WO1995032842A3 - Sensory feedback exoskeleton armmaster - Google Patents

Sensory feedback exoskeleton armmaster Download PDF

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Publication number
WO1995032842A3
WO1995032842A3 PCT/US1995/006376 US9506376W WO9532842A3 WO 1995032842 A3 WO1995032842 A3 WO 1995032842A3 US 9506376 W US9506376 W US 9506376W WO 9532842 A3 WO9532842 A3 WO 9532842A3
Authority
WO
WIPO (PCT)
Prior art keywords
sensory feedback
armmaster
exoskeleton
limb
feedback exoskeleton
Prior art date
Application number
PCT/US1995/006376
Other languages
French (fr)
Other versions
WO1995032842A2 (en
Inventor
Bin An
Thomas H Massie
Vladimir Vayner
Original Assignee
Exos Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Exos Inc filed Critical Exos Inc
Priority to AU25982/95A priority Critical patent/AU2598295A/en
Publication of WO1995032842A2 publication Critical patent/WO1995032842A2/en
Publication of WO1995032842A3 publication Critical patent/WO1995032842A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/20—Casings or enclosures characterised by the shape, form or construction thereof with channels or ducts for flow of cooling medium
    • H02K5/203—Casings or enclosures characterised by the shape, form or construction thereof with channels or ducts for flow of cooling medium specially adapted for liquids, e.g. cooling jackets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0054—Cooling means

Abstract

An exoskeleton sensory feedback apparatus that senses position and force information from a user and applies forces and torques to a limb. The apparatus has the same number of degrees of freedom (DOF 11, 117, 121, 131, 141) as the limb to which it is attached. This is achieved through the use of remote center mechanisms, compliant mechanical design elements and portable self contained electrical motor cooling systems (200, 201, 202a, 202c).
PCT/US1995/006376 1994-05-19 1995-05-19 Sensory feedback exoskeleton armmaster WO1995032842A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU25982/95A AU2598295A (en) 1994-05-19 1995-05-19 Sensory feedback exoskeleton armmaster

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US24587394A 1994-05-19 1994-05-19
US08/245,873 1994-05-19

Publications (2)

Publication Number Publication Date
WO1995032842A2 WO1995032842A2 (en) 1995-12-07
WO1995032842A3 true WO1995032842A3 (en) 1996-01-11

Family

ID=22928445

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1995/006376 WO1995032842A2 (en) 1994-05-19 1995-05-19 Sensory feedback exoskeleton armmaster

Country Status (2)

Country Link
AU (1) AU2598295A (en)
WO (1) WO1995032842A2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104552316A (en) * 2013-10-21 2015-04-29 苏茂 Human hand front arm radio-ulnar joint movement detection device

Families Citing this family (33)

