JP6111344B2 - 力フィードバック・コントローラ及び力フィードバック・コントローラ外骨格 - Google Patents
力フィードバック・コントローラ及び力フィードバック・コントローラ外骨格 Download PDFInfo
- Publication number
- JP6111344B2 JP6111344B2 JP2015560363A JP2015560363A JP6111344B2 JP 6111344 B2 JP6111344 B2 JP 6111344B2 JP 2015560363 A JP2015560363 A JP 2015560363A JP 2015560363 A JP2015560363 A JP 2015560363A JP 6111344 B2 JP6111344 B2 JP 6111344B2
- Authority
- JP
- Japan
- Prior art keywords
- module
- grip
- feedback controller
- force feedback
- force
- 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.)
- Expired - Fee Related
Links
- 230000033001 locomotion Effects 0.000 claims description 55
- 210000000707 wrist Anatomy 0.000 claims description 53
- 210000003414 extremity Anatomy 0.000 claims description 36
- 210000000245 forearm Anatomy 0.000 claims description 29
- 230000007246 mechanism Effects 0.000 claims description 18
- 239000006260 foam Substances 0.000 claims description 5
- 229920001971 elastomer Polymers 0.000 claims description 4
- 239000000806 elastomer Substances 0.000 claims description 4
- 238000004891 communication Methods 0.000 description 18
- 230000006870 function Effects 0.000 description 13
- 239000000463 material Substances 0.000 description 7
- 238000004088 simulation Methods 0.000 description 7
- 238000013461 design Methods 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 238000005094 computer simulation Methods 0.000 description 4
- 230000007774 longterm Effects 0.000 description 4
- 238000012549 training Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 229920001903 high density polyethylene Polymers 0.000 description 3
- 239000004700 high-density polyethylene Substances 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000035807 sensation Effects 0.000 description 3
- 230000001953 sensory effect Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000013011 mating Effects 0.000 description 2
- 238000000554 physical therapy Methods 0.000 description 2
- -1 polyethylene Polymers 0.000 description 2
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 2
- 208000006358 Hand Deformities Diseases 0.000 description 1
- 125000002066 L-histidyl group Chemical group [H]N1C([H])=NC(C([H])([H])[C@](C(=O)[*])([H])N([H])[H])=C1[H] 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- 239000004698 Polyethylene Substances 0.000 description 1
- 239000004743 Polypropylene Substances 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 210000001513 elbow Anatomy 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 229920002457 flexible plastic Polymers 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 238000001584 occupational therapy Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 229920000573 polyethylene Polymers 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 229920005594 polymer fiber Polymers 0.000 description 1
- 229920001155 polypropylene Polymers 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000021317 sensory perception Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000035943 smell Effects 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
