公开(公告)号：US20130316877A1

公开(公告)日：2013-11-28

申请号：US13904001

申请日：2013-05-28

申请人： Randy S. Scire

发明人： Randy S. Scire

IPC分类号： A61H1/02 ,  A63B21/00

CPC分类号： A61H1/0285 ,  A61H1/0288 ,  A61H2201/0153 ,  A61H2201/1261 ,  A61H2201/1635 ,  A61H2201/168 ,  A63B21/00 ,  A63B21/028 ,  A63B21/05 ,  A63B21/4019 ,  A63B21/4025 ,  A63B21/4035 ,  A63B21/4039 ,  A63B23/16

摘要： A hand stretching and strengthening device comprised of a unitary form and of resilient, compressible material. The device comprises a plurality of thick finger-stretch wedges extending from a connective base. Each wedge can include a depression on each of its sides to provide comfort and hold. The base provides the foundation for the wedges to extend from and provides resistance to strengthen the hand and forearm. The device holds its position on a user's hand, provides a constant stretching force between the fingers, and provides increased stretching force between fingers as the user closes the hand. The device is small, lightweight, portable, quietly operated and can be worn indefinitely without effort. The device provides an engaging exercise experience by allowing the user to simultaneously stretch and strengthen the fingers, hand, and forearm while executing a wide range of unrestricted motions including motions that mimic playing a musical instrument.

摘要翻译： 手拉伸和加强装置由单一形式和弹性可压缩材料组成。 该装置包括从连接基部延伸的多个厚的指状伸展楔形物。 每个楔子可以在其每一侧上包括凹陷以提供舒适和保持。 该基地为楔形体的延伸提供了基础，并提供抵抗力来加强手臂和前臂。 该装置在用户的手上保持其位置，在手指之间提供恒定的拉伸力，并且在用户关闭手时提供手指之间的增加的拉伸力。 该设备体积小，重量轻，便携，静音操作，无缝无损地佩戴。 该装置通过允许用户在执行包括模拟演奏乐器的运动的宽范围的无限制运动的同时拉伸和加强手指，手和前臂，从而提供了一种吸引人的锻炼体验。

公开(公告)号：US20130158444A1

公开(公告)日：2013-06-20

申请号：US13722246

申请日：2012-12-20

申请人： Massachusetts Institute of Technology

发明人： Hugh M. Herr ,  Jiun-Yih Kuan

IPC分类号： A61H3/00

CPC分类号： A61H3/00 ,  A61H1/0255 ,  A61H1/0262 ,  A61H1/0266 ,  A61H1/0277 ,  A61H1/0281 ,  A61H1/0285 ,  A61H1/0288 ,  A61H2201/1238 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5071 ,  A61H2230/06 ,  A61H2230/50 ,  A61H2230/60 ,  A63B21/00178 ,  A63B21/00181 ,  A63B21/008 ,  A63B21/4011 ,  A63B21/4025 ,  A63B21/4047 ,  A63B22/0235 ,  A63B23/03508 ,  A63B23/03541 ,  A63B23/047 ,  A63B2220/10 ,  A63B2220/51 ,  A63B2220/56 ,  A63B2220/803 ,  A63B2220/805 ,  A63B2230/06 ,  A63B2230/50 ,  A63B2230/60 ,  B25J9/0006

摘要： A robotic system for simulating a wearable device actuation delivery mechanism and the source removed from the actuation delivery mechanism that is linked to the actuation delivery mechanism by at least one cable. A sensing system detects a physiological feature of the subject and, based on feedback from the sensing system, a control system linked to both the sensing system and the actuation source modulates the actuation source, and thereby modulating actuation of the joint of a subject in response to the physiological future sensed by the sensing system. A method for simulating a wearable robotic system employs the robotic system of the invention to thereby provide a model on which to base design of an ambulatory prosthetic for a subject.

