DE102005059342A1 - Mechanism, device and method for generating physiologically relevant force signals for stimulation of the lower extremities - Google Patents

Mechanism, device and method for generating physiologically relevant force signals for stimulation of the lower extremities Download PDF

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Publication number
DE102005059342A1
DE102005059342A1 DE102005059342A DE102005059342A DE102005059342A1 DE 102005059342 A1 DE102005059342 A1 DE 102005059342A1 DE 102005059342 A DE102005059342 A DE 102005059342A DE 102005059342 A DE102005059342 A DE 102005059342A DE 102005059342 A1 DE102005059342 A1 DE 102005059342A1
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Prior art keywords
attachment points
option
orthosis
drive
lower leg
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DE102005059342A
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German (de)
Inventor
Eberhard P. Prof. Dr. Hofer
Michael Vosseler
Rüdiger RUPP
Markus Knestel
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Priority to DE102005059342A priority Critical patent/DE102005059342A1/en
Priority to PCT/EP2006/011850 priority patent/WO2007065706A1/en
Priority to AT06829446T priority patent/ATE458463T1/en
Priority to DE502006006282T priority patent/DE502006006282D1/en
Priority to EP06829446A priority patent/EP1959909B1/en
Publication of DE102005059342A1 publication Critical patent/DE102005059342A1/en
Withdrawn legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0107—Constructive details modular
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1238—Driving means with hydraulic or pneumatic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/12—Feet

Abstract

The invention relates to a device for moving limbs, particularly human extremities. Said device comprises at least one receiving unit (51) that is provided with a hollow space with an opening (52) and a bottom area (53) on which a plurality of actuators (54) are disposed, a regulation and control unit (55), by means of which the individual actuators (54) can be triggered such that cyclical movement patterns are generated, and at least one orthosis unit (56) that encompasses at least one support element (57) and at least one power element (58). The orthosis unit (56) and the receiving unit (51) are connected to each other via at least one joint (59).

Description

Die Verbesserung geschädigter alltagsmotorischer Fähigkeiten und Fertigkeiten gilt als primäre Zielstellung in der Rehabilitation von Patienten mit neurogenen Störungen wie spinalen Läsionen oder Schlaganfall. Der Wiederherstellung der Gehfähigkeit kommt dabei eine zentrale Bedeutung zu, der hohe Stellenwert dieser Fähigkeit ist offenkundig. Aber auch bei anderen Patientengruppen wie z.B. orthopädische oder geriatrische Patienten, die eine längere Immobilisationsphase hinter sich haben, besitzt eine frühzeitige, intensive Mobilisation eine zentrale therapeutische wie funktionelle Bedeutung. Momentan sind hauptsächlich physiotherapeutische Maßnahmen für den Rehabilitationserfolg bedeutsam.The Improvement of damaged everyday motor skills and skills is considered the primary objective in the rehabilitation of patients with neurogenic disorders such as spinal lesions or stroke. Restoring the ability to walk is of central importance, the high priority of this ability is obvious. But also in other patient groups such. orthopedic or geriatric patients who have a longer immobilization period have an early, intense mobilization a central therapeutic as well as functional importance. Currently are mainly Physiotherapeutic measures for the Rehabilitation success significant.

Am umfangreichsten untersucht ist das Lokomotionstraining unter Einsatz eines Laufbandes bei inkomplett Querschnittgelähmten [1, 2] und Schlaganfallpatienten [3]. Da initial zumeist erhebliche Probleme bestehen, Schreitbewegungen willkürlich zu initiieren, werden diese entweder durch einen Gangroboter, ein aktives Stehbrett oder manuell unterstützt. Aus Gründen der Therapeutenbelastung, des nicht reproduzierbaren Gangmusters und der Zeitbeschränkung ist die automatisierte Lokomotionstherapie zu bevorzugen.At the Extensively examined is the locomotion training under employment of a treadmill in incomplete paraplegics [1, 2] and stroke patients [3]. Since initially there are mostly significant problems, walking movements arbitrarily These are initiated either by a walking robot, a active standing board or manually supported. For reasons of the therapist load, the non-reproducible gait pattern and time constraint to prefer the automated locomotion therapy.

