WO2020099066A1 - Dispositif de rééducation - Google Patents

Dispositif de rééducation Download PDF

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Publication number
WO2020099066A1
WO2020099066A1 PCT/EP2019/078486 EP2019078486W WO2020099066A1 WO 2020099066 A1 WO2020099066 A1 WO 2020099066A1 EP 2019078486 W EP2019078486 W EP 2019078486W WO 2020099066 A1 WO2020099066 A1 WO 2020099066A1
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WO
WIPO (PCT)
Prior art keywords
body part
rehabilitation device
motor
forearm
part support
Prior art date
Application number
PCT/EP2019/078486
Other languages
German (de)
English (en)
Inventor
Martin Riedel
Wolfgang Schober
Matthias Schellhase
Original Assignee
Kuka Deutschland Gmbh
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 Kuka Deutschland Gmbh filed Critical Kuka Deutschland Gmbh
Priority to EP19794455.6A priority Critical patent/EP3880147A1/fr
Publication of WO2020099066A1 publication Critical patent/WO2020099066A1/fr

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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
    • 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
    • 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
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0192—Specific means for adjusting dimensions
    • 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
    • A61H2201/1635—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
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—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
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • 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
    • A61H2201/5053—Control means thereof mechanically 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
    • A61H2201/5061—Force 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg

Definitions

  • the invention relates to a rehabilitation device.
  • a rehabilitation device is known from WO 2015/048688 A1, which is designed for operation in connection with one of the limbs of a user, the relevant limb of the user having an end point.
  • the rehabilitation device includes a base, a robotic arm attached to the base and having an end point where the robotic arm has at least two active degrees of freedom relative to the base and configured to be suitable for a user while the base is positioned, the reference frame of the robot is aligned essentially in the same way as the reference frame of the user.
  • the movements of the end point of the relevant limb of the user are mimicked by movements of the end point of the robot arm.
  • the object of the invention is to provide a rehabilitation device that can be operated in a particularly safe manner despite inexpensive construction.
  • a rehabilitation litation device comprising a tripod, a lifting column attached to the stand, a lifting slide mounted on the lifting column, which is automatically height-adjustable by means of a first drive of the rehabilitation device, one on the lifting slide by one first, vertical pivot axis of the base arm, which is automatically driven by a second drive of the rehabilitation device to pivot about the first, vertical axis of rotation, a forearm pivoted on the base arm about a second, vertical axis of rotation, which is automatically by means of a third drive of the rehabilitation device driven ben to pivot about the second, vertical axis of rotation, a freely rotatably mounted on the forearm about a third, vertical axis of rotation connecting piece, and a on the connec tion piece about a fourth, horizontal axis of rotation ge supported body part support.
  • the connecting piece which can be freely rotated on the front arm about a third, vertical axis of rotation, is thus freely rotatably supported on the forearm.
  • Each drive of the rehabilitation device can be assigned to an individual drivable joint of the rehabilitation device.
  • Each drive can be arranged, for example, in a link directly upstream of the joint to be driven in the kinematic chain or in a link immediately downstream of the joint to be driven in the kinematic chain. If necessary, two or more drives for different joints can be arranged in the same link.
  • the lifting carriage can have drives both for moving the base arm and for moving the forearm.
  • All drives can be automatically driven by a common control device of the rehabilitation device, in particular driven by a program.
  • the body part support forms a connecting link in order to be able to couple the rehabilitation device to a body part of a person to be treated. Coupling can already take place in that the person places one of their body parts, such as the hand, forearm or leg, on a support surface of the body part support.
  • the body part support can have a fastening means, such as, for example, at least one lockable strap, which is formed for releasably attaching the body parts of the person to the body part support.
  • the body part support can be tilted about the fourth, horizontal axis of rotation by means of a spring body connecting the body part support with the connecting piece, the spring body resiliently resiliently supporting the body part support in a predetermined basic position on the connecting piece.
  • the spring body can be a spring coil, for example.
  • Tilting the body part support means that the support surface can be rotated out of its generally horizontal basic position, so that the support surface is either sloping or rising.
  • a gradual or increasing orientation can be measured on a longitudinal extension of the body part support and can be directed from a proximal end to a distal end.
  • the body part support can be automatically driven by means of a fourth drive of the rehabilitation device about the fourth, horizontal axis of rotation, in particular can be tilted by means of a mechanically flexible element assigned to the fourth drive, which resiliently prestresses the body part position in a basic position.
  • the body part support can be tilted in that a control device of the rehabilitation device controls the fourth drive.
  • the automatically driven movement of the body part support relative to the connecting piece can be coupled to the automatically driven vertical movement of the lifting carriage relative to the lifting column, in particular to the automatically driven one Height movement of the lifting carriage (4) and also be coupled to the pivoting movements of the base arm and the forearm.
  • a coupling of the movement of the body part support relative to the connector with the height movement of the lifting carriage means that the height movement of the lifting carriage forms an input variable for controlling the tilting movement of the body support part.
