Patent Application
20160270997
The present invention relates to a mobility aid or a walking aid suitable for supporting a disabled user, and in particular to a robotic exoskeleton to assist and support a user for walking.
Mobility aids in the form of robotic exoskeletons are known for fully or partially supporting and assisting a disabled user. An example of an assistive exoskeleton is shown in the applicant's PCT patent application PCT/NZ2008/000351 which is hereby incorporated by reference. An example of a control system for an assistive exoskeleton is shown in the applicant's PCT patent application PCT/NZ2009/000130 which is hereby incorporated by reference.
In the growing field of robotic aid for the physically impaired, there is an ongoing need to improve the functionality of assistive medical devices. There is also a need to improve the versatility of the device to help alleviate the need for a fully customised set up. This is an especially important consideration within the area of rehabilitation where a single device may be shared amongst multiple users.
In this specification where reference has been made to patent specifications, other external documents, or other sources of information, this is generally for the purpose of providing a context for discussing the features of the invention. Unless specifically stated otherwise, reference to such external documents is not to be construed as an admission that such documents, or such sources of information, in any jurisdiction, are prior art, or form part of the common general knowledge in the art.
It is therefore an object of the present invention to provide an improved mobility aid, or to at least provide the public with a useful choice.
In a first aspect the invention may broadly be said to consist of an exoskeleton including a length adjustable leg member pivotally connected to a first other member at a first pivot location, with a linear actuator connected between the leg member and the first other member, such that extension or retraction of the actuator causes relative pivoting of the leg member relative to the first other member, wherein the actuator connects to the leg member at an actuator connecting location spaced along the leg member from the first pivot location, and the adjustment of the length of the leg member does not affect the length of the portion of the leg member that is between the actuator connecting location and the first pivot location.
Preferably the leg member is pivotally connected to a second other member at a second location, and a second linear actuator connects between a second actuator connecting location on the leg member and the second other member, and the adjustment of the length of the leg member does not affect the length of the portion of the leg member that is between the second actuator connecting location and the second pivot location.
Preferably the leg member includes a first leg part and a second leg part, the first leg part including the first pivot location and the actuator connecting location, and the second leg part including the second pivot location and the second actuator connecting location, the first and second leg parts being fixable in more than one relative position to vary the separation between the first and second pivot locations.
Preferably the exoskeleton includes two leg structures, and each leg structure including a leg member of adjustable length.
In a second aspect the invention may broadly be said to consist of an exoskeleton comprising a leg structure comprising at least one leg member of adjustable length, each leg member being pivotally connected at one end to a first other member of the exoskeleton and pivotally connected at another end to a second other member of the exoskeleton, and for each leg member a linear actuator connects from the first other member to a first actuator connection location of the leg member, and a linear actuator connects from a second actuator connection location of the leg member to the second other member, and wherein adjustment of the length of the leg member is confined to a region of the leg member between the first and second actuation connection locations.
Preferably the leg structure comprises an upper leg member of adjustable length and a lower leg member of adjustable length, and wherein the upper leg member is pivotally connected at one end to a pelvis support and at the other end to the lower leg member, and wherein the lower leg member is pivotally connected at one end to the upper leg member and at the other end to a foot member.
Preferably the exoskeleton further comprises a second leg structure having an upper leg member of adjustable length and a lower leg member of adjustable length.
In a third aspect the invention may broadly be said to consist of an exoskeleton including a limb member which is adjustable in length, the limb member including a first leg part with a first pivot connection location and a second leg part with a second pivot connection location, together formed so that they may slide relative to one another along a line of adjustment, and including an adjustment mechanism which fixedly adjusts the relative position along the line of adjustment, and a locking mechanism which is independent of the adjustment mechanism and which further secures the relative position of the first leg part and the second leg part.
Preferably the line of adjustment is a straight line.
Preferably the adjustment mechanism comprises a shaft connected at one end with one of the first or second leg parts and at another end with a socket of the other first or second leg part, and a mechanism manipulates the shaft, the socket or both to adjust the relative axial position of the shaft within the socket.
Preferably the mechanism does not respond to forces between the socket and the shaft.
Preferably the mechanism is a worm drive with a rotatable input for rotating a worm and a worm wheel connected to rotate the shaft, the worm engaging the worm wheel.
Preferably the first leg part and the second leg part include engaging rail members, bending forces in use being transmitted between the engaged rail members, and the locking mechanism is manipulable between a first condition in which it presses the rail members together and a second condition in which the rail members are more free to slide.
Preferably the locking mechanism is carried by the first leg part and includes a bearing surface facing the second leg part, and a lever operable between a first position and a second position, the first position corresponding with an slidable condition, and the second position corresponding with a locked condition, manipulation of the lever from the first position to the second position urging the bearing surface against the second leg part.
Preferably the locking mechanism extends from a locking region on the first leg part, and the bearing surface faces the locking region of the first leg part, with a portion of the second leg part located between the bearing surface and the locking region of the first leg part.
Preferably the lever includes an over centre mechanism, such that in the movement of closing the lever from the unlocked to the locked position, the required force initially increases, and then reduces.
Preferably the locking mechanism is prevented from being manipulable by a tamper proof mechanism.
Preferably the tamper proof mechanism prevents the locking mechanism from moving between the first and second positions.
Preferably the tamper proof mechanism as a cover that covers the levers.
Preferably the cover is affixed to the levers to prevent the levers from moving between the first and second positions.
Preferably the cover is printed so to prevent the levers moving towards each other.
Preferably the cover is screwed into the levers.
Alternatively the cover is attached to the levers via a barb fit.
Alternatively the cover is attached to levers via a snap fit.
Preferably the screws penetrate through the cover to be screwed into the levers.
Preferably an adhesive sheet or label is laid over the top of the screws and cover.
Preferably access to the screws cannot be achieved without defacing or damaging the adhesive sheet.
Preferably blocks are retrofittably affixed to the levers to which the covers may be affixed.
Preferably the blocks are press fitted into the levers.
Preferably the cover is screwed into the blocks.
In a fourth aspect the invention may broadly be said to consist of a walking aid suitable for supporting a mobility impaired disabled user comprising:
an exoskeleton comprising:
In a fifth aspect the invention may broadly be said to consist of a structural foot member for an exoskeleton of a walking aid suitable for supporting a mobility impaired disabled user comprising a foot support region for retaining a user's foot therein, the foot support region being adjustable in position relative to an ankle joint of the exoskeleton to enable alignment of the user's ankle with the ankle joint along at least one axis.
Preferably the foot support region is fixedly adjustable in position relative to the ankle joint to align the ankle of the user with at least on pivot axis of the ankle joint of the exoskeleton.
Preferably the foot support region is fixedly adjustable in position relative to the ankle joint to align the ankle of the user with a first substantially transverse pivot axis of the ankle joint, or a second substantially longitudinal pivot axis of the ankle joint, or both.
Preferably the foot support region is fixedly adjustable in position relative to the ankle joint along two substantially orthogonal axes.
Preferably the foot support region is adjustable relative to the ankle joint along a longitudinal axis of the foot member.
Preferably the foot support region is adjustable relative to the ankle joint along a substantially vertical axis.
Preferably the foot support region is bounded by at least one lateral wall member, the wall member being adjustable along at least one axis to adjust the position of the support region relative to the ankle joint.
Preferably the foot member further comprises a base from which the lateral wall member extends.
Preferably the wall member is a heel support located at an end of the base for engaging a user's heel in use.
Preferably the heel support is adjustable in position along a longitudinal axis of the base.
Preferably the heel support is moveably engaged with the base of the foot member.
Preferably the heel support is slidably engaged with the base of the foot member.
Preferably the foot member further comprises a fastener operable between a first state where the heel support is free to slide against the base to adjust the longitudinal position of the heel support relative to the ankle joint and a second state where the heel support is locked in position relative to the ankle joint.
Preferably the foot support region is further bounded by a support surface for receiving the user's foot thereon, the support surface being adjustable in position relative to the ankle joint along at least one axis.
Preferably the support surface is adjustable in position along a substantially vertical axis.
Preferably the foot member further comprises one or more stackable plate members configured to engage a base of the foot member for adjusting a position of the support surface relative to the ankle joint along the vertical axis, in use the uppermost plate of the stack providing the support surface for the foot.
Preferably a number of plates or a thickness of each plate or both is selectable by the user to adjust the relative position of the support surface and the ankle joint in the vertical axis.
Preferably the foot member further comprises a pair of walls extending laterally from either side of the base, each wall having an inner periphery corresponding to an outer periphery of the one or more plate members for retaining the plate members there between.
Preferably the foot member further comprises a connector for coupling an ankle joint of the exoskeleton thereto.
In a sixth aspect the invention may broadly be said to consist of a walking aid suitable for supporting a mobility impaired disabled user comprising:
In a seventh aspect the invention may broadly be said to consist of a walking aid suitable for supporting a mobility impaired disabled user comprising:
In an eighth aspect the invention may broadly be said to consist of a walking aid suitable for supporting a mobility impaired disabled user comprising:
Preferably the knee stop is located adjacent the knee joint.
Preferably the knee stop comprises at least one rigid abutment protruding from a surface of the upper leg structural member in an anterior direction.
Preferably the lower leg structural member comprises an extended end adjacent the knee joint configured to engage the at least one rigid abutment upon rotation about the knee joint in the extension direction to a position where a longitudinal axis of the lower leg structural member is substantially parallel to a longitudinal axis of the upper leg structural member to limit the lower leg structural member from further rotation in the extension direction and to prevent hyperextension of the user's knee.