Obwohl sich die Lokomotionstherapie inzwischen zum Standard in der Rehabilitation von neurologischen Patienten entwickelt hat. sind die nervalen und biochemischen Funktionsmechanismen immer noch unzureichend geklärt. Weitgehend wird angenommen, dass es zu einer Reorganisation nervaler Prozesse kommt [2]. Insbesondere wird über die Reaktivierung eines spinalen Mustergenerators (Central Pattern Generator CPG) spekuliert [4]. Auf der Basis umfangreicher tierexperimenteller Ergebnisse können die groben Funktionsmechanismen dieses neuronalen Netzwerks, welches fundamental mit der Generation zyklischer Bewegungsabläufe verbunden ist, beschrieben werden. Während der CPG im physiologischen Zustand einen Input vom Gehirn erhält und einen rhythmischen Output erzeugt, kann eine Reaktivierung im pathologischen Zustand durch eine wiederholte und intensive sensorische Reizgebung erfolgen. Es hat sich gezeigt, dass eine physiologische, schrittphasenbezogene Belastung der unteren Extremitäten eine entscheidende Einflussgröße für die Aktivierung des CPGs ist [5].Even though locomotion therapy has become the standard in rehabilitation developed by neurological patients. are the nervous and biochemical functional mechanisms are still insufficiently clarified. Largely It is believed that it leads to a reorganization of nervous processes comes [2]. In particular, over the reactivation of a spinal pattern generator (Central Pattern Generator CPG) speculates [4]. On the basis of extensive animal experiments Results can the gross functional mechanisms of this neural network, which is fundamentally linked to the generation of cyclic movements, to be discribed. While the CPG receives input from the brain in the physiological state and one generated rhythmic output, can be a reactivation in the pathological Condition done by a repeated and intense sensory stimulation. It has been shown that a physiological, step-phase-related Load on the lower extremities a decisive factor for activation of the CPG is [5].

Abhängig von den Fähigkeiten und Leistungen des Patienten werden seine Gliedmassen entweder nur passiv oder aktiv bzw. assistiv durchbewegt. Dabei beruhen diese Geräte auf einem rotatorischen Antrieb, der computergesteuert verschiedene Bewegungstrajektorien, z. B. zur Lockerung der Muskulatur oder zur Verringerung spastischer Reaktionen, ausführen kann. Zur Erzeugung unabhängiger Bewegungen in mehreren Gelenken kommen elektrische und/oder pneumatische Antriebe in Frage [6].Depending on the skills and achievements of the patient are his limbs either only passively or actively or assistively moved. These are based equipment on a rotary drive, the computer-controlled different movement trajectories, z. As for relaxation of the muscles or to reduce spastic Reactions, perform can. For generating independent movements in several joints come electrical and / or pneumatic drives in question [6].

Damit der Hometrainer physiologische Bewegungen durchführen kann, wird eine modellbasierte Trajektoriengenerierung und -regelung implementiert. Dazu wird die Kenntnis eines ausreichend genauen Modells der elektrischen Antriebe sowie der pneumatischen Muskeln verwendet.

