MX2015005567A - Dispositivo mecatrónico no invasivo generador de motricidad en articulaciones usando señales eeg y emg. - Google Patents

Dispositivo mecatrónico no invasivo generador de motricidad en articulaciones usando señales eeg y emg.

Info

Publication number
MX2015005567A
MX2015005567A MX2015005567A MX2015005567A MX2015005567A MX 2015005567 A MX2015005567 A MX 2015005567A MX 2015005567 A MX2015005567 A MX 2015005567A MX 2015005567 A MX2015005567 A MX 2015005567A MX 2015005567 A MX2015005567 A MX 2015005567A
Authority
MX
Mexico
Prior art keywords
eeg
invasive
device providing
emg signals
joint mobility
Prior art date
Application number
MX2015005567A
Other languages
English (en)
Inventor
Rodriguez Leal Ernesto
Original Assignee
Inst Tecnologico Estudios Superiores Monterrey
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 Inst Tecnologico Estudios Superiores Monterrey filed Critical Inst Tecnologico Estudios Superiores Monterrey
Priority to MX2015005567A priority Critical patent/MX2015005567A/es
Priority to EP15889117.6A priority patent/EP3283036A4/en
Priority to CA2982719A priority patent/CA2982719A1/en
Priority to US15/566,663 priority patent/US20180110669A1/en
Priority to PCT/IB2015/059340 priority patent/WO2016166588A1/en
Publication of MX2015005567A publication Critical patent/MX2015005567A/es

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
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • 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
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • 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
    • A61H2001/0211—Walking coordination of arms and legs
    • 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
    • A61H2201/5069—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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/08—Other bio-electrical signals
    • A61H2230/10—Electroencephalographic signals
    • A61H2230/105—Electroencephalographic signals used as a control parameter for the apparatus
    • 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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/60—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
    • A61H2230/605—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG] used as a control parameter for the apparatus
    • 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
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/62—Posture
    • A61H2230/625—Posture used as a control parameter for the apparatus
    • 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
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement
    • 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
    • Y10S901/14—Arm movement, spatial
    • Y10S901/15—Jointed arm
    • 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
    • Y10S901/46—Sensing device

Landscapes

  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Epidemiology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Rehabilitation Therapy (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Human Computer Interaction (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)

Abstract

Esta solicitud de patente busca proteger un dispositivo mecatrónico no invasivo generador de motricidad en articulaciones usando señales EEG y EMG con aplicaciones específicas como rehabilitador motriz de extremidades y/o asistente de movimiento de extremidades. El dispositivo se conforma por al menos un exoesqueleto de material rígido y se encuentra asociado a una determinada articulación. Va conectado de manera eléctrica a un sistema de control, que a su vez se conecta de manera inalámbrica a un conjunto de sensores EEG y se encuentra en comunicación constante mientras el dispositivo está encendido; por vía alámbrica se conecta a al menos un exoesqueleto cuya función es asistir en movimiento o rehabilitar una o más articulaciones de las extremidades del cuerpo humano.
MX2015005567A 2015-04-15 2015-04-15 Dispositivo mecatrónico no invasivo generador de motricidad en articulaciones usando señales eeg y emg. MX2015005567A (es)

Priority Applications (5)

Application Number Priority Date Filing Date Title
MX2015005567A MX2015005567A (es) 2015-04-15 2015-04-15 Dispositivo mecatrónico no invasivo generador de motricidad en articulaciones usando señales eeg y emg.
EP15889117.6A EP3283036A4 (en) 2015-04-15 2015-12-04 Non-invasive mechatronic device providing joint mobility
CA2982719A CA2982719A1 (en) 2015-04-15 2015-12-04 Non-invasive mechatronic device providing joint mobility using eeg and emg signals
US15/566,663 US20180110669A1 (en) 2015-04-15 2015-12-04 Non-invasive mechatronic device providing joint mobility
PCT/IB2015/059340 WO2016166588A1 (en) 2015-04-15 2015-12-04 Non-invasive mechatronic device providing joint mobility

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
MX2015005567A MX2015005567A (es) 2015-04-15 2015-04-15 Dispositivo mecatrónico no invasivo generador de motricidad en articulaciones usando señales eeg y emg.

