B1 (it) | 2010-09-28 | 2010-09-28 | Dispositivo biomedico per la riabilitazione robotizzata dell'arto superiore umano, particolarmente per la riabilitazione neuromotoria dell'articolazione della spalla e del gomito. |
Country Status (4)
Country | Link |
---|---|
US (1) | US8801639B2 (it) |
EP (1) | EP2621448A1 (it) |
IT (1) | IT1401979B1 (it) |
WO (1) | WO2012042471A1 (it) |
Families Citing this family (86)
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KR101065420B1 (ko) * | 2008-12-16 | 2011-09-16 | 한양대학교 산학협력단 | 상지거동을 위한 착용형 로봇장치 |
US9789603B2 (en) | 2011-04-29 | 2017-10-17 | Sarcos Lc | Teleoperated robotic system |
US9616580B2 (en) | 2012-05-14 | 2017-04-11 | Sarcos Lc | End effector for a robotic arm |
FR2991224B1 (fr) * | 2012-06-04 | 2014-06-27 | Commissariat Energie Atomique | Bras d`exosquelette a actionneur |
CN103083156B (zh) * | 2013-01-21 | 2015-03-04 | 江苏大学 | 一种三自由度混联上肢康复机器人 |
GB201305984D0 (en) * | 2013-04-03 | 2013-05-15 | Moog Bv | Mechanical linkage |
TWI554262B (zh) * | 2013-05-13 | 2016-10-21 | Univ Nat Taiwan | Limb rehabilitation and training system |
CN103340734B (zh) * | 2013-07-19 | 2015-04-15 | 河北联合大学 | 三自由度脑卒中早期上肢康复机器人 |
US20200179212A1 (en) * | 2013-09-27 | 2020-06-11 | Barrett Technology, Llc | Multi-active-axis, non-exoskeletal robotic rehabilitation device |
WO2015099858A2 (en) | 2013-09-30 | 2015-07-02 | Board Of Regents, The University Of Texas System | Upper-body robotic exoskeleton |
CN103948483B (zh) * | 2014-04-21 | 2015-12-09 | 安阳工学院 | 一种上肢康复训练器 |
KR101523014B1 (ko) * | 2014-04-24 | 2015-05-26 | 한국과학기술연구원 | 상지 근력 강화 장치 및 이를 구비한 키트 |
US9265685B1 (en) | 2014-05-01 | 2016-02-23 | University Of South Florida | Compliant bimanual rehabilitation device and method of use thereof |
US10766133B2 (en) | 2014-05-06 | 2020-09-08 | Sarcos Lc | Legged robotic device utilizing modifiable linkage mechanism |
US10533542B2 (en) | 2014-05-06 | 2020-01-14 | Sarcos Lc | Rapidly modulated hydraulic supply for a robotic device |
US10512583B2 (en) | 2014-05-06 | 2019-12-24 | Sarcos Lc | Forward or rearward oriented exoskeleton |
US10406676B2 (en) | 2014-05-06 | 2019-09-10 | Sarcos Lc | Energy recovering legged robotic device |
US10765901B2 (en) * | 2014-06-04 | 2020-09-08 | T-Rex Investment, Inc. | Programmable range of motion system |
US10220234B2 (en) | 2014-06-04 | 2019-03-05 | T-Rex Investment, Inc. | Shoulder end range of motion improving device |
KR101669130B1 (ko) * | 2014-09-25 | 2016-10-25 | 한국과학기술원 | 견관절의 해부학적 구조에 적응하는 다자유도 재활치료 로봇 |
CN104666049B (zh) * | 2015-02-02 | 2017-01-18 | 南京理工大学 | 一种便携式上肢康复机器人 |
US9375598B1 (en) * | 2015-02-09 | 2016-06-28 | Hiwin Technologies Corp. | Upper extremity rehabilitation device |
ITPI20150027A1 (it) | 2015-04-11 | 2016-10-11 | Azienda Ospedaliera Pisana | Sistema esoscheletrico ad alta ergonomia per l'arto superiore |
