TWI519291B - The lower extremity assistant apparatus - Google Patents

Description

Lower limb assist device

The present invention relates to a lower limb assisting device, and more precisely, a bone mechanical device that is worn on a lower body part of a user to assist the user in moving the lower extremity.

In a variety of lower extremity motor dysfunction diseases, degenerative knee arthritis, for example, its clinical symptoms include joint pain, stiffness, limited joint mobility, motor dysfunction, such as climbing, climbing, walking, sitting, etc. Affect the quality of life; patients will have problems such as slow pace, short step, asymmetrical gait on both feet, short swing period on the opposite side of the standing period, and long support period of both feet. There are four main types of treatments: rehabilitation, auxiliary correction, medicine and surgery. Among them, assistive treatment is a conservative and effective treatment. The treatment points can be knee and foot, and the treatment method is to use the knee. The valgus knee brace is used to correct the stress state of the knee joint surface, which can improve the joint swelling and pain caused by abnormal force and cartilage degradation.

The wearing of functional knee pads can effectively improve the joint alignment state, improve the abnormal joint force in the early stage of gait standing, and increase the muscle strength of the quadriceps muscle, and reduce the left and right center of gravity shift during static balance, but the effect of some of the above functional actions In a challenging environment, there will be more obvious effects, such as sitting to the station, picking up things, etc. However, the general knee pads do not perform the stretching torque assisting function for the stretching action after the large angle of flexion. Barr et al. (AE Barr, KLSiegel, JV Danoff, CLMc Gawey Ill, A. Tomasko, I. Sable, SJ Stanhope, "Biomechanical comparison of the energy-storing capabilities of SACH and Carbon Copy 11 prosthetic feet during the stance phase of gait in a person with Below-knee amputation," Physical Therapy , vol. 72, no. 5, 1992, pp. 344-354) refers to a type of prosthetic design that can store energy, from the user's foot to the touchdown period to the late standing stage. Energy is stored in a deformable element and releases energy to assist the leg swing before the toe is off the ground, which enhances the patient's ability to walk, run or jump on a flat road. However, such design is mainly driven by passive flex members in the foot plate. The energy stored does not involve the design of the energy absorption and release of the knee joint.

Farber et al. (BSFarber, JS Jacobson, "An above-knee prosthesis with a system of energy recovery: a technical note," Journal of Rehabilitation Research and Development , vol. 32, no. 4, 1995, pp. 337-348) A lapped prosthetic design with an energy recovery system that absorbs energy from the early stages of standing and prevents impact from entering the barrel. However, it does not involve the design of energy absorption and release of the knee joint.

U.S. Patent No. 2,012,513, 144 discloses a four-link knee joint stent whose actual trajectory is close to the human knee joint, but does not provide any power to assist the knee joint to stretch and flex.

U.S. Patent No. 20040064195 proposes a variable mechanical impedance artificial leg whose stiffness can be changed, and the spring coefficient can be changed without load to reduce the power requirement during walking. Furthermore, the creation can supply power, and the power can be self-made. The muscle is provided and can also be supplied from the power system. However, in the design, the effective force of the power unit output force has an elbow effect, and the appropriate force arm cannot be automatically adjusted according to the knee joint angle.

U.S. Patent No. 2,060,136,072 discloses a magnetorheologically actuated prosthetic knee joint comprising an extension assisting element and a two-stage angle limiting mechanism, but does not provide a knee joint assisting moment and does not involve different knee flexion angles. Effective arm modulation function.

U.S. Patent No. 20060249315 proposes a prosthetic joint incorporating an actuator, a spring and a variable damping element, comprising an electromagnetic motor for providing energy output, and a spring and controllable variable damping element for storing energy and adjusting stiffness. However, it requires complex electronic power control to operate.

U.S. Patent No. 20070027555 proposes a computer controlled prosthetic knee joint with a single degree of freedom, through a hydraulic damping cylinder, a microprocessor and a sensor, which can select a suitable knee in a hydraulic cylinder based on the signal of the sensor. Joint impedance, and the impedance of each flow channel in the hydraulic cylinder is pre-designed and fixed, the user can provide a more natural gait while walking, and can save energy consumption rate, but it mainly provides the impedance during operation instead of Output power.

U.S. Patent No. 20070043449 proposes an artificial ankle foot system having a spring, variable damping and tandem elastic actuator comprising a leaf spring foot member forming a heel and toe end, a flexible ankle joint, and The foot can be rotated along the ankle joint, and an electromagnetic motor can store the energy when the foot is not attached to the ground into a slingshot spring system, in order to provide thrust when the human body travels, and a belt to prevent the foot The rotation angle is too large, a controllable damper can lock the ankle angle or absorb mechanical energy. The controller can detect the road condition of the user, including the flat road, the slope or the ladder, but it requires a complicated power system and Controls can operate to limit their use.

U.S. Patent No. 20070123997 proposes an exoskeleton system for walking and running, comprising a rigid pelvic component that can be worn on the waist of the user, an exoskeleton leg structure extending in the same direction as the human leg, including the hip and the knee. The ankle joint and the adjustable length member have a passive spring element or an active actuator on the hip to assist in pushing the exoskeleton and the human body while walking. The control damper is located at the knee joint, and a spring element is located at the ankle joint and the foot. The Department can store and release energy, but it requires complex power systems and controls to operate, limiting its use.