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Publication number Priority date Publication date Assignee Title
FR2839916B1 (en) 2002-05-22 2004-10-15 Agence Spatiale Europeenne EXOSQUELET FOR HUMAN ARMS, ESPECIALLY FOR SPATIAL APPLICATIONS
AU2002359961A1 (en) * 2002-12-31 2004-07-22 Massimo Bergamasco Tendon-driven rotational joint for exoskeleton structure
EP1581368A1 (en) * 2002-12-31 2005-10-05 Fabio Salsedo Ekoskeleton interface apparatus
EP1609451A4 (en) * 2003-03-28 2010-02-10 Univ Tokyo Science Wear-type joint drive device
FR2861983B1 (en) * 2003-11-07 2006-02-17 Patrick Sadok EXOSKELET SYSTEM FOR BIOLOGICAL SEGMENT WITH PROPORTIONAL MOTION AND EXOSQUELETTIC ASSEMBLY OF SUCH SYSTEMS
JP2008521454A (en) * 2004-11-30 2008-06-26 アイトゲネッシーシェ テヒニッシェ ホッホシューレ チューリッヒ System and method for cooperative arm treatment and corresponding rotation module
FR2917323B1 (en) * 2007-06-12 2009-10-02 Commissariat Energie Atomique FRONT ROTATION MECHANISM AND ORTHESIS COMPRISING SUCH A MECHANISM
EP2052709A1 (en) * 2007-10-24 2009-04-29 ETH Zurich System for arm therapy
FR2949669B1 (en) 2009-09-09 2011-11-18 Commissariat Energie Atomique SHOULDER MECHANISM FOR ORTHESIS
IT1401979B1 (en) * 2010-09-28 2013-08-28 C N R Consiglio Naz Ricerche BIOMEDICAL DEVICE FOR ROBOTIZED REHABILITATION OF THE HUMAN UPPER BODY, PARTICULARLY FOR THE NEUROMOTORY REHABILITATION OF THE ARTICULATION OF THE SHOULDER AND OF THE ELBOW.
JP5883256B2 (en) * 2011-09-13 2016-03-09 川崎重工業株式会社 Wearable motion support device
EP2723536B1 (en) 2011-06-21 2018-02-21 Sabanci University Exoskeleton
CN103831832B (en) * 2012-11-26 2016-04-06 苏茂 Bilateral force feedback is from hand arm control device
CN104552225A (en) * 2013-10-18 2015-04-29 苏茂 Human hand upper arm movement detection platform
CN104552313A (en) * 2013-10-18 2015-04-29 苏茂 Human hand upper arm rotating movement detection device
CN104552310A (en) * 2013-10-21 2015-04-29 苏茂 Detachable and inflatable platform attached to human forearm
CN103622793B (en) * 2013-11-28 2015-03-18 上海交通大学 Self-service two-side synchronous external skeleton rehabilitation facility
JP6358427B2 (en) 2014-06-13 2018-07-18 国立大学法人 筑波大学 Wearable motion assist device
JP6208102B2 (en) * 2014-09-04 2017-10-04 富士ソフト株式会社 Humanoid robot
ITUB20160136A1 (en) * 2016-01-18 2017-07-18 Calabrian High Tech Srl Self-balanced parallel serial hybrid robotic system with six degrees of freedom for rehabilitation of the upper and lower limbs, right and left
WO2016113715A2 (en) * 2015-01-18 2016-07-21 Calabrian High Tech Srl Six degrees of freedom self balanced hybrid serial-parallel robotic system for rehabilitation of upper and lower limbs, left and right
WO2016129716A1 (en) * 2015-02-11 2016-08-18 한국기술교육대학교 산학협력단 Upper-limb exercising device of a type worn on the body
ITPI20150027A1 (en) * 2015-04-11 2016-10-11 Azienda Ospedaliera Pisana HIGH ERGONOMIC EXOSKELETAL SYSTEM FOR THE UPPER LIMB
US10569413B2 (en) 2015-12-22 2020-02-25 Ekso Bionics, Inc. Exoskeleton and method of providing an assistive torque to an arm of a wearer
US10058994B2 (en) 2015-12-22 2018-08-28 Ekso Bionics, Inc. Exoskeleton and method of providing an assistive torque to an arm of a wearer
CN110678156B (en) 2017-04-25 2022-07-29 奥索冰岛有限公司 Coupling system for an exoskeleton
CN107198639B (en) * 2017-05-12 2019-05-03 北京工业大学 A kind of master for upper limb healing exoskeleton mechanism is fused joint
CN109475462A (en) * 2017-05-25 2019-03-15 美国仿生公司 Adjustable trunk and hip sub-assembly for ectoskeleton equipment
CN111148606B (en) 2017-09-28 2023-04-07 奥索冰岛有限公司 Body engaging device
USD876654S1 (en) 2018-04-24 2020-02-25 Ossur Iceland Ehf Posterior strut
NL2023503B1 (en) 2019-07-15 2021-02-08 Yumen Bionics B V Exoskeleton for supporting a user's arm
JP2021146479A (en) * 2020-03-23 2021-09-27 川崎重工業株式会社 Cooling medium flow path body, cooling device, robot, and method for attaching cooling device to robot
CN116276899B (en) * 2023-01-31 2023-08-29 哈尔滨商业大学 Robot joint device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2407597A1 (en) * 1977-10-26 1979-05-25 Cem Comp Electro Mec Enclosed electric motor cooling system - has fan circulating internal cooling air and has external water jacket cooling internal air
US4661032A (en) * 1984-12-20 1987-04-28 Agency Of Industrial Science & Technology, Ministry Of International Trade & Industry Bilateral master-slave manipulator control device
EP0364947A2 (en) * 1988-10-19 1990-04-25 Hitachi, Ltd. Master slave manipulator system
US5038089A (en) * 1988-03-23 1991-08-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Synchronized computational architecture for generalized bilateral control of robot arms

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2407597A1 (en) * 1977-10-26 1979-05-25 Cem Comp Electro Mec Enclosed electric motor cooling system - has fan circulating internal cooling air and has external water jacket cooling internal air
US4661032A (en) * 1984-12-20 1987-04-28 Agency Of Industrial Science & Technology, Ministry Of International Trade & Industry Bilateral master-slave manipulator control device
US5038089A (en) * 1988-03-23 1991-08-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Synchronized computational architecture for generalized bilateral control of robot arms
EP0364947A2 (en) * 1988-10-19 1990-04-25 Hitachi, Ltd. Master slave manipulator system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104552316A (en) * 2013-10-21 2015-04-29 苏茂 Human hand front arm radio-ulnar joint movement detection device

Also Published As

Publication number Publication date
WO1995032842A2 (en) 1995-12-07
AU2598295A (en) 1995-12-21

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