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WO2024038253A1 - Exosquelette - Google Patents

Exosquelette Download PDF

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Publication number
WO2024038253A1
WO2024038253A1 PCT/GB2023/052090 GB2023052090W WO2024038253A1 WO 2024038253 A1 WO2024038253 A1 WO 2024038253A1 GB 2023052090 W GB2023052090 W GB 2023052090W WO 2024038253 A1 WO2024038253 A1 WO 2024038253A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
leg
joint
exoskeleton
torso
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/GB2023/052090
Other languages
English (en)
Inventor
Paul Fryer
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.)
Xothotics Ltd
Original Assignee
Xothotics Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from GB2212021.6A external-priority patent/GB2621615B/en
Application filed by Xothotics Ltd filed Critical Xothotics Ltd
Priority to EP23754395.4A priority Critical patent/EP4572917A1/fr
Publication of WO2024038253A1 publication Critical patent/WO2024038253A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/0104—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation
    • A61F5/0111—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations without articulation for the feet or ankles
    • A61F5/0113—Drop-foot appliances
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure

Definitions

  • the present disclosure relates to an exoskeleton for providing support to a human user, in particular a loadbearing exoskeleton for providing support to a user with a lower body resection, such as a lower body amputation or pelvic resection.
  • an exoskeleton for providing support to a human user.
  • the exoskeleton comprises a torso portion and leg portion, wherein the torso portion and leg portion are coupled via a hip joint.
  • the hip joint comprises a torso arm for detachably coupling to the torso portion and leg arm for detachably coupling to a leg portion, wherein the torso arm and leg arm are both coupled to a central portion of the hip joint via respective rotation limiting joints.
  • the exoskeleton may provide support to a human user by providing a load bearing structure configured to capture at least a portion of the vertical load of the user. This may extend the period of time the user can stand and/or walk without tiring.
  • the rotation limiting joint for the torso arm has a first range of motion about the central portion
  • the rotation limiting joint for the leg arm has a second range of motion about the central portion.
  • the second range of motion may be less than the first range of motion.
  • the hip joint may be advantageous to allow movement of the leg portion relative to the torso portion, facilitating movement and flexibility of the user of the exoskeleton.
  • the rotation limiting joint may also be advantageous to prevent over-rotation I hyperextension of the leg portion relative to the torso portion, and vice versa. This may provide support to the user in use and prevent collapse of the exoskeleton.
  • the rotational limiting joint may allow for a normal human range of movement, advantageously allowing the leg portion to move relative to the torso portion whilst seated, standing, and during walking.
  • the hip joint may be configured to operate in a parasagittal plane of the human body.
  • the exoskeleton may further comprise a buttock support arm coupled to a buttock support portion.
  • the buttock support arm may be coupled to the hip joint via a buttock rotation limiting joint, wherein the buttock support arm has a third range of motion.
  • the buttock support portion is directly coupled to the central portion of the hip joint, wherein the central portion is configured to rotate.
  • the buttock support portion may be configured to encompass the lower and mid buttock from the midpoint of the back at the gluteal sulcus to the upper front of the thigh at the top of the rectus femoris muscle with the lower edge following the line of the gluteal sulcus.
  • the buttock support may be advantageous for load capture, in particular vertical load capture. This may reduce or eliminate load capture at the base of the axilla of the user (under the armpits) which can be uncomfortable and damaging to the axillary nerve of the user.
  • the buttock support portion may further comprise an inflatable means, such as an inflatable bag or cushion.
  • the inflatable portion may be configured to inflate to fill void space between the buttock support portion and the buttock of the user. This may be advantageous to improve the loading interface between the user and the buttock support portion. This may also improve the comfort of the buttock support portion in use.
  • the torso arm, the leg arm and the buttock support arm may be configured to rotate about a common axis of the hip joint.
  • the leg portion may further comprise an upper leg brace, for example a thigh brace, and a lower leg brace, for example a calf brace.
  • the upper leg brace and the lower leg brace may be coupled by a knee joint. This may be advantageous to allow movement of the leg portion, facilitating movement and flexibility of the leg of the user. This may allow for a normal human range of movement in the leg of the user, advantageously allowing the leg to be bent whilst seated and standing, and during walking.
  • the upper leg brace may be configured to provide a clam shell for enclosing at least a portion of a user’s thigh. It may be advantageous to enclose the thigh of the user to contain the flesh of the user’s thigh. Following a femoral resection or amputation, for example as part of an internal hemipelvectomy, the thigh will naturally compress under load due to the absence of bone. However, by containment of the thigh, it creates a form of support as the flesh has nowhere to go and cannot compress further.
  • the clam shell for containing the thigh may be made of carbon fibre.
  • the hinge portion may comprise a flexible material capable of shear loading, configured to permit bending of the hinge portion. This may be advantageous to allow the upper leg brace to hinge for easy donning whilst maintaining shear loading.
  • the hinge portion may comprise Kevlar, such as Kevlar with flexible epoxy.
  • the hinge portion may be arranged parallel to the longitudinal axis of the upper leg brace, for example wherein the hinge portion is arranged along the outer side of the leg brace.
  • the upper leg brace may comprise at least one ratchet strap operable to fasten the upper leg brace around the user’s anatomy. This may be advantageous to adjust and secure the exoskeleton to fit the anatomy of the user, optionally enclosing the thigh of the user within the brace for containment.
  • the at least one ratchet strap may comprise a magnetic attachment means. This may be advantageous for ease of attachment.
  • the lower leg brace may be configured to provide a clam shell for enclosing at least a portion of a user’s calf, similarly to the clam shell of the upper leg brace described above.
  • the lower leg clam shell may comprise a hinge portion comprising a flexible material capable of shear loading, such as Kevlar with flexible epoxy. This is important to ensure that the ankle joint and engagement with a shoe, discussed in more detail below, remains engaged even under load during ambulating.
  • the hinge portion may be arranged parallel to the longitudinal axis of the lower leg brace, for example wherein the hinge portion is arranged along the outer side of the lower leg brace. This may be advantageous to improve conformity of the lower leg brace to the user’s shin.
  • the lower leg brace may also comprise at least one ratchet strap operable to fasten the lower leg brace around the user’s anatomy.
  • the at least one ratchet strap may comprise a magnetic attachment means. This may be advantageous for ease of attachment.
  • the leg portion may be configured to detachably engage with a shoe worn by the user. This may be advantageous to transfer load captured by the exoskeleton into the shoe.
  • the leg portion is configured to detachably engage with the heel portion of a shoe worn by the user.
  • Existing ankle braces and splints commonly use a rigid plate which is arranged underneath at least a portion of the foot in use and placed into a shoe or used as a part of a “boot”. Detachably engaging the exoskeleton with the shoe may be advantageous compared to these plate-based solutions as the user maintains flexibility in their foot in the shoe during use.
  • detachably engaging the exoskeleton with the shoe may be advantageous to enable a user to use the same shoe throughout the day and reversibly attach and detach the exoskeleton to the shoe as required.
  • Other implementations may require the use of an oversize shoe which only works with the foot plate inserted as it is invariably a different size from all their other shoes in order to accommodate the footplate.
