AN APPARATUS FOR UPPER BODY MOVEMENT

• US 20150302777A1
• Filed: 12/10/2013
• Published: 10/22/2015
• Est. Priority Date: 12/10/2012
• Status: Active Grant

• Current Assignee: Nanyang Technological University
• Original Assignee: Nanyang Technological University
• Inventors: CAMPOLO, Domenico, WIDJAJA, Ferdinan, KLEIN HUBERT, Julius
• Granted Patent: US 9,847,045 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61H 1/0274 for the upper limbs
• CPC Class Codes: A61H 2201/0157 portable
• CPC Class Codes: A61H 2201/1215 Rotary drive
• CPC Class Codes: A61H 2201/123 Linear drive
• CPC Class Codes: A61H 2201/1246 by piston-cylinder systems
• CPC Class Codes: A61H 2201/149 rotation-linear or vice versa
• CPC Class Codes: A61H 2201/1635 Hand or arm, e.g. handle hand-held, A61H2201/0153; fore-arm support, A61H2003/006
• CPC Class Codes: A61H 2201/1638 Holding means therefor
• CPC Class Codes: A61H 2201/1666 multidimensional
• CPC Class Codes: A61H 2201/5007 computer controlled
• CPC Class Codes: A61H 2201/5043 Displays
• CPC Class Codes: A61H 2201/5061 Force sensors
• CPC Class Codes: A61H 2201/5064 Position sensors
• CPC Class Codes: A61H 2201/5092 Optical sensor
• CPC Class Codes: A63B 2022/0094 for active rehabilitation, e.g. slow motion devices
• CPC Class Codes: A63B 2024/0096 using performance related parameters for controlling electronic or video games or avatars
• CPC Class Codes: A63B 2071/0655 Tactile feedback
• CPC Class Codes: A63B 21/00178 for active exercising, the apparatus being also usable for passive exercising
• CPC Class Codes: A63B 21/00181 comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
• CPC Class Codes: A63B 21/0058 using motors
• CPC Class Codes: A63B 21/4035 : for operation by hand
• CPC Class Codes: A63B 21/4043 : Free movement, i.e. the only restriction coming from the resistance A63B21/00043, A63B21/072 take precedence
• CPC Class Codes: A63B 21/4047 : Pivoting movement weight pivoting A63B21/0615
• CPC Class Codes: A63B 2220/10 : Positions
• CPC Class Codes: A63B 2220/51 : Force
• CPC Class Codes: A63B 2220/54 : Torque
• CPC Class Codes: A63B 2220/805 : Optical or opto-electronic sensors
• CPC Class Codes: A63B 23/12 : for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles bench press exercises A63B21/078; for teaching music G09B15/06
• CPC Class Codes: A63B 24/0087 : Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
• CPC Class Codes: G09B 23/28 : for medicine

Abstract

There is provided an apparatus for upper body movement. The apparatus comprises a H-shaped cable-driven mechanism; two motors for driving the H-shaped cable-driven mechanism; and a manipulandum coupled to the H-shaped cable-driven mechanism for independent movement along x and y axes.

Claims

1. An apparatus for upper body movement, the apparatus comprising:

a H-shaped cable-driven mechanism;

two motors for driving the H-shaped cable-driven mechanism; and

a manipulandum coupled to the H-shaped cable-driven mechanism for independent movement along x and y axes.

2. The apparatus of claim 1, wherein the H-shaped mechanism is configured in a form of a differential mechanism such that a user holding the manipulandum experiences low inertia.

3. The apparatus of claim 1, wherein the manipulandum includes:

a horizontal carriage;

a solid base mounted to the horizontal carriage;

a six degree of freedom force/torque sensor mounted to the solid base;

a plurality of idler pulleys; and

a plurality of vertical carriages.

4. The apparatus of claim 3, wherein the manipulandum further includes a handle.

5. The apparatus of claim 4, wherein the handle is a separate part of the manipulandum.

6. The apparatus of claim 1, further including:

a plurality of guides arranged along the x and y axes;

a plurality of idler pulleys; and

a driving pulley coupled to each motor.

7. The apparatus of claim 6, wherein a cable of the H-shaped cable-driven mechanism is wound at least four turns around the driving pulley coupled to each motor.

8. The apparatus of any one of claims 1 to 7, wherein the two motors are controlled by a motor driver.

9. The apparatus of any one of claims 1 to 8, wherein a driving force of the two DC motors is determined by a position of the manipulandum.

10. The apparatus of claim 9, wherein the driving force of the two DC motors is determined using the following equations:

11. The apparatus of claim 6, wherein four force channels are available, horizontal and vertical channels being obtained by mechanically blocking the horizontal/vertical carriages, and 45°

channels being obtained by blocking the driver pulley.

12. The apparatus of claim 1, wherein the motor is of a type selected from a group consisting of:

DC motor, AC motor, magnetic linear actuator, and pneumatic linear actuator.

13. The apparatus of claim 11, wherein mechanical stops are provided on the vertical carriages to mechanically block the vertical carriages for obtaining the horizontal force channel passively.

14. The apparatus of claim 11, wherein mechanical stops are provided on the horizontal carriage to mechanically block the horizontal carriage for obtaining the vertical force channel passively.

15. The apparatus of claim 11, wherein mechanical stops are provided on one of the driver pulleys to block the driver pulley for obtaining one of the 45°

channels passively.

16. The apparatus of claim 1, wherein the apparatus is configured for use in surgical training.