- 230000000638 stimulation Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B6/00—Tactile signalling systems, e.g. personal calling systems
-
- 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
- A61H1/0285—Hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
- B25J13/025—Hand grip control means comprising haptic means
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
-
- 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
- A61H2201/0107—Constructive details modular
-
- 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
- A61H2201/02—Characteristics of apparatus not provided for in the preceding codes heated or cooled
- A61H2201/0207—Characteristics of apparatus not provided for in the preceding codes heated or cooled heated
-
- 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
- A61H2201/02—Characteristics of apparatus not provided for in the preceding codes heated or cooled
- A61H2201/0214—Characteristics of apparatus not provided for in the preceding codes heated or cooled cooled
-
- 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
- A61H2201/1635—Hand or arm, e.g. handle
-
- 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
- A61H2201/5007—Control means thereof computer controlled
- A61H2201/501—Control means thereof computer controlled connected to external computer devices or networks
-
- 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
- A61H2201/5064—Position 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
- A61H2201/5092—Optical sensor
-
- 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
- A61H2201/5097—Control means thereof wireless
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Public Health (AREA)
- Rehabilitation Therapy (AREA)
- Veterinary Medicine (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Epidemiology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- User Interface Of Digital Computer (AREA)
- Rehabilitation Tools (AREA)
Description
本明細書に記載のPFFCは、身体の位置を感知し、身体の1つまたは複数の部位に触覚刺激(運動に対する抵抗、触覚モータ力、モータによる振動、超音波振動、または加熱要素および冷却要素が任意のモジュールに含まれる場合に熱もしくは冷気を加えることなどによる)、および/または非触覚刺激(視覚表示、音、匂いの1つまたは複数を意味し得る)を加えることができる。PFFCモジュールは互いに取り付けられて、互いに順に動作し、または互いに独立して動作することができるため、ユーザは様々な外骨格アタッチメントを共にまたは別個に購入することができる。
Claims (12)
- 力フィードバック・コントローラをユーザの腕に連結するように構成された第1の肢アタッチメントを含む手首モジュールと、
該手首モジュールに連結され、該手首モジュールに対して第1の方向および第2の方向に可動であるグリップ・モジュールであって、該第1の方向が該第2の方向に略垂直であり、該グリップ・モジュールが、グリップ・アタッチメントを有する直線スライド機構を含み、該グリップ・アタッチメントが、該第1の方向および第2の方向の少なくとも一方に略垂直な第3の方向への直線運動に拘束され、グリップを該グリップ・モジュールに連結するように構成されるグリップ・モジュールとを備える、力フィードバック・コントローラ。 - 前記直線スライド機構が、前記グリップ・アタッチメントに力を与えるように構成された直線駆動部品をさらに備える、請求項1に記載の力フィードバック・コントローラ。
- 前記グリップ・モジュールに前記第1の方向への力を与えるように構成された第1の回転駆動部品をさらに備える、請求項1に記載の力フィードバック・コントローラ。
- 前記グリップ・モジュールに前記第2の方向への力を与えるように構成された第2の回転駆動部品をさらに備える、請求項3に記載の力フィードバック・コントローラ。
- ユーザの上腕に連結するように構成された第2の肢アタッチメントを有する上腕モジュールと、
ユーザの前腕に連結するように構成された第3の肢アタッチメントを有する前腕モジュールとをさらに備え、
前記第1の肢アタッチメントおよび該第2の肢アタッチメントが、前記第1の肢アタッチメントと略同一である、請求項1に記載の力フィードバック・コントローラ。 - 前記第1の肢アタッチメントが、
