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System to assist walking

A technology for assisting walking and actuators, which is applied in the field of active orthoses and spinal cord injury patients, and can solve problems such as foot sensors that are not specifically mentioned.

Pending Publication Date: 2019-11-05
UNIV DA CORUNA +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the device is not intended for use in patients with spinal cord injuries, but rather in patients with some ability to walk without assistance, often with unilateral lesions
US patent document US7,985,193B2 relates to a similar stiffness control device, but does not specifically mention the plantar sensor
[0005] There is another more general patent document (WO 2010 / 120403 A2) on prostheses that control joints through actuators controlled based on readings from sensors, but it only deals with prosthetic devices

Method used

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Examples

Experimental program
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Embodiment Construction

[0039] figure 1 Shown is a device according to an embodiment of the invention. The device includes: a pair of KAFO orthoses, used to set the knee flexion angle (α r ) Is connected to the KAFO type orthosis; a sensor is used to measure the inclination angle (θ) of the leg, and optionally the vertical acceleration a z ; The control unit (7), the sensor array (6) and the actuator (5) are connected to the control unit (7), and the control unit (7) executes an algorithm according to the sensor readings to determine how to support the stage (knee joint is The angle of the knee joint is changed during the locking and swing phases (flexion-extension). The algorithm is in image 3 Details in the.

[0040] In addition, in figure 1 An embodiment is shown in which the main elements can be seen. The support for the foot (1) can be rigid or flexible (usually called "sag foot clamp") and hold the user's foot; the rigid substructure (2) is fixed to the patient's calf; The rigid upper structure...

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PUM

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Abstract

The invention relates to a system to assist walking in spinal cord injured people, who preserve hip flexion capacity, the system comprising a pair of KAFO-type orthoses with: (a) an angular actuator (5) in each knee; (b) an orientation and acceleration sensor (6) on each leg; (c) a power supply and control system (7) to which all the sensors and actuators are connected; (d) a control algorithm deciding when to flex or extend the knee depending on the walking cycle, using information from the sensors.

Description

Technical field [0001] The invention relates to a gait assisting device, which is used for patients with spinal cord injury who retain the flexion ability of the hip joint. In particular, the present invention relates to an active orthosis for gait assistance, which is used for patients with spinal cord injury who retain the flexion ability of the hip joint by driving the knee joint and inertial sensing. In addition, the gait assist device of the present invention can also be used to help people suffering from stroke, traumatic brain injury, multiple sclerosis, cerebral palsy, and poliomyelitis affecting the lower limbs, who retain the flexion ability of the hip joint. Background technique [0002] Quite a few patients with spinal cord injury maintain certain control of the hip joint, but cannot control the knee or ankle joints. These patients can use crutches and passive orthoses (knee-ankle-foot orthoses, or KAFO for short) to walk. Passive orthoses prevent the rotation of the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61F5/01B25J9/00
CPCA61F5/0102B25J9/0006A61F2005/0155A61F5/0123A61H3/00A61H1/024A61H2201/1207Y02A50/30A61F2/64A61F5/00A61H2003/007A61F2002/704A61F2002/764A61F2002/7625
Inventor 乌尔巴诺·卢格雷斯·阿梅斯托哈维尔·夸德拉多·阿兰达约瑟普·玛丽亚·佛恩特·利亚古内斯丹尼尔·克洛斯·科斯塔弗朗西斯科·哈维尔·阿隆索·桑切斯弗朗西斯科·罗梅罗·桑切斯
Owner UNIV DA CORUNA
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