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WO2016180073A1 - Robot exosquelette de cheville - Google Patents

Robot exosquelette de cheville Download PDF

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Publication number
WO2016180073A1
WO2016180073A1 PCT/CN2016/075257 CN2016075257W WO2016180073A1 WO 2016180073 A1 WO2016180073 A1 WO 2016180073A1 CN 2016075257 W CN2016075257 W CN 2016075257W WO 2016180073 A1 WO2016180073 A1 WO 2016180073A1
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WO
WIPO (PCT)
Prior art keywords
user
walking
ankle
gait
foot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2016/075257
Other languages
English (en)
Inventor
Kai-Yu Tong
Ling Fung YEUNG
Corinna Ursula OCKENFELD
Sze Kit Ho
Hon-Wah Wai
Man-kit PANG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hong Kong Polytechnic University HKPU
Original Assignee
Hong Kong Polytechnic University HKPU
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Filing date
Publication date
Priority claimed from US14/745,460 external-priority patent/US10426637B2/en
Application filed by Hong Kong Polytechnic University HKPU filed Critical Hong Kong Polytechnic University HKPU
Publication of WO2016180073A1 publication Critical patent/WO2016180073A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6802—Sensor mounted on worn items
    • A61B5/6812—Orthopaedic devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266—Foot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2505/00—Evaluating, monitoring or diagnosing in the context of a particular type of medical care
    • A61B2505/09—Rehabilitation or training
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1454—Special bearing arrangements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A61H2201/501—Control means thereof computer controlled connected to external computer devices or networks
    • A61H2201/5012—Control means thereof computer controlled connected to external computer devices or networks using the internet
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5069—Angle sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5079—Velocity sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5084—Acceleration sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5097—Control means thereof wireless

Definitions

  • the invention relates to a portable electrical motor-driven exoskeleton ankle joint robot.
  • the present intervention relates to a portable electrical motor- driven exoskeleton ankle joint robot with gear intended to provide walking assistance in different speed and walking conditions.
  • Drop foot is a common gait abnormality at the ankle joint that is caused by nerve injuries or neurological disorder such as stroke or multiple sclerosis. Patients would show muscle weakness at the dorsiflexors, and would often come with spasticity at the opposite plantar flexors. Abnormal gait pattern would increase energy expenditure and reduce balance ability in walking. Patient would be more prone to falling, tiredness, or joint limb pain.
  • Normal gait is a cyclic pattern that involves interaction between different lower limb body segments and joints working together to shift the center of mass of the ambulator forward step-by-step.
  • the ankle joint plays an important role in all aspect of locomotion, including motion control, shock absorption, stance stability, energy conservation, and propulsion.
  • a gait cycle consists of two main parts: the stance phase and the swing phase. It begins with initial contact. The controlled loading response at heel strike absorbs shock and decelerates the foot before the foot completely landed. It provides gait stability during stance phase, when the ankle movement translates the body center of mass forward.
  • the ankle releases energy that stored in tendon and ligament of plantar flexor to provide propulsive force for push-off.
  • the ankle dorsiflexor contracts to lift up the forefoot. It provides foot clearance and prevents the foot from stumbling into obstacles on the ground.
  • Gait rehabilitation usually would prescribe an ankle foot orthosis (AFO) to the stroke survivors.
  • AFO ankle foot orthosis
  • There are some articulated AFO with spring and dampers US patent no. 2,516,872A "Ankle brace", US patent no. 3,064,644A "Lower leg brace", US patent no. 5,176,623A "Multiple fixed angle orthopaedic appliance", US patent no.
  • the present invention is a compact and portable exoskeleton ankle robot with a control algorithm that can provide gait assistance to the user with disability in walking or muscle weakness or joint problem in different walking conditions.
  • a first aspect of the presently claimed invention is to provide an exoskeleton robotic device for assisting gait of a user.