上部および下部を有し、該上部が該下部に旋回可能かつ摺動可能に連結される外殻と、
該外殻の大きさを調節するように構成された調節機構とを備える、請求項1に記載の力フィードバック・コントローラ。 - 前記肢アタッチメントが、前記外殻の少なくとも一部に位置する粘弾性発泡体をさらに備え、該粘弾性発泡体が、ユーザの腕の輪郭に一致して、衝撃力に晒されたときに変形に抵抗するように構成される、請求項6に記載の力フィードバック・コントローラ。
- 前記グリップ・アタッチメントが、第1のプリント回路基板電気コネクタと導電性エラストマ要素とを備え、前記プリント回路基板電気コネクタおよび前記導電性エラストマ要素が、前記グリップ・モジュールに連結されたグリップの第2のプリント回路基板電気コネクタと電気接続を形成するように設計されて構成される、請求項1に記載の力フィードバック・コントローラ。
- 前記第1の方向が第1の軸の周りの回転を含み、前記第2の方向が第2の軸の周りの回転を含み、該第2の軸が該第1の軸に対して非平行であり、前記第3の方向が該第1の軸および該第2の軸の少なくとも一方に略垂直である、請求項1に記載の力フィードバック・コントローラ。
- 前記第1の軸、前記第2の軸、および前記第3の方向が、互いに略直交して向けられる、請求項9に記載の力フィードバック・コントローラ。
- 前腕モジュール、手首モジュール、およびグリップ・モジュールからなり、該前腕モジュールおよび該手首モジュールが、取り外し可能に共に連結して力フィードバック・コントローラ外骨格を形成するように設計されて構成され、該グリップ・モジュールが、該手首モジュールに連結されるとともに、該手首モジュールに対して第1の方向に移動可能であり、
該グリップ・モジュールが、直線スライド機構および該直線スライド機構に連結されたグリップを備え、該グリップが前記直線スライド機構を介して前記第1の方向に対して略垂直な方向に移動可能である、力フィードバック・コントローラ外骨格。 - 前記前腕モジュールに取り外し可能に連結するように構成された肘モジュールをさらに備え、該肘モジュールが、
細長受け部、および該細長受け部に摺動可能に連結されて、前記肘モジュールをユーザの腕に取り付けるように構成された上腕モジュールと、
第2の側部要素に旋回可能に連結された第1の側部要素と、
該第1の側部要素を該第2の側部要素に対して駆動するように構成された駆動機構とを含む、請求項11に記載の力フィードバック・コントローラ外骨格。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201361771015P | 2013-02-28 | 2013-02-28 | |
US61/771,015 | 2013-02-28 | ||
US201361783419P | 2013-03-14 | 2013-03-14 | |
US61/783,419 | 2013-03-14 | ||
PCT/US2014/019533 WO2014134499A1 (en) | 2013-02-28 | 2014-02-28 | Modular exoskeletal force feedback controller |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2016519793A JP2016519793A (ja) | 2016-07-07 |
JP2016519793A5 JP2016519793A5 (ja) | 2016-11-17 |
JP6111344B2 true JP6111344B2 (ja) | 2017-04-05 |
Family
ID=50288328
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2015560363A Expired - Fee Related JP6111344B2 (ja) | 2013-02-28 | 2014-02-28 | 力フィードバック・コントローラ及び力フィードバック・コントローラ外骨格 |
Country Status (11)
Country | Link |
---|---|
US (2) | US9299230B2 (ja) |
EP (2) | EP3375574B1 (ja) |
JP (1) | JP6111344B2 (ja) |
KR (1) | KR101798067B1 (ja) |
CN (1) | CN105189050B (ja) |
AU (1) | AU2014223161A1 (ja) |
BR (1) | BR112015020937A2 (ja) |
CA (1) | CA2901793C (ja) |
IL (1) | IL240625A (ja) |
MX (1) | MX352726B (ja) |
WO (1) | WO2014134499A1 (ja) |
Families Citing this family (37)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20130145530A1 (en) * | 2011-12-09 | 2013-06-13 | Manu Mitra | Iron man suit |
KR102018706B1 (ko) | 2013-03-15 | 2019-09-05 | 에스알아이 인터내셔널 | 엑소수트 시스템 |
EP4083758A1 (en) | 2013-07-05 | 2022-11-02 | Rubin, Jacob A. | Whole-body human-computer interface |
US20150205352A1 (en) * | 2013-12-29 | 2015-07-23 | Immersion Corporation | Distributed control architecture for haptic devices |
US20150358543A1 (en) * | 2014-06-05 | 2015-12-10 | Ali Kord | Modular motion capture system |
US10786415B2 (en) | 2015-03-20 | 2020-09-29 | Regents Of The University Of Minnesota | Systems and methods for assessing and training wrist joint proprioceptive function |
CN108472807A (zh) * | 2015-10-30 | 2018-08-31 | 埃克苏仿生公司 | 用于重型工具支承和使用的人体外骨骼装置 |
WO2018034397A1 (ko) * | 2016-08-16 | 2018-02-22 | ㈜리얼감 | 인터페이스 디바이스 |
