CN107921628A - 外骨骼机器衣 - Google Patents
外骨骼机器衣 Download PDFInfo
- Publication number
- CN107921628A CN107921628A CN201680040372.4A CN201680040372A CN107921628A CN 107921628 A CN107921628 A CN 107921628A CN 201680040372 A CN201680040372 A CN 201680040372A CN 107921628 A CN107921628 A CN 107921628A
- Authority
- CN
- China
- Prior art keywords
- cable
- spool
- lower section
- machine clothing
- actuator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 35
- 210000003205 muscle Anatomy 0.000 claims description 17
- 239000012636 effector Substances 0.000 claims description 12
- 230000001172 regenerating effect Effects 0.000 claims description 11
- 230000000694 effects Effects 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 238000001727 in vivo Methods 0.000 claims 1
- 230000001737 promoting effect Effects 0.000 claims 1
- 238000005096 rolling process Methods 0.000 claims 1
- 210000003414 extremity Anatomy 0.000 description 22
- 239000004744 fabric Substances 0.000 description 16
- 210000002435 tendon Anatomy 0.000 description 15
- 208000027418 Wounds and injury Diseases 0.000 description 8
- 230000009467 reduction Effects 0.000 description 8
- 210000001503 joint Anatomy 0.000 description 7
- 238000012360 testing method Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 5
- 238000005452 bending Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 239000005557 antagonist Substances 0.000 description 4
- 230000008901 benefit Effects 0.000 description 4
- 210000003141 lower extremity Anatomy 0.000 description 4
- 230000004913 activation Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 210000002310 elbow joint Anatomy 0.000 description 3
- 230000000670 limiting effect Effects 0.000 description 3
- 210000001364 upper extremity Anatomy 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000001012 protector Effects 0.000 description 2
- 230000005483 Hooke's law Effects 0.000 description 1
- 206010028289 Muscle atrophy Diseases 0.000 description 1
- 208000028389 Nerve injury Diseases 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 239000000556 agonist Substances 0.000 description 1
- 230000003042 antagnostic effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000026058 directional locomotion Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001095 motoneuron effect Effects 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
- 230000008764 nerve damage Effects 0.000 description 1
- 230000003767 neural control Effects 0.000 description 1
- 208000015122 neurodegenerative disease Diseases 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000009430 psychological distress Effects 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 230000008929 regeneration Effects 0.000 description 1
- 238000011069 regeneration method Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a DC motor
- H02P3/14—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a DC motor by regenerative braking
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SG10201506263R | 2015-08-11 | ||
| SG10201506263R | 2015-08-11 | ||
| PCT/SG2016/050383 WO2017026943A1 (fr) | 2015-08-11 | 2016-08-11 | Exosquelette |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107921628A true CN107921628A (zh) | 2018-04-17 |
Family
ID=57983385
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680040372.4A Pending CN107921628A (zh) | 2015-08-11 | 2016-08-11 | 外骨骼机器衣 |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP3334572A4 (fr) |
| CN (1) | CN107921628A (fr) |
| SG (1) | SG10201912505YA (fr) |
| WO (1) | WO2017026943A1 (fr) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109124982A (zh) * | 2018-06-29 | 2019-01-04 | 燕山大学 | 一种可穿戴康复助力柔性气动关节 |
| CN109176469A (zh) * | 2018-09-13 | 2019-01-11 | 天津大学 | 基于线驱动和气动夹持原理的可变刚度柔性外骨骼系统 |
| CN111012627A (zh) * | 2019-12-30 | 2020-04-17 | 吉林大学 | 一种有源上肢运动康复助力外骨骼 |
| IT201900010026A1 (it) | 2019-06-26 | 2020-12-26 | Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna | Apparato in grado di attuare un giunto distale e di trasferire le reazioni vincolari in un esoscheletro di spalla sotto-attuato |
| CN112476409A (zh) * | 2019-09-12 | 2021-03-12 | 株式会社捷太格特 | 辅助装置 |
| CN115502954A (zh) * | 2022-10-10 | 2022-12-23 | 浙江工业大学 | 一种上肢柔性助力功能服 |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE541434C2 (en) * | 2016-10-05 | 2019-10-01 | Bioservo Tech Aktiebolag | Arm lifting support device |
| US20200179213A1 (en) * | 2017-03-08 | 2020-06-11 | Abilitech Medical, Inc. | Upper torso augmentation system and method |
| SE542072C2 (en) | 2017-06-19 | 2020-02-18 | Tendo Ab | A device for pivoting a body member around a joint |
