• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    System to assist a person walking, consisting of an exoskeleton to adapt to the person comprising a plurality of structures articulated for the flexion of the lower extremities and a plurality of sensors. The plurality of sensors measures the flexion made in the joints of the upper extremities and applies a movement that is transmitted to the lower extremities by the articulated structures as a function of the measured flexion. Advantageously, the movement is generated by the individual himself while walking and does not need to be pre-programmed. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2618285A1
    申请号:ES201531671
    申请日:2015-11-19
    公开日:2017-06-21
    发明作者:JUAN GARCíA LEGAZ；Bartolomé BEJARANO HERRUZO
    申请人:TECNIMUSA S L；Tecnimusa SL；
    IPC主号:
    专利说明:

    DESCRIPTION
    System to assist walking
    Technical Field of the Invention
    This invention relates to a system that allows adequate walking to patients unable to walk without help. 5
    Background of the invention or State of the Art
    A paraplegia or paraparesis denotes a complete or partial weakness of both lower limbs, running out of functionality to stand or move.
    It is caused by an involvement of the spinal cord (usually in the thoracic or lumbar region), the peripheral nerves or the musculature (myopathies). 10 Usually, a pattern of distal weakness, sensory loss, muscle atrophy and absence of reflexes usually accompanies peripheral neuropathies. In contrast, spinal paraplegia causes spasticity, exaggerated increase in reflexes and level of sensory loss. Spinal cord or horsetail lesions may produce a complex picture of both spinal and peripheral nerve involvement. 15 Some brain disorders can cause paraplegia / paraparesis, and may also affect the upper limbs, such as brainstem lesions, parasagittal intracranial lesions (meningiomas) or ischemia of the anterior cerebral arteries.
    Spinal paraplegia usually results from trauma that causes severe spinal cord injury with compression or section of the spinal cord, usually by bone fragments of a vertebral fracture or associated hematoma. The majority are acute cadres, as a result of trauma, with half of them occurring in traffic accidents. In the absence of trauma, spinal cord compression and myelitis are the main causes of acute or rapidly progressive paraplegia.
    The lesions may have varying degrees depending on the severity and location of the lesion. At first, the patient may suffer a spinal shock, which causes loss or decrease in sensitivity, muscle movement and reflexes. As the inflammation decreases, other symptoms may appear, depending on the location of the lesion. Generally, the symptoms are more severe the higher the area of the spinal cord in which the injury occurs. Some of the central symptoms that show a serious spinal injury are: muscle weakness; loss of voluntary movements of the affected muscles; loss of
    lower limb tenderness, loss of bladder and bowel control, breathing problems, etc.
    In the state of the art there are proposals based on electro-mechanical devices aimed at this type of patients. These are body exoskeletons that have been developed for both medical and military and civil purposes. 5 Currently, multiple companies and higher research centers are still trying to develop them commercially but have encountered several obstacles, mainly marketing costs and operating times. They stand out as companies that are closest to massively producing Honda and Cyberdyne exoskeletons. 10
    The first has two prototypes of exoskeletons for walking assistance; One is a machine design called “BODYWEIGHT SUPPORT ASSIST”, which was designed to reduce the load on the muscles of the legs and joints (hip, knees and ankles). This is a team created for the rehabilitation of the elderly and disabled. fifteen
    The other prototype of this company is called "WALKING ASSIST DEVICE"; it is an exoskeleton that speeds up the natural walking of a person incorporating mechanical force to his walk, the embedded sensors allow to read the intention of mobility of the hip, to help the user to maintain an upright posture, and use engines to increase the strength of the steps.It is intended for older people and for 20 who have legs with weak muscles.
    For its part, Cyberdyne has the robotic suit "HAL"; Its applications are: rehabilitation, physical training in the medical field, support for people with disabilities, employment in heavy work or rescue in disaster sites. Unlike the previous ones, this exoskeleton is for upper and lower 25 members. The “HAL” exoskeleton uses sensors attached to the skin of those who use it to read the electrical impulses of the nerves. According to the signals obtained, the unit is controlled to move the joint next to the muscular movement of the user. If there are no signals, "HAL" also has an autonomous control system that offers human-like movements to the exoskeleton. The use of 30 crutches is necessary.
    The human engineering laboratory of the University of California, Berkeley (United States), has carried out research on the fundamentals of human power, throwing several application results, among which are the
    following exoskeletons for lower limb: Bleex, Exohiker, Exoclimber, Hulc and exoskeletons for medicine; all except the latter are aimed at military applications. His designs focus on increasing the strength and endurance of soldiers on the battlefield.
