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WO2025062260A1 - Unité de manipulation et appareil de rééducation pour le membre supérieur - Google Patents

Unité de manipulation et appareil de rééducation pour le membre supérieur Download PDF

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Publication number
WO2025062260A1
WO2025062260A1 PCT/IB2024/058927 IB2024058927W WO2025062260A1 WO 2025062260 A1 WO2025062260 A1 WO 2025062260A1 IB 2024058927 W IB2024058927 W IB 2024058927W WO 2025062260 A1 WO2025062260 A1 WO 2025062260A1
Authority
WO
WIPO (PCT)
Prior art keywords
track
axis
manipulation unit
handle
subgroup
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.)
Pending
Application number
PCT/IB2024/058927
Other languages
English (en)
Inventor
Amel CHERIF
Maddalena MUGNOSSO
Jacopo ZENZERI
Irene PIPPO
Marco GUAZZOTTI
Giulia Aurora ALBANESE
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.)
Rewing Srl
Original Assignee
Rewing Srl
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 Rewing Srl filed Critical Rewing Srl
Publication of WO2025062260A1 publication Critical patent/WO2025062260A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • 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
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—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
    • A61H2201/1671—Movement of interface, i.e. force application means rotational
    • A61H2201/1673—Multidimensional rotation
    • 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
    • A61H2201/5064—Position sensors