  • an exoskeleton ankle robotic device comprises: a leg brace; a foot piece pivotally coupling to said leg brace at or proximal to an ankle position; an actuator coupling to said leg brace and said foot piece with an articulated joint, said actuator receiving power from a power source and generating torque driving said articulated joint to produce relative rotatory movement between said leg brace and said foot piece; a gear transmission system coupling to said articulated joint transmitting rotation axis of the actuator and optimized to a place where the device becomes compact and less cumbersome when wearing an unmodified shoe; at least one sensor for providing feedback of gait phase of a user; and a controller for receiving the feedback of gait phase from said at least one sensor and sending command to control said actuator for actively assisting gait of the user.
  • said gear transmission system comprises at least one pair of gears, and said gears translate the axis of rotation to a location away from or proximal to said ankle position. Said location is anterior to a shank position of the user. Said at least one pair of gears has a gear ratio, and said gear ratio amplifies or diminishes a torque transmitting across said gear transmission system.
  • said actuator comprises a servomotor providing torque control or position control to said articulated joint. Said actuator receives power from a battery.
  • said leg brace and said foot piece comprises rigid and lightweight
  • said controller comprises a microprocessor and a memory. Said controller communicates with an external computing device through a wireless communication network.
  • said at least one sensor comprises at least one force sensor coupling to said foot piece for generating a signal when receiving a force applying to at least one portion of said foot piece.
  • Said at least one force sensor comprises a sensor selected from the group consisting of a force sensitive resistor, a force transducer, and a strain gauge.
  • said at least one sensor comprises at least one motion sensor coupling to said leg brace and said foot piece for sensing a change in displacement and orientation of at least one portion of said device.
  • Said at least one sensor comprises sensors selected from the group consisting of an accelerometer, a gyroscope, an angle encoder, a potentiometer, and a flex sensor.
  • a second aspect of the presently claimed invention is to provide a method for
  • assisting gait of a user by a device comprises: a calibration; sensing a change in displacement and orientation of a leg brace coupling to a lower leg of the user, and a foot piece coupling to a foot of the user; sensing a plantar force applying to a front portion and a rear portion of said foot piece; determining a gait phase; classifying a walking speed and a walking condition using a control algorithm; and controlling an actuator to generate a predetermined torque profile for selectively assisting or braking an ankle joint movement of the user.
  • said calibration comprises a standing calibration to obtain a set of predetermined thresholds, wherein the user stands on one leg for a predefined duration, in which the user switches the leg during said predefined duration to load or unload the foot.
  • Said calibration comprises a walking calibration to obtain a set of predetermined thresholds, wherein the user walks for a predefined number of trials, in which said predefined number trials include one or more walking conditions, including different walking speeds and walking on different levels.
  • said gait phase is a pre-swing phase, comprising a reduction in a plantar foot loading signal or an increase in an angular velocity signal of a shank of the user.
  • said walking speed classification comprises a ratio between a kinematic gait parameter and a reference; wherein said reference is determined through said calibration.
  • Said kinematic gait parameter is linear acceleration of shank of the user, or angular velocity of a thigh of the user at a pre-swing phase.
  • said walking condition classification detects if a set of kinematic gait parameters exceeding a set of predetermined thresholds, wherein said set of prede- termined thresholds comprises values that are determined through said calibration.
  • said classification of walking conditions comprises overground walking, stair ascend, and stair descend.
  • Said classification of stair descend condition comprises detecting high angular velocity in doriflexion and plantarflexion direction, low linear acceleration along the shank, and large ankle dorsiflexion of the shank of the user; and said classification of stair ascend condition comprises detecting low angular velocity and low angular acceleration of the shank of the user.
  • said predetermined torque profile comprises a dorsiflexion moment that lasts until a loading response is detected; wherein said loading response comprises an increase in plantar foot loading signal.
  • FIG. 1 is a front perspective view of the ankle robot according to an embodiment of the present invention.
  • FIG. 2 shows the ankle foot complex of the user placed inside the ankle robot of Fig. l;
  • FIG. 3 is a rear perspective view of the ankle robot of Fig. 1 ;
  • Fig. 4 shows the configuration of the gear transmission system according to an embodiment of the present invention
  • Fig. 5 is an exploded view of the control box of the ankle robot according to an embodiment of the present invention.