  • the detachable engagement with the heel portion of a shoe worn by the user may therefore be advantageous to avoid the need for multiple pairs of shoes of different sizes, particularly given these shoes tend to wear out quickly due to the rigid foot plate which is inserted therein.
  • the leg portion is configured to detachably engage with a shoe worn by the user via magnets. This may be advantageous for ease of engaging and disengaging the shoe to/from the exoskeleton in use.
  • the leg portion may further comprise an ankle joint.
  • the ankle joint may be configured to be above a portion of the heel of the shoe proximate to the vamp of the shoe.
  • the ankle joint may be positioned either side of the user’s ankle. This may be advantageous to allow movement and flexibility of the ankle of the user in use. This may allow for a normal human range of movement in the ankle of the user, advantageously allowing the ankle to be bent whilst seated and standing, and during walking.
  • the ankle joint may be positioned anterior to the user’s ankle such that the point of rotation of the ankle joint is forwards of the anatomical ankle joint. This may be advantageous to provide a turning moment which is transferred to the sole of the shoe (or carbon fibre insole/foot plate within the shoe).
  • the sole of the shoe (or carbon fibre insole/foot plate within the shoe) may be configured to store the energy of the turning moment during walking whilst under load, wherein the energy is then returned to the user later in the walking phase.
  • the ankle joint may be configured to permit the shoe engaged with the leg portion to rotate relative to the lower calf brace, for example akin to ski bindings. This may be advantageous for ease of engaging and disengaging the shoe to/from the exoskeleton in use.
  • the ankle joint may further comprise a suspension shock absorbing joint. This may be advantageous to reduce the impact of loading, for example whilst in use, such as during walking.
  • the suspension shock absorbing joint may be used in conjunction with the sole of the shoe to provide the ‘spring’. Additionally, or instead, the suspension shock absorbing joint may be used in conjunction with a carbon fiber shoe insole inserted into the shoe to provide the ‘spring’.
  • a carbon fiber shoe insole may be advantageous to reduce or prevent buckling of the shoe under loading.
  • the carbon fiber shoe insole is preferably flexible to allow the user to maintain flexibility in the sole of foot in the shoe during use. This may improve balance, control of ambulation, and mobility as the user is able to flex their foot and the insole and accommodate to uneven ground by proprioceptive input, unlike when the foot is interfaced with a rigid plate.
  • the torso portion may be configured to enclose at least a portion of the user’s torso, for example partially encompassing at least one of the upper, mid, or lower torso.
  • the torso portion may comprise a back brace, at least partially enclosing the mid torso, and optionally at least a portion of the upper torso.
  • the torso portion may comprise a belt configured to at least partially enclose the mid or lower torso.
  • the torso portion may comprise a back brace configured to provide a clam shell for enclosing at least a portion of a user’s torso.
  • Providing a hinge portion in the back brace may be advantageous to facilitate easy donning of the back brace by a user.
  • the hinge portion may comprise a flexible material capable of shear loading, configured to permit bending of the hinge portion. This may be advantageous to allow the back brace to hinge for easy donning whilst maintaining shear loading.
  • the hinge portion may comprise Kevlar, such as Kevlar with flexible epoxy.
  • the torso portion comprises at least one ratchet strap. This may be advantageous to adjust and secure the torso portion to fit the anatomy of the user.
  • the at least one ratchet strap may comprise a magnetic attachment means. This may be advantageous for ease of attachment.
  • the torso portion may further comprise at least one hip shield.
  • the at least one hip shield may comprise a rigid portion configured to be arranged in a parasagittal plane of the human body.
  • the at least one hip shield is configured to be arranged at least partially at the height of the hip of the user.
  • the at least one hip shield is arranged on the opposite side of the exoskeleton to the exoskeleton hip joint.
  • the hip shield may be advantageous to reduce Trendelenburg gait during ambulation.
  • a Trendelenburg gait is an abnormal gait which often results from a defective hip abductor mechanism, or lack of musculature control, such as gluteal musculature, including the gluteus maximus muscles.
  • each of the torso arm and the leg arm of the hip joint are configured to engage with a respective dismountable attachment point to fasten the torso arm with the torso portion and the leg arm with the leg portion respectively.
  • the dismountable attachment point comprises a mating socket.
  • Each mating socket may comprise a detachable locking fork, wherein the detachable locking fork may be configured to engage with a corresponding mating portion of each of the torso arm and the leg arm of the hip joint.
  • the detachable locking fork may be advantageous for ease of mating of the hip joint to the torso portion and leg portion, facilitating easy donning of the exoskeleton by a user.
  • the detachable locking fork may comprise a lever arm cam lock mechanism configured to engage with the corresponding mating portion of each of the torso arm and the leg arm of the hip joint. This may be advantageous as the rotational action of the cam lock mechanism may facilitate ease of donning of the exoskeleton by a user, for example by guiding and securing the torso arm of the hip joint to engage with a dismountable attachment point of the torso portion, and the leg arm of the hip joint to engage with a dismountable attachment point of the leg portion.
  • the detachable locking forks may be configured to operate in a locked configuration and a released configuration, and wherein the detachable locking forks are biased to remain in a locked configuration via magnets.
  • an exoskeleton for providing support to a human user having an amputation of at least a portion of the pelvis or legs.
  • the exoskeleton comprises a torso portion and leg portion, the torso portion and leg portion coupled via a hip joint.
  • the leg portion is configured to detachably engage with a shoe worn by the user.
  • Detachably engaging with the shoe may also be advantageous to utilize the shockabsorption properties of the sole of the shoe. This may be advantageous to reduce the impact of loading, for example whilst in use, such as during walking.
  • the torso portion may be configured to enclose at least a portion of the user’s torso, for example partially encompassing at least one of the upper, mid, or lower torso.
  • the torso portion may comprise a back brace, at least partially enclosing the mid torso, and optionally at least a portion of the upper torso.
  • the torso portion may comprise a belt configured to at least partially enclose the mid and/or lower torso.
  • the leg portion may be configured to detachably engage with a portion of the heel of the shoe worn by the user, for example but not limited to via magnets. Detachably engaging with a shoe worn by the user via magnets may be advantageous for ease of engaging and disengaging the shoe to/from the exoskeleton in use.
  • the leg portion may be further configured to detach from the shoe via rotation of the shoe in the plane of the sole of the shoe. This may be advantageous for ease of engaging and disengaging the shoe to/from the exoskeleton in use, for example akin to ski bindings.
  • the exoskeleton may further comprise a heel receiving portion, wherein the heel receiving portion is configured to be inserted into the heel of a user’s shoe.
  • the leg portion is then configured to detachably engage with the heel receiving portion.
  • the heel receiving portion is at least partially embedded into the heel of a user’s shoe.
  • a locking mechanism for fastening a prosthetic or exoskeleton to a user’s shoe.
  • the locking mechanism comprises an engagement portion configured to be coupled to the prosthetic or exoskeleton to at least partially support the weight of a user.
  • the locking mechanism also comprises a magnetic receiving portion, wherein the magnetic receiving portion is configured to be inserted into the heel of a user’s shoe.
  • the magnetic receiving portion comprises a hemispherical receiving slot in the plane of the sole of the shoe, and wherein the engagement portion comprises a corresponding hemispherical protrusion configured to be inserted into the hemispherical receiving slot to engage the male portion with the magnetic receiving portion.