| CN107297738B (zh) * | 2017-08-22 | 2023-05-12 | 北京铁甲钢拳科技有限公司 | 机械臂控制系统 |
| WO2019108655A1 (fr) * | 2017-11-28 | 2019-06-06 | Seismic Holdings, Inc. | Systèmes d'exocombinaison et procédés |
| FR3074078B1 (fr) * | 2017-11-28 | 2019-11-08 | Commissariat A L`Energie Atomique Et Aux Energies Alternatives | Membre inferieur d’exosquelette |
| JP2021536329A (ja) * | 2018-09-06 | 2021-12-27 | マイオスイス アーゲー | ウェアラブルアクティブ補助デバイス |
| FR3085838B1 (fr) | 2018-09-19 | 2023-06-30 | Lilas Deville | Dispositif et procede d'assistance a la mobilisation d'une articulation |
| CN110328656B (zh) * | 2019-08-12 | 2024-04-12 | 河北工业大学 | 一种柔性外骨骼助力机器人鲍登线预紧机构 |
| FR3108545B1 (fr) * | 2020-03-25 | 2023-01-06 | Human Mechanical Tech | Brassard de fixation d’un bras d’un exosquelette à un membre supérieur d’un utilisateur |
| IT202100022091A1 (it) | 2021-08-19 | 2023-02-19 | Eta Bioengineering S R L | Esoscheletro soft sotto-attuato con sistema di attuazione a cavi per l’assistenza degli arti superiori |
| IT202100023081A1 (it) | 2021-09-07 | 2023-03-07 | Milano Politecnico | Dispositivo di assistenza al movimento per l’articolazione del gomito |
| NL2033619B1 (en) | 2022-11-25 | 2024-05-31 | Univ Delft Tech | Autonomously adjustable passive soft exosuit with properties tuned according to biomechanics-in-the loop simulations of assistance |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1308675A (en) * | 1919-05-06 | 1919-07-01 | Leslie C Kelley | Pedomotor. |
| CN201005935Y (zh) * | 2006-12-07 | 2008-01-16 | 浙江大学 | 多体位外骨骼下肢康复训练机器人 |
| EP2218426A1 (fr) * | 2007-11-07 | 2010-08-18 | Activelink Co., Ltd. | Dispositif d'assistance pour une intervention |
| CN103200909A (zh) * | 2010-09-27 | 2013-07-10 | 范德比尔特大学 | 行动辅助设备 |
| WO2015088863A2 (fr) * | 2013-12-09 | 2015-06-18 | President And Fellows Of Harvard College | Combinaisons d'assistance flexibles, systèmes de combinaisons flexibles et procédés de fabrication et de commande de celles-ci pour une aide à la mobilité d'une personne |
| US9072941B2 (en) * | 2011-08-11 | 2015-07-07 | The Charles Stark Draper Laboratory, Inc. | Exoskeleton suit for adaptive resistance to movement |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4407632B2 (ja) * | 2005-12-26 | 2010-02-03 | パナソニック株式会社 | 筋力補助装置 |
| WO2014002200A1 (fr) * | 2012-06-27 | 2014-01-03 | 株式会社日立製作所 | Système d'assistance électrique pouvant être porté |
| CN104869969B (zh) | 2012-09-17 | 2017-06-09 | 哈佛大学校长及研究员协会 | 用于辅助人类运动的软式外装护具 |
-
2016
- 2016-08-11 SG SG10201912505YA patent/SG10201912505YA/en unknown
- 2016-08-11 WO PCT/SG2016/050383 patent/WO2017026943A1/fr active Application Filing
- 2016-08-11 EP EP16835544.4A patent/EP3334572A4/fr not_active Withdrawn
- 2016-08-11 CN CN201680040372.4A patent/CN107921628A/zh active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US1308675A (en) * | 1919-05-06 | 1919-07-01 | Leslie C Kelley | Pedomotor. |
| CN201005935Y (zh) * | 2006-12-07 | 2008-01-16 | 浙江大学 | 多体位外骨骼下肢康复训练机器人 |
| EP2218426A1 (fr) * | 2007-11-07 | 2010-08-18 | Activelink Co., Ltd. | Dispositif d'assistance pour une intervention |
| CN103200909A (zh) * | 2010-09-27 | 2013-07-10 | 范德比尔特大学 | 行动辅助设备 |
| US9072941B2 (en) * | 2011-08-11 | 2015-07-07 | The Charles Stark Draper Laboratory, Inc. | Exoskeleton suit for adaptive resistance to movement |
| WO2015088863A2 (fr) * | 2013-12-09 | 2015-06-18 | President And Fellows Of Harvard College | Combinaisons d'assistance flexibles, systèmes de combinaisons flexibles et procédés de fabrication et de commande de celles-ci pour une aide à la mobilité d'une personne |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109124982A (zh) * | 2018-06-29 | 2019-01-04 | 燕山大学 | 一种可穿戴康复助力柔性气动关节 |
| CN109176469A (zh) * | 2018-09-13 | 2019-01-11 | 天津大学 | 基于线驱动和气动夹持原理的可变刚度柔性外骨骼系统 |
| CN109176469B (zh) * | 2018-09-13 | 2021-07-06 | 天津大学 | 基于线驱动和气动夹持原理的可变刚度柔性外骨骼系统 |
| CN114080207A (zh) * | 2019-06-25 | 2022-02-22 | 比萨圣安娜高等研究院 | 未充分驱动肩外骨骼远端关节及传递约束反应装置 |
| IT201900010026A1 (it) | 2019-06-26 | 2020-12-26 | Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna | Apparato in grado di attuare un giunto distale e di trasferire le reazioni vincolari in un esoscheletro di spalla sotto-attuato |
| CN112476409A (zh) * | 2019-09-12 | 2021-03-12 | 株式会社捷太格特 | 辅助装置 |
| CN111012627A (zh) * | 2019-12-30 | 2020-04-17 | 吉林大学 | 一种有源上肢运动康复助力外骨骼 |
| CN115502954A (zh) * | 2022-10-10 | 2022-12-23 | 浙江工业大学 | 一种上肢柔性助力功能服 |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017026943A1 (fr) | 2017-02-16 |
| EP3334572A4 (fr) | 2019-04-10 |
| SG10201912505YA (en) | 2020-02-27 |
| EP3334572A1 (fr) | 2018-06-20 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180417 |