  • [1] Dietz V.. Colombo G.. Jensen L.. Baumgartner : Locomotor capacity of spinal cord in paraplegic patients. Ann Neurol 37. 574–82. 1995
  • [2] Edgerton V.R.. De Leon R.D.. Harkema S.J., Hodgson J.A.. London N.. Reinkensmeyer D.J., Roy R.R., Talmadge R.J.. Tillakarante N.J.. Timoszyk W.. Tobin A.: Topical review: Retraining the injured spinal cord. J Physiol 533 (I). 15–22. 2001
  • [3] Hesse S. Werner C.: Partial body weight supported treadmill training for gait recovery following stroke. Adv Neurol. 3:92:423–8. 2003
  • [4] Duysens J.. Van de Crommert H. W.: Neural control of locomotion: Part 1 : The central pattern generator from cats to humans. Gait & Posture 7. 131–141, 1998
  • [5] Dietz V.. Müller R.. Colombo G.: Locomotor activity in spinal man: significance of afferent input from joint and load receptors. Brain 125. 2626–34. 2002
  • [6] Ferris DP. Czerniecki JM and Hannaford B (2005) An ankle-foot orthosis powered by artificial pneumatic muscles. Journal of Applied Biomechanics. 21:189–97.
So that the home trainer can perform physiological movements, a model-based trajectory generation and control is implemented. For this purpose, the knowledge of a sufficiently accurate model of the electric drives and the pneumatic muscles is used.
  • Dietz V. Colombo G. Jensen L. Baumgartner: Locomotor capacity of spinal cord in paraplegic patients. Ann Neurol 37. 574-82. 1995
  • [2] Edgerton VR. De Leon RD. Harkema SJ, Hodgson YES. London N. .. Reinkensmeyer DJ, Roy RR, Talmadge RJ. Tillakarante NJ. Timoszyk W. Tobin A .: Topical review: Retraining the injured spinal cord. J Physiol 533 (I). 15-22. 2001
  • [3] Hesse S. Werner C: Partial body weight supported treadmill training for recovery following stroke. Adv Neurol. 3: 92: 423-8. 2003
  • [4] Duysens J .. Van de Crommert HW: Neural control of locomotion: Part 1: The central pattern generator from cats to humans. Gait & Posture 7, 131-141, 1998
  • [5] Dietz V .. Mueller R .. Colombo G .: Locomotor activity in spinal man: significance of afferent input from joint and load receptors. Brain 125. 2626-34. 2002
  • [6] Ferris DP. Czerniecki JM and Hannaford B (2005) Ankle-foot orthosis powered by artificial pneumatic muscles. Journal of Applied Biomechanics. 21: 189-97.

2: Basiseinheit

01
Oberschenkelorthese
02
(el., pneumat.) Antrieb (mit Rechner verbunden) zur Rotation der Unterschenkelorthese
03
opt. (el., pneumat.) Antrieb (mit Rechner verbunden) zur Rotation der Unterschenkelorthese
04
Befestigungspunkte) Antrieb Unterschenkelorthese
05
optionale/r Befestigungspunkte) Antrieb Unterschenkelorthese
06
Befestigungspunkte) Ausleger 7 an Oberschenkelorthese
07
Ausleger Oberschenkelorthese
08
optionaler Antriebsriemen oder -stange
09
Antriebsriemen oder -stange
10
Drehgeber (mit Rechner verbunden)
11
Lager mit rotatorischem Freiheitsgrad
12
Ausleger Unterschenkelorthese
13
Unterschenkelorthese
14
Befestigungspunkte) Ausleger Unterschenkelorthese
20
Befestigungspunkte) Antrieb Fußplatte
21
(el., pneumat.) Antrieb (mit Rechner verbunden) Fußplatte
22
Befestigungspunkte) Führung Fußplatte
23
Führung Fußplatte
24
Kraftsensor (mit Rechner verbunden)
25
optionaler Kraftsensor (mit Rechner verbunden)
26
Fußplatte
27
einwertiges Lager
2 : Base unit
01
Oberschenkelorthese
02
(el., pneumat.) Drive (connected to computer) for rotation of the lower leg orthosis
03
opt. (el., pneumat.) Drive (connected to computer) for rotation of the lower leg orthosis
04
Attachment points) drive lower leg orthosis
05
optional attachment points) Drive Lower leg orthosis
06
Attachment points) boom 7 at thigh orthosis
07
Outrigger thigh orthosis
08
optional drive belt or rod
09
Drive belt or rod
10
Encoder (connected to computer)
11
Bearing with rotary degree of freedom
12
Outrigger lower leg orthosis
13
orthosis
14
Attachment points) boom lower leg orthosis
20
Fixing points) drive base plate
21
(el., pneumat.) Drive (connected to computer) Foot plate
22
Fixing points) guide base plate
23
Guide foot plate
24
Force sensor (connected to computer)
25
optional force sensor (connected to computer)
26
footplate
27
monovalent stock

