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WO2008096031A1 - Orthèse destinée à amortir les tremblements - Google Patents

Orthèse destinée à amortir les tremblements Download PDF

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Publication number
WO2008096031A1
WO2008096031A1 PCT/ES2008/070018 ES2008070018W WO2008096031A1 WO 2008096031 A1 WO2008096031 A1 WO 2008096031A1 ES 2008070018 W ES2008070018 W ES 2008070018W WO 2008096031 A1 WO2008096031 A1 WO 2008096031A1
Authority
WO
WIPO (PCT)
Prior art keywords
tremor
actuator
distal
proximal
substrate
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.)
Ceased
Application number
PCT/ES2008/070018
Other languages
English (en)
Spanish (es)
Inventor
José Luis PONS ROVIRA
Eduardo Rocon De Lima
Rui Loureiro
Juan Manuel Belda Lois
Lawrence Normie
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Danmarks Tekniske Universitet
Consejo Superior de Investigaciones Cientificas CSIC
Instituto de Biomecanica de Valencia CSIC
University of Reading
De Montfort University
Israeli Center For Assistive Technology & Aging
STICHTING WETENSCHAPPELIJK ONDERZOEK REVALIDATIEVRAAGSTUKKEN
Original Assignee
Danmarks Tekniske Universitet
Consejo Superior de Investigaciones Cientificas CSIC
Instituto de Biomecanica de Valencia CSIC
University of Reading
De Montfort University
Israeli Center For Assistive Technology & Aging
STICHTING WETENSCHAPPELIJK ONDERZOEK REVALIDATIEVRAAGSTUKKEN
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 Danmarks Tekniske Universitet, Consejo Superior de Investigaciones Cientificas CSIC, Instituto de Biomecanica de Valencia CSIC, University of Reading, De Montfort University, Israeli Center For Assistive Technology & Aging, STICHTING WETENSCHAPPELIJK ONDERZOEK REVALIDATIEVRAAGSTUKKEN filed Critical Danmarks Tekniske Universitet
Publication of WO2008096031A1 publication Critical patent/WO2008096031A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/1101—Detecting tremor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6802—Sensor mounted on worn items
    • A61B5/681—Wristwatch-type devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/0104—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation
    • A61F5/0118—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation for the arms, hands or fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/013—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the arms, hands or fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/18—Shielding or protection of sensors from environmental influences, e.g. protection from mechanical damage
    • A61B2562/187—Strain relief means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/22—Arrangements of medical sensors with cables or leads; Connectors or couplings specifically adapted for medical sensors
    • A61B2562/221—Arrangements of sensors with cables or leads, e.g. cable harnesses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6813—Specially adapted to be attached to a specific body part
    • A61B5/6824—Arm or wrist

