Patent Application
20200038218
The present invention concerns an arm lifting support device. The arm lifting support device could for example help a person with impaired arm function.
The aim of the present invention is to provide a support device for helping persons having an arm impairment. The arm lifting support should be easy to wear and use in order to enhance the life of the user making it possible for the user to perform movements and functions without needing help from a helping person. A further aim is to provide a support device of a slim design.
It is previously known exoskeleton support devices, which rely on hard parts being connected on the outside of a user's body mimicking the bones and their functions in the body. This creates a very bulky support.
For example to be able to apply force to lift the arm relative the trunk with a traditional exoskeleton it becomes hard to transfer load from the arm to the torso because the complexity of the motions of the shoulder joint. The shoulder not only have a ball joint between the scapula and humerus. The scapula itself is loosely connected to the ribs and the only rigid connection to the rest of the skeletal system is the collar bone. Therefore, to handle these motions, exoskeletons which allows shoulder movements usually have a gimbal at around the ball joint, but also often linkages to make the gimbal joint movable. Having misalignments of the joints of the exoskeleton to the body can cause pain and even lead to injury.
According to the invention an arm lifting support device is provided comprising a torso support and at least one artificial tendon for vertical lifting running at least from a pulling point provided at the torso support, over a shoulder of the user and connected to an arm attachment means for attachment of the at least one artificial tendon at an arm of a user in use. The pulling point is provided in a level above the collar bones of the user in use. A redirecting mean is positioned substantially vertically above the arm/shoulder joint of the user in use. In such a way it is possible to lift the arm into a level over the major socket/ball joint of the shoulder. It makes it also possible for the scapula to move in a natural way. Preferably, the pulling point is provided adjacent a neck portion of the torso support. Most preferred the pulling point is provided in a stiff neck portion. Thus the pulling point will not be dragged towards the arm to be lifted but stays in the right position
According to an embodiment of the invention a pulling force is applied to the artificial tendon, by a pulling means arranged along the artificial tendon or being comprised in the artificial tendon. Preferably, the arm lifting support device is arranged so that it does not limit the motion in the horizontal plane of the user's upper arm.
According to an embodiment of the invention the torso support further comprises a shoulder portion having at least two separate but connected shoulder parts. Preferably the at least two shoulder parts are partially overlapping. It is also possible to have three shoulder parts. Preferably an artificial tendon redirecting means is arranged at one of the shoulder parts.
According to an embodiment of the invention a control system is provided comprising a control means arranged to apply a desired pulling force in said at least one artificial tendon in a feedback loop, which pulling force is dependent upon a user posture measured using at least one posture sensor comprised in the control system. Preferably the said posture sensor is arranged to measure a torso and/or upper arm posture of the user.
According to an embodiment of the invention the control system is arranged to detect a current actual pulling force in said at least one artificial tendon, and wherein a feedback control loop is arranged to achieve said desired pulling force based upon said detected current actual force.
According to an embodiment of the invention the control system comprises a force regulator, arranged to achieve said desired pulling force in an internal feedback loop in said force regulator, based upon said sensed current actual force.
According to an embodiment of the invention the desired pulling force has been determined, for a number of different user postures, as a particular relative proportion of the force required to hold the user's arm still. Preferably, the control system is further arranged so that, for a given detected current actual non-zero force, the desired pulling force is stronger the closer to the horizontal the longitudinal axis of the user's upper arm is, as read by said posture sensor. The desired pulling force is substantially zero when the current orientation of the user's upper arm, as read by said posture sensor, is vertical or substantially vertical.
According to an embodiment of the invention the support device is arranged not to read any other postures or accelerations than using said at least one posture sensor.
According to an embodiment of the invention said at least one artificial tendon is the only force-mediating part of the control system between said points.
According to an embodiment of the invention the control system further comprises an elbow angle sensor, and that the control system is arranged not to apply any force to the artificial tendon in case the elbow angle sensor currently detects an unbent elbow. Preferably, none of said sensors is arranged to be in direct contact to the skin of the user. Each one of said sensors is fixedly attached to a main structure of the arm lifting support device itself.
According to an embodiment of the invention there is only one artificial tendon for vertical lifting. Preferably, a slidable attachment of the artificial tendon is provided wherein the arm attachment means is provided with means for a slidable attachment point of the artificial tendon at the arm attachment means, so that the attachment point can slide across a continuous path between a first and a second point at the user's arm. Preferably, the slidability is provided along an inside of an elbow joint, i.e. at the side having the cubital fossa, along which the attachment point can slide. A wire may be provided along the inside of the elbow joint and the slidable attachment of the artificial tendon is a loop attachment around the wire.
