公开(公告)号：EP3265044A1

公开(公告)日：2018-01-10

申请号：EP16713295.0

申请日：2016-03-07

Applicant: Murnaghan, Shane Patrick

Inventor： Murnaghan, Shane Patrick

IPC: A61H15/00 ,  A61H7/00 ,  A61H11/00

CPC classification number: A61H11/00 ,  A61H7/001 ,  A61H15/00 ,  A61H2201/1284 ,  A61H2201/1609 ,  A61H2201/1623 ,  A61H2201/1628 ,  A61H2201/1635 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/169 ,  A61H2205/04 ,  A61H2205/06 ,  A61H2205/081 ,  A61H2205/088 ,  A61H2205/102

Abstract: The present invention relates to a massage device comprising: a support, and a plurality of massage elements, each projecting a distance outwardly from the support and having a rounded massaging surface, characterised in that at least some of the massage elements project outwardly from the support by a first distance, and at least others of the massage elements project outwardly from the support by a second distance, whereby the first and second distances are different. The present invention provides a massage device comprising a massage surface consisting of closely packed massage elements set at different heights. The massage elements are provided by hemispheres each having a rounded upward facing massage surface, that interface with the skin to trigger a powerful unwind and relaxation response from the strained area of contact and peripheral to it. The device is a passive massage device without moving parts.

公开(公告)号：EP3043764A4

公开(公告)日：2017-06-21

申请号：EP14843428

申请日：2014-09-11

Applicant: YAN HUI

Inventor： YAN HUI

IPC: A61H1/02 ,  A63B19/00 ,  A63B19/04 ,  A63B21/00 ,  A63B21/02 ,  A63B21/04 ,  A63B22/18 ,  A63B23/02

CPC classification number: A63B21/022 ,  A61H2015/0064 ,  A61H2201/0192 ,  A61H2201/1261 ,  A61H2201/1628 ,  A61H2201/1635 ,  A61H2203/0406 ,  A61H2205/08 ,  A63B19/00 ,  A63B19/04 ,  A63B21/023 ,  A63B21/026 ,  A63B21/0442 ,  A63B21/4009 ,  A63B21/4025 ,  A63B21/4031 ,  A63B21/4033 ,  A63B21/4035 ,  A63B21/4043 ,  A63B21/4049 ,  A63B22/18 ,  A63B23/02 ,  A63B23/12 ,  A63B2213/00 ,  A63B2225/093

公开(公告)号：EP3173191A2

公开(公告)日：2017-05-31

申请号：EP16180661.7

申请日：2016-07-21

Applicant: Industrial Technology Research Institute

Inventor： SUN, KUAN-CHUN ,  TSAI, YI-JENG ,  WU, CHENG-HUA ,  HU, JWU-SHENG

IPC: B25J9/00

CPC classification number: A61F2/70 ,  A61B5/112 ,  A61B2562/0219 ,  A61F2002/689 ,  A61F2002/704 ,  A61H1/0255 ,  A61H1/0266 ,  A61H3/00 ,  A61H2003/007 ,  A61H2201/0192 ,  A61H2201/1207 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/50 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2203/0406 ,  A61H2205/102 ,  A61H2205/106 ,  A61H2205/108 ,  A61H2205/12 ,  B25J9/0006 ,  G05B2219/37134 ,  G05B2219/37388 ,  G05B2219/40305 ,  H04W4/02

Abstract: A method for estimating posture of robotic walking aid(1) includes: providing a motor controller(50), a motor encoder(71) and a motor(70) on right and left hip joints, and right and left knee joints of the robotic walking aid(1), providing an inertial sensor(60) on upper body(40) of the robotic walking aid(1), wherein the motor controller(50), the motor encoder(71), the motor(70) and the inertial sensor(60) are coupled to a control unit(80); installing the robotic walking aid(1) on a user; inputting the lengths of the upper body(40), two thighs, two shanks, two feet of the robotic walking aid(1) to the control unit(80), wherein the upper body(40), two thighs, two shanks, two feet form a plurality of points; obtaining an angle of the upper body(40) corresponding to a reference frame with the inertial sensor(60); obtaining angles of those joints with those motor encoders(71); and calculating 3 dimensional coordinates of each point with a motion model.

Abstract translation: 一种机器人助步器姿态估计方法，包括：在机器人的右右髋关节和左右膝关节上设置电机控制器，电机编码器和电机， （50），电机编码器（71），电机（70）和机器人助步器（1）的上体（40）上提供惯性传感器 惯性传感器（60）连接到控制单元（80）; 将机器人助步器（1）安装在用户上; 将上机身（40），两个大腿，两个小腿，两个机器人助步器（1）的长度输入到控制单元（80），其中上身（40），两个大腿，两个小腿，两个 脚形成多个点; 利用惯性传感器（60）获得对应于参考系的上主体（40）的角度; 用那些电机编码器（71）获得那些接头的角度; 并用运动模型计算每个点的三维坐标。

公开(公告)号：EP2211817B1

公开(公告)日：2017-05-31

申请号：EP07863888.9

申请日：2007-11-05

Applicant: FKA Distributing CO. D/B/A Homedics, INC.

