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WO2025221205A1 - Dispositif d'exosquelette - Google Patents

Dispositif d'exosquelette

Info

Publication number
WO2025221205A1
WO2025221205A1 PCT/SG2025/050259 SG2025050259W WO2025221205A1 WO 2025221205 A1 WO2025221205 A1 WO 2025221205A1 SG 2025050259 W SG2025050259 W SG 2025050259W WO 2025221205 A1 WO2025221205 A1 WO 2025221205A1
Authority
WO
WIPO (PCT)
Prior art keywords
exoskeleton device
exoskeleton
rigid section
rigid
repeating
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/SG2025/050259
Other languages
English (en)
Inventor
Rafael BAENZIGER
Natalie TANCZAK
Jaeyong Song
Jan DITTLI
Raffaele RANZANI
Olivier Lambercy
Roger Gassert
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.)
Eidgenoessische Technische Hochschule Zurich ETHZ
ETH SINGAPORE SEC Ltd
Original Assignee
Eidgenoessische Technische Hochschule Zurich ETHZ
ETH SINGAPORE SEC Ltd
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 Eidgenoessische Technische Hochschule Zurich ETHZ, ETH SINGAPORE SEC Ltd filed Critical Eidgenoessische Technische Hochschule Zurich ETHZ
Publication of WO2025221205A1 publication Critical patent/WO2025221205A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • 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
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • 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
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about