  • This tilting movement of the body part support can take place synchronously with the vertical movement of the lifting carriage.
  • the tilting movement of the body part support can also take place asynchronously to the vertical movement of the lifting carriage, but be in a predetermined other dependence on the vertical movement of the lifting carriage.
  • the first drive can comprise a first motor arranged in the stand or in the lifting column, which is designed to raise and / or lower the lifting carriage in a motor-driven manner on the lifting column, and the rehabilitation device can have a mechanical coupling device that forms part of the fourth Forms drive and which is designed to transmit a drive movement of the first motor to the partial body support, such that during a lifting movement of the lifting carriage, driven by the first motor, the body part support executes a tilting movement which is synchronous with the lifting movement.
  • the mechanical coupling device can in particular be formed to accommodate a lifting movement of the lifting carriage and convert the lifting movement into a tilting movement of the body part support.
  • a conversion can also include a translation, for example implemented by a gear.
  • the first drive can comprise a first motor which is arranged in the stand or in the lifting column and is designed to lift the lifting carriage on the lifting column in a motor-driven manner and / or to lower
  • the fourth drive can have a fourth motor, which is designed to transmit its drive movement to the body part support for executing a tilting movement of the body part support, the fourth motor mechanically and / or in terms of control technology with the first th motor is coupled such that when the first motor is driven to move the lifting carriage relative to the lifting column, a simultaneously actuated movement of the fourth motor causes a tilting movement of the body part support that is synchronous with the lifting movement.
  • a control-technical coupling of the fourth motor with the first motor can take place, for example, via the control device of the rehabilitation device, which also controls the other drives of the rehabilitation device.
  • a control-technical coupling of the fourth motor instead of solely depending on the first motor for moving the lifting carriage, also as a function of a second motor for pivoting the base arm about a first axis of rotation and a third motor for pivoting the forearm about a second Be set up axis of rotation.
  • the fourth motor is actuated not only as a function of the height of the lifting carriage, but also as a function of the pivoting positions of the base arm and the forearm Put your arm on the armrest goes.
  • the body part support can be mounted so that it can be pivoted about a horizontal fourth axis of rotation by means of a further drive.
  • the body part support can be used have a mechanically resilient element, such as a torsion and / or elastomer spring, which elastically pretensions the partial support in a basic position.
  • the rehabilitation device can form a mechanical coupling of the tilting movement of the armrest to the height of the lifting carriage in a first embodiment variant, a cable that has an automatically controllable motor and a motor-driven spindle that is designed to wind up a Rope of the cable pull when the motor drives the spindle, a free end of the cable is connected to the body part support, and the rehabilitation device has a return spring which is designed to move the body part support into a basic position when the cable has no pulling force on the body part support exercises.
  • at least one belt, a chain or another coupling gear can also be provided for coupling the tilting movement of the armrest to the height position of the lifting carriage.
  • the rehabilitation device can have a linear drive which has a linearly movable, automatically controllable actuator which is connected to the body part support, the rehabilitation device also having a return spring which is designed to move the body part support into a basic position if the actuator does not exert any pulling force on the body part support.
  • the rehabilitation device can have a rotary drive which has a rotatable, automatically controllable shaft which is connected to the body part support, the rehabilitation device also having a return spring which is designed is to move the body part support into a basic position when the shaft does not exert any torque on the body part support.
  • the second drive can generally comprise a second motor
  • the third drive can include a third motor, the first motor, the second motor and the third motor being controlled by a common control device of the rehabilitation device in a compliance control, in particular a impedance control or are controlled by an admittance rule.
  • a force and / or torque controlled operation of the drives or motors i.e. a compliance control can be done for example by means of impedance control or admittance control.
  • An admittance control is based on an existing position control of the positions of the rehabilitation device at the joint level of the rehabilitation device.
  • the generalized forces acting from outside on the Rehabilitationsvorrich device are measured. Based on these forces, a movement of the rehabilitation device corresponding to the desired dynamic behavior is determined, which is commanded to the drives or the motors via an inverse kinematics and the subordinate position control.
  • impedance control is based on an existing torque control at joint level. The deviation of the actual actual position from a defined target position is measured and a desired generalized force, or forces and moments, is determined according to the desired dynamic behavior. This force can be mapped to corresponding joint torques via the known kinematics of the rehabilitation device. The torques can finally be set via the subordinate torque control.
  • the rehabilitation device is in particular a so-called serial kinematics, in which the limbs and the joints of the rehabilitation device are alternately arranged in series.
  • the second drive can comprise a second motor
  • the third drive can comprise a third motor
  • the second motor and the third motor being controlled by a common control device of the rehabilitation device in a compliance control, in particular impedance control or an admittance control, and the first motor the control device is controlled in a position-controlled manner.
  • the rehabilitation device can have a stop device that is designed to be both a maximum
  • the forearm is coupled to the lifting slide via mechanical or control-technical couplings.
  • the forearm can be coupled to the lifting slide by means of parallelogram links and / or belts.