  • the engagement portion may be configured to detach from the magnetic receiving portion via rotation of at least one of the engagement portion and the magnetic receiving portion in the plane of the hemispherical receiving slot. This may be advantageous for ease of engaging and disengaging the shoe to/from the exoskeleton or prosthesis in use, for example akin to ski bindings.
  • a joint for coupling portions of an exoskeleton.
  • the joint comprises a first arm coupled to a centre boss via a first rotation limiting joint having a first range of motion, and a second arm coupled to the centre boss via a second rotation limiting joint having a second range of motion.
  • the second range of motion is greater than the first range of motion.
  • the joint may further comprise a third arm coupled to the centre boss via a third rotation limiting joint having a third range of motion.
  • the joint may comprise an arm, for example a third or fourth arm, directly coupled to the centre boss, wherein the centre boss is configured to rotate.
  • first, second and third arms are each configured to rotate about the centre boss via a common axis of rotation.
  • a joint for coupling portions of an exoskeleton wherein the joint comprises a first arm coupled to a centre boss via a first rotation limiting joint having a first range of motion, and a second arm coupled to the centre boss via a second rotation limiting joint having a second range of motion.
  • the joint further comprises a corresponding first arm lever arm cam lock attachment point, and a corresponding second arm lever arm cam lock attachment point.
  • Each of the first arm and the second arm comprise a respective detachable locking fork configured to engage with a corresponding mating portion of the corresponding lever arm cam lock attachment point to fasten the respective arm with the respective lever arm cam lock attachment point.
  • first arm may comprise a first mating portion and the second arm may comprise a second mating portion.
  • the first arm lever arm cam lock attachment point may consist of a first lever arm cam lock attachment point configured to reversibly fasten to the first arm; and the second arm lever arm cam lock attachment point may consist of a second lever arm cam lock attachment point, configured to reversibly fasten to the second arm, wherein each lever arm cam lock attachment point may comprise a locking fork configured to engage with the mating portion of the corresponding arm to reversibly fasten said arm to the respective lever arm cam lock attachment point.
  • the detachable locking forks may be configured to operate in a locked configuration and a released configuration.
  • the detachable locking forks (or at least one of the detachable locking forks) are biased to remain in a locked configuration via magnets.
  • At least one of the detachable locking forks may be biased to remain in the locked configuration by a reversible securing mechanism.
  • both detachable locking forks may be biased to remain in the locked configuration by a corresponding reversible securing mechanism.
  • the reversible securing mechanism may be advantageous compared to the magnetic biasing because the mechanical mechanism may be able to withstand higher lateral forces on the respective arm of the joint during ambulation.
  • magnetic biasing mechanism may disengage in an uncontrolled way in instances when the lateral forces of the respective arm during ambulation are greater than the magnetic attractive forces.
  • a joint for coupling portions of an exoskeleton comprising a first arm coupled to a centre boss via a first rotation limiting joint having a first range of motion, the first arm comprising a first mating portion and a second arm coupled to the centre boss via a second rotation limiting joint having a second range of motion, the second arm comprising a second mating portion.
  • the joint further comprises a first lever arm cam lock attachment point, configured to reversibly fasten to the first arm; and a second lever arm cam lock attachment point, configured to reversibly fasten to the second arm.
  • Each of the first lever arm cam lock attachment point and the second lever arm cam lock attachment point comprises a locking fork configured to engage with the mating portion of the corresponding arm to fasten the corresponding arm to the respective lever arm cam lock attachment point.
  • the locking forks may be configured to operate in a locked configuration and a released configuration. In some examples, at least one of the locking forks may be biased to remain in a locked configuration via magnets.
  • At least one of the locking forks may be biased to remain in the locked configuration by a reversible mechanical securing mechanism.
  • both locking forks may be biased to remain in the locked configuration by a corresponding reversible securing mechanism.
  • the reversible securing mechanism may be advantageous compared to the magnetic biasing because the mechanical mechanism may be able to withstand higher lateral forces on the respective arm of the joint during ambulation.
  • magnetic biasing mechanism may disengage in an uncontrolled way in instances when the lateral forces of the respective arm during ambulation are greater than the magnetic attractive forces.
  • it may be particularly advantageous for at least a leg arm of the joint to be biased to remain in the locked configuration by a reversible mechanical securing mechanism.
  • Each releasable mechanical securing mechanism may comprise a first engagement structure arranged on one of the corresponding arm (e.g. one of the first arm or the second arm), and a second engagement structure arranged on the corresponding cam lock attachment point, wherein the first engagement structure and the second engagement structure are configured to interlock in the locked configuration.
  • At least one of the first engagement structure and second engagement structure may be coupled to a lever, wherein the lever is configured to be actuated to interlock or disengage the first engagement structure and the second engagement structure. This may be advantageous to facilitate easy coupling and/or decoupling of the engagement structures as desired to transition the respective locking fork between the locked configuration and the released configuration.
  • Each releasable mechanical locking mechanism may further comprise a biasing means configured to bias the first engagement structure and the second engagement structure to interlock in the locked configuration. This may be advantageous to prevent accidental decoupling, as the default configuration biases the securing engagement structures to interlock.
  • Fig. 1A shows a front view of an example exoskeleton on a human user.
  • Fig. 1B shows a side view of the example exoskeleton of Fig. 1A on a human user.
  • Fig. 1C shows a back view of the example exoskeleton of Figs. 1 A-1 B on a human user.
  • Fig. 2A shows an example hip joint, for example for use within the exoskeleton of Figs. 1A-1C.
  • Fig. 2B shows an exploded view of the hip joint of Fig. 2A.
  • Fig. 2C shows the hip joint of Figs. 2A-2B coupled to sockets, for example for use within the exoskeleton of Figs. 1A-1C.
  • Figs. 3A-3D illustrate the range of motion of the hip joint, for example the hip joint of Figs. 2A-2C.
  • Fig. 4 shows an example socket, for example the socket of Fig. 2B for connection of a hip joint to an exoskeleton.
  • Figs. 5A-5H illustrate the coupling of an arm of a hip joint, such as the hip joint of Fig. 2A, to a socket, such as the socket of Fig. 4.
  • Fig. 5I shows a cross-section of the coupling of Figs. 5A-5H, between an arm of the hip joint and the socket.
  • Fig. 6 shows an example ankle joint, for use in an exoskeleton, such as the exoskeleton of Figs. 1A-1C, including a magnetic shoe interface.
  • Fig. 7A shows the magnetic shoe interface of Fig. 6 installed in a shoe.
  • Fig. 7B shows the magnetic shoe interface of Fig. 7A coupled to the ankle joint of Fig. 6.
  • Figs. 8A and 8B show an example rotation restricting part, for example for use within the hip joint of Figs. 2A, 2C, and 3A-D.
  • Fig. 8C shows the rotation restricting part of Figs. 8A and 8B, with a top cap of the hip joint.
  • Figs. 8D and 8E show cross-sections illustrating the range of motion of a hip joint comprising the rotation restricting part.
  • Fig. 9A shows an alternative locking mechanism for the coupling of an arm of a hip joint, such as the hip joint of Fig. 2A, to a socket, such as the socket of Fig. 4.
  • Fig. 9B shows the locking mechanism on Fig. 9B in a locked configuration.
  • Fig. 9C shows a cross section of the locking mechanism of Figs. 9A and 9B during release.
  • Embodiments of the claims relate to an exoskeleton for providing support to a human user. It will be appreciated from the discussion above that the embodiments shown in the Figures are merely exemplary, and include features which may be generalised, removed or replaced as described herein and as set out in the claims.