Preferably the knee stop comprises a pair of adjacent rigid abutment surfaces protruding from a surface of the upper leg structural member in the anterior direction and the extended end of the lower leg structural member comprises a clevis having a pair of rigid arm, each configured to engage a corresponding abutment upon rotation of the lower leg structural member about the knee joint in the extension direction to the position where a longitudinal axis of the lower leg structural member is substantially parallel to a longitudinal axis of the upper leg structural member.
Preferably the abutment is or abutments are integral with the upper leg structural member.
In one embodiment each leg structure of the exoskeleton further comprises, a knee actuator coupled at one end to the upper leg structural member and to the lower leg structural member at an opposing end to cause rotation of the lower leg structural member about the knee joint during extension and retraction of the actuator, and wherein the knee stop is a rigid abutment located in a path of the actuator arm to limit extension or retraction of the actuator beyond a point resulting in hyperextension of the user's knee.
In a ninth aspect the invention may broadly be said to consist of a walking aid suitable for supporting a mobility impaired disabled user comprising:
In a tenth aspect the invention may broadly be said to consist of an exoskeleton comprising a leg structure having a first leg member pivotally coupled to a second leg member via a knee joint, and a mechanical knee stop positioned relative to the leg structure to prevent rotation of the second leg member relative to the first leg member in the direction of extension beyond a rotational position where an orientation of the second leg member is substantially parallel to an orientation of the first leg member.
In an eleventh aspect the invention may broadly be said to consist of an exoskeleton comprising a leg structure having a first leg member pivotally coupled to a second leg member via a knee joint, and a mechanical knee stop positioned relative to the leg structure and configured to limit the extent of rotation of the second leg member relative to the first leg member in the direction of extension to prevent hyperextension of the lower leg structural member.
In a twelfth aspect the invention may broadly be said to consist of a walking aid suitable for supporting a mobility impaired disabled user comprising:
Preferably the upper leg structural member comprises a pair of leg parts adjustable in relative axial positions to adjust a length of the upper leg structural member, and wherein the pair of telescoping outer cover parts of the upper leg outer cover are coupled to the pair of leg parts such that adjustment of the length of the upper leg structural member causes a corresponding adjustment in the upper leg outer cover via the telescoping upper cover parts.
Preferably the lower leg structural member comprises a pair of leg parts adjustable in relative axial positions to adjust a length of the lower leg structural member, and wherein the pair of telescoping outer cover parts of the lower leg outer cover are coupled to the pair of leg parts such that adjustment of the length of the lower leg structural member causes a corresponding adjustment in the lower leg outer cover via the telescoping lower cover parts.
Preferably the upper leg outer cover comprises a recess configured to locate adjacent an adjustment mechanism of the pair of leg parts to enable access by a user to the adjustment mechanism to adjust the relative axial positions of the leg parts.
Preferably the lower leg outer cover comprises a recess configured to locate adjacent an adjustment mechanism of the pair of leg parts to enable access by a user to the adjustment mechanism to adjust the relative axial positions of the leg parts.
Preferably one of the pair of outer cover parts of the upper leg outer cover comprises a flanged section configured to be telescopingly received within a corresponding end of the other part of the pair of outer cover parts.
Preferably the flanged section comprises indicia arranged longitudinally along the section indicative of one or more sizes of the corresponding upper leg structural member, the indicia being partially or fully exposed in accordance with the extent to which the flanged section is received within the other part of the pair of cover parts.
Preferably one of the pair of outer cover parts of the lower leg outer cover comprises a flanged section configured to be telescopingly received within a corresponding end of the other part of the pair of outer cover parts.
Preferably the flanged section comprises indicia arranged longitudinally along the section indicative of one or more sizes of the corresponding lower leg structural member, the indicia being partially or fully exposed in accordance with the extent to which the flanged section is received within the other part of the pair of cover parts.
In a thirteenth aspect the invention may broadly be said to consist of a walking aid suitable for supporting a mobility impaired disabled user comprising:
In a fourteenth aspect the invention may broadly be said to consist of an exoskeleton comprising a leg member having an outer cover, the leg member and outer cover comprising two telescoping parts to adjust the size of the outer cover to match a size of the leg member.
In a fifteenth aspect the invention may broadly be said to consist of a method for controlling an exoskeleton worn by a user and having one or more actuators associated with various body members of the exoskeleton each corresponding to a body part of the user, the method comprising the steps of:
Preferably the step of prior to receiving input data indicative of a desired movement sequence:
Preferably the step of receiving calibration data comprises selecting from a set of pre-stored anatomical structures or gait preferences or a combination of both.
Preferably data indicative of the user's anatomical structure includes data indicative of a user's size.
Preferably the data indicative of a size of the user includes data indicative of a user's leg length, data indicative of the weight of the user or both.
Preferably the data indicative of user's gait preference includes data indicative of a preferred degree of hip tilt.
In a sixteenth aspect the invention may broadly be said to consist of a method for controlling an exoskeleton worn by a user and having one or more actuators associated with various body members of the exoskeleton each corresponding to a body part of the user, the actuators being driven by a movement map to achieve an associated movement sequence, the method comprising the steps of:
In a seventeenth aspect the invention may broadly be said to consist of a control system for controlling an exoskeleton worn by a user and having one or more actuators associated with various body members of the exoskeleton each corresponding to a body part of the user, the control system comprising:
In a eighteenth aspect the invention may broadly be said to consist of a method for controlling an exoskeleton worn by a user and having one or more actuators associated with various body members of the exoskeleton each corresponding to a body part of the user, the method comprising the steps of:
In a nineteenth aspect the invention may broadly be said to consist of a control system for controlling an exoskeleton worn by a user and having one or more actuators associated with various body members of the exoskeleton each corresponding to a body part of the user, the control system comprising:
In a twentieth aspect the invention may broadly be said to consist of an exoskeleton comprising:
In a twenty first aspect the invention may broadly be said to consist of an exoskeleton including a leg structure having a leg member which is adjustable in length, the leg member including a first leg part with a first pivot connection location and a second leg part with a second pivot connection location, together formed so that they may slide relative to one another along a line of adjustment, and including an adjustment mechanism which fixedly adjusts the relative position along the line of adjustment, and a locking mechanism which is independent of the adjustment mechanism and which further secures the relative position of the first leg part and the second leg part, and
In a twenty second aspect the invention may broadly be said to consist of an exoskeleton comprising:
In a twenty third aspect the invention may broadly be said to consist of an exoskeleton including a leg structure having a leg member which is adjustable in length, the leg member including a first leg part with a first pivot connection location and a second leg part with a second pivot connection location, together formed so that they may slide relative to one another along a line of adjustment, and including an adjustment mechanism which fixedly adjusts the relative position along the line of adjustment, and a locking mechanism which is independent of the adjustment mechanism and which further secures the relative position of the first leg part and the second leg part, and
In a twenty fourth aspect the invention may broadly be said to consist of an exoskeleton comprising:
In a twenty fifth aspect the invention may broadly be said to consist of an exoskeleton including a limb member which is adjustable in length, the limb member including a first leg part with a first pivot connection location and a second leg part with a second pivot connection location, together formed so that they may slide relative to one another along a line of adjustment, and including an adjustment mechanism which fixedly adjusts the relative position along the line of adjustment, the adjustment mechanism further comprising a tamper evident indicator that indicates that an adjustment has been made to the limb member.
Preferably the tamper evident indicator comprises an adhesable sheet that covers a portion of the adjustment mechanism.
Preferably the adhesive sheet is damaged torn or ripped during adjustment to indicate adjustment.
Preferably the exoskeleton comprises a cover that covers a locking mechanism that locks the adjustment mechanism.
Preferably, the locking mechanism comprises levers.
Preferably the locking mechanism is carried by the first leg part and includes a bearing surface facing the second leg part, and a lever operable between a first position and a second position, the first position corresponding with an slidable condition, and the second position corresponding with a locked condition, manipulation of the lever from the first position to the second position urging the bearing surface against the second leg part.
Preferably the adhesive sheet is affixed to the levers.
Preferably the adhesive sheet is damaged, torn, ripped or provides an indication of adjustment of the limb member if the levers are manipulated.
Preferably the cover is screwed via screws directly or indirectly onto the levers to prevent the levers from being manipulated.
Preferably the adhesive sheet is affixed to the cover.
Preferably access to the screws cannot be achieved without defacing or damaging, to therefore indicate manipulation, the adhesive sheet.
Preferably the tamper evident indicator as a frangible portion that indicates adjustment if the adjustment mechanism is adjusted by the frangible portion breaking or being damaged.
Preferably the cover is attached to one or more selected from the adjustment mechanism, levers and locking mechanism by one or more of a snap fit, barb fit and frangible fit so that either one of the snap fit, barb fit or frangible fit is damaged or broken should the levers be manipulated, the locking mechanism be unlocked or the adjustment mechanism is adjusted.
Preferably the locking mechanism is independent of the adjustment mechanism and further secures the relative position of the first leg part and the second leg part.
In a twenty sixth aspect the invention may broadly be said to consist of an exoskeleton including a limb member which is adjustable in length, the limb member including a first leg part with a first pivot connection location and a second leg part with a second pivot connection location, together formed so that they may slide relative to one another along a line of adjustment, and including an adjustment mechanism which fixedly adjusts the relative position along the line of adjustment, and a tamper proof mechanism that prevents the adjustment mechanism from being adjusted.