Definitions

  • the present invention relates to an orthosis to cushion the upper limb tremor.
  • Parkinsonism has an incidence of 1 in 400, intensifying in patients aged 50 to 70 years.
  • the incidence of Parkinson's disease is between 4.5 and 21 cases per 100,000 inhabitants per year.
  • the risk of developing Parkinson's disease at the length of life reaches 7.5%, that is, three times greater than what was previously estimated.
  • Approximately 60-70% of patients have tremor that in turn limits the ability to perform daily activities.
  • the incidence of ataxias reaches between 1 every 15,000 and 1 every 60,000 a year.
  • the psychosocial aspects of the tremor can aggravate the situation.
  • Pathological tremor can hinder professional activities, can interfere with everyday activities and lead to a more difficult social relationship.
  • the methods currently available to suppress tremor include medication, brain surgery, external mechanical damping and, less commonly, functional electrical stimulation.
  • Portable devices for tremor cancellation generally do not adequately resolve aspects related to their efficiency and autonomy, their external appearance and user comfort.
  • An orthosis should ideally suppress tremor selectively while preserving intentional movement, should be able to dress and remove easily, be light, flexible and be able to wear under clothing.
  • the different devices presented generally focus on resolving the technical aspects of tremor cancellation but pay little attention to ergonomic, usability and production acceptances.
  • Most devices are not portable and need to be anchored to a table, stand or wheelchair. Because of what is known about the state of the art, there is no portable orthosis for passive tremor cancellation that meets the minimum requirements for ease of use, comfort, aesthetic appearance, reliability, cost and efficiency. In the state of the art there has been no compact, non-invasive device that allows control of tremor in multiple degrees of freedom or joints.
  • the object of this invention is a portable orthotic device that is compact and non-invasive.
  • the orthotic device is useful for damping the tremor and includes:
  • a substrate or support system for fixing the device to the upper member comprising a distal part and a proximal part
  • At least one sensor attached to the substrate to measure the movement of the member and generate a sensory signal
  • At least one actuator anchored to the proximal part of the substrate capable of applying a force, through the distal part of the substrate, to the user member to dampen its tremor
  • a control device that includes a processor that analyzes the sensor signal to detect the tremor and generate the actuator control signal to dampen the tremor.
  • the only component that contributes substantially to the weight of the orthosis is the actuator, which is located in the proximal area reducing its impact on the user.
  • Other components such as batteries for power supply are preferably arranged in the belt or through a harness.
  • the controller is preferably placed on the substrate although it can also be arranged next to the batteries in the belt or harness.
  • the force for cancellation is preferably applied tangentially to the main axis of the joint.
  • the member in question is preferably the forearm, in this way the proximal part disposes adjacent to the elbow and the distal part adjacent to the wrist.
  • the proximal part has a rigid part disposed in the area adjacent to the distal part.
  • the rigid zone is articulated with respect to the distal part and has a channel through which the force is transmitted from the actuator to the distal part.
  • the force is preferably transmitted by means of a cable or chain fixed to the distal part and passing through the channel practiced in the rigid zone to the actuator.
  • the linear force transmitted by the cable or the chain becomes tangential force and is transmitted to the distal part of the substrate preferably through a pulley.
  • the device preferably has a sensor mounted in the proximal part and another sensor in the distal part. Also, the device is padded in the proximal and distal parts to improve comfort during use.
  • a method for damping the involuntary movement of the tremor in the user member comprising the following steps is also described:
  • the present invention is related to the damping of tremor in a member of the human body, in particular in the forearm and in the articulation of the wrist, through the use of active or passive mechanical damping.
  • passive damping it is meant that forces will be applied on the member that will result in an exponential reduction in the amplitude and frequency of the tremor.
  • orthogonal axes x, y, z define axes for rotations p, q, r respectively.
  • the z axis is defined with respect to the forearm 17 along its longitudinal direction, and the rotation of pronation-supination r is defined around said axis.
  • the y axis is defined in relation to the arm 18 and is defined according to its direction.
  • the x axis is also defined in relation to the arm 18 in such a way that it is orthogonal with the direction of the arm 18.
  • a first implementation of the invention consists of an orthotic or orthotic device, designated with the cardinal 10, adapted to suppress or dampen tremor in a degree of freedom, in particular the pronation-supination of the forearm 17 around the r axis.
  • the device 10 includes a proximal part, referred to with the number 20, adapted to secure the device to a proximal area of the forearm, typically adjacent to the elbow (indicated by the number 25) and to a distal part, defined with the number 30, adapted to secure the device on a distal area of the forearm, typically adjacent to the wrist 19.
  • Each of the mentioned parts 20 and 30, comprises a rigid lower section 45 and 65 respectively (which are coated with a padding 85 and 90 in the part in contact with the member) and an upper belt 50 and 70 for facilitate clamping around the perimeter of the corresponding part of the forearm.
