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EP3357474A1 - Rehabilitationsvorrichtung - Google Patents

Rehabilitationsvorrichtung Download PDF

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Publication number
EP3357474A1
EP3357474A1 EP17382053.1A EP17382053A EP3357474A1 EP 3357474 A1 EP3357474 A1 EP 3357474A1 EP 17382053 A EP17382053 A EP 17382053A EP 3357474 A1 EP3357474 A1 EP 3357474A1
Authority
EP
European Patent Office
Prior art keywords
rotation axis
grabbing
worm
rehabilitation device
intrusive
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.)
Withdrawn
Application number
EP17382053.1A
Other languages
English (en)
French (fr)
Inventor
Milos KOSTIC
Julius Klein
Borja BONAIL ACUÑA
Goran Bijelic
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.)
Fundacion Tecnalia Research and Innovation
Original Assignee
Fundacion Tecnalia Research and Innovation
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 Fundacion Tecnalia Research and Innovation filed Critical Fundacion Tecnalia Research and Innovation
Priority to EP17382053.1A priority Critical patent/EP3357474A1/de
Priority to PCT/EP2018/052972 priority patent/WO2018146103A1/en
Publication of EP3357474A1 publication Critical patent/EP3357474A1/de
Withdrawn legal-status Critical Current

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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
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower 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
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/123—Linear 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1418—Cam
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1463—Special speed variation means, i.e. speed reducer
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • 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
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • 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
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • 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
    • A61H2201/1664—Movement of interface, i.e. force application means linear
    • 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
    • A61H2201/5058—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
    • 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

