公开(公告)号：US11077009B2

公开(公告)日：2021-08-03

申请号：US15741719

申请日：2016-07-01

Applicant: ECOLE POLYTECHNIQUE FEDERALE DE LAUSANNE (EPFL)

Inventor： Joachim Von Zitzewitz ,  Heike Vallery ,  Gregoire Courtine

IPC: A61H3/00

Abstract: The present invention relates to a robotic system useful to unload an object/person from its weight. The robotic system is useful in locomotor rehabilitation programs and allows the manipulation of forces in a three-dimensional space with far lower actuator requirements and a much higher precision than prior-art systems. The apparatus combines passive and active elements to minimize actuation requirements while still keeping inertia to a minimum and control precision to a maximum. It requires minimal actuators and at the same time has a low inertia.

公开(公告)号：US10406056B2

公开(公告)日：2019-09-10

申请号：US15667843

申请日：2017-08-03

Applicant: ECOLE POLYTECHNIQUE FEDERALE DE LAUSANNE (EPFL)

Inventor： Grégoire Courtine ,  Silvestro Micera ,  Joachim Von Zitzewitz

IPC: A61B5/00 ,  A61H1/02 ,  A61N1/36 ,  B25J9/00 ,  A63B69/00 ,  A63B24/00 ,  A63B21/00 ,  A61B5/11 ,  A61K31/135 ,  A61K31/496 ,  A61K31/55 ,  A61B34/30 ,  A61H1/00 ,  A61B5/04 ,  A61B5/0482 ,  A61B5/0484 ,  A61B5/103 ,  A63B22/02 ,  A63B22/20 ,  A63B22/00

Abstract: It is disclosed an apparatus for restoring voluntary control of locomotion in a subject suffering from a neuromotor impairment comprising a multidirectional trunk support system and a device for epidural electrical stimulation. The robotic interface is capable of evaluating, enabling and training motor pattern generation and balance across a variety of natural walking behaviors in subjects with neuromotor impairments. Optionally, pharmacological cocktails can be administered to enhance rehabilitation results. It is also disclosed a method for the evaluation, enablement and training of a subject suffering from neuromotor impairments by combining robotically assisted evaluation tools with sophisticated neurobiomechanical and statistical analyzes. A method for the rehabilitation (by this term also comprising restoring voluntary control of locomotion) of a subject suffering from a neuromotor impairment in particular partial or total paralysis of limbs, is also disclosed.

公开(公告)号：US09968406B2

公开(公告)日：2018-05-15

申请号：US14404853

申请日：2013-05-29

Applicant: ECOLE POLYTECHNIQUE FEDERALE DE LAUSANNE

Inventor： Gregoire Courtine ,  Silvestro Micera ,  Joachim Von Zitzewitz

IPC: A61B19/00 ,  A61N1/36 ,  B25J9/00 ,  A63B69/00 ,  A61H1/02 ,  A63B24/00 ,  A63B21/00 ,  A61B5/11 ,  A61K31/135 ,  A61K31/496 ,  A61K31/55 ,  A61B5/103 ,  A63B22/02 ,  A63B22/20 ,  A63B22/00 ,  A61B34/30

CPC classification number: A61H1/0262 ,  A61B5/0004 ,  A61B5/0048 ,  A61B5/0053 ,  A61B5/0057 ,  A61B5/04001 ,  A61B5/0482 ,  A61B5/0484 ,  A61B5/1036 ,  A61B5/112 ,  A61B5/1123 ,  A61B5/1124 ,  A61B5/4005 ,  A61B5/4023 ,  A61B5/4076 ,  A61B5/4519 ,  A61B5/4538 ,  A61B5/4566 ,  A61B5/4824 ,  A61B5/4848 ,  A61B5/70 ,  A61B5/721 ,  A61B34/30 ,  A61B2034/302 ,  A61B2560/02 ,  A61H1/001 ,  A61H1/0229 ,  A61H2201/0196 ,  A61H2201/165 ,  A61H2201/1666 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2230/08 ,  A61H2230/085 ,  A61K31/135 ,  A61K31/496 ,  A61K31/55 ,  A61N1/36003 ,  A61N1/36057 ,  A63B21/00181 ,  A63B22/0235 ,  A63B22/203 ,  A63B24/0087 ,  A63B69/0057 ,  A63B69/0064 ,  A63B2022/0094 ,  A63B2022/206 ,  A63B2213/004 ,  A63B2220/10 ,  A63B2220/51 ,  B25J9/0006

Abstract: It is disclosed an apparatus for restoring voluntary control of locomotion in a subject suffering from a neuromotor impairment comprising a multidirectional trunk support system and a device for epidural electrical stimulation. The robotic interface is capable of evaluating, enabling and training motor pattern generation and balance across a variety of natural walking behaviors in subjects with neuromotor impairments. Optionally, pharmacological cocktails can be administered to enhance rehabilitation results. It is also disclosed a method for the evaluation, enablement and training of a subject suffering from neuromotor impairments by combining robotically assisted evaluation tools with sophisticated neurobiomechanical and statistical analyzes. A method for the rehabilitation (by this term also comprising restoring voluntary control of locomotion) of a subject suffering from a neuromotor impairment in particular partial or total paralysis of limbs, is also disclosed.

