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EP3104819B1 - Dispositif de soutien des capacités physiques des membres inférieurs - Google Patents

Dispositif de soutien des capacités physiques des membres inférieurs Download PDF

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Publication number
EP3104819B1
EP3104819B1 EP14714804.3A EP14714804A EP3104819B1 EP 3104819 B1 EP3104819 B1 EP 3104819B1 EP 14714804 A EP14714804 A EP 14714804A EP 3104819 B1 EP3104819 B1 EP 3104819B1
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EP
European Patent Office
Prior art keywords
plane
user
movable
articulation
coupling
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
EP14714804.3A
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German (de)
English (en)
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EP3104819A1 (fr
Inventor
Grzegorz PIATEK
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Prodromus Spolka ZOO
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Prodromus Spolka ZOO
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Publication of EP3104819A1 publication Critical patent/EP3104819A1/fr
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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 together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • 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
    • A61H1/024—Knee
    • 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
    • A61H1/0244—Hip
    • 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
    • A61H1/0266—Foot
    • 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
    • A61H1/0244—Hip
    • A61H2001/0248—Hip by separating the legs laterally
    • 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
    • A61H1/0244—Hip
    • A61H2001/0251—Hip by moving the legs together laterally
    • 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
    • A61H2201/0119—Support for the device
    • A61H2201/0138—Support for the device incorporated in furniture
    • A61H2201/0149—Seat or chair
    • 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
    • A61H2201/0165—Damping, vibration related features
    • 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
    • A61H2201/0192—Specific means for adjusting dimensions
    • 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
    • A61H2201/1215—Rotary 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
    • A61H2201/1623—Back
    • 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
    • A61H2201/1628—Pelvis
    • A61H2201/163—Pelvis 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
    • A61H2201/1628—Pelvis
    • A61H2201/1633—Seat
    • 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
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • 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
    • A61H2201/5002—Means for controlling a set of similar massage devices acting in sequence at different locations on a patient
    • 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
    • A61H2201/5023—Interfaces to the user
    • A61H2201/5035—Several programs selectable
    • 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
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0406—Standing on the feet
    • 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
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0425—Sitting on the buttocks
    • A61H2203/0431—Sitting on the buttocks in 90°/90°-position, like on a chair