FR3046052B1 (fr) * | 2015-12-24 | 2020-11-20 | Sagem Defense Securite | Module de haut de corps pour une structure d'exosquelette |
CN105434144B (zh) * | 2015-12-30 | 2017-07-28 | 哈尔滨工业大学 | 前臂扭转与手腕弯曲康复装置及其扭转、弯曲方法 |
WO2017120680A1 (en) | 2016-01-17 | 2017-07-20 | Siamak Arzanpour | System and device for guiding and detecting motions of 3-dof rotational target joint |
CN105476739B (zh) * | 2016-02-15 | 2018-06-29 | 鲁俊东 | 一种肘关节外部骨科固定器 |
CN105726260B (zh) * | 2016-03-16 | 2017-10-27 | 安阳神方康复机器人有限公司 | 可互换上肢康复机器人 |
CN105856199B (zh) * | 2016-05-20 | 2018-04-10 | 深圳市君航智远科技有限公司 | 一种解决外骨骼机器人肩关节奇异位形问题的方法及装置 |
US20190201273A1 (en) * | 2016-09-09 | 2019-07-04 | Qatar Foundation For Education, Science, And Community Development | Robotic upper limb rehabilitation device |
WO2018093448A2 (en) * | 2016-09-09 | 2018-05-24 | Qatar Foundation For Education, Science And Community Development | Robotic upper limb rehabilitation device |
US10821614B2 (en) | 2016-11-11 | 2020-11-03 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
US10828767B2 (en) | 2016-11-11 | 2020-11-10 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements |
US10765537B2 (en) | 2016-11-11 | 2020-09-08 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators for use within a robotic system |
US10919161B2 (en) | 2016-11-11 | 2021-02-16 | Sarcos Corp. | Clutched joint modules for a robotic system |
CN106667723A (zh) * | 2016-11-15 | 2017-05-17 | 合肥工业大学 | 一种cpm肢体康复训练机 |
CN106393073B (zh) * | 2016-11-18 | 2018-12-14 | 武汉大学 | 一种便携式柔性肘关节外骨骼机器人 |
CN110997245A (zh) * | 2017-03-08 | 2020-04-10 | 艾比力泰克医疗公司 | 上躯干增强***和方法 |
US10702734B2 (en) * | 2017-03-17 | 2020-07-07 | Domenic J. Pompile | Adjustable multi-position stabilizing and strengthening apparatus |
CN107097210B (zh) * | 2017-03-30 | 2019-06-18 | 北京精密机电控制设备研究所 | 一种具有五自由度肩部结构的上肢外骨骼 |
CN107157705A (zh) * | 2017-05-09 | 2017-09-15 | 京东方科技集团股份有限公司 | 康复***和方法 |
CN107198639B (zh) * | 2017-05-12 | 2019-05-03 | 北京工业大学 | 一种用于上肢康复外骨骼机构的主被融合关节 |
CN107019621A (zh) * | 2017-05-19 | 2017-08-08 | 山东建筑大学 | 上肢康复机器人 |
IT201700079086A1 (it) * | 2017-07-13 | 2019-01-13 | Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna | Catena cinematica per l’assistenza al movimento di un giunto sferico |
EP3970682A1 (en) * | 2017-08-22 | 2022-03-23 | S.M. Scienzia Machinale S.r.l | Apparatus for rehabilitation of the upper limbs of a person |
CN107595547B (zh) * | 2017-09-18 | 2024-04-16 | 华南理工大学 | 一种用于上肢康复训练的双臂机器人 |
FR3072598B1 (fr) * | 2017-10-24 | 2019-11-22 | Safran Electronics & Defense | Structure d'exosquelette adapte a l'epaule |
CN107898595A (zh) * | 2017-11-26 | 2018-04-13 | 宁波工程学院 | 上肢康复训练器 |
US10843330B2 (en) | 2017-12-07 | 2020-11-24 | Sarcos Corp. | Resistance-based joint constraint for a master robotic system |