Definitions

  • the present invention relates, in general terms, to an exoskeleton device for assisted movement of a member of the body (e.g. the upper or lower extremities, particularly the hand or fingers). More particularly, the present invention relates to, but is not limited to, flexible accordion-like structures for facilitating curved motions.
  • the present invention relates to a customizable soft accordion-like structured exoskeleton device and a sliding spring, also referred to as a driving spring blade, to facilitate flexion, extension, and/or bending.
  • a sliding spring also referred to as a driving spring blade
  • flexion, extension, and/or bending As a primary application, it is implemented in the context of a hand exoskeleton to assist finger flexion and extension.
  • an exoskeleton for assisted movement of a member comprising a plurality of joints, comprising: a plurality of rigid sections including a first rigid section and a second rigid section positioned at respectively opposite ends of the member and at least one intermediate rigid section between the first and second rigid sections and positioned between neighbouring ones of said joints in the member; a repeating M structure comprising a plurality of length segments, each length segment extending between a respective pair of said rigid sections; and a driving spring blade extending at least from the first rigid section to the second rigid section, along an external region of the repeating M-structure.
  • Another aspect of the present invention provides a robotic gripper comprising an end effector (e.g., in the form of an industrial robot arm, or a prosthetic socket) and the exoskeleton device, attached to the end effector to assist prehension of objects or interaction with the environment.
  • an end effector e.g., in the form of an industrial robot arm, or a prosthetic socket
  • the exoskeleton device attached to the end effector to assist prehension of objects or interaction with the environment.
  • Figure la depicts an exoskeleton device for assisted movement of a member comprising a plurality of joints, according to various embodiments of the present invention.
  • Figure lb depicts an exploded view of the exoskeleton device for assisted movement of a member comprising a plurality of joints, according to various embodiments of the present invention.
  • Figure 2 illustrates an example application of the exoskeleton device as a finger component of a hand exoskeleton, according to various embodiments of the present invention.
  • Figure 3 shows a photographic example of the exoskeleton device, used in a collection to form an exoskeleton assembly, demonstrating its application in assisting finger flexion and extension, according to various embodiments of the present invention.
  • Various embodiments of the present invention provide an exoskeleton device for assisted movement of a member of the body (e.g. the upper or lower extremities, particularly the hand or fingers).
  • a member of the body e.g. the upper or lower extremities, particularly the hand or fingers.
  • the device features a modular and customizable outer frame or external region that translates linear input into controlled bending.
  • the accordion-like geometry, achieved using a series of interconnected M-shaped structures, of the device enables precise control over flexion and extension behaviours, including adjustment of maximum bending angles and alignment of the centre of rotation for each individualized bending segment or length segment.
  • this design offers an effective and versatile solution for supporting finger joint flexion and extension, with potential applicability to other anatomical areas such as the wrist or elbow.
  • the device is optimized for portability, featuring a compact, lightweight and fully wearable form factor.
  • the mechanical simplicity consisting mainly of hinge-like mechanisms along the outer region and a single spring blade (or, in some embodiments, multiple embedded spring blades) for motion transmission, improves both reliability and operational ease.
  • the spring blade is internal of the structure of the exoskeleton (e.g., within slots), though it is on an external side of the repeating M-structure - i.e., the repeating M-structure is between the spring blade and the member (e.g., finger).
  • the exoskeleton device (100) comprises a plurality of rigid sections including a first rigid section (102) and a second rigid section (104) positioned at respectively opposite ends of the member, and at least one intermediate rigid section (106) between the first and second rigid sections.
  • the intermediate sections (106) are positioned between neighbouring ones of said joints in the member - e.g., joints of a finger.
  • the exoskeleton device (100) further comprises a repeating M-structure (108) comprising a plurality of length segments (110).
  • Each length segment (110) extends between a respective pair of said rigid sections (i.e. between the first rigid (102) section and a neighbouring intermediate rigid section (106), between neighbouring intermediate rigid sections (106) and, between the second rigid section (104) and a neighbouring intermediate rigid section (106)).
  • a torsional and transverse stiffness of each length segment may be set through the dimensions and thickness of said segment as well as the dimensions and thickness(es) of the M segment, in order to set the amount of force to be applied to the member.
  • the member may comprise a finger of a hand and the plurality of rigid sections including one rigid section between neighbouring joints in the finger. It can be useful for such an exoskeleton device to be positioned on each finger and, potentially, also the thumb - the thumb would require only a single intermediate section (106). A collection of such exoskeleton devices forms an exoskeleton assembly.
  • the term “external region” denotes the outer frame or surface of the repeating M-structure (108) that is oriented away from the bodycontacting surface or opposite of the body-contacting surface.
  • the member is on an internal side of the repeating M-structure, and the driving spring blade is on an external side of the repeating M-structure.
  • the exoskeleton device (100) further comprises a driving spring blade (112) which extends at least from the first rigid section (102) to the second rigid section (104), along an external region or side of the repeating M-structure (108).
  • the driving spring blade (112) therefore passes through each intermediate section.
  • the driving spring blade is driven by a motor (not shown).
  • a single motor may drive multiple driving spring blades of the exoskeleton devices.
  • each driving spring blade may be driven by a separate motor.
  • Figure lb depicts an exploded view (100b) of the exoskeleton device showing main components of the device such as the repeating M-structure (108), one sliding spring or driving spring blade (112) and a screw (114) that connects the driving spring blade (112) to the structure.
  • the distal end of the driving spring blade (being at the distal end of the member) is fixed to the first rigid section (102).
  • the driving spring blade (112) is extendable and retractable to actuate the exoskeleton.