Definitions

  • the rehabilitation apparatuses of the prior art often allow the movement of the wrist in a single degree of freedom (known as DOF ) .
  • the obj ect of the present invention is to provide a manipulation unit and a rehabilitation apparatus for the upper limb to largely cover the range of motion of the wrist joint .
  • the object of the present invention is to provide a rehabilitation apparatus that allows the movements of the human wrist in its three degrees of freedom (DOF ) , as shown in the accompanying Fig . 1 : f lexion/extension (FE ) , abduction/adduction, also called ulnar deviation/radial deviation (AA) , pronation/ supination (PS ) .
  • DOF degrees of freedom
  • ROM range of motion
  • a further object of the present invention is to provide a rehabilitation apparatus suitable for delivering a torque as close as possible, preferably at least equal, to that actually delivered by the human wrist , i . e . , from the literature, about 10 Nm in pronation-supination, 15 Nm in flexion-extension and 10 Nm in abduction-adduction .
  • a manipulation unit for a rehabilitation apparatus for the motor recovery of a subject ' s upper limb comprising :
  • a handle group movable with respect to said frame and comprising a handle graspable by the subject ;
  • connection group which connects said handle group to the frame and extends so as to identify a first pronation-supination axis , a second abduction-adduction axis , and a third flexion-extension axis , said first axis , second axis , and third axis being orthogonal to one another, wherein the connection group comprises a pronationsupination subgroup, an abduction-adduction subgroup, and a flexion-extension subgroup; wherein :
  • the pronation-supination subgroup comprises a first kinematic mechanism connected to the frame and suitable for transmitting a rotation about the first axis ;
  • the abduction-adduction subgroup comprises a second right track and a second left track which are curvilinear, extending at least partially about the second axis and which are slidingly engaged with the kinematic mechanism so as to allow the rotation of the handle group about the second axis ;
  • the flexion-extension subgroup comprises a third kinematic mechanism joined to the second right track and the second left track so that the motion of said second right and left tracks is transmitted to said third kinematic mechanism; and wherein the handle group is slidingly engaged with the third kinematic mechanism, and is suitable for running along a curvilinear trajectory to rotate about said third axis .
  • a rehabilitation apparatus comprises a manipulation unit according to the present invention and an electronic control unit operatively and electronically connected to such a manipulation unit configured to process one or more electronic signals from the manipulation unit and/or to execute a plurality of evaluation, exercise, or correction modules .
  • Fig . 1 is a schematic representation of the basic movements in the degrees of freedom of a human wrist ;
  • FIG. 2 is a perspective view of a manipulation unit in one embodiment of the present invention in the neutral position
  • FIG. 3a and 3b are two perspective views of a manipulation unit in one embodiment of the present invention, in pronation and supination;
  • FIG. 4a and 4b are two perspective views of a manipulation unit in one embodiment of the present invention, in radial and ulnar deviation;
  • FIG. 5a and 5b are two perspective views of a manipulation unit in one embodiment of the present invention, in flexion and extension;
  • FIG. 7 shows a handle group according to one embodiment of the present invention
  • FIG. 8 shows a manipulation unit according to one embodiment of the present invention, wherein the handle is grasped by a subject ;
  • FIG. 9 is a perspective view of a rehabilitation apparatus according to an embodiment of the present invention.
  • FIG. 10 is a perspective view of a rehabilitation apparatus according to one embodiment of the present invention, wherein the handle is grasped by a subject in the standing position .
  • a manipulation unit 1 for a rehabilitation apparatus 9 for the motor recovery of the upper limb is collectively indicated with the reference number 1 .
  • a rehabilitation apparatus 9 for articulating the wrist of a sub ject is collectively indicated with the reference number 1 .
  • the manipulation unit 1 comprises a frame 10 and a handle group 3 movable with respect to said frame 10 .
  • the handle group 3 comprises a handle 30 suitable for being grasped by the hand of a subject and a handle support 32 on which the handle 30 is engaged .
  • the handle group 3 is movable with respect to the frame 10 in three degrees of freedom (DOF ) .
  • connection subgroups 21 , 22 , 23 are a pronation-supination subgroup 21 , an abduction-adduction subgroup 22 , and a flexion-extension subgroup 23 .
  • the handle group 3 is directly connected to the flexion-extension subgroup 23 .
  • the pronation-supination subgroup 21 is directly connected to the frame 10 .
  • the abduction-adduction subgroup 22 is interposed between the flexion-extension subgroup 23 and the pronation-supination subgroup 21 and connects them together .
  • connection between the handle group 3 and the frame 10 meets the flexion-extension subgroup 23 , the abduction-adduction subgroup 22 , and the pronation-supination subgroup 21 .
  • the circumferential arc identified by the first curvilinear track 4 defines a first sliding plane A perpendicular to the first axis PS .
  • the sliding of the first curvilinear track 4 occurs in both allowed directions and results in an oscillation about the first axis PS and, due to the connection made with the handle group 3 , achieves the pronation-supination of the hand grasping the handle 30 .
  • the curvilinear track 4 slides in the first guide assembly 50 along its entire length from the right end 41 to the left end 42 and vice versa .
  • the pronation-supination subgroup 21 thus obtained allows a radius of movement of 65/ 65 degrees in pronation/ supination to be achieved .