  • Figs. 1A-1C show an example exoskeleton 100 as worn by a human user H.
  • the exoskeleton 100 comprises a torso portion 102 and a leg portion 106, coupled via a hip joint 104.
  • the torso portion 102 comprises a back brace that at least partially encloses the upper and mid-section of the torso.
  • the back brace comprises a substantially carbon fiber structure.
  • the torso portion 102 further comprises a pair of underarm supports 118, arranged on opposite lateral sides of the torso portion.
  • Each underarm support 118 comprises a deformable moulding, for example a silicon moulding.
  • the deformable mouldings may be advantages to protect the axillary nerve of the user H in use.
  • the torso portion 102 may additionally comprise at least one ratchet strap (not shown).
  • each ratchet strap comprises a magnetic attachment means. This may be advantageous to secure the torso portion to the torso of the user H and prevent the torso portion H collapsing forward.
  • the torso portion 102 further comprises a hip shield 116.
  • the hip shield 116 comprises a rigid part arranged on the opposite side (or contralateral side) of the exoskeleton 100 to the hip joint 104.
  • the hip shield 116 is partially arranged in a parasagittal plane of the human body, at the height of the hip of the user H.
  • the hip shield 116 is integral to the torso portion 102, however in other examples the hip shield 116 may be detachable.
  • the torso portion 102 also comprises a hinge (not shown) on the posterior surface of the torso portion 102, adjacent to the back of the user H.
  • the hinge is arranged parallel to the craniocaudal axis of the user H, preferably in the sagittal plane.
  • the hinge portion comprises Kevlar and flexible epoxy to permit bending of the hinge portion whilst maintaining shear loading between the carbon fiber segments of the torso portion 102 on either side of the hinge.
  • the hip joint 104 is arranged on the ipsilateral side of the exoskeleton as the leg portion 106.
  • An example hip joint 104 is shown in more detail in Figs. 2A and 2B.
  • the leg portion 106 further comprises an upper leg brace 108 and a lower leg brace 112.
  • the upper leg brace 108 and the lower leg brace 112 are coupled together by a knee joint 110.
  • the upper leg brace 108 and the lower leg brace 112 each comprise at least one ratchet strap (not shown).
  • each ratchet strap comprises a magnetic attachment means.
  • the upper leg brace 108 and lower leg brace 112 each comprise a pair of carbon fiber supports. Each carbon fiber support of the pair is arranged in a parasagittal plane, on opposite sides of the leg. Both the upper leg brace 108 and lower leg brace 112 further comprise carbon fiber cross bracing between the pair of carbon fiber supports.
  • An ankle joint 114 is coupled to the distal end of the lower leg brace 112.
  • An example ankle joint 114 is shown in more detail in Fig. 6.
  • the exoskeleton 100 further comprises a buttock support portion 122.
  • the buttock support portion 122 comprises a curved plate configured to encompasses the lower and mid buttock of the user H from the midpoint of the back at the gluteal sulcus to the upper front of the thigh at the top of the rectus femoris muscle with the lower edge following the line of the gluteal sulcus.
  • the buttock support portion is made from carbon fiber.
  • the torso portion 102 is configured to enclose at least a portion of a user H’s torso and capture the vertical load of the user H’s upper body.
  • the pair of underarm supports 118 are configured to capture the vertical load of the user H’s upper body.
  • the hinge portion of the torso portion 102 is configured to provide a clam shell for easy donning of the exoskeleton 100.
  • the buttock support portion 122 is also configured to capture vertical load, in particular vertical load from the mid body. This may reduce, and in some examples eliminate, load capture at the base of the axilla of the user H (under the armpits) which can be uncomfortable and damaging to the axillary nerve of the user.
  • Both the torso portion 102 and buttock support portion 122 are configured to transfer the captured vertical load to the hip joint 104.
  • the upper leg brace 108 is configured to at least partially encompass the thigh of user H.
  • the upper leg brace 108 is also configured to transfer the load from the hip joint 104 to the knee joint 110.
  • the knee joint 110 is configured to rotate such that the upper leg brace 108 is moveable relative to the lower leg brace 112.
  • the knee joint 110 is also configured to transfer the load from the upper leg brace 108 to the lower leg brace 112.
  • the lower leg brace 112 is configured to at least partially encompass the calf of user H.
  • the lower leg brace 112 is also configured to transfer the load from the knee joint 110 to the ankle joint 114.
  • the torso portion 102, the leg portion 106 and the buttock support portion 122 are configured to rotate about a common axis of the hip joint 104.
  • the degrees of rotation are constrained independently of each other allowing specific degrees of rotation of (i) the torso portion 102 relative to the hip joint 104, (ii) the buttock support portion 122 to the hip joint 104, and (iii) the upper leg portion 108 to the hip joint 104. This is shown in more detail in Figs. 3A to 3D.
  • the rachet straps are configured to adjust and fasten the respective portion around the user’s anatomy.
  • the hip shield 116 is configured to encompass the hip and a portion of the upper thigh on one side of the user H’s body.
  • the hip shield 116 is configured to inhibit outward lateral movement of the hip relative to the torso portion 102. This may be by advantageous to reduce hip swing during ambulation.
  • the torso portion 102 and buttock support portion 122 capture the vertical load of the user H’s upper and mid body and transfer the load to the hip joint 104.
  • the hip joint 104 transfers the total load to the leg portion 106, from the upper leg brace 108, via the knee joint 110, to the lower leg brace 112.
  • Figs. 1A-1C comprises a single hip joint 104 and a single leg portion 106, wherein the hip joint 104 is arranged on the ipsilateral side of the exoskeleton 100 as the leg portion 106.
  • the skilled person will understand, that other example exoskeletons may provide two leg portions 106 and two hip joints 104, wherein each leg portion is coupled to a respective hip joint.
  • Such a configuration may be particularly advantageous for use by individuals with double lower limb amputations, or patients who are unable to have a bilateral hip replacement, for example due to age.
  • the second hip joint may replace the hip shield 116, or each hip joint may instead be coupled to or integrated within a hip shield, for example wherein the hip shield is in the same parasagittal plane as the respective hip joint.
  • the hip joint 104 comprises a torso arm 202 and a leg arm 204. Both the torso arm 202 and leg arm 204 are coupled at a proximal end to a central rotating portion 206 of the hip joint 200 via respective rotation limiting joints.
  • the central rotating portion 206 comprises an end cap 212 and a top cap 214, wherein the top cap is arranged opposite to the end cap 212.
  • Each of the torso arm 202 and the leg arm 204 of the hip joint 104 comprise a mating portion.
  • the mating portion 208 is arranged at the distal end of each of the torso arm 202 and the leg arm 204.
  • the mating portion 208 comprises an attachment bar 210 coupled in between a pair of parallel members.
  • the attachment bar 210 is perpendicular to the pair of parallel members, wherein the pair of parallel members are parallel to the longitudinal axis of the respective torso arm 202 or leg arm 202.
  • the mating portion 208 has a slight curvature, such that the outermost end of the mating portion curves towards the end cap 212.
  • the hip joint 104 is preferably made of metal, such as aluminium. However, the skilled person will understand that other materials may be used. In some examples, the hip joint is manufactured via 3D printing. Optionally, the metal is anodised, such as anodised aluminium. However, the skilled person will understand that other methods of manufacture can be used.
  • Fig. 2B shows an exploded view of the hip joint 104 of Fig. 2A.
  • the end cap 212 comprises a substantially circular shape with a central boss 220.
  • the end cap 212 also comprises a plurality of subsidiary bosses 221 , arranged within the interior of the central boss 220.
  • One of the subsidiary bosses 221C is arranged centrally to the end cap 212, having a smaller diameter than the central boss 220.
  • a portion of the subsidiary bosses 221 are coupled to the internal circumference of the central boss 220.
  • Bearings 216 are arranged between the each of the torso arm 202, leg arm 204, and the central boss 220 of the end cap 212.
