JP6831331B2 - 駆動システムおよびリハビリ機器 - Google Patents
駆動システムおよびリハビリ機器 Download PDFInfo
- Publication number
- JP6831331B2 JP6831331B2 JP2017549805A JP2017549805A JP6831331B2 JP 6831331 B2 JP6831331 B2 JP 6831331B2 JP 2017549805 A JP2017549805 A JP 2017549805A JP 2017549805 A JP2017549805 A JP 2017549805A JP 6831331 B2 JP6831331 B2 JP 6831331B2
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- Prior art keywords
- drive system
- platform
- rotation
- rotation axis
- output member
- 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.)
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- 230000033001 locomotion Effects 0.000 claims description 44
- 230000005540 biological transmission Effects 0.000 claims description 20
- 230000009467 reduction Effects 0.000 claims description 15
- 210000003141 lower extremity Anatomy 0.000 claims description 14
- 230000007246 mechanism Effects 0.000 claims description 14
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 238000012549 training Methods 0.000 description 37
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- 241001227561 Valgus Species 0.000 description 5
- 241000469816 Varus Species 0.000 description 5
- 230000000272 proprioceptive effect Effects 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
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- 230000006378 damage Effects 0.000 description 2
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- 238000006073 displacement reaction Methods 0.000 description 2
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- 230000003902 lesion Effects 0.000 description 2
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
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- 230000003189 isokinetic effect Effects 0.000 description 1
- 208000018883 loss of balance Diseases 0.000 description 1
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- 230000000284 resting effect Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
- 230000009885 systemic effect Effects 0.000 description 1
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- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
- A63B2220/52—Weight, e.g. weight distribution
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/54—Torque
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/805—Optical or opto-electronic sensors
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/09—Adjustable dimensions
- A63B2225/093—Height
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Description
Claims (8)
- 互いに垂直であり、所定の交差点(O)で交差する第1の回転軸(x)および第2の回転軸(y)を中心とした回転の2自由度を有する物体(104)の運動を制御するための駆動システム(10)であって、
前記駆動システム(10)は、第1の固定支持構造体(16)と、前記第1の回転軸(x)に対応する固定回転軸を中心として回転するように前記第1の支持構造体(16)によって支持される第2の可動支持構造体(56)と、第1のモータ装置(24)、第1の出力部材(12)、および第1の運動伝達手段(26、28、30)を有する第1の作動ユニット(12、24、26、28、30)と、第2のモータ装置(52、53)、第2の出力部材(14)、および第2の運動伝達手段(54)を有する第2の作動ユニット(14、52、53、54)とを備え、
前記第1の出力部材(12)は、前記第1の回転軸(x)を中心として回転するように前記第2の可動支持構造体(56)に駆動可能に接続され、
前記第1のモータ装置(24)は、前記第1の動力伝達手段(26、28、30)を介して、前記第1の回転軸(x)を中心として、前記第2の可動支持構造体(56)及び前記第2の作動ユニット(14、52、53、54)と共に回転する前記第1の出力部材(12)の回転を制御するように配置され、前記第1のモータ装置(24)および第1のモータ軸(x2)を中心として回転するように前記第1のモータ装置(24)によって駆動されるように配置された第1の駆動軸を備え、
前記第2の出力部材(14)は、前記第2の回転軸(y)に対応する回転軸を中心として回転するように前記第2の可動支持構造体(56)によって支持され、
前記第2のモータ装置(52、53)は、前記第2の運動伝達手段(54)を介して、前記第2の回転軸(y)を中心とした前記第2の出力部材(14)の回転を制御するように配置され、第2のモータ(52)および第2のモータ軸を中心として回転するように前記第2のモータ(52)によって駆動されるように配置された第2の駆動軸(53)を備え、
前記第2の作動ユニット(14、52、53、54)は、前記第1の回転軸(x)を中心として回転するために前記第2の可動支持構造体(56)に駆動可能に接続されるように前記第2の可動支持構造体(56)によって支持され、