Definitions

  • This invention relates to a device supporting physical abilities of the lower limbs, driving the lower limb joints in the sagittal plane and supporting the sitting position and standing up.
  • Manipulators used in the rehabilitation of the lower limbs are known. Those devices consist of motorised levers fastened in the hip joint and in the knee joint to the side plane of the left and right lower limb. The devices fitted with such drive systems prohibit performing other movements than walking and they require to use a treadmill or a foundation in order to ensure that the user's feet are supported.
  • a powered orthosis is known from description WO 2008 124025 , this is adapted to be secured to a corresponding body portion of a user for guiding motion of the user.
  • the orthosis comprises a plurality of structural members and one or more joints adjoining adjacent structural members. Each joint has one or more degrees of freedom and a range of joint angles.
  • Each joint comprises at least one actuator governed by at least one controller for controlling the joint angle.
  • the joint actuator controllers are synchronized to cause the corresponding joint actuators to generate forces for assisting the user to move the orthosis at least in part under the user's power along a desired trajectory within an allowed tolerance.
  • WO 01/91675 discloses a rehabilitation device for persons with paresis of lower limbs enabling them to walk, comprising essentially rocking elements having at their lower part foot elements with platforms for user's feet. Said rocking elements are connected, at their upper part by a frame constituting a jacket.
  • the device has two basic and two auxiliary rocking elements, where the basic elements consist of two pairs of members, the upper pair and the lower pair of members, where the members of each pair are connected to each other by means of a pivot joint.
  • the auxiliary rocking elements consist of one pair of members, each member of the pair connected at their lower portion by means of a pivot joint to connectors, which are connected in turn to upper members of basic rocking elements, which are connected, at their lower portion, to foot elements with foot platforms.
  • the uppermost portion of basic and auxiliary rocking elements are connected, by means of pivot joints to angular connectors having bolts rotatably mounted in clasps, slidably mounted on the jacket frame.
  • the auxiliary rocking elements are connected, at their lower portion to pistons of spring, gas or hydraulic shock absorbers or to pneumatic or hydraulic cylinders, acting as servomotors, which, at their other ends are pivotally connected to said foot elements, at a distance from connecting pivots of basic rocking elements.
  • Said foot elements consist each of a trapezoidal frame with two pairs of arms, the first pair of arms being parallel to the axis of the person's movement, i. e.
  • the auxiliary rocking elements are interconnected by means of horizontal bipartite interconnections, to which is fixed a plate constituting a seat, in a manner that the basic and auxiliary rocking elements constitute symmetrical left hand and right hand side of the device.
  • the purpose of the invention is to design a device that enables the user to stand up, walk, sit down and other movements of the lower limbs that are in line with the anatomy, for instance a knee bend, a one-leg stand, with the possibility to eliminate the contact of feet with the foundation.
  • the device supporting physical abilities of the lower limbs comprises a stationary non-movable stand, a lumbar support, a seat, and parallel movable members adjoining the lower limbs of the user, divided into segments corresponding to the parts of the lower limb and pivotal articulations connected in a self-aligning manner, fitted with drives for the relevant joints.
  • the lumbar support movable in the vertical plane, is connected in a hip articulation through arms to mobile couplings of the lower limbs, a back pusher movable in the vertical plane and sagittal plane is connected through the lumbar support with arms, and the seat movable in the vertical plane is connected to a bracket.
  • the essence of the solution according to the invention consists in that the lumbar support, the back pusher, the arms and the seat are mounted on common vertical guide rails of the stand.
  • the back pusher has a variable position, successively in the frontal plane and in the sagittal plane,
  • the arms are pivotally mounted in the guide rails, movable to part sideways.
  • the device has hip side clamps with a variable position successively in the frontal and the sagittal plane.
  • Each segment of a member that is adjacent to the lower limbs of the user consists of a thigh coupling, a shin coupling and a foot coupling, in addition the thigh coupling and the shin coupling have a variable, adjustable length through a prismatic articulation interlocked with a clamp, and a shin prismatic articulation.
  • a magnetic barrier is situated in the base of the stand.
