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1. 发明公开

EP3315177A1 UPPER LIMB REHABILITATION TRAINING MACHINE 审中-公开
标题翻译：上肢康复训练机
公开(公告)号：EP3315177A1
公开(公告)日：2018-05-02
申请号：EP17819345.4
申请日：2017-06-30
申请人： Shanghai Fourier Intelligence Co., Ltd.
发明人： XU, Zhenhua
IPC分类号： A63B23/12
CPC分类号： A61H1/0274 , A61H2201/1261 , A61H2201/1635 , A61H2201/1664 , A61H2201/5015 , A61H2205/06 , A63B23/03508 , A63B23/12 , A63B2220/51 , A63B2220/833
摘要： An upper limb rehabilitation training machine includes a hand support for supporting an upper limb and a movable plate. The hand support is arranged on the movable plate, and the hand support is slidable on the movable plate. When the upper limb rehabilitation training machine is used, an upper limb moves on the movable plate by the driving of the hand support, and meanwhile a user rotates correspondingly with the upper limb during the operation. An exercise path may be realized by presetting a path, or by an active rotation of the user, the exercise mode and training action are various, thus increasing the user's interest in using the machine and solving the problem that the upper limb rehabilitation training machine is inflexible and has a single exercise mode in use. Obviously, by arranging the hand support on the movable plate, and the hand support sliding on the movable plate, the upper limb rehabilitation training machine thus solves the problem that the upper limb rehabilitation assistive devices have a single exercise mode.
摘要翻译：上肢康复训练器包括用于支撑上肢和活动板的手部支撑件。手支架设置在活动板上，手支架可滑动在活动板上。当使用上肢康复训练机时，上肢通过手托的驱动在活动板上移动，同时使用者在手术过程中与上肢相对应转动。锻炼路径可以通过预设路径或通过用户的主动旋转来实现，锻炼模式和训练动作是多种多样的，因此增加了用户对使用机器的兴趣并且解决了上肢康复训练机器不灵活，并有一个单一的运动模式在使用。显然，上肢康复训练器通过在可动板上设置手部支撑，并使手部支撑在可动板上滑动，解决了上肢康复辅助装置具有单一锻炼模式的问题。

2. 发明公开

EP4234978A1 REHABILITATION EXERCISE APPARATUS AND ROPE TRANSMISSION DEVICE 审中-实审
公开(公告)号：EP4234978A1
公开(公告)日：2023-08-30
申请号：EP22866416.5
申请日：2022-08-24
申请人： SHANGHAI FOURIER INTELLIGENCE CO., LTD
发明人： XIAO, Danping , YANG, Zhihao , SUN, Jiajun , ZHANG, Ke
IPC分类号： F16H19/08 , F16H37/12 , A63B23/035
摘要： The present application discloses rehabilitation exercise equipment and a rope transmission device, comprising a device main body, a transmission assembly, a rope winding shaft, an oscillating piece, and two ropes. The transmission assembly is provided in the device main body, the rope winding shaft is rotatably connected to the transmission assembly, at least one continuous rope winding spiral groove is provided along the peripheral edge of the outer wall of the rope winding shaft, the rope winding spiral groove has an inner end close to the transmission assembly and an outer end remote from the transmission assembly, and the oscillating piece is provided in the device main body in such a manner that the oscillating shaft around which the oscillating piece oscillates is collinear with the rotation axis of the rope winding shaft.

3. 发明公开

EP4197514A1 ROTARY BUFFERING POWER-ASSISTED MECHANISM AND EXOSKELETON ANKLE-JOINT-BUFFERING POWER-ASSISTED DEVICE 审中-实审
公开(公告)号：EP4197514A1
公开(公告)日：2023-06-21
申请号：EP21871083.8
申请日：2021-08-05
申请人： Shanghai Fourier Intelligence Co., Ltd.
发明人： WANG, Jun , XIAO, Danping , GU, Jie , LI, Chong
IPC分类号： A61H1/02 , F16F15/067 , F16F15/08
摘要： The present invention provides a rotating cushioning and assisting mechanism and an exoskeleton ankle joint cushioning and assisting device, wherein the mechanism comprises a rotating outward expanding member, an elastic return member, and an inner support heterogeneous member; the rotating outward expanding member comprises a first rotating member and a second rotating member, which enclose to form an expandable compartment; the elastic return member is connected to the free ends of the first rotating member and the second rotating member; and the inner support heterogeneous member is rotationally disposed in the expandable compartment. When an external force drives the inner support heterogeneous member to rotate in the expandable compartment, a work done by the force exerted by the inner support heterogeneous member is converted into elastic potential energy to be stored, which plays a role in cushioning and damping the external force during the storage process; when the external force is over, the elastic potential energy is released and converted into kinetic energy to help the free ends of the two rotating members to move close, thus playing a role in assisted return.