    Briefly, the following background is described: 5
    - “EXOHIKER”: it was the first robotic exoskeleton created by the team of Berkeley Bionics and the University of California. It was designed to carry heavy backpacks for long-distance missions with small changes in altitude.
    - “EXOCLIMBER”: it is a robotic exoskeleton that is designed to allow the rapid ascent of stairs and steep slopes while 10 provides the same transport capacity as ExoHiker
    - XOS: the robotic full body exoskeleton for military purposes presented by Raytheon Sarcos was Sarcos XOS, which seeks to increase the strength and endurance of soldiers. Its application is loading tasks for explosive elements such as missiles. It allows whoever wears it to lift a weight of one hundred kilos as if it were 15 of one. In addition, it is flexible, and allows you to run or jump with great ease, but this exoskeleton needs external power. The new XOS 2 is a robotic structure powered by a high-voltage and more resistant hydraulic system that spends half the energy, but its main innovation is that it has more autonomy since it does not require a cable that connects the suit to a source of Energy. twenty
     - “REWALK”: is an electronic exoskeleton capable of helping paraplegic people to walk, from the company Argo Medical Technologies. Although the patient needs crutches to maintain balance, the system has a remote control that fits the wrist and puts into operation a series of body sensors thanks to which the legs are motorized, allowing 25 to select the type of movement . Through the remote control patients can choose: sit, walk, go down or climb stairs.
    - "BLEEX": is a robotic exoskeleton for lower extremities. It consists of two anthropomorphic powered legs, a power unit and a backpack frame in which heavy load can be added. This system provides the user with the ability to withstand significant loads on it with minimal effort on any type of terrain. It allows you to squat comfortably, bend, jump from one place to another, turn and walk on ascending and descending slopes,
    while also offering the ability to pass over obstacles and under them.
     Brief Description of the Invention
    In view of the background, the majority of lower limb exoskeletons have been designed for healthy individuals, primarily for 5 military uses, and disabled assistance exoskeletons need a second person or crutches and with pre-programmed movements preventing autonomy of the individual
    In the military field, the exoskeletons (tires, hydraulics, etc ...) have a programmed accompanying behavior to relieve the weight carried by the user or provide greater resistance; however, they lack autonomy of movement, so the movement must be generated by the limbs of the individual himself.
    Instead, the present invention proposes an exoskeleton to restore the individual's motor capacity. For this purpose, the joints are reinforced, such as the ankle, where not only the movement of the Achilles tendon (flexion and extension) is motorized, but also the lateralization movement of the foot (abduction and adduction). Regarding the existing exoskeletons designed for paraplegics, it is observed that they do not contemplate the movement (abduction and adduction) of the ankle.
    On the contrary, this proposal considers this essential function for a comprehensive control of mobility. In all cases, the exoskeleton object of the present invention implements these two ankle movements.
    On the other hand, existing exoskeletons in general only have the flexion-extension movement in the hip mechanized, allowing abduction-adduction and external-internal rotation movements only in military models, and the last two being fixed for the models of paraplegics. It has been verified that for a correct march the three movements are necessary; hence the present invention implements these three motorized movements.
    The sensory transmission proposed by the present invention is based on transferring a flexion of an upper limb joint in an action on the exoskeleton corresponding to another lower limb joint suffering from paralysis.
    From now on, for clarity in the exposition it should be understood without loss of generality that the term flexion refers to the movement of the joint, be it extension or flexion, abduction or adduction.
    Additionally, a sole for the foot will be able to transmit pressure zones to other areas of the body with sensitivity, such as the hand, by a glove. 5
    Brief description of the figures
    FIG. 1: Exoskeleton module with illustrated wrist sensor without flexing (or abducting) and with 10º flexion.
    FIG. 2: Exoskeleton module with ankle actuator without and with flexion.
    FIG. 3: Exoskeleton module with illustrated elbow sensor without flexing and with 10 of 15º flexion.
    FIG. 4: Exoskeleton module with actuator for knee without and with flexion.
    FIG. 5: Exoskeleton module with illustrated shoulder sensor without flexing and with 12º flexion.
    FIG. 6: Exoskeleton module with hip actuator without and with flexion. fifteen
    FIG. 7: Exoskeleton module with illustrated wrist sensor without and with abduction-adduction of 10º.