摘要翻译： 一种用于模拟可穿戴设备致动传送机构的机器人系统，以及从致动传送机构移除的源，其通过至少一根电缆连接到致动传送机构。 感测系统检测对象的生理特征，并且基于来自感测系统的反馈，连接到感测系统和致动源的控制系统调制致动源，从而调节受试者的关节的致动以作出响应 到感知系统感测到的生理学未来。 一种用于模拟可穿戴机器人系统的方法采用本发明的机器人系统，从而提供一种模型，用于对被摄体进行移动假肢的设计。

公开(公告)号：US08425438B2

公开(公告)日：2013-04-23

申请号：US12741426

申请日：2008-11-06

申请人： Hiromichi Fujimoto ,  Go Shirogauchi ,  Keisuke Ueda ,  Motoshi Hori ,  Tatsuro Mizutani

发明人： Hiromichi Fujimoto ,  Go Shirogauchi ,  Keisuke Ueda ,  Motoshi Hori ,  Tatsuro Mizutani

IPC分类号： A61H1/02

CPC分类号： G06F3/014 ,  A61H1/0285 ,  A61H2201/1238 ,  A61H2201/165 ,  A61H2201/5058 ,  B25J9/0006

摘要： A motion assist apparatus is provided with an attaching member that has a glove shape with finger portions and a middle hand portion that is attachable to one of hands of a user, a back-side actuator that is freely expanded and contracted, and bridged between a tip of each of the finger portions and the middle hand portion on the back side of the attaching member, and a palm-side actuator that is freely expanded and contracted, and bridged between the tip of each of the finger portions and the middle hand portion on the palm side of the attaching member, and in this structure, the palm-side actuator is provided with a wire unit formed of two wires that are disposed on each of the finger portions on the palm side from the tip of each of the finger portions on the back side to the middle hand portion along the finger portion, passing through two side portions of the finger portion, so that intervals therebetween are made different at respective positions corresponding to joints of the finger portion, and rubber artificial muscle is coupled to the wire unit and is formed on the middle hand portion.

摘要翻译： 一种运动辅助装置，具有：具有指状部的手套形状的附着部件和能够与使用者的一只手相连接的中间手部，自由伸缩收缩的背面侧致动器， 每个手指部分的顶端和附接构件的背侧上的中指部分，以及手掌侧致动器，其自由地膨胀和收缩，并且桥接在每个指状部分的末端和中间手部分之间 在该结构中，手掌侧致动器设置有由两根导线形成的导线单元，两根导线设置在手指侧的每个指状部分上 在手指部分的背面侧的中间部分的部分通过手指部分的两个侧部，使得它们之间的间隔在对应于fi的关节的各个位置上不同 胶合部分和橡胶人造肌肉联接到线单元并且形成在中间部分上。

公开(公告)号：US08409117B2

公开(公告)日：2013-04-02

申请号：US12210720

申请日：2008-09-15

申请人： Ching-Hsiang Cheng ,  Po Fat Chong ,  King Sau Wong

发明人： Ching-Hsiang Cheng ,  Po Fat Chong ,  King Sau Wong

IPC分类号： A61H1/02 ,  A61H1/00

CPC分类号： A61H1/024 ,  A61F5/0102 ,  A61H1/0262 ,  A61H1/0277 ,  A61H1/0285 ,  A61H2201/1215 ,  A61H2201/149 ,  A61H2201/1638 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  A63B21/00178 ,  A63B21/00181

摘要： A wearable device (10) to assist with the movement of limbs (50, 51) connected at a joint (52), the device (50) comprising: a linear motion generating unit (20) to generate linear motion, the unit (20) having distal end portions operatively connected to the limbs (50, 51), whereby the linear motion generated by the unit (20) causes the limbs (50, 51) to move and pivot about the joint (52); a force measuring unit (30) to measure a change of force applied to the limbs or linear motion generating unit (20); and a displacement measuring unit (40) to measure the displacement of the linear motion generating unit (20) when linear motion is generated; wherein a predetermined distance of linear motion having a predetermined velocity is generated by the linear motion generating unit (20) to assist with the movement of the limbs (50, 51) based on the change of force measured by the force measuring unit (30) or the displacement measured by the displacement measuring unit (40).