移動される前記物体(104)は、前記第2の出力部材(14)に固定されると、前記第1の作動ユニット(12、24、26、28、30)の制御下で前記第1の回転軸(x)を中心として回転可能になり、前記第2の作動ユニット(14、52、53、54)の制御下で、前記第2の回転軸(y)を中心として回転可能になる、駆動システム(10)であって、
前記第1のモータ軸(x2)は、前記第1の回転軸(x)に平行に、前記第1の回転軸(x)から離間して配置されること、および前記第2のモータ軸は前記第2の回転軸(y)と同じ軸であることを特徴とする、駆動システム。 - 前記第1の回転軸(x)は、水平方向に配向され、前記第1のモータ軸(x2)は、前記第1の回転軸(x)を通る垂直平面から一定距離にある、請求項1に記載の駆動システム。
- 前記第1の運動伝達手段(26、28、30)は、前記第1の回転軸(x)に平行な回転軸(x1)を中心として回転可能な入力軸(32)と出力軸(34)とを有する第1の減速機歯車(26)と、前記第1のモータ装置(24)によって生成された前記第1の駆動軸の回転運動を前記減速機歯車(26)の前記入力軸(32)に伝達するように前記第1のモータ装置(24)と前記減速機歯車(26)との間に動作可能に配置される第1の運動伝達機構(28)と、前記減速機歯車(26)の前記出力軸(34)の回転運動を前記第1の出力部材(12)に伝達するように前記減速機歯車(26)と前記第1の出力部材(12)との間に動作可能に配置される第2の運動伝達機構(30)とを備える、請求項2に記載の駆動システム。
- 前記第2の運動伝達手段(54)は、前記第2のモータ(52)と同軸上に配置された減速機歯車(54)を備える、請求項1〜3のうちのいずれかに記載の駆動システム。
- 患者の下肢および体幹のリハビリ用のリハビリ機器(100)であって、ベース構造体(102)と、前記ベース構造体(102)に取り付けられ、患者が片足のみでまたは両足で乗ることができるように構成されたプラットフォーム(104)と、座部(106)と、請求項1〜請求項4のうちのいずれか一項に記載の駆動システムからなり、2つの垂直回転軸(x’、y’)を中心とした回転の2自由度を有する前記プラットフォーム(104)の運動を制御するための第1の駆動システム(10’)と、請求項1〜請求項4のうちのいずれか一項に記載の駆動システムからなり、2つの垂直回転軸(x”、y”)を中心とした回転の2自由度を有する前記座部(106)の運動を制御するための第2の駆動システム(10”)と、所定の動作モードに従って、前記プラットフォーム(104)および前記座部(106)を移動させるように前記第1および第2の駆動システム(10’、10”)を制御する制御ユニットとを備える、リハビリ機器。
- 3つの垂直方向(x*、y*、z*)に沿って、前記ベース構造体(102)に対して、
さらには、前記プラットフォーム(104)に対して、前記座部(106)を移動させる直線運動手段をさらに備える、請求項5に記載のリハビリ機器。 - 前記プラットフォーム(104)は、前記駆動システム(10)の前記第2の出力部材(14)に接続される第1のプラットフォーム部分(104a)と、前記第1のプラットフォーム部分(104a)の周りに位置し、前記第1のプラットフォーム部分(104a)から分離される第2のプラットフォーム部分(104b)と、前記第2のプラットフォーム部分(104b)を前記ベース構造体(102)または前記第1のプラットフォーム部分(104a)に選択的に接続するように動作可能なロック手段(120)とを備える、請求項5または6に記載のリハビリ機器。
- 前記プラットフォーム(104)を介して患者と前記第1の駆動システム(10’)との間で交換される力および/またはトルクを示す信号と、前記座部(106)を介して患者と前記第2の駆動システム(10”)との間で交換される力および/またはトルクを示す信号とを提供するために、前記第1の駆動システム(10’)の前記第2の出力部材(14)と前記プラットフォーム(104)との間、および前記第2の駆動システム(10”)の前記第2の出力部材(14)と前記座部(106)との間に配置される力および/またはトルクセンサ手段(68)をさらに備えた、請求項5〜請求項7のうちのいずれか一項に記載のリハビリ機器。
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ITUB20150255 | 2015-03-24 | ||
IT102015000009678 | 2015-03-24 | ||
PCT/IB2016/051683 WO2016151527A1 (en) | 2015-03-24 | 2016-03-24 | Driving system for controlling the rotation of an object about two perpendicular axes of rotation and rehabilitation machine for rehabilitation of the lower limbs and the trunk incorporating such a driving system |
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JP2018514249A JP2018514249A (ja) | 2018-06-07 |
JP6831331B2 true JP6831331B2 (ja) | 2021-02-17 |
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US (2) | US11103411B2 (ja) |
EP (1) | EP3274059B1 (ja) |
JP (1) | JP6831331B2 (ja) |
KR (1) | KR20170135858A (ja) |
CN (1) | CN107530567B (ja) |
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US10639510B2 (en) * | 2017-03-20 | 2020-05-05 | The Trustees Of Columbia University In The City Of New York | Human musculoskeletal support and training system methods and devices |
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US11266879B2 (en) * | 2020-02-24 | 2022-03-08 | Hiwin Technologies Corp. | Adaptive active training system |
WO2022245218A1 (en) | 2021-05-19 | 2022-11-24 | X-Tr As | System and method for training of a user |
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US20180110670A1 (en) | 2018-04-26 |
EP3274059A1 (en) | 2018-01-31 |
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WO2016151527A1 (en) | 2016-09-29 |
CN107530567A (zh) | 2018-01-02 |
JP2018514249A (ja) | 2018-06-07 |
RU2017135095A (ru) | 2019-04-25 |
RU2017135095A3 (ja) | 2019-07-24 |
EP3274059B1 (en) | 2021-04-07 |
RU2713971C2 (ru) | 2020-02-11 |
US11103411B2 (en) | 2021-08-31 |
US20210322250A1 (en) | 2021-10-21 |
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