  • the abduction-adduction subgroup 22 comprises a second right track 6 and a second left track 7 , which are curvilinear and parallel to each other .
  • the abduction-adduction subgroup 22 according to the present invention is suitable for not interfering with the movement of the wrist grasping the handle and allows a complete movement of the subject ' s wrist that in other systems , for example involving the positioning of the prone hand, is not facilitated or is even hindered .
  • the second right track 6 extends between a right free end 61 and a right connecting end 62 identifying a second right sliding plane B orthogonal to the second axis AA (preferably, orthogonal to the first sliding plane A) .
  • the second left track 7 extends between a left free end 71 and a left connecting end 72 identifying a second left sliding plane B' parallel to the second right sliding plane B .
  • the second right track 6 and the second left track 7 are preferably mirrored with respect to the first axis PS .
  • these right and left tracks 6 and 7 extend in two circumferential arcs , even more preferably identical to each other ( i . e . having the same length) .
  • these circumferential arcs are identified by an angle at the center between 145 and 150 degrees , more preferably equal to 147 . 75 degrees .
  • the pronation-supination subgroup 21 comprises a right guide element 51 projecting from the right end 41 and a left guide element 52 projecting from the left end 42 of the first curvilinear track 4 .
  • these guide elements 51 , 52 extend from the first curvilinear track 4 in the direction identified by the first axis PS, i . e .
  • the right guide element 51 extends from the right end 41 in the second right sliding plane B and the left guide element 52 extends from the left end 42 into the second left sliding plane B' , respectively .
  • the right guide element 51 slidingly engages the second right track 6 and the left guide element 52 slidingly engages the second left track 7 .
  • the second right track 6 and the second left track 7 therefore slide in the respective right 51 or left 52 guide elements so that a rotation with respect to the second axis AA is transmitted to the handle group 3 , i . e . so that the abduction-adduction movement is simulated .
  • the right guide element 51 and the left guide element 52 comprise respective rotating rollers , preferably four on the right and four on the left , for guiding and facilitating the sliding of the respective second right 6 and left 7 tracks .
  • the second right track 6 and the second left track 7 move solidly with each other .
  • the second right track 6 and the second left track 7 slide for their entire length from the relative free end 61 , 71 to the relative connecting end
  • the second right track 6 and the second left track 7 are mounted in such a way that the relative right and left free ends 61 , 71 are offset in the direction of the ulnar deviation at an angle of +3 . 1 degrees with respect to a vertical plane .
  • the abduction-adduction subgroup 22 thus obtained allows a radius of movement of 60 degrees in ulnar deviation and 35 degrees in radial deviation to be achieved .
  • the second right track 6 and the second left track 7 may be designed to be longer in length to allow even greater movement radii (where necessary and sensible and without generating interference in the movement of the unit ) .
  • the flexion-extension subgroup 23 comprises a third kinematic mechanism 8 joined to the second right track 6 and to the second left track 7 so that the motion of said second right and left track 6, 7 is transmitted to said third kinematic mechanism 8 .
  • the third kinematic mechanism 8 is a third curvilinear track 8 extending between a first end portion 81 and a second end portion 82 .
  • the third curvilinear track 8 extends mainly into a third sliding plane C orthogonal to the third axis FE .
  • the third track 8 identifies a circumferential arc centered in the third axis FE .
  • the third curvilinear track 8 defines a semi-circumference centered on the third axis FE . That is , preferably, the third curvilinear track 8 is semicircular . [0066] The third curvilinear track 8 is rigidly connected to the second right track 6 and to the second left track 7 , preferably at the end portions 81 , 82 thereof .
  • first end portion 81 is constrained to the right connecting end 62 of the second right track 6, and the second end portion 82 is constrained to the left connecting end 72 of the second left track 7 .
  • the handle group 3 is slidingly engaged to the third curvilinear track 8 , i . e . it slides on the track 8 about the third axis FE .
  • the handle support 32 comprises a third guide group 53 in which the third curvilinear track 8 is slidingly engaged .
  • the third curvilinear track 8 slides along its entire length from the first end portion
  • the third guide group 53 comprises rotating rollers , preferably four, to for guiding and facilitating the sliding of the third curvilinear track 8 into the third guide group 53 .
  • said motors are connected to respective position sensors which transmit to the electronic control unit 90 , operatively and electronically connected to said manipulation unit 1 , the position of the handle group 3 with respect to said first axis PS, second axis AA, third axis FE .
  • the motors are operable by the electronic control unit to compensate for any weight imbalances due to gravity . That is , such motors are configured to keep the handle surface in line with the positioning of the forearm in the neutral position, along the first axis PS . [0077] More generally, the motors are operable to compensate for the force of gravity instantaneously in each position assumed by the rehabilitation apparatus .
  • the first curvilinear track 4 and/or the second right track 6 and/or the second left track 7 and/or the third curvilinear track 8 are made of aluminum .
  • the rotating rollers are made of bronze .
