Surgery: kinesitherapy – Kinesitherapy – Means for passive movement of disabled extremity to return...
Reexamination Certificate
2008-06-24
2008-06-24
DeMille, Danton (Department: 3771)
Surgery: kinesitherapy
Kinesitherapy
Means for passive movement of disabled extremity to return...
C601S035000
Reexamination Certificate
active
07390309
ABSTRACT:
A method for obtaining an assist torque to be applied to a human joint, in a human assist system in order to reduce the load on muscles, according to the present invention comprises the step of obtaining a moment due to gravity, acting on a joint of each human segment, based on equations of force and moment balance on each segment. The method further comprises the step of obtaining an assist torque to be applied to the joint to compensate for the moment due to gravity, acting on the joint. In one embodiment of the present invention, various criteria are used such as mechanical energy, metabolic energy and/or a stability/equilibrium factor. In addition, the present invention can account for the situation where there is substantially no relative motion between segments of a given joint and thus, where the mechanical energy component of gravity compensation is approximately zero.
REFERENCES:
patent: 4244120 (1981-01-01), Harris
patent: 4786847 (1988-11-01), Daggett et al.
patent: 4834200 (1989-05-01), Kajita
patent: 5044360 (1991-09-01), Janke
patent: 5136227 (1992-08-01), Nakano et al.
patent: 5203346 (1993-04-01), Fuhr et al.
patent: 5247432 (1993-09-01), Ueda
patent: 5323549 (1994-06-01), Segel et al.
patent: 5362288 (1994-11-01), Razon
patent: 5432417 (1995-07-01), Takenaka et al.
patent: 5459659 (1995-10-01), Takenaka
patent: 5570286 (1996-10-01), Margolis et al.
patent: 5625577 (1997-04-01), Kunii et al.
patent: 5659480 (1997-08-01), Anderson et al.
patent: 5706589 (1998-01-01), Marc
patent: 5808433 (1998-09-01), Tagami et al.
patent: 5835693 (1998-11-01), Lynch et al.
patent: 5942869 (1999-08-01), Katou et al.
patent: 5982389 (1999-11-01), Guenter et al.
patent: 6045524 (2000-04-01), Hayashi et al.
patent: 6076025 (2000-06-01), Ueno
patent: 6152890 (2000-11-01), Kupfer et al.
patent: 6161080 (2000-12-01), Aouni-Ateshian et al.
patent: 6289265 (2001-09-01), Takenaka et al.
patent: 6445983 (2002-09-01), Dickson et al.
patent: 6505096 (2003-01-01), Takenaka et al.
patent: 6580969 (2003-06-01), Ishida et al.
patent: 6633783 (2003-10-01), Dariush et al.
patent: 6640160 (2003-10-01), Takahashi et al.
patent: 6750866 (2004-06-01), Anderson, III
patent: 6766204 (2004-07-01), Niemeyer et al.
patent: 6785591 (2004-08-01), Hansson
patent: 6943520 (2005-09-01), Furuta et al.
patent: 7010390 (2006-03-01), Graf et al.
patent: 7013201 (2006-03-01), Hattori et al.
patent: 7024279 (2006-04-01), Rose, III et al.
patent: 7112938 (2006-09-01), Takenaka et al.
patent: 7135003 (2006-11-01), Dariush
patent: 7184858 (2007-02-01), Okazaki et al.
patent: 7191036 (2007-03-01), Takenaka et al.
patent: 7260450 (2007-08-01), Okazaki et al.
patent: 2003/0018283 (2003-01-01), Dariush
patent: 2003/0023415 (2003-01-01), Nakamura et al.
patent: 2003/0115031 (2003-06-01), Dariush et al.
patent: 2004/0031169 (2004-02-01), Jensen et al.
patent: 2004/0102723 (2004-05-01), Horst
patent: 2004/0107780 (2004-06-01), Kawai et al.
patent: 2004/0158175 (2004-08-01), Ikeuchi et al.
patent: 2004/0193318 (2004-09-01), Ito
patent: 2004/0249319 (2004-12-01), Dariush
patent: 2004/0254771 (2004-12-01), Riener et al.
patent: 2005/0070834 (2005-03-01), Herr et al.
patent: 2005/0102111 (2005-05-01), Dariush et al.
patent: 2005/0104548 (2005-05-01), Takenaka et al.
patent: 2005/0209535 (2005-09-01), Dariush
patent: 2006/0046909 (2006-03-01), Rastegar et al.
patent: 2006/0100818 (2006-05-01), Nakamura et al.
patent: 2006/0139355 (2006-06-01), Tak et al.
patent: 2000-249570 (2000-09-01), None
patent: 2 107 328 (1998-03-01), None
patent: WO 00/35346 (2000-06-01), None
patent: WO 03/002054 (2003-01-01), None
Agarwal, S.K. et al., “Theory and Design of an Orthotic Device for Full or Partial Gravity-Balancing of a Human Leg During Motion,” IEEE Transactions on Neural Systems and Rehabilitation Engineering, Jun. 2004, vol. 12, No. 2.