Preferably the exoskeleton comprises a locking mechanism which is independent of the adjustment mechanism and which further secures the relative position of the first leg part and the second leg part.
Preferably the tamper proof mechanism prevents the adjustment mechanism from being adjusted and or the locking mechanism from being manipulated.
Preferably the tamper proof mechanism is a cover that covers the locking mechanism.
Preferably, the locking mechanism comprises levers.
Preferably the locking mechanism is carried by the first leg part and includes a bearing surface facing the second leg part, and a lever operable between a first position and a second position, the first position corresponding with an slidable condition, and the second position corresponding with a locked condition, manipulation of the lever from the first position to the second position urging the bearing surface against the second leg part.
Preferably the cover is affixed to the levers to prevent the levers from moving between the first and second positions.
Preferably the cover is rigid to prevent the levers moving towards each other.
Preferably the cover is screwed into the levers.
Alternatively the cover is attached to the levers via a barb fit.
Alternatively the cover is attached to levers via a snap fit.
Preferably the screws penetrate through the cover to be screwed into the levers.
Preferably blocks are retrofittably affixed to the levers to which the cover may be affixed.
Preferably the blocks are press fitted into the levers.
Preferably the cover is screwed into the blocks.
In a twenty seventh aspect the invention may broadly be said to consist of walking aid suitable for supporting a mobility impaired disabled user comprising:
Preferably the exoskeleton comprises a securing feature to secure the upper leg first component and upper leg second component together.
Preferably the securing feature further secures the relative position of the upper leg first component and upper leg second component or releases them sufficient for the adjustment mechanism to alter the relative positions.
Preferably the securing feature is a lever or levers that is or are operable between a first position and a second position, the first position corresponding with the upper leg first component and upper leg second component being in a relative moveable condition, and the second position corresponding with a secured condition of the first and second upper leg components.
Preferably the securing feature clamps the upper leg first component and the upper leg second component together.
Preferably the tamper resistant mechanism is a body.
Preferably the body prevents the securing feature from being tampered with.
Preferably the body prevents the securing feature from being released from its bridged configuration.
Preferably the body prevents the securing feature from being unsecured.
Preferably the body displays an indication that the securing feature is and/or has been unsecured.
Preferably the body is affixed to the lever and one or more selected from the upper leg first component and the upper leg second component.
Preferably the body is affixed to the two levers to prevent movement of the levers between the movable and secured conditions.
Preferably the body is rigid to prevent the levers moving towards each other.
Preferably the body is screwed into the levers.
Alternatively the body is attached to the levers via a barb fit.
Alternatively the body is attached to levers via a snap fit.
Preferably the screws penetrate through the body to be screwed into the levers.
Preferably blocks are retrofittably affixed to the levers to which the body may be affixed.
Preferably the blocks are press fitted into the levers.
Preferably the body is screwed into the blocks.
Preferably the upper leg first component comprises part of the hip joint.
Preferably the upper leg second component comprises part of the knee joint.
It is intended that reference to a range of numbers disclosed herein (for example, 1 to 10) also incorporates reference to all rational numbers within that range (for example, 1, 1.1, 2, 3, 3.9, 4, 5, 6, 6.5, 7, 8, 9 and 10) and also any range of rational numbers within that range (for example, 2 to 8, 1.5 to 5.5 and 3.1 to 4.7) and, therefore, all sub-ranges of all ranges expressly disclosed herein are hereby expressly disclosed. These are only examples of what is specifically intended and all possible combinations of numerical values between the lowest value and the highest value enumerated are to be considered to be expressly stated in this application in a similar manner.
The term “comprising” as used in this specification and claims means “consisting at least in part of”. When interpreting each statement in this specification and claims that includes the term “comprising”, features other than that or those prefaced by the term may also be present. Related terms such as “comprise” and “comprises” are to be interpreted in the same manner.
As used herein the term “and/or” means “and” or “or”, or both.
As used herein “(s)” following a noun means the plural and/or singular forms of the noun.
The invention consists in the foregoing and also envisages constructions of which the following gives examples only.
Preferred embodiments of the invention will be described by way of example only and with reference to the drawings, in which:
1. Overview
Referring to
2. Exoskeleton
The exoskeleton 500 is an electromechanical skeletal structure worn externally by a user and configured to support the legs and waist of the user for assisting in at least a walking motion of the user. The exoskeleton 500 comprises a pair of leg structures 510 and 520 each configured to receive and retain a respective leg of the user, a pair of foot members 530 and 540 each configured to receive and retain a respective foot of the user, and a pelvic support member or hip frame 550 adapted to receive and retain the user's pelvis and hips. Each leg structure 510/520 comprises an upper leg member 511/521 and a lower leg member 512/522. The upper and lower leg members are moveably coupled relative to one another at a knee joint 513/523 of the leg structure. Each upper leg member 511/521 is also moveably coupled to a respective side of the hip at a hip joint 514/524, while each lower leg member 512/522 is also moveably coupled to the respective foot member 530/540 at an ankle joint 515/525 of the leg structure. In this manner, a structure is provided that is capable of at least partially imitating the movement capabilities of a person's lower region.
2.1 Leg Structures
The exoskeleton comprises a pair of moveable leg structures 510 and 520, coupled to the hip frame 550 and foot members 530/540 and configured to assist in the movement of the user's legs. Each leg structure 510/520 comprises an upper leg member 511/521, a lower leg member 512/522 and associated actuators 570/580 for effecting movement of the upper and lower leg members relative to one another via the knee joint 513/523, relative to the hip frame 550 via the hip joint 514/524, and relative to the corresponding foot support 530/540 via the ankle joint 515/525. At least one of, but preferably both, upper 511/521 and lower 512/522 leg members are adjustable in length to customise the exoskeleton 500 to the user's anatomical/leg dimensions.
Hip and Knee Joints
Referring also to
Referring in particular to
In the preferred embodiment, each hip joint 514/524 defines a hip axis 514A/524A that in use is located relative to the user at or approximate to the natural axis of the user's hip rotation in the anterior/posterior direction of movement. In a preferred embodiment each hip joint 514/524 is configured relative to the hip frame 550 with its axis of rotation 514A/524A extending downwardly in a lateral direction at an angle of between zero and ten degrees, and more preferably of about four degrees. This inclination of the axis of rotation 514A/524A mimics a human being's upper leg alignment. The inclination means that the foot members of the WA are closer together, which allows for a more natural transfer of the centre of mass (generally located about the middle of the pelvis) to a point within the support area provided by the foot members when the WA is controlled to move through a walking motion.
As shown in
In the preferred embodiment, the longitudinal axis of each upper leg member 511/521 is offset from the pivot axis 513A/523A of the associated knee joint 513/523. Each axis 513A/523A is located behind (in a forward direction of travel of the user) the longitudinal axis of the associated upper leg member 511/521. The longitudinal axis of each lower leg member 512/522 projects through the pivot axis 513A/523A of the associated knee joint 513/523. The offset of the upper leg members with the knee joints replicates the form of the human skeleton, to ensure correct alignment of each of the user's knee joints with the knee joints of the exoskeleton thereby avoiding any stress to the user's knee joints and alleviating or preventing knee damage to the user.
Referring now also to
In the preferred embodiment, each ankle joint 515/525 is configured with its primary axis of rotation 515A/525A extending downwardly in a lateral direction at an angle of between zero and 6 degrees, and more preferably at about four degrees.
It will be appreciated that in alternative embodiments, the hip 514/524, knee 513/523 and ankle joints 515/525 may be configured to enable relative rotation between the associated parts along any combination of Sagittal, Coronal and/or Transverse planes of the user depending on the desired/required level of complexity of the WA 100 and/or the desired/required level of similarity with the associated human joint. For example, in alternative embodiments, the knee joints 515 and 525 may also enable relative rotation abduction and adduction of the lower leg, and/or the hip joints 514 and 524 may also enable relative rotation to achieve transverse abduction/adduction and/or lateral/medial rotations for example. The degree of movement or rotation along any one or more of these planes may be limited in one or more directions in accordance with the capabilities of the associated human joint.
Leg Actuators
Referring in particular to
To provide a low profile exoskeleton 500, each linear actuator is arranged substantially parallel to the corresponding upper leg member. Each primary actuator 571a/581a is pivotally coupled to connection point on the respective side of the hip frame 550 behind the hip joint 514/524 (in a direction of forward motion of the exoskeleton) and is configured to pivot about two substantially orthogonal axes, for example to move within the sagittal plane in the anterior and posterior direction and within the transverse plane in the lateral and medial directions. Each secondary actuator 571b/581b is pivotally coupled to the respective connection point on side of hip joint 514/524 and is configured to pivot/rotate about a third axis substantially orthogonal to the two axes of the primary actuator, for example to move within the coronal plane in the superior and inferior directions.
Referring in particular to
To provide a low profile exoskeleton 500, each linear knee actuator 572/582 is preferably arranged substantially in parallel with the associated upper and lower leg members 511,512/521,522. Each actuator 572/582 is pivotally coupled to the upper end 512a/522a of the respective lower leg member 512/522 to rotate about an axis substantially parallel to the axis of the knee joint 514/524.
The linear actuators used are preferably low voltage Direct Current (DC) actuators with position feedback through a sensor in the actuator. Typically, each actuator would be caused to move by an electric motor (not shown) driving a worm gear (not shown), which causes the actuator arm to extend or retract.
It will be appreciated that in alternative embodiments, any number, type and configuration of actuators may be utilised as is well known in the art of mechanical engineering to achieve the desired rotational movements of the upper and lower leg members as described in the joint section of this specification.
