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    Robot arm
    72.
    发明授权
    Robot arm 有权
    机器人手臂

    公开(公告)号：US08360997B2

    公开(公告)日：2013-01-29

    申请号：US12224104

    申请日：2007-02-23

    Applicant: Paolo Ferrara

    Inventor： Paolo Ferrara

    IPC: A61H1/00 ,  A61H1/02 ,  A61H5/00

    CPC classification number: B25J9/142 ,  A61H1/02 ,  A61H37/00 ,  A61H2001/0207 ,  A61H2201/018 ,  A63B21/00069 ,  A63B21/00178 ,  A63B21/0085 ,  A63B21/4033 ,  A63B23/03508 ,  A63B23/12 ,  A63B23/1209 ,  B25J9/1075 ,  Y10T74/20305

    Abstract: A robot arm formed from one or more optionally interlinked active pivoted levers, wherein a base is fixed to the one end of a support and a pivoting piece is pivotably mounted on the second end of the support with pneumatic muscles running form the base to the pivoting piece. Individual pneumatic muscles engage on opposing sides of the pivot axis of the pivoting piece and the base of a pivoting lever is fixed to the pivoting piece of the adjacent pivoting lever interconnected thereto. The controller measures the position of the individual pivoting levers and the pressure in the individual pneumatic muscles, calculates the externally acting forces from the pressure-distance diagrams for the individual pneumatic muscles and the geometric lever mechanical ratios for all pivoting levers and limits said forces.

    Abstract translation: 由一个或多个可选择地连接的主动枢转杆形成的机器人手臂，其中基座固定到支撑件的一端，并且枢转件可枢转地安装在支撑件的第二端上，气动肌肉从基座运动到枢转 片。 单独的气动肌肉接合在枢转件的枢转轴线的相对侧上，并且枢转杆的基部固定到与其相互连接的相邻枢转杆的枢转件。 控制器测量各个枢转杆的位置和各个气动肌肉中的压力，从各个气动肌肉的压力距离图计算外力作用力，并计算所有枢转杆的几何杠杆机械比并限制所述力。

    SKIN TREATMENT DEVICE AND IMPLEMENT
    73.
    发明申请
    SKIN TREATMENT DEVICE AND IMPLEMENT 有权
    皮肤治疗设备和实施

    公开(公告)号：US20130023805A1

    公开(公告)日：2013-01-24

    申请号：US13554412

    申请日：2012-07-20

    Applicant: Christof Ungemach ,  Michael Maichel ,  Ralf Klug ,  Tobias Schwarz

    Inventor： Christof Ungemach ,  Michael Maichel ,  Ralf Klug ,  Tobias Schwarz

    IPC: A61H15/00

    CPC classification number: A61H7/005 ,  A46B13/02 ,  A46B2200/102 ,  A61H23/0254 ,  A61H2201/018 ,  A61H2201/1685

    Abstract: The present invention concerns a skin treatment device for professional and private use. In particular the present invention concerns a skin treatment device comprising a drive unit and an attachment, the drive unit comprising an output element and a rotary support element rotating about an axis of rotation, the rotary support element comprising protrusions, the attachment comprising a skin treatment element and a chassis for the skin treatment element, the chassis comprising a multitude of recesses to cooperate with the protrusions of the rotary support element of the drive unit, wherein the chassis can be supported by the rotary support element and wherein the protrusions can be brought into an engagement position with the recesses, while the chassis is supported by the rotary support element, and the protrusions can be brought into a disengagement position with the recesses, while the chassis is supported by the rotary support element.

    Abstract translation: 本发明涉及专业和私人使用的皮肤治疗装置。 特别地，本发明涉及包括驱动单元和附件的皮肤治疗装置，所述驱动单元包括输出元件和围绕旋转轴线旋转的旋转支撑元件，所述旋转支撑元件包括突起，所述附件包括皮肤处理 元件和用于皮肤处理元件的底盘，底盘包括多个凹部以与驱动单元的旋转支撑元件的突起配合，其中底盘可由旋转支撑元件支撑，并且其中可以带有突起 当底盘由旋转支撑元件支撑时，突起可以与凹部进入啮合位置，同时底盘由旋转支撑元件支撑。

    ">
    74.
    发明申请
    "TEACH AND REPEAT" METHOD AND APPARATUS FOR PHYSIOTHERAPEUTIC APPLICATIONS 有权
    “TEACH AND REPEAT”方法和设备用于生理应用

    公开(公告)号：US20120253241A1

    公开(公告)日：2012-10-04

    申请号：US13493104

    申请日：2012-06-11

    Applicant: Tamir LEVITAL ,  Yaron Moshe RIVER

    Inventor： Tamir LEVITAL ,  Yaron Moshe RIVER

    IPC: A61H1/02

    CPC classification number: A61H1/0296 ,  A61H2201/018 ,  A61H2201/02 ,  A61H2201/1659 ,  A61H2201/5038 ,  A61H2201/5048 ,  A61H2201/5064 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2203/0456 ,  A61H2203/0468 ,  A61H2230/06 ,  A61H2230/10 ,  A61H2230/30 ,  A61H2230/60 ,  A61H2230/65

    Abstract: The present invention provides a device for controlling a physical therapy device adapted for accepting external commands, comprising: a. a moveable portion of substantially the same shape and dimensions as that portion of said physical therapy device that is adapted for interacting with at least one part of the body of a patient; b. a base; c. a motion manipulation portion d. conversion means for converting said stored time-dependent output signals to a series of command signals; and, e. means for transmitting said command signals to said physical therapy device; wherein a series of command signals are produced by the movement of said moveable portion, which, when transmitted to said physical therapy apparatus, will cause said physical therapy apparatus to undergo a series of motions substantially identical to those of said moveable portion.