Definitions

  • This invention belongs to the field of devices for rehabilitation of a patient's joint with restricted/reduced range of movement, caused by a traumatic injury, prolonged immobilisation or surgery. This type of devices usually forces a relative movement between two distant portions of the joint.
  • Rehabilitation devices usually comprise grabbing means for grabbing some portions of the patient's body and perform relative operations between said portions.
  • the invention provides an alternative solution for problem of joint mobilisation in the rehabilitation process, by means of a non-intrusive rehabilitation device suitable for treating a patient's joint according to claim 1.
  • Preferred embodiments of the invention are defined in dependent claims.
  • the treated joint connects a first extremity portion to a second extremity portion, comprising a joint rotation axis.
  • This rehabilitation device comprises
  • This device advantageously allows performing both a rotational and translational movement between the first and second extremity portion. Further, this device is wearable, unlike the rest of actuatable rehabilitation devices, so it may be used in almost any circumstance.
  • the motion means are physically attached to the first and second grabbing means.
  • This physical attachment provides a more reliable operation of the rehabilitation device.
  • the non-intrusive rehabilitation device further comprises control means, adapted to control the movement of the motion means.
  • Control means provide the rehabilitation device with more flexibility and versatility, since the movements may be reproduced in a different order, depending on the patient's needs.
  • control means are adapted to allow setting of predetermined therapy parameters.
  • These predetermined therapy parameters may be, but not limited to: the number of repetitions, maximal interaction force, movement amplitude (maximal extension angle, maximal flexion angel, maximal length of traction), movement velocity, etc.
  • the movement is controlled in such manner that it maximises the therapeutic gain, while maintaining the safe operating conditions.
  • An example of control paradigm for a session would be to perform translation movement until sufficient traction is achieved, then perform a number of repetitions of joint extension/ flexion movements. Each repetition could be such that extension is performed with higher speed until 90% of the maximal extension is reached, then with a lower speed until maximal extension is reached and then maintain the position for a specific time period, after which flexion is performed until the initial position is reached.
  • control parameters can be programmed by the operator, be it a therapist, patient or an informal caregiver.
  • the non-intrusive rehabilitation device further comprises measuring means adapted to
  • the data acquired by the measuring means could be used to achieve a closed loop control of the device.
  • the non-intrusive rehabilitation device further comprises stimulation and/or motion control means, adapted to act on the first and/or second extremity portion.
  • the stimulation and/or motion control means are adapted to induce joint relaxation on the first and/or second extremity portion.
  • the stimulation could be used to stimulate the efferent nerves in order to produce the movement of the joint through contraction of the muscles in the targeted extremity portion, or it could be used to stimulate the afferent nerves in order to alleviate the pain.
  • the device comprises the control means to regulate both motion and stimulation means
  • the control means to regulate both motion and stimulation means
  • implementing different control paradigms are muscle relaxation, which can extend the range of motion for the joint in question, or muscle strengthening, which increases the muscle tone of the weakened muscles.
  • the motion means comprise
  • the first displacement means comprise one of a cable driven motor, a hydraulic motor, a directly coupled motor or a magnetic motor.
  • the first displacement means is a first worm screw having a first worm rotation axis, and the wheel rotation axis is perpendicular to the first worm rotation axis.
  • the motion means further comprises
  • the translation and rotation of the one grabbing means in respect to the other grabbing means is achieved through a cam-follower mechanism.
  • This solution is characterised by the fact that a single actuator can achieve the required complex movement, and by the fact than the movement trajectory is predefined and set.
  • a worm gear is connected to two parallel, symmetrically placed worm screws connected to independent actuators.
  • the worm gear axis is connected to the slider, parallel to the worm screws.
  • the worm gear can rotate and/or translate depending on the movements of the two worm screws.
  • the non-intrusive rehabilitation device further comprises at least one stop, arranged to limit the movement of the worm gear.
  • the non-intrusive rehabilitation device comprises the following elements:
  • the invention provides a design method for a non-intrusive rehabilitation device according to the previous inventive aspect.
  • the method comprises the following steps:
  • this method provides the possibility that the motion means are adapted to ensure that the centre of rotation of the rotation relative movement between the first grabbing means and the second grabbing means is aligned with the physiological centre of rotation of the treated joint, throughout the entire range of the motion.
  • the adaptation of the motion means comprises programming control means in a way that the control means are capable of varying the rotation axis of the rotation relative movement between the first grabbing means and the second grabbing means, either automatically or manually.
  • the adaptation of the motion means comprises the designing of first, second and third secondary cam guides, in such a way that a centre of a circular portion of these first, second and third secondary cam guides is made part of the joint rotation axis.
  • the adaptation of the motion means comprises programming control means so that first and second worm screws move according to a predetermined pattern.
  • control of the two degrees of freedom may be independent.
  • the alignment of the relative movement rotation axis with the joint rotation axis can be ensured by dynamically controlling the position of the device's centre of rotation by closing the control loop through the measurement of interaction force and performing the movement in a way that minimises the non-tangential component.