  • the outer diameter of the first curvilinear track is between 167 mm and 170 mm, preferably equal to 168 . 56 mm .
  • the outer diameter of the second right track 6 and the second left track 7 is between 237 mm and 240 mm, preferably it is 238 . 38 mm .
  • the outer diameter of the third curvilinear track 8 is between 160 and 165 mm, preferably equal to 163 . 63 mm .
  • the pronation-supination subgroup 21 allows the pronation and supination of the human wrist-forearm assembly with rotational movements about the first axis PS
  • the abduction-adduction subgroup 22 allows the radial and ulnar deviation of the human wrist with rotational movements about the second axis AA
  • the flexion-extension subgroup 23 allows the flexion and extension of the wrist with rotational movements about the third axis FE .
  • each subgroup 21 , 22 , 23 is equipped with a relevant motor and a transmission system based on toothed belts , which are not essential for the operation of the rehabilitation apparatus .
  • each subgroup may be used both with and without the motor installed .
  • the rehabilitation apparatus is suitable for operating in an active assisted or resistive manner by means of the torques delivered by the motors to each affected subgroup, but it is also possible to move the handle group without activating the motor, i . e . , to use the rehabilitation apparatus passively .
  • a subject grasps the handle 30 so that the anatomical axes of the wrist correspond to the virtual axes of the device .
  • the handle 30 extends in a substantially vertical preferential extension direction Y and is suitable for being grasped by the hand of a subject , preferably with the palm of the hand identifying a substantially vertical plane in which lies such preferential extension direction Y, which closes about said handle 30 .
  • the preferential extension direction Y is parallel to the third axis FE .
  • the handle 30 comprises an upright 300 and a grasping element (not shown) arranged above the upright 300 .
  • the grasping element is preferably made of a soft and/or yielding material, preferably expanded (for example foam or rubber or padded fabric) and may be shaped to facilitate the correct positioning of the hand .
  • the rehabilitation apparatus 1 comprises an upper limb locking system that fixes the subject ' s forearm and hand in the correct position .
  • a locking system comprises a wrist locking group 200 , a hand locking group 201 , and an elbow locking group 202 , as shown for example in Fig . 8 .
  • the hand locking group 201 is integrated into the handle group 3 and in particular into the upright 300 of the handle .
  • the handle 30 is engaged in a linearly translatable manner with respect to the handle support 32 .
  • the handle 30 is linearly translatable with respect to the handle support 32 , preferably along a horizontal direction X orthogonal to the preferential extension direction Y .
  • the horizontal direction X is parallel to, even more preferably coincident with, the first axis PS .
  • the handle support 32 comprises a linear guide slidingly engaged with the handle 30 .
  • the linear guide comprises a pair of sliding rods 39 extending in the horizontal direction X .
  • the handle 30 comprises a foot 35 connected to a pair of carriages 37 sliding on said sliding rods 39 .
  • the sliding rods 39 are cylindrical, and such pair of carriages 37 is equipped with recirculating ball bushings 38 that facilitate their sliding on said rods .
  • the linear guide further comprises a locking mechanism suitable for fixing the position of the handle 30 along such linear guide .
  • the linear guide has a stroke of between 90 and 100 mm, preferably equal to 95 mm .
  • this embodiment makes the manipulation unit 1 adaptable to both adults and children and, more generally, adjustable to adapt to the patient ' s anthropometric measurements .
  • this manipulation unit 1 may be customized to operate as faithfully as possible with each subj ect .
  • this function allows an additional degree of freedom to be provided to the motion of the wrist , possibly leaving the guide free to slide even during operation .
  • this embodiment makes the handle movable in four degrees of freedom .
  • this linear guide makes it possible to compensate for the biomechanics of the wrist joint , which is not a perfectly spherical joint .
  • the handle group 3 further comprises a position sensor 5 configured to detect the instantaneous position of the handle 30 on the linear guide .
  • the position sensor is a magnetic linear encoder and comprises a chip board positioned below the foot 35 of the handle 30 , and a magnetic belt 500 integral with the handle support 32 , near which such a board slides - preferably substantially in contact - to transmit the position of the handle 30 with respect to the linear guide .
  • the magnetic belt 50 is positioned between the sliding rods 39 .
  • the addition of a position sensor makes it possible to measure the instantaneous position of the handle - and thus , of the subject ' s hand - on the linear guide while performing rehabilitation tasks . Given the position and knowing the motor torque values , it is possible to correctly estimate the force applied by the rehabilitation apparatus to the user .
  • this sensor therefore allows an accurate knowledge of the forces exchanged between the user and the device, which is essential for improving the reliability of the results and for leading to safer conditions of use .
  • the electronic control unit 90 is configured to receive and process signals collected and sent by the manipulation unit 1 and to return control feedback, either automatic or manually controlled, to the manipulation unit 1 based on the reading and processing of these signals .
  • the electronic control unit 90 is configured to command the manipulation unit 1 to carry out a plurality of evaluation, operation, or correction modules .