    Abstract translation: 本发明提供了一种用于控制适于接受外部命令的物理治疗装置的装置，包括：a。 与所述物理治疗装置的适于与患者的身体的至少一部分相互作用的部分具有基本相同的形状和尺寸的可移动部分; b。 一个基地 C。 运动操纵部分d。 转换装置，用于将所述存储的时间相关输出信号转换成一系列命令信号; 和，例如 用于将所述命令信号发送到所述物理治疗装置的装置; 其中通过所述可移动部分的移动产生一系列命令信号，当被传送到所述物理治疗装置时，将使所述物理治疗装置经历与所述可移动部分基本相同的一系列运动。

    Multi joint orthodynamic rehabilitator, assistive orthotic device and methods for actuation controlling
    76.
    发明授权
    Multi joint orthodynamic rehabilitator, assistive orthotic device and methods for actuation controlling 失效
    多关节正畸康复器，辅助矫正装置和致动控制方法

    公开(公告)号：US08083694B2

    公开(公告)日：2011-12-27

    申请号：US11783625

    申请日：2007-04-11

    Applicant: Zalman Peles

    Inventor： Zalman Peles

    IPC: A61H1/00

    CPC classification number: A61H1/0277 ,  A61B5/11 ,  A61B5/4528 ,  A61H2201/0176 ,  A61H2201/018 ,  A61H2201/165 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5071

    Abstract: A method and system for treating self-adaptive motion of a jointed body part of a patient, the jointed body part has at least three rotatable body sections interconnected by at least two joints, by collecting data regarding limb movement displaying representations of the data in real time, and modifying current device function based upon such data so as to meet predefined therapeutic treatment parameters with regard to device-actuated movement needs of the limb regarding device-actuated movement, and/or assist limb rotation.

    Abstract translation: 一种用于治疗患者的接合身体部分的自适应运动的方法和系统，所述接合体部分具有通过至少两个关节互连的至少三个可旋转主体部分，通过收集关于肢体运动的数据显示数据的实际表示 时间，并且基于这样的数据修改当前设备功能，以便满足关于肢体关于设备致动的运动的设备致动的移动需要和/或辅助肢体旋转的预定义的治疗参数。

    WEARABLE ACTION-ASSIST DEVICE AND CONTROL PROGRAM
    78.
    发明申请
    WEARABLE ACTION-ASSIST DEVICE AND CONTROL PROGRAM 审中-公开
    易于操作的辅助设备和控制程序

    公开(公告)号：US20110004322A1

    公开(公告)日：2011-01-06

    申请号：US12881796

    申请日：2010-09-14

    Applicant: Yoshiyuki SANKAI

    Inventor： Yoshiyuki SANKAI

    IPC: A61F2/70

    CPC classification number: A61H3/00 ,  A61B5/04001 ,  A61H1/0255 ,  A61H3/008 ,  A61H2201/0176 ,  A61H2201/018 ,  A61H2201/1614 ,  A61H2201/1628 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2230/60 ,  A61H2230/605 ,  A63B23/04 ,  A63B24/0087 ,  B25J9/0006

    Abstract: A wearable action-assist device includes a biosignal detection unit detecting a biosignal from a wearer, an action-assist wearing tool having a drive source supplying a torque acting on the wearer around each joint of the wearer as an axis of rotation, a control unit controlling the drive source to generate the torque according to the detected biosignal, a drive torque estimation unit estimating a drive torque generated by the drive source, a joint-angle detecting unit detecting an angular displacement of the joint, and a parameter identification unit identifying kinetics parameters concerned by substituting the estimated drive torque and the detected angular displacement into an equation of motion of an entire system including kinetics parameters intrinsic to the wearer. The control unit is configured to control the drive source according to a predetermined control method based on the equation of motion into which the identified parameters are substituted.

    Abstract translation: 一种可佩戴动作辅助装置，包括：检测来自佩戴者的生物信号的生物信号检测单元;动作辅助佩戴工具，具有驱动源，所述驱动源提供围绕穿戴者的每个关节周围的佩戴者作为旋转轴线的力矩;控制单元 控制驱动源以根据检测到的生物信号产生转矩;驱动转矩估计单元，估计由驱动源产生的驱动转矩;联合角检测单元，检测接头的角位移;以及参数识别单元，用于识别动力学 通过将估计的驱动转矩和检测到的角位移代入整个系统的运动方程（包括穿着者固有的动力学参数）来执行相关参数。 控制单元被配置为根据预定的控制方法来控制驱动源，所述控制方法基于所识别的参数被替换的运动方程。

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