Size Adjustment
Referring to
An adjustment mechanism is thus provided to each of the adjustable leg members 511/512/521/522. It will be appreciated that one or more of these member 511/512/521/522 may be adjustable or provided with an adjustment mechanism but in the preferred embodiment each member is adjustable to improve the utility and versatility of the exoskeleton 500 as will be described below.
Adjustment of the length of a leg member 511/512/521/522 will result in the relocation of the connection points associated with the actuators 571-573/581-583. To alleviate the need to also adjust the length of associated actuators to match the leg member adjustment, a mechanism is provided by the invention in which a constant distance between each pair of connection points of the associated actuators is maintained during leg member length adjustment. In other words, for each actuator having a connection point on a leg member and a connection point on another member of the exoskeleton (hip frame, foot member or other leg member for example), adjustment of the length of the leg member does not affect the length of the portion of the leg member that is between the pair of actuator connection points (or the actuator connection point on the leg member and the associated pivot joint). In this manner adjustment of the length of the leg member is confined to a region of the leg member between the pair of associated actuator connection points. This is preferably the case for all actuators associated with each leg member.
In the preferred embodiment, each leg member comprises first and second leg parts that can axially slide relative to one another along a line of adjustment. The first and second leg parts are fixable in more than one relative axial position. An adjustment mechanism or system is provided to fixedly adjust the relative position along the line of adjustment, and includes a separate locking mechanism independent of the method of adjustment which further secures the relative position of the first leg part and the second leg part or releases them sufficient for the adjustment mechanism to alter the relative positions. The adjustment mechanism comprises a shaft connected at one end with one of the first or second leg parts and at another end with a socket of the other first or second leg part, and a mechanism manipulates the shaft, the socket or both to adjust the relative axial position of the shaft within the socket. The first leg part and the second leg part include engaging rail members, and the locking mechanism is manipulable between a first condition in which it presses the rail members together and a second condition in which the rail members are more free to slide.
In the preferred embodiment, each of the upper leg members 511/521 comprises a first upper leg part 511a/521a and a second upper leg part 511b/521b. The first and second upper leg parts 511a,b/521a,b are moveably coupled to one another, and preferably slidably engageable to enable adjustment of their relative positions along a longitudinal axis of the parts. Adjustment of the relative positions of the first and second upper leg parts 511a,b/521a,b results in adjustment of the overall length of the associated upper leg member 511/521. In this manner, the exoskeleton 500 can be adjusted to fit the user's lower body dimensions.
As shown in
As shown in
Similarly in the preferred embodiment each ankle actuator 573a,b/583a,b is operatively coupled to the respective lower leg part 511b/521b of the lower leg member 512/522 and to foot member 530/540. In adjusting the effective length of each lower leg member 512/522, the lower leg part 512b/522b does not alter its position relative to the foot member 530/540. In this manner, adjustment of the overall length of each lower leg member 512/522 does not affect the distance between the ankle actuator connections. This alleviates the need to adjust the length of the ankle actuators 573a,b/583a,b to suit the adjustment in length of the lower leg member 512/522.
An adjustment mechanism 800 is provided between the first and second upper leg parts 511a,b/521a,b of each upper leg member 511/512, and an adjustment mechanism 800 is provided between the first and second lower leg parts 512a,b/522a,b of each lower leg member 512/522. The adjustment mechanism will now be described with reference to leg member 511, but it will be appreciated that the same principles apply for the other leg members 521/512/522.
Referring to
In the preferred embodiment, the mechanism comprises at the socket a worm drive 813 with a rotatable input for rotating a worm and a worm wheel connected to rotate the shaft 812, the worm engaging the worm wheel.
The lead screw 812 at one end is threadably engaged with an end of the first upper leg part 511a, and at an opposing end is threadably engaged to the worm gear 813. Rotation of the worm gear 813 causes the lead screw 812 to rotate to pull or push the respective end first upper leg part 511a depending on the direction of rotation, thereby sliding the first upper leg part 511a relative to the second upper leg part 511b in the corresponding linear direction. A rotatable bearing 814 having an aperture, preferably in the form of a hexed aperture 814 for receiving a tool or hex tool, is coupled to the worm gear 813 to enable insertion of the tool for manual rotation of the worm gear 813 via the bearing to move/slide the parts 511a and 511b relative to one another.
In the preferred embodiment, the lead screw 812 prevents slidable motion or movement of the parts 511a and 511b relative to one another without rotation of the worm gear 813.
This adjustment mechanism 800 thus secures the two leg parts 511a and 511b relative to one another as well as providing a method for fixedly adjusting the relative axial positions of the parts to alter the length of the leg member 511.
Referring to
For example,
Referring to
The first upper leg part 511a comprises an engagement surface or rail member(s) 801 configured to slidably engage an opposing engagement surface or rail member(s) 802 of the second upper leg part 511b in the assembled state. The engagement surfaces 801 and 802 are preferably substantially planar but may alternatively comprise complementary formations for enabling a slidable engagement (such as a rib and groove arrangement for example). The locking mechanism is manipulable between a first condition in which it presses the rail members together and a second condition in which the rail members are freer to slide on each other. The locking mechanism is carried by the second leg part 511b and includes a bearing surface facing the first leg part 511a, and at least one lever 810 operable between a first position and a second position, the first position corresponding with the moveable condition, and the second position corresponding with the locked condition. Manipulation of the lever 810 from the first position to the second position urges the bearing surface against the first leg part. The lever includes an over centre mechanism, such that in the movement of closing the lever from the unlocked to the locked position, the required force initially increases, and then reduces.
In the preferred embodiment, the first upper leg part 511a further comprises four (but alternatively any number of one or more) apertures 803, each configured to receive an associated fastener 804 of the locking mechanism there through. Each aperture 803 extends through the leg part 511a from the engagement surface 801 to an opposing surface 805 of the first upper leg part 511a.
In the preferred embodiment, a first pair of apertures 803a is provided on one side of the first upper leg part 511a, and a second pair of apertures 803b is provided on an opposing side of the first upper leg part 511a. The second upper leg part 511b comprises a pair of elongate channels 806a and 806b (but may be one or more channels depending on the number and location of corresponding apertures 803) corresponding to the two pairs of apertures 803a and 803b respectively. In particular, channel 806a is configured to align with apertures 803a when the surfaces 801 and 802 of the two parts are engaged, and channel 806b is configured to align with apertures 803b when the surfaces 801 and 802 of the two parts are engaged. The channels 806a and 806b are substantially parallel and extend along a length of the second upper leg part 511b. The length of the channels defines the range of length adjustment provided by the upper leg part 511 of the exoskeleton. Fasteners 804 extend through the respective channel 806a or 806b from the second upper leg part 511b to the surface 805 of the first upper leg part 511a. One or more abutments may also be provided on either or both parts 511a and 511b to limit the range of length adjustment provided by the mechanism 800.
To lock the relative positions of the first and second upper leg parts 511a and 511b in place, the locking mechanism is operated to clamp the two parts together by placing outward tension on the fastener heads at either end of each fastener 804. This secures the fasteners 804 in position within the respective channels 806. To release the rigid connection between the two parts and enable adjustment of the relative positions, the locking mechanism is operated to release the tension on the fastener heads thereby allowing movement of the fasteners 804 along the respective channels 806.
Referring particularly to
The clamping arms or levers 810 are pivotally coupled to the second upper leg part 511b adjacent the face 809. Each clamping arm 810 is pivotable relative to the second upper leg part 511b between a locked position and a released position to lock and release the two parts respectively. In the preferred embodiment, in the locking position the lever 810 has its free end 810b located adjacent the channels 806 and in the releasing position the lever has its free end 810b located away from the channels 806. Pivotal movement of each arm 810 between these two positions results in the movement of respective wedges 807 to the associated locked and released positions. A link arm 811 associated with each wedge 807 is pivotally coupled at one end to the wedge 807 (preferably the larger end 807a of the wedge 807) and at an opposing end to the adjacent lever 810. As the lever is rotated from the released position to the locked position, each link arm 811 is caused to rotate and push the larger end of the respective wedge 807 towards the washer 808 and fastener 804. As the lever is rotated from the locked position to the released position, each link arm 811 is caused to rotate in the opposite direction to pull the larger end 807a of the respective wedge 807 away from the washer 808 and fastener 804.
The two levers 810 are preferably arranged to be rotated in opposing directions towards one another to release the tension on all four fasteners and unlock the two parts 511a and 511b, and arranged to be rotated in opposing directions away from one another to increase the tension on all four fasteners and lock the two parts 511a and 511b together. The pivot axes on either end of each link arm 811, and the pivot axis of each lever are preferably substantially parallel relative to each another and preferably substantially orthogonal along a transverse axis relative to the longitudinal axis of the second upper leg part 511b.
Referring now to
During operation, to adjust the overall length of the upper leg part 511a, the two levers are moved from the locked position to the released position (
Once the desired overall length is achieved, the levers are moved towards the locked position to secure the two parts 511a and 512b in position relative to one another (
In the preferred embodiment, a similar adjustment and locking mechanism 800 as described above with reference to the first and second upper leg parts 511a and 511b of the upper leg member 511 is provided to the first and second upper leg parts 521a and 521b of the upper leg member 521, and to the first and second lower leg parts 512a and 512b of the lower leg member 512, and to the first and second lower leg parts 522a and 522b of the lower leg member 522.