  • the driving spring blade extends through a plurality of individual slots or apertures formed along the external region of the repeating M-structure (108). These slots are configured to guide the blade (112), allowing it to slide, while also ensuring that the bend in the repeating M-structure (108) conforms to the bend of the driving spring blade (112). As the blade (112) advances, it enables controlled curvature of the exoskeleton device, thereby facilitating its flexion.
  • M-structure can interchangeably be referred to as an M- lattice structure unless context dictates otherwise.
  • the structure comprises a series of "M” shapes or “M” segments with a depth sufficient to resist bending transverse to the longitudinal direction.
  • the repeating M-structure (108) of the preferred embodiment is a structural lattice comprising a single layer of serially connected "M" shapes or “M” segments arranged in a horizontal orientation. In some embodiments, multiple layers may be used with the driving spring blade being external of all layers, or being positioned between layers.
  • the "M” shape can be viewed as such from a side view depicted in Figure 2.
  • Each "M" shape or “M” segment includes two angled V-shaped members, forming a continuous wave-like profile along the length of the lattice.
  • the two angled members of the "M" segment each have an extension (221 - in the exploded portion of Figure 2, also referred to as extension limiters as shown in exploded section 109a of Figure la) projecting externally of the M-shaped lattice structure.
  • Each extension has a slot or aperture for receiving the driving spring blade (112) and guiding movement of the driving spring blade (112).
  • Each extension 221 is shaped at its external end (the internal end being connected to the apex of the V-shaped angle structure of each M-shape) to provide a predetermined gap, which may be no gap, when the member is in an hyperextended position. The shape may result in a T- shaped extension when viewed from the side, as shown in Figure 2.
  • the extensions resist further bending of the M-shaped lattice structure if an attempt is made to further withdraw or shorten the driving spring blade (112). This prevents excessive hyperextension of the joints of the member.
  • the opposite ends of the V-shaped structures are shaped so that the gap between neighbouring said opposite ends of the V-shaped structures limits the amount of flexion that can be applied (these ends, shown in exploded section 109b in Figure la, may also be referred to as flexion limiters).
  • the shape of the exoskeleton device (100), and thus of the member to which it is attached, when in each of a position of maximum flexion and maximum extension is predetermined by the M-shaped lattice structure and extensions (221).
  • the gap between neighbouring ends of V-shaped structures differs between length segments, thereby allowing a joint to have a greater degree of flexion than another joint.
  • a hinge-like mechanism may be implemented through flexible segments of the repeating M-structure (108) i.e. length segments (110), along dotted line (111).
  • the M-shapes are connected in series such that the angles in the structure can increase and decrease - if the angles between legs of the M-shape increase on one side (internal or external) of each M-shape, then the angles between the legs, on the other side, necessarily decrease.
  • the hingelike mechanism is configured to allow relative rotational movement between connected "M" segments. Moreover, while the angles in the M-shapes may vary, the length along an approximate midline of the repeating M-structure remains substantially unchanged.
  • each length segment (110) may be adjusted by selecting the type of material and dimensions.
  • One length segment (110) may be formed from a different material from another length segment(s). This would allow for preferential flexion of one length segment relative to another length segment - i.e. a less stiff length segment will bend first, or to a greater degree, than a more stiff length segment.
  • a similar effect can be achieved by varying the dimensions - e.g., the thickness - of M-shapes in one length segment relative to another length segment.
  • the length segments (110) should be flexible enough to allow rotational movement between connected "M” segments but should not be stretchable or compressible so to retain its original length.
  • the structure should restrict linear elongation. This hinge-like mechanism or configuration allows the M lattice to bend and translates linear input through the driving spring blade (112) into controlled bending while preserving structural integrity and maintaining its overall length.
  • the repeating M structure (108) extends in a longitudinal direction over the joint and possesses a depth sufficient to resist bending in the traverse direction, adding to stability and control. At the same time, it is narrow enough along its length in the longitudinal direction, to allow and facilitate bending during flexion. For example, each exoskeleton device may be thinner in the transverse direction that the member to which it is attached.
  • the soft, compliant, accordion-like external region is the mechanical backbone, allowing the sliding spring or driving spring blade (112) to transfer linear motion into a flexion-like movement pattern.
  • Extension and flexion limiters as shown in Figure la (see exploded sections 109a, 109b), are integrated along both the external and internal regions of the length segments (110) respectively. As discussed above, the flexion limiters on the internal region prevents overbending or excess flexion of the "M"-lattice. The extension limiters on the external region prevent excessive hyperextension of the member.
  • the "internal region” denotes the body- or member-contacting surface of the device.
  • the sliding spring or driving spring blade (112) slides through the slots (at the external region) and pushes the first rigid section (102) of the finger exoskeleton.
  • the 'M' segments of repeating M-structure (108) maintain a constant linear length.
  • Their geometry allows for flexion and extension in the X-Y plane shown in Figure 2 while inhibiting flexion on the Z-direction.
  • the structure's parameters of the device may be fully tailored based on userspecific anatomical data including but not limited to finger length, phalangeal segment dimensions, and finger width. Such customization facilitates accurate alignment of the exoskeleton joints with the corresponding anatomical joints, thereby enhancing the effectiveness of assistive force transmission and mitigating the occurrence of parasitic forces resulting from misalignment.
  • the respective density, thickness, angle, widths, heights and/or material (all of which control the stiffness) of the 'M' segments allow for the control of defining the maximum range of motion of each respective segment.
  • the structure configuration inherently restricts linear elongation, a characteristic necessary to convert the linear translation of the spring into a corresponding bending motion. This induced bending translates into a torque applied to the respective joints to facilitate flexing of the attached human finger.