  • Fig. 6 is a side view of the ankle robot of Fig. 1 during ankle plantar flexion;
  • Fig. 7 is a side view of the ankle robot of Fig. 1 during ankle dorsiflexion;
  • Fig. 8 is a side view of the articulated joint of the ankle robot of Fig. 3, showing the adjustment of minimum height of ankle joint;
  • Fig. 9 is a side view of the articulated joint of the ankle robot of Fig. 3, showing the adjustment of maximum height of ankle joint;
  • Fig. 10 shows healthy ankle and drop foot
  • Fig. 11 shows normal gait cycle at the ankle joint, with indications of moment vector and the muscle contraction according to an embodiment of the present invention
  • Fig. 12 is showing an example of the control actuator output at different gait phase according to an embodiment of the present invention.
  • Fig. 13 is showing an example of the dorsiflexion torque from the motor at different gait phase according to an embodiment of the present invention
  • Fig. 14 is showing an example of wireless communication between the ankle robot and an external computer according to an embodiment of the present invention
  • Fig. 15 is showing a side view of a user wears the ankle robot with his own unmodified shoe during stair ascend according to an embodiment of the present invention
  • Fig. 16 is showing a front view of a user wears the ankle robot with his own unmodified shoe during stair ascend according to an embodiment of the present invention
  • Fig. 17 is an example of a process flow diagram of the control algorithm to identify different walking environments and adjust the walking speed according to an embodiment of the present invention.
  • Fig. 18 is an example of a process flow diagram of the control algorithm to identify gait phases with foot contact pattern according to an embodiment of the present invention.
  • This invention is a compact and portable exoskeleton ankle robot with a control algorithm that can provide gait assistance to the user in different walking conditions.
  • an ankle robot comprises a leg brace and a foot piece that pivotally coupled to the leg brace at or proximate to an ankle position.
  • the ankle robot is preferably applying on the affected side of the user.
  • the articulated ankle joint is coupled to an actuator through a gear transmission system.
  • the actuator is preferably electrical rotatory servomotor that is capable of providing position and torque feedback.
  • the gear transmission system is an important feature. Spur gears are meshed to transmit torque from the actuator to the articulated ankle joint. Multiple spur gears can be used for power transmission.
  • the rotation axis of the actuator can be translated and optimized to a place where the device will become compact and less cumbersome.
  • a preferred location of the actuator is the anterior shank, where the other movable parts of the device would usually not go in the way.
  • the actuator would not stick out sideways at the ankle joint that makes the device cumbersome and affect the user to wear his/her own unmodified shoe.
  • Torque from the actuator can be amplified with a large gear ratio through this gear transmission system. The torque output requirement of the actuator can be minimized; so smaller actuator and power source can be used.
  • the robot ankle system is preferably untethered for power supply or data communication. Wireless communication can be implemented. A non-limiting example of wireless system would be the Bluetooth communication protocol.
  • Lightweight composite materials such as reinforced carbon fiber, can be used to fabricate the mechanical body.
  • Electronic components including microprocessor, power source, sensors, indicators, connection wires, and other essential electronic components can be embedded in the composite body.
  • Embedded sensor system preferably provides kinetic and kinematic feedback about the gait pattern to actively assist different walking conditions of the user.
  • the control algorithm implemented in the microprocessor can determine the walking intention of the user, including but not limited to determining different walking speeds and walking on different levels (level ground walking, uphill, downhill, upstairs, downstairs).
  • the control algorithm classifies the walking conditions based on a set of predetermined thresholds. If certain set of kinetic and kinematic feedbacks from sensor exceeds the corresponding thresholds, the control algorithm computes and classifies the walking conditions.
  • the set of predetermined thresholds can be determined by performing customized calibration for individual users before operation. Motor commands will be generated to control the actuator. Motor commands are preferably a predetermined torque or position profile of the actuator.
  • Control algorithm acquires input signals from the sensor system that is located on the affected side of the user.
  • Motion sensors and force sensors are reasonable candidates for the sensing of useful kinematic gait parameters.
  • Motion sensors are preferably ac- celerometers and gyroscopes.
  • Force sensors are preferably foot switches or force sensitive resistors (FSR).