摘要翻译： 一种用于辅助连接在接头（52）处的肢体（50,51）的运动的可佩戴装置（10），所述装置（50）包括：线性运动产生单元（20）以产生直线运动，所述单元 ），其具有可操作地连接到所述肢体（50,51）的远端部分，由此由所述单元（20）产生的线性运动导致所述肢体（50,51）围绕所述关节（52）移动和枢转; 力测量单元（30），用于测量施加到所述肢体或线性运动产生单元（20）的力的变化; 以及位移测量单元，用于当产生线性运动时测量直线运动产生单元（20）的位移; 其中，线性运动产生单元（20）产生具有预定速度的预定距离的线性运动，以基于由力测量单元（30）测量的力的变化来帮助肢体（50,51）的运动， 或由位移测量单元（40）测量的位移。

公开(公告)号：US20130060171A1

公开(公告)日：2013-03-07

申请号：US13667028

申请日：2012-11-02

申请人： NATIONAL TAIWAN UNIVERSITY

发明人： LI-CHEN FU ,  WEI-WEN WANG ,  CHENG-CHANG HO ,  YEN-YU CHOU

IPC分类号： A61H1/02

CPC分类号： A61H1/0274 ,  A61H1/00 ,  A61H1/02 ,  A61H1/0277 ,  A61H1/0281 ,  A61H1/0285 ,  A61H2201/1635 ,  A61H2201/5007 ,  A61H2201/5035 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2203/0431 ,  A61H2205/06 ,  B25J9/0006

摘要： A rehabilitation and training apparatus is built based on the empirical law by introducing physical therapists' experiences into the apparatus to simulate therapy with hands in the course of rehabilitation. The apparatus includes a multi-axis robotic arm having first to eighth arm segments, and a high-precision control system for controlling movements of the multi-axis robotic arm. The control system provides an active, a passive and an auxiliary mode; receives and computes information about a patient's movements and muscle force detected by potentiometers and force sensors provided in the multi-axis robotic arm; and accordingly, drives actuators to apply an aiding force or a resisting force to assist the patient in completing rehabilitation exercises. The apparatus also includes a humanized operating interface, via which a doctor or a physical therapist may obtain related rehabilitation data for assessment and adjustment of rehabilitation therapeutic courses. A method of controlling the apparatus is introduced.

摘要翻译： 根据实证法建立康复训练器具，在康复过程中引进物理治疗师的经验，用手模拟手术。 该装置包括具有第一至第八臂段的多轴机器人手臂和用于控制多轴机器臂的运动的高精度控制系统。 控制系统提供主动，被动和辅助模式; 接收和计算关于由多轴机器人手臂中提供的电位器和力传感器检测到的患者运动和肌力的信息; 因此，驱动致动器施加辅助力或抵抗力以帮助患者完成康复训练。 该装置还包括一个人性化的操作界面，医生或物理治疗师可以通过该界面获得相关康复数据，以便进行康复治疗课程的评估和调整。 介绍了一种控制装置的方法。

公开(公告)号：US08317730B2

公开(公告)日：2012-11-27

申请号：US12527389

申请日：2008-02-15

申请人： Li-Qun Zhang ,  Hyung-Soon Park ,  Yupeng Ren

发明人： Li-Qun Zhang ,  Hyung-Soon Park ,  Yupeng Ren

IPC分类号： A61B5/103 ,  A61B5/117 ,  A61H1/00 ,  A61H1/02 ,  A61H5/00 ,  A61H7/00 ,  A61H19/00

CPC分类号： A61F5/0102 ,  A61H1/0237 ,  A61H1/0274 ,  A61H1/0281 ,  A61H1/0285 ,  A61H1/0288 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/163 ,  A61H2201/1638 ,  A61H2201/1642 ,  A61H2201/1659 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5061

摘要： This patent describes an 8+2 degrees of freedom (DOF) intelligent rehabilitation robot capable of controlling the shoulder, elbow, wrist and fingers individually and allowing functional arm movements with accompanying trunk and scapular motions. The rehabilitation robot uses the following integrated rehabilitation approach: 1) it has unique diagnostic capabilities to determine patient-specific multiple joint and/or multiple DOF biomechanical and neuromuscular changes; 2) it stretches the stiff joints/DOFs under intelligent control to loosen up the specific stiff joints and to reduce excessive cross-coupling torques/movements between the specific joints/DOFs, which can be done based on the above diagnosis for subject-specific treatment; 3) the patients practice voluntary reaching and some functional tasks to regain/improve their motor control capability, which can be done after the stretching loosened up the stiff joints; and 4) the outcome will be evaluated quantitatively at the levels of individual joints, multiple joints/DOFs, and the whole arm.

