CA2101259A1 - A system for resisting limb movement - Google Patents

A system for resisting limb movement

Info

Publication number
CA2101259A1
CA2101259A1 CA002101259A CA2101259A CA2101259A1 CA 2101259 A1 CA2101259 A1 CA 2101259A1 CA 002101259 A CA002101259 A CA 002101259A CA 2101259 A CA2101259 A CA 2101259A CA 2101259 A1 CA2101259 A1 CA 2101259A1
Authority
CA
Canada
Prior art keywords
linkage
endpoint
limb
limb movement
resisting
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.)
Granted
Application number
CA002101259A
Other languages
French (fr)
Other versions
CA2101259C (en
Inventor
Scott M. Maxwell
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.)
Massachusetts Institute of Technology
Original Assignee
Scott M. Maxwell
Massachusetts Institute Of Technology
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 Scott M. Maxwell, Massachusetts Institute Of Technology filed Critical Scott M. Maxwell
Publication of CA2101259A1 publication Critical patent/CA2101259A1/en
Application granted granted Critical
Publication of CA2101259C publication Critical patent/CA2101259C/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40305—Exoskeleton, human robot interaction, extenders
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45172—Prosthesis
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S482/00—Exercise devices
    • Y10S482/901—Exercise devices having computer circuitry
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S482/00—Exercise devices
    • Y10S482/903—Utilizing electromagnetic force resistance

Abstract

A six degree of freedom limb movement resistance system is described in which a linkage system (200) of links (338-356) and joints (300-334) couples a fixed point in space to a movable endpoint (E) of the linkage (200). A limb coupling cuff (212, 376) is attached to the end point (E). Variable resistance force can be applied to the linkage (200) via computer controls (104, 106) through a feedback path from position and velocity sensors (206), The linkage endpoint force acting to resist limb motion is in a direction opposite to the endpoint velocity vector.
CA002101259A 1991-01-31 1992-01-16 A system for resisting limb movement Expired - Lifetime CA2101259C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US07/648,733 US5201772A (en) 1991-01-31 1991-01-31 System for resisting limb movement
US648,733 1991-01-31
PCT/US1992/000369 WO1992013504A1 (en) 1991-01-31 1992-01-16 A system for resisting limb movement

Publications (2)

Publication Number Publication Date
CA2101259A1 true CA2101259A1 (en) 1992-08-01
CA2101259C CA2101259C (en) 2004-04-27

Family

ID=24602006

Family Applications (1)

Application Number Title Priority Date Filing Date
CA002101259A Expired - Lifetime CA2101259C (en) 1991-01-31 1992-01-16 A system for resisting limb movement

Country Status (9)

Country Link
US (1) US5201772A (en)
EP (1) EP0569489B1 (en)
JP (1) JP3541947B2 (en)
AT (1) ATE122225T1 (en)
CA (1) CA2101259C (en)
DE (1) DE69202453T2 (en)
DK (1) DK0569489T3 (en)
ES (1) ES2074877T3 (en)
WO (1) WO1992013504A1 (en)

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Also Published As

Publication number Publication date
JP3541947B2 (en) 2004-07-14
ES2074877T3 (en) 1995-09-16
DE69202453D1 (en) 1995-06-14
CA2101259C (en) 2004-04-27
EP0569489A1 (en) 1993-11-18
JPH06505407A (en) 1994-06-23
WO1992013504A1 (en) 1992-08-20
EP0569489B1 (en) 1995-05-10
US5201772A (en) 1993-04-13
DE69202453T2 (en) 1996-02-22
DK0569489T3 (en) 1995-10-09
ATE122225T1 (en) 1995-05-15

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