4. 发明公开

EP4134058A1 EXOSKELETON JOINT SELF-LOCKING MECHANISM, KNEE JOINT, AND BIONIC REHABILITATION ROBOT 审中-实审
公开(公告)号：EP4134058A1
公开(公告)日：2023-02-15
申请号：EP21873821.9
申请日：2021-03-19
申请人： SHANGHAI FOURIER INTELLIGENCE CO., LTD
发明人： WANG, Jun , WANG, Tongchen , XIAO, Danping , GU, Jie , LI, Chong
IPC分类号： A61H1/02 , B25J9/00 , A61F5/00
摘要： The present invention provides an exoskeleton joint self-locking mechanism, a knee joint and a bionic rehabilitation robot, wherein the self-locking mechanism comprises a first base, a rotating outward expanding locking member, a second base and a locking driving member; the rotating outward expanding locking member comprises a first rotating frame and a second rotating frame, and outer sides of the first rotating frame and the second rotating frame have a first friction surface; one end of the first rotating frame is pivoted with one end of the second rotating frame; the second base is rotationally mounted on the first base, and an inner wall of the second base defines a second friction surface enclosing the first friction surface; the locking driving member applies/removes a force pushing away from free ends of the first rotating frame and the second rotating frame, to make the first friction surface close contact to lock/unlock the second friction surface. The present invention locks and unlocks the joint by controlling the friction force, which is more in line with the activity habits at the joint and safer.

5. 发明公开

EP4197515A1 ANKLE JOINT DEVICE HAVING ADJUSTABLE FOOT SUPPORT INITIAL ANGLE 审中-实审
公开(公告)号：EP4197515A1
公开(公告)日：2023-06-21
申请号：EP21871090.3
申请日：2021-08-05
申请人： SHANGHAI FOURIER INTELLIGENCE CO., LTD
发明人： WANG, Jun , WANG, Tongchen , XIAO, Danping , GU, Jie , LI, Chong
IPC分类号： A61H3/00
摘要： The present application discloses an ankle joint device with a foot support featuring adjustable initial angle, which comprises a base, an angle adjusting assembly, and a foot support member; the angle adjusting assembly comprises a rotation member and an anti-rotation member, wherein the rotation member is rotationally mounted on the base, and the anti-rotation member is slidably and detachably locked to the rotation member along the axial direction defined by the rotating shaft of the rotation member; the foot support member is mounted to the anti-rotation member, after the anti-rotation member slides away from the rotation member in the axial direction by a predetermined distance, the foot support member is allowed to rotate at a predetermined angle as the anti-rotation member is separated from the rotation member, and the foot support member is locked to the rotation member to rotate with the rotation member relative to the base after the anti-rotation member slides close to the rotation member in the axial direction by a predetermined distance in a state of being maintained at the predetermined angle.

6. 发明公开

EP4134059A1 KNEE JOINT MECHANISM WITHOUT POWER SOURCE 审中-实审
公开(公告)号：EP4134059A1
公开(公告)日：2023-02-15
申请号：EP21822054.9
申请日：2021-03-19
申请人： Shanghai Fourier Intelligence Co., Ltd.
发明人： WANG, Jun , ZHANG, Xingguang , XIAO, Danping , DONG, Kai , GU, Jie
IPC分类号： A61H3/00 , A61F5/01
摘要： The present invention relates to a knee joint mechanism without a power source, which consists of a thigh support assembly, a connecting base, a shank support assembly and a locking mechanism. Specifically, the thigh support assembly is fixed at a thigh of an exoskeleton robot, and a first angle sensor is disposed on a hip, with power provided from the hip. The connecting base is mounted with a second angle sensor; the locking mechanism includes a motor, a worm gear, a locking member, an unlocking member, and a first limiting member, wherein the unlocking member and the first limiting member firmly fix the locking member to maintain the thigh support assembly, the connecting base and the shank support assembly at an ergonomic angle, thereby supporting the weight of human body; the motor drives the unlocking member to rotate through the worm gear to realize unlocking, and the patient can bend his knees and swing until the leg lifted by him forms the above angle again before landing, and the second angle sensor controls the unlocking member to lock the locking block. The knee joint mechanism has simple overall structure, light weight, small size, low energy consumption and high endurance.

7. 发明公开

EP4239424A1 ROBOT CONTROL METHOD AND DEVICE BASED ON PHYSICAL ENGINE AND REHABILITATION ROBOT 审中-实审
公开(公告)号：EP4239424A1
公开(公告)日：2023-09-06
申请号：EP22874500.6
申请日：2022-08-24
申请人： SHANGHAI FOURIER INTELLIGENCE CO., LTD
发明人： CHEN, Xin , GU, Jie , SHEN, Jianzhong , DING, Li
IPC分类号： G05B19/19 , B25J9/16 , A61H1/02
摘要： The present application relates to the technical field of robots, and discloses a robot control method based on a physical engine. The method includes: obtaining the current first resultant force to which a robot is subjected and the current second resultant force to which a virtual object in a virtual environment constructed by a physical engine is subjected; determining the current motion information corresponding to the current first resultant force and the current second resultant force according to the corresponding relationship between the force and the motion information; wherein the current second resultant force is determined by the physical engine according to the previous motion information corresponding to the previous first resultant force of the robot and the previous second resultant force of the virtual object, and the current motion information enables the current first resultant force and the current second resultant force to tend to be synchronized.

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