  • Sensory feedbacks are preferably linear accelerations and angular velocities of the shank body segment in 3-dimension (x, y, z), and plantar foot loading patterns under the locations of the heel and the toe.
  • Servomotor feedback signal for joint angle could be utilized in the control algorithm too.
  • Control algorithm identifies the walking intention of the wearer in real-time using the kinematic gait parameters acquired from the sensor system in the pre-swing phase of the gait cycle.
  • the following is a working example of the control algorithm.
  • Pre-swing phase is the instant indicating the transition between the stance and the swing phases.
  • the force sensor can identify this particular instant.
  • gait initiation including stand-to-walk movement or beginning a cyclic gait pattern
  • the user can initialize the walking by shifting the body weight onto the unaffected leg while it is stepping forward.
  • the walking speed can be determined from a ratio between: the linear acceleration of the shank in the x-direction and a reference, i.e. in the forward walking direction; or the angular velocity of the shank and a reference.
  • the linear acceleration x and the walking speed are usually in a linear proportional relationship.
  • the ankle joint angle, linear accelerations x and y, and the angular velocity in the z-direction of the shank in the pre- swing phase could discriminate stair ascent/descent from over-ground walking. For instance, low angular velocity in the z-direction with little knee flexion and low linear acceleration in x-direction, indicates the stair ascend movement; high angular velocity in the z-direction, higher linear acceleration in the x-direction, and large ankle dorsiflexion are the indicators for the stair descend movement with the accelerometer is tilted downward; otherwise over-ground walking.
  • the motor profile is designed to assist ankle motion during swing phase, which includes but not limited to active assistance of plantar flexion in push-off, active assistance of dorsiflexion throughout the swing phase, and controlled dorsiflexion at initial contact and loading response.
  • the motor profile would be different for different identified walking intention, and would also vary between individual wearer. Thus the profile could be customized for each wearer by doing calibration before operation.
  • the motor profile controls the actuation in the period from the pre-swing phase to the initial contact. Initial contact is detected when the swinging foot is loaded onto the ground, which leads to an increase in plantar foot loading. After the initial contact, the ankle joint would be free to move until the next pre-swing phase is detected and triggered.
  • the embodiment of this invention is an ankle robot 10 that has a compact and
  • the ankle robot 10 has an articulated joint 23 that consists of two separated parts pivotally joined together at the ankle axis 11.
  • the upper part is the leg brace 12 and the lower part is the foot piece 13. They can be custom fabricated to individual users by molding the contour of their ankle foot complex.
  • the leg brace 12 is a rigid structure covering the anterior shank from around an inch distal of lateral malleolus to at least an inch distal to fibular head to provide enough clearance for the joint movements. It is secured on the leg 40 of the userusing fastening means 15.
  • the fastening means 15 is secured onto the leg brace 12 using rivets 31.
  • the fastening means 15 could be of any straps including but not limiting to Velcro fasteners or ml Ratcheting Buckle and Ladder Straps.
  • the foot piece 13 is coupled to the lower end of the leg brace 12 through an articulated joint 23.
  • the foot piece 13 is a mechanical structure supporting the foot of the user, with a proximal extension 22 on the lateral side up to the lateral malleolus for coupling with the articulated joint 23. It can be fit inside unmodified footwear without occlusion.
  • the leg brace 12 and the foot piece 13 are preferably padded with cushion to avoid sharp edges hurting the body of the user and to absorb shock during walking.
  • the height of the articular joint 23 from the level of the foot piece 13 can be adjusted with length adjustment 30 (three adjustments of 1cm pitch in this example).
  • the articulated joint 23 is coupled with an actuation assembly that comprises an
  • Electrical rotatory motor 16 is preferably a servomotor that can provide hybrid position and torque control, with joint angle feedback. It is fixed at the end of the leg brace 12 and engaged with the spur gear 17.
  • the spur gears 18 19 20 could be meshed with the spur gear 17 in a consecutive order, for which another transmission mechanism such as belt drive is also contemplated.
  • the first spur gear 17 has less number of teeth than the last spur gear 20, thus forming a gear ratio.