Tamper Proof and Tamper Evident
As described herein, the two levers 810 are preferably arranged to be rotated in opposing directions towards one another to release the tension on all four fasteners and unlock the two parts 511a and 511b, and arranged to be rotated in opposing directions away from one another to increase the tension on all four fasteners and lock the two parts 511a and 511b together.
In some embodiments, it is required or preferred that there is a tamper proof cover 1000 that prevent users from accessing the adjustment mechanism of the walking aid and provides evidence of any attempted removal of the tamper proof cover. In particular, this cover 1000 is used when converting a walking aid as a rehabilitation device for many users to a walking aid device for usage by a specific individual. In which, a professional will adjust the length of the leg members to suit an individual. Any change to the length of the leg members may cause damage to the user if the lengths are not correct.
In one embodiment an engageable cover 1000 covers the two levers 810 preventing them from being released and thus preventing the machine height from being adjusted by an unauthorized person.
Preferably the cover 1000 is a screw 1002 or bolt on cover. Blocks 1001 are attached to each lever 810 so as to provide a threaded bore for screws 1002 or bolts to be fastened into. The retaining block 1001 assemblies are press fitted or otherwise attached to the handles as shown in
Furthermore or independently of the tamper proof cover, for added security a tamper evident system may be used. This tamper evident system may be configured in a similar fashion to the cover with the snap type or barb type fitments that are frangible or break upon being removed. Hence when a person using the walking aid they are able to tell if the adjustment of the legs has taken place by the tamper evident system.
Another example of a tamper evident system is the use of an adhesive label or sheet 1006 may be attached to the top of the cover which has been screwed into the blocks 1001.
The sheet might have an integral adhesive on it or may be adheseable wherein an adhesive may be applied 1st to either the sheet or the cover or levers and then the sheet is applied onto the adhesive. The adhesive sheet covers the top heads of the screws and then prevents removal of the screws without shown signs of tampering and cannot be removed without voiding the adhesive sheet.
In other embodiments the cover may be adhesively attached and there is no need for the blocks. In a further embodiment the cover may be attached to the handles by a snap or barb type fit. Release of the barbs or snap type fits would rip or damage the tamper evident sheet.
The cover may be composed of a verity of sufficiently sturdy materials such as plastics or metal. Preferably the cover is composed of plastics as it is lightweight and cheaper to manufacture. There may also be snap type clips 1004 which help the cover affix to the levers. Snap type clips are work better when composed of plastics.
Prevention of Knee Hyperextension
Referring to
In the preferred embodiment, at least one substantially rigid abutment 595 protrudes outwardly from each upper leg member 511/521 in the anterior direction (and in particular the lower part 511b/521b of the upper leg member 511/521) adjacent the knee joint 513/523. A substantially rigid extended end 596 of the respective lower leg member 512/522 (and in particular the upper part 512a/522a of the lower leg member 512/522), adjacent the knee joint 513/523, is configured to engage the abutment 595 when the lower leg member 512/522 is extended about the knee joint 513/523 to an orientation that is substantially parallel to the orientation of the upper leg member 511/521—i.e. the angle between the upper and lower leg members is approximately 180 degrees. In this manner, the lower leg member 512/522 is prevented from hyper extending outwardly of said knee joint 513A/523A.
There are preferably a pair of substantially rigid abutments 595a and 595b protruding adjacent one another at the knee joint 513/523 of each leg member 510/520. Each abutment 595a/595b is configured to engage a corresponding substantially rigid side of a clevis 596 of the lower leg member 512/522. The clevis 596 is configured to couple an end of the knee actuator 572/582.
The abutment or abutments 595 are preferably integrally formed with the leg member 511/521. In alternative embodiments, the abutment or abutments 595 are separate components that can be removably or fixedly coupled to the appropriate leg part or location on the exoskeleton to limit the extent of rotation of the lower leg member in the extension direction.
It will be appreciated that a mechanical stop may be provided at another location on the leg members 510 and 520 in alternative embodiments, to limit pivotal movement of the lower leg members 512 and 522 about the knee joints 513 and 523 in the direction of extension. For instance, in an alternative embodiment, a mechanical stop is provided in each knee actuator 572/582 to limit the length of contraction that can be achieved by the actuator (or the length of extension if this is the direction the actuator achieves extension of the associated lower leg member 512/522) to prevent hyperextension of the lower leg member 512/522 about the knee joint 513/523.
Protective Outer Covers
Referring to
The upper and lower cover members are substantially elongate, hollow structures having a substantially cylindrical or other elongate prism like profile to enclose the respective leg members.
In the preferred embodiment, each upper leg cover member 611/621 comprises an upper cover part 611a/621a and a lower cover part 611b/621b. The upper and lower cover parts are telescopingly engaged to enable size adjustment of the upper cover member 611/621. The cover parts can be relatively extended or retracted to lengthen or shorten the upper leg cover member 611/621. In the preferred embodiment, the upper cover part 611a/621a comprises a flanged section or extension 611c/621c of a relatively smaller outer diameter/size configured to be telescopingly received within the hollow lower cover part 611b/621b having a relatively larger internal diameter/size than the outer diameter/size of the flanged section. The upper cover member 611/621 comprises relatively larger outer diameter/size section 611d/621d that is substantially similar in size to the outer diameter/size of the lower cover part 611b/621b at the end adjacent the upper cover part. In this manner, a limit or stop is provided between the larger section 611d/621d of the upper cover part and the end of the lower cover part 611b/621b to define a lower size limit of the upper leg cover member 611/621. This lower size limit is shown in upper leg cover member 621. An abutment, stop or limit may also be provided to limit the extent of relative movement of the cover parts 611a/621a and 611b/621b in the other direction, i.e. to increase the length of the cover member 611/621 thereby providing an upper size threshold. In alternative embodiments, the lower cover part may comprise a section configured to be telescopingly received within the upper cover part instead. The upper cover part 611a/621a is coupled to the upper leg part 511a/521a of the upper leg member 511/521 (preferably at the section 611c/621c) and the lower cover part 611b/621b is coupled to the lower leg part 511b/521b of the upper leg member 511/521. In this manner, adjustment of the length of the upper leg member 511/521 results in movement of the upper 611a/621a and lower 611b/621b cover parts of the upper cover member 611/621. The cover member 611/621 is thus self adjustable to match the adjustment of the associated leg member 511/521 in use.
The upper and lower cover parts may each be formed as one piece or multiple pieces that are assembled to form the respective cover part.
In a preferred embodiment the upper 611a/621a and lower 611b/621b cover parts comprise recesses configured to locate adjacent the locking mechanism 800 of the upper leg member 511/521 for exposing at least the levers 810 of the locking mechanism 800 to enable user access to the mechanism. Furthermore, the lower cover part 611b/621b comprises a recess configured to locate adjacent the aperture of the adjustment bearing 814 of the mechanism 800 for receiving the tool to adjust the size of the upper leg member 511/521.
Indicia 631 may be provided on the telescoping section 611c/621c to provide information on the size of the leg member 511/521. Indicia 631 include information printed or otherwise displayed axially along the section 611c/621c to indicate relative sizes of the leg member 511/521. As the cover parts 611a/621a and 611b/621b are moved relative to one another, some, all or none of the indicia 631 become visible or hidden to indicate to the user the corresponding size of the leg member 511/521.
In the preferred embodiment, similarly each lower leg cover member 612/622 comprises an upper cover part 612a/622a and a lower cover part 612b/622b. The upper and lower cover parts are telescopingly engaged to enable size adjustment of the lower cover member 612/622. The cover parts can be relatively extended or retracted to lengthen or shorten the lower leg cover member 612/622. In the preferred embodiment, the lower cover part 612b/622b comprises a section or extension 612c/622c having a relatively smaller diameter and configured to be telescopingly received within the hollow upper cover part 612a/622a having a relatively larger internal diameter/size than the outer diameter/size of the flanged section. The lower cover member 611/621 comprises relatively larger outer diameter/size section 612d/622d that is substantially similar in size to the outer diameter/size of the upper cover part 612a/622a at the end adjacent the lower cover part. In this manner, a limit or stop is provided between the larger section 612d/622d of the lower cover part and the end of the upper cover part 612a/622a to define a lower size limit of the upper leg cover member 612/622. This lower size limit is shown in lower leg cover member 622. An abutment, stop or limit may also be provided to limit the extent of relative movement of the cover parts 612a/622a and 612b/622b in the other direction, i.e. to increase the length of the cover member 612/622 thereby providing an upper size threshold. In alternative embodiments, the upper cover part may comprise a section configured to be telescopingly received within the lower cover part instead. The upper cover part 612a/622a is coupled to the upper leg part 512a/522a of the lower leg member 512/522 and the lower cover part 612b/622b is coupled to the lower leg part 512b/522b of the lower leg member 512/522 (preferably at the section 612c/622c). In this manner, adjustment of the length of the lower leg member 512/522 results in movement of the upper 612a/622a and lower 612b/622b cover parts of the lower cover member 612/622. The cover member 612/622 is thus self adjustable to match the adjustment of the associated leg member 512/522 in use.
The upper and lower cover parts may each be formed as one piece or multiple pieces that are assembled to form the respective cover part.
In a preferred embodiment the upper 612a/622a and lower 612b/622b cover parts comprise recesses configured to locate adjacent the locking mechanism 800 of the lower leg member 512/522 for exposing at least the levers 810 of the locking mechanism 800 to enable user access to the mechanism. Furthermore, the upper cover part 612a/622a comprises a recess configured to locate adjacent the aperture of the adjustment bearing 814 of the mechanism 800 for receiving the tool to adjust the size of the lower leg member 512/522.