U.S. Patent No. 20070162152 proposes an artificial joint design using an anti-anti-actuator, which uses a symmetric muscle group interaction similar to a biological limb joint to achieve extremely low energy consumption and near zero output at a fixed operating length. It can independently produce buckling and stretching tendons, tandem elasticity, variable joint position, and variable stiffness. However, it requires complex power systems and control methods to operate, limiting its use.

US Patent No. 20080114272 proposes a control system for a prosthetic knee joint, which can automatically adjust its control strategy according to the user and its speed, and change the impedance of the knee joint during the standing period and the swing period, without inputting the patient during the training. Data, the controller can resist some degree of interference, but it requires complex power systems and control methods to operate, limiting its use.

US Patent No. 20080255670 proposes a joint design of a prosthetic orthosis with at least two joint sections pivotally connected to each other, a pivotal piston connected to a transmittable torque, the piston being located in a fluid chamber, and the front and rear chambers of the piston are electrically connected to each other. There are different degrees of conduction at different joint angles, so this creation is basically a variable damping design related to angular displacement. However, this creation does not involve the design of providing a motive torque.

U.S. Patent No. 2,080,300,692 proposes a prosthetic foot and foot combination having an ankle joint that allows the foot plate to be dampedly rotated thereon, using a continuous hydraulic damper to change the damping coefficient during walking of the user, and The damping settings during dorsiflexion are irrelevant. A control circuit uses the results of the sensor to change the damping characteristics. It has a single-piston or double-piston damper embodiment and can set different heel heights. It involves the function of assisting torque output and requires complex power systems and control methods to operate, which limits its use.

US Patent No. 20090014042 proposes a walking assist device that transmits the force of the leg link group to the torso of the user through the load transfer portion, wherein the load transfer portion connects the first upper link and the second lower link connects the foot. a third intermediate joint connecting the first joint and the second joint and separating the two from each other by a changeable distance, and a driving unit drives the third joint, thereby reducing the moment of inertia of the first joint of the leg and reducing the use The burden of walking, the drive unit is located at the upper end of the third joint, so the center of gravity of the whole leg is located above the third joint; the drive unit has an electromagnetic motor and a reducer, It requires complex power and control systems to operate, and is limited in use.

US Patent No. 20090306554 proposes a walking assist device comprising a hip belt for the user to wrap around the hip or waist, a power generating unit, a torque transmitting unit for transmitting power to the user's thigh, and a torque transmitting unit. The quick disassembly and assembly department can make the user wear and tear quickly and easily, but it requires complicated power and control system when operating, and the use is limited.

US Patent No. 20100010639 proposes a walking assist control system comprising a seat portion, a left and right foot pad, a left and right foot connecting the seat portion and the foot pad portion, an actuator driving the foot link, and a force detecting means capable of detecting The force exerted by the seat on the user, the controller can control the actuators so that the measured force is always maintained at a predetermined lower bound, but it requires the use of complex power and control systems, and the use is limited.

U.S. Patent No. 20100138000 proposes a modified control method for prosthetic knee bionic gait, providing a single rotary shaft knee joint with a damper, a one-dimensional processor and a sensor, and the controller can select a hydraulic cylinder according to the measured signal. The internal fluid channel provides an appropriate damping coefficient for the knee flexion angle at the time. Furthermore, the knee joint does not need to reduce its load during the standing to swing period, thereby providing the knee with a safe and natural supply. The energy-saving gait, in response to various obstacles, road conditions, pace, and simple structure, low price and light weight, requires complex power systems and control methods to operate, limiting its use.

US Patent No. 20100113986 proposes a walking assist system having a user support unit, a pair of shoes for accommodating a user's foot, a pair of foot links connecting the support unit with the first rod and a pair of shoes for the second rod. The actuator connects the first rod and the second rod, a controller controls the actuator and the battery system, and generates relative motion to the first two rods. However, it requires a complicated power and control system, and the use is limited.

U.S. Patent No. 20100241242 proposes an artificial joint design using an anti-anti-actuator, which uses a symmetric muscle group interaction similar to a biological limb joint to achieve extremely low energy consumption and near zero output at a fixed operating length. It can independently produce buckling and stretching tendons, tandem elasticity, variable joint position, and variable stiffness. However, it requires complex power systems and control methods to operate, limiting its use.

US Patent No. 20100298746 proposes a walking assist system comprising a pelvic frame, a belly belt, two power generators on the side of the pelvic frame, and a power transmission rod for transmitting power to the user's leg relative to the pelvis frame, but it is required The use of complex power and control systems is limited.

U.S. Patent No. 5,230,697 proposes a knee joint stent for correcting knee inversion patients, which can only passively provide flexion and extension exercises for the knee joint, and cannot provide active active assisting force.

U.S. Patent No. 5,458,656 proposes a tower-shaped vertical shock absorbing energy storage leg, which is divided into upper and lower parts by elastic members, and the vertical load can be converted into energy storage of the elastic element, and the stored energy can be released after the external force is removed. The adjustable portion adjusts the spring-shaped variable and leg length, however it does not assist the flexion of the knee joint.

