WO2009040908A1 - 回動調整装置及び回動装置の制御方法 - Google Patents
回動調整装置及び回動装置の制御方法 Download PDFInfo
- Publication number
- WO2009040908A1 WO2009040908A1 PCT/JP2007/068751 JP2007068751W WO2009040908A1 WO 2009040908 A1 WO2009040908 A1 WO 2009040908A1 JP 2007068751 W JP2007068751 W JP 2007068751W WO 2009040908 A1 WO2009040908 A1 WO 2009040908A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- turning
- turn
- turn adjusting
- controlling turning
- turning apparatus
- Prior art date
Links
- 238000005265 energy consumption Methods 0.000 abstract 1
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
- A61F4/00—Methods or devices enabling patients or disabled persons to operate an apparatus or a device not forming part of the body
-
- 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
-
- 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
- A61H2001/0207—Nutating movement of a body part around its articulation
-
- 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
- A61H2201/0173—Means for preventing injuries
- A61H2201/018—By limiting the applied torque or force
-
- 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
-
- 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
- A61H2201/16—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
- A61H2201/5051—Control means thereof hydraulically 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
- A61H2201/5069—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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Rehabilitation Therapy (AREA)
- Heart & Thoracic Surgery (AREA)
- Human Computer Interaction (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Vascular Medicine (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
- Toys (AREA)
- Supercharger (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
- Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)
Abstract
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ES07828497.3T ES2547856T3 (es) | 2007-09-27 | 2007-09-27 | Aparato y método de regulación de giro para controlar un aparato giratorio |
EP07828497.3A EP2198810B1 (en) | 2007-09-27 | 2007-09-27 | Turn adjusting apparatus and method for controlling turning apparatus |
CN2007801008189A CN101848687B (zh) | 2007-09-27 | 2007-09-27 | 转动调整装置及转动装置的控制方法 |
US12/679,856 US9327398B2 (en) | 2007-09-27 | 2007-09-27 | Rotation adjustment apparatus and method of controlling rotary apparatus |
PCT/JP2007/068751 WO2009040908A1 (ja) | 2007-09-27 | 2007-09-27 | 回動調整装置及び回動装置の制御方法 |
KR1020107006819A KR101393290B1 (ko) | 2007-09-27 | 2007-09-27 | 회동 조정 장치 및 회동 장치의 제어 방법 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2007/068751 WO2009040908A1 (ja) | 2007-09-27 | 2007-09-27 | 回動調整装置及び回動装置の制御方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2009040908A1 true WO2009040908A1 (ja) | 2009-04-02 |
Family
ID=40510821
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2007/068751 WO2009040908A1 (ja) | 2007-09-27 | 2007-09-27 | 回動調整装置及び回動装置の制御方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US9327398B2 (ja) |
EP (1) | EP2198810B1 (ja) |
KR (1) | KR101393290B1 (ja) |
CN (1) | CN101848687B (ja) |
ES (1) | ES2547856T3 (ja) |
WO (1) | WO2009040908A1 (ja) |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2010269059A (ja) * | 2009-05-25 | 2010-12-02 | Honda Motor Co Ltd | 歩行補助装置 |
JP2014503320A (ja) * | 2011-01-18 | 2014-02-13 | レヴィテイト テクノロジーズ,インコーポレイテッド | 適応型アームサポートシステムおよび使用方法 |
JP2015006266A (ja) * | 2013-06-25 | 2015-01-15 | 国立大学法人三重大学 | 身体動作補助装置 |
JP2016002123A (ja) * | 2014-06-13 | 2016-01-12 | 国立大学法人 筑波大学 | 装着式動作補助装置 |
JP2016129623A (ja) * | 2015-01-14 | 2016-07-21 | 国立大学法人三重大学 | 身体動作補助装置 |
US9999534B2 (en) | 2012-07-31 | 2018-06-19 | Enhance Technologies, LLC | Adaptive arm support systems and methods for use |
WO2023023838A1 (en) * | 2021-08-27 | 2023-03-02 | Mawashi Science & Technologie Inc. | An exoskeleton for handling objects and method of using the same |
