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WO2008031023A3 - Haptic exoskeleton - Google Patents

Haptic exoskeleton Download PDF

Info

Publication number
WO2008031023A3
WO2008031023A3 PCT/US2007/077870 US2007077870W WO2008031023A3 WO 2008031023 A3 WO2008031023 A3 WO 2008031023A3 US 2007077870 W US2007077870 W US 2007077870W WO 2008031023 A3 WO2008031023 A3 WO 2008031023A3
Authority
WO
WIPO (PCT)
Prior art keywords
exoskeleton
steerable
transmissions
haptic
linkages
Prior art date
Application number
PCT/US2007/077870
Other languages
French (fr)
Other versions
WO2008031023A2 (en
WO2008031023A9 (en
Inventor
Paul M Bosscher
Eric Lafay
Original Assignee
Univ Ohio
Paul M Bosscher
Eric Lafay
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 Univ Ohio, Paul M Bosscher, Eric Lafay filed Critical Univ Ohio
Publication of WO2008031023A2 publication Critical patent/WO2008031023A2/en
Publication of WO2008031023A9 publication Critical patent/WO2008031023A9/en
Publication of WO2008031023A3 publication Critical patent/WO2008031023A3/en

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • 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
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Rehabilitation Tools (AREA)
  • Gear-Shifting Mechanisms (AREA)

Abstract

A dynamic coupling adapted for use in an exoskeleton includes a plurality of steerable transmissions connected to a first exoskeleton member and a plurality of linkages connected between a corresponding one of the steerable transmissions and a second member. The steerable transmissions thereby control movement of the joint through the linkages.
PCT/US2007/077870 2006-09-07 2007-09-07 Haptic exoskeleton WO2008031023A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US84280806P 2006-09-07 2006-09-07
US60/842,808 2006-09-07

Publications (3)

Publication Number Publication Date
WO2008031023A2 WO2008031023A2 (en) 2008-03-13
WO2008031023A9 WO2008031023A9 (en) 2008-06-26
WO2008031023A3 true WO2008031023A3 (en) 2008-08-07

Family

ID=39158088

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2007/077870 WO2008031023A2 (en) 2006-09-07 2007-09-07 Haptic exoskeleton

Country Status (1)

Country Link
WO (1) WO2008031023A2 (en)

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2949669B1 (en) * 2009-09-09 2011-11-18 Commissariat Energie Atomique SHOULDER MECHANISM FOR ORTHESIS
FR2958152A1 (en) * 2010-03-31 2011-10-07 Benjamin Penot COMPLEX JOINT SYSTEM FOR ORTHESIS, PROSTHETIC, ROBOTIC, EXOSQUELET
ES2370895B2 (en) * 2011-08-31 2012-05-08 Universidad Politécnica de Madrid Wearable robotic exoskeleton for human arm.
ITPI20120069A1 (en) * 2012-06-11 2013-12-12 Scuola Superiore S Anna EXOSCHELETER FOR PHYSICAL INTERACTION WITH THE MAN
NL2011907C2 (en) * 2013-12-06 2015-06-09 Univ Delft Tech Upper limb exoskeleton.
DE102015224156A1 (en) * 2015-12-03 2017-06-08 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Device for supporting the movement of a human shoulder joint
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
US10058994B2 (en) 2015-12-22 2018-08-28 Ekso Bionics, Inc. Exoskeleton and method of providing an assistive torque to an arm of a wearer
WO2017120680A1 (en) * 2016-01-17 2017-07-20 Siamak Arzanpour System and device for guiding and detecting motions of 3-dof rotational target joint
WO2018022689A1 (en) * 2016-07-26 2018-02-01 Arizona Board Of Regents On Behalf Of Arizona State University Mechanism for alleviating the effects of joint misalignment between users and wearable robots
US10800031B2 (en) 2016-07-26 2020-10-13 Arizona Board Of Regents On Behalf Of Arizona State University Spherical parallel manipulator architecture for shoulder robotic exoskeleton
CN106074094B (en) * 2016-08-17 2018-06-15 电子科技大学 A kind of adaptive ectoskeleton knee joint support plate unlocked
FR3057484B1 (en) 2016-10-14 2018-11-30 Bmexo PORTABLE LOAD SUPPORT DEVICE REMOVABLE FROM THE PERSON WHO DOES IT
WO2018200436A1 (en) 2017-04-25 2018-11-01 Ossur Iceland Ehf Interface system in an exoskeleton
DE102017112436B4 (en) 2017-06-06 2019-05-29 Ottobock Se & Co. Kgaa Device for supporting at least one arm of a user
CN107595545B (en) * 2017-09-08 2024-04-26 燕山大学 Center-adjustable parallel hip joint rehabilitation robot
WO2019067835A1 (en) 2017-09-28 2019-04-04 Ossur Iceland Ehf Body interface
US11890751B2 (en) 2017-10-17 2024-02-06 Aalborg Universitet Compact spherical 3-DOF mechanism constructed with scissor linkages
CN107856057B (en) * 2017-11-30 2024-03-29 深圳市优必选科技有限公司 Link mechanism and robot
USD876654S1 (en) 2018-04-24 2020-02-25 Ossur Iceland Ehf Posterior strut
CN109009877B (en) * 2018-08-21 2020-07-24 嘉兴美年大健康管理有限公司 Medical exercise auxiliary tool
EP3959044A1 (en) * 2019-04-24 2022-03-02 Aalborg Universitet Spherical mechanism constructed with scissors linkages with control means
CN112472523B (en) * 2020-12-10 2024-05-10 清华大学 Elbow joint exoskeleton rehabilitation training robot
WO2023172775A2 (en) * 2022-03-11 2023-09-14 Carnegie Mellon University Methods and systems for designing reconfigurable kinematic devices

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030223844A1 (en) * 2002-05-22 2003-12-04 Organisation Intergouvernementale Dite Agence Spatiale Europeenne Exoskeleton for the human arm, in particular for space applications
US20030227374A1 (en) * 2002-06-10 2003-12-11 Ling Sho-Hung Welkin Modular electrotactile system and method
US20060106326A1 (en) * 2004-10-27 2006-05-18 Massachusetts Institute Of Technology Wrist and upper extremity motion
US20060142657A1 (en) * 2002-03-06 2006-06-29 Mako Surgical Corporation Haptic guidance system and method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20060142657A1 (en) * 2002-03-06 2006-06-29 Mako Surgical Corporation Haptic guidance system and method
US20030223844A1 (en) * 2002-05-22 2003-12-04 Organisation Intergouvernementale Dite Agence Spatiale Europeenne Exoskeleton for the human arm, in particular for space applications
US20030227374A1 (en) * 2002-06-10 2003-12-11 Ling Sho-Hung Welkin Modular electrotactile system and method
US20060106326A1 (en) * 2004-10-27 2006-05-18 Massachusetts Institute Of Technology Wrist and upper extremity motion

Also Published As

Publication number Publication date
WO2008031023A2 (en) 2008-03-13
WO2008031023A9 (en) 2008-06-26

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