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    Rehabilitation device
    1.
    发明授权
    Rehabilitation device 有权
    康复装置

    公开(公告)号：US08532841B2

    公开(公告)日：2013-09-10

    申请号：US13711556

    申请日：2012-12-11

    Applicant: National Taiwan University

    Inventor： Li-Chen Fu ,  Hung-Yu Lin ,  Christopher Young ,  Jia-Yuan Yu

    IPC: A61H3/04

    CPC classification number: A61H3/04 ,  A61H2003/043 ,  A61H2201/0173 ,  A61H2201/5007 ,  A61H2201/5035 ,  A61H2201/5058 ,  A61H2201/5071 ,  G01S15/93 ,  G01S17/93

    Abstract: A rehabilitation device includes a moving body, a motor, a control system and a sensor module. The moving body has a housing and a moving mechanism. The motor, disposed in the housing, connects to the moving mechanism and drives the moving mechanism. The control system is disposed in the housing and coupled to the motor. The sensor module is disposed on the moving body and coupled to the control module. The control system controls the operation of the motor to move the moving body according to information detected by the sensor module.

    Abstract translation: 康复装置包括移动体，马达，控制系统和传感器模块。 移动体具有壳体和移动机构。 设置在壳体中的电动机连接到移动机构并驱动移动机构。 控制系统设置在壳体中并联接到电动机。 传感器模块设置在移动体上并与控制模块相连。 控制系统根据传感器模块检测到的信息，控制电动机的运转。

    REHABILITATION DEVICE
    2.
    发明申请
    REHABILITATION DEVICE 有权
    康复设备

    公开(公告)号：US20130103226A1

    公开(公告)日：2013-04-25

    申请号：US13711556

    申请日：2012-12-11

    Applicant: NATIONAL TAIWAN UNIVERSITY

    Inventor： Li-Chen Fu ,  Hung-Yu Lin ,  Christopher Young ,  Jia-Yuan Y Yu

    IPC: A61H3/04

    CPC classification number: A61H3/04 ,  A61H2003/043 ,  A61H2201/0173 ,  A61H2201/5007 ,  A61H2201/5035 ,  A61H2201/5058 ,  A61H2201/5071 ,  G01S15/93 ,  G01S17/93

    Abstract: A rehabilitation device includes a moving body, a motor, a control system and a sensor module. The moving body has a housing and a moving mechanism. The motor, disposed in the housing, connects to the moving mechanism and drives the moving mechanism. The control system is disposed in the housing and coupled to the motor.The sensor module is disposed on the moving body and coupled to the control module. The control system controls the operation of the motor to move the moving body according to information detected by the sensor module.

    Abstract translation: 康复装置包括移动体，马达，控制系统和传感器模块。 移动体具有壳体和移动机构。 设置在壳体中的电动机连接到移动机构并驱动移动机构。 控制系统设置在壳体中并联接到电动机。 传感器模块设置在移动体上并与控制模块相连。 控制系统根据传感器模块检测到的信息，控制电动机的运转。

    Rehabilitation and training apparatus and method of controlling the same
    4.
    发明授权
    Rehabilitation and training apparatus and method of controlling the same 有权
    康复训练器具及其控制方法

    公开(公告)号：US09358173B2

    公开(公告)日：2016-06-07

    申请号：US13667028

    申请日：2012-11-02

    Applicant: NATIONAL TAIWAN UNIVERSITY

    Inventor： Li-Chen Fu ,  Wei-Wen Wang ,  Cheng-Chang Ho ,  Yen-Yu Chou

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

    CPC classification number: A61H1/0274 ,  A61H1/00 ,  A61H1/02 ,  A61H1/0277 ,  A61H1/0281 ,  A61H1/0285 ,  A61H2201/1635 ,  A61H2201/5007 ,  A61H2201/5035 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2203/0431 ,  A61H2205/06 ,  B25J9/0006

    Abstract: A rehabilitation and training apparatus is built based on the empirical law by introducing physical therapists' experiences into the apparatus to simulate therapy with hands in the course of rehabilitation. The apparatus includes a multi-axis robotic arm having first to eighth arm segments, and a high-precision control system for controlling movements of the multi-axis robotic arm. The control system provides an active, a passive and an auxiliary mode; receives and computes information about a patient's movements and muscle force detected by potentiometers and force sensors provided in the multi-axis robotic arm; and accordingly, drives actuators to apply an aiding force or a resisting force to assist the patient in completing rehabilitation exercises. The apparatus also includes a humanized operating interface, via which a doctor or a physical therapist may obtain related rehabilitation data for assessment and adjustment of rehabilitation therapeutic courses. A method of controlling the apparatus is introduced.