    FIG. 8: Exoskeleton module with ankle actuator without and with abduction.
    FIG. 9: Exoskeleton module with illustrated hip sensor without and with 15º abduction. twenty
    FIG. 10: Exoskeleton module with hip actuator without and with abduction.
    FIG. 11: Exoskeleton module with sensor at the top of the column and actuator at the bottom of the column, illustrated without and with 10 ° tilting.
    FIG. 12: Exoskeleton module with shoulder sensor without and with 10º rotation.
    FIG. 13: Exoskeleton module with hip actuator without and with 10º rotation. 25
    FIG. 14: Exoskeleton module with foot sole sensors.
    FIG. 15: Exoskeleton module with actuators on the palms of the hands.
    FIG. 16: Full lateral, frontal views and perspectives of the exoskeleton.
    Detailed description of the invention
    An embodiment without limitation is illustrated with reference to the figures. The embodiment allows adequate ambulation to patients with a paraplegia / paraparesis.
    To restore this functionality, two parts have been developed: 5
    1º.- It consists of a metallic and mechanical structure that performs each of the necessary movements to stand and walk naturally and controlled at all times by the affected subject in real time. For this purpose, an exoskeleton 30 has been developed, consisting of the following elements (exopie, exotibia, exofémur, exocadera and exocolumna) joined by three joints on each side and a central one (exocolumn):
    - Exotobillo joint 31: union of exopy with exotibia. This joint consists of two actuators that allows flexion-extension and abduction-adduction movements of the ankle, both controlled by two sensors located on the wrist.
    - Articulation exorrodilla 32: union of the exotibia with the exofémur. This joint 15 allows flexo-extension movement through an actuator controlled by a sensor in the elbow.
    - Exocadera joint 33: union of exofémur and exocadera. This joint consists of the three movements (flexo-extension, abduction-adduction and rotation), so we need three actuators on each side. The flexo-extension movement is carried out through two actuators located between the exofémur and the exocadera on the front. We will have the abduction-adduction movement through two actuators located on the inner faces of the hip at the junction of the exocadera with the exofémur; The sensors that move these actuators are located at the top of the shoulders. We will have the rotational movement through two 25 actuators located on the external faces of the hip; the respective sensors are also located in the upper part of the shoulder.
    - Exocolumn 34 joint: union of the exocadera and the exocolumn. Contemplate the tilting movement through an actuator located between the back of the exocadera and the exocolumn, since thanks to the tilting of the pelvis we can perform this movement. The sensor that facilitates this movement is located in the cervical-thoracic area.
    2º.- To maintain the necessary balance of the subject, a sole 19 has been developed for the support of exoskeleton 30 on the ground that consists of several cavities necessary to transmit the different pressures that the sole 19 receives to a sensitive area of the subject such as the hand. Each of these cavities has an associated pressure sensor 18a, 18b, 18c. One for the front area of the foot 18a, another for the 5 external lateral zone 18b and a third for the heel area 18c. Said areas of the foot are connected through a glove 29 with the anterior area 28a of the palm (proximal palmar sinus), lateral area 28b (hypothenar eminence and distal palmar sinus) and distal sinus area 28c of the wrist.
    The pressure transmission is directly proportional, a glove 29 10 with the same cavities is used to receive the pressure states at all times and to be able to correct the position naturally as if it were our own foot on the ground.
    Degrees of mobility
    Wrist - Ankle: The flexion-extension movement of the ankle is controlled by a first wrist sensor 11, which moves an ankle actuator 21 located at the back of the Achilles tendon. When acquiring a certain degree of flexion in the wrist (considering that the initial state is the one corresponding to placing the palm of the hand parallel to the forearm), this same degree of flexion will be transmitted to the ankle (on the basis that the initial state is the corresponding one to place the sole of the foot 20 horizontally).
    The abduction-adduction movement of the ankle is also controlled by a second wrist sensor 12, which moves a second ankle actuator 22 located on the outer side of the ankle. The rotation of the wrist allows this movement.
    Elbow - Knee: The flexion-extension movement of the knee is controlled by an elbow sensor 25, which moves a knee actuator 22 located on the outside of the knee, and another located on the inside of the knee (whose movement is identical and simultaneous). When acquiring a certain degree of flexion in the elbow (assuming that the initial state is the equivalent of placing the extended arm), this same degree of flexion will be transmitted to the knee (considering that the initial state is 30 corresponding to maintaining the extended leg).