  • a limitation of movement by means of a stop device can thus be realized preferably via the mechanical or control coupling.
  • three limits can be implemented in a subsystem with two degrees of freedom of the rehabilitation device.
  • the forearm can generally be pivotally mounted on the base arm by means of a second joint
  • the second joint is designed to support the forearm in all swivel positions of the forearm above the base arm
  • the connecting piece is mounted on the forearm so that it can pivot about the third axis of rotation
  • the third joint being designed to connect the connecting piece in FIG to store all swivel positions of the connecting piece above the forearm
  • the body part support is mounted on the connecting piece such that it can be tilted about the fourth axis of rotation by means of a fourth joint, the fourth joint being designed to support the body part support in all swivel positions of the body part support above the forearm.
  • a distal end portion of the base arm and / or a proximal end portion of the forearm, on which the second axis of rotation is arranged, can be configured so that in a superimposed relative position of the base arm and forearm one above the other, a gap space acting as a clamping protection Basic arm and forearm is formed.
  • a supplementary additional protection against jamming can be achieved or improved if the surfaces of the base arm and forearm facing one another in an overlapping position of the base arm and forearm are each covered with an elastic layer.
  • the forearm can additionally be formed in two parts with a first, proximal forearm part and a second, distal forearm part, the second, distal forearm part being detachably and removably mounted on the first, proximal forearm part such that the second, distal forearm part optionally in in a first orientation is to be rigidly attached to the first, proximal forearm part or in a second orientation is to be rigidly attached to the first, proximal forearm part, which is from the first orientation tion deviates, in particular is rotated by 180 degrees with respect to the first orientation.
  • the second, distal forearm part can be repositioned on the first, proximal forearm part by a snap / snap connection, which in a locked state connects the second, distal forearm part in a form-fitting and rigid manner to the first, proximal forearm part and, in an unlocked state, the second , distal forearm part can be manually removed from the first, proximal forearm part and put on again in a different orientation.
  • the body part support can also be mounted on the intermediate piece so as to be removable from the intermediate piece.
  • the body part support with the intermediate piece connecting joint can be detachable.
  • the body part support can optionally be designed as an arm support, as a hand support or as a leg support.
  • the aim of the invention is to present a new type of robot system for rehabilitation applications, which is powerful, sensitive and at the same time safely constructed.
  • This robot system should be designed to be significantly cheaper than comparable known solutions, so that it can be used economically not only for commercial users, but also in the private sector.
  • the basic idea of this invention is a novel, target-oriented combination of special kinematics with special drive V grant and construction weight of support and indivi duel adjustable motion areas.
  • the rehab arm is designed to be movable in five degrees of freedom, the end effec tor representing the connection to the patient's arm, in particular an under arm or a hand of a person, and being movable in all three translational and two rotational degrees of freedom.
  • the two rotational degrees of freedom describe a rotation of the forearm, for example, about a stationary vertical axis and a moving horizontal axis, which is always perpendicular to the longitudinal direction of the lower arm.
  • a free or guided rotation of the forearm about its longitudinal axis is prevented in this variant by fixing the forearm in a shell support connected to the robot.
  • a fixed position of the forearm or hand can be freely selected in advance and should correspond to an ergonomic posture that is appropriate for the appropriate therapy.
  • the five degrees of freedom of the special variant of the rehab arm described here are achieved by five serially arranged joints.
  • the first joint is fixed in space and describes a vertical translation. It is actuated by a movement specification of the control.
  • the second joint is formed by an axis of rotation, which describes an actuated, controlled rotational movement about the vertical axis.
  • the third joint is also formed by an axis of rotation. This is essentially parallel to the axis of rotation of the second joint and is arranged at a distance from it. they also describes an actuated, controlled rotational movement about a vertical axis.
  • the fourth joint is also formed by an axis of rotation. This is also essentially parallel to the second joint and third joint and is arranged at a distance from these. It also describes rotary motion about the vertical axis, but is passive, i.e. executed without drive. It is positively guided or specified by the position of the patient's arm.
  • the fifth joint is also formed by an axis of rotation and is more of a tilt axis. This is essentially perpendicular to the axis of rotation of the fourth joint and is oriented horizontally.
  • the movement of the axis can be specified in terms of control technology or mechanically coupled, and in particular can be designed to be passively free or passively spring-supported.
  • the structure described here differs fundamentally from known designs of other rehab arms or SCARA robots, since a serial joint structure is disclosed which contains both active and at least one passive joint and is accordingly kinematically or technically undefined.
  • the at least one passive joint is located within the kinematic chain, ie not at the distal or proximal end of the kinematic chain.
  • the rehab robot ie the rehabilitation device, can also be controlled in impedance mode.
  • This mainly affects the basic joints for moving the lifting carriage, the basic arm and the forearm, which determine the position and the forces on the patient arm in the room. ben.
  • the tilt joint is made easier and is purely position-controlled.
