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Patent
Hiwin Technologies Corporation | Date: 2017-01-11

A lower limb rehabilitation apparatus (10) apparatus is provided which comprises: a base frame (20); a support frame (30) mounted on said base frame (20); an actuator (40) mounted on said base frame (20) adjacent to said support frame (30); a mechanical exoskeleton (50) pivotally connected to said support frame (30) and said actuator (40); a motion control module (60) comprising at least one EMG (electromyography) muscle sensor and a controller (80), said controller (80) being electrically coupled with said actuator (40) and said muscle sensor for receiving and processing an EMG signal of said muscle sensor and controlling said actuator (40) to drive said mechanical exoskeleton (50) according to the sensing result of said muscle sensor. A lower limb rehabilitation method is disclosed which includes the step of putting a exoskeleton on the lower limbs of the user, the step of setting a trigger condition, the step of using EMG muscle sensors (70) to detect EMG signals from specific muscles of the user, the step of judging whether the sensing result meets the trigger condition, and the step of re-setting the triggering condition without moving the exoskeleton if the sensing result does not meet the trigger condition, or, the step of triggering a motion generator (86) to provide a control signal to a control unit (88) for controlling the exoskeleton in moving the lower limbs of the user to perform specific actions if the sensing result meets the trigger condition.


Patent
Hiwin Technologies Corporation | Date: 2017-01-18

A mechanical end-effector changer (10) includes a first connection unit (40) and a second connection unit (50). The first connection unit (40) has mounted therein multiple movable members and mating elastic members. Subject to the linking relationship between each movable member and the respective elastic member, the first connection unit (40) and the second connection unit (50) can be automatically connected together or detached from each other, facilitating end-effector change.


Patent
Hiwin Technologies Corporation | Date: 2016-08-17

An upper extremity rehabilitation device includes: a base, a rotary shaft unit, a rotation drive unit, a brake unit, a linear move unit, a hand gripping assembly, a first and a second connecting rods. The rotary shaft unit is pivoted to the base. The rotation drive unit is disposed on the base and includes a drive portion connected to the first shaft portion. The brake unit includes an outer pipe disposed on the rotary shaft, and an inner pipe movably disposed in the outer pipe. The linear move unit includes a linear seat pivoted to the second shaft portion, and a linear platfoum movably disposed on the linear seat. The hand gripping assembly is disposed on the linear platform. The first connecting rod is pivoted to the brake unit. The second connecting rod is pivoted to the first connecting rod and the linear seat.


Patent
HIWIN TECHNOLOGIES Corporation | Date: 2015-03-24

A method for positioning an endoscope involves installing an auxiliary positioning device on a robot arm, coinciding a terminal of a docking member of the auxiliary positioning device with a remote center of motion defined by the robot arm, inserting and fixing the endoscope inside the auxiliary positioning device, removing the docking member of the auxiliary positioning device so that a terminal of the endoscope coincides with the remote center of motion of the robot arm, and then inserting the endoscope into a body cavity catheter for finalizing positioning. Thereby, the method helps to save time used for preoperative preparation and provides more precise positioning, without using any additional positioning tools to approach the body cavity, thereby reducing the risk of infection.


Patent
HIWIN TECHNOLOGIES Corporation | Date: 2015-03-25

A harmonic drive includes a rigid internal gear, a flexible external gear meshed with the rigid internal gear, and a wave generator abutted against the flexible external gear. Through a special parameter setting to design the outer peripheral edge of the wave generator in a surface of variable curvature, the contact area between the wave generator and the flexible external gear is increased to improve fretting wear, thereby enhancing transmission accuracy and reducing hysteresis error.


Patent
Hiwin Technologies Corporation | Date: 2016-10-26

An electric gripper system includes a motor (10) driving a gripper mechanism (100), a sensor (20), and a control processing unit (30). The sensor (20) is assembled onto the motor (10) for generating a current position of the gripper mechanism (100). The control processing unit (30) has a control segment (36), a transceiver segment (32), an accessible segment (34), and a driving segment (38). The control segment (36) generates a target position according to a relative-position command value of the transceiver segment (32) and an absolute cumulative position of the accessible segment (34). The control segment (36) generates a driving datum based on a difference between the current position and the target position, and on a rotation rate of the motor (10). The driving segment (38) uses the driving datum to drive the motor (10) to move the gripper mechanism (100). With calculation among the relative-position command value, the absolute cumulative position, and the current position, the motor (10) is prevented from accumulating positional deviation.


Patent
Hiwin Technologies Corporation | Date: 2016-09-28

A method for positioning an endoscope (60) involves installing an auxiliary positioning device (20) on a robot arm (10), coinciding a terminal of a docking member (40) of the auxiliary positioning device (20) with a remote center of motion defined by the robot arm (10), inserting and fixing the endoscope (60) inside the auxiliary positioning device (20), removing the docking member (40) of the auxiliary positioning device (20) so that a terminal of the endoscope (60) coincides with the remote center of motion of the robot arm (10), and then inserting the endoscope (10) into a body cavity (16) catheter for finalizing positioning. Thereby, the method helps to save time used for preoperative preparation and provides more precise positioning, without using any additional positioning tools to approach the body cavity (16), thereby reducing the risk of infection.


Patent
HIWIN TECHNOLOGIES Corporation | Date: 2015-07-20

A mechanical end-effector changer includes a first connection unit and a second connection unit. The first connection unit has mounted therein multiple movable members and mating elastic members. Subject to the linking relationship between each movable member and the respective elastic member, the first connection unit and the second connection unit can be automatically connected together or detached from each other, facilitating end-effector change.


Patent
HIWIN TECHNOLOGIES Corporation | Date: 2015-07-07

A multidirectional foot controller includes a base, a movable platform, a rotatable platform, and two pedals successively stacked and assembled together. The multidirectional foot controller is activated by having the two pedals depressed simultaneously, and then controls an externally connected endoscope to move forward or backward by means of a movable platform, or controls the endoscope to move leftward or rightward by means of a rotatable platform. By having only one of the pedals depressed, the multidirectional foot controller can change the field of view of the endoscope. The resultant multidirectional operation helps to improve working efficiency and operational stability.


Patent
HIWIN TECHNOLOGIES Corporation | Date: 2015-07-10

A lower limb rehabilitation method for rehabilitation of the lower limbs of a user includes the step of putting a exoskeleton on the lower limbs of the user, the step of setting a trigger condition, the step of using EMG muscle sensors to detect EMG signals from specific muscles of the user when the user is performing specific actions, the step of judging whether the sensing result meets the trigger condition, and the step of re-setting the triggering condition without moving the exoskeleton if the sensing result does not meet the trigger condition, or, the step of triggering a motion generator to provide a control signal to a control unit for controlling the exoskeleton in moving the lower limbs of the user to perform specific actions if the sensing result meets the trigger condition.

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