  • the accordion-like structure was developed so that its features are modular and adjustable.
  • the 'M' segments or length segment (110) are connected with rigid sections (102, 104, 106) that overlay each respective phalange of the human finger.
  • Each rigid section (with exception of the second rigid section) may comprise a strap - e.g. a hook and loop fastener - extendable around the member, to secure the rigid section to the member.
  • This can adjust the flexion behaviour at independent joints (i.e., the distal interphalangeal joint (DIP joint), proximal interphalangeal joint (PIP joint), and metacarpophalangeal joint (MCP joint)).
  • DIP joint distal interphalangeal joint
  • PIP joint proximal interphalangeal joint
  • MCP joint metacarpophalangeal joint
  • Placement of the length segment (110) and plurality of rigid sections (102, 104, 106) can therefore be predetermined or selected to determine flexion behaviour (e.g., force required for flexion, limit of flexion and/or extension, and so on). Manufacturing was also considered when designing the structure, resulting in a single component which can either be 3D printed or moulded.
  • Figure 2 illustrates an example application of the exoskeleton device as a finger component of a hand exoskeleton.
  • the customizable repeating "M" shapes e.g. one "M” shape (220) is depicted in bold
  • MCP metacarpophalangeal
  • PIP proximal interphalangeal
  • DIP distal interphalangeal
  • joint centres (218) are located between a respective pair of rigid sections (i.e. between the first rigid section (202) and a neighbouring intermediate rigid section (206), or between two neighbouring intermediate rigid sections (206) or between the second rigid section (204) and a neighbouring intermediate rigid section (206)).
  • the rigid sections may align with bones of the index finger or the member.
  • rigid sections (202, 204, 206) are positioned between neighbouring joints in the members to which the exoskeleton is attached. Neighbouring joints are those that, when travelling along the repeating M structure from one end of the member to the opposite end of the member, are encountered with no other intervening joints.
  • a neighbouring joint would be between the proximal and middle phalanges of the index finger, but not between the middle and distal phalanges.
  • the neighbouring joint would be that between the proximal and middle phalanges.
  • the driving spring blade (112) is a cold-rolled stainless steel spring blade (or equivalent flexible material), which provides the requisite strength and stiffness to convert a longitudinal input force—such as that generated by a linear actuator, rack-and-pinion mechanism, or equivalent motor-driven system— into a transverse grasping force. This force enables flexion of the finger for grasping and lifting objects.
  • the mechanical properties of the spring blade (112) are imperative for the design of the present invention. On the one hand, the spring blade (112) must be stiff enough to provide adequate resistance when the system is flexed and to transmit sufficient force for bending. On the other hand, the entire system is designed to be soft and compliant, so when the exoskeletal finger is extended, it should not be restrictive.
  • the spring must be stiff in one direction (to allow force transmission - e.g., in the longitudinal direction along which it is extended and retracted) and elastic in the other (to allow bending - e.g., the direction extending perpendicular to the longitudinal direction and towards the member).
  • Embodiments of the presented invention introduce simplicity, only requiring a single spring to allow bending in a 2D plane.
  • multiple driving spring blades (112) - e.g., of multiple exoskeleton devices - are driven by a single linear motor.
  • four driving spring blades (112) are driven by a single linear motor, particularly for heavy tasks where all fingers are manipulated the same way at the same time.
  • each driving spring blade (112) is driven by a separate driving motor.
  • four driving spring blades (112) are driven by different motors, particularly for fine finger movements where fingers need to move relative to each other to produce an action or gesture.
  • the thumb may also have an exoskeleton device that is driven either in unison with the other exoskeleton devices in a hand exoskeleton (e.g., using a single motor for the entire hand exoskeleton, including the four finger exoskeleton devices), or may be driven by a separate motor.
  • multiple layers of springs can be added to increase output strength, range of motion, and/or control (e.g., multiple degrees of freedom).
  • attachment points e.g., to connect the exoskeleton finger to a human finger as shown in photographic example of Figure 3
  • sensors e.g., to measure contact forces or to serve as intention detection strategies
  • varying contact surfaces e.g., adding silicone to increase grip
  • the proposed structure can be used to build a hand exoskeleton supporting finger flexion and extension motion in a natural manner. It can then serve as an assistive device to support activities of daily living and/or as a rehabilitative (therapy) device.
  • the design of the accordion-like structure is not limited to the fingers of a hand exoskeleton.
  • Other possible applications include providing assistance to the wrist, elbow, back, knee, ankle, or any joint of the human body. Such applications may include both rehabilitation (e.g., after traumatic or neurological injuries) or pre-rehabilitation (e.g., as a supportive structure to prevent injuries).
  • the proposed structure may be applied as well for flexible structures in various applications, e.g. endoscopy.
  • the proposed structure can be utilized as a soft robotic gripper for various industrial applications such as automation (e.g., a pick and place robot), or as assistive technology (e.g., prosthesis). This may be achieved using a robotic hand that is actuated using the present exoskeleton devices.
  • automation e.g., a pick and place robot
  • assistive technology e.g., prosthesis
  • the present concept offers several advantages over existing bending mechanisms used in finger exoskeleton designs, particularly those that are tailorable but often cumbersome to assemble due to the large number of individual components required.
  • soft hand exoskeletons while easier to fabricate, typically lack precise control over joint bending because of the inherent limitations in their mechanisms.
  • the design described here strikes a balance by maintaining a soft and compliant structure while introducing an added layer of control. It enables modulation of bending properties at each joint segment.
  • the use of 'M' segments allows the system to remain flexible yet structurally integrated, achieved through a single, 3D-printed part. This not only simplifies fabrication and assembly but also improves the interface between the exoskeleton and the human finger.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Transplantation (AREA)
  • Biomedical Technology (AREA)
  • Mechanical Engineering (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Prostheses (AREA)