CN109925162A (zh) * | 2017-12-18 | 2019-06-25 | 中国科学院沈阳自动化研究所 | 一种肩胛带仿生助力柔性外骨骼机构 |
US11331809B2 (en) | 2017-12-18 | 2022-05-17 | Sarcos Corp. | Dynamically controlled robotic stiffening element |
CN108186279B (zh) * | 2017-12-27 | 2020-02-07 | 北京工业大学 | 一种用于康复外骨骼机构的旋内旋外关节 |
CN108210246B (zh) * | 2018-01-10 | 2020-04-03 | 北京工业大学 | 一种四自由度康复机械臂装置 |
US11298286B2 (en) * | 2018-03-18 | 2022-04-12 | Sina Robotics & Medical Innovators Co. Ltd. | Rehabilitation system for robotized mobilization of a glenohumeral joint |
US10966893B2 (en) * | 2018-03-23 | 2021-04-06 | Hiwin Technologies Corp. | Exoskeleton apparatus for limb rehabilitation |
US10765581B2 (en) * | 2018-03-27 | 2020-09-08 | Dephy, Inc. | Spool for winch actuator |
CA3098479C (en) | 2018-05-14 | 2021-06-08 | Human In Motion Robotics Inc. | Self-supported device for guiding motions of a target joint |
CN108814902B (zh) * | 2018-06-29 | 2020-01-10 | 华中科技大学 | 一种人机运动匹配且能对侧互换的上肢外骨骼康复装置 |
US11241801B2 (en) | 2018-12-31 | 2022-02-08 | Sarcos Corp. | Robotic end effector with dorsally supported actuation mechanism |
US11351675B2 (en) | 2018-12-31 | 2022-06-07 | Sarcos Corp. | Robotic end-effector having dynamic stiffening elements for conforming object interaction |
US10906191B2 (en) | 2018-12-31 | 2021-02-02 | Sarcos Corp. | Hybrid robotic end effector |
WO2020160456A1 (en) * | 2019-01-31 | 2020-08-06 | Barrett Technology, Llc | Multi-active-axis, non-exoskeletal robotic rehabilitation device |
CN109875845B (zh) * | 2019-04-01 | 2023-10-24 | 安徽理工大学 | 一种肩部中心可变上肢康复机械臂 |
CN110179628B (zh) * | 2019-06-10 | 2021-01-29 | 上海理工大学 | 一种用于上肢康复的绳驱腕部三自由度训练机构 |
KR20210069435A (ko) * | 2019-12-03 | 2021-06-11 | 현대자동차주식회사 | 착용식 근력 보조 장치 |
CN111184620B (zh) * | 2020-01-14 | 2021-11-30 | 哈尔滨工业大学 | 一种具有补偿装置的柔性绳驱肘关节外骨骼机器人 |
CN111281741B (zh) * | 2020-02-26 | 2022-05-31 | 南京邮电大学 | 面向不同体型的可重构式外骨骼上肢康复机器人 |
KR20210114090A (ko) * | 2020-03-09 | 2021-09-23 | 현대자동차주식회사 | 착용식 근력 보조 장치 |
CN111513985B (zh) * | 2020-04-29 | 2021-11-30 | 中国人民解放军陆军军医大学第二附属医院 | 一种适宜偏瘫患者使用的肢体摆放固定装置 |
CZ309407B6 (cs) * | 2020-06-28 | 2022-11-30 | Vysoká Škola Báňská - Technická Univerzita Ostrava | Kloub se dvěma stupni volnosti pro použití v exoskeletech a rehabilitačních zařízeních |
CN112245223B (zh) * | 2020-10-19 | 2022-08-05 | 深圳睿瀚医疗科技有限公司 | 一种空间末端牵引式刚性上肢康复机器人 |
CN112472520B (zh) * | 2020-11-26 | 2022-10-11 | 四川大学华西医院 | 上肢康复训练装置 |
US11833676B2 (en) | 2020-12-07 | 2023-12-05 | Sarcos Corp. | Combining sensor output data to prevent unsafe operation of an exoskeleton |
CN112545836B (zh) * | 2020-12-09 | 2022-08-30 | 中国科学院宁波材料技术与工程研究所慈溪生物医学工程研究所 | 穿戴式肩关节自主康复训练机构 |
US11794345B2 (en) | 2020-12-31 | 2023-10-24 | Sarcos Corp. | Unified robotic vehicle systems and methods of control |
CN114246761A (zh) * | 2021-04-05 | 2022-03-29 | 新加坡国立大学 | 用于辅助用户的上肢运动的装置 |