  • the top cap 214 comprises a substantially circular shape with a radial protrusion 215.
  • the top cap 214 is coupled to the leg arm 204 via the radial protrusion 215.
  • a shoulder screw 218 and bearing 216 couples the top cap 214 to the end cap 212, thereby also securing each of the arms 202 and 204 within the hip joint 104.
  • the shoulder screw 218 is configured to be received by the centrally positioned subsidiary boss 221 C.
  • the torso arm 202 is configured to detachably couple to a torso portion, such as torso portion 102 shown in Figs. 1A-C.
  • the leg arm 204 is configured to detachably couple to a leg portion, such as leg portion 106 shown in Figs. 1A-C.
  • the end cap 212 is configured to detachably couple to a buttock support portion, such as buttock support portion 122 shown in Figs. 1 B-C.
  • the rotation limiting joint for the torso arm 202 is configured to have a first range of motion about the central boss 220, as shown in Figs. 3A to 3B.
  • the rotation limiting joint for the leg arm 204 is configured to have a second range of motion about the central boss 220, as shown in Figs. 3C to 3D.
  • the top cap 214 is configured to rotate relative to the end cap 212, and the coupling between the top cap 214 and the leg arm 204 means that the top cap 214 rotates in accordance with the rotation of the leg arm 204.
  • the second range of motion is less than the first range of motion.
  • the second range of motion about the central boss 216 does not overlap with the first range of motion.
  • the rotational limiting joints are configured to allow for a normal human range of movement, advantageously allowing the leg portion 106 to move relative to the torso portion 102 whilst seated, standing, and during walking.
  • the rotation limiting joints may also be advantageous to prevent over-rotation I hyperextension of the leg portion 106 relative to the torso portion 102, and vice versa. This may provide support to the user H in use and prevent collapse of the exoskeleton 100.
  • each mating portion 208 is configured to engage with a corresponding mating socket 400.
  • An example mating socket 400 is shown in more detail in Fig. 4.
  • Mating sockets 400 are coupled to the torso portion 102 and leg portion 104 respectively, such that the mating socket 400 is configured to fasten the torso arm 202 with the torso portion 102 and the leg arm 204 with the leg portion 106 respectively.
  • the mating portion 208 and detachable mating socket 400 may be advantageous for ease of mating of the hip joint 104 to the torso portion 102 and leg portion 106, facilitating easy donning of the exoskeleton 100 by a user H.
  • the hip joint 104 is configured to operate in a parasagittal plane of the human body, such that the rotation of the torso arm 202 and the leg arm 204 is in a parasagittal plane.
  • the buttock support 122 has 30 degrees of total movement relative to the leg arm 204.
  • the leg arm 204 can move 20 degrees in a first direction and 10 degrees rearwards in a second direction before the central rotating portion 206 coupled to the buttock support 122 is forced to move with the leg arm 204.
  • Figs. 3A to 3B show the first range of motion of the rotation limiting joint for the torso arm 202 about the central rotating portion 206. Assuming the central rotating portion 206 remains still, the torso arm 202 is configured to rotate up to approximately 90 degrees in a first direction 302 and less than 10 degrees in a second direction 304, wherein the second direction 304 is opposite to the first direction 302. In a preferred embodiment, the torso arm 202 is configured to rotate 0 degrees in the second direction 304.
  • Figs. 3C to 3D show the second range of motion of the rotation limiting joint for the leg arm 204 about the central rotating portion 206. Assuming the central rotating portion 206 remains still, the leg arm 204 is configured to rotate approximately 20 degrees in a first direction relative to the torso arm 202 and approximately 10degrees in a second direction, wherein the second direction is opposite to the first direction.
  • first direction 302 is parallel to the anterior direction
  • second direction 304 is parallel to the posterior direction.
  • the range of rotation of each of the torso arm 202 and leg arm 204 is measured from a plane parallel to the frontal plane, in the respective anterior or posterior direction.
  • the restriction of the hip joint 104 may instead be provided by a rotation restriction part 800, as shown in Figs. 8A-8B.
  • the part 800 has a generally circular profile, comprising a central aperture 806.
  • Fig. 8A shows a first surface of the rotation restriction part 800.
  • the first surface comprises a plurality of raised segments 802, arranged around the circumference of the part 800. Neighbouring segments 802 are each separated by a channel 808.
  • the first surface of the rotation restriction part 800 is configured to be arranged adjacent to the top cap 214 of the hip joint 104.
  • Each channel 808 is configured to receive a rib 810 on the internal surface of the top cap 214.
  • the raised segments 802 constrain the ribs 810 of the top cap 214 within the corresponding channel 808 of the rotation restriction part 800, thus coupling the rotation restriction part 800 to the top cap 214 such that rotation of the top cap 214 drives rotation of the rotation restriction part 800 and vice versa.
  • the number of raised segments 802 and channels 808 on the first surface of the part is dependent on the number of ribs 810 of the top cap 214.
  • Fig. 8B shows a second surface of the rotation restriction part 800, opposite to the first surface.
  • the second surface comprises a second plurality of raised segments 804 arranged around the circumference of the part 800.
  • the second plurality of raised segments comprises three raised segments 804.
  • the separation 812 between neighbouring segments of the second plurality of raised segments 804 is greater than the separation between neighbouring segments of the first plurality of raised segments 802.
  • Each side wall of the second plurality of raised segments 804 comprises a concave portion, wherein the side wall is defined as the wall of each segment which extends in a substantially radial direction relative to the circular profile of the part 800.
  • Figs. 8D and 8E show the rotation restriction part 800 in use in a hip joint 104.
  • the leg arm 204 is configured to have a range of motion about the central boss 220.
  • the coupling between the top cap 214 and the leg arm 204, as well as the coupling between the top cap 214 and the rotation restriction part 800 means that the rotation restriction part 800 rotates in accordance with the rotation of the leg arm 204.
  • the top cap 214 is also configured to rotate relative to the end cap 212, wherein the end cap 212 is coupled to the buttock support 122,
  • the buttock support 122 has 30 degrees of total movement relative to the leg arm 204.
  • the rotation restriction part 800 restricts independent movement of the leg arm 204 as the concave portions of the raised segments abut against the subsidiary bosses 221 on the end cap 212.
  • the leg can move 20 degrees in an anterior direction 302, and 10 degrees in a posterior direction 304 before the central boss 220, and therefore buttock support 122, is forced to move with the leg arm 204.
  • the rotation restriction part 800 may be 3D printed. This may be advantageous to easily and cheaply change the angles of restriction relative to the leg arm 204 by simply printing a new rotation restriction part 800 as required with different separations 812 between the neighbouring segments 804. This provides the flexibility to reduce the movement down to zero degrees relative to the leg arm 204 if required, for example wherein there is no separation 812 between neighbouring segments 804, or, at the other extreme if the part is removed completely, the buttock support 122 would rotate with complete independence from the leg arm 204.
  • Fig. 4 shows an example mating socket 400.
  • the mating socket 400 comprises socket housing 404, and a lever arm cam lock mechanism.
  • the socket housing 404 has a substantially trapezoid shape, comprising a base 416 and three side walls 418A-C.
  • the side walls 418A-C comprise a pair of opposing sloping side walls 148A, 418B, and an end wall 418C, wherein the end wall 418C is arranged along the short parallel edge of the trapezoid.
  • the lever arm cam lock mechanism comprises a lever arm 402, wherein the lever arm 402 comprises an actuator portion 403 at the distal end and a locking fork 410 (as shown in more detail in Fig. 5I) at the proximal end.
  • the lever arm 402 further comprises a pivot 406, disposed between the actuator portion 403 and the locking fork 410.
  • the pivot point 406 is also coupled to the socket housing 404.