Inventor： FERBER, Roman ,  LEV, Mordechai ,  SHIANP, Jyh Chung

IPC: A61H15/02

CPC classification number: A61H15/02 ,  A61H7/004 ,  A61H2015/0028 ,  A61H2201/0149 ,  A61H2201/0192 ,  A61H2201/0228 ,  A61H2201/10 ,  A61H2201/1215 ,  A61H2201/1623 ,  A61H2201/1628 ,  A61H2201/1669 ,  A61H2201/1671 ,  A61H2201/1678 ,  A61N2005/0652 ,  A61N2005/0659

公开(公告)号：EP3136191A1

公开(公告)日：2017-03-01

申请号：EP16163526.3

申请日：2016-04-01

Applicant: Samsung Electronics Co., Ltd.

Inventor： SEO, Keehong ,  LEE, Jusuk ,  LIM, Bokman

IPC: G05B19/042 ,  B25J9/00 ,  A61H1/02

CPC classification number: B25J9/0006 ,  A61B5/112 ,  A61H1/0244 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/501 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2230/085 ,  A61H2230/605 ,  A61H2230/625 ,  G05B19/042 ,  G05B2219/36435 ,  G05B2219/40305 ,  Y10S901/09

Abstract: A method and apparatus for calculating a torque of a walking assistance device, the method including receiving a measured joint angle, obtaining a gait parameter with respect to a transition among a predetermined number of gait states based on the joint angle, obtaining a gait cycle based on the joint angle, and obtaining an output torque based on the gait cycle and the gait parameter, is provided.

Abstract translation: 一种用于计算步行辅助装置的扭矩的方法和装置，所述方法包括接收测量的关节角度，基于关节角度获得相对于预定步数状态之间的转变的步态参数，获得基于步态的步态 在关节角度上，并且基于步态周期和步态参数获得输出扭矩。

公开(公告)号：EP3103427A1

公开(公告)日：2016-12-14

申请号：EP15743725.2

申请日：2015-01-28

Applicant: University of Tsukuba ,  Cyberdyne Inc.

Inventor： SANKAI, Yoshiyuki ,  TAKAMA, Masahiro ,  KITAUCHI, Shinji ,  ICHIHASHI, Fumiyuki ,  TANAKA, Hiroshi

IPC: A61H3/00 ,  A61F2/72 ,  A61H1/02

CPC classification number: A61H3/00 ,  A61F2/70 ,  A61F5/01 ,  A61F5/0125 ,  A61H1/024 ,  A61H1/0244 ,  A61H2003/007 ,  A61H2201/018 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/1628 ,  A61H2201/163 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/5043 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2230/605 ,  B25J9/0006 ,  B25J13/06

Abstract: A wearable action-assistance device is provided with which an assistant can intuitively perform settings for operation of the device while assisting a wearer during walking and without leaving the wearer. An operation unit (140) includes a display (141), task selection buttons (142), joint buttons (143), a stop button (144), a start button (145), arrow keys (146) and a confirmation operation button (147). As shown in the drawing, the joint buttons (143) are operation buttons for displaying assistive force settings and operating states relating to each joint on the display (141). The joint buttons (143) consist of a left hip joint button (143a), a left knee joint button (143b), a right hip joint button (143c) and a right knee joint button (143d), and the respective joint buttons are disposed on the upper left, lower left, upper right and lower right of the operation unit (140).

Abstract translation: 提供一种穿戴式动作辅助装置，辅助者可以直观地执行设备的操作，同时在行走期间辅助佩戴者并且不离开佩戴者。 操作单元（140）包括显示器（141），任务选择按钮（142），联合按钮（143），停止按钮（144），开始按钮（145），箭头键（146）和确认操作按钮 （147）。 如图所示，接合按钮（143）是用于显示与显示器（141）上的每个关节相关的辅助力设置和操作状态的操作按钮。 关节按钮143包括左髋关节按钮143a，左膝关节按钮143b，右髋关节按钮143c和右膝关节按钮143d，各个关节按钮 设置在操作单元（140）的左上，左下，右上，右下。

公开(公告)号：EP3095428A1

公开(公告)日：2016-11-23

申请号：EP14878763.3

申请日：2014-10-22

Applicant: Panasonic Corporation

Inventor： NAKATANI, Kazuhiro ,  KONISHI, Makoto ,  FUJIMOTO, Hiromichi

IPC: A61G15/08 ,  A47C3/20 ,  A61F2/68 ,  A61H3/00 ,  B25J11/00

CPC classification number: A61B90/60 ,  A47C3/00 ,  A47C9/025 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1628 ,  A61H2201/1633 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2203/0406 ,  B25J9/0006

Abstract: A working posture holding device (10) includes: a lower back holding part (11) that holds a lower back of a user; a leg part (12a) that supports the lower back holding part, the leg part being rotatably connected to the lower back holding part, the leg part extending along a leg region of the user; a foot part (13a) that is connected to the leg part, the foot part contacting a ground to support the overall working posture holding device; a fixing part (14a) that fixes the leg part and the user to each other; and a locking mechanism (15a) that switches a state of the leg part between a "variable" state where a distance between a connection part to the lower back holding part and a connection part to the foot part is variable, and a "locked" state where the distance is fixed, wherein when the locking mechanism sets the leg part to be in the locked state, the lower back holding part holds a lower back of the user to hold a standing posture of the user and, when the locking mechanism sets the leg part to in the variable state, the user is able to walk.