  • Figures 1 and 3 show some embodiments of a non-intrusive rehabilitation device according to the invention, suitable for rehabilitating a patient's joint.
  • This joint is typically a knee or an elbow, and has two extremity portions: the first extremity portion (typically the upper arm or the thigh) and the second extremity portion (typically the forearm or the calf).
  • a rehabilitation device is therefore intended to cause a relative movement between the first extremity portion and the second extremity portion.
  • it has two grabbing means 11, 12, which are adapted and intended to grab the extremity portions.
  • This device further comprises motion means. These motion means are adapted to act on the first and/or second grabbing means 11, 12. As the grabbing means are attached, when the device is in operation, to the extremity portions of a joint, there is no need to move both grabbing means 11, 12, but only one of them. In the embodiments shown in these figures, the motion means move the second grabbing means. In different embodiments, the motion means may be arranged to move the first grabbing means instead.
  • the motion means are therefore adapted to move the second grabbing means to cause both a rotation relative movement and a translational relative movement between the first grabbing means and the second grabbing means.
  • Figure 1 shows a first embodiment of this rehabilitation device 1.
  • the motion means comprises the following elements:
  • the main cam 41 which is solidly attached to the worm gear 4, also rotates with the worm gear 4.
  • the main cam 41 comprises a main cam guide 42, the main cam guide 42 also rotates.
  • the secondary cam guides 51, 52, 53 do not rotate with the main cam guide 42, as the secondary cam guides 51, 52, 53 are not attached to the worm gear 4, but to the first grabbing means 11. These secondary cam guides 51, 52, 53, together with the main cam guide 42, will serve as guides for the cam follower 6 which is attached to the second grabbing means 12.
  • the first pin 61 of the cam follower 6 is guided by two different cam guides: the main cam guide 42, which moves, and the first secondary cam guide 51, which is fixed. Hence, the movement of the main cam guide 42 will make this first pin 61 advance along the first secondary cam guide 51 where this first pin 61 is inserted.
  • this rehabilitation device 1 further comprises different additional aids, such as stimulation means 101 for muscle strengthening and pain management, as integral part of the rehabilitation.
  • the movement of the motion means is controlled by some control means. These control means control the movement velocity, duration and direction.
  • the controllable element of the rehabilitation device is the rotation of the first worm screw.
  • Figures 2a to 2c shows the operation of this embodiment of a rehabilitation device.
  • Figure 2a shows the rehabilitation device 1 in a rest position, with the cam follower 6 being located at the beginning of the straight portion of the secondary cam guides.
  • the cam follower 6 is forced to follow a straight trajectory and then a curved trajectory.
  • FIGS 2b and 2c This makes the second extremity portion displace in a translational movement with respect to the first extremity portion and then a rotation movement with respect to the first extremity portion.
  • the straight movement takes place before the curved movement.
  • the curved portion of the secondary cam guides may be executed forwards and backwards any time it is needed.
  • Figure 3 shows a second embodiment of a rehabilitation device 1 according to the invention.
  • the motion means comprises the following elements:
  • the worm gear 4 is solidly attached to the second grabbing means 12, so in this second embodiment, the movement of the second grabbing means 12 is directly achieved by moving the worm gear 4.
  • This embodiment is able to move the worm gear 4, and then the second grabbing means 12, with more freedom than the first embodiment, as translation and rotation movements may be communicated to the worm gear 4 in any combination with no predetermined order.
  • the rehabilitation device 1 further comprises at least one stop, arranged to limit the movement of the worm gear.
  • the worm gear 4 is translated with no rotation, and the translation velocity is proportional to the sum of the rotation velocity of the first 31 and second 32 worm screws.
  • the direction of the translational velocity of the worm gear 4 depends on the direction of rotational velocities of the worm screws 31, 32. If the direction of the rotational velocities of the worm screws 31, 32 is clockwise then the direction of the translational velocity of the worm gear 4 is from right to the left as shown in the figure 4a . If the direction of the rotational velocities of the worm screws 31, 32 is counter clockwise then the direction of the translational velocity of the worm gear 4 is from right to the left, opposite as what is shown in the figure 4a .
  • the worm gear 4 rotates and translates.
  • the translation velocity is proportional to the sum of the rotation velocity of the first 31 and second 32 worm screws and the rotation velocity is proportional to the difference of the rotation velocity of first 31 and second 32 worm screws.
  • the difference between the rotation velocities of the first worm screw and the second worm screw causes the worm gear to rotate with respect to the rotation axis, and the sum of the rotation velocities of the first worm screw and the second worm screw causes the worm gear to translate in a direction parallel to the rotation axis.
  • the sign of the rotation velocity is considered, it is possible to move the worm gear with a wide range of rotation and translation movements.
  • FIG. 5 shows a third embodiment of a rehabilitation device 1 according to the invention.
  • this rehabilitation device 1 comprises the following elements:
  • each separate first 74 and second 81 motor provide independent translation and rotation movements to the cam follower 6, and thus to the second grabbing means 12.
  • the first motor 74 provides translation movement to the translation base 73 by means of first pulleys 75 and a first belt 76 and the second motor 81 provides rotation movement to the worm gear 4 by means of a second pulley 82 and a second belt 83.
  • the worm gear 4 is moved by means of the second motor 81 and a pulley 82 and belt 83 system.
  • this coupling between the motor and the worm gear may be made by different means, either directly or by magnetic coupling, or by cable or by any other technology which is available for the person skilled in the art. The same applies to the coupling between the first motor 74 and the translation base 73.