摘要翻译： 该专利描述了能够单独控制肩部，肘部，手腕和手指的8 + 2自由度（DOF）智能康复机器人，并且允许具有伴随的躯干和肩胛骨运动的功能性手臂运动。 康复机器人使用以下综合康复方法：1）具有独特的诊断能力，可以确定患者特异性的多关节和/或多个DOF生物力学和神经肌肉变化; 2）它在智能控制下伸展刚性接头/ DOF，松开特定的刚性接头，并减少特定接头/自由度之间过度的交叉耦合扭矩/运动，这可以根据上述对受试者特异性治疗的诊断 ; 3）患者练习自愿到达和一些功能性任务，以恢复/提高其运动控制能力，拉伸松弛后可以完成; 和4）结果将在个体关节，多关节/自由度和整个手臂的水平进行定量评估。

公开(公告)号：US20120059291A1

公开(公告)日：2012-03-08

申请号：US12876041

申请日：2010-09-03

申请人： Chau Hoang Thanh Nguyen

发明人： Chau Hoang Thanh Nguyen

IPC分类号： A61H1/02

CPC分类号： A61H1/0288 ,  A61H1/024 ,  A61H1/0266 ,  A61H1/0277 ,  A61H1/0281 ,  A61H1/0285 ,  A61H2201/123 ,  A61H2201/149 ,  A61H2201/165 ,  A61H2201/5002 ,  A61H2201/501 ,  A61H2201/5061 ,  A61H2201/5064

摘要： An apparatus for manipulating joints of a limb of a patient is provided. The limb comprises a plurality of limb segments, Each limb segment connects one or more joints. The apparatus includes one or more motor modules removably coupled to a supporting structure configured on the limb, each motor module including a plurality of motor drives. The apparatus also includes a manipulating exoskeleton assembly comprising a plurality of exoskeleton segments removably secured on a limb segment. Further, a plurality of actuating members is operatively connected to each motor module of the one or more motor modules. A first end of each actuating member is operatively connected to a motor drive of a motor module and a second end is removably coupled to an exoskeleton segment of the plurality of exoskeleton segments. Each actuating member is driven by a motor drive operatively connected to the each actuating member.

摘要翻译： 提供了一种用于操纵患者肢体的关节的装置。 肢体包括多个肢段，每个肢段连接一个或多个关节。 该装置包括一个或多个电动机模块，其可移除地联接到构造在肢体上的支撑结构，每个电动机模块包括多个电动机驱动器。 该装置还包括操纵外骨骼组件，其包括可移除地固定在肢体段上的多个外骨骼段。 此外，多个致动构件可操作地连接到一个或多个电动机模块的每个电动机模块。 每个致动构件的第一端可操作地连接到马达模块的马达驱动器，并且第二端可移除地联接到多个外骨骼段的外骨骼段。 每个致动构件由可操作地连接到每个致动构件的马达驱动器驱动。

公开(公告)号：US20120053495A1

公开(公告)日：2012-03-01

申请号：US13220348

申请日：2011-08-29

申请人： Thomas P. Branch ,  Thomas Cunningham ,  Edward Dittmar ,  Cale Jacobs

发明人： Thomas P. Branch ,  Thomas Cunningham ,  Edward Dittmar ,  Cale Jacobs

IPC分类号： A61H1/02

CPC分类号： A61H1/0274 ,  A61F5/042 ,  A61H1/02 ,  A61H1/0218 ,  A61H1/0285 ,  A61H1/0288 ,  A61H2201/0103 ,  A61H2201/123 ,  A61H2201/1246 ,  A61H2201/1481 ,  A61H2201/1638

摘要： An apparatus for manipulating the joint of a patient is provided. The apparatus comprises an actuator and a linkage. The actuator itself comprises: 1) a cylinder portion defining an interior cavity; and 2) an inflatable bladder member at least partially inside the cavity of the cylinder portion. The linkage is operatively positioned intermediate the actuator and the joint of the patient, the linkage configured to be activated and to flex the joint upon inflation of the bladder. A piston portion may also be provided and configured to move relative to cylinder portion within the cavity in response to inflation of the bladder. A patient connection and manipulation device may also be provided within the apparatus and configured to be attached relative to the patient, attached intermediate the linkage and the patient, and configured to at least partially assist with treatment upon activation of the linkage.