US11924023B1 (en) | 2022-11-17 | 2024-03-05 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
US11926044B2 (en) | 2016-11-11 | 2024-03-12 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
US11981027B2 (en) | 2016-11-11 | 2024-05-14 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements |
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US10758394B2 (en) * | 2006-09-19 | 2020-09-01 | Myomo, Inc. | Powered orthotic device and method of using same |
US20110082566A1 (en) * | 2008-09-04 | 2011-04-07 | Herr Hugh M | Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis |
US8727410B2 (en) * | 2009-02-24 | 2014-05-20 | Irobot Corporation | Method and device for manipulating an object |
KR101572852B1 (ko) * | 2010-01-06 | 2015-12-01 | 삼성전자 주식회사 | 팔 보조 장치 |
CN103200909B (zh) * | 2010-09-27 | 2016-05-04 | 范德比尔特大学 | 行动辅助设备 |
US9682006B2 (en) | 2010-09-27 | 2017-06-20 | Vanderbilt University | Movement assistance devices |
FR2965713B1 (fr) * | 2010-10-11 | 2013-07-05 | Vincent Artigue | Orthese |
US9789603B2 (en) | 2011-04-29 | 2017-10-17 | Sarcos Lc | Teleoperated robotic system |
US20130237867A1 (en) * | 2012-03-07 | 2013-09-12 | Neurosky, Inc. | Modular user-exchangeable accessory for bio-signal controlled mechanism |
US9937095B2 (en) * | 2012-05-09 | 2018-04-10 | University Of Occupational And Environmental Health, Japan | Exercise training apparatus |
US9616580B2 (en) | 2012-05-14 | 2017-04-11 | Sarcos Lc | End effector for a robotic arm |
KR20140002840A (ko) * | 2012-06-26 | 2014-01-09 | 한국과학기술연구원 | 물리적 다접촉 상호작용을 위한 링크 메커니즘 |
JP5848203B2 (ja) * | 2012-07-13 | 2016-01-27 | 株式会社デンソー | 身体支持装置 |
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US10569413B2 (en) * | 2015-12-22 | 2020-02-25 | Ekso Bionics, Inc. | Exoskeleton and method of providing an assistive torque to an arm of a wearer |
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JP2016190319A (ja) * | 2016-08-04 | 2016-11-10 | 株式会社クボタ | 姿勢保持具 |
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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 |
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- 2007-09-27 WO PCT/JP2007/068751 patent/WO2009040908A1/ja active Application Filing
- 2007-09-27 ES ES07828497.3T patent/ES2547856T3/es active Active
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JP2010269059A (ja) * | 2009-05-25 | 2010-12-02 | Honda Motor Co Ltd | 歩行補助装置 |
JP2014503320A (ja) * | 2011-01-18 | 2014-02-13 | レヴィテイト テクノロジーズ,インコーポレイテッド | 適応型アームサポートシステムおよび使用方法 |
US10383785B2 (en) | 2011-01-18 | 2019-08-20 | Enhance Technologies, LLC | Adaptive arm support systems and methods for use |
US9999534B2 (en) | 2012-07-31 | 2018-06-19 | Enhance Technologies, LLC | Adaptive arm support systems and methods for use |
JP2015006266A (ja) * | 2013-06-25 | 2015-01-15 | 国立大学法人三重大学 | 身体動作補助装置 |
JP2016002123A (ja) * | 2014-06-13 | 2016-01-12 | 国立大学法人 筑波大学 | 装着式動作補助装置 |
JP2016129623A (ja) * | 2015-01-14 | 2016-07-21 | 国立大学法人三重大学 | 身体動作補助装置 |
US11926044B2 (en) | 2016-11-11 | 2024-03-12 | Sarcos Corp. | Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly |
US11981027B2 (en) | 2016-11-11 | 2024-05-14 | Sarcos Corp. | Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements |
WO2023023838A1 (en) * | 2021-08-27 | 2023-03-02 | Mawashi Science & Technologie Inc. | An exoskeleton for handling objects and method of using the same |
US11924023B1 (en) | 2022-11-17 | 2024-03-05 | Sarcos Corp. | Systems and methods for redundant network communication in a robot |
Also Published As
Publication number | Publication date |
---|---|
KR101393290B1 (ko) | 2014-05-09 |
CN101848687B (zh) | 2012-12-26 |
ES2547856T3 (es) | 2015-10-09 |
US9327398B2 (en) | 2016-05-03 |
KR20100084504A (ko) | 2010-07-26 |
EP2198810B1 (en) | 2015-07-08 |
EP2198810A1 (en) | 2010-06-23 |
US20100217163A1 (en) | 2010-08-26 |
CN101848687A (zh) | 2010-09-29 |
EP2198810A4 (en) | 2013-06-19 |
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