    Shoulder - Hip: The hip flexion-extension movement is controlled by a shoulder sensor 13, which moves a second hip actuator 33. By acquiring a certain degree of shoulder flexion (considering that the initial state is the
    corresponding to placing the arm vertically; that is, attached to the body), this same degree of flexion is transmitted to the hip (whose initial state is that corresponding to placing the leg vertically).
    The abduction-adduction movement of the hip is controlled by a third shoulder sensor 17 located on the shoulder, which moves a third hip actuator 27 5 located in the inner part of the hip. By acquiring a certain degree of abduction-adduction in the shoulder (considering that the initial state is that corresponding to placing the arm vertically, attached to the body), this same degree of abduction-adduction is transmitted to the hip (whose initial state is the corresponding to keeping the leg straight, with the sole of the foot on the ground). 10
    The rotational movement of the hip is controlled by a shoulder sensor 13 located on the shoulder, which moves a first hip actuator 23 located on the outside of the hip. When acquiring a certain degree of rotation in the shoulder (considering that the initial state is the one corresponding to maintaining the elbow towards the back), this same degree of rotation is transmitted to the hip (whose initial state 15 is the one corresponding to maintaining the toes forward).
    Column - Hip: The tilt movement of the hip is controlled by a column sensor 16 located in the cervical-thoracic area, which moves a second hip actuator 26 located at the bottom of the column, in the joint that joins the exocolumn with the exocadera. By acquiring a certain degree of tilt 20 in the upper part of the back-shoulders (considering that the initial state is that corresponding to keeping the shoulders at the same height), this degree of tilt is transmitted inverted to the exocadera (considering that the initial state is that corresponding to maintaining the exocadera and the exocolumn perpendicular to each other). 25
    Types of sensors and actuators used
    The types of sensors used in the exoskeleton are rotary and linear encoders, pressure sensors - fluid chambers - air chambers, gyroscopes, accelerometers.
    The types of actuators used are motors, servomotors (rotary and linear) and 30 vibration motors.
    Processing media
    Embedded electronic systems are preferably used for information processing. These processing means are designed specifically and specifically to manage the operation of the previous devices. This avoids the use of general purpose operating systems that slow down the generation of movements. 5
    There are two levels of action of these means of processing:
    The first level is when the user is using the exoskeleton to walk; this requires a minimum signal processing to obtain the fastest speed, since the response by the exoskeleton to the user's movements must be instantaneous, that is, at the same time as the user moves a part of his body 10 that acts as emitter of signal, the corresponding part of the exoskeleton moves with the degrees and the speed that the user has indicated. At this level, the movements are not pre-programmed, that is, the user is free to decide how each part of the exoskeleton moves in real time, being able to create their own way of walking. However, there are safety limits to protect the user from movements that could harm him.
    The second level is activated when the user stops in an upright position and disconnects the movement of the exoskeleton to be able to use his arms freely. In this case, the processing means are responsible for the balance of the exoskeleton, so it requires more complex signal processing and 20 pre-programmed movements, here the exoskeleton does not have to walk, just stay upright and perform those movements to compensate for the weight changes generated by the top of the user.
    Although an embodiment is illustrated in the figures in which the measured bending angle is the same as the corresponding actuator applies to the articulated structure of the exoskeleton, other configurations are possible in which the correspondence is more complex.
    Numerical references
    11 First wrist sensor
    21 First ankle actuator 30
    12 Elbow sensor
    22 Knee Actuator
    13 First shoulder sensor
    23 First hip actuator
    14 Second wrist sensor
    24 Second ankle actuator
    15 Second shoulder sensor
    25 Second hip actuator 5
    16 Column sensor
    26 First hip actuator
    17 Third shoulder sensor
    27 Second hip actuator
    18a, 18b, 18c Sole pressure sensors 10
    28a, 28b, 28c Hand pressure transducers
    19 sole
    29 Glove
    30 Exoskeleton
    31 Exotobillo joint 15
    32 External joint
    33 Exocadera joint
    34 Exocolumn joint
    权利要求:
    Claims (10)
    [1]
    1. System to assist a person to walk, and includes:
    - an exoskeleton (30) to adapt to the person comprising a plurality of articulated structures (31-34) to apply a flexion movement in the lower extremities; 5
    - a plurality of sensors (11-17);
    - a plurality of actuators (21-27);
    characterized in that it comprises processing means configured to control the articulated structures (31-34) with the actuators (21-27) depending on the sensors (11-17), where each articulated structure has at least one associated pair 10 of actuator (21-27) and corresponding sensor (11-17), so that in operation, when the sensor (11-17) measures a bending value performed on the corresponding upper joint, the actuator (21-27) flexes the articulated structure (31-34) in real time and in a coordinated manner according to said bending value.
