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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
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.)
Ceased
Application number
PCT/US2007/077870
Other languages
French (fr)
Other versions
WO2008031023A9 (en
WO2008031023A2 (en
Inventor
Paul M Bosscher
Eric Lafay
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ohio University
Original Assignee
Ohio University
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 Ohio University filed Critical Ohio University
Publication of WO2008031023A2 publication Critical patent/WO2008031023A2/en
Publication of WO2008031023A9 publication Critical patent/WO2008031023A9/en
Publication of WO2008031023A3 publication Critical patent/WO2008031023A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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 Ceased 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 Ceased WO2008031023A2 (en) 2006-09-07 2007-09-07 Haptic exoskeleton

Country Status (1)

Country Link
WO (1) WO2008031023A2 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11890751B2 (en) 2017-10-17 2024-02-06 Aalborg Universitet Compact spherical 3-DOF mechanism constructed with scissor linkages
US12485531B2 (en) 2019-04-24 2025-12-02 Aalborg Universitet Spherical mechanism constructed with scissors linkages with control means

Families Citing this family (22)

* 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
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
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
US11135120B2 (en) * 2016-01-17 2021-10-05 Human In Motion Robotics Inc. System and device for guiding and detecting motions of 3-DOF rotational target joint
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
US10814473B2 (en) 2016-07-26 2020-10-27 Arizona Board Of Regents On Behalf Of Arizona State University Mechanism for alleviating the effects of joint misalignment between users and wearable robots
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
EP3614989B1 (en) 2017-04-25 2022-08-17 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
CN111148606B (en) 2017-09-28 2023-04-07 奥索冰岛有限公司 Body engaging device
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
CN112472523B (en) * 2020-12-10 2024-05-10 清华大学 Elbow joint exoskeleton rehabilitation training robot
US20250181788A1 (en) * 2022-03-11 2025-06-05 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

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11890751B2 (en) 2017-10-17 2024-02-06 Aalborg Universitet Compact spherical 3-DOF mechanism constructed with scissor linkages
US12485531B2 (en) 2019-04-24 2025-12-02 Aalborg Universitet Spherical mechanism constructed with scissors linkages with control means

Also Published As

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

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