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)
EP17382053.1A 2017-02-07 2017-02-07 Rehabilitationsvorrichtung Withdrawn EP3357474A1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP17382053.1A EP3357474A1 (de) 2017-02-07 2017-02-07 Rehabilitationsvorrichtung
PCT/EP2018/052972 WO2018146103A1 (en) 2017-02-07 2018-02-06 Rehabilitation device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP17382053.1A EP3357474A1 (de) 2017-02-07 2017-02-07 Rehabilitationsvorrichtung

Publications (1)

Publication Number Publication Date
EP3357474A1 true EP3357474A1 (de) 2018-08-08

Family

ID=58018042

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17382053.1A Withdrawn EP3357474A1 (de) 2017-02-07 2017-02-07 Rehabilitationsvorrichtung

Country Status (2)

Country Link
EP (1) EP3357474A1 (de)
WO (1) WO2018146103A1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109620648A (zh) * 2019-02-01 2019-04-16 上海理工大学 一种用于绳索驱动上肢康复训练器的左右手互换机构
EP4134059A4 (de) * 2020-06-12 2024-05-15 Shanghai Fourier Intelligence Co., Ltd. Kniegelenkmechanismus ohne stromquelle

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6456885B1 (en) 1999-03-29 2002-09-24 Kurume University Apparatus for strengthening muscles
US20050197605A1 (en) * 2004-03-08 2005-09-08 Bonutti Boris P. Orthosis
US20070100267A1 (en) * 2005-10-28 2007-05-03 Bonutti Boris P Range of motion device
US7381192B2 (en) 2001-05-16 2008-06-03 Fondation Suisse Pour Les Cybertheses Therapeutic and/or training device for a person's lower limbs using a mechanical orthetic device and a neuromuscular stimulation device
WO2015087427A1 (ja) * 2013-12-12 2015-06-18 株式会社安川電機 動作補助装置用アクチュエータ及び動作補助装置
US9271864B2 (en) 2011-10-04 2016-03-01 Feinstein Patents Llc Orthosis for range of motion, muscular and neurologic rehabilitation of the lower extremities

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6456885B1 (en) 1999-03-29 2002-09-24 Kurume University Apparatus for strengthening muscles
US7381192B2 (en) 2001-05-16 2008-06-03 Fondation Suisse Pour Les Cybertheses Therapeutic and/or training device for a person's lower limbs using a mechanical orthetic device and a neuromuscular stimulation device
US20050197605A1 (en) * 2004-03-08 2005-09-08 Bonutti Boris P. Orthosis
US20070100267A1 (en) * 2005-10-28 2007-05-03 Bonutti Boris P Range of motion device
US9271864B2 (en) 2011-10-04 2016-03-01 Feinstein Patents Llc Orthosis for range of motion, muscular and neurologic rehabilitation of the lower extremities
WO2015087427A1 (ja) * 2013-12-12 2015-06-18 株式会社安川電機 動作補助装置用アクチュエータ及び動作補助装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109620648A (zh) * 2019-02-01 2019-04-16 上海理工大学 一种用于绳索驱动上肢康复训练器的左右手互换机构
CN109620648B (zh) * 2019-02-01 2021-05-14 苏州好博医疗器械有限公司 一种用于绳索驱动上肢康复训练器的左右手互换机构
EP4134059A4 (de) * 2020-06-12 2024-05-15 Shanghai Fourier Intelligence Co., Ltd. Kniegelenkmechanismus ohne stromquelle

Also Published As

Publication number Publication date
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