    [2]
    2. System according to claim 1, characterized in that the speed of bending applied by the actuator (21-27) in the articulated structure (31-34) depends on the bending speed of the upper joint measured by the sensor (11-17).
    [3]
    3. System according to claim 1 or 2, characterized in that the knee flexion is controlled by at least one sensor associated to the elbow (12).
    [4]
    4. System according to claim 2 or 3, characterized in that the flexion of the hip is controlled by at least one sensor associated with the shoulder (13,15).
    [5]
    5. System according to any of the preceding claims, characterized in that the flexion of the ankle is controlled by at least one sensor associated with the wrist (11,14).
    [6]
    6. System according to any of the preceding claims, characterized in that the hip tilting is controlled by at least one sensor associated with the cervical-thoracic area of the back (16).
    [7]
    System according to any of the preceding claims, characterized in that it comprises at least one pressure sensor (18a, 18b, 18c) associated with the sole of the foot that transmits the measured pressure so that a transducer (28a, 28b, 28c ) act 30 on the hand.
    [8]
    System according to claim 7, characterized in that it comprises a sole (19) for housing the pressure sensors (18a, 18b, 18c) associated with the sole of the foot.
    [9]
    9. System according to claim 7 or 8, characterized in that it comprises a glove (29) for housing the hand transducers (28a, 28b, 28c). 5

    [10]
    10. System according to any of the preceding claims, characterized in that, for walking, the degree of flexion applied by at least one actuator (21-27) is proportional to the degree of flexion measured by its associated sensor (11-17) correspondent. 10
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    同族专利:
    公开号 | 公开日
    EP3378446A4|2019-07-17|
    PL3378446T3|2021-05-17|
    ES2618285B1|2018-04-06|
    WO2017085338A1|2017-05-26|
    EP3378446A1|2018-09-26|
    PT3378446T|2020-12-18|
    DK3378446T3|2021-01-18|
    EP3378446B1|2020-11-04|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    GB9511648D0|1995-06-08|1995-08-02|Coker Ian|Apparatus for helping persons to walk|
    US7628766B1|2003-10-29|2009-12-08|The Regents Of The University Of California|Lower extremity enhancer|
    EP2231096B1|2007-12-26|2013-04-03|Rex Bionics Limited|Mobility aid|
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    WO2013035814A1|2011-09-06|2013-03-14|国立大学法人 和歌山大学|Power-assisting robotic device and control method thereof|
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    KR102122856B1|2013-12-17|2020-06-15|삼성전자주식회사|A walk-assistive apparatus and a method for controlling the walk-assistive apparatus|
    US10369071B2|2014-05-05|2019-08-06|Genesis Robotics & Motion Technologies Canada, Ulc|Exoskeleton suit with hand control to enable walking|
    US10512583B2|2014-05-06|2019-12-24|Sarcos Lc|Forward or rearward oriented exoskeleton|CN109646249B|2019-02-14|2020-12-25|河海大学常州校区|Ankle rehabilitation robot|
    CN113181009B|2021-04-23|2022-02-01|中国科学院深圳先进技术研究院|Novel self-balancing ectoskeleton robot|
    法律状态:
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    优先权:
    申请号 | 申请日 | 专利标题
    ES201531671A|ES2618285B1|2015-11-19|2015-11-19|SYSTEM TO ASSIST WALK|ES201531671A| ES2618285B1|2015-11-19|2015-11-19|SYSTEM TO ASSIST WALK|
    PL16865821T| PL3378446T3|2015-11-19|2016-11-18|System for assisting walking|
    PT168658219T| PT3378446T|2015-11-19|2016-11-18|System for assisting walking|
    PCT/ES2016/000126| WO2017085338A1|2015-11-19|2016-11-18|System for assisting walking|
    DK16865821.9T| DK3378446T3|2015-11-19|2016-11-18|SYSTEM TO ASSIST ON TIME|
    EP16865821.9A| EP3378446B1|2015-11-19|2016-11-18|System for assisting walking|
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