U.S. Patent No. 5,766,140 proposes an angle compensation device for a joint bracket, which is equipped with gears at the two pin joints to change the radius of the two gears to achieve relative displacement of the upper and lower parts at different angles of flexion; The patient can control the starting angle and final angle of the flexion; an indicator can be placed on the indicator for the wearer to observe, but does not provide any power to assist stretching and flexion.

U.S. Patent No. 5,961,556 proposes a suspension assembly with an elastic energy storage unit having a cushioning shock absorber that provides energy storage during axial movement and has a design that prevents axial rotation, however it is not directed to the knee joint. Flexibility for auxiliary functions.

U.S. Patent No. 6,007,582 proposes a prosthetic foot with an energy storage release means having a movable heel portion, an energy storage device driven by a movable heel, and a control unit connecting the energy storage and energy release unit for storage. Energy releases energy at the tip of the foot from the ground. However, it is mainly involved in the design of the linkage and storage energy during the movement of the foot, but does not teach the design of the storage and release energy of the knee joint.

U.S. Patent No. 6,610,101 proposes a speed and patient adapted prosthetic knee joint that automatically adjusts its control strategy based on the user and its speed, changing the impedance of the knee joint during standing and swinging periods, without requiring patient input during training. According to the data, the controller can resist some degree of interference, but it only provides damping force but does not provide the assisting torque, and requires complicated power system and control means to operate.

U.S. Patent No. 6,746,520 proposes an electronically controlled prosthetic knee joint, which is a magnetorheological fluid type variable moment prosthetic knee joint, which uses a plurality of scalloped turntables having internal bores to generate shear forces in the sheet-like turntable, in shear force. In the mode, there is no pressure change in the fluid, and the extremely low to very high torque can be achieved at low speed. The configuration of the deceleration system can be omitted. In one embodiment, some of the turntables can be combined with each other to generate frictional resistance, which constitutes a stickiness. A control system in which the hysteresis and the frictional resistance coexist, but it only provides the damping force but does not provide the assisting torque, and requires complicated power systems and control means to operate.

U.S. Patent No. 7,190,071 discloses a system and method for loading a fluid in a prosthetic knee joint, which uses a vacuum filling technique to fill a magnetorheological fluid into a small hole, which can be efficiently and quickly filled and uniformly filled in the knee joint, so that operation The process is smooth, but this article does not involve the design of the knee joint energy storage element.

U.S. Patent No. 7,279,009 proposes a speed and patient-adapted prosthetic knee joint that automatically adjusts its control strategy based on the user and its speed, and changes the impedance of the knee joint during standing and swing periods without the need to enter the patient during training. As a result, the controller is resistant to some degree of interference, but it requires complex power systems and controls to operate, limiting its use.

U.S. Patent No. 7,691,154 proposes a system and method for controlling the pressure in the knee joint of a prosthetic joint, using a gas filling or film deformation controllable pressure to control the pressure in the knee joint and reduce its output, but it does not involve knee joint assistance. Design the torque supply components.

U.S. Patent No. 7,790,091 proposes a control system for the prosthetic knee joint, which can automatically adjust its control strategy according to the user and its speed, and change the impedance of the knee joint during the standing period and the swing period, and does not need to input the patient's data during the training. The controller is resistant to some degree of interference, but it requires complex power systems and controls to operate, limiting its use.

Generation II of Canada proposed a G2 Extreme functional knee brace that uses a groove formed by a specific trajectory curve to control the trajectory of the guide pin, but does not provide any power to assist stretching and buckling.

The present invention proposes a lower limb assisting device for the user to wear on the lower body part to assist the knee joint, the hip joint or the ankle joint to perform the flexion movement, and has the following characteristics: 1. The gas hydraulic unit is used as the energy storage and release unit, The power supply can be used to assist all or part of the torque required by the patient's joint flexion process. 2. The variable radius surface and the flexible transmission element are used to provide continuous variation during the flexion of the wearer's joints and to meet different flexion angles. The required torque can eliminate the shortage of torque generated at a certain angle during the operation of the rigid linkage mechanism; 3. The elastic coefficient of the gas hydraulic unit or its air pressure can be adjusted, and the wearer can be based on different disease periods or functionalities. To activate the demand or treatment needs, change the different torque assist ratio; 4. The starting position of the output of the gas hydraulic unit is adjustable, and the wearer can adjust the gas according to different disease periods or functional action needs or treatment needs. The displacement of the hydraulic unit corresponds to the output force, thereby setting or changing the joint flexion angle at the start of the output; 5. transmitting through the flexible transmission unit The force or moment required to place the gas hydraulic unit in a position that does not interfere with the normal range of motion of the human body, such as the outside of the thigh or the back, thereby reducing the components of the mechanical ankle, knee, or hip joint. Taking into account the extra inertia of space, volume, weight and moving parts, when the patient wears this creation, the length, space and volume of the mechanical components protruding from the periphery of the body can be greatly reduced, reducing the foreign body sensation of the protruding bulge of the underwear and reducing the unintentional touch. The troubles of the surrounding obstacles can also reduce the extra inertia force of each component during operation; 6. The variable damping function can be set in the gas hydraulic unit, which can be transmitted to the ground according to the ground reaction force. The impact torque of the joint, manually or automatically adjust the joint rotation resistance, reduce the impact of the ground reaction force on the assist system, so as to reduce the impact on the patient's body.