Indicia 632 may be provided on the telescoping section 612c/622c to provide information on the size of the leg member 511/521. Indicia 632 include information printed or otherwise displayed axially along the section 612c/622c to indicate relative sizes of the leg member 512/522. As the cover parts 612a/622a and 612b/622b are moved relative to one another, some, all or none of the indicia 632 become visible or hidden to indicate to the user the corresponding size of the leg member 512/522.
2.2 Securing Mechanism
Referring to
In one embodiment the securing arrangement includes orthotics positioned, configured and designed to ensure correct alignment of the users limbs and joints and can also include straps or webbing as described above.
2.3 Foot Structures
Ankle Joint
Referring to
In the preferred embodiment, each ankle joint 515/525 is configured with its primary axis of rotation 515A/525A extending downwardly in a lateral direction at an angle of between zero and 6 degrees, and more preferably at about four degrees.
It will be appreciated that in alternative embodiments, the ankle joints 515/525 may be configured to enable relative rotation between the associated parts along any combination of Sagittal, Coronal and/or Transverse planes of the user depending on the desired/required level of complexity of the WA 100 and/or the desired/required level of similarity with the associated human joint. For example, in alternative embodiments, the knee joints 515 and 525 may in addition to the primary and/or secondary axes 515A/525A or 515B/525B enable abduction and adduction of the foot, about an axis substantially parallel to the sagittal and coronal planes in the lateral and medial directions. The degree of movement or rotation along any one or more of these planes may be limited in one or more directions in accordance with the capabilities of the associated human joint.
Actuators
Referring now to
In the preferred embodiment, each lower leg member 512/522 is operatively coupled to a pair of associated ankle actuators 573a,b/583a,b. A primary electromechanical actuator 573a/583a is operatively coupled at one end to a connection point on the lower leg member 512/522 and at an opposing end to a connection point on the foot member 530/540 and is configured to move the foot member about the ankle joint 515/525 to achieve dorsiflexion and plantar flexion movements of the foot member 530/540 about an axis 515A/525A. A secondary electromechanical actuator 573b/583b is operatively coupled at one end to a connection point on the lower leg member 512/522 and at an opposing end to a connection point on the foot member 530/540 and is configured to move the foot member 530/540 about the ankle joint 515/525 to achieve inversion and eversion movements about a second axis 515B/525B. The connection points are each fixed in position relative to the upper leg member and the hip joint respectively.
The primary and secondary actuators 573a,b/583a,b are linear actuators. Extension of each actuator causes the corresponding foot member 530/540 to move along the corresponding plane in the corresponding direction, and retraction of the actuator causes the foot member 530/540 to move along the plane in an opposing direction. Linear movement of the actuators 573 and 583 is translated into pivotal movement of foot members 530 and 540 by action of the ankle joints 515 and 525.
To provide a low profile exoskeleton 500, each linear actuator is arranged substantially parallel to the corresponding lower leg member to provide for a low profile exoskeleton 500. Each primary actuator 573a/583a is pivotally coupled to the foot member 530/540 behind the ankle joint 515/525 (in a direction of forward motion of the exoskeleton) and configured to pivot about two substantially orthogonal axes, for example along the sagittal plane in the anterior and posterior direction and along the coronal plane in the lateral and medial directions. Each secondary actuator 573b/583b is pivotally coupled to the side of ankle joint 515/525 and configured to pivot about an axis substantially orthogonal to the two axes of the primary actuator.
The linear actuators used are preferably low voltage DC actuators with position feedback through a sensor in the actuator. Typically, each actuator would be caused to move by an electric motor (not shown) driving a worm gear (not shown), which causes the actuator arm to extend or retract.
It will be appreciated that in alternative embodiments, any number, type and configuration of actuators may be utilised as is well known in the art of mechanical engineering to achieve the desired rotational movements of the foot members as described in the joint section of this specification.
Adjustment
Referring to
The adjustment mechanism 900 will now be described relative to the foot member 530. The foot member comprises a bounded region 535 within which a user's foot is received. The bounded region 535 is adapted to define the location of the user's foot on the foot member 530. The region 535 may be substantially enclosed from all sides or alternatively open from some sides and only enclosed from one or more. In particular, the bounded region 535 requires a base 531 and at least one wall extending from the base to define the location of the user's foot on the foot member 530.
In the preferred embodiment, the foot member 530 comprises a base 531 having a support surface 531a configured to support a user's foot thereon. The base 531 is preferably substantially rectangular but may alternatively be any other polygonal shape desired/required for the particular application. As shown in
A pair of opposed retention walls 901 and 902 extends laterally and substantially orthogonally to the base 531 at sides 531a and 531b of the base 531. In use, a user's foot is supported on the base 531 and at least transversely confined within the bounds of the retention walls 901 and 902. A lateral heel support 903 extends from an end (a back end) 531c of the base 531 to further confine the user's foot. The heel support 903 comprises a recess 904 for receiving and retaining a user's heel therein. The recess 904 comprises a smooth, concave surface for wrapping about a user's heel resting against the surface. In combination, the support surface 531a, the retention walls 901 and 902 and the heel support 903 define the boundaries of the bounded region 535 for receiving and retaining the user's foot.
A connector comprising a clevis 905 extends adjacent an outer side of the heel support 903 laterally from the base 531 to couple the foot member 530 to the associated leg structure 510 and actuators 573a,b. The connector 905 defines the fixed location of the ankle joint 515. A second clevis 905b on the connector defines the connection point with the primary ankle actuator.
An adjustment mechanism 900 is provided to fixedly adjust the location of the bounded region 535 relative to the ankle joint 515. In particular, at least one boundary of the region 535, including the heel support 903 and/or the support surface 531a, is adjustable in position relative to the ankle joint in at least one axis to relocate the bounded region 535. In the preferred embodiment, the heel support 903 is adjustable axially along the foot member 530, and the support surface 531a is adjusted laterally along a substantially vertical direction.
The heel support 903 is adjustable in position relative to the connector 905. In the preferred embodiment, the position of the heel support 903 is adjustable along the longitudinal length of the foot member 530 to adjust the position of the heel support 903 relative to the connector 905. The base portion comprises at least one, but preferably a pair of elongate guide channels 906 and 907 extending substantially parallel to one another and substantially longitudinally from the back end 531c of the base 531 towards a predetermined threshold location. A base 908 of the heel support 903 is slidably engaged on either side with the channels 906 and 907 through fasteners 909. An elongate adjustment channel 910, intermediate the two elongate channels 906 and 907 also extends longitudinally from the back end 531c towards a predetermined location. The base 908 of the heel support 903 slidably engages the base 531 of the foot member 530 and is moveably coupled to the adjustment channel 910 to enable adjustment of the location of heel support 903 along the channel 910 and the guide channels 906 and 907. This provides adjustment of position of the heel support 903 relative to the ankle joint 515 in the longitudinal direction.
A fastener 911 is provided to lock the heel support 903 against the base 531 to prevent movement relative to the base 531, or release the heel support 903 from secured engagement against the base 531 enabling movement relative to the base 531. The fastener 911 provides tension between the base 908 of the heel support 903 and the base 531 of the foot member 530 in the locked position to secure the heel support 903 in a position relative to the channel 910, or alternatively releases tension between the base 908 of the heel support 903 and the base 531 of the foot member in the released position to enable movement of the heel support 903 relative to the channel 910.
Indicia 912 may be provided adjacent the adjustment channel 910 to indicate adjustment values associated with the relative position of the heel support 903 along the channel 910. It will be appreciated that the guide channels 906 and 907 may not be provided in alternative embodiments but provide the benefit of preventing rotation of the heel support 903 about a substantially vertical axis in the preferred embodiment.
In the preferred embodiment the support surface 531a is adjustable in position relative to the ankle joint 515 in at least a substantially vertical axis. The support surface 531a is adjustable via adjustment of the level of elevation of the support surface 531a.
In the preferred embodiment, one or more packer elements or plates 920 are provided to enable height adjustment of the support surface 531a and hence the user's foot relative to the ankle joint 515 of the exoskeleton 500. In particular, one or more packers 920 having the same or varying thicknesses can retained within the retention walls 901 and 902 to increase the height of the base 531 of the foot member. The outer periphery of each packer is preferably complementary to the inner periphery 901a and 902a of the retention walls 901 and 902 to provide a fixed engagement between the packers and the retention walls. The packers 920 may be of a thickness of approximately 0.1-20 mm for example, and more preferably approximately 0.5-15 mm and most preferably approximately 1-10 mm. The packers may come in thicknesses of approximately 8, 4, 2, or 1 mm for example. Any combination of one or more packers 920 may be used to increase the height of the base 531 of the foot member 530 to adjust the position of the user's foot laterally relative to the ankle joint 515.
The packers 920 are preferably formed from a substantially soft plastics material, for example a low to medium density Polyethylene. Other materials may be used for the packer elements 920, such as a rigid plastics or metal material, but most preferably a substantially soft and resilient material that is comfortable to the wearer is used.
A similar adjustment mechanism 900 is provided to the foot support 540 to enable adjustment of the user's foot relative to the ankle joint 525.
2.4 Hip Frame
Referring to
The hip frame 550 is configured to support the user's posterior and comprises a back support 551 and a pair of retention arms 552 and 553 extending transversely from either side of the back support 551. The back support 551 and arms 552 and 553 form a generally U-shaped frame 550 in cross-section across the width of the frame 550 to provide an internal recess configured to receive and retain the a lower back and hip region of a user. In the preferred embodiment the back support 551 is configured to extend from an (extended) end 554 configured to brace against a user's pelvic or cervical region in use to an opposing end 555 configured to brace against a user's lumbar or lower thoracic region (mid-lower back region).