  • a non- limiting example would be a 24-teeth first spur gear 17 and a 40-teeth last spur gear 20 , which result in a gear ratio of 1.67.
  • An example of an electrical rotatory motor 16 could provide up to 20.0Nm torque, for which rotatory motor that could provide more than 20.0Nm torque are also contemplated.
  • the torque output could reach up to 33.4Nm.
  • the spur gears 17 18 19 20 configuration translates the axis of rotation of the electrical rotatory motor 16 to the anterior of the leg brace 12, where it would be less likely to occlude the other movable parts during gait of the user.
  • the small electrical rotatory motor 16 requires low power source 28.
  • Example power source would be a
  • rechargeable lithium- ion polymer battery weights about 300g.
  • Total weight of the robot ankle 10 can be less than 1kg.
  • This invention comprises a sensor system that includes at least one sensor integrated in the robot ankle to provide kinetic and kinematic feedback about the gait pattern of the user.
  • Preferred embodiment of this invention has a motion sensor 24 placed on the leg brace 12, and a motion sensor 25 placed on the foot piece 13 to sense the change in displacement and orientation of the two parts of the ankle robot. With these two motion sensors, the spatial relationship between the shankand the foot, i.e. the ankle joint configuration, ankle angle, can be monitored.
  • Force sensors 26 and 27 placed at the heel and forefoot of the foot piece 13 to sense the foot loading at the two portions of the foot for heel ON/OFF and toe ON/OFF respectively in the foot control algorithm 61.
  • These two force sensors can be used as a foot contact pattern detector to identify the gait phase based on foot contact pattern 80 with a process flow diagram of the foot control algorithm 61 and implement with the ankle robot 10 during walking with a gait cycle pattern 81.
  • a non-limiting example of the embodiment utilizes a motion sensor chip containing a tri-axial accelerometer and a tri-axial gyroscope.
  • sensors such as angle encoders, potentiometers, and flex sensors, can also be used.
  • Force sensors are preferably thin force sensitive resistors, while force transducers, strain gauges can also be used. These sensors communicate with the on-board controller 29 to provide kinetic and kinematic feedback of gait pattern of the user.
  • the on-board controller 29 is preferably microprocessor with memory of a control algorithm that controls the actuator output based on the kinetic and kinematic sensor feedback.
  • Power source of the controller can be any suitable power source, such as but not limited to a 9V battery, two AA batteries, or the power source 28.
  • the cable 61 transmits the power to the controller 29; the motor cable 63 transmits the power and signal between the controller 29 and the motor 16; the foot piece sensor cable 62 transmits the power and signal between the controller 29 and the sensor on the foot piece 13;andthe shank sensor cable 64 transmits the power and signal between the controller 29 and the motion sensor 24 on the leg brace 12.
  • the control algorithm programmed into the on-board controller 29 controls the actuation of the articulated joint 23 of the device, so as to assist the gait of the user.
  • the controller 29 receives kinetic and kinematic sensor feedback from the sensor system, including a change in displacement and orientation of the leg brace 12 and the foot piece 13, and a plantar force applying to the foot piece 13.
  • the control algorithm processes the kinetic and kinematic sensory feedback, and determines a particular gait phase. At the particular gait phase, the control algorithmclassifies the walking conditions by comparing the kinetic and kinematic sensory feedback with a set of predetermined thresholds. If the gait pattern exceeds the predetermined thresholds, it triggers the controller 29 to send a determined torque profile to the electrical rotatory motor 16.
  • the electrical rotatory motor 16 will generate the determined torque profile for actuating the articulated joint 23.
  • the ankle robot 10 can selectively assisting or braking the movement along the ankle joint axis 11 for facilitating the gait of the user.
  • Walking conditions includes but not limited to different walking speeds and walking on different levels (over-ground walking, stair ascend, or stair descend).
  • the flow diagram of the walking control algorithm 82 to identify different walking environments and walking speeds; and the motor torque assistance profile 60 can be implemented in the controller 29.
  • the controller 29 can communicate with external electronic device using wireless communication 53.
  • the controller 29 determines the occurrence of a particular gait phase by comparing the received gait pattern feedback with a set of predetermined threshold.