Please refer to FIG. 1 , which is a configuration example of the human body worn in the human body. The human body ( 1 ) can wear the present creation ( 2 ) to the lower body to assist the human body in walking, up and down steps, up and down ramps, squatting and the like. The creation (2) comprises at least one set of mechanical thighs (23), a set of mechanical knee joints (24), and a set of mechanical calves (25); optionally including a set of mechanical pelvis (21) And a set of mechanical hip joints (22); optionally comprising a set of mechanical ankle joints (26) and a set of mechanical footplate portions (27).

One structural configuration of the present invention is shown in Figure 2, which includes at least one set of mechanical thighs (23), a set of mechanical knee joints (24), and a set of mechanical lower leg portions (25); A set of mechanical pelvis (21) and a set of mechanical hip joints (22); optionally comprising a set of mechanical ankle joints (26) and a set of mechanical footplates (27).

3 is an embodiment of a detailed structure of a mechanical pelvis portion, wherein the pelvic restraint (211) can surround and substantially fix the mechanical pelvis (21) to the abdomen of the human body (1) (shown in FIG. 1). The buttocks can be wound around the waist and abdomen of the human body (1), or around the buttocks and groin of the human body; the pelvic restraint (211) is fixed on a pelvis width fixing member (212c), the pelvis The width fixing member (212c) is slidably coupled to the pelvis width first adjusting member (212a) and the pelvis width second adjusting member (212b) and can be fixed by screws or attaching means, thereby adjusting and setting the mechanical pelvis portion (21) The effective width is adapted to conform to the pelvis width of different wearers; the pelvic width first adjustment member (212a) is interconnected with a pelvic depth adjustment member (213), and the pelvic depth adjustment member (213) is adjusted to a hip joint height The pieces (214) are slidably coupled to each other and can be fixed by screws or attaching means, thereby adjusting and setting the depth position of the hip joint height adjusting member (214) (coordinate position on the intersection line between the sagittal plane and the horizontal plane of the human body) In order to meet the pelvic depth of different wearers; There the hip height adjusting member (214) or a plurality of screw chute design for mechanical hip portion (22) (shown in FIG. 4) to adjust and set the height position.

4 is an embodiment of the detail structure of the thigh portion of the authoring machine, wherein the hip joint height adjusting member (214) is attached to the "proximal limb segment (here, the pelvic region)" of the human body (1) ankle, thigh The first adjusting member (231) is attached to the "distal limb portion (here, the thigh portion)" of the ankle joint of the human body (1), and the mechanical hip joint portion (22) is a joint having at least a first degree of freedom. The first degree of freedom is provided for the thigh first adjusting member (231) to perform a stretching and flexing motion according to the mechanical hip joint portion (22), and the first pivoting axis (221) of the axis of the flexing motion is substantially the same as the human body (1) The axis of the flexion movement coincides; if the mechanical hip joint (22) has a second degree of freedom, the second degree of freedom is available for the thigh first adjustment member (231) according to the mechanical hip joint ( 22) performing an adduction and abduction movement; if the mechanical hip joint (22) has a third degree of freedom, the third degree of freedom is available for the thigh first adjustment member (231) according to the mechanical hip joint portion (22) Performing internal rotation and external rotation movement; the thigh first adjustment member (231) and the thigh second adjustment member (232) are slidably coupled to each other and can be fixed by screws or attachment means Relative position, the function of adjusting and setting the effective length of the mechanical thigh (23), thereby conforming to the length of the thigh of different wearers; the first adjustment member (231) of the thigh is provided with a first end of the storage element (233) The first end (233) of the stored energy element and the second end (234) of the stored energy element are slidably coupled to each other, and the second end (234) of the stored energy element is opposite to the first end of the stored energy element (233) ) having a spring or damping or combined effect during exercise, such as a pneumatic cylinder, a hydraulic cylinder, or a pneumatic cylinder; the second end (234) of the stored energy element has an energy storage-flexure connection point (235) , a flexible transmission member (237) (see FIG. 5) is affixed thereto; thereby, when the second end (234) of the energy storage element moves, the energy storage-flexure connection point can be driven ( 235) and the flexible transmission member (237) is moved; further, the second adjustment member (232) of the thigh is selectively provided with a storage and release member rail (236) for the second end of the storage and release element (234) Or the energy storage-flexure attachment point (235) is attached and secured, thereby constraining the movement path of the second end (234) of the stored energy element to be substantially parallel to the axis of the mechanical thigh (23) May be provided to avoid discharging the storage element is a second end (234) deflection shaking, or increasing the storage life of discharging elements, or enhance a second end (234) discharging the storage element still or moving function of the load capacity.

The hip joint height adjusting member (214) in the figure is relatively close to the body heart portion relative to the mechanical hip joint portion (22), and is hereinafter referred to as the "proximal rod member" of the hip joint; The thigh first adjustment member (231) is farther away from the body heart portion than the mechanical hip joint portion (22), and is hereinafter referred to as the "distal rod member" of the hip joint.