  • Each tape is connected to the lower section through a loop 100 and 105.
  • the proximal part 20 has an actuator 60 and a controller 55 disposed thereon.
  • Controller 55 includes a processor (not shown) and is connected to the sensors (not shown).
  • the controller is also connected to the actuator 60 so that the processor of the controller 55 controls the operation of the actuator 60 in response to the input signal of the motion sensors.
  • the actuator drives the movement of two cables 80 causing one to extend while the other retracts or vice versa.
  • a single wound cable can be used on the axis of the atuadfor and of which the two ends are used as described for the case of the two cables.
  • Actuator 60 in this implementation is a flat brushless DC motor manufactured by Maxon with "EC45" trademark.
  • Each part 20 and 30 has a motion sensor (not shown) mounted on it.
  • the motion sensor of the part 20 is mounted under the actuator 60 while the motion sensor 30 is mounted in the lower section 65.
  • the motion sensors are gyroscopes.
  • a suitable gyroscope for this implementation is the one manufactured by Murata with the trademark "Gyrostar ENC-03J".
  • the sliding part 75 is connected to the proximal part 20 by the rigid tube 40.
  • the lower section 65 is U-shaped in the xy plane as shown in Figure 3.
  • the pair of cables 80 are conducted by the tube 40 to the part slide 75.
  • Each of the cables is connected through the sliding part 75 by pulleys (not shown) to the lower section 65 and is connected to the lower section 65 in 1 10 and 1 12 as indicated in Figure 5. It practice a channel 95 in the lower section 65 to accommodate each of the cables 80 so that their presence does not impede the movement of the sliding part 75.
  • the processor (not shown) of the controller 55 receives an input from the motion sensors (not shown) related to the movement of the forearm 17.
  • the processor filters the voluntary movement of the forearm 17 of the user of the orthosis 10 so that only tremor movement of the forearm is detected 17.
  • a system and method for distinguishing trembling oscillations from voluntary movement is described in WO 2005/01 1494; the content of said document, in particular in what refers to the description of this system is incorporated herein by reference.
  • the processor drives the actuator to cause damping of the shaking oscillation of the forearm 17.
  • the orthosis 10 has an energy source (not shown) that the user carries in the belt and is connected to the orthosis by means of a power cable (not shown).
  • the energy source can be transported by any other means, for example a harness or backpack.
  • Another possible alternative is to include the controller 55 together with the power source in a single unit.
  • the controller joins the orthosis 10 by means of a flexible signal and power cable.
  • the connection of the signal and power cable to the orthosis is preferably carried out by means of a standard parallel PC connector (not shown) through a flexible receptacle (not shown) located in the proximal part 20 of the orthosis 10.
  • the flexible receptacle It distributes the electrical power to the actuator 60 included in the orthosis 10.
  • the signal of the motion sensors included in the orthosis 10 is transmitted through the signal cable to the controller 55.
  • the operation of the actuator 60 operated by the controller 55 causes one of the cables to retract and cause the lower section 65 to move relative to the sliding part 75. Since the sliding part 75 is integrally connected to the proximal part 20, The operation of the actuator 60 results in the rotation of the forearm 17 around the r axis. In this way, the orthosis It can be used to actively cushion the pronation-supination tremor of the forearm.
  • FIG. 6 A second implementation 210 of an orthotic orthosis or device according to the present invention is illustrated in Figures 6 to 8. Similar components in the two implementations are described by the corresponding cardinals in Figures 6 to 8.
  • the orthosis 210 is useful for the suppression of tremors in two degrees of freedom, in particular, the pronation-supination of the forearm 17 around the axis of rotation r and the flexion-extension of the articulation of the wrist 19 around the p-axis.
  • the device 210 includes a proximal part indicated by the number 220 adapted to secure the orthotic device to a proximal area of the forearm 17, typically adjacent to the elbow (indicated generally by cardinal 225), and a distal part, indicated by the number 130, adapted to secure the orthotic device to the distal area of the forearm 17, typically adjacent to the wrist 19.
  • the orthosis 210 also has a hand anchor so that the user of the orthosis 210 can dress it on his hand 35.
  • Each of the parts 220 and 230 comprises a rigid lower section, 245 and 265 respectively, which is coated with a padding 85 and 90 in part in contact with the member, and an upper belt 250 and 270 to facilitate a complete fixation around of the entire perimeter of the corresponding part of the forearm.
  • Each ribbon is attached to its corresponding lower section by means of a loop 100 and 405.
  • Each of the parts 220 and 230 includes a motion sensor (not shown).
  • the motion sensor of the part 220 is mounted under the actuator 260 while the motion sensor of the part 230 is mounted in the lower section 265.
  • the motion sensors are gyroscopes.
  • the proximal part 220 has a first actuator 260 and a controller 255.
  • the controller 255 comprises a processor (not shown) that is connected to the motion sensors.
  • the controller 255 is connected to the actuator 260 so that the processor of the controller 255 drives the actuator 260 in response to the input signal of the motion sensors.
  • the actuator 260 controls the movement of a pair of cables 280 by extending one of them while the second retracts or vice versa.