  • the set of predetermined threshold can be customized to individual users by calibrations before operation.
  • the ankle joint is most likely in a plantar flexion configuration.
  • the ankle robot 10 is likely to have a large proportion of body weight loaded on the forefoot force sensor 27; as opposed to normal healthy ankle foot joint configuration that has both heel and forefoot receiving evenly distributed weight.
  • the Kinetic thresholds of the force sensors 26 and 27 can be configured by performing a standing calibration before the device operation. Measurements from the two force sensors can be averaged. Example calibration might comprise a one-minute standing with body weight shifting from one side to another side at half a minute to measure the loading and unloading forces under the foot respectively. Then during operation, whenever the averaged force sensor feedback dropped below the unloading kinetic threshold, it could indicate terminal stance or pre-swing phase.
  • the motion sensors 24 and 25 can measure the kinematic sensor feedbacks, such as the ankle joint angle, the tilting angle, linear acceleration, and angular velocity of the body segments (shank and foot). These variables obtained in different walking conditions: walking speeds, walking levels, etc., can be inputted into an advanced classification model like the Support Vector Machine (SVM), Neural Network, or the Hidden Markov Model (HMM) to perform a machine learning process. An optimized classifier of the walking conditions can be obtained which can classify the walking conditions.
  • Kinematic thresholds of the motion sensors 24 and 25 can be configured with a walking calibration before the device operation.
  • the walking calibration might comprise a series of randomized walking trials with different walking conditions, repeated for at least 3 times for each condition.
  • the present invention further provides a system performed by the ankle robot of the present invention and the method of the present invention.

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Abstract

L'invention concerne un dispositif exosquelette de cheville robotisé (10) qui comporte : une attelle jambière (12) ; un élément pied (13) se couplant de manière pivotante à l'attelle jambière (12) sur ou à proximité d'une position de cheville ; un actionneur (16) se couplant à l'attelle jambière (12) et à l'élément pied (13) au moyen d'un raccord articulé (23), l'actionneur (16) recevant de l'énergie provenant d'une source d'alimentation (28) et générant le couple entraînant le raccord articulé (23) afin de produire un mouvement rotatif relatif entre l'attelle jambière (12) et l'élément pied (13) ; un système de transmission par engrenages (16,17,18,19) se couplant au raccord articulé (23) transmettant l'axe de rotation de l'actionneur (16) et permettant de l'optimiser à un stade où le dispositif devient compact et moins encombrant lors du port d'une chaussure non modifiée ; au moins un capteur (24,25,26,27) permettant de fournir une rétroaction de phase de démarche de l'utilisateur ; et un dispositif de commande (29) permettant de recevoir la rétroaction de phase de démarche depuis au moins un capteur (24,25,26,27) et permettant d'envoyer une instruction pour commander l'actionneur (16) afin d'aider activement la marche de l'utilisateur. Le dispositif exosquelette de cheville robotisé (10) peut fournir une aide à la marche selon des vitesses différentes et selon des conditions de marche différentes aux personnes souffrant d'un handicap lié à la marche, d'une faiblesse musculaire ou d'un problème d'articulation.