According to an embodiment of the invention the arm attachment means comprises two portions, an upper portion provided for attachment around an upper arm of a user when the arm lifting support device is in use and a lower portion provided for attachment at the lower arm of a user. The upper and lower portions may be connected with some sort of joint. Preferably, the arm attachment means embraces an elbow of a user in use.
The present invention will now be described in more detail by means of embodiments under referral to the attached drawing, in which:
The present invention will be described in detail by means of embodiments. This description does not limit the scope of the invention. The scope is depicted by the following claims.
In
At least one artificial tendon 4 runs at least from a pulling point 5, see
However, it is an advantage if only one artificial tendon 4 is used, at least for the lifting of the arm of the user. In order to avoid bringing unwanted momentum to the arm of the user, rotation around its length axis, even if only one artificial tendon 4 is used, the present invention provides a slidable attachment of the artificial tendon 4 at the arm attachment means 6.
The artificial tendon 4 is attached at an attachment point to the attachment means so that the attachment point can slide across a continuous path between a first and a second point at the user's arm. The slidability is provided across the arm of the user, from side to side or all around the circumference of the user's arm, along which the attachment point can slide. The slidability is preferably provided adjacent the elbow joint of the user's arm during use. At least, the slidability is provided at the inside of the elbow joint. For example, it may be a wire 7 running from side to side of the elbow joint, preferably on the inside thereof, as can be seen in
If the slidability is to be provided all around the arm of the user it may be a rail 9 encircling the user's arm when provided at the arm in use. See
In
An adjustment device 15 (
The two portions 6a, b are preferably interconnected. The interconnection 14 could be a joint or a soft portion in order not to delimit the possibility to flex the arm for the user. Preferably there are two interconnections 14, one on each side. In order to minimize the risk of sliding of the arm attachment means 6 upwards along the arm of the user it is preferably arranged embracing the elbow of the user's arm in use. The slidability function 7, 9 may be attached close to the interconnections 14.
In one embodiment, the interconnection is made of two strings, wires or the like that connects two points of each portion and keeps their relative distance constant.
In
An alternative position of the pulling point 5 is illustrated in
As can be seen in
According to the shown embodiment the shoulder portion comprises two separate but connected shoulder parts 13a and 13b. It is also conceivable to arrange three or more shoulder parts 13 in the shoulder portion 12. The shoulder parts 13a, b may be partially overlapping or flexibly arranged side by side. By having these parts separate but connected makes the torso support able to better follow the movement of the body, especially during high lifting of the arm of the user, without hindering or counteract the movement of the arm of the user. The redirecting means 11 is provided at one of the shoulder parts 13, in the shown case the inner part 13b as seen from the neck portion 10.
The shoulder part may have a smooth upper side such that the artificial tendon 4 can slide transverse its axis when the arm is doing lateral movements.
The shoulder part may preferably be padded 30 as illustrated in
According to a preferred embodiment of the present invention, a control system 20 is provided comprising a control means 21, arranged to impart a desired predetermined or calculated pulling force to the artificial tendon 4.
It is preferred that the control system 20 further comprises one or several posture sensors 23, arranged to detect a current orientation of at least one of the user's torso and the user's upper arm, in relation to the horizontal plane. Such a sensor 23 may, for instance, be arranged on the said torso or anywhere along the upper arm of the user, such as at or near the elbow or as depicted in
Then, the control means 21 is preferably arranged to impart said desired pulling force so that it depends upon the said torso and/or arm orientation as read by said one or several posture sensors 23.
It is possible that the desired force is applied using an entirely passive system, such as using entirely mechanical spring means. However, according to a further preferred embodiment, the control system 20 also comprises an actual force sensor 22 used in a force control feedback loop of the control system 20. It is realized that such an actual force sensor 22 may be arranged as an integral part of the control means 21, or in any other suitable way.
In this feedback loop case, the actual force sensor 22 is arranged to detect a current actual pulling force in the artificial tendon 4. In case there are several artificial tendons 4, it is preferred that the actual force sensor 22 is arranged to estimate a total actual force acting on the arm based upon force values measured on several such artificial tendons. One simple example of how this estimation can be done is to detect a maximum actual current force in the artificial tendons in question. The actual force sensor 22 is further arranged to feed the said detected actual force value to the control means 21, which in turn is arranged to control the pulling force along said at least one artificial tendon 4 to said desired force value.