摘要翻译： 提供了一种用于操纵患者的关节的装置。 该装置包括致动器和连杆。 致动器本身包括：1）限定内腔的缸体部分; 以及2）至少部分地在所述圆筒部分的所述腔体内部的可膨胀的气囊构件。 所述联动装置可操作地定位在致动器和患者的关节之间，所述连杆被配置为被激活并且在膀胱膨胀时使关节弯曲。 还可以提供活塞部分并且构造成响应气囊的膨胀而相对于腔内的气缸部分移动。 患者连接和操纵装置也可以设置在装置内并且被配置为相对于患者附接，附接在连杆机构和患者之间，并被构造成至少部分地辅助联动装置激活时的治疗。

公开(公告)号：US20110218469A1

公开(公告)日：2011-09-08

申请号：US13018992

申请日：2011-02-01

申请人： Thomas P. Branch

发明人： Thomas P. Branch

IPC分类号： A61F5/00

CPC分类号： A61H1/0237 ,  A61F5/012 ,  A61H1/024 ,  A61H1/0266 ,  A61H1/0274 ,  A61H1/0277 ,  A61H1/0285 ,  A61H1/0288 ,  A61H3/02 ,  A61H2201/0103 ,  A61H2201/0119 ,  A61H2201/0134 ,  A61H2201/1238 ,  A61H2201/1253 ,  A61H2201/1635 ,  A61H2201/1638 ,  A61H2201/164 ,  A61H2201/1642

摘要： An inflatable bladder position a distance from a joint is attached to an external structural support which crosses the joint but does not support it. By inflating the bladder one limb segment is forced towards the external support thereby increasing the ranges of motion of that joint. Further, the inflatable bladder has an instant release valve which, when pressed, will instantly release the pressure within the bladder. The limb is positioned intermediate the bladder and the external structural support for optimal biomechanical efficiency.

摘要翻译： 距离接头一个距离的可膨胀气囊位置附接到穿过接头但不支撑接头的外部结构支撑件。 通过使膀胱膨胀，一个肢体部分被迫朝向外部支撑件，从而增加该关节的运动范围。 此外，可膨胀气囊具有速释阀，当按压时，其将立即释放气囊内的压力。 肢体位于膀胱和外部结构支架之间，以获得最佳生物力学效率。

公开(公告)号：US07981067B2

公开(公告)日：2011-07-19

申请号：US12272436

申请日：2008-11-17

申请人： Boris P. Bonutti ,  Peter M. Bonutti ,  Kevin R. Ruholl ,  Glen A. Phillips

发明人： Boris P. Bonutti ,  Peter M. Bonutti ,  Kevin R. Ruholl ,  Glen A. Phillips

IPC分类号： A61F5/00

CPC分类号： A61H1/024 ,  A61F5/0102 ,  A61F5/0125 ,  A61F2005/0139 ,  A61H1/008 ,  A61H1/02 ,  A61H1/0244 ,  A61H1/0266 ,  A61H1/0277 ,  A61H1/0281 ,  A61H1/0285 ,  A61H2001/0207 ,  A61H2001/027 ,  A61H2201/5043 ,  A61H2203/00

摘要： The present invention provides an orthosis for stretching tissue around a joint of a patient between first and second relatively pivotable body portions. The orthosis includes a first arm member affixable to the first body portion and including a first extension member extending therefrom. A second arm member affixable to the second body portion is also included and has a second extension member having an arcuate shape extending therefrom. The second extension member is operatively connected to the first extension member and travels through the first extension member along an arcuate path when the second arm member is moved from a first position to a second position relative to the first arm member.

摘要翻译： 本发明提供一种用于在第一和第二相对枢转的身体部分之间拉伸患者的关节周围的组织的矫形器。 矫形器包括固定到第一主体部分并且包括从其延伸的第一延伸部件的第一臂部件。 也包括固定在第二主体部分上的第二臂部件，并且具有从其延伸的弓形形状的第二延伸部件。 当第二臂构件相对于第一臂构件从第一位置移动到第二位置时，第二延伸构件可操作地连接到第一延伸构件并且沿着弓形路径行进通过第一延伸构件。