Akhlaghi, F. et al., “In-shoe Biaxial Shear Force Measurment: the Kent Shear System,” Medical & Biological Engineering & Computing, Jul. 1996, vol. 34, pp. 315-317.
Anderson, Frank C., “Static and Dynamic Optimization Solutions for Gait are Practically Equivalent”, Journal of Biomechanics, 2001, vol. 34, pp. 153-161.
Anderson, F. et al., “Dynamic Optimization of Human Walking,”Journal of Biomechanical Engineering, Oct. 2001, vol. 123, pp. 381-390.
Anderssen, R. et al., “Numerical Differentiation Procedures for Non-Exact Data,” Numererische Mathematik, 1974, vol. 22, pp. 157-182.
Atkeson, C.G., “Learning Arm Kinematics and Dynamics”, Annual Reviews, Inc., 1989, vol. 12, pp. 157-183.
Baruh, H., AnalyticalDynamics, Chapter 7, Rigid Body Kinematics, McGraw-Hill, 1999, pp. 355-371.
Blaya, J., “Force-Controllable Ankel Foot Orthosis (AFO) to Assist Drop Foot Gait,” Feb. 2003, web.mit.edu/jblaya/www/MSthesis—final.pdf.
Bronzino, J.D., ed., “The Biomedical Engineering Handbook”, IEEE Press, 2ndEd. vol. 2, 2000, Chapter 142, pp. 1-17.
Burdea, G. et al., “Virtual Reality Technology”, 1994, pp. 33-37, John Wiley and Sons, Inc.
Busby, H.R. et al., “Numerical Experiments With a New Differentiation Filter,” Transactions of the ASME—Journal of Biomechanical Engineering, Nov. 1985, vol. 107, pp. 293-299.
Chao, E.Y. et al., “Application of Optimization Principles in Determining the Applied Moments in Human Leg Joints During Gait,” J. Biomechanics, 1973, vol. 6, pp. 497-510, Pergamon Press, Great Britain.
Craig, J.J., “Nonlinear Control of Manipulators,” Introduction to Robotics Mechanics and Control, 2nd, Ed., 1989, Chapter 10, pp. 333-361.
Crowninshield, R.D. et al., “A Physiologically Based Criterion Of Muscle Force Prediction In Locomotion,”Journal of Biomechanics, vol. 14, No. 11, 1981, pp. 793-801.
Cullum, J., “Numerical Differentiation and Regularization,” SIAM J. Numer. Anal., Jun. 1971, vol. 8, No. 2, pp. 254-265.
Dariush, B. et al., “Multi-Modal Analysis of Human Motion From External Measurements,” Transactions as the ASME, Jun. 2001, vol. 123, pp. 272-278.
Dariush, B, “A Novel Algorithm For Generating A Forward Dynamics Solution To The Traditional Inverse Dynamics Problem,” In4th World Congress of Biomechanics, Calgary, Canada, 2002.
Dariush, B., “A Forward Dynamics Solutions To Multi-Modal Inverse Dynamics Problems,” InInternational Society of Biomechanics,XIXth Congress, Dunedin, NZ, 2003.
Dariush, B., “A Well-Posed, Embedded Constraint Representation of Joint Moments From Kinesiological Measurements,” Journal of Biomechanical Engineering, Aug. 2000, vol. 122, pp. 437-445.
Delp, S. et al., “A Computational Framework for Simulating and Analyzing Human and Animal Movement,”IEEE Computing in Science and Engineering, vol. 2, No. 5, 2000, pp. 46-55.
Dohrmann, C.R. et al., “Smoothing Noisy Data Using Dynamic Programming and Generalized Cross-Validation” Transactions of the ASME—Journal of Biomechanical Engineering, Feb. 1998, vol. 110, pp. 37-41.
Flanagan, R.J., et al., “The Role of Internal Models in Motion Planning and Control: Evidence from Grip Force Adjustments During Movements of Hand-Held Loads”, The Journal of Neuroscience, Feb. 15, 1997, vol. 17(4), pp. 1519-1528.
Giakas, G. et al., “A Comparison of Automatic Filtering Techniques Applied to Biomechanical Walking Data,” J. Biomechanics 1997, vol. 00, No. 00, 4 pages.
Giakas, G. et al., “Optimal Digital Filtering Requires a Different Cut-Off Frequency Strategy for the Determination of the Higher Derivatives,” J. Biomechanics, Apr. 1997, vol. 28, No. 00, 5 pages.
Grood, E.S. et al., “A Joint Coordinate System for the Clinical Description of Three Dimensional Motions: Application to the Knee,” Journal of Biomechanical Engineering, 1983, pp. 136-144, No. 105.
Gruber, K., et al., “A Comparative Study of Impact Dynamics: Wobbling Mass Model Versus Rigid Body Models”, Journal of Biomechanics
DeMille Danton
Duell Mark
Fenwick & West LLP
Honda Motor Co. Ltd.
LandOfFree
Human assist system using gravity compensation control... does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Human assist system using gravity compensation control..., we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Human assist system using gravity compensation control... will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-2802021