KR101871989B1 (ko) | 2016-08-16 | 2018-06-28 | (주)리얼감 | 인터페이스 디바이스 |
TR201611675A2 (tr) * | 2016-08-18 | 2016-10-21 | Korkmaz Mehmet | Fi̇zyoterapi̇st kontrollü pronasyon ve supi̇nasyon fi̇zi̇k tedavi̇ ci̇hazi |
GB2554363B (en) | 2016-09-21 | 2021-12-08 | Cmr Surgical Ltd | User interface device |
TWI615137B (zh) * | 2016-11-24 | 2018-02-21 | 國立陽明大學 | 多模式步行訓練之電動步行輔具及該輔具之控制方法 |
WO2018101890A1 (en) * | 2016-12-02 | 2018-06-07 | National University Of Singapore | Electronic input device |
US9931701B1 (en) * | 2017-01-17 | 2018-04-03 | The Boeing Company | Hand tool support device and method |
KR102033908B1 (ko) * | 2017-02-15 | 2019-10-18 | 광운대학교 산학협력단 | 역감제시장치 |
US20200121485A1 (en) * | 2017-06-20 | 2020-04-23 | Opum Technologies Limited | Orthosis or exoskeleton system with modular elements |
WO2019009455A1 (ko) * | 2017-07-07 | 2019-01-10 | ㈜리얼감 | 포스 피드백 장치 및 방법 |
CN107632701A (zh) * | 2017-08-03 | 2018-01-26 | 东南大学 | 一种人机交互虚拟训练力反馈参数的控制方法 |
CN107943288B (zh) | 2017-11-16 | 2020-10-16 | 陈昭胜 | 智能穿戴装置、智能穿戴设备及控制方法 |
KR102018566B1 (ko) * | 2017-11-23 | 2019-09-05 | 울산과학기술원 | 상지 재활을 위해 엔드 이펙터 타입의 재활로봇과 연결가능한 재활 로봇 |
KR20190098643A (ko) | 2018-02-14 | 2019-08-22 | (주)리얼감 | 인터페이스 디바이스 |
WO2019160179A1 (ko) | 2018-02-14 | 2019-08-22 | ㈜리얼감 | 인터페이스 디바이스 |
WO2019173422A1 (en) * | 2018-03-09 | 2019-09-12 | Myomo, Inc. | Grasp assistance system and method |
EP3773941A4 (en) * | 2018-10-02 | 2021-11-24 | Hewlett-Packard Development Company, L.P. | FEEDBACK REGULATOR FOR COMPUTER EQUIPMENT |
CN109394477B (zh) * | 2018-12-10 | 2021-03-16 | 北京工业大学 | 一种2-spu/rr并联气动腕康复装置 |
SE1851567A1 (en) * | 2018-12-12 | 2020-06-13 | Tendo Ab | Control of an active orthotic device |
CN109820685A (zh) * | 2019-01-23 | 2019-05-31 | 西安交通大学 | 一种可解耦控制膝关节运动轨迹的挛缩康复器具 |
EP3959043B1 (en) * | 2019-04-22 | 2024-01-10 | Iuvo S.r.L. | System for assisting an operator in exerting efforts |
CA3144441A1 (en) * | 2019-07-17 | 2021-01-21 | ERMI Inc. | A device for assisting with extension and/or flexion |
US20210162263A1 (en) * | 2019-12-03 | 2021-06-03 | Samsung Electronics Co., Ltd. | Method and device for providing resistance to user of wearable device |
US11816268B2 (en) | 2020-10-22 | 2023-11-14 | Haptx, Inc. | Actuator and retraction mechanism for force feedback exoskeleton |
CN113209605B (zh) * | 2021-06-04 | 2022-08-16 | 歌尔科技有限公司 | 一种反馈力装置、游戏手柄以及*** |
USD1011398S1 (en) * | 2021-08-13 | 2024-01-16 | Festool Gmbh | Wearable robotic exoskeleton |
KR102642634B1 (ko) * | 2021-09-02 | 2024-03-04 | 중앙대학교 산학협력단 | 신체 동작 보조를 위한 고관절 탄성슈트 및 그 작동방법 |
CA3230947A1 (en) * | 2021-09-08 | 2023-03-16 | Patrick McKinley JARVIS | Wearable robot data collection system with human-machine operation interface |
US20240225877A9 (en) * | 2022-10-21 | 2024-07-11 | Medflexion Health, Inc. | Intelligent orthopedic device system, and method of using the same |
WO2024151107A1 (ko) * | 2023-01-11 | 2024-07-18 | 연세대학교 산학협력단 | 상지 관절 운동 치료 로봇용 전완 고정 장치 |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4529237A (en) * | 1982-12-07 | 1985-07-16 | International Business Machines Corporation | Robotic gripper drive system |