公开(公告)号：US10391015B2

公开(公告)日：2019-08-27

申请号：US15667816

申请日：2017-08-03

Applicant: ECOLE POLYTECHNIQUE FEDERALE DE LAUSANNE (EPFL)

Inventor： Grégoire Courtine ,  Silvestro Micera ,  Joachim Von Zitzewitz

IPC: A61H1/02 ,  A61N1/36 ,  B25J9/00 ,  A63B69/00 ,  A63B24/00 ,  A63B21/00 ,  A61B5/11 ,  A61K31/135 ,  A61K31/496 ,  A61K31/55 ,  A61B34/30 ,  A61B5/00 ,  A61H1/00 ,  A61B5/04 ,  A61B5/0482 ,  A61B5/0484 ,  A61B5/103 ,  A63B22/02 ,  A63B22/20 ,  A63B22/00

Abstract: It is disclosed an apparatus for restoring voluntary control of locomotion in a subject suffering from a neuromotor impairment comprising a multidirectional trunk support system and a device for epidural electrical stimulation. The robotic interface is capable of evaluating, enabling and training motor pattern generation and balance across a variety of natural walking behaviors in subjects with neuromotor impairments. Optionally, pharmacological cocktails can be administered to enhance rehabilitation results. It is also disclosed a method for the evaluation, enablement and training of a subject suffering from neuromotor impairments by combining robotically assisted evaluation tools with sophisticated neurobiomechanical and statistical analyzes. A method for the rehabilitation (by this term also comprising restoring voluntary control of locomotion) of a subject suffering from a neuromotor impairment in particular partial or total paralysis of limbs, is also disclosed.

公开(公告)号：US20150190200A1

公开(公告)日：2015-07-09

申请号：US14404853

申请日：2013-05-29

Applicant: ECOLE POLYTECHNIQUE FEDERALE DE LAUSANNE

Inventor： Gregoire Courtine ,  Silvestro Micera ,  Joachim Von Zitzewitz

IPC: A61B19/00 ,  A61N1/36 ,  A61K31/55 ,  A61K31/135 ,  A61K31/496

CPC classification number: A61H1/0262 ,  A61B5/0004 ,  A61B5/0048 ,  A61B5/0053 ,  A61B5/0057 ,  A61B5/04001 ,  A61B5/0482 ,  A61B5/0484 ,  A61B5/1036 ,  A61B5/112 ,  A61B5/1123 ,  A61B5/1124 ,  A61B5/4005 ,  A61B5/4023 ,  A61B5/4076 ,  A61B5/4519 ,  A61B5/4538 ,  A61B5/4566 ,  A61B5/4824 ,  A61B5/4848 ,  A61B5/70 ,  A61B5/721 ,  A61B34/30 ,  A61B2034/302 ,  A61B2560/02 ,  A61H1/001 ,  A61H1/0229 ,  A61H2201/0196 ,  A61H2201/165 ,  A61H2201/1666 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2230/08 ,  A61H2230/085 ,  A61K31/135 ,  A61K31/496 ,  A61K31/55 ,  A61N1/36003 ,  A61N1/36057 ,  A63B21/00181 ,  A63B22/0235 ,  A63B22/203 ,  A63B24/0087 ,  A63B69/0057 ,  A63B69/0064 ,  A63B2022/0094 ,  A63B2022/206 ,  A63B2213/004 ,  A63B2220/10 ,  A63B2220/51 ,  B25J9/0006

Abstract: It is disclosed an apparatus for restoring voluntary control of locomotion in a subject suffering from a neuromotor impairment comprising a multidirectional trunk support system and a device for epidural electrical stimulation. The robotic interface is capable of evaluating, enabling and training motor pattern generation and balance across a variety of natural walking behaviors in subjects with neuromotor impairments. Optionally, pharmacological cocktails can be administered to enhance rehabilitation results. It is also disclosed a method for the evaluation, enablement and training of a subject suffering from neuromotor impairments by combining robotically assisted evaluation tools with sophisticated neurobiomechanical and statistical analyses. A method for the rehabilitation (by this term also comprising restoring voluntary control of locomotion) of a subject suffering from a neuromotor impairment in particular partial or total paralysis of limbs, is also disclosed.

Abstract translation: 公开了一种用于恢复患有神经运动障碍的受试者的自愿控制的装置，包括多方向躯体支撑系统和用于硬膜外电刺激的装置。 机器人界面能够评估，启用和训练运动模式的产生和平衡，在具有神经运动障碍的受试者中的各种自然行走行为。 任选地，可以施用药理学鸡尾酒以增强康复结果。 还公开了一种通过将机器人辅助评估工具与复杂的神经生物力学和统计分析结合来评估，启用和训练患有神经运动障碍的受试者的方法。 还公开了一种患有神经运动障碍，特别是肢体部分或全部麻痹的受试者的康复方法（通过该术语还包括恢复自愿控制运动）。