WO2015041618A3 - Upper limb therapeutic exercise robot - Google Patents

Upper limb therapeutic exercise robot Download PDF

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Publication number
WO2015041618A3
WO2015041618A3 PCT/TR2014/000329 TR2014000329W WO2015041618A3 WO 2015041618 A3 WO2015041618 A3 WO 2015041618A3 TR 2014000329 W TR2014000329 W TR 2014000329W WO 2015041618 A3 WO2015041618 A3 WO 2015041618A3
Authority
WO
WIPO (PCT)
Prior art keywords
motion
exercises
control unit
therapeutic
therapeutic exercise
Prior art date
Application number
PCT/TR2014/000329
Other languages
French (fr)
Other versions
WO2015041618A2 (en
Inventor
Erhan AKDOGAN
Original Assignee
Akdogan Erhan
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 Akdogan Erhan filed Critical Akdogan Erhan
Publication of WO2015041618A2 publication Critical patent/WO2015041618A2/en
Publication of WO2015041618A3 publication Critical patent/WO2015041618A3/en

Links

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
    • 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
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position 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

Abstract

The therapeutic exercise robot, subject to the invention, is about a therapeutic exercise robot (1) which features a robotic arm (13) to get the upper limbs do therapeutic exercises, a control unit (11) to control the robotic arm, at least one force sensor (1334) making biomechanical measurements, at least one position sensor (1306, 1319, 1329) and an EMG device making biological measurements (120) to measure the reactions of the person undergoing therapy (H), the said force sensor (1334) and/or a position sensor (1306, 1319, 1329) and/or an EMG device (120) sending the biomechanical and biological reactions measured to the control unit (11) as feedback, and a control unit (11) which realizes at least one of the following actions to be applied to the person doing the exercise based upon such feedback and makes all the control and/or evaluations by use of the hybrid impedance control method: - change the speed of motion and/or the intensity of motion and/or the position of motion and/or the number of repetition for the motion automatically, i.e. continue operating at a lower value; or - give a warning to change the position of motion and/or the type of motion and/or the number of repetition for the motion and/or the intensity of motion; or - stop the motion, with 3 degree of freedom for upper limbs, and learns and performs passive, active assistive, isotonic, isometric and isokinetic exercises and isotonic-isometric exercises in the same mode of the therapeutic exercise types as well as physiotherapist motions (exercises done manually and active assistive exercises).
PCT/TR2014/000329 2013-09-20 2014-09-12 Upper limb therapeutic exercise robot WO2015041618A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
TR201311075 2013-09-20
TR2013/11075 2013-09-20

Publications (2)

Publication Number Publication Date
WO2015041618A2 WO2015041618A2 (en) 2015-03-26
WO2015041618A3 true WO2015041618A3 (en) 2015-06-04

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/TR2014/000329 WO2015041618A2 (en) 2013-09-20 2014-09-12 Upper limb therapeutic exercise robot

Country Status (1)

Country Link
WO (1) WO2015041618A2 (en)

Cited By (4)

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Publication number Priority date Publication date Assignee Title
CN105877972A (en) * 2016-07-01 2016-08-24 山东大学 Exoskeleton rehabilitation machine arm rotating joint
CN106361539A (en) * 2016-09-28 2017-02-01 中国科学院自动化研究所 Three-degree-of-freedom wrist joint rehabilitation robot and system thereof
CN107007429A (en) * 2017-04-10 2017-08-04 江苏大学 A kind of Three Degree Of Freedom forelimb healing robot based on parallel institution
CN109620632B (en) * 2018-11-16 2021-10-22 中国科学院宁波材料技术与工程研究所 Self-adaptive arm support device of upper limb rehabilitation robot