  • the tilt of the armrest is determined by the tilt joint, which should support and guide the patient, so that the patient cannot perform any unauthorized offsetting or compensatory movements, for example with the forearm.
  • the armrest is tilted downwards in hand positions above the shoulder and upwards in hand positions below the shoulder so that one level always goes through the patient's shoulder.
  • This level is spanned by the tilt joint and the length of the armrest and is based on TCP, ie in the patient's hand. In addition to the height of the hand, the horizontal distance from the hand to the shoulder is also decisive for the inclination.
  • the inclination can be either mechanically coupled ge or controlled driven in the tilt joint.
  • the position and thus the movement of the lifting carriage in the vertical direction can be picked up, converted and transferred to the tilting joint.
  • This can be done, for example, via a traction mechanism structure, in particular a bilateral stationary rope in the linear axis, which drives a rope pulley mounted on the carriage when the lifting carriage moves.
  • This rapid rotary movement can be reduced by means of a simple gear according to the translation and drive a further roller or a lever on the output side, which / which actuates, for example, a further res traction means, in particular a Bowden cable.
  • This Bowden cable is guided forward via the joints and transfers the movement directly to the tilt joint using a lever or rope pulley.
  • the inclination can be reset either actively, through a double structure for both directions of movement or passively, by gravitation or a spring always pulls the armrest in one direction and thus keeps the Bowden cable drive cable under tension.
  • a drive can either drive the tilt joint as a geared motor directly or with spring support, be designed as thrust crank kinematics including an actuating cylinder or act on one side via a cable pull with roller.
  • the latter can be realized, for example, by placing a drive with a driving pulley in the front arm and guiding a rope through the third axis of rotation, which acts on the armrest via a lever arm.
  • the armrest is always pressed downwards by a spring.
  • the rope pulls the support against the weight of the patient's arm so that a correct inclination is set.
  • Such a one-sided structure is not only inexpensive, but also has advantages in terms of safe operation, since the support can be freely moved upwards by the patient or can simply fold away from below in the event of a collision.
  • the inclination of the support is purely an ergonomic support of the forearm to relieve the patient and help him to carry out the movement correctly. Therefore, in addition to the described Establishing a specific flexibility in the drive train of the tilting joint or integrated downstream in the support, advantageously contributing to a natural movement behavior.
  • the lifting carriage and the base arm are used for the main movement in the plane and are driven, for example, by stepper motors with a low-ratio belt drive, for example less than 1:10, in particular 1: 5. This leads to a very direct control behavior, in which the drive is loaded with external torques almost without loss and directly.
  • a previously determined static and dynamic model of the motor with respect to its torque curve which at least includes motor currents and armature position or magnet wheel angle, can be used to estimate the torque acting on the motor side in each joint.
  • Interference factors such as cogging torque, temperature, belt influences and friction etc. can also be modeled.
  • These measured joint moments can be used to calculate the acting input force on the armrest in the dynamic equations of the robot.
  • These external forces can be calculated, for example, using the Newton-Euler method.
  • Additional force-measuring sensors are not generally necessary in this exemplary embodiment for the planar movement.
  • the vertical force can also be used or analyzed and evaluated for therapeutic purposes and as a movement input.
  • the motor current and the armature position can also be used, analogous to the movements of the lifting carriage and the basic arm.
  • a simple one-dimensional force sensor can also be integrated distally in the area of the armrest in order to improve the measuring accuracy in this direction through shorter force paths.
  • This sensor can, for example, in the joint be installed between the forearm and the connecting piece so that the entire axial bearing force, ie in particular tension and pressure, is passed through the sensor. If only a pressure force can be measured by the sensor, the measuring point must be preloaded accordingly.
  • the drive train for the joint between the base arm and forearm can be mounted in particular in the lifting slide.
  • a first belt stage can be provided, which translates the drive movement, in particular below 1:10 or 1: 5, onto a belt pulley which lies coaxially with the first axis of rotation between the lifting slide and the base arm.
  • Another belt with a 1: 1 ratio transmits the rotary movement to the joint between the base arm and forearm. This has various advantages over a direct drive and a support of the drive torque via the base arm.
  • the belt forms a closed chain, which significantly reduces the drive torque on the swivel drive between the lifting carriage and the base arm and increases the accuracy of the arm.
  • heavy components such as drives are moved in the proximal direction, which reduces the moving mass. This also has a positive impact on drive performance and safety aspects.
  • such a structure can be used to implement a goal-oriented concept of specifically defined movement space limits. This is possible because with the described belt structure the following movement limits can be set as fixed but adjustable stops. The limits of movement can limit the base arm relative to the lifting slide, limit the forearm relative to the base arm and at the same time even limit the front arm relative to the lifting slide.
  • the absolute movement can be restricted for the base arm and both the relative and additionally the absolute movement can be restricted for the front arm can.
  • TCP tool center point
  • the robot limbs This keeps the robot away from the patient and prevents unwanted collisions.
  • these axis limits can be easily adjusted.