Figure 5 is an embodiment of the detail structure of the small leg of the authoring machine, wherein the second thigh adjustment member (232) is attached to the proximal limb portion of the human body (1) knee joint (here, the thigh portion), and the calf is first The adjusting member (251) is attached to the distal limb portion of the human body (1) knee joint (here, the calf portion); the mechanical knee joint portion (24) is pivotally connected to the calf first adjusting member (251), and is available for The mechanical lower leg portion (25) performs a flexion and extension movement along the mechanical knee joint portion (24), and the axis of the flexion movement is the axis of the first pivoting shaft (221) substantially parallel to the human body (1) the joint axis of the flexion motion Coincident; the calf first adjusting member (251) is connected to a first end of a flexible transmission member (237), and the flexible transmission member (237) can be selected from the following mechanical components: a chain, a metal piece, a metal band, a metal a mechanical element that transmits force, such as a rope, a polymeric material rope, a sheathed rope, etc., the second end of which is connected to the energy storage-flexure connection point (235) (see Figure 4), in the mechanical lower leg ( 25) When flexing and stretching along the mechanical knee joint (24), the flexible transmission member (237) will be attached to a first variable radius curved surface (2511), or may be changed from the first The radial surface (2511) is separated; the radius of the first variable radius surface (2511) is the distance from any point on the curved surface to the center mechanical joint portion (24) of the calf first adjusting member (251); A preferred embodiment of the first variable radius surface (2511) is that when the mechanical lower leg portion (25) is moved along the mechanical knee joint portion (24) to the fully extended state, the radius is shorter and proceeds to the most flexed state. The radius is longer; the calf first adjusting member (251) and the lower leg second adjusting member (252) are slidably coupled to each other and can be fixed by screws or binding devices to adjust and set the mechanical lower leg portion. (25) The effective length to match the length of the calf of different wearers.

If the flexible transmission member (237) is a cable containing a sleeve, the first end of the sleeve can be fixed to the second adjustment member (232) of the thigh, and the cable end of the sleeve can be fixed. The second end of the sleeve can be fixed to the first end of the storage element (233), and the cable end of the sleeve can be fixed to the storage element. The two ends (234) or the energy storage-flexure connection points (235).

The second thigh adjustment member (232) in the figure is relatively close to the body part of the heart relative to the mechanical knee joint portion (24), and is hereinafter referred to as the "proximal rod member" of the knee joint; The calf first adjustment member (251) is farther away from the body heart portion than the mechanical knee joint portion (24), and is hereinafter referred to as the "distal rod member" of the knee joint.

Figure 6 is a side elevational view of an embodiment of the creation machine's lower leg portion, wherein the flexible transmission member (237) is exemplified by a chain having one end connected to the energy storage-flexure connection point (235) and the other end connected At the second connecting end (2512) of the flexible transmission member, the relative position of the energy storage-flexible connecting point (235) and the second end (234) of the energy storage element (see FIG. 4) can be transmitted through the screw and the slider. When the design adjustment setting is made, the second connecting end (2512) of the flexible transmission member is located at the relative position of the first adjustment member (251) of the lower leg, and can also be adjusted and set by screws, sliders, etc.; the wearer or the guardian can adjust Setting the positions of the two connecting ends, thereby setting the second end (234) of the stored energy dissipating component (see FIG. 4) to a predetermined position, and tightening the flexible transmission member (237) and The tension is initially transmitted, so that the wearer can decide to provide the auxiliary flexion moment function when the knee joint flexion angle of the human body (1) is greater than a predetermined angle.

Figure 7 shows an embodiment of the flexion of the lower leg of the present invention, wherein the lower leg first adjustment member (251) and the lower leg second adjustment member (252) are flexed around the mechanical knee joint portion (24). The transmission member (237) will be engaged with the first variable radius surface (2511). When the knee joint angle is small, the flexible transmission member (237) is attached to a first radius (2511a). The effective radius of the knee joint around the center of rotation of the mechanical knee joint (24) is small, providing a smaller force arm and a smaller torque; when the knee joint angle is slightly larger, the flexible transmission member (237) is fitted Up to a second radius (2511b), so the knee joint tension is slightly larger around the effective center of the mechanical knee joint (24) rotation center point, providing a slightly larger force arm and a slightly larger torque; when the knee joint angle is extremely large The flexible transmission member (237) is attached to a third radius (2511c), so that the effective radius of the knee joint tension around the central point of rotation of the mechanical knee joint portion (24) is extremely large, providing a great force arm and a great torque; Any point between the starting point and the ending point of the contour line of the first variable radius surface (2511) to the mechanical knee joint portion (24) The distance of the shaft can be designed to: when the joint is flexed, if the flexible transmission member (237) is fixed to a specific position on the first adjustment member (251) of the lower leg, the flexible transmission member (237) is caused. When a part of the connected line and the central axis reduce the force arm, the distance is an increased design; or when the force arm is increased, the The distance is a reduced design; the winding section of the first variable radius surface (2511) (roughly a smooth curve segment from the first radius (2511a) to the third radius (2511c) in the figure) is in the sagittal plane The projection contour on the top is roughly a round curve.

