公开(公告)号：WO2021249315A1

公开(公告)日：2021-12-16

申请号：PCT/CN2021/098475

申请日：2021-06-04

Applicant: 上海神泰医疗科技有限公司

Inventor： 宋涛 ,  高志军 ,  李志青 ,  田恬

IPC: A61H1/02 ,  A61H1/0237 ,  A61H2201/018 ,  A61H2201/1207 ,  A61H2201/1642 ,  A61H2201/5035 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079 ,  A63B23/04

Abstract: 一种康复机器人的操作方法、康复机器人及可读存储介质，获取施加在康复机器人的第一外力（S1）；获取康复机器人的伺服电机的反馈信号（S2）；根据反馈信号，基于康复机器人的运动学和动力学模型，计算得到康复机器人所受第一外力的大小和方向（S3）；根据第一外力的大小和方向，对康复机器人的自重和阻力进行补偿，进而驱动康复机器人随第一外力进行运动，得到康复机器人的运动轨迹参数；以及得到康复对象的基础活动边界参数（S4）；康复机器人根据轨迹参数重复多次运动，以通过康复机器人驱动康复对象重复多次运动（S5）；其中，基础活动边界参数按预设的条件逐渐扩大，形成过渡活动边界参数，过渡活动边界参数补偿轨迹参数。

公开(公告)号：WO2021247321A1

公开(公告)日：2021-12-09

申请号：PCT/US2021/034252

申请日：2021-05-26

Applicant: DEPHY, INC.

Inventor： MOONEY, Luke ,  DUVAL, Jean-François ,  HARRIS, Rachel ,  KAPLAN, Jonathan

IPC: A61H3/00 ,  A61H1/00 ,  A61H2003/007 ,  A61H2201/1207 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5082 ,  A61H2201/5084 ,  A61H2230/605 ,  A61H2230/625

Abstract: Systems and methods for determining a level of collaboration between a user and an exoskeleton boot are provided. A device, using an exoskeleton boot, can provide a level of force to a limb of a user to aide movement of the limb. The device can measure one or more parameters of the exoskeleton boot during the movement of the limb using the exoskeleton boot. The device can determine one or more biometrics of the user during the movement of the limb using the exoskeleton boot. The device can determine, based on the one or more biometrics and the one or more parameters of the device, a metric indicative of a collaboration between the user and the exoskeleton boot during the movement.

公开(公告)号：WO2022005897A2

公开(公告)日：2022-01-06

申请号：PCT/US2021/039110

申请日：2021-06-25

Applicant: ZOLL MEDICAL CORPORATION

Inventor： GIACOMETTI, Paolo ,  FREEMAN, Gary A. ,  LAMPE, Joshua W. ,  SILVER, Annemarie E.

IPC: A61H31/00 ,  A61H2201/0173 ,  A61H2201/018 ,  A61H2201/123 ,  A61H2201/1664 ,  A61H2201/5007 ,  A61H2201/5043 ,  A61H2201/5048 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61H2230/00 ,  A61H31/005 ,  A61H31/006 ,  A61H31/007

Abstract: A system for administering patient-specific chest compressions includes an automated chest compressor configured to be applied to the chest of the patient to administer chest compressions to the patient; at least one force sensor configured to sense force information for force exerted on the patient by the chest compressor from the applied chest compressions; and at least one processor and memory communicatively coupled with the chest compressor and the at least one force sensor. The at least one processor and memory are configured to control the chest compressor to administer the chest compressions over an initial compression period according to an initial compression protocol. The initial compression protocol includes a plurality of chest compressions of increasing scheduled depths with a first compression at an initial depth and a final compression at a final target depth greater in magnitude than the initial depth.

公开(公告)号：WO2021247299A1

公开(公告)日：2021-12-09

申请号：PCT/US2021/034163

申请日：2021-05-26

Applicant: DEPHY, INC.

Inventor： MOONEY, Luke ,  DUVAL, Jean-François ,  HARRIS, Rachel

IPC: A61H3/00 ,  A61H1/0266 ,  A61H2003/007 ,  A61H2201/0111 ,  A61H2201/1207 ,  A61H2201/1215 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5082 ,  A61H2201/5084 ,  A61H2201/5097 ,  B25J9/0006 ,  G06F3/011 ,  G16H20/30 ,  G16H40/67 ,  H04B1/385

Abstract: Systems and methods for communicating between multiple lower limb exoskeletons are provided. A first exoskeleton boot can receive, responsive to transmitting a first packet, a second packet from a second exoskeleton boot through a wireless connection between the first exoskeleton boot and the second exoskeleton boot. The first exoskeleton boot can determine a latency for communication between the first exoskeleton boot and the second exoskeleton boot based on a time difference between transmission of the first packet and receipt of the second packet and update, responsive to the comparison, a model indicating data weighted based on the latency for controlling the first exoskeleton boot and the second exoskeleton boot. The first exoskeleton boot can generate, using data from the model, a command to cause an electric motor of the first exoskeleton boot to generate torque to aid a limb of a user in performing a movement.

公开(公告)号：WO2021220103A1

公开(公告)日：2021-11-04

申请号：PCT/IB2021/053213

申请日：2021-04-19

Applicant: UNIVERSITÀ DEGLI STUDI DI TRENTO

Inventor： PALOPOLI, Luigi ,  FONTANELLI, Daniele ,  ZENATTI, Fabiano ,  DIVAN, Stefano ,  ANDREETTO, Marco

IPC: G05D1/02 ,  A61H3/04 ,  B62D15/00 ,  A61H2003/043 ,  A61H2003/046 ,  A61H2201/5007 ,  A61H2201/501 ,  A61H2201/5038 ,  A61H2201/5064 ,  A61H2201/5079 ,  A61H2201/5092 ,  A61H2201/5097 ,  G05D1/0212 ,  G05D2201/0206

Abstract: A robotic vehicle (10) comprising a pair of rear wheels (11, 12), at least one front wheel (13, 14), at least one steering motor (50) mounted with said at least one front wheel (13, 14), wherein said at least one front wheel (13, 14) is adapted to freely rotate about a vertical axis (Zm) perpendicular to the ground, wherein said at least one steering motor (50) is adapted to impose a torque which steers said at least one front wheel (13,14) with which it is mounted making the robotic vehicle (10) steer by a steering angle (φ) with respect to an instantaneous direction of linear motion (Xm) of the robotic vehicle (10), wherein the robotic vehicle (10) comprises at least one processor (70) and at least one storage (80), wherein said at least one processor (70) controls said at least one steering motor (50) and calculates a spatial position and a spatial orientation of the robotic vehicle (10), wherein said at least one storage (80) contains at least one selection algorithm which implements a process for sharing a control authority for directing the robotic vehicle (10), wherein said at least one storage (80) contains a predefined preferred path (100) or the position of an obstacle to be overcome, wherein for each predefined time step said at least one selection algorithm selects depending on a metric a torque value which said at least one steering motor (50) imposes on said at least one front wheel (13, 14), wherein said torque value ranges between 0 and a predefined maximum torque value, wherein said metric is defined depending only on a distance of the robotic vehicle (10) from said predefined preferred path (100), or from an obstacle to be overcome, and on an angle of approach (δ), wherein the angle of approach (δ) of said metric is calculated by said at least one processor (70) depending on an approaching trajectory towards said predefined preferred path (100) or towards said obstacle to be overcome.