  • the drive power built into the robot is very low, so that the robot cannot cause any damage to humans. This is possible because the main drives have no gravitational influence due to their vertically aligned axes of rotation, so that only process forces, ie therapy forces, act here, as well as only slight inertia and frictional forces.
  • the linear actuator must be designed to be significantly more powerful, since both process, friction and inertial forces as well as the weight of the patient's arm and the robot act here. The latter make up the largest part of the drive load by far, but have the property that they do not depend on the robot position and remain constant during therapy.
  • a compensation system can completely or partially this weight force via an energy storage, in particular a spring-based Take up energy storage so that the use of a smaller, less powerful drive for the lifting column is possible.
  • the layering and the offset of adjacent links avoid shear points, body parts the size of a hand can be held between two robot links without jamming.
  • the lifting carriage can be carried out with a stable fork bearing.
  • the resulting critical clamping point between the base arm and the lifting carriage can be secured by an elastomer cover.
  • All movable robot members in particular the base arm and the forearm, can be covered with a fully or partially, in particular laterally and / or on the underside or top, with a resilient shock-absorbing material.
  • the robot arm on the underside of the base arm and the forearm, as well as on the lifting line-shaped touching or non-contact sensor in particular have a safety edge, which recognizes that when the entire arm is lowered, for example, against the patient or an object such as a table. Appropriate control specifications can be used to react accordingly in terms of safety technology.
  • the special for the body part support (corresponds to TCP) towards increasing layering of the limbs has the advantage that there are no limbs directly next to the patient's head or move, which is psychologically more beneficial, and that the total height of the lifting column can be reduced. Even with a high hand position of the patient, such as for example overhead, only a lower upper carriage position and thus a lower lifting column are required. Since the total stroke of the arm and thus the slide remains the same, the range of motion of the lifting column shifts by the amount of the stratification into the lower, structurally uncritical area.
  • a smaller lifting column not only has advantages in design, transport and costs, but also in stability.
  • the lifting column has, for example, several feet in the lower area, which can be further stabilized in one embodiment by means of removable weights.
  • removable weights can in particular be designed as hollow bodies filled with water or sand, which have to be filled up accordingly after transport. They are connected to the feet or the column and, as counterweights, increase the stability of the structure.
  • the feet are designed with rollers, for example, so that they can either be blocked at the destination or the base can be lowered.
  • the seating for the patient can also be used to increase the stability of the robot stand base by placing the seat, chair or block on an area of the stand feet or, for example, mechanically connecting it to it by latching.
  • the structure of the rehab arm presented here offers maximum flexibility and diversity in therapy.
  • the patient can sit next to the arm as well as sit sideways at a distance from it or at a distance from the front. All other patient po sitions are possible.
  • This setup can also be used for the therapy of both the right arm and the left arm without modification, if necessary with the exception of the adjustment of the axle stops.
  • a detachable and rotatable connection within the front arm enables the orientation to be rotated, for example, by 180 °, so that the armrest either points downwards or upwards. This enables other exercises in a different range of motion.
  • the armrest can be modified and / or adapted, for example as a modular system, and, depending on the embodiment, can also include further mobility or arm supports.
  • the body part support can be formed in a special embodiment at least in two parts with at least one armrest and at least one handrest, both the armrest having a magnetic coupling force acting together with a first body part cuff magnetically positive first coupling device, as well as the handrest one by magnetic Adhesive force with a two-th body part cuff magnetically non-positively cooperating second coupling device.
  • the first body part cuff can have a first counter-coupling device and the second body part cuff has a second negative feedback device.
  • the pair of first coupling device and first counter coupling device or the pair of second coupling device and two ter counter coupling device can be at least one pairing of a magnet with a ferromagnetic piece of iron or a pair of two magnets interacting in opposite poles.
  • the first coupling device, the second coupling device, the first counter coupling device and / or the second counter coupling device can optionally comprise a magnet and / or a ferromagnetic iron piece.
  • This technical solution of a connection of body part cuffs to the armrest thus consists in particular of a double magnetic coupling of the forearm or the hand to the armrest or handrest.
  • the patient puts on one or two bandages before the exercise, i.e. the cuffs on your wrist and / or forearm.
  • These cuffs are individually designed and remain with the patient even after the exercise.
  • the two bandages or cuffs each contain at least one magnetic element, i.e. Counter coupling devices which are connected to a coupling partner / counterpart (metal or also magnet), i.e. the Kopplungseinrichtun conditions on the armrest and / or handrest can be connected by simply approaching by magnetic force.
  • the armrest or handrest can be constructed in such a way that it has a handle which can be freely rotated about an axis essentially parallel to the main direction of extension of the armrest. This enables individual adjustment of ergonomic hand orientation and forearm support and extends the degrees of freedom of the rehab arm to six degrees of freedom.
  • the handle can also have a sensor, such as a simple photodiode or a button for detecting the patient's hand resting on it. When the hand is released from the handle, the rehabilitation device stops. When it is replaced, the movement is with a signal or a defined period of time.