  • the lever arm 402 is shaped such that the locking fork 410 extends in a direction substantially orthogonal to the actuator portion 403.
  • the actuator portion 403 is slightly curved in a direction towards the locking fork 410.
  • the locking fork 410 (as shown in more detail in Fig. 5I) comprises two prongs, defining a receiving portion therebetween.
  • the socket 400 is configured for attachment to the leg arm 204 of the hip joint 104.
  • the distal end of the actuator portion 403 comprises a pair of prongs 420, wherein the pair of prongs 420 are configured have a complementary shape to the radial protrusion 215 of top cap 214.
  • the prongs 420 are configured to surround the radial protrusion 215, as shown in Fig. 2C.
  • a socket 400 configured for attachment with the torso arm 202 may comprise a concave shape at the distal end of the actuator portion 403.
  • the concave shape is configured to have a complementary shape to the central portion 206, as shown in Fig. 2C.
  • the pivot 406 is configured to rotate such that the lever arm 402 is configured to rotate relative to the socket housing 404.
  • the locking fork 410 may be configured to operate in a locked configuration and a released configuration, wherein the locking fork 410 is transitioned between the locked configuration and the released configuration by rotation of the pivot 406 actuated via rotation of the actuator portion 403.
  • the socket 400 in Figure 4 is pictured in the locked configuration.
  • the socket 400 is configured to receive and engage with an arm of a hip joint 104, as shown in Figs. 5A to 5H.
  • the arm of the hip joint is configured to be received along the long parallel edge of the trapezoid socket housing 404.
  • the locking fork 410 is configured to receive and engage with the attachment bar 210 of an arm of the hip joint 104, such that the attachment bar 210 is received by the receiving portion between the two prongs of the locking fork 410.
  • the curvature of the actuator portion 403 is substantially the same as the curvature of the mating portion 208 of the arm 204 or 206, such that, in the locked configuration in use, the actuator portion 403 lies flush against the outer surface of the mating portion 208, as shown in Fig. 5H.
  • the socket housing 404 is also configured to attach to at least one of the torso portion 102, or the leg portion 106. In some examples, the socket housing 404 may be configured to reversibly attach and detach.
  • the locking fork 410 receives and engages with the attachment bar 210 in the released configuration.
  • the locking fork 410 is biased to remain in the released configuration via at least one magnet 408A on the lever arm 402, wherein the magnet 408A engages with a second magnet 408C arranged on the socket housing 404, proximate to the end wall 418C. This may be advantageous to hold the lever arm 402 open in the released configuration such that the attachment bar 210 of the mating portion 208 may be easily aligned with the locking fork 410.
  • the actuator portion 403 of the lever arm 402 is then rotated about the pivot 406 towards the mating portion 208 of the arm of the hip joint 104, as shown in Figs. 5E to 5G.
  • the locking fork 410 is transitioned into the locked configuration and the mating portion 208 of the arm is drawn into the socket housing 404.
  • the cam lock action of the locking fork 410 results a horizontal and a vertical force component being applied to the attachment bar 210 which draws the mating portion 208 into the socket 400.
  • the socket housing 404 comprises a bottom engagement portion 412 comprising a lip (as shown in Fig. 5I).
  • the bottom engagement portion 412 is configured to engage with a corresponding bottom engagement portion 414 on the torso arm 202 or leg arm 204.
  • the mating portion 208 is then secured within the socket 400 as the locking fork 410 is secured in the locked configuration.
  • the locking fork 410 is biased to remain in the locked configuration via at least one magnet 408A, wherein the magnet 408A engages with the mating portion 208 of the respective arm of the hip joint 104.
  • the mating portion 208 also comprises a magnet, such as magnet 408B, to increase the strength of the magnetic engagement.
  • the mating portion 208 is configured to be detached from the socket 400 by rotating the actuator portion 403 of the lever arm 402 about the pivot 406 in the opposite direction, away from the mating portion 208 of the arm of the hip joint 104.
  • the locking fork 410 is transitioned into the released configuration and the mating portion 208 of the arm is drawn out of the socket housing 404.
  • the cam lock action of the locking fork 410 results an opposite horizontal and a vertical force component being applied to the attachment bar 210 which draws the mating portion 208 out of the socket 400.
  • Fig. 9A Whilst the embodiment illustrated in Fig. 5H describes wherein the locking fork 410 is biased to remain in the locked configuration via the magnet 408A, the skilled person will understand that other means to bias or reversibly secure the locking fork 410 in the locked configuration may be used.
  • Fig. 9A a variation is shown in Fig. 9A wherein the locking fork 410 is biased to remain in the locked configuration by a releasable mechanical locking mechanism.
  • the actuator portion 403 of the lever arm 402 comprises a pair of side protuberances 902.
  • Each side protuberance 902 comprises a pivoted lever portion 906, the lever portion 906 comprising an engagement structure 904 at its distal end.
  • the engagement structure 904 is configured to face inwards, being arranged on the inner surface of the lever portion 906.
  • each lever portion 906 is coupled to a spring 908 on its inner surface, as shown in Fig. 9C.
  • the pivot point 909 of the lever portion 906 is arranged in between the engagement structure 904 and the spring 908.
  • the spring 908 is configured to bias the proximal end of the lever portion 906 outwards, away from the actuator portion 403, such that the engagement structure 904 is biased inwards at the distal end of the lever portion 906.
  • the respective arm of the hip joint 104 in this case the torso arm 202 as shown in Fig. 9A, also comprises a corresponding pair of interlocking engagement structures 910 arranged on opposite sides of the arm 202.
  • the locking fork 410 (not shown) is reversibly secured to remain in the locked configuration by the pair of engagement structures 904 on the lever portions 906, wherein each engagement structure 904 engages and interlocks with the corresponding engagement structure 910 on the torso arm 202.
  • the locked configuration is shown in Fig. 9B.
  • Each lever portion 906 is biased to remain in engagement with the corresponding engagement structure 910 on the torso arm by its spring 908.
  • lever portions 906 on the side protuberances 902 are depressed in the direction opposing the respective spring’s 908 biasing force. This is configured to pivot each lever portion engagement structure 904 outwards, disengaging from the corresponding engagement structure 910 on the torso arm 202, as shown in Fig. 9C.
  • the actuator portion 403 of the mating socket 400 may then be transitioned into the released configuration.
  • the locking mechanism shown in Figs. 9A to 9C may be advantageous compared to the magnetic biasing mechanism shown in Fig. 5H because the physical interlocking mechanism may be able to withstand higher lateral forces on the respective arm of the hip joint 104 during ambulation.
  • the magnetic biasing mechanism of Fig. 5H may disengage in an uncontrolled way in instances when the lateral forces of the respective arm during ambulation are greater than the magnetic attractive forces between the magnet 408A and the mating portion 208.
  • Fig. 9A Whilst the embodiment shown in Fig. 9A relates to the mating socket 400 for the torso arm 202, the skilled person will understand the same reversible securing mechanism may be applied to the mating socket for the leg arm 204, wherein the leg arm 204 also comprises a corresponding pair of interlocking engagement structures 910 arranged on opposite sides of the arm 204.
  • Fig. 6 shows an example ankle joint 114, such as the ankle joint 114 of Figs. 1A to 1 C, and magnetic shoe engagement portion 120.
  • the ankle joint 114 comprises a pair of substantially vertical members 604, positioned either side of the ankle of a user H.
  • the pair of substantially vertical members 604 are coupled at the distal end by a substantially horizontal member 610.
  • the horizontal member 610 is curved such that it is configured to fit around the back of the heel of a user H’s shoe, for example as shown in more detail in Figure 7B.
  • each vertical member 604 is coupled to the lower leg brace 112 by a pivot 608.
  • the proximal end of each vertical member 604 is slightly curved in the anterior direction such that the pivot 608 sits forwards of the magnetic shoe engagement portion 120.