  • the lower section 265 of the distal part 230 has in turn a sliding part 275.
  • the section of the element 265 has a T-shape in the z-plane and as shown in Figure 7.
  • the sliding part 275 has a complementary shaped channel for receiving the lower section 265 so that the sliding part 275 is movable along the section 265.
  • the sliding part 275 is connected to the proximal part 220 by the rigid tube 240.
  • the lower section 265 is U-shaped in the plane xy as shown in Figure 6.
  • the pair of cables 280 are conducted by the tube 240 to the sliding part 275.
  • Each of the cables is connected through the sliding part 275 by pulleys (not shown) to the lower section 265 and is connected to the lower section 265 in 1 10 and 1 12 as indicated in Figure 8.
  • a channel 295 is made in the lower section 265 to accommodate each of the cables 280 so that their presence does not impede the movement of the part slider 275.
  • the distal part 230 includes a second actuator 300 integrated in the padding 90 which is used to dampen the trembling oscillations in the wrist
  • the second actuator 300 is arranged in the upper part of the forearm diametrically opposed to the sliding part 275.
  • the second actuator 300 has a variable damping mechanism as described in
  • the second actuator 300 has an output shaft 310.
  • the shaft 310 has an output shaft 310.
  • the 310 is connected to the anchor of the hand 320.
  • the second actuator 300 and the anchor of the hand 320 have motion sensors (not shown) which in particular are gyroscopes.
  • the second actuator 300 joins the controller 255 so that it can drive the second actuator 300 in response to the signal from the motion sensors.
  • the processor (not shown) included in the controller 255 receives input signals from all motion sensors (not shown) related to the movement of the forearm 17 and wrist 19.
  • the processor analyzes the inputs to filter the voluntary movement of the forearm 17 and the wrist 19 of the user of the orthosis 10 so that only the trembling oscillation of the forearm 17 or wrist 19 is detected.
  • the processor drives the actuator to dampen the trembling oscillation of the forearm 17 and wrist 19.
  • the orthosis 210 has an energy source (not shown) that the user carries in the belt and is connected to the orthosis by means of a power cable (not shown).
  • the energy source can be transported by any other means, for example a harness or backpack.
  • controller 255 together with the power source in a single unit.
  • the controller joins the orthosis 210 by means of a flexible signal and power cable.
  • the connection of the signal and power cable to the orthosis is preferably carried out by means of a standard parallel PC connector (not shown) through a flexible receptacle (not shown) located in the proximal part 220 of the orthosis 210.
  • the flexible receptacle distributes the electrical power to the first actuator 260 and the second actuator 300 included in the orthosis 210. Similarly, through the receptacle the signal of the motion sensors included in the orthosis 210 is transmitted through the signal cable to the controller 255 .
  • the operation of the actuator 260 actuated by the controller 255 causes one of the cables to retract and cause the lower section 265 to move in relation to the sliding part 275. Since the sliding part 275 is integrally connected to the proximal part 220, The operation of the actuator 260 results in the rotation of the forearm 217 around the r axis. In this way, the orthosis can be used to actively cushion the pronation-supination tremor of the forearm.
  • the operation of the second actuator 300 by actuating the controller 255 causes the variable damping mechanism to allow free movement of the shaft 310 or impede its movement. In this way the movement of the hand 35 can be cushioned.
  • first actuator 60 for the first implementation
  • 260 for the second implementation
  • a brushless flat DC motor manufactured by Maxon with brand is used commercial "EC45”.
  • the second actuator of the second implementation is that described in the UK patent application number 0425072.6 with reference to Figures 1, 2A, 2B, 3A and 3B of said application.
  • a motion sensor in the distal and proximal parts of both implementations a gyroscope manufactured by Murata with the trademark "Gyrostar ENC-03J" is used.
  • any digital processor on which the system and method to distinguish trembling oscillations from voluntary movement described in WO 2005/011494 is used.
  • Figure 1 is a representation showing the first implementation of a device orthotic, according to the present invention, arranged on the forearm of the user and in which the directions x, y and z are defined.
  • Figure 2 is a diagram of the cross section according to the xy plane of the proximal part of the first implementation.
  • Figure 3 is a diagram of the cross section according to the xy plane of the distal part of the first implementation.
  • Figure 4 is a diagram of the cross section according to the plane and z of the distal part of the first implementation.
  • Figure 5 is a schematic of the profile of the distal part of the first implementation.
  • Figure 6 is a representation showing the second implementation of an orthotic device, according to the present invention, arranged on the user's forearm.
  • Figure 7 is a diagram of the cross section according to the xy plane of the distal part of the second implementation.
  • Figure 8 is a diagram of the cross section according to the plane and z of the distal part of the second implementation.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Public Health (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Vascular Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Nursing (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Physiology (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)
  • Rehabilitation Tools (AREA)

