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WO2009040908A1 - 回動調整装置及び回動装置の制御方法 - Google Patents

回動調整装置及び回動装置の制御方法 Download PDF

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Publication number
WO2009040908A1
WO2009040908A1 PCT/JP2007/068751 JP2007068751W WO2009040908A1 WO 2009040908 A1 WO2009040908 A1 WO 2009040908A1 JP 2007068751 W JP2007068751 W JP 2007068751W WO 2009040908 A1 WO2009040908 A1 WO 2009040908A1
Authority
WO
WIPO (PCT)
Prior art keywords
turning
turn
turn adjusting
controlling turning
turning apparatus
Prior art date
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/JP2007/068751
Other languages
English (en)
French (fr)
Inventor
Yoshiyuki Sankai
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Priority to US12/679,856 priority Critical patent/US9327398B2/en
Priority to PCT/JP2007/068751 priority patent/WO2009040908A1/ja
Priority to ES07828497.3T priority patent/ES2547856T3/es
Priority to EP07828497.3A priority patent/EP2198810B1/en
Priority to KR1020107006819A priority patent/KR101393290B1/ko
Priority to CN2007801008189A priority patent/CN101848687B/zh
Publication of WO2009040908A1 publication Critical patent/WO2009040908A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F4/00—Methods or devices enabling patients or disabled persons to operate an apparatus or a device not forming part of the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H2001/0207—Nutating movement of a body part around its articulation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A61H2201/018—By limiting the applied torque or force
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5051—Control means thereof hydraulically controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/60—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
    • A61H2230/605—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG] used as a control parameter for the apparatus

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Rehabilitation Therapy (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Human Computer Interaction (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Vascular Medicine (AREA)
  • Manipulator (AREA)
  • Prostheses (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
  • Toys (AREA)
  • Supercharger (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)

Abstract

【課題】回動装置を使用する際の消費エネルギを節減するとともに、回動装置やこれを駆動する駆動装置の磨耗や損傷を抑制する。 【解決手段】複数の回動軸を介して連結された複数の部材を有し、回動軸を中心とした一の部材に対する他の部材の相対的な回動運動を実現させる回動装置（１０）を備えるとともに、回動装置による複数の回動運動のうち少なくとも何れか一つを抑制する回動抑制手段（３０、７２）を備える回動調整装置（１）である。
PCT/JP2007/068751 2007-09-27 2007-09-27 回動調整装置及び回動装置の制御方法 Ceased WO2009040908A1 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
US12/679,856 US9327398B2 (en) 2007-09-27 2007-09-27 Rotation adjustment apparatus and method of controlling rotary apparatus
PCT/JP2007/068751 WO2009040908A1 (ja) 2007-09-27 2007-09-27 回動調整装置及び回動装置の制御方法
ES07828497.3T ES2547856T3 (es) 2007-09-27 2007-09-27 Aparato y método de regulación de giro para controlar un aparato giratorio
EP07828497.3A EP2198810B1 (en) 2007-09-27 2007-09-27 Turn adjusting apparatus and method for controlling turning apparatus
KR1020107006819A KR101393290B1 (ko) 2007-09-27 2007-09-27 회동 조정 장치 및 회동 장치의 제어 방법
CN2007801008189A CN101848687B (zh) 2007-09-27 2007-09-27 转动调整装置及转动装置的控制方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2007/068751 WO2009040908A1 (ja) 2007-09-27 2007-09-27 回動調整装置及び回動装置の制御方法

Publications (1)

Publication Number Publication Date
WO2009040908A1 true WO2009040908A1 (ja) 2009-04-02

Family

ID=40510821

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/068751 Ceased WO2009040908A1 (ja) 2007-09-27 2007-09-27 回動調整装置及び回動装置の制御方法

Country Status (6)

Country Link
US (1) US9327398B2 (ja)
EP (1) EP2198810B1 (ja)
KR (1) KR101393290B1 (ja)
CN (1) CN101848687B (ja)
ES (1) ES2547856T3 (ja)
WO (1) WO2009040908A1 (ja)

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JP2010269059A (ja) * 2009-05-25 2010-12-02 Honda Motor Co Ltd 歩行補助装置
JP2014503320A (ja) * 2011-01-18 2014-02-13 レヴィテイト テクノロジーズ，インコーポレイテッド 適応型アームサポートシステムおよび使用方法
JP2015006266A (ja) * 2013-06-25 2015-01-15 国立大学法人三重大学 身体動作補助装置
JP2016002123A (ja) * 2014-06-13 2016-01-12 国立大学法人 筑波大学 装着式動作補助装置
JP2016129623A (ja) * 2015-01-14 2016-07-21 国立大学法人三重大学 身体動作補助装置
US9999534B2 (en) 2012-07-31 2018-06-19 Enhance Technologies, LLC Adaptive arm support systems and methods for use
WO2023023838A1 (en) * 2021-08-27 2023-03-02 Mawashi Science & Technologie Inc. An exoskeleton for handling objects and method of using the same
JP2023548953A (ja) * 2020-12-07 2023-11-21 サ－コス コーポレイション センサ出力データを組み合わせて外骨格の安全でない動作を防止する
US11924023B1 (en) 2022-11-17 2024-03-05 Sarcos Corp. Systems and methods for redundant network communication in a robot
US11926044B2 (en) 2016-11-11 2024-03-12 Sarcos Corp. Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly
US11981027B2 (en) 2016-11-11 2024-05-14 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements
US12172298B2 (en) 2022-11-04 2024-12-24 Sarcos Corp. Robotic end-effector having dynamic stiffening elements with resilient spacers for conforming object interaction

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US9327398B2 (en) 2016-05-03
KR101393290B1 (ko) 2014-05-09
EP2198810A4 (en) 2013-06-19
CN101848687B (zh) 2012-12-26
CN101848687A (zh) 2010-09-29
KR20100084504A (ko) 2010-07-26
ES2547856T3 (es) 2015-10-09

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