The pulling force may be controlled using a particular regulation metric, such as a voltage, a current, a power, a pneumatic or hydraulic pressure, or the like, which in turn is set by the control device and which affects the applied pulling force by acting on the tendon or tendons 4 using a suitable actuation mechanism, such as an electric motor or a pneumatic system.
As described above, several artificial tendons 4 may be used in parallel, and controlled individually or in unison. In the following, however, the description assumes that there is only one artificial tendon 4. It is realized that all that is said regarding the control system 20 in relation to such single artificial tendon 4 is correspondingly applicable also to the case of several tendons.
The desired force may be achieved using a suitable, conventional pulling means, such as a roller means arranged to roll the artificial tendon 4 onto a roll, thereby shortening/lengthening the tendon 4. It may also be a driven using a screw drive, in turn powered electrically, pneumatically or hydraulically; a pneumatic artificial muscle (“McKibben muscle”); an electroactive polymer fibre; or the like. Preferably, when so is possible (such as in the two latter examples), the force-imparting means forms a part of the tendon itself.
The magnitude of the regulation metric is in general preferably dependent upon the measured actual tendon 4 force. More particularly, the control means 21 is preferably arranged to achieve said desired force according to a feedback control loop, based upon said detected current actual force. The feedback control loop may be an algorithm implemented by the control system in hardware, software or a combination of the two.
Such a feedback control loop can preferably be designed so that the desired pulling force compensates for the force of gravity acting on the user's arm in a way which is perceived as “natural” in the sense that the normal resistance felt by the user's arm due to gravity is still present but reduced, so that a movement intended and initiated by the user will be performed in a natural way but with less required user strength. To accomplish this, it is preferred that the control of the pulling force is performed dynamically in the sense that it acts on the moving artificial tendon 4. In other words, as the tendon 4 is shortened or lengthened as a result of the user's arm being raised or lowered, the desired pulling force is applied to the shortened or lengthened artificial tendon 4, for instance by rotating the above described roll while the tendon 4 is rolled on or off from the roll in question.
Preferably, the desired pulling force is not strong enough to lift the arm, even not strong enough to keep the arm in a stable position when raised above a vertical position. In particular, the control means 21 is not arranged to initiate any movement of the arm, in other words the feedback loop is preferably entirely reactive in its design.
Preferably, the desired pulling force does not depend upon whether the arm is currently being raised or lowered. However, according to one alternatively preferred embodiment, a differently designed feedback control loop may indeed be implemented for upwards arm movements as compared to downwards arm movements. This may, for instance, be useful if used as a load-decreasing device for repetitive assembly work or the like, or if a particular rehabilitation scheme is to be implemented for particular patient groups. The current movement direction may preferably be dynamically detected, such as by an arm posture sensor of the above described type.
It is preferred that the control system 20 comprises a force regulator, arranged to achieve the said desired force in an internal feedback loop in said force regulator, based upon said sensed current actual force. In this case, it is the force regulator which controls the value of the said regulation metric so as to achieve the desired force. Such a force regulator may have a built-in force sensor for detecting the current actual force, or be connected to an external force sensor, such as arranged on the tendon 4, at the pulling point or on the user's arm.
Such a design of the control system 20 makes it possible for one single actuator, in the form of the control means 21, to assist all arm and shoulder movements of the user. This is especially true in a support device of the present type, providing vertical arm lifting assistance but not affecting horizontal arm movements per se. Since the actual force sensor 22 can be arranged at or as a part of the control means 21, the whole control system 20 can be arranged as one single device, for instance at the above described pulling point 5 or, via a tendon 4 redirection means at the pulling point 5, elsewhere, such as in a control package on the user's back.
According to a preferred embodiment, the control system 20 comprises an adjustment means 24, via which a relative strength of the desired tendon 4 pulling force can be adjusted by the user. Such an adjustment will preferably result in the desired force being altered for each sensed arm and/or torso posture, preferably in a linear manner across the whole observed such posture interval. Using such an adjustment means 24, the user can adjust the overall level of assistance provided by the control system 20 in a simple manner, without affecting the general behaviour of the control system 20.
Furthermore, it is preferred that the feedback loop is arranged so that the desired pulling force is stronger the closer to the horizontal the longitudinal axis of the user's upper arm is, as read by said posture sensor(s) 23. This means that, moving from a vertically downward arm position to a horizontal arm position, the pulling force will be larger. Above the horizontal, the pulling force may again be less than at the horizontal. For instance, the desired force may be varied so that it is at a maximum when the upper arm is in said horizontal position.