The arms 552 and 553 are each formed with a substantially ergonomic upper surface 556 and 557 for enabling a user to rest their arms there upon. Rigid formations 558 and 559 are provided at an opposing end of each arm to the upper surface 556/557 for coupling the hip joint 514/524 of the associated leg structure. A channel or recess 558/559 is provided on an underside of each arm 552/553 to each form a pair of clevises for rotatably retaining the associated hip joint 514/524 and the associated end of the primary actuator 571a/581a.
Referring back to
A packing arrangement (not shown) composed of material such as a wedge shaped foam or foamed plastic may also be provided and optionally used to ensure a snug fit by the user in the hip frame 550. It is also envisaged that the packing arrangement could be an inflatable thin walled pressure vessel (not shown).
In some embodiments, the exoskeleton 500 may be further provided with one or more torso harnesses or upper body braces that are attached to the hip frame 550. The upper body brace can be provided for users that have limited upper body control for example. This upper body brace may include a frame or corset that is actuated to move the user's upper body to help with their balance. In one embodiment, the torso harness can be connected to the pelvic harness 560.
2.5 User Control
The WA is primarily controlled by a user by way of a joystick 593 and keypad 594 operatively positioned at waist height. The joystick 593 and keypad 594 may be supported by an arm 595. The arm 595 may be pivotable relative to the exoskeleton to move between at least one operational position and at least one retired position. The operational position may be one where the arm extends substantially horizontally with the keypad and joystick at waist height and/or extends substantially vertically with the keypad and joystick adjacent the user's upper leg. The retired position may be one where the arm extends substantially vertically.
3. Control System
A preferred form of the control system of the WA will now be described with reference to
It will be appreciated that the control system may be implemented on any suitable hardware system, platform or architecture. The hardware system is provided on-board the WA and preferably comprises at least a processor for running the control system algorithms, memory for storing control system algorithms and data, and interface circuitry for communicating with and operating other WA components, such as receiving sensor signals and operating exoskeleton actuators. It will be appreciated that the processor may be any form of programmable hardware device, whether a CPU, Digital Signal Processor, Field-Programmable Gate Array, Microcontroller, Application-Specific Integrated Circuit, or the like. As shown in
The control system controls the behaviour and movement of the actuators of the exoskeleton 500 based on user input via the human device interface and sensor inputs which detect WA balancing and environmental factors such as terrain change. When powered, the WA control system remains in an idle state maintaining its current position and awaiting user input via the control pad. The user input is converted to a set of command values that trigger a pre-programmed sequence of movements of the actuators via an actuator controller such as a set of motor controllers. The preferred form control system stores a series of pre-programmed sequences, each sequence being configured to effect a different movement, such as, but not exclusively, walking, sitting, and standing. Each pre-programmed sequence may be adjusted by variables determined during calibration to alter the pre-programmed sequence based on the user.
The pre-programmed sequence is driven to an event or sequence of events/instructions which is determined as being completed by the physical positions of the actuators and or appropriate signals from the environmental sensors. By having pre-programmed time and position sequences, computational time and power is saved.
With reference to
User input via the control panel 1601 and/or received via the wireless interface 1640 is converted into a pre-programmed command by the control system 1690. The pre-programmed commands instruct the motor controllers 1620 to move the actuators 1612. Actuator sensors 1616 provide feedback to the control system to ensure correct movement of the actuators. The pre-programmed commands may be altered during or after a calibration stage 1630 depending on the user's size/structure (height and/or weight for example).
3.1 Human Machine Interface
In the preferred embodiment a control pad will be used for human machine interfacing, it contains twelve membrane keypad buttons, three LEDs, a joystick and a battery meter.
Other suitable human machine interfacing controls may be used. For example a touch screen may replace the control pad. In another alternative an LCD screen may replace the LED's and battery meter and display other suitable status information related to the device.
The keypad of the preferred embodiment contains an ‘ON/OFF’ button which will be used to turn the WA on and off, a ‘Sit’ button which will be used to make the WA sit down, a ‘Stand’ button which will be used to make the WA stand up and an ‘Emergency battery supply’ which will allow the emergency batteries to supply power to the WA once the main power supply has run out. There will be a cancel button to cancel the selected function. There will be a ‘raise feet’ and lower feet function for use in the seated position. There will be an audible buzzer to indicate warnings and the selection of certain functions.
The keypad contain three LEDs; one of the LEDs will blink at a constant rate when there is a fault in the WA, one of the LEDs will light up when the device is being charged and one LED will light up when the emergency power supply is being used.
The battery meter will be an array of LEDs and will provide an indication of the available power in the main battery pack, ranging from all LEDs lit up meaning the battery is fully charged to no LEDs lit up meaning the battery needs charging.
As mentioned for the alternative embodiment above, the LEDs could be replaced with an LCD screen that displays the information provided by the LEDs and in a similar or alternative manner.
The joystick will be used to control the walking motion of the WA. Selection and quick release of the joystick in the forwards or backwards direction will cause the WA to static step forwards or backwards respectively, while holding the joystick forwards or backwards for a longer period of time will cause the WA to do a dynamic step forwards or backwards respectively. Pushing the joystick to the left or right will cause the WA to step to the left or right respectively. Pushing the joystick diagonally forwards or backward and simultaneously left or right will cause the WA to turn in the corresponding direction.
3.2 Wireless Control
In a preferred embodiment of the invention the WA comprises a wireless receiver configured to receive and process input data/signals sent from a remote computer or other remote electronic device having an associated transmitter via wireless telemetry. The input data may be indicative of one or more control signals for remotely controlling operation of the exoskeleton for example. The remote device includes, but not limited to, a desktop, laptop, notebook, tablet or mobile device. The term “mobile device” includes, but is not limited to, a wireless device, a mobile phone, a mobile communication device, a user communication device, personal digital assistant, mobile hand-held computer, a laptop computer, an electronic book reader and reading devices capable of reading electronic contents and/or other types of mobile devices typically carried by individuals and/or having some form of wireless communication capabilities (e.g., wireless, infrared, short-range radio, etc.).
The wireless receiver comprises an antenna configured to receive radiation signals of a known frequency, and a processor coupled to the antenna. The processor is configured to process the signals received by the antenna in accordance with an associated wireless protocol. It will be appreciated that any wireless telemetry methodology known in the art can be used by the WA system of the invention. For example, a 2.4 GHz ISM band may be used to achieve wireless communication between the remote device and the wireless receiver/interface 1640 of the invention, and using a frequency hopping spread spectrum protocol or any other suitable frequency and protocol combination known in the art. The wireless receiver may be integrated with the control system of the WA, or alternatively may be a separate module that can be connected to an appropriate port provided on the WA. In the latter case, the control system would be configured to identify connection of the module and communicate with the module to process information received by the module.
An input interface is provided by the remote device to enable a user to input data indicative of one or more control and/command signals and to send the control and/or command signals wirelessly to the exoskeleton. Exemplary command signals that may be sent from the remote device to the wireless receiver include, but are not limited to, any combination of:
The above command signals are received by the wireless receiver of the WA and provided to the control system for further processing. The command signals sent to the exoskeleton from the remote device trigger a pre-programmed sequence of events associated with the command (as described in further detail in the next section).
It is envisaged that in some embodiments, the wireless reception module may be configured to receive command signals indicative of a desired relative movements of one or more specific actuators. In this case, the control system would receive these signals and send them directly to the motor controller(s) to achieve the desired movement for the associated actuator(s).
The wireless receiver may be a transceiver that is further configured to transmit signals to the remote device, such as motor, actuator and/or battery status signals.
3.3 Pre-Programmed Commands/Sequences
The WA is controlled by the user through a human machine interface. As previously described the human machine interface of the preferred embodiment is a keypad. Performing an action on the keypad triggers a pre-programmed sequence of events. Alternatively the WA can be controlled wirelessly through a human machine interface of a remote device. Similarly the command signals send to the exoskeleton from the remote device trigger a pre-programmed sequence of events. These sequences are timed, angular series of motion that constantly maintain the user in a balanced state, if this balanced state is upset be external environmental forces or even by the user movement the device subsystems interrupt and update the pre-programmed sequences with input variables to adjust for the environmental factors.
The pre-programmed sequences therefore assume a flat terrain, i.e. which is not sloped in either the longitudinal or transverse directions relative to the movement direction. Each pre-programmed movement sequence is associated with a number of sequential instructions required to perform the desired movement. The sequential instructions discretely mimic to some extent the movement steps required by the human joints to perform a particular movement sequence. Every instruction is associated with a certain set of relative actuator movements that perform the desired instruction. Therefore, the control system must store for every pre-programmed sequence, the instructions associated with that sequence and the actuator movements required for every instruction.
As discussed for the exoskeleton 500 of
For the example movement sequences of
Walking—Static Step
A static step movement sequence is shown in
The particular example shown in
The following instructions are therefore stored for the static step programmed sequence (forward step with right leg leading) of
The system onboard memory would therefore store relative actuator movements for each of the above instructions against each movement sequence. Only those actuators that change length are shown in
Similarly the rest of the instructions (ii)-(x) above of the static step sequence require actuator movements (relative to the resulting lengths of the actuators from the previous instruction) as shown in
By way of example only, table 2 below shows relative changes in lengths of the ten actuators 701-710 during the static step movement sequence of
A negative value in Table 2 indicates a shortening of an actuator relative to its length at the end of a previous instruction, and a positive value indicates a lengthening of the actuator (also relative to its length at the end of a previous instruction).
