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    MOTION ASSISTANCE APPARATUS AND CONTROL METHOD OF THE SAME
    145.
    发明申请
    MOTION ASSISTANCE APPARATUS AND CONTROL METHOD OF THE SAME 审中-公开
    运动辅助装置及其控制方法

    公开(公告)号：US20170065440A1

    公开(公告)日：2017-03-09

    申请号：US15047842

    申请日：2016-02-19

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Taesin Ha

    IPC: A61F2/60 ,  B25J13/08 ,  A61H1/02 ,  B25J9/00

    CPC classification number: A61F2/605 ,  A61H1/0244 ,  A61H3/00 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/1463 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5079 ,  A61H2201/5084 ,  B25J9/0006 ,  B25J13/085

    Abstract: Example embodiments relate to a control method of a motion assistance apparatus including a fixing module attached to a user, a driving module fixed to the fixing module to generate rotation power, a supporting module configured to support a portion of a body of the user and driven by the driving module, a force sensor configured to measure a magnitude of force applied to the fixing module, and a controller configured to control the driving module, the method including generating, by the driving module, a driving torque to drive the supporting module, measuring a direction and a magnitude of force indicated by the force sensor, calculating a compensation torque to minimize the measured magnitude of force, and driving the driving module by adding the compensation torque to the driving torque.

    Abstract translation: 示例性实施例涉及一种运动辅助装置的控制方法，该运动辅助装置包括附接到使用者的固定模块，固定到固定模块以产生旋转动力的驱动模块，配置成支撑使用者身体的一部分并被驱动 通过所述驱动模块，构造成测量施加到所述固定模块的力的大小的力传感器以及被配置为控制所述驱动模块的控制器，所述方法包括由所述驱动模块生成用于驱动所述支撑模块的驱动扭矩， 测量由力传感器指示的力的方向和大小，计算补偿扭矩以最小化所测量的力的大小，以及通过将驱动模块与驱动扭矩相加来驱动驱动模块。

    MULTI-ACTIVE-AXIS, NON-EXOSKELETAL REHABILITATION DEVICE
    147.
    发明申请
    MULTI-ACTIVE-AXIS, NON-EXOSKELETAL REHABILITATION DEVICE 审中-公开
    多主动轴，非离子康复装置

    公开(公告)号：US20160367428A1

    公开(公告)日：2016-12-22

    申请号：US14500810

    申请日：2014-09-29

    Applicant: Barrett Technology, Inc.

    Inventor： William T. Townsend ,  David Wilkinson ,  Alexander Jenko ,  Julian Leland ,  Arvind Ananthanarayanan ,  James Patton

    IPC: A61H1/02 ,  A61B34/30

    CPC classification number: A61H1/0274 ,  A61B34/30 ,  A61H1/0237 ,  A61H2201/1215 ,  A61H2201/1463 ,  A61H2201/1638 ,  A61H2201/1659 ,  A61H2201/5007

    Abstract: A robotic device for operation in association with an appendage of a user, wherein the appendage of the user has an endpoint, the robotic device including: a base; and a robotic arm attached to the base and having an endpoint, the robotic arm having at least two active degrees of freedom relative to the base and being configured so that when the base is appropriately positioned relative to a user, the reference frame of the robotic device is oriented generally similarly to the reference frame of the user and motions of the endpoint of the appendage of the user are mimicked by motions of the endpoint of the robotic arm.

    Abstract translation: 一种用于与用户的附肢相关联地操作的机器人装置，其中所述用户的附属具有端点，所述机器人装置包括：基座; 以及附接到所述基座并具有端点的机器人手臂，所述机器人臂相对于所述基座具有至少两个主动自由度并被构造成使得当所述基座相对于使用者适当定位时，所述机器人的参考框架 设备的大致类似于用户的参考系，并且用户的附肢的端点的运动由机器人手臂的端点的运动模拟。