As the current orientation of the user's upper arm is vertical, or substantially vertical, as read by said posture sensor, the desired pulling force is preferably zero or substantially zero.
In a corresponding manner, the desired pulling force may be varied as a function of an orientation of the user's torso, as read by a corresponding posture sensor 23. In the latter case, it is preferred that the desired force is varied as a function of such a read posture so that more upright torso positions yield a greater assisting desired force. This may or may not be combined with the above-described arm position-dependent variation.
wherein
In general, it is preferred that the internal feedback loop is designed to operate in substantially the same principal corresponding way across the complete interval of detected upper arm orientations. In particular, it is preferred that the detected upper arm orientation only affects the feedback loop by one or several constant or variable (across upper-arm posture values) compensating factors or variables to the desired tendon pulling force value, for instance so that the compensating factor is applied to the default pulling force Fdef or as an argument to an angle-dependent function used to calculate Fdes, before using the desired pulling force in the above-described internal feedback loop. This makes it possible to separate the posture sensor 23 based functionality from the rest of the control system 20, so that the posture sensor 23 can be switched on or off while maintaining the internal feedback functionality. Also, the posture sensor 23 may be post-installed onto an existing control system 20. The corresponding is also true regarding a torso posture-based feedback loop, as described above.
In
In general, the desired compensating force may be calculated as or based upon an at least section-wise continuous function, such as a sine function, of the detected arm and/or torso posture. It is preferred that a separate adjustment means 25, such as a knob, is provided for adjusting at what upper-arm orientation value ϕmax the maximum desired pulling force is to be applied, such as by the separate adjustment means.
According to one preferred embodiment, the posture-dependent desired force function is determined empirically in an initial configuration step, performed using a suitable software function which may for instance be executed on a hardware processor in the control system 20. During such configuration, the posture of the arm and/or the torso of the user is varied, such as by the actuator driving or aiding the user to move the arm to a set of preferably predetermined orientations, and sensed by one or several corresponding posture sensors, as described above. At the time for such sensing, it is preferred that the weight of the arm, preferably unaided by the user's muscle force, is imparted to the sensor. At the same time, the current actual tendon 4 force may be read, and the resulting dataset, comprising measured actual tendon 4 forces for a number of different known user postures, is used to calculate the said posture-dependent desired tendon force function for use during operation of the control system 20.
For instance, the user can be instructed to move his or her arm and/or torso in a predetermined motion pattern, which posture sequence is then detected together with corresponding actual tendon 4 force measurements for each detected posture, and stored in a digital memory by the control system 20. In one embodiment, the control system 20 is arranged to control an applied pulling force, in a way corresponding to the one described above, so as to barely or precisely offer the required assistance to the user so as to allow the user to maintain each of a series of predetermined postures, while recording the detected corresponding posture(s) and the actual tendon force.
During the configuration, the user may be instructed to perform a series of postures while exerting maximum force. This will automatically create a benchmark for the force the user is able to exert across a range of different torso and/or upper arm postures, based upon which the said desired force function can be automatically determined by the control system 20 software. Thereafter, the user may control the actual force assistance during use by adjusting the said adjustment knob or knobs described above, depending on current fatigue level or type of activity.
As a result of such configuration, or based upon predetermined or manual parameter settings, it is preferred that the desired tendon force in the above discussed feedback control loop is determined, for a number of different user postures, as a particular relative proportion of the force required to hold the user's arm still, with or without using any muscle power, at the posture in question. This proportion may then be adjusted using the adjustment knob or knobs as described herein.
During a configuration step of the above-described type, it is also preferred that a horizontal upper arm posture is automatically determined, for instance by the user being instructed to position the arm into such a horizontal posture and allowing the control system 20 to then detect the actual posture sensor data when in this posture, and to use this data as a horizontal posture reference in the above described feedback algorithms.
According to an additional preferred embodiment, the control system 20 is configurable, for instance during such a configuration step, to allow for a stronger assistance in particular predetermined posture intervals, such as at postures at which the user, in a current activity such as when shopping or performing a particular repetitive assembly task, must exert more force. Such intervals, and such extra assistance force, is then implemented in said posture-dependent desired tendon force function, preferably as a software function in said control device.