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CN113749903A (en) * 2015-09-30 2021-12-07 埃斯顿(南京)医疗科技有限公司 Non-exoskeleton rehabilitation device with multiple active axes
TWI574719B (en) * 2015-11-04 2017-03-21 zhi-zhen Chen Three-in-one hand training device
CN105520820B (en) * 2016-01-11 2018-01-19 上海交通大学 A kind of Three Degree Of Freedom wrist functional rehabilitation robot
FR3050383A1 (en) 2016-04-22 2017-10-27 Aubert Bruno Jean Marie INTERACTIVE, AUTONOMOUS AND PORTABLE SPORTING FUNCTIONAL REALIZATION OR FUNCTIONAL REEDUCATION METHOD AND DEVICES THEREFOR
CN106109165B (en) * 2016-06-21 2018-03-13 北京工业大学 A kind of adaptive wrist joint convalescence device of six degree of freedom
CN107157706B (en) * 2017-05-15 2019-07-05 巢湖学院 A kind of adjustable upper limb device for healing and training
CN107233189B (en) * 2017-05-15 2019-09-06 巢湖学院 A kind of combined type device for healing and training
CN107320285A (en) * 2017-07-28 2017-11-07 上海逸动医学科技有限公司 A kind of multifunctional intellectual rehabilitation training and assessment system
CN109091819B (en) * 2018-08-13 2020-06-23 上海理工大学 Upper limb rehabilitation robot control system
CN109484672B (en) * 2018-11-30 2024-01-16 中国商用飞机有限责任公司北京民用飞机技术研究中心 Go up wall end and wallboard and connect whole angle box subassembly
CN109806103A (en) * 2019-02-22 2019-05-28 广州哈罗博康复机器人生产有限公司 Recovery bed body device and rehabilitation system
CN109966134A (en) * 2019-04-19 2019-07-05 华东医院 A kind of clinical intelligent auxiliary operation system
CN109984917A (en) * 2019-04-24 2019-07-09 上海瑞博医疗科技有限公司 The joint rehabilitation training device of Intelligence Feedback
CN110339021B (en) * 2019-07-31 2021-11-23 燕山大学 Wrist rehabilitation robot with three degrees of freedom
CN110812111A (en) * 2019-11-20 2020-02-21 上海交通大学 Upper limb multi-joint constant-speed training method based on rotation theoretical control
CN110801238B (en) * 2019-11-20 2022-07-01 上海交通大学 Lower limb multi-joint constant-speed training testing device
CN111110516B (en) * 2020-02-12 2021-09-10 上海理工大学 Three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation
CN111281394B (en) * 2020-03-07 2022-08-19 西北工业大学 Wrist joint movement function evaluating and rehabilitation robot
CN111407593B (en) * 2020-03-30 2021-03-19 吉林大学 Auxiliary device suitable for postoperative care of bone joint surgery
CN113081666B (en) * 2021-03-24 2023-05-12 上海傅利叶智能科技有限公司 Virtual limiting method and device of rehabilitation robot and rehabilitation robot
NL2028669B1 (en) 2021-07-08 2023-01-16 Univ Delft Tech PTbot: Biomechanics-Aware Physical Therapy Robot
CZ309638B6 (en) * 2021-10-27 2023-05-31 České vysoké učení technické v Praze A movement subsystem and a robotic system designed to treat movement disorders
CN116352695A (en) * 2021-12-28 2023-06-30 上海神泰医疗科技有限公司 Robot control method, control device, robot system, and readable storage medium

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105877972A (en) * 2016-07-01 2016-08-24 山东大学 Exoskeleton rehabilitation machine arm rotating joint
CN106361539A (en) * 2016-09-28 2017-02-01 中国科学院自动化研究所 Three-degree-of-freedom wrist joint rehabilitation robot and system thereof
CN106361539B (en) * 2016-09-28 2019-09-24 中国科学院自动化研究所 A kind of Three Degree Of Freedom wrist joint healing robot and its system
CN107007429A (en) * 2017-04-10 2017-08-04 江苏大学 A kind of Three Degree Of Freedom forelimb healing robot based on parallel institution
CN107007429B (en) * 2017-04-10 2019-04-30 江苏大学 A kind of Three Degree Of Freedom forelimb healing robot based on parallel institution
CN109620632B (en) * 2018-11-16 2021-10-22 中国科学院宁波材料技术与工程研究所 Self-adaptive arm support device of upper limb rehabilitation robot

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