3: Option Fußplatte

30
Befestigungspunkt(e) Antrieb Reizoption
31
Befestigungspunkt(e) Antrieb Reizoption
32
(el., pneumat.) Antrieb (mit Rechner verbunden) Reizoption
33
(el., pneumat.) Antrieb (mit Rechner verbunden) Reizoption
34
Antriebsriemen oder -stange
35
Drehgeber (mit Rechner verbunden)
36
Lager mit rotatorischem Freiheitsgrad
37
Noppenrollenaufhängung
38
Querbalken fest mit Fußsreizoption verbunden
39
Kraftsensor (mit Rechner Verbunden)
40
Feder
41
optionaler Kraftsensor (mit Rechner verbunden)
42
Noppenrolle
43
(el., pneumat.) Antrieb (mit Rechner verbunden) Noppenrolle
44
einwertiges Lager
3 : Option foot plate
30
Attachment point (s) Drive Stimulus option
31
Attachment point (s) Drive Stimulus option
32
(el., pneumatic.) Drive (connected to computer) Stimulus option
33
(el., pneumatic.) Drive (connected to computer) Stimulus option
34
Drive belt or rod
35
Encoder (connected to computer)
36
Bearing with rotary degree of freedom
37
Nub roller suspension
38
Crossbar firmly connected with foot stimulation option
39
Force sensor (connected to computer)
40
feather
41
optional force sensor (connected to computer)
42
knobs role
43
(el., pneumat.) Drive (connected to computer) Noppenrolle
44
monovalent stock

4: Option Noppenrolle 4 : Option knob roller

Claims (6)