  • the armrest can have a forearm support, which also offers the possibility of magnetic coupling. It can be designed for the purpose of lateral guidance of the lower arm, for example as a semicircular, open shell. A single pair of magnets is sufficient here and does not restrict the mobility of the wrist. In other words, no matter which grip position (e.g. 0 °, 45 °, 90 °) the patient takes, the alignment of the coupling point forearm to forearm support remains constant, so that all grip positions can be achieved with only one forearm coupling point.
  • grip position e.g. 0 °, 45 °, 90 °
  • the magnetic connections can be designed, for example, as flat surfaces of the coupling partners (first / second coupling device, first / second counter-coupling device) and / or can have certain shaped elements which interlock to better absorb lateral forces.
  • the bandages can also contain sensors for measuring and monitoring the vital functions.
  • sensors When coupled to the armrest, they are supplied with energy via an electrical interface and send data to a control device of the rehabilitation device so that a targeted reaction to the patient's physical condition can be made.
  • these measured values of the vital function can also be stored with the movement data and transmitted to a therapist for evaluation.
  • the sensors can also be equipped with batteries which are charged via the interface to the armrest and which also record further measured values after active therapy.
  • the bandages ie the cuffs, can also include, for example, an NFC element, such as an RFID tag, on which all important patient data are stored. If the rehabilitation device is used by many patients, as is the case, for example, in a rehab center, it is sufficient if the patient couples with the armrest. All relevant data of the individual therapy are transferred to the controller so that the training can begin immediately.
  • the entire armrest can be separated by simply pulling it out axially and replaced for other therapeutic applications.
  • FIG. 1 is a perspective view of an exemplary rehabilitation bilitation device according to the invention in use on a person
  • Fig. 2 shows a perspective illustration of an exemplary rehabilitation device according to the invention in isolation
  • Fig. 3 shows a side view of the rehabilitation device according to FIG. 2,
  • Fig. 4 the rehabilitation device according to
  • Fig. 5 shows a schematic illustration of an exemplary drive for the tilting positions of the body part support with a cable pull and spindle
  • Fig. 6 shows a first embodiment of a drive with a cable pull for executing the tilting movement of the body part support
  • Fig. 7 shows a second embodiment of a drive with a linear drive for executing the tilting movement of the partial body support
  • Fig. 8 shows a third embodiment of a drive, with a rotary drive for executing the tilting movement of the partial body support
  • Fig. 9 is a perspective view of FIG.
  • Fig. 10 is a perspective view of the
  • Forearm of the rehabilitation device in a two-part design with a first, proximal forearm part and a second, distal forearm part, in an upward configuration of the body part support,
  • Fig. 12 is a partial perspective view of the
  • Forearm of the rehabilitation device in a two-part design with a first, proximal forearm part and a second, distal front arm part, in a downward facing configuration of the body part support, and
  • the rehabilitation device 1 shows an exemplary basic embodiment of a rehabilitation device 1 according to the invention.
  • the rehabilitation device 1 has a tripod 2, a lifting column 3 fastened to the tripod 2, a lifting carriage 4 which is mounted on the lifting column 3 and is adjustable in height, which by means of a first drive Rehabilitation device 1 is automatically vertically movable, a on the lifting carriage 4 about a first vertical rotation axis Dl pivotably mounted base arm 5, which is automatically driven by a second drive of the Rehabilitationsvor direction 1 to pivot the first, vertical axis of rotation Dl, one on the base arm 5 to ei ne second, vertical axis of rotation D2 pivoted front derarm 6, which is automatically driven by means of a third drive of the rehabilitation device 1 to pivot about the second, vertical axis of rotation D2, a driven on the forearm 6 about a third, vertical axis of rotation D3 freely rotatable connector 7, and a body part support 8 which is tiltably mounted on the connecting piece 7 about a fourth, horizontal axis of rotation D4.
  • the stand 2 has legs 9, in the case of the present embodiment four legs 9. As shown, weights 10 can be attached to the stand legs 9 in order to ensure the stability, ie the stability of the rehabilitation to increase on device 1.
  • the legs 9 can be optional, as shown in Fig. 2, provided with feet 11. Instead of feet 11, rollers can also be provided, which enable an easy manual movement of the rehabilitation device 1. The rollers can be braked.
  • the body part support 8 is designed as a forearm support to which a forearm of a person 12 is strapped.