US5658241A (en) * | 1990-02-09 | 1997-08-19 | Ultraflex Systems, Inc. | Multi-functional dynamic splint |
US5413611A (en) * | 1992-07-21 | 1995-05-09 | Mcp Services, Inc. | Computerized electronic prosthesis apparatus and method |
US5806573A (en) * | 1996-08-13 | 1998-09-15 | Argonaut Technologies Incorporated | Closure device and method for venting, cannulating and pressurizing a vessel |
US5853211A (en) * | 1997-01-10 | 1998-12-29 | Btm Corporation | Universal gripper |
FR2839916B1 (fr) | 2002-05-22 | 2004-10-15 | Agence Spatiale Europeenne | Exosquelette pour bras humain, notamment pour des applications spatiales |
CN1239296C (zh) * | 2003-09-09 | 2006-02-01 | 北京航空航天大学 | 一种面向人机交互的带有力反馈的外骨架式可佩戴数据臂 |
US20050234564A1 (en) * | 2004-03-30 | 2005-10-20 | Rainer Fink | Enhanced-functionality prosthetic limb |
US7618381B2 (en) * | 2004-10-27 | 2009-11-17 | Massachusetts Institute Of Technology | Wrist and upper extremity motion |
US20060167564A1 (en) * | 2005-01-10 | 2006-07-27 | Flaherty J C | Limb and digit movement system |
JP2006334695A (ja) * | 2005-05-31 | 2006-12-14 | Kyoto Univ | 遠隔操縦装置 |
JP2009233108A (ja) * | 2008-03-27 | 2009-10-15 | Namco Bandai Games Inc | ゲーム装置用銃型コントローラ |
US8423182B2 (en) * | 2009-03-09 | 2013-04-16 | Intuitive Surgical Operations, Inc. | Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems |
US20110067157A1 (en) * | 2009-09-19 | 2011-03-24 | Quan Xiao | Method and apparatus for Variable G force experience and creating immersive VR sensations |
CN201949284U (zh) * | 2010-03-10 | 2011-08-31 | 广州一康医疗设备实业有限公司 | 上肢康复机器人 |
AU2011237357B2 (en) * | 2010-04-09 | 2016-05-19 | Deka Products Limited Partnership | System and apparatus for robotic device and methods of using thereof |
US20120142416A1 (en) | 2010-06-01 | 2012-06-07 | Joutras Frank E | Simulated recreational, training and exercise system |
CN202027877U (zh) * | 2011-03-29 | 2011-11-09 | 浙江大学 | 一种可穿戴式的7自由度上肢运动康复训练外骨骼 |
CN102379793B (zh) * | 2011-08-18 | 2012-11-28 | 付风生 | 一种上肢康复训练机器人 |
-
2014
- 2014-02-28 EP EP18164912.0A patent/EP3375574B1/en active Active
- 2014-02-28 BR BR112015020937A patent/BR112015020937A2/pt not_active Application Discontinuation
- 2014-02-28 AU AU2014223161A patent/AU2014223161A1/en not_active Abandoned
- 2014-02-28 JP JP2015560363A patent/JP6111344B2/ja not_active Expired - Fee Related
- 2014-02-28 WO PCT/US2014/019533 patent/WO2014134499A1/en active Application Filing
- 2014-02-28 EP EP14710748.6A patent/EP2961575B1/en active Active
- 2014-02-28 US US14/194,047 patent/US9299230B2/en active Active
- 2014-02-28 CN CN201480024189.6A patent/CN105189050B/zh active Active
- 2014-02-28 MX MX2015011294A patent/MX352726B/es active IP Right Grant
- 2014-02-28 CA CA2901793A patent/CA2901793C/en not_active Expired - Fee Related
- 2014-02-28 KR KR1020157026796A patent/KR101798067B1/ko active IP Right Grant
-
2015
- 2015-08-17 IL IL240625A patent/IL240625A/en active IP Right Grant
-
2016