  • the electronic control unit 90 commands the manipulation unit 1 to carry out an evaluation module with which to evaluate the motor and proprioceptive function of the subject ' s wrist by passively reading the movement of the manipulation unit 1 or to carry out an exercise module with which to train the rehabilitation of the subject ' s wrist by actively controlling the manipulation unit 1 .
  • the electronic control unit is configured to drive the motors to compensate for any weight imbalances of the manipulation unit due to gravity .
  • the frame 10 constitutes the load-bearing structure of the manipulation unit 1 .
  • the frame 10 comprises at least one support base 100 suitable to support the upper limb of a subject , preferably the sub ject ' s forearm .
  • the support base 100 is therefore adapted, sized, and shaped, preferably curved, to ergonomically receive a forearm of a subject .
  • the support base 100 has a support pad that faces the subject ' s forearm to comfortably allow for the support , even prolonged, thereof .
  • the present invention also relates to a rehabilitation apparatus 9 comprising a manipulation unit 1 according to any embodiment described in the present discussion .
  • the rehabilitation apparatus 9 comprises a load-bearing structure 900 suitable for supporting the manipulation unit 3 and the electronic control unit 90 .
  • the load-bearing structure 900 is provided with wheels 920 to allow easy movement thereof .
  • the rehabilitation apparatus 9 further comprises a display and interface unit 95 comprising one or more display and control systems 950 , for example one or more displays .
  • the load-bearing structure further comprises a height adjustment system 96, for example a telescopic upright , suitable for adjusting the height of the manipulation unit 1 and/or the interface and display system 95 so that it is suitable for the height and/or position of the patient , whether sitting, standing, or lying down .
  • a height adjustment system 96 for example a telescopic upright , suitable for adjusting the height of the manipulation unit 1 and/or the interface and display system 95 so that it is suitable for the height and/or position of the patient , whether sitting, standing, or lying down .
  • the rehabilitation apparatus 9 comprises an inclination system that is suitable for adjusting the inclination of the manipulation unit 1 with respect to the load-bearing structure 900 , i . e . suitable for rotating the entire manipulation unit 1 with respect to the load-bearing structure 900 .
  • this system allows the working axes of the manipulation unit 1 to be fitted with the axes of the upper limb of a subject even when the subject is not able to assume an upright position, for example due to physical problems , or when the subject is not able to position the arm correctly due to elbow f lexion/extension deficiencies .
  • the present discussion describes , without being limiting in nature or without loss of generality, the application of the manipulation unit 1 in a rehabilitation apparatus 9 for the upper limb, which may be used, for example, in the hospital or at the home of the subject to be treated .
  • the described manipulation unit finds application in a device for evaluating motor capacity .
  • the device may be used, for example, to collect data on the movement , force, and sensory function of the patient in a therapeutic session and/or in multiple sessions . These data may help therapists to quantify patient improvements and/or to identify problem areas on which to focus treatment . It may also be used for preventive evaluations , such as the prevention of accidents at work .
  • a further application may be in a research tool to study the brain and how it controls , coordinates , and perceives movement and body position .
  • the device may be used to map the activity of the wrist with respect to brain activity .
  • technology that is able to monitor or visualize brain activity such as electromyography (EMG) , electroencephalography (EEG) , positron emission tomography (PET) or functional magnetic resonance imaging ( fMRI ) , it is possible to map the relationships between wrist movements and brain activity .
  • EMG electromyography
  • EEG electroencephalography
  • PET positron emission tomography
  • fMRI functional magnetic resonance imaging
  • the manipulation unit 3 finds application inside a sports training device .
  • the device may be used to train or evaluate sensorimotor conditions of the wrist in sports such as climbing, tennis , and golf .
  • the manipulation unit finds application in a training device for upper limb prostheses .
  • the manipulation unit is used in the field of video game controllers , in virtual reality, and in the remote control of remote stations .
  • the present invention solves the drawbacks of the rehabilitation apparatuses of the prior art .
  • the tracks that make up the pronation-supination subgroup are such as to allow for the pronation-supination motion while keeping the handle grasped and thus achieving a complete movement of the subject ' s wrist .
  • the rehabilitation apparatus comprises tracks and rollers designed to gently couple and slide with each other without generating unwanted spaces and vibrations .
  • the entire radius of movement of the wrist within the three degrees of freedom may be reached both passively ( i . e . , without the provision of driving torque by the motors ) and in an assisted and/or perturbative and/or resistive manner ( i . e . , with the provision of driving torque by the motors ) .
  • the manipulation unit is versatile and may be used without motors or with motors .
  • the manipulation unit is adapted to implement both the simple movements in the three separate degrees of freedom and the complex movements deriving from a combination thereof .
  • the manipulation unit is symmetrical and may therefore be used by both the upper left and upper right limbs of a subject .
  • the manipulation unit is not affected by interference between the subgroups of the connection group during the movement thereof .
  • each variant described as belonging to a possible embodiment may be implemented independently of the other variants described .