Abstract

L'invention concerne un dispositif orthétique portable compact et non invasif. Ledit dispositif orthétique est utilisé pour amortir les tremblements et comprend un substrat ou système de support permettant de fixer le dispositif au membre supérieur, présentant une partie distale et une partie proximale. Au moins un capteur est associé au substrat pour mesurer le mouvement du membre et générer un signal sensoriel. Au moins un dispositif d'actionnement ancré dans la partie proximale du substrat peut exercer une force, à travers la partie distale du substrat, sur le membre de l'utilisateur afin d'amortir ses tremblements. Un dispositif de commande est équipé d'un processeur destiné à analyser le signal du capteur pour détecter les tremblements et générer le signal de commande du dispositif d'actionnement afin d'amortir les tremblements.
PCT/ES2008/070018 2007-02-09 2008-02-06 Orthèse destinée à amortir les tremblements Ceased WO2008096031A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES200700356A ES2319022B1 (es) 2007-02-09 2007-02-09 Ortesis para amortiguacion de temblor.
ESP200700356 2007-02-09

Publications (1)

Publication Number Publication Date
WO2008096031A1 true WO2008096031A1 (fr) 2008-08-14

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PCT/ES2008/070018 Ceased WO2008096031A1 (fr) 2007-02-09 2008-02-06 Orthèse destinée à amortir les tremblements

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ES (1) ES2319022B1 (fr)
WO (1) WO2008096031A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2335337A1 (es) * 2009-04-02 2010-03-24 Ikerlan, S.Coop Dispositivo de deteccion de la intencion de movimiento de un usuario, adaptado a un exoesqueleto.
DE102014100460A1 (de) * 2014-01-16 2015-07-16 Tyromotion Gmbh Anordnung zur unterstützenden Beeinflussung einer Bewegung, Rehabilitationssystem und Bewegungsunterstützungssystem
US9107614B2 (en) 2011-07-12 2015-08-18 Xanadu Christina Halkias Systems, methods, and media for finding and matching tremor signals
WO2018053624A1 (fr) * 2016-09-22 2018-03-29 Steadiwear Inc. Appareil pour amortir des mouvements involontaires de la main
CN109199661A (zh) * 2018-07-19 2019-01-15 同济大学 一种基于颗粒阻尼的手腕震颤抑制装置
WO2020206126A1 (fr) * 2019-04-05 2020-10-08 Narula Maanav Dispositif portable pour traiter des tremblements
WO2023244175A1 (fr) * 2022-06-14 2023-12-21 Nanyang Technological University Exosquelette, procédé de commande de celui-ci, et dispositif simulateur de tremblement

Families Citing this family (2)

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Publication number Priority date Publication date Assignee Title
WO2014080045A1 (fr) * 2012-11-22 2014-05-30 Especialidades Médico Ortopédicas, S.L. Orthèse de poignet
DE102019130404A1 (de) * 2019-11-11 2021-05-12 URS Entwicklung, Herstellung und Vertrieb medizinischer Produkte UG (haftungsbeschränkt) i.G. Orthese zur kontrollierten Bewegung und/oder Fixierung eines Unterarms und/oder einer Hand

Citations (5)

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WO2001080710A2 (fr) * 2000-04-20 2001-11-01 Ziv Av Amir Procedes et dispositifs permettant de reduire les tremblements
US6695794B2 (en) * 1999-03-02 2004-02-24 The Charles Stark Draper Laboratory, Inc. Active tremor control system
US20040106881A1 (en) * 2002-11-21 2004-06-03 Mcbean John M. Powered orthotic device
WO2006064074A1 (fr) * 2004-12-14 2006-06-22 Consejo Superior De Investigaciones Científicas Dispositif orthetique dynamique pour la surveillance, le diagnostic et la suppression du tremblement pathologique
ES2260986A1 (es) * 2003-12-11 2006-11-01 Asociacion Instituto De Biomecanica De Valencia Ortesis para el control del movimiento de pronosupinacion.

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6695794B2 (en) * 1999-03-02 2004-02-24 The Charles Stark Draper Laboratory, Inc. Active tremor control system
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ES2335337A1 (es) * 2009-04-02 2010-03-24 Ikerlan, S.Coop Dispositivo de deteccion de la intencion de movimiento de un usuario, adaptado a un exoesqueleto.
ES2335337B1 (es) * 2009-04-02 2011-02-14 Ikerlan, S.Coop Dispositivo de deteccion de la intencion de movimiento de un usuario,adaptado a un exoesqueleto.
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DE102014100460A1 (de) * 2014-01-16 2015-07-16 Tyromotion Gmbh Anordnung zur unterstützenden Beeinflussung einer Bewegung, Rehabilitationssystem und Bewegungsunterstützungssystem
WO2018053624A1 (fr) * 2016-09-22 2018-03-29 Steadiwear Inc. Appareil pour amortir des mouvements involontaires de la main
CN109199661A (zh) * 2018-07-19 2019-01-15 同济大学 一种基于颗粒阻尼的手腕震颤抑制装置
CN109199661B (zh) * 2018-07-19 2021-02-02 同济大学 一种基于颗粒阻尼的手腕震颤抑制装置
WO2020206126A1 (fr) * 2019-04-05 2020-10-08 Narula Maanav Dispositif portable pour traiter des tremblements
CN113966209A (zh) * 2019-04-05 2022-01-21 稳定生命有限责任公司 治疗震颤的可穿戴设备
WO2023244175A1 (fr) * 2022-06-14 2023-12-21 Nanyang Technological University Exosquelette, procédé de commande de celui-ci, et dispositif simulateur de tremblement

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