- 2016-03-15 US US15/070,962 patent/US9984541B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20160196727A1 (en) | 2016-07-07 |
KR101798067B1 (ko) | 2017-11-15 |
CN105189050A (zh) | 2015-12-23 |
CA2901793A1 (en) | 2014-09-04 |
MX352726B (es) | 2017-12-06 |
AU2014223161A1 (en) | 2015-09-03 |
EP2961575A1 (en) | 2016-01-06 |
EP3375574B1 (en) | 2020-04-22 |
EP2961575B1 (en) | 2018-09-19 |
US20140240109A1 (en) | 2014-08-28 |
MX2015011294A (es) | 2016-03-03 |
CA2901793C (en) | 2018-01-02 |
IL240625A (en) | 2016-12-29 |
CN105189050B (zh) | 2017-08-08 |
KR20150123307A (ko) | 2015-11-03 |
US9299230B2 (en) | 2016-03-29 |
JP2016519793A (ja) | 2016-07-07 |
WO2014134499A1 (en) | 2014-09-04 |
US9984541B2 (en) | 2018-05-29 |
IL240625A0 (en) | 2015-10-29 |
EP3375574A1 (en) | 2018-09-19 |
BR112015020937A2 (pt) | 2017-07-18 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6111344B2 (ja) | 力フィードバック・コントローラ及び力フィードバック・コントローラ外骨格 | |
US10071485B2 (en) | Hand controller device | |
JP5725603B2 (ja) | 側面設置型力覚提示インターフェイス | |
EP2178680B1 (en) | Wearable mechatronic device | |
WO2012127404A2 (en) | Ergonomic handle for haptic devices | |
US11504200B2 (en) | Wearable user interface device | |
Molaei et al. | A portable low-cost 3D-printed wrist rehabilitation robot: Design and development | |
KR100681768B1 (ko) | 컴팩트한 햅틱 장치 | |
KR101454322B1 (ko) | 수술 로봇 시스템용 마스터 로봇 | |
RU2718568C1 (ru) | Контроллер запястья для использования в контроллере оператора роботохирургического комплекса | |
EP3247986B1 (en) | A force measurement mechanism | |
WO2017155051A1 (ja) | 位置・力制御装置 | |
RU2716353C1 (ru) | Контроллер кисти для использования в контроллере оператора роботохирургического комплекса | |
WO2022239294A1 (ja) | 情報入力装置、制御装置、並びに手術システム | |
Almusawi | Design and Development of a New Hand and Wrist Rehabilitation Robot Assisted System; Equipped With Game-Based Therapy, ROM and TipPinch Force Self-Assessment Approaches |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20160928 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20160928 |
|
A871 | Explanation of circumstances concerning accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A871 Effective date: 20160928 |
|
A975 | Report on accelerated examination |
Free format text: JAPANESE INTERMEDIATE CODE: A971005 Effective date: 20161028 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20161115 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20170201 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20170214 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20170313 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6111344 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
RD02 | Notification of acceptance of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: R3D02 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
S533 | Written request for registration of change of name |
Free format text: JAPANESE INTERMEDIATE CODE: R313533 |
|
R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
LAPS | Cancellation because of no payment of annual fees |