Further preferably, the control system 20 further comprises an elbow angle sensor 26, which is arranged to detect a current flexing angle of the user's elbow, and which is connected to the control means 21, for delivering elbow angle measurement values, in a way which may be similar to the connection of the posture sensor 23. Preferably, in the case in which both a posture sensor 23 and an elbow angle sensor 26 are used, they may be arranged as one single integrated unit, using one single communication interface for communicating with the control means 21. In this case, it is preferred that such integrated unit is arranged at the elbow, such as on the arm attachment means 6, possibly as a part of the interconnection 14.
In case an elbow angle sensor 26 is used, the feedback control loop of the control system 20 is arranged so that no or substantially no pulling force is applied to the artificial tendon 4 in case the elbow angle sensor currently detects an unbent elbow. Apart from this function, the elbow angle sensor 26 detected value preferably has no effect on the applied pulling force. This will avoid the arm attachment means 6 being pulled directly inwards towards the user's shoulder in case the arm is completely straight, thereby bringing the arm attachment means 6 out of place. Hence, this embodiment is most preferred in case the pulling point 5 and possible tendon redirection means 11 are positioned so that the pulling force is applied along a line which is relatively near the ball-and-socket shoulder joint, preferably so that the tendon 4 runs substantially in parallel to the upper arm of the user. Preferably, an elbow flexing angle of about 5°, or even less, will result in the normal feedback control loop to be applied.
In addition to measuring the posture of the arm and/or the torso, as described above, similar posture sensors can also be used to measure other geometric posture aspects of the user's arm and with the aim of modifying the above-described desired force based upon such measurements. Examples comprise the position of the upper arm, in relation to the user's torso, in the horizontal plane; the rotating/twisting angle of the arm; and/or the flexing of the elbow. For instance, greater desired forces (and hence more powerful support to the user) can be used when the arm is located and moved in the median plane as compared to in the frontal plane; and a more flexed arm may require a smaller desired pulling force.
Similarly, the desired pulling force may by dynamically determined in reaction to a detected first- or higher order derivative of an arm posture angle, and/or of any other read posture. In particular, it is desired that faster ongoing posture changes, in particular arm movements, result in larger desired pulling forces, leading to a more naturally-feeling assistance due to normally occurring viscous friction effects in human arms.
Furthermore, the support device, and in particular the control system 20, is preferably arranged not to read any other postures or accelerations than using said posture sensor(s) 23 (in particular, preferably only an upper arm posture sensor in case no torso posture sensor is used) and, if applicable, said elbow angle sensor 26. This provides for a very simple yet versatile and useful system for providing user-initiated arm movement assistance to a user.
For similar reasons, it is preferred that said at least one artificial tendon 4 is the only force-mediating part of the control system 20 between the pulling point 5 and the arm attachment means 6.
According to a preferred embodiment, none of said sensors 23, 26 is arranged to be in direct contact to the skin of the user. Having a sensor arranged in direct contact with the skin can be perceived as uncomfortable by the user, and using the present support device such arrangement is not necessary. Instead, the sensors can be arranged on the main support device parts 6, 12, etc. In particular, it is preferred that the sensors 23, 26 are not arranged to read nervous system signals from the user of the like, but that they are arranged to read purely mechanical posture and angle data based upon their orientation in space, and possibly also based upon their orientation in relation to other parts of the support device.
In particular, each one of said sensors 23, 26 is preferably fixedly attached to a main structure of the arm lifting support device itself, in such a way so that it does not come into direct contact with the user's skin when worn. For instance, the sensors may be fastened on top of a layer of textile fabric.
Apart from the above described sensors, additional sensors may be used in some embodiments, for controlling the feedback loop but in particular to achieve specific temporary functionality based upon specific measured circumstances. For instance, an electromyographic (EMG) sensor may be used to temporarily providing an extra boost, such as when a user muscular effort is detected in relevant muscular tissue. This results in a more complex product, and is therefore not preferred in some embodiments in which simplicity is sought.
It is understood that the above described control system 20 may be implemented to assist arm movements of only one of the user's arms, or both. In the latter case, the feedback functionality may be identical or different, depending on the needs of the user. In one preferred embodiment, the above discussed configuration is performed independently for each of the user's two arms, and a respective resulting feedback loop is then applied independently to the movements and postures of each respective arm.
| Number | Date | Country | Kind |
|---|---|---|---|
| 1651308-7 | Oct 2016 | SE | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2017/075205 | 10/4/2017 | WO | 00 |