Figure 8 shows an embodiment of the detailed structure of the mechanical foot plate portion of the present invention, wherein the second leg adjustment member (252) is attached to the proximal limb portion of the human body (1) ankle joint (here, the calf portion), the ankle joint The second adjusting member (262), or the third adjusting member (263) of the ankle joint, or the mechanical foot plate portion (27) is attached to the distal limb portion of the human body (1) ankle joint (here, the foot plate portion); the calf The second adjusting member (252) and the first ankle joint adjusting member (261) are respectively slidably connected to each other in the depth and height directions, and the relative positions of the first adjusting member (261) can be fixed by screws or binding devices, so that the mechanical ankle joint portion can be adjusted and set. (26) function of depth position and height position relative to the second adjustment member (252) of the lower leg; the first adjustment member (261) of the ankle joint and the second adjustment member (262) of the ankle joint are in the width of the human body (in the horizontal plane and the crown of the human body) The coordinates of the intersection line are slidably connected to each other and can be fixed by screw or attachment means to achieve the function of adjusting and setting the width position of the mechanical ankle joint (26); the second adjustment of the ankle joint (262) ) and the third adjustment member (263) of the ankle joint is slidably connected to each other in the height direction and can be screwed or The attachment device fixes its relative position to achieve the function of adjusting and setting the height position of the mechanical ankle joint (26); the third adjustment member (263) of the ankle joint and the first adjustment member (271) of the foot plate are mutually slidable in the depth direction. The screw or the attachment device can be used to fix the relative position, and the function of adjusting and setting the relative position of the mechanical ankle joint portion (26) to the mechanical foot plate portion (27) can be achieved; the first ankle joint adjustment member (261) Or the third adjustment member (263) of the ankle joint can be selectively omitted.

Wherein, the lower leg second adjusting member (252) or the ankle joint first adjusting member (261) and the ankle joint second adjusting member (262) or the ankle joint third adjusting member (263) are along a first pivoting axis (221) a pivotal connection, and the mechanical foot plate portion (27) is configured to perform a plantar flexion and dorsiflexion motion along the mechanical ankle joint portion (26), the axis of the flexion motion substantially corresponding to the human body (1) the joint flexing motion The axes coincide.

The foot plate first adjusting member (271) is coupled to a rear foot plate portion (272), and the rear foot plate portion (272) is coupled to a bottom foot plate portion (275), and the bottom foot plate portion (275) is elastic. a component, such as a plate rubber, a leaf spring, or a wire spring, the bottom plate portion (275) and a midfoot The plate portions (273) are connected to each other, and the middle foot plate portion (273) is further coupled to a bottom foot plate portion (275) (which may be the same bottom foot plate portion (275) or another such bottom foot plate portion (275)) Connecting, the bottom foot plate portion (275) is further connected to the front foot plate portion (274); wherein the middle foot plate portion (273) is selectively omitted; and at least one binding member (not shown), Can be used to attach the foot board of the human body (1).

The calf second adjustment member (252) or the ankle joint first adjustment member (261) in the figure is relatively close to the body part of the body relative to the mechanical ankle joint portion (26), and is also referred to as 踝 in the following. a "proximal rod" of the joint; and an ankle joint third adjustment member (263), a foot plate first adjustment member (271), or a rear foot plate portion (272) with respect to the mechanical ankle joint portion (26) It is far from the heart of the body and is also referred to as the "distal rod" of the ankle joint.

Figure 9 is an embodiment of the creative size leg restraint, wherein the thigh first binding member (238a) and the thigh second binding member (238b) are respectively fixed to the mechanical thigh portion (23), the thigh first binding member (238a) is closer to the mechanical pelvis (21), and the thigh second binding member (238b) is closer to the mechanical knee joint (24), when the pelvic restraint (211) (see Figure 3) is not omitted, The thigh first binding member (238a) can be selectively omitted; a calf binding member (253) is fixed to the mechanical lower leg portion (25); the lower leg binding member (253) and the thigh second binding member (238b) can be At least one of the selective uses is bound to the human body (1).