Publications (1)

Publication Number Publication Date
MX2015005567A true MX2015005567A (es) 2016-10-31

Family

ID=57126227

Family Applications (1)

Application Number Title Priority Date Filing Date
MX2015005567A MX2015005567A (es) 2015-04-15 2015-04-15 Dispositivo mecatrónico no invasivo generador de motricidad en articulaciones usando señales eeg y emg.

Country Status (5)

Country Link
US (1) US20180110669A1 (es)
EP (1) EP3283036A4 (es)
CA (1) CA2982719A1 (es)
MX (1) MX2015005567A (es)
WO (1) WO2016166588A1 (es)

Cited By (1)

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CN110908506A (zh) * 2019-10-29 2020-03-24 浙江迈联医疗科技有限公司 仿生智能算法驱动的主被动一体化康复方法、装置、存储介质和设备

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WO2016160624A1 (en) 2015-03-27 2016-10-06 Other Lab Llc Lower-leg exoskeleton system and method
ES2794637T3 (es) * 2015-12-24 2020-11-18 Safran Electronics & Defense Estructura modular de exoesqueleto para la asistencia al esfuerzo de un usuario
US11278465B2 (en) * 2016-09-09 2022-03-22 Ecole Polytechnique Federale De Lausanne (Epfl) Modular exoskeleton for example for spinal cord injured patients
CN106695760B (zh) * 2016-12-16 2018-11-09 江苏大学 一种用于辅助搬运的全身外骨骼助力机器人
KR101844175B1 (ko) 2017-01-04 2018-03-30 건양대학교산학협력단 증강현실을 이용한 운동치료 보조시스템
EP3576707B1 (en) * 2017-02-03 2024-01-31 Roam Robotics Inc. System and method for user intent recognition
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ES2926335T3 (es) 2017-08-29 2022-10-25 Roam Robotics Inc Sistema y método de evaluación de ajuste de exoesqueleto
CN111278398B (zh) * 2017-08-29 2022-08-23 漫游机械人技术公司 半监督意图识别***和方法
GB2567010A (en) * 2017-10-02 2019-04-03 Univ Strathclyde Apparatus for the rehabilitation, assistance and/or augmentation of arm strength in a user
CN110314065A (zh) * 2018-03-29 2019-10-11 京东方科技集团股份有限公司 外骨骼康复助力装置
DE102018211050A1 (de) * 2018-07-04 2020-01-09 Audi Ag Verfahren zum Betreiben eines Exoskelett-System, Exoskelett-System sowie zentrale Servereinheit
SE1851567A1 (en) * 2018-12-12 2020-06-13 Tendo Ab Control of an active orthotic device
CN109806107A (zh) * 2019-02-22 2019-05-28 广州哈罗博康复机器人生产有限公司 康复***
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CN111283692B (zh) * 2020-02-24 2023-02-14 湘潭大学 一种婴儿服务机器人机械臂结构
JP2023517845A (ja) 2020-02-25 2023-04-27 ローム ロボティクス インコーポレイテッド 移動ロボット用の流体アクチュエータシステム及び方法
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110908506A (zh) * 2019-10-29 2020-03-24 浙江迈联医疗科技有限公司 仿生智能算法驱动的主被动一体化康复方法、装置、存储介质和设备
CN110908506B (zh) * 2019-10-29 2023-04-07 浙江迈联医疗科技有限公司 仿生智能算法驱动的主被动一体化康复方法、装置、存储介质和设备

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Publication number Publication date
EP3283036A1 (en) 2018-02-21
US20180110669A1 (en) 2018-04-26
EP3283036A4 (en) 2018-10-31
CA2982719A1 (en) 2016-10-20
WO2016166588A1 (en) 2016-10-20

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