  • the distal end of the ankle joint 114, comprising the horizontal member, is coupled to the magnetic shoe engagement portion 120.
  • the ankle joint 114 is preferably made of metal, such as aluminium.
  • the metal is anodised, such as anodised aluminium.
  • the skilled person will understand that other materials may be used.
  • the ankle joint 114 is manufactured via 3D printing. However, the skilled person will understand that other methods of manufacture can be used.
  • the horizontal member at the distal end of the ankle joint 114 comprises a magnetic rail 606.
  • the rail 606 is metal, comprising a plurality of neodymium magnets, however the skilled person will understand that other types of magnets may be used, or alternatively the rail 606 may be made from a magnetic material.
  • the magnetic shoe engagement portion 120 comprises a plate 600.
  • the plate 600 has a substantially semi-circular or semi-ellipse shape.
  • a slot 602 is arranged around the curved perimeter of the plate 600.
  • At least a portion of the slot 602 is magnetic, preferably comprising a plurality of magnets 620 as shown in Fig. 7A.
  • the magnets 620 are arranged such that their polarity is in an alternating pattern around the slot 602.
  • the plate 600 is metal, comprising a plurality of neodymium magnets 620, however the skilled person will understand that other types of magnets may be used.
  • the plate 600 may be manufactured by way of 3D printing, however the skilled person will understand that other methods of manufacture may be used.
  • the pivot 608 is configured to allow movement of the foot and shoe relative to the lower leg brace 112.
  • the plate 600 is sized to be at least partially embedded in the sole of a user’s shoe, wherein at least a portion of the slot 602 is arranged along an external surface of the shoe.
  • An example configuration is shown in more detail in Fig. 7A.
  • the rail 606 is configured to fit within the slot 602 of the shoe engagement portion 120.
  • the curved edge of the plate 600 is configured to be concentric with the curved horizontal member 610 of the ankle joint 114.
  • the slot 602 is configured to reversibly and magnetically engage with the rail 606.
  • the rail 606 comprises magnets arranged such that their polarity is in an alternating pattern around the horizontal member 610, wherein the alternating pattern is opposite to that of the magnets 620 of the slot 602.
  • Fig. 7A shows an example shoe 700 comprising a shoe engagement portion 120.
  • the shoe 700 comprises a sole 708 arranged along the bottom surface of the shoe, opposite to the vamp 706 of the shoe.
  • the back portion of the sole 708 comprises the heel 702 of the shoe, wherein the heel 702 is arranged adjacent to the heel counter 704 at the rear of the shoe 700.
  • the plate 600 is embedded within the heel 702 of the shoe 700 such that the slot 602 is accessible.
  • the slot 602 is arranged around the heel 702 of the shoe, proximate to the heel counter 704.
  • the plate 600 may be retrofitted into the heel 702 of a shoe 700, or a shoe may be manufactured comprising the plate 600 embedded within the heel 702.
  • Fig. 7B shows the shoe 700 in magnetic engagement with the ankle joint 114.
  • the pair of substantially vertical members 604 are positioned opposite sides the shoe 700, close to the heel counter 704.
  • the horizontal member 610 is arranged around the back of the heel 702 of the shoe 700.
  • the pivot 608 sits forwards of the magnetic shoe engagement portion 120 and heel counter 704 of the shoe 700.
  • the ankle joint 114 is configured to receive the vertical load from the lower leg brace 112.
  • the shoe engagement portion 120 is configured to take the vertical load from the ankle joint 114 and transfers the vertical load into the sole of the shoe, which ultimately transfers the vertical load to the ground.
  • the ankle joint 114 is also configured to create a suspension shock absorbing joint, using the sole 708 of the shoe 700 to provide a ‘spring’.
  • a flexible carbon fiber insole may also be inserted into the shoe 700 (not shown). The carbon fiber insole may also be used in conjunction with the sole 708 to create the suspension shock absorbing joint.
  • the shoe 700 is configured to detachably engage with the ankle joint 114 by rotating in the plane of the sole 708 of the shoe 700, for example akin to ski bindings. This may be advantageous for ease of disengaging the shoe 700 to/from the ankle joint 114, and exoskeleton 100 in use.
  • the shoe 700 is offered up to the ankle joint 114 such that the curved edge of the plate 600 is configured to be concentric with the curved horizontal member 610 of the ankle joint 114, the polarity of the alternating magnets of the slot 602 and rail 606 are all aligned and magnetically attracted to each other, thus holding the shoe to the exoskeleton in the correct position.
  • the alignment of the magnets is changed such that they now oppose each other, and the shoe 700 is repelled from the ankle joint 114 and released.
  • hip joint for providing support to a human user.
  • hip joint such as hip joint 104 shown in Fig. 2A may also be used to provide support to a human user in other arrangements, configurations, or use cases.
  • the hip joint 104 may be used for lower limb amputees.
  • a mating socket 400 is coupled to a prosthesis of a user, for example a prosthetic leg.
  • the hip joint 104 may then be reversibly coupled to the prosthetic leg via the mating socket 400.
  • a torso portion, and optionally a buttock support 116, may be reversibly coupled to the hip joint 104 as desired in order to provide additional support to the user when needed.
  • the torso portion may comprise a back brace, at least partially enclosing the mid torso, and optionally at least a portion of the upper torso, such as back brace 102 described above.
  • the torso portion may comprise a belt portion configured to at least partially enclose the mid or lower torso, for example wherein the belt portion is configured to be rigid, for example made from carbon fibre.
  • the risk of falling may also be reduced. This is a common issue for prosthetic leg wearers with potentially severe implications.
  • One of the key risk factors is that amputees do not always know the exact length of their leg.
  • a degree of ‘pistoning’ of the residual limb inside the prosthetic socket remains as the user continually loads and unloads the leg, particularly during the swing phase of the prosthetic leg when walking.
  • the overall length of the leg can vary, and this variance can result in catching the toe or the heel, resulting in a stumble or potentially resultant fall. This is also often affected by sweat, how vigorous the activity is, or even the amputee’s level of hydration which can affect how well the socket fits.
  • this may reduce the ‘pull out’ of the residual limb relative to the socket of the prosthetic leg. This in turn may provide a non-varying overall leg length and a better level of control.
  • the tendency of the residual limb to rotate around the vertical axis inside the prosthetic socket may also be reduced by coupling the prosthesis to the torso portion via the hip joint. This problem is exacerbated by sweat or if the socket of the prosthetic is ill-fitting.
  • the torso brace and hip joint connected to the prosthetic leg may facilitate the learning process considerably by providing better control even with an ill-fitting socket.
  • adduction and abduction may be restricted, and forward and backward degrees of rotation can be controlled via the hip joint. This could significantly reduce the rehabilitation process, enabling more patients to use a prosthetic leg sooner and begin ambulating much earlier with the resultant health benefits from exercise and mobility.
  • the ankle brace may comprise a lower leg brace, such as lower leg brace 112, configured to enclose at least a portion of the user’s lower leg.
  • the brace may be made at least partially of carbon fibre, for example comprising rigid carbon fibre portions secured with a ratchet strap that wraps around the lower leg.
  • the lower leg brace may be configured to provide a clam shell for ease of donning, including a flexible hinge portion.
  • An ankle joint such as the ankle joint 114 as shown in Figure 6, is coupled to either side of the lower leg brace, on opposite sides of the user’s ankle.
  • the ankle joint comprises a shoe engagement portion, such as the shoe engagement potion 120 shown in Figure 6.
  • a flexible carbon fibre shoe insole may additionally be used within the user’s sole to improve the load-bearing performance of the shoe and prevent buckling.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Nursing (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Footwear And Its Accessory, Manufacturing Method And Apparatuses (AREA)
  • Prostheses (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)