  • the rehabilitation device 1 comprises a stand 2, a lifting column 3 fastened to the stand 2, a lifting carriage 4 mounted on the lifting column 3 in a height-adjustable manner , which is automatically height-adjustable by means of a first drive of the rehabilitation device 1, a base arm 5 pivotably mounted on the lifting slide 4 about a first vertical axis of rotation Dl, which is automatically driven by a second drive of the rehabilitation device 1 about the first, vertical axis of rotation Dl is to be pivoted, a forearm 6 which is pivotably mounted on the base arm 5 about a second, vertical axis of rotation D2 and which is automatically driven by means of a third drive of the rehabilitation device 1 about the second, vertical axis of rotation D2, one on the forearm 6 by a third , vertical axis of rotation D3 not relevant rubbed freely rotatably mounted connector 7, and a body part support 8 tiltably mounted on the connector
  • the front arm 6 is pivotally mounted on the base arm 5 by means of a second joint G2 about the second axis of rotation D2, the second Joint G2 is designed to support the forearm 6 in all swiveling positions of the forearm 6 above the base arm 5, the connecting piece 7 being pivotally mounted on the forearm 6 by means of a third joint G3 about the third axis of rotation D3, the third joint G3 is designed to store the connecting piece 7 in all pivoting positions of the connecting piece 7 above the forearm 6, the body part support 8 being tiltable about the fourth axis of rotation D4 by a fourth joint G4 (arrow PI) on the connecting piece 7, the fourth Hinge G4 is designed to support the body part support 8 in all pivot positions of the body part support 8 above the forearm 6.
  • the three possible basic pivot positions of the body part support 8 are shown in Fig. 4.
  • the body part support 8 In a first basic pivoting position of the body part support 8, the body part support 8 can be oriented as shown in FIG. 4 above, with its support surface sloping towards the forearm 6.
  • the body part support 8, as shown in FIG. 4 center In a second basic pivotal position of the body part support 8, the body part support 8, as shown in FIG. 4 center, can be aligned horizontally with its support surface.
  • a third basic pivoting position of the body part support 8 as shown in FIG. 4 below is illustrated, with its support surface away from the forearm 6, that is to say oriented in an increasing manner.
  • FIG. 3 also shows how a distal end section E1 of the base arm 5 and / or a proximal end section E2 of the front arm 6, at which transition the end sections E1 and E2 the second axis of rotation D2 is arranged, are cranked, in such a way that in one one above the other relati ven position of the base arm 5 and forearm 6, as shown in Fig. 3, a gap protection S acting between the base arm 5 and the - shown in dashed lines, folded - forearm 6 is formed.
  • the body part support 8 can be automatically driven by means of a fourth drive of the rehabilitation device 1 around the fourth, horizontal axis of rotation D4.
  • the automatically driven movement of the body part support 8 relative to the connector 7 can be coupled to the automatically driven height movement of the lifting carriage 4 relative to the lifting column 3.
  • the first drive can comprise a first motor M1 arranged in the stand 2 or in the lifting column 3, which is designed to raise and / or lower the lifting carriage 4 in a motor-driven manner on the lifting column 3, the Rehabilitation device 1 can have a mechanical coupling device 14 which forms part of the fourth drive and which is designed to transmit a drive movement of the first motor M1 to the body part support 8, such that during a stroke movement (arrow P2) of the lift carriage 4, driven by the first motor Ml, the body part support 8 a synchronous tilting movement
  • the first drive can comprise a first motor arranged in the stand 2 or in the lifting column 3, which is designed to drive the lifting carriage 4 in a motor-driven manner of the lifting column 3 ben and / or lower, and a fourth drive can have a fourth motor M4, which is designed to transmit its drive movement to the body part support 8 for executing a tilting movement of the body part support 8, where in the fourth motor M4 control technology with the first motor is coupled such that during a drive movement of the first motor in order to move the lifting slide 4 relative to the lifting column 3, a simultaneously controlled movement of the fourth motor M4 causes a tilting movement of the body part support 8 which is synchronous with the lifting movement.
  • the rehabilitation device 1 has a cable pull 15 which has an automatically controllable motor M4 and a spindle 16 which is driven by the motor M4 and is designed for winding up a cable 17 of the cable pull 15, when the motor M4 drives the spindle 16, with a free end of the cable 17 being connected to the body part support 8, and having a return spring 13, which is designed to move the body part support 8 into a basic position when the cable 17 has no tensile force exercises the body part support 8.
  • the rehabilitation device 1 has a linear drive 18, which has a linearly movable, automatically controllable actuator 19, which is connected to the body part support 8, and has a return spring 13, which is designed, the body part support 8 to move into a basic position when the actuator 19 does not exert any pulling force on the body part position 8.
  • the rehabilitation device 1 has a rotary drive 20 which has a rotatable, automatically controllable shaft which is connected to the body part support 8 and has a rear Actuating spring 13, which is designed to move the body part support 8 into a basic position when the shaft exerts no torque on the body part support 8.
  • FIG. 9 shows the rehabilitation device 1 according to FIG. 1 in a configuration on the left side of the person 12.
  • FIG. 10 shows the rehabilitation device 1 according to FIG. 1 in a configuration on the right side of the person 12.
  • FIGS. 11 and 12 show how the forearm 6 is designed with a second, proximal forearm part 6.1 and a second, distal forearm part 6.2, the second, distal forearm part 6.2 being detachable on the first, proximal len forearm part 6.1 and is mounted in such a way that the second, distal forearm part 6.2 can be rigidly attached to the first, proximal forearm part 6.1 in a first orientation, as shown in FIG. 11, or in a second orientation, as shown in FIG. 12, is to be rigidly attached to the first, proximal forearm part 6.1, which deviates from the first orientation, in particular is rotated by 180 degrees with respect to the first orientation.