FIG. 10 shows an embodiment of a variable radius surface design of the created acetabular joint, wherein the mechanical hip joint portion (22) is selectively provided with a torque for assisting the mechanical thigh portion (23) for stretching or flexing motion; The mechanical ankle joint portion (26) is selectively provided with a torsion force that assists the mechanical foot plate portion (27) for flexion or dorsiflexion. In the auxiliary torque of the mechanical hip joint (22), a second variable radius curved surface (2311) may be disposed on the thigh first adjusting member (231), and the second flexible transmitting member (215) is first in the thigh When the adjusting member (231) performs the buckling motion, the second flexible transmission member (215) will be fitted along the second variable radius curved surface (2311), and the tension of the second flexible transmission member (215) can provide the mechanical hip The auxiliary torque of the joint portion (22) in an extending direction, the tension of the second flexible transmission member (215) may be provided by a storage and release element (not shown) disposed beside the hip joint height adjusting member (214), The design method of the second variable radius surface (2311) and the operation principle of the storage element capable of pulling the second flexible transmission member (215) are the same as those shown in the description of FIG. 7, and are not described herein; The second variable radius surface (2311) and the second flexible transmission member (215) are disposed on opposite sides of the thigh first adjusting member (231), thereby providing an auxiliary torque of the mechanical hip joint portion (22) in a buckling direction. Similarly, in the auxiliary torsion of the mechanical ankle joint (26), a third variable radius surface (2631) can be disposed on the third joint (263) of the ankle joint, and the third flexible transmission member (254) When the mechanical foot plate portion (27) performs the dorsiflexion movement, the third flexible transmission member (254) will be attached along the third variable radius curved surface (2631), and the tension of the third flexible transmission member (254) An auxiliary torsion force of the mechanical ankle joint portion (26) in a flexion direction may be provided, and the tension of the third flexible transmission member (254) may be a storage and release energy element disposed on a side of the second adjustment member (252) of the lower leg ( Provided, the design method of the third variable radius surface (2631) and the operation principle of the storage element capable of pulling the third flexible transmission member (254) are the same as those shown in the description of FIG. Needless to say; if the third variable radius surface (2631) and the third flexible transmission member (254) are disposed on the opposite side of the third adjustment member (263) of the ankle joint, the mechanical inspection can be provided. (26) a dorsiflexion direction of the auxiliary torque.

Figure 11 shows an embodiment of the present invention that the storage element is disposed on the back side of the human body, and the storage and release unit located near the leg can be removed to achieve a more compact design of the leg space; wherein the pelvic width is The second adjusting member (212b) or the pelvis width fixing member (212c) is provided with a back frame (216), and the back frame (216) is provided with a storage energy releasing component group (217), and the energy storage component group (217) The number of the energy storage elements may be one or plural; for example, when the number is one, two flexible transmission members (237) that provide the required torque for flexing the left and right mechanical lower leg portions (25) may be commonly connected thereto. The only one of the two types of storage elements can be connected to the two reservoirs (215), which provide the required torque for flexing the left and right mechanical thighs (23), respectively. On the component; for example, when the number is six, the second flexibility of the required left and right mechanical thighs (23), the left and right mechanical lower leg portions (25), and the left and right mechanical foot plate portions (27) can be respectively flexed. a transmission member (215), a flexible transmission member (237), and a third flexible transmission member (254) are respectively connected to the six storage elements; The above various connection strategies can be mixed in design. Furthermore, if the second flexible transmission member (215), the flexible transmission member (237), or the third flexible transmission member (254) is a flexible transmission member with a sleeve, both ends of the sleeve Can be respectively fixed on the proximal rod and the output end of the storage element, and the storage element group (217) can be self-backed or each The connecting rod is removed and placed in a backpack or bag prepared by the user to achieve the effect of power transmission.

The foregoing energy storage element may be an elastic element, or a damping element, or a spring damping combination element, or a gas hydraulic component; the elastic element may be a gas spring or a mechanical spring; the elasticity of the elastic unit The coefficient can provide the function of manual adjustment or automatic adjustment by the user; the damping coefficient of the damping element can provide the function of manual adjustment or automatic adjustment by the user.

1‧‧‧ human body

2‧‧‧This creation

21‧‧‧Mechanical pelvis

211‧‧‧Pelvic shackles

212a‧‧‧First adjustment of pelvic width

212b‧‧‧Second adjustment of pelvic width

212c‧‧‧Bone Width Fixings

213‧‧‧Pelvic depth adjustment

214‧‧‧Hip height adjustment

215‧‧‧Second flexible transmission

216‧‧‧back frame

217‧‧‧Reservoir component group

22‧‧‧Mechanical hip joint

221‧‧‧First pivot shaft

23‧‧‧Mechanical thighs

231‧‧‧Thigh first adjustment piece

2311‧‧‧Second variable radius surface

232‧‧‧Thigh second adjustment

233‧‧‧ first end of the energy storage component

234‧‧‧The second end of the energy storage component

235‧‧‧ Energy Storage-Flexible Joints

236‧‧‧Reservoir component rail

237‧‧‧Flexible transmission parts

238‧‧‧Thigh Ties

238a‧‧‧Thigh first binding

238b‧‧‧Thigh second binding

24‧‧‧Mechanical knee joint

25‧‧‧Mechanical calf

251‧‧‧The first adjustment of the calf

2511‧‧‧First variable radius surface

2511a‧‧‧first radius

2511b‧‧‧second radius

2511c‧‧‧ third radius

2512‧‧‧Flexible transmission second connection

252‧‧‧Second leg second adjustment

253‧‧‧Legs Ties

254‧‧‧ Third flexible transmission

26‧‧‧Mechanical ankle joint

261‧‧‧ Ankle joint first adjustment

262‧‧‧ Ankle joint second adjustment

263‧‧‧ Ankle joint third adjustment

2631‧‧‧3rd radius surface

27‧‧‧Mechanical Foot Board

271‧‧‧The first adjustment of the foot board

272‧‧‧ hindfoot board

273‧‧‧ midfoot board

274‧‧‧Front Foot Board

275‧‧‧foot board

Figure 1 This embodiment is designed to be worn on the human body.