CN113730188B (zh) * | 2021-09-17 | 2023-10-10 | 张家港市中医医院 | 一种脑损伤后上肢整体痉挛防治装置 |
CN114041971B (zh) * | 2021-12-01 | 2022-12-02 | 复旦大学 | 一种上肢康复机器人的可调框架 |
CN114404216B (zh) * | 2021-12-23 | 2022-10-25 | 燕山大学 | 一种可穿戴外骨骼肩部康复辅具 |
CN114209554A (zh) * | 2022-01-25 | 2022-03-22 | 安徽职业技术学院 | 一种基于康复训练的肘关节牵引*** |
CN114452161A (zh) * | 2022-01-28 | 2022-05-10 | 同济大学 | 一种具备穿戴顺应性的平面被动上肢外骨骼机构 |
WO2023168179A1 (en) * | 2022-03-01 | 2023-09-07 | Medi-Dyne Healthcare Products, Ltd. | Adjustable, multi-functional shoulder stretching device |
US11826907B1 (en) | 2022-08-17 | 2023-11-28 | Sarcos Corp. | Robotic joint system with length adapter |
US11717956B1 (en) | 2022-08-29 | 2023-08-08 | Sarcos Corp. | Robotic joint system with integrated safety |
US11924023B1 (en) | 2022-11-17 | 2024-03-05 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
US11897132B1 (en) | 2022-11-17 | 2024-02-13 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3449769A (en) * | 1966-06-27 | 1969-06-17 | Cornell Aeronautical Labor Inc | Powered exoskeletal apparatus for amplifying human strength in response to normal body movements |
AU2598295A (en) * | 1994-05-19 | 1995-12-21 | Exos, Inc. | Sensory feedback exoskeleton armmaster |
US20030115954A1 (en) * | 2001-12-07 | 2003-06-26 | Vladimir Zemlyakov | Upper extremity exoskeleton structure and method |
AU2002368501A1 (en) * | 2002-12-31 | 2004-07-22 | Massimo Bergamasco | Ekoskeleton interface apparatus |
US20090149783A1 (en) * | 2004-11-30 | 2009-06-11 | Eidgenossische Technische Hochschule Zurich | System And Method For A Cooperative Arm Therapy And Corresponding Rotation Module |
US8083644B2 (en) * | 2005-12-14 | 2011-12-27 | Peter Purdy | Resistance garments and active materials |
US7862524B2 (en) * | 2006-03-23 | 2011-01-04 | Carignan Craig R | Portable arm exoskeleton for shoulder rehabilitation |
US20080009771A1 (en) * | 2006-03-29 | 2008-01-10 | Joel Perry | Exoskeleton |
FR2917323B1 (fr) * | 2007-06-12 | 2009-10-02 | Commissariat Energie Atomique | Mecanisme de rotation d'avant-bras et orthese comportant un tel mecanisme |
US8409118B2 (en) * | 2008-09-26 | 2013-04-02 | University Of Delaware | Upper arm wearable exoskeleton |
-
2010
- 2010-09-28 IT ITMI2010A001769A patent/IT1401979B1/it active
-
2011
- 2011-09-27 WO PCT/IB2011/054247 patent/WO2012042471A1/en active Application Filing
- 2011-09-27 US US13/876,433 patent/US8801639B2/en not_active Expired - Fee Related
- 2011-09-27 EP EP11778695.4A patent/EP2621448A1/en not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
US20130237883A1 (en) | 2013-09-12 |
EP2621448A1 (en) | 2013-08-07 |
US8801639B2 (en) | 2014-08-12 |
WO2012042471A1 (en) | 2012-04-05 |
ITMI20101769A1 (it) | 2012-03-29 |
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