Anspruch 1: Mechanismus, Vorrichtung und Verfahren zur Erzeugung von physiologisch relevanten Kraftsignalen für die Stimulation der unteren Extremitäten charakterisiert durch therapeutische Funktion, Patientensicherheit, komfortable Handhabung und modularen Aufbau gekennzeichnet durch die Gerätekomponenten (1) Basiseinheit, Option Fußplatte. Option Noppenrolle, Rechner und Energieversorgung.Claim 1: Mechanism, device and method for generating physiologically relevant force signals for the stimulation of the lower extremities characterized by therapeutic function, patient safety, comfortable handling and modular structure characterized by the device components ( 1 ) Base unit, base plate option. Option knobbly roll, calculator and power supply. Anspruch 2: Basiseinheit (2) nach Anspruch 1 gekennzeichnet durch Oberschenkelorthese (1), Antriebe (2, 3) an den Befestigungspunkten(4, 5) sowie den Befestigungspunkten (6) für den Ausleger (7) über Antriebsriemen bzw. -stangen (8, 9) und Drehgeber (10) mit Lager (11) zum Ausleger (12) für die Unterschenkelorthese (13) zu den Befestigungspunkten (14) der Unterschenkelorthese (13).Claim 2: basic unit ( 2 ) according to claim 1 characterized by thigh orthosis ( 1 ), Drives ( 2 . 3 ) at the attachment points ( 4 . 5 ) and the attachment points ( 6 ) for the boom ( 7 ) via drive belts or rods ( 8th . 9 ) and rotary encoders ( 10 ) with bearings ( 11 ) to the boom ( 12 ) for the lower leg orthosis ( 13 ) to the attachment points ( 14 ) of the lower leg orthosis ( 13 ). Anspruch 3: Vorrichtung nach Anspruch 1 und Anspruch 2 mit der Option Fußplatte (3) gekennzeichnet durch die mittels elektrischem bzw. pneumatischem Antrieb (21) über eine an der Unterschenkelorthese (13) in den Befestigungspunkten (20, 22) befestigte beweglich gelagerte (23, 27) Fußplatte (26) vorgenommene Erzeugung eines mechanischen Druck- oder Vibrationsreizes der unteren Extremitäten erfasst durch Kraftsensoren (24, 25).Claim 3: Device according to claim 1 and claim 2 with the option foot plate ( 3 ) characterized by the means of electric or pneumatic drive ( 21 ) via one on the lower leg orthosis ( 13 ) in the attachment points ( 20 . 22 ) fixed movably mounted ( 23 . 27 ) Foot plate ( 26 ) produced by a mechanical pressure or vibration stimulus of the lower extremities detected by force sensors ( 24 . 25 ). Anspruch 4: Vorrichtung nach Anspruch 1 und Anspruch 2 mit der Option Noppenrolle (4), gekennzeichnet durch die mittels elektrischen bzw. pneumatischen Antrieben (32, 33) mit Antriebsriemen bzw. -stange (34) über eine an der Unterschenkelorthese (13) in den Befestigungspunkten (30, 31) befestigte rotatorisch gelagerte (35), mit Drehgeber (36) überwachte, Noppenrollenaufhängung (37) bestehend aus gelagerter (44) Noppenrolle (42) mit am Querbalken (38) befestigtem Antrieb (43) und Feder (40) sowie den Kraftsensoren (39, 41), vorgenommene Erzeugung eines mechanischen Reizes zur pyhsiologischen Druckbelastung der unteren Extremitäten.Claim 4: Device according to claim 1 and claim 2 with the option Noppenrolle ( 4 ), characterized by the means of electrical or pneumatic drives ( 32 . 33 ) with drive belt or rod ( 34 ) via one on the lower leg orthosis ( 13 ) in the attachment points ( 30 . 31 ) fixed rotationally mounted ( 35 ), with rotary encoder ( 36 ) monitored, knobbed roller suspension ( 37 ) consisting of stored ( 44 ) Knob roll ( 42 ) with the crossbeam ( 38 ) fixed drive ( 43 ) and spring ( 40 ) as well as the force sensors ( 39 . 41 ), produced a mechanical stimulus for pyhsiologischen pressure load of the lower extremities. Anspruch 5: Vorrichtung nach den Ansprüchen 1 bis 4, gekennzeichnet durch Implementierung von Steuerungen, Regelungen und Trajektoriengenerierung zur Erzeugung physiologisch, reproduzierbarer Bewegungstrajektorien und Überwachung der Patientensicherheit mit einem Rechner (1) mit angeschlossenem Benutzerinterface. Claim 5: Device according to claims 1 to 4, characterized by implementation of controls, regulations and trajectory generation for the generation of physiological, reproducible movement trajectories and monitoring of patient safety with a computer ( 1 ) with connected user interface. Anspruch 6: Vorrichtung nach den Ansprüchen 1 bis 5, gekennzeichnet durch die platzsparende Bereitstellung und Verteilung der Energieversorgung (1) für die elektrischen und/oder pneumatischen Antriebe gemäß den vom Rechner erzeugten Signalen.Claim 6: Device according to claims 1 to 5, characterized by the space-saving provision and distribution of the power supply ( 1 ) for the electrical and / or pneumatic drives according to the computer generated Signa len.
DE102005059342A 2005-12-09 2005-12-09 Mechanism, device and method for generating physiologically relevant force signals for stimulation of the lower extremities Withdrawn DE102005059342A1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
DE102005059342A DE102005059342A1 (en) 2005-12-09 2005-12-09 Mechanism, device and method for generating physiologically relevant force signals for stimulation of the lower extremities
PCT/EP2006/011850 WO2007065706A1 (en) 2005-12-09 2006-12-08 Device for moving limbs
AT06829446T ATE458463T1 (en) 2005-12-09 2006-12-08 DEVICE FOR MOVEMENT OF LIMBS
DE502006006282T DE502006006282D1 (en) 2005-12-09 2006-12-08 Device for moving limbs
EP06829446A EP1959909B1 (en) 2005-12-09 2006-12-08 Device for moving limbs

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DE502006006282T Active DE502006006282D1 (en) 2005-12-09 2006-12-08 Device for moving limbs

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DE102008012996A1 (en) * 2008-03-07 2009-09-17 Pohlig Gmbh Orthese for correction of joint misalignment, has orthese joint enabling movement of shell parts relative to each other in desired joint position, and shell parts connected with moving device that moves shell parts relative to each other
WO2009135619A1 (en) * 2008-05-05 2009-11-12 Medireha GmbH Produkte für die medizinische Rehabilitation Leg movement rail for the repetitive movement of the knee and hip joint with assistance function for active use
DE102011111974A1 (en) 2011-08-31 2013-02-28 Paul Hettmer Medical apparatus for optimized mobilization and rehabilitation measurement of intensive care unit patient, has backrest whose structural arrangement of rotation points as constant and angle of inclination as variable are determined
DE102015001846A1 (en) 2015-02-17 2016-08-18 Reha & Medi Hoffmann Gmbh Ambulance with vibration unit

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DE502006006282D1 (en) 2010-04-08

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