Walking—Dynamic Step
A left dynamic step movement sequence is shown in
Before taking a step, the WA may check that it is in the standing position. The WA's and the user's combined centre of mass is firstly shifted to the side directly above one foot. The other leg is elevated and moved forward and then placed down on the ground in a position ahead of the first foot. The WA's and the user's combined centre of mass is next shifted to the side directly above the forward foot and then the other foot is raised and moved forward to a position ahead of the first foot and is lowered to the ground in this position. This sequence is repeated while the user holds the joystick in the appropriate command position, when the joystick is released, the next footfall is made in line with (adjacent) the forward foot bringing the user to a halted standing position with both feet in line.
The left dynamic step as shown in
The right dynamic step as shown in
Table 3 below shows an example of relative actuator length changes for one dynamic step sequence (a left dynamic step followed by a right dynamic step).
Sitting
Before the sit sequence is activated the WA may check that it is in a standing position. When the user activates the sit sequence seat sensors may be activated. Actuators slowly lower the WA while keeping the WA's and users combined centre of mass directly above the feet to ensure stability. The WA is then slowly lowered until the rear cover/seat sensors make contact with the surface of the seat.
Table 4 below shows the relative actuator movements (starting from a standing position) required for carrying out the sit sequence defined by instruction (i) and (ii) above.
Standing
Before the stand sequence is activated the WA may check that it is in a seated position. When the user activates the stand sequence the seat sensors may be activated. Actuators will be used to raise the user's thighs until the rear cover sensors are no longer in contact with the surface of the seat. Actuators will then be used to shift the WA's and the user's combined centre of mass directly above the user's feet. The WA will then straighten out into a standing position while keeping the WA's and the user's combined centre of mass directly above the users feet at all times to ensure the WA is stable.
Table 5 below shows the relative actuator movements (starting from a sitting position) required for carrying out the sit sequence defined by instruction (i) and (ii) above.
Tables 2-5 above show examples of relative actuator lengths required for carrying out the specific instructions of the abovementioned movement sequences. Data such as values/variables indicative of these lengths will be stored against each associated instruction for each of the movement sequences to pre-program the control system of the WA. Upon calling a particular movement sequence, the values/variables associated with the first instruction of the sequence will be sent to the motor control system which will perform the required instruction by varying the length of actuators 701-710 accordingly. Upon completion of the first instruction, the variables/values associated with actuator lengths for the second instruction are sent to the motor control system which will again perform the required instruction accordingly. This process is repeated for all the instructions in the sequence. On top of the values/variable associated with the instruction, the WA stores time data indicative of the time allocated to each instruction before the next one issues.
It will be apparent that the actuator lengths provided in the tables above are only exemplary and can be varied depending on the particular dimensions and application of the WA. Furthermore, it will be appreciated that the concept of pre-programmed sequences could be applied on a number of other movement sequences such as shuffle and step-up/step-down (for stairs) and such other sequences are not intended to be excluded from the scope of this invention. Instructions and associated actuator movements for discretely mimicking the natural steps of the human body for these other sequences can be determined offline and programmed into the WA to increase the versatility of the exoskeleton.
3.4 Calibration of Pre-Programmed Sequences
The user's anatomy can affect the operation of the WA. The size, including the height and/or weight of the user for example or any other combination of anatomical structure or dimensions, can affect the overall balance of the exoskeleton during motion. Changes in size affect the user's location of centre of mass. The location of a user's centre of mass can have implications on the dynamics of the exoskeleton system. For instance, a user with a relatively high centre of mass may require less of a side lean (than a user with a relatively low centre of mass) during a step forward to maintain balance, or a user that is tall may require a wider standing stance than a shorter user.
Furthermore, different users may have different preferences or different abilities when it comes to movement. For example, some users may prefer or may have less of a need to receive hip tilt assistance during a step.
In a preferred embodiment of the invention, the control system of the WA comprises a calibration sub-system 1630 that provides the capability of calibrating appropriate pre-programmed sequences in accordance with user calibration information. The user calibration information predominantly relates to the user's anatomy or anatomical structure and/or one or more user preferences or level of abilities.
In the preferred embodiment, the information relating to the user's anatomical structure includes the user's size. The user's size is preferably represented by at least one anatomical dimension, for example a height or overall leg length of the user, and a weight of the user. The size may be represented by any combination of one or more of: leg length, weight and/or other anatomical or limb dimensions such as height.
The information relating to the user's preference or ability includes the user's gait preference or ability, such as whether a user prefers to utilise the exoskeleton with or without a significant hip tilt—user's having less control in their trunk region may require a higher degree of hip tilt assistance than those having more control in this region.
The WA is configured to calibrate pre-programmed sequences in accordance with the user calibration information. In particular the WA is configured to calibrate the movement maps of one or more pre-programmed sequences depending on the user's size and/or one or more gait preferences to ensure certain movements will not result in an uncomfortable or unbalanced system. During calibration, the system is configured to receive input data relating to or indicative of the user's anatomical structure and preferably the size of the user and/or input data indicative of other user gait preferences. Input data received during calibration is processed to determine the appropriate movement map to be used for each movement sequence that is affected by the calibration information provided by the user. This involves the determination of relative movement values for one or more relative actuators associated with one or more instructions of the one or more movement sequences that may be affected by the user's size, anatomical structure or gait preference.
For example, the set of instructions of the static step programmed sequence (forward step with right leg leading) of
The balance of the exoskeleton during execution of each of the above instructions of the movement sequence is affected by the user's size. Hence each instruction requires a relative actuator movement value for one or more of the actuators associated with that instruction depending on the size of the user to maintain an appropriately balanced system.
Similarly, to achieve a comfortable WA, system steps ii) and vii) should be executed based on the degree of hip tilt desired/required by the user.
In some embodiments, some instructions of some movement sequences may not be altered or affected by the size of the user or the user (gait) preference and hence the associated movement maps will be unaffected by the calibration stage.
In the preferred embodiment, the dynamic and static step movement sequences as well as the standing movement map are affected by the size of the user and/or the gait preference of the user and hence require a different movement map depending on the user's input calibration information.
In the preferred embodiment, for movement sequences that are affected by the size of the user and/or movement sequences that are affected by whether the user prefers a hip tilt during a step or not, the relative actuator movement values required to maintain a balanced or comfortable system during the associated set of instructions are determined offline. These are done based on two or more predetermined sizes or size ranges and/or based on two degrees of hip tilt. The movement map determined for a particular movement sequence and for a particular size and/or tilt preference is then stored in memory associated with the WA for application during operation of the WA. Alternatively, an algorithm for determining the appropriate relative actuator movement values is stored in memory associated with the WA and these values are determined for the associated movement sequences upon reception of size information and/or tilt preference information by the user during calibration. The values are then stored in memory for the appropriate movement maps.
During calibration, the control system receives information relating to the user's size and/or tilt preference and based on this information selects, during operation of the WA, the particular movement map to execute for the selected movement sequence.
In the preferred embodiment, during calibration the user's size is selected from a range of sizes pre-stored in the system. The pre-stored sizes preferably include the leg length and weight of the user. Also, during calibration the user's tilt preference is selectable from two degrees, with hip tilt or without hip tilt. For example, table 6 shows a system with a set of 12 pre-stored calibration settings, based on a combination of user's overall leg length (3 ranges), weight (2 ranges) and hip tilt preference (2 degrees). A user of the system would select the size that is the nearest to the user's actual size from the range provided and the desired degree of hip tilt. The system would then automatically determine the associated movement map to use for the movement sequences affected by these attributes. It will be appreciated that any number of pre-stored sizes, tilt preferences or other anatomical structure or user preference information may be provided based on the desired resolution, memory capacity or other design consideration.
The movement map for some of the movement sequences may vary based on the various calibration settings (A1-C4). Tables 7-18 show the movement maps for the dynamic step sequence for the different settings (A1-C4) to maintain a balanced/comfortable system during execution of a step sequence. Tables 19-24 show the movement maps for a standing instruction for the different calibration settings determined to maintain a balanced/comfortable system during execution of the instruction.
In an alternative embodiment, the WA may be configured to receive input data relating the user's actual size and/or varying degrees of a gait preference which is then used to determine appropriate movement maps. For example the WA may first determine an indicative size from the range of pre-stored sizes that is nearest to the actual size input by the user, and then determines the appropriate movement maps to execute based on the indicative size. Alternatively the system may utilise one or more pre-stored algorithms to determine the appropriate movement maps from the input calibration data relating to user's anatomical structure and/or gait preferences.
The calibration stage may be initiated automatically during power up, or by a user through the input interface, or by a user wirelessly from a remote device for example.
4. Power Source
The WA is powered by on-board battery packs (not shown). In the preferred embodiment the battery packs are located at the back of the hip frame. The battery system is a low voltage DC system and the battery packs are rechargeable from domestic power supply or vehicle power supplies. The battery backs are removable for quick replacement. The battery backs can be charged on board the WA or externally after removal.
The system electronics including the control system, the motor controllers, power sources and/or other electronics may be housed in and accessible through the back of the hip frame 550 as shown in
The foregoing description of the invention includes preferred forms thereof. Modifications may be made thereto without departing from the scope of the invention as defined by the accompanying claims.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/NZ2013/000217 | Nov 2013 | US |
| Child | 15169307 | US |
