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1. WO2021057191 - LIMB REHABILITATION EXOSKELETON AND LIMB REHABILITATION SYSTEM

Publication Number WO/2021/057191
Publication Date 01.04.2021
International Application No. PCT/CN2020/101285
International Filing Date 10.07.2020
IPC
A61H 1/02 2006.01
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
HPHYSICAL 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
1Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones 
02Stretching or bending apparatus for exercising
B25J 9/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
CPC
A61H 1/0237
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
HPHYSICAL 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
1Apparatus for passive exercising
02Stretching or bending ; or torsioning; apparatus for exercising
0237for the lower limbs
A61H 2201/1207
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
HPHYSICAL 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
2201Characteristics of apparatus not provided for in the preceding codes
12Driving means
1207with electric or magnetic drive
A61H 2201/1642
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
HPHYSICAL 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
2201Characteristics of apparatus not provided for in the preceding codes
16Physical interface with patient
1602kind of interface, e.g. head rest, knee support or lumbar support
164Feet or leg, e.g. pedal
1642Holding means therefor
A61H 2201/1659
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
HPHYSICAL 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
2201Characteristics of apparatus not provided for in the preceding codes
16Physical interface with patient
1657Movement of interface, i.e. force application means
1659Free spatial automatic movement of interface within a working area, e.g. Robot
A61H 2201/50
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
HPHYSICAL 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
2201Characteristics of apparatus not provided for in the preceding codes
50Control means thereof
A61H 2205/10
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
HPHYSICAL 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
2205Devices for specific parts of the body
10Leg
Applicants
  • 深圳市丞辉威世智能科技有限公司 SHENZHEN CHWISHAY SMART TECHNOLOGY CO., LTD. [CN]/[CN]
Inventors
  • 谭高辉 TAN, Gaohui
  • 马舜 MA, Shun
  • 韩小刚 HAN, Xiaogang
  • 徐博源 XU, Boyuan
Agents
  • 广州嘉权专利商标事务所有限公司 JIAQUAN IP LAW
Priority Data
201910916286.025.09.2019CN
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) LIMB REHABILITATION EXOSKELETON AND LIMB REHABILITATION SYSTEM
(FR) EXOSQUELETTE DE RÉÉDUCATION DE MEMBRE ET SYSTÈME DE RÉÉDUCATION DE MEMBRE
(ZH) 肢体康复外骨骼和肢体康复系统
Abstract
(EN)
Disclosed is a limb rehabilitation exoskeleton (10) and a limb rehabilitation system (1) employing the limb rehabilitation exoskeleton (10). The limb rehabilitation exoskeleton (10) comprises a first support rod (110) and a second support rod (120), which are rotatably connected. A first guide wheel assembly (140) is arranged at the end portion of the first support rod (110) far from the second support rod (120), and a second guide wheel assembly (150) is arranged at the end portion of the second support rod (120) far from the first support rod (110). A transmission assembly (130) is connected to the first support rod (110) and the second support rod (120). A power unit (160) is arranged at the end portion of the first support rod (110) far from the second support rod (120), and is connected to the transmission assembly (130). The limb rehabilitation exoskeleton (10), when used to assist limb rehabilitation, can guide the direction of movement and match the movement path of the limb, thus enhancing the effect of rehabilitation. In use, the position of the power unit (160) does not change substantially, and thus the power unit (160) avoids having to perform work to overcome its own weight, thus reducing energy consumption, and avoiding the problems of leg rotation and joint misalignment due to uneven weight distribution, thus further improving the effect of rehabilitation.
(FR)
L'invention concerne un exosquelette de rééducation de membre (10) et un système de rééducation de membre (1) faisant appel à l'exosquelette de rééducation de membre (10). L'exosquelette de rééducation de membre (10) comprend une première tige de support (110) et une seconde tige de support (120), qui sont reliées en rotation. Un premier ensemble de roues de guidage (140) est disposé au niveau de la partie d'extrémité de la première tige de support (110) qui est éloignée de la seconde tige de support (120), et un second ensemble de roues de guidage (150) est disposé au niveau de la partie d'extrémité de la seconde tige de support (120) qui est éloignée de la première tige de support (110). Un ensemble de transmission (130) est relié à la première tige de support (110) et à la seconde tige de support (120). Une unité d'alimentation (160) est disposée au niveau de la partie d'extrémité de la première tige de support (110) qui est éloignée de la seconde tige de support (120), et est reliée à l'ensemble de transmission (130). L'exosquelette de rééducation de membre (10), lorsqu'il est utilisé pour aider à la rééducation du membre, peut guider la direction de mouvement et correspondre au trajet de mouvement du membre, améliorant ainsi l'effet de rééducation. Lors de l'utilisation, la position de l'unité d'alimentation (160) ne change pratiquement pas, et donc l'unité d'alimentation (160) évite d'avoir à effectuer un travail pour surmonter son propre poids, ce qui permet de réduire la consommation d'énergie, et d'éviter les problèmes de rotation de jambe et de désaxation articulaire en raison d'une répartition de poids irrégulière, améliorant ainsi davantage l'effet de rééducation.
(ZH)
一种肢体康复外骨骼(10)和应用肢体康复外骨骼(10)的肢体康复系统(1),肢体康复外骨骼(10)包括转动连接的第一支撑杆(110)和第二支撑杆(120),第一导轮组件(140)设于第一支撑杆(110)背离第二支撑杆(120)的端部,第二导轮组件(150)设于第二支撑杆(120)背离第一支撑杆(110)的端部,传动组件(130)连接第一支撑杆(110)和第二支撑杆(120),动力装置(160)设于第一支撑杆(110)远离第二支撑杆(120)的一端,并与传动组件(130)连接。可以在采用肢体康复外骨骼(10)辅助人体康复时,起到导向的作用,并贴合肢体的运动轨迹,提高康复效果。使用过程中动力装置(160)的位置几乎是不变的,能够避免动力装置(160)克服自身重力做功,减小耗能,也避免了重力分布不均匀导致的腿部旋转、关节不对齐的问题,进一步提高康复效果。
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