    CONSTRUCTIVE DISPOSITION INTRODUCED IN PHYSIOTHERAPY ELECTROMECHANICAL APPARATUS OF LYMPHATIC DRAINAGE FOR UPPER LIMBS
    148.
    发明申请
    CONSTRUCTIVE DISPOSITION INTRODUCED IN PHYSIOTHERAPY ELECTROMECHANICAL APPARATUS OF LYMPHATIC DRAINAGE FOR UPPER LIMBS 审中-公开
    引导用于上肢漏血的物理治疗机电设备的建议处理

    公开(公告)号：US20160302995A1

    公开(公告)日：2016-10-20

    申请号：US14975127

    申请日：2015-12-18

    Applicant: Jose Maria Pereira de Godoy

    Inventor： Jose Maria Pereira de Godoy

    IPC: A61H23/00

    CPC classification number: A61H23/004 ,  A61H1/0274 ,  A61H7/001 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/1436 ,  A61H2201/1463 ,  A61H2201/1635 ,  A61H2201/1678 ,  A61H2201/169 ,  A61H2203/0425 ,  A61H2205/06 ,  A61H2205/12

    Abstract: “CONSTRUCTIVE DISPOSITION INTRODUCED IN PHYSIOTHERAPY ELECTROMECHANICAL APPARATUS OF LYMPHATIC DRAINAGE FOR UPPER LIMBS,” more precisely it is electromechanical device (1) of the type used in the treatment of lymphedema or other similar diseases; the said apparatus (1) provides associated mechanisms, with the electromechanical module (M1) formed by a printed circuit board (PCI) and idealized for actuating the mechanical module (M2), which in turn imposes movement to a rod (B), which is connected to the support platform (PL) of the upper member; the said platform (PL) promotes angular and repetitive motion of the upper limb; the said electromechanical mechanism (M1) and mechanism (M2) to be packed in compact fairing (2) of rectangular prism shape and configured by a receptacle (2A) of low height (x), width (y) and length (z) in which flat bottom (2a1) is installed the printed circuit board (PCI), which is connected to a digital control panel (3) controller of all the functions of the apparatus (1), wherein the said panel (3) is disposed in cutout (2b1) carried on one of the side walls (2b) of the receptacle (2A), whereas the mechanical module (M2) formed by the gearmotor (4) that drives the eccentric shaft system (5), which imposes rotating movements to the rod (B); the said receptacle (2A) provides in the top wall (2c) recess (2c1) for centralized installation of the mechanical module (M2) and thus fixing of the rod (B) in an orthogonal branch (7) extending from the lower face of the platform (PL); assembly of the modules (M1) and (M2) in the fairing (2) configure a spatial area (AE) wide and centered to the angular movement of the support platform (PL) of the upper member.

    Abstract translation: “用于上肢泄漏的液体电生理设备介绍的建议处理”更准确地说，是用于治疗淋巴水肿或其他类似疾病的机电装置（1）; 所述设备（1）提供与由印刷电路板（PCI）形成并且理想化用于致动机械模块（M2）的机电模块（M1）相关联的机构，其进而将运动施加到杆（B），其中， 连接到上部构件的支撑平台（PL）; 所述平台（PL）促进上肢的角度和重复运动; 所述机电机构（M1）和机构（M2）被包装在矩形棱柱形的紧凑型整流罩（2）中，并由低高度（x），宽（y）和长度（z）的容器（2A）构成， 所述平底部（2a1）安装有印刷电路板（PCI），其连接到所述设备（1）的所有功能的数字控制面板（3）控制器，其中所述面板（3）设置在切口 （2b）承载在容器（2A）的一个侧壁（2b）上，而由驱动偏心轴系（5）的减速电机（4）形成的机械模块（M2）施加旋转运动 杆（B）; 所述容器（2A）设置在顶壁（2c）凹部（2c1）中，用于集中安装机械模块（M2），从而将杆（B）固定在从下表面延伸的正交分支（7）中 平台（PL）; 模块（M1）和（M2）在整流罩（2）中的组装构成宽的空间区域（AE），并且与上部构件的支撑平台（PL）的角度运动居中。

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