Abstract translation: 工作姿势保持装置（10）包括：保持用户的后背的下背保持部（11）; 支撑所述下背部保持部的腿部（12a），所述腿部可旋转地连接到所述下背部保持部，所述腿部沿着所述使用者的腿部区域延伸; 连接到所述腿部的脚部（13a），所述脚部接触地面以支撑所述整体工作姿势保持装置; 将腿部和使用者彼此固定的固定部（14a） 以及锁定机构（15a），其将腿部的状态切换到连接部与下背部保持部之间的距离和与脚部的连接部之间的距离的“可变”状态，并且“锁定” 所述距离固定的状态，其中当所述锁定机构将所述腿部部件设定为处于所述锁定状态时，所述下背部保持部保持所述使用者的下背部以保持所述使用者的站立姿态，并且当所述锁定机构设定 腿部在变量状态下，用户能够行走。

公开(公告)号：EP2211817A4

公开(公告)日：2016-03-09

申请号：EP07863888

申请日：2007-11-05

Applicant: FKA DISTRIBUTING DBA HOMEDICS

Inventor： FERBER ROMAN ,  LEV MORDECHAI ,  SHIANP JYH CHUNG

IPC: A61H15/02

CPC classification number: A61H15/02 ,  A61H7/004 ,  A61H2015/0028 ,  A61H2201/0149 ,  A61H2201/0192 ,  A61H2201/0228 ,  A61H2201/10 ,  A61H2201/1215 ,  A61H2201/1623 ,  A61H2201/1628 ,  A61H2201/1669 ,  A61H2201/1671 ,  A61H2201/1678 ,  A61N2005/0652 ,  A61N2005/0659

公开(公告)号：EP1874239B1

公开(公告)日：2014-06-11

申请号：EP06750299.7

申请日：2006-04-13

Applicant: The Regents of The University of California

Inventor： ANGOLD, Russdon ,  HARDING, Nathan, H. ,  KAZEROONI, Homayoon

IPC: A61F2/74 ,  B25J9/00

CPC classification number: A61H3/00 ,  A61B5/1038 ,  A61B5/4528 ,  A61F5/0102 ,  A61H1/0237 ,  A61H1/024 ,  A61H3/008 ,  A61H2201/1238 ,  A61H2201/1614 ,  A61H2201/1616 ,  A61H2201/1621 ,  A61H2201/1623 ,  A61H2201/1628 ,  A61H2201/163 ,  A61H2201/1635 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  B25J9/0006

公开(公告)号：EP2346447A1

公开(公告)日：2011-07-27

申请号：EP09801010.1

申请日：2009-07-23

Applicant: Berkeley Bionics ,  The Regents of the University of California

Inventor： KAZEROONI, Homayoon ,  AMUNDSON, Kurt ,  ANGOLD, Russdon ,  HARDING, Nathan

IPC: A61F2/60

CPC classification number: A61H3/008 ,  A61H1/0244 ,  A61H1/0255 ,  A61H3/00 ,  A61H2003/002 ,  A61H2201/0165 ,  A61H2201/1215 ,  A61H2201/1238 ,  A61H2201/1246 ,  A61H2201/1614 ,  A61H2201/1621 ,  A61H2201/1623 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5051 ,  A61H2201/5056 ,  A61H2201/5061 ,  A61H2201/5071 ,  B25J9/0006

Abstract: A lower extremity exoskeleton (100), configurable to be coupled to a person, includes two leg supports (101, 102) configurable to be coupled to the person's lower limbs, an exoskeleton trunk (109) configurable to be coupled to the person's upper body, which is rotatably connectable to the thigh links (103, 104) of the leg supports (101, 102) allowing for the flexion and extension between the leg supports (101, 102) and the exoskeleton trunk (100), two hip actuators ( 145, 146) configured to create torques between the exoskeleion trunk (109) and the leg supports (101, 102), and at least one power unit (201) capable of providing power to the hip actuators (145, 146) wherein the power unit (201) is configured to cause the hip actuator (145, 146) of the leg support (101, 102) in the swing phase to create a torque profile such that force from the exoskeleton leg support (101, 102) onto the person's lower limb during at least a portion of the swing phase is in the direction of the person's lower limb swing velocity.