  • the device has thigh and shin cuffs that can be shifted in the frontal and in the sagittal plane.
  • the device has foot supports that can be shifted in the frontal plane and in the side plane.
  • the ankle joint articulation has a drive situated on the side plane of the member that is parallel to the user's limbs.
  • a belt rotary gear constitutes the ankle joint articulation and the knee joint articulation.
  • the hip joint articulation is a backlash-free cycloidal gear connected to a servomotor with a vibration-dampening belt
  • the solution according to the invention by synchronized driving of the hip, knee and ankle joints of the user in accordance with the anatomy, or the correct human gait pattern - enables the lower limbs to be moved in a set manner allowing standing up, walking, knee bending, alternating leg swings and sitting down in accordance with the abilities of the human anatomy and the anatomical movement and the range of these movements.
  • the device has a lower limb manipulator comprising two parallel members adjoining the lower limbs of the user. Each of these members consists of a thigh coupling 1, a shin coupling 2 and a foot coupling 3.
  • the thigh coupling 1 and the shin coupling 2 can have their length altered by an adjustable thigh articulation 5 and an adjustable shin articulation 6.
  • the adjustable articulations 5, 6 are interlocked with clamps.
  • the foot couplings 3, shin couplings 2 and the thigh couplings 1 connected together in a self-aligning manner in the sagittal plane with pivotal articulations, respectively with ankle joint articulations 11, knee joint articulations 12, and hip joint articulations 13.
  • the ankle joint articulation 11 and the knee joint articulation 12 constitutes the belt rotary gear 21.
  • the hip joint articulation 13 is a backlash-free cycloidal gear 22 connected to the drive 23 with a vibration-dampening belt gear 24 ( fig. 4 and fig. 9 ).
  • the device has a stand 8 fitted with vertical guide rails 25 enabling the user to be moved, along with the mechanism members of the manipulator used for moving the lower limbs.
  • the stand 8 design ensures stability in the sagittal plane and in the frontal plane, it is symmetrical with the ability to adjust the lengths of the thigh coupling 1 and the shin coupling 2 to diversified lower limb lengths with interlocked clamps of the adjustable thigh articulations 5 and the adjustable shin articulations 6.
  • the stand 8 contains a magnetic barrier 26 in its base, which prevents the foot couplings 3 from hitting the base of the device during its operation.
  • the foot couplings 3, the shin couplings 2 and the thigh couplings 1 are suspended in the hip joint articulations 13 and are connected to the lumbar belt 27 with the arms 28 mounted movably in the vertical plane through joint articulations 9 in the guide rails 25.
  • the arms 28 are pivotally mounted on the guide rails 25, with the ability to part sideways, in order to facilitate placing the user on the seat 29.
  • the seat 29, secured on the bracket 15 is movably mounted in the vertical plane through joint articulations 14 on the guide rails 25 ( fig. 4 ).
  • the back pusher 10 connected through the lumbar belt 27 with the arms 28 is movable in the vertical plane and sagittal plane.
  • the device contains drives 23 of the parallel assemblies of rotary gears of articulations 11, 12, 13 powering the ankle, knee and hip joints.
  • the manipulator mechanisms move in the sagittal plane and actuate the above mentioned drives of the ankle, knee and hip joints of both limbs - linked together with the controller logic and connected with a grip 27 in the lumbar belt.
  • the lumbar belt grip 27 is connected movably in the vertical plane to the stand 8 of the device and is a member that connects the lower limb mechanisms and the stand 8.
  • the vertical drive unit 30 enables the user to move vertically depending on his/her height, the applied lengths of the thigh couplings 1 and the shin couplings 2, and the assumed level of the seat 29.
  • the seat 31 drive unit and the arm 15 of the seat 29 allows buttock support of the user while sitting ( fig. 6 ).
  • the drives 23 of the manipulator couplings are servomotors with the system of their precise positioning, including the control systems - reconstructing the correct gait pattern of a healthy human stored in the device controller memory; monitoring systems - inspecting at any time the correctness of the system operation and positioning of the drives in accordance with the stored gait pattern; the protecting system - operating independently and protecting against assuming at any time a position that is at variance with the human anatomy ( fig. 7 ).
  • the user can be fastened the device with the thigh cuffs 32 and the shin cuffs 33 of each limb, having the ability to change the position in the frontal and sagittal planes ( fig. 6 and fig. 8 ).
  • the design of the lower limb manipulator is symmetrical and it enables, by lack of contact with the foundation, both walking and moving a lower limb or limbs in any way in accordance with the anatomy to be trained.

