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impaginato corretto fullone_Layout 1 13/10/15 12.10 Pagina 79 Department of Engineering, ICT and Technologies for Energy and Transport Patent Title Title Biomedical device for robotized rehabilitation of a Biomedical device for robotized rehabilitation of a human upper limb, particularly for neuromotor human upper limb, particularly for neuromotor rehabilitation of the shoulder and elbow joint. rehabilitation of the shoulder and elbow joint. Ref. CNR 10156 Ref. CNR 10156 Assignee(s): CNR CNR Institute: ITIA Main Inventor: Matteo Malosio Countries: IT, EP, US Priority date: 28/09/2010 Abstract Abstract The present invention relates to a biomedical device for assisted neuromotor rehabilitation of the The present invention relates to a biomedical device for assisted neuromotor rehabilitation of the shoulder and elbow joints of a human body. The present invention overcomes limitations affecting pre- shoulder and elbow joints of a human body. The present invention overcomes limitations affecting pre existing exoskeletons for neurorehabilitation and, in particular, a) the intrinsic kinematic singularity of existing exoskeletons for neurorehabilitation and, in particular, a) the intrinsic kinematic singularity of the structure nearby a completely extended configuration of the elbow, b) the approximation of the the structure nearby a completely extended configuration of the elbow, b) the approximation of the shoulder movement by a spherical joint. Overcoming these limitations results in an extended range of shoulder movement by a spherical joint. Overcoming these limitations results in an extended range of motion of the whole upper limb with a more adaptable mobility to the shoulder movement. The motion of the whole upper limb with a more adaptable mobility to the shoulder movement. The developed kinematic structure can be exploited to realize both a passive, unactuated and gravity- developed kinematic structure can be exploited to realize both a passive, unactuated and gravity balanced exoskeleton, helpful to support the patient’s arm with a lightweight and cost-effective solution, balanced exoskeleton, helpful to support the patient’s arm with a lightweight and cost effective solution, and an actuated one for patients with few residual motion abilities. and an actuated one for patients with few residual motion abilities. Background Background Nowadays, in order to improve and optimize techniques of neuromotor rehabilitation of the human body Nowadays, in order to improve and optimize techniques of neuromotor rehabilitation of the human body limbs, it is known art to use motorized or assistive device to allow the patient musculoskeletal apparatus to limbs, it is known art to use motorized or assistive device to allow the patient musculoskeletal apparatus to follow physiological movements. Developed solutions typically lack of a) an extended exploitable mobility of follow physiological movements. Developed solutions typically lack of a) an extended exploitable mobility of the elbow articulation and b) a comfortable and human-compatible motion of the joint replicating the the elbow articulation and b) a comfortable and human compatible motion of the joint replicating the complex human shoulder articulation. complex human shoulder articulation. Technology Technology The present invention refers to a biomedical device made up of an hybrid kinematic structure, The present invention refers to a biomedical device made up of an hybrid kinematic structure, characterized by both actuated and unactuated joints, associable respectively with the upper arm and the characterized by both actuated and unactuated joints, associable respectively with the upper arm and the forearm, and connected by a peculiar arrangement of joints preventing the elbow singularity and allowing forearm, and connected by a peculiar arrangement of joints preventing the elbow singularity and allowing a suitable mobility to shoulder movements. a suitable mobility to shoulder movements. Advantages and Applicatons Advantages and Applications The kinematic architecture allows a wide mobility of the elbow joint and a human-compatible motion of the The kinematic architecture allows a wide mobility of the elbow joint and a human compatible motion of the shoulder joint. The kinematic scheme can be exploited to realize both an active and a passive gravity- shoulder joint. The kinematic scheme can be exploited to realize both an active and a passive gravity balanced exoskeleton, to support the upper arm mass and facilitate rehabilitation exercises. It is balanced exoskeleton, to support the upper arm mass and facilitate rehabilitation exercises. It is interfaceable with additional physiological devices for multimodal assistive rehabilitations. interfaceable with additional physiological devices for multimodal assistive rehabilitations. Development stage Development stage A prototype of the exoskeleton is been developed in two different versions within the RIPRENDO@home A prototype of the exoskeleton is been developed in two different versions within the RIPRENDO@home project: the first one will enable a patient to move the upper limb, passively supporting its mass thanks to project: the first one will enable a patient to move the upper limb, passively supporting its mass thanks to a system of spring-based gravity-balanced mechanism. The second one is a robotic exoskeleton enabling 79 asystemofspring based gravity balanced mechanism. The second one is a robotic exoskeleton enabling the execution of assisted movements to be installed in clinics and rehabilitation centers. the execution of assisted movements to be installed in clinics and rehabilitation centers.