Abstract

L'invention concerne un dispositif d'exosquelette pour le mouvement assisté d'un membre du corps. L'exosquelette est destiné au mouvement assisté d'un membre comprenant une pluralité d'articulations. L'exosquelette comprend une première section rigide et une seconde section rigide positionnées à des extrémités respectivement opposées du membre et une section rigide intermédiaire entre les première et seconde sections rigides et positionnée entre les articulations dans le membre. L'exosquelette comprend également une structure M répétée comportant une pluralité de segments de longueur, chaque segment de longueur s'étendant entre une paire respective desdites sections rigides, et un ressort d'entraînement s'étendant au moins de la première section rigide à la seconde section rigide, le long d'une zone extérieure de la structure M répétée, le ressort d'entraînement étant extensible et rétractable pour actionner l'exosquelette. Une rigidité de chaque segment de longueur est sélectionnée sur la base d'une quantité de force à appliquer au membre.
PCT/SG2025/050259 2024-04-15 2025-04-15 Dispositif d'exosquelette Pending WO2025221205A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SG10202401094R 2024-04-15
SG10202401094R 2024-04-15

Publications (1)

Publication Number Publication Date
WO2025221205A1 true WO2025221205A1 (fr) 2025-10-23

Family

ID=97404520

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SG2025/050259 Pending WO2025221205A1 (fr) 2024-04-15 2025-04-15 Dispositif d'exosquelette

Country Status (1)

Country Link
WO (1) WO2025221205A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170071687A1 (en) * 2014-09-04 2017-03-16 Memic Innovative Surgery Ltd. Device and system including mechanical arms
CN106943277A (zh) * 2017-04-18 2017-07-14 上海理工大学 自适应穿戴式柔顺外骨骼康复机械手
CN106983634A (zh) * 2017-04-20 2017-07-28 西安交通大学 一种基于多段连续结构的外骨骼手指功能康复装置
US20170266075A1 (en) * 2014-12-04 2017-09-21 Telerobot Labs S.R.L. Aid device for the movement and/or rehabilitation of one or more fingers of a hand

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170071687A1 (en) * 2014-09-04 2017-03-16 Memic Innovative Surgery Ltd. Device and system including mechanical arms
US20170266075A1 (en) * 2014-12-04 2017-09-21 Telerobot Labs S.R.L. Aid device for the movement and/or rehabilitation of one or more fingers of a hand
CN106943277A (zh) * 2017-04-18 2017-07-14 上海理工大学 自适应穿戴式柔顺外骨骼康复机械手
CN106983634A (zh) * 2017-04-20 2017-07-28 西安交通大学 一种基于多段连续结构的外骨骼手指功能康复装置

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