Figure 2 One structure configuration example of the present creation

Figure 3 is an embodiment of the detailed structure of the pelvic part of the creation machine

Figure 4 is an embodiment of the detailing structure of the thigh of the authoring machine

Figure 5 is an embodiment of the detailing structure of the small leg of the authoring machine

Figure 6 is a side view of an embodiment of the creation machine's lower leg

Figure 7 Example of the flexion of the lower leg of the authoring machine

Figure 8 is an embodiment of the detailed structure of the mechanical foot plate of the author

Figure 9 is an embodiment of the creative size leg restraint

Figure 10 An example of a variable radius surface design of the acetabular joint of the present invention

Figure 11 Embodiment of the storage and release energy component of the present invention is disposed on the back side of the human body

error! The reference source could not be found.

error! The reference source could not be found.

21‧‧‧Mechanical pelvis

22‧‧‧Mechanical hip joint

23‧‧‧Mechanical thighs

24‧‧‧Mechanical knee joint

25‧‧‧Mechanical calf

26‧‧‧Mechanical ankle joint

27‧‧‧Mechanical Foot Board

Claims (4)

A lower limb assisting device capable of being worn on a lower limb portion of a user to assist at least one of a hip joint, a knee joint, or an ankle joint of the user to perform a flexion motion, comprising: a proximal end member attached to the human body a proximal limb portion of the joint; a proximal end restraining member fixed to the proximal rod member for attachment to a proximal limb portion of the joint of the human body; and a distal rod member along a first pivot shaft (221) pivotally connected to the distal end of the proximal rod and attached to the distal limb of the joint of the human body, the first pivotal shaft (221) substantially flexing with the joint of the human body on the sagittal plane The axis of the movement is coincident, and has a curved surface fixed to the proximal end of the distal rod; a distal binding member fixed to the distal rod and can be attached to the joint of the human body a distal limb segment; a flexible transmission member (237) having an energy storage-flexure connection point (235) at one end and a flexible transmission member second connection end (2512) at the other end, the flexibility The second connecting end (2512) of the transmission member is fixed to the distal rod member, and the fixing position can be adjusted within a predetermined range in the human body. During the flexion motion of the joint, at least a portion of the flexible connecting member second connecting end (2512) and the energy storage-flexible connecting point (235) is adhered to the curved surface; Having a first end (233) of a storage element and a second end (234) of a storage element, the first end (233) of the storage element is coupled to the proximal rod, the storage element The two ends (234) are connected to the flexible transmission member (237) via the energy storage-flexure connection point (235), and the connection position thereof can be adjusted within a predetermined range; wherein the contour features of the curved surface The distance between the curved surface and the flexible transmission member (237) is tangential to the pivotal axis when the distal rod member flexes the proximal rod member about the first pivot shaft (221). As the flexion angle increases, an additional assist torque can be provided depending on the angle of the user's joint when the user flexes or stretches the joint. The lower limb assisting device according to claim 1, wherein the flexible transmission member (237) is selected from the following mechanical components: a chain, a metal piece, a metal band, a metal rope, a polymer material rope, and a casing. rope. The lower limb assisting device according to claim 1, wherein the stored energy storage element is selected from the group consisting of: a spring element having a fixed or variable coefficient, a fixed or variable damping element, a fixed or variable coefficient The spring damping combination component, the pneumatic cylinder, the hydraulic cylinder and the pneumatic cylinder. A lower limb assisting device capable of being worn on a lower limb portion of a user to assist at least one of a hip joint, a knee joint, or an ankle joint of the user to perform a flexion motion, comprising: a proximal end member attached to the human body a proximal limb portion of the joint; a proximal end restraining member fixed to the proximal rod member for attachment to a proximal limb portion of the joint of the human body; and a distal rod member along a first pivot shaft (221) pivotally connected to the distal end of the proximal rod and attached to the distal limb of the joint of the human body, the first pivotal shaft (221) substantially flexing with the joint of the human body on the sagittal plane The axis of the movement is coincident, and has a curved surface fixed to the proximal end of the distal rod; a distal binding member fixed to the distal rod and can be attached to the joint of the human body a distal transmission section; a flexible transmission member (237) having an energy storage-flexure connection point (235) at one end and a flexible transmission member second connection end (2512) at the other end, the flexible transmission The second connecting end (2512) is fixed to the distal rod member, and can adjust the fixing position within a predetermined range, in the human body During the flexing motion, at least a portion of the flexible connecting member second connecting end (2512) and the energy storage-flexible connecting point (235) is fitted to the curved surface; a back frame (216) Attached to the back of the human body; at least one stored energy dissipating component having a first end of the stored energy dissipating component (233) and a second end of the stored energy dissipating component (234), the first end of the stored energy dissipating component (233 Connected to the back frame (216), the second end (234) of the energy storage element is connected to the flexible transmission member (237) And adjusting the connection position within a predetermined range; wherein the contour feature of the curved surface is designed such that the distal rod flexes the proximal rod about the first pivot shaft (221) The distance from the tangential point of the curved surface to the flexible transmission member (237) to the pivotal axis increases as the flexion angle increases; thereby, when the user flexes or stretches the joint, The user provides different auxiliary torques at different angles of the joint.