    Abstract translation: 根据实证法建立康复训练器具，在康复过程中引进物理治疗师的经验，用手模拟手术。 该装置包括具有第一至第八臂段的多轴机器人手臂和用于控制多轴机器臂的运动的高精度控制系统。 控制系统提供主动，被动和辅助模式; 接收和计算关于由多轴机器人手臂中提供的电位器和力传感器检测到的患者运动和肌力的信息; 因此，驱动致动器施加辅助力或抵抗力以帮助患者完成康复训练。 该装置还包括一个人性化的操作界面，医生或物理治疗师可以通过该界面获得相关康复数据，以便进行康复治疗课程的评估和调整。 介绍了一种控制装置的方法。

    Human image tracking system, and human image detection and human image tracking methods thereof
    5.
    发明授权
    Human image tracking system, and human image detection and human image tracking methods thereof 有权
    人类图像跟踪系统，人类图像检测和人类图像跟踪方法

    公开(公告)号：US09317765B2

    公开(公告)日：2016-04-19

    申请号：US14146432

    申请日：2014-01-02

    Applicant: NATIONAL TAIWAN UNIVERSITY

    Inventor： Li-Chen Fu ,  Ting-En Tseng ,  An-Sheng Liu ,  Po-Hao Hsiao

    IPC: G06K9/00 ,  G06K9/32

    CPC classification number: G06K9/3241 ,  G06K9/00362

    Abstract: A human image detection and tracking systems and methods are disclosed. A human image detection method comprises receiving a depth image data from a depth image sensor by an image processing unit, removing a background image of the depth image sensor and outputting a foreground image by the image processing unit, receiving the foreground image and operating a graph-based segment on the foreground image to obtain a plurality of graph blocks by a human image detection unit, determining whether a potential human region exists in the graph blocks, determining whether the potential human region is a potential human head region, determining whether the potential human head region is a real human head region, and regarding the position of the real human head region is the human image position by the human image detection unit if the potential human head region is the real human head region.

    Abstract translation: 公开了人类图像检测和跟踪系统和方法。 人体图像检测方法包括：通过图像处理单元从深度图像传感器接收深度图像数据，去除深度图像传感器的背景图像并由图像处​​理单元输出前景图像，接收前景图像并操作图形 基于人脸图像检测单元获取多个图形块，确定图形块中是否存在潜在的人类区域，确定潜在的人类区域是潜在的人类头部区域，确定潜在的人类头部区域， 人头部区域是真正的人类头部区域，并且如果潜在的人类头部区域是真正的人类头部区域，则关于人类头部区域的位置是人体图像检测单元的人体图像位置。

    Limb rehabilitation and training system
    6.
    发明授权
    Limb rehabilitation and training system 有权

    公开(公告)号：US09744092B2

    公开(公告)日：2017-08-29

    申请号：US14082344

    申请日：2013-11-18

    Applicant: NATIONAL TAIWAN UNIVERSITY

    Inventor： Li-Chen Fu ,  Kai-Wen Lee ,  Yi-Wen Liao ,  Wei-Wen Wang ,  Jin-Shin Lai

    IPC: A61H1/02

    CPC classification number: A61H1/0281 ,  A61H1/0277 ,  A61H2201/1659 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5092 ,  A61H2201/5097

    Abstract: A limb rehabilitation and training system includes a horizontal position adjuster movably mounted at a bottom side of a base, an expansion rotary member mounted at the horizontal position adjuster, a shoulder joint traction mechanism linked to the expansion rotary member through a first arm segment robotic arm and a height adjuster, and an upper-limb rehabilitation device linked to the shoulder joint traction mechanism. The upper-limb rehabilitation device is able to rapidly be adjusted to fit the left arm or right arm through the horizontal position adjuster, the expansion rotary member, the first arm segment robotic arm and a shoulder positioning-lifting rotary member and. Further, by means of the shoulder joint traction mechanism, the user's stiffened shoulder joint can be timely moved for a separation distance, achieving the function of loosening the joint and facilitating performance of successive rehabilitation treatment or training.

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