PCT/CN2016/075257 2015-05-11 2016-03-01 Robot exosquelette de cheville Ceased WO2016180073A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US201562159955P 2015-05-11 2015-05-11
US62/159,955 2015-05-11
US14/745,460 2015-06-21
US14/745,460 US10426637B2 (en) 2015-05-11 2015-06-21 Exoskeleton ankle robot
CN201510390592.7 2015-06-30
CN201510390592.7A CN106264988B (zh) 2015-05-11 2015-06-30 外骨骼踝关节机器装置

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EP3326602A1 (fr) * 2016-11-29 2018-05-30 Samsung Electronics Co., Ltd Appareil d'assistance au mouvement
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WO2018226112A3 (fr) * 2017-06-07 2019-02-14 Universidade Do Algarve Orthèse cheville/pied antérieure semi-automatique
ES2713777A1 (es) * 2017-11-23 2019-05-23 Gonzalez Noel Gutierrez Sistema de asistencia motorizada
WO2019102052A1 (fr) * 2017-11-23 2019-05-31 Gutierrez Gonzalez Noel Système d'assistance motorisé
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US11638554B2 (en) 2018-02-21 2023-05-02 T.J.Smith And Nephew, Limited Negative pressure dressing system with foot load monitoring
WO2019180753A1 (fr) 2018-03-23 2019-09-26 Nimble Robotics S.R.L. Dispositif de blocage d'une chaussure pour un système de rééducation de la marche, exosquelette et système comprenant un tel dispositif
CN108433942A (zh) * 2018-04-10 2018-08-24 超微（上海）骨科医院管理股份有限公司 一种用vr模拟步行的脚踝康复并联机器人
US12279122B2 (en) 2018-06-04 2025-04-15 T.J.Smith And Nephew,Limited Device communication management in user activity monitoring systems
US11451965B2 (en) 2018-06-04 2022-09-20 T.J.Smith And Nephew, Limited Device communication management in user activity monitoring systems
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CN109276414A (zh) * 2018-11-28 2019-01-29 河北工业大学 一种下肢外骨骼机器人
CN109276414B (zh) * 2018-11-28 2023-10-13 河北工业大学 一种下肢外骨骼机器人
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WO2020234429A3 (fr) * 2019-05-23 2021-01-21 T.J.Smith And Nephew,Limited Systèmes et procédés de surveillance et de traitement d'ulcères de pied diabétique
CN113710153A (zh) * 2019-05-23 2021-11-26 T.J.史密夫及内修有限公司 用于监测和治疗糖尿病足溃疡的系统和方法
GB2598689B (en) * 2019-05-23 2023-07-12 Smith & Nephew Systems and methods for monitoring and treating diabetic foot ulcers
CN110584847A (zh) * 2019-10-25 2019-12-20 东北大学 一种基于电机驱动的主动式踝关节假肢及其方法
US11298287B2 (en) 2020-06-02 2022-04-12 Dephy, Inc. Systems and methods for a compressed controller for an active exoskeleton
US12427079B2 (en) 2020-06-02 2025-09-30 Dephy, Inc. Systems and methods for a compressed controller for an active exoskeleton
US11944581B2 (en) 2020-06-04 2024-04-02 Dephy, Inc. Systems and methods for bilateral wireless communication
US11738450B2 (en) 2020-06-04 2023-08-29 Dephy, Inc. Customized configuration for an exoskeleton controller
US12208515B2 (en) 2020-06-04 2025-01-28 Dephy, Inc. Customized configuration for an exoskeleton controller
US11148279B1 (en) 2020-06-04 2021-10-19 Dephy, Inc. Customized configuration for an exoskeleton controller
US11389367B2 (en) 2020-06-05 2022-07-19 Dephy, Inc. Real-time feedback-based optimization of an exoskeleton
US11918536B2 (en) 2020-06-05 2024-03-05 Dephy, Inc. Real-time feedback-based optimization of an exoskeleton
US12090069B2 (en) 2020-08-25 2024-09-17 Dephy, Inc. Systems and methods for a water resistant active exoskeleton
US11752061B2 (en) 2020-09-16 2023-09-12 Dephy, Inc. Systems and methods for an active exoskeleton with local battery
US11173093B1 (en) 2020-09-16 2021-11-16 Dephy, Inc. Systems and methods for an active exoskeleton with local battery
US12336953B2 (en) 2020-09-16 2025-06-24 Dephy, Inc. Systems and methods for an active exoskeleton with local battery
CN112494282A (zh) * 2020-12-01 2021-03-16 天津理工大学 一种基于深度强化学习的外骨骼主助力参数的优化方法
CN114654498A (zh) * 2021-06-25 2022-06-24 北京精密机电控制设备研究所 一种基于惯性传感器的膝关节外骨骼运动监测方法
CN113232612A (zh) * 2021-06-30 2021-08-10 北京哈崎机器人科技有限公司 一种足式机器人触地感应机构及足式机器人
US12459108B2 (en) 2023-04-28 2025-11-04 University Of Utah Research Foundation Powered ankle exoskeleton with series-elastic actuation

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