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  • 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)
  • Rehabilitation Tools (AREA)

Abstract

Une unité de manipulation (1) pour un appareil de rééducation (9) comprend un cadre (10), un groupe de poignées (3) mobile par rapport audit cadre (10) et un groupe de liaison (2) qui relie ledit groupe de poignées (3) au cadre (10) et qui comprend : un sous-groupe de supination-pronation (21), qui comprend un premier mécanisme cinématique (4) pour transmettre la rotation autour d'un premier axe (PS) ; un sous-groupe d'abduction-adduction (22), qui comprend une deuxième piste droite (6) et une deuxième piste gauche curviligne (7) pour transmettre la rotation du groupe de poignées (3) autour d'un deuxième axe (AA) ; un sous-groupe d'extension-flexion (23), qui comprend un troisième mécanisme cinématique (8), en prise avec le groupe de poignées (3) pour permettre au groupe de poignées de tourner autour d'un troisième axe (FE). Un appareil de rééducation comprend ladite unité de manipulation (1).
PCT/IB2024/058927 2023-09-22 2024-09-13 Unité de manipulation et appareil de rééducation pour le membre supérieur Pending WO2025062260A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IT102023000019617 2023-09-22
IT202300019617 2023-09-22

Publications (1)

Publication Number Publication Date
WO2025062260A1 true WO2025062260A1 (fr) 2025-03-27

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Application Number Title Priority Date Filing Date
PCT/IB2024/058927 Pending WO2025062260A1 (fr) 2023-09-22 2024-09-13 Unité de manipulation et appareil de rééducation pour le membre supérieur

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160270999A1 (en) * 2015-03-20 2016-09-22 Regents Of The University Of Minnesota Systems and methods for assessing and training wrist joint proprioceptive function
EP3936104A1 (fr) * 2020-06-28 2022-01-12 Vysoká Skola Bánská - Technická Univerzita Ostrava Articulation à deux degrés de liberté pour utilisation dans les exosquelettes et les établissements de rééducation

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160270999A1 (en) * 2015-03-20 2016-09-22 Regents Of The University Of Minnesota Systems and methods for assessing and training wrist joint proprioceptive function
EP3936104A1 (fr) * 2020-06-28 2022-01-12 Vysoká Skola Bánská - Technická Univerzita Ostrava Articulation à deux degrés de liberté pour utilisation dans les exosquelettes et les établissements de rééducation

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