Gait assistive device

Abstract

Disclosed is a device which can be used to improve gait disorders by providing a substitute for or compensating the movement of the joints of the ankle and foot occurring during walking, or which canbe used in a base structure of a walking robot. The present invention comprises a foot supporting part, a rear connecting part that is coupled to the heel part of the foot supporting part, and a rearfoot plate that is coupled to the rear connecting part, wherein the rear connecting part comprises a joint, and the axis of the joint is provided to be in line with or behind the load line, with respect to the walking direction, at the time of the heel strike during a gait cycle.

Description

technical field [0001] The invention relates to a walking assist device. More specifically, the present invention relates to a device that can be used to improve walking impairments by replacing or compensating the motions of the joints of ankle and foot that occur during walking or can be used in the bottom structure of walking robots. Background technique [0002] Walking is an action that maintains a stable weight-bearing posture relative to the ground and moves the human body in a desired direction, so the force exerted by the human body on the ground and its reaction force, the ground reaction force (GRF, is generated). [0003] Normal walking is very efficient using both active movement based on muscle contraction and passive movement based on the joints of ankle and foot based on ground reaction force (GRF) move. [0004] Splint or cast immobilization (splint or cast) due to lower limb fractures and ligament injuries, etc., resulting in restricted joint movement or ...

AI Technical Summary

Problems solved by technology

[0004] Splint or cast immobilization (splint or cast) due to lower limb fractures and ligament injuries, etc., resulting in restricted joint movement or due to Charcot foot, ankle and foot arthritis Unable to produce a normal walking pattern as the normal movement of the joints of ankle and foot according to walking does not occur when joint movement is restricted

In this case, since ordinary shoes, plaster shoes, rocker bottom shoes and existing aids do not consider the reaction force with the ground during walking, effective walking will not occur, but deformed Ground reaction forces can adversely affect walking

[0005] In the case of walking disorders caused by central nervous system diseases such as stroke, brain injury, brain tumor, and cerebral palsy, normal ankle and foot joint movements cannot be produced due to muscle weakness, muscle stiffness, etc., and normal walking cannot be performed.

The current typical ankle foot orthosis (AFO, ankle foot orthosis) restricts the movement of the ankle and foot joints, making it impossible to perform effective walking using ground reaction forces

[0006] In addition, the walking robots developed so far cannot use the ground reaction force as effectively as human walking, and require many driving devices that output a large force, so the control device and battery device will also become larger, resulting in increased weight and volume and increased manufacturing costs. The problem

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