Abstract

La présente invention concerne un exosquelette pour fournir un support à un utilisateur humain, l'exosquelette comprenant une partie torse et une partie jambe, la partie torse et la partie jambe étant couplées par l'intermédiaire d'une articulation de hanche. L'articulation de hanche comprend un bras de torse destiné à être couplé de manière amovible à la partie torse et un bras de jambe destiné à être couplé de manière amovible à une partie jambe, le bras de torse et le bras de jambe étant tous les deux couplés à une partie centrale de l'articulation de hanche par l'intermédiaire d'articulations de limitation de rotation respectives. L'articulation de limitation de rotation pour le bras de torse a une première plage de mouvement autour de la partie centrale, et l'articulation de limitation de rotation pour le bras de jambe a une seconde plage de mouvement autour de la partie centrale, la seconde plage de mouvement étant moins grande que la première plage de mouvement.
PCT/GB2023/052090 2022-08-17 2023-08-07 Exosquelette Ceased WO2024038253A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP23754395.4A EP4572917A1 (fr) 2022-08-17 2023-08-07 Exosquelette

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
GB2212021.6A GB2621615B (en) 2022-08-17 2022-08-17 Exoskeleton
GB2212021.6 2022-08-17
EP22195474.6A EP4324434A1 (fr) 2022-08-17 2022-09-13 Exosquelette
EP22195474.6 2022-09-13

Publications (1)

Publication Number Publication Date
WO2024038253A1 true WO2024038253A1 (fr) 2024-02-22

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Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/GB2023/052089 Ceased WO2024038252A1 (fr) 2022-08-17 2023-08-07 Adaptateur de chaussure et orthèse pour fixation à une chaussure
PCT/GB2023/052090 Ceased WO2024038253A1 (fr) 2022-08-17 2023-08-07 Exosquelette

Family Applications Before (1)

Application Number Title Priority Date Filing Date
PCT/GB2023/052089 Ceased WO2024038252A1 (fr) 2022-08-17 2023-08-07 Adaptateur de chaussure et orthèse pour fixation à une chaussure

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EP (2) EP4572716A1 (fr)
WO (2) WO2024038252A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9808073B1 (en) * 2014-06-19 2017-11-07 Lockheed Martin Corporation Exoskeleton system providing for a load transfer when a user is standing and kneeling
CN111991131A (zh) * 2020-08-10 2020-11-27 张朕铭 关节牵引矫形器

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Publication number Priority date Publication date Assignee Title
US2444839A (en) * 1945-07-21 1948-07-06 American Braces Drop-foot brace
US2663294A (en) * 1952-01-05 1953-12-22 John R Harrison Drop foot brace
FR2519849A1 (fr) * 1982-01-19 1983-07-22 Loic David Talon pour chaussure de handicape
EP3474697B1 (fr) * 2016-06-23 2023-03-15 Darco International, Inc. Chaussure médicale dotée d'un surmoulage à densités multiples
GB201903516D0 (en) * 2019-03-14 2019-05-01 C Pro Direct Ltd Ankle foot orthopaedic apparatus

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9808073B1 (en) * 2014-06-19 2017-11-07 Lockheed Martin Corporation Exoskeleton system providing for a load transfer when a user is standing and kneeling
CN111991131A (zh) * 2020-08-10 2020-11-27 张朕铭 关节牵引矫形器

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WO2024038252A1 (fr) 2024-02-22
EP4572716A1 (fr) 2025-06-25

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