  • 16a and 16b illustrate how the body part support 8 is at least two parts with at least one armrest 8.1 and at least one handrest ge 8.2, both the armrest 8.1 like a magnetic magnetic force with a first body part sleeve 21 - Interactively interacting first coupling device 23.1, as well as the hand rest 8.2 has a magnetic coupling force with a second body part cuff 22 interacting magnetically positively with a second coupling 23.2.
  • the first body part cuff 21 have a first counter-coupling device 24.1 and the second body part -Cuff 22 have a second negative feedback device 24.2.
  • the pair of first coupling device 23.1 and first counter-coupling device 24.1 or the pair of second coupling device 23.2 and second counter-coupling device 24.2 can be at least a pairing of a magnet with a ferromagnetic iron piece or a pairing of two magnets interacting with opposite poles.
  • the first coupling device 23.1, the second coupling device 23.2, the first counter-coupling device 24.1 and / or the second counter-coupling device 24.2 can optionally comprise a magnet and / or a ferromagnetic egg piece.

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  • 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)

Abstract

La présente invention concerne un dispositif de rééducation (1) présentant un quadripode (2), une colonne de levage (3) fixée sur le quadripode (2), une plate-forme de levage (4), montée de manière réglable en hauteur sur la colonne de levage (3), qui est automatiquement mobile en hauteur au moyen d'un premier entraînement du dispositif de rééducation (1), un bras principal (5), monté sur la plate-forme de levage (4) de manière à pivoter autour d'un premier axe de rotation vertical (D1), qui est automatiquement entraîné au moyen d'un deuxième entraînement du dispositif de rééducation (1) pour pivoter autour du premier axe de rotation vertical (D1), un avant-bras (6), monté sur le bras principal (5) de manière à pivoter autour d'un deuxième axe de rotation vertical (D2), qui est automatiquement entraîné au moyen d'un troisième entraînement du dispositif de rééducation (1) pour pivoter autour du deuxième axe de rotation vertical (D2), une pièce de liaison (7) montée sur l'avant-bras (6) de manière à tourner librement autour d'un troisième axe de rotation vertical (D3), et un coussin pour partie corporelle (8) monté sur la pièce de liaison (7) de manière à basculer autour d'un quatrième axe de rotation horizontal (D4).
PCT/EP2019/078486 2018-11-14 2019-10-21 Dispositif de rééducation WO2020099066A1 (fr)

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DE102018219446.7 2018-11-14
DE102018219446.7A DE102018219446A1 (de) 2018-11-14 2018-11-14 Rehabilitationsvorrichtung

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US20200323740A1 (en) * 2019-04-12 2020-10-15 Katina Johnson Protective pad for a nipple
CN115445153A (zh) * 2022-09-22 2022-12-09 安阳工学院 一种脑卒中患者上肢康复运动训练器

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WO2015048688A1 (fr) 2013-09-27 2015-04-02 Barrett Technology, Inc. Dispositif de rééducation sans exosquelette à axe multiactif
US20150167798A1 (en) * 2012-07-11 2015-06-18 Commissariat A L'energie Atomique Et Aux Energies Alternatives Motion transmitting device with epicyclic reduction gearing, epicyclic reduction gearing and manipulating arm
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WO2017216075A1 (fr) * 2016-06-14 2017-12-21 Kuka Roboter Gmbh Dispositif de positionnement de patient et poste de travail médical
WO2018086748A2 (fr) * 2016-11-14 2018-05-17 Kuka Roboter Gmbh Bras robotisé, robot mobile et système logistique

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US20120179075A1 (en) * 2006-03-29 2012-07-12 University Of Washington Exoskeleton
US20150167798A1 (en) * 2012-07-11 2015-06-18 Commissariat A L'energie Atomique Et Aux Energies Alternatives Motion transmitting device with epicyclic reduction gearing, epicyclic reduction gearing and manipulating arm
WO2015048688A1 (fr) 2013-09-27 2015-04-02 Barrett Technology, Inc. Dispositif de rééducation sans exosquelette à axe multiactif
WO2017216075A1 (fr) * 2016-06-14 2017-12-21 Kuka Roboter Gmbh Dispositif de positionnement de patient et poste de travail médical
CN106078710A (zh) * 2016-07-06 2016-11-09 英华达（上海）科技有限公司 多任务应用的多轴机器人
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US20200323740A1 (en) * 2019-04-12 2020-10-15 Katina Johnson Protective pad for a nipple
CN115445153A (zh) * 2022-09-22 2022-12-09 安阳工学院 一种脑卒中患者上肢康复运动训练器
CN115445153B (zh) * 2022-09-22 2023-06-30 安阳工学院 一种脑卒中患者上肢康复运动训练器

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DE102018219446A1 (de) 2020-05-14

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