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)

Claims (9)

  1. Dispositif de soutien de la capacité de mobilité des membres inférieurs de l'utilisateur, comprenant un trépied immobile fixe (8), une ceinture lombaire (27), un siège (29) et des parties mobiles parallèles entre elles, adjacentes aux membres inférieurs de l'utilisateur, divisées en segments correspondant aux parties des membres inférieurs de l'utilisateur et reliées par des articulations dans lesquelles la ceinture lombaire (27), mobile dans le plan vertical, est reliée dans l'articulation de la hanche (13) à travers les bras (28) avec les connecteurs des membres inférieurs mobiles, le poussoir dorsal (10), mobile dans le plan vertical et le plan sagittal, est relié par la ceinture lombaire (27) avec les bras (28) et le siège (29), mobile dans le plan vertical, est relié au support (15) caractérisé en ce que la ceinture lombaire (27), le poussoir dorsal (10), les bras (28) et le siège (29) sont montés sur les guides verticaux communs (25) du trépied (8), le poussoir dorsal (10) a une position variable successivement dans les plans frontal et sagittal, tandis que les bras (28) sont montés sur des guides verticaux articulés (25) en rotation, avec possibilité de s'écarter sur le côté.
  2. Dispositif selon la revendication 1, caractérisé en ce qu'il présente des pinces iliaques latérales (34) avec une position variable successivement dans le plan frontal et sagittal.
  3. Dispositif selon la revendication 1, caractérisé en ce que chaque segment de l'élément adjacent aux membres inférieurs de l'utilisateur se compose d'un connecteur de cuisse (1), d'un connecteur de jambe inférieure (2) et d'un connecteur de pied (3), où le connecteur de cuisse (1) et le connecteur de jambe inférieure (2) ont une longueur variable, réglable à travers l'articulation prismatique de la cuisse bloquée et l'articulation prismatique de la jambe inférieure.
  4. Dispositif selon la revendication 1, caractérisé en ce que la base du trépied (8) a une barrière magnétique (26).
  5. Dispositif selon la revendication 1, caractérisé en ce qu'il présente des pinces de cuisse (32) et des pinces de jambe inférieures (33) coulissantes dans le plan frontal et sagittal.
  6. Dispositif selon la revendication 1, caractérisé en ce qu'il présente des supports de pied (35) coulissants dans le plan frontal et sagittal.
  7. Dispositif selon la revendication 1, caractérisé en ce que l'articulation de la cheville (11) a un entraînement (23) situé sur le plan latéral de l'élément adjacent aux membres de l'utilisateur.
  8. Dispositif selon la revendication 1, caractérisé en ce que l'articulation de la cheville (11) et l'articulation du genou (12) consistue un engrenage rotatif à courroie (21).
  9. Dispositif selon la revendication 1, caractérisé en ce que l'articulation de la hanche (13) constitue une transmission cycloïdale sans jeu (22) reliée au servomoteur au moyen d'une transmission à courroie amortissant les vibrations (24).
EP14714804.3A 2014-02-11 2014-02-14 Dispositif de soutien des capacités physiques des membres inférieurs Active EP3104819B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
PL407142A PL224669B1 (pl) 2014-02-11 2014-02-11 Urządzenie wspomagające zdolności ruchowe kończyn dolnych
PCT/PL2014/050007 WO2015122786A1 (fr) 2014-02-11 2014-02-14 Dispositif de soutien des capacités physiques des membres inférieurs

Publications (2)

Publication Number Publication Date
EP3104819A1 EP3104819A1 (fr) 2016-12-21
EP3104819B1 true EP3104819B1 (fr) 2020-03-18

Family

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CN105030485B (zh) * 2015-09-18 2017-06-13 中国科学院自动化研究所 一种可用于下肢康复训练的腿部机构
CN105167960B (zh) * 2015-10-12 2017-04-12 哈尔滨工程大学 一种并联式下肢外骨骼康复训练装置
CN107174475B (zh) * 2017-04-18 2019-09-10 燕山大学 一种坐卧式下肢康复机器人的机架
CN110772403A (zh) * 2019-11-29 2020-02-11 浙江孚邦科技有限公司 康复设备
CN110898397B (zh) * 2019-12-13 2020-12-08 陈昱见 一种具有训练镜的站立训练台
PL238036B1 (pl) * 2020-01-07 2021-06-28 Prodromus Spolka Z Ograniczona Odpowiedzialnoscia Stacjonarny robot do rehabilitacji kończyn dolnych
ES2884252B2 (es) 2020-06-05 2022-04-08 Tecnimusa S L Aparato de rehabilitacion
CN112973019B (zh) * 2021-03-03 2021-09-21 温州职业技术学院 一种多功能戏曲形体训练装置
CN114376867A (zh) * 2022-01-19 2022-04-22 陕西立博源科技有限公司 一种下肢康复训练装置

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JP2003534097A (ja) * 2000-05-30 2003-11-18 ファーマー オクトペジチナ メドルト エス、エイ、 下肢に不全麻痺を有する人の歩行を可能にするためのリハビリテション装置
JP4624200B2 (ja) * 2005-07-11 2011-02-02 学校法人東京理科大学 歩行補助装置
WO2008124025A1 (fr) 2007-04-06 2008-10-16 University Of Delaware Orthèse électrique
WO2008124017A1 (fr) * 2007-04-06 2008-10-16 University Of Delaware Exosquelette de jambe aidant au balancement passif

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WO2015122786A1 (fr) 2015-08-20
PL224669B1 (pl) 2017-01-31
PL407142A1 (pl) 2015-08-17

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