walking assist devices

Abstract

The present invention relates to a walking assistance device, comprising a sacral stimulation device fixed to the sacrum of a user, wherein the sacral stimulation device is fixed to the sacrum by a pelvic fixing device, and the pelvic fixing device can be adjusted according to the shape and size of the user's pelvis. A control device controls the sacral stimulation device to apply a forward thrust to the sacrum through information transmitted by an acceleration sensor. When the user lifts his left leg, the sacral stimulation device applies a forward thrust to the right side of the user's sacrum, and when the user lifts his right leg, the sacral stimulation device applies a forward thrust to the left side of the user's sacrum. The user feels the power of walking forward, which is very effective for taking the first step. This is a function that the above-knee or lower body whole-body walking assistance products developed on the market do not have.

Description

Technical Field

[0001] The present invention belongs to the technical field of walking assistance equipment, and in particular relates to a walking assistance device for the elderly. Background Art

[0002] As people age, their lower body becomes weaker. Difficulty walking is not only inconvenient for the individual but also places a significant burden on caregivers, resulting in significant societal losses. To alleviate this burden, industry, academia, and research are developing numerous walking assistance devices for nursing care. These include devices with connections at the ankle, knee, and hip joints to support the entire lower body, and devices with connections at the hip joint to support the thigh.

[0003] On the one hand, recent research on dementia prevention suggests that gait measurement can be used to diagnose Alzheimer's disease (pre-dementia). (This is based on large-scale population studies conducted at Albert Einstein College of Medicine, the University of Illinois, and the University of California.) Walking faster than normal can prevent cerebral blood vessel aging and promote the activation of brain nerve cells, potentially preventing Alzheimer's disease. However, existing nursing assistance devices, both in research and practical applications, lack a walking assistance device that can achieve the same effect as brisk walking.

[0004] On the other hand, in the field, to help patients walk, based on clinical feedback, lumbar support and the overall forward propulsion of the sacrum are used to achieve a forward translational movement of the waist, making walking easier. Therefore, some have proposed applying electrical stimulation to the sacrum. However, this method is not related to walking rhythm, and applying the same electrical stimulation as traditional low-frequency therapy devices has not been very effective. Other inventors, based on the needs of the field, have proposed a linkage-type walking-assistance robot that coordinates walking rhythm with the sacrum. However, experimental results have shown that this is not very effective.

[0005] The HAL, a joint development between CYBERDYNE and the University of Tsukuba, represents a leading example of a walking assistance device for the entire lower limb. Honda Motor has commercialized a walking assistance device that only covers the hip joint, while several other companies are in the trial production stage. Honda Motor, the University of Tsukuba, and Toyota Motor have applied for the most patents.

[0006] Therefore, it is necessary to improve the problems existing in the above-mentioned prior art to solve the shortcomings of the prior art. Summary of the Invention

[0007] The present invention provides a walking assistance device. In order to improve the deficiencies in the prior art, the device stimulates the user's sacrum so that the sacrum on the side where the user lifts the leg is pushed forward, and promotes the rotation of the user's body, thereby assisting the user in walking better.

[0008] To achieve the above object, the present invention adopts the following technical solutions:

[0009] A walking assist device comprises a sacrum stimulation device for providing a forward propulsion force to the sacrum side of the leg-lifting side of the user when walking.

[0010] Furthermore, the sacral stimulation device is mounted on a pelvic fixation device, which is worn and fixed at the waist and hips and can be adjusted in shape according to the shape and size of the user's pelvis.

[0011] Furthermore, the walking assist device also includes a control device, which is connected to the acceleration sensor and the sacral stimulation device. The control device can receive the start and stop signals of the sacral stimulation device transmitted by the acceleration sensor, and control whether the sacral stimulation device applies forward thrust to the sacrum.

[0012] Furthermore, the acceleration sensor transmits a start signal to the sacral stimulation device during the period from when the user lifts their foot and kicks backward to when the foot is ready to fall forward, and the control device controls the sacral stimulation device to provide a forward propulsion force to the sacrum side of the foot; the acceleration sensor transmits a stop signal to the sacral stimulation device during the period from when the user's foot falls downward and stands up straight, and during this period the control device controls the sacral stimulation device to stop providing a propulsion force to the sacrum side of the foot.

[0013] Furthermore, the walking assist device also includes a power source for providing power to the sacral stimulation device.

[0014] Furthermore, the sacral stimulation device is a crank structure with two symmetrically arranged left and right sides, and the crank structure includes a centrifugal wheel and a crank. A centrifugal wheel fixing position is provided at a non-center position of the centrifugal wheel disc, one end of the crank is fixedly connected to the centrifugal wheel fixing position, and the other end is connected to the pressurizing part. The pressurizing part is located in the pressurizing channel, and the pressurizing channel is fixed on the pelvic fixing device. The front end opening of the pressurizing channel corresponds to the positions on both sides of the human sacrum. The power source is connected to the centrifugal wheel transmission, which can push the centrifugal wheel to rotate around its own wheel center, and then drive the pressurizing part to move forward and backward in the pressurizing channel through the crank. When the pressurizing part moves forward, it can provide forward propulsion to the sacrum.

[0015] Among them, the power source is an electric motor.

[0016] Furthermore, the sacral stimulation device is a solenoid structure with two symmetrically arranged left and right sides. The solenoid structure includes a solenoid, a spring, a ferromagnet, and a pressure-applying part. The pressure-applying part corresponds to the position on both sides of the human sacrum and is connected to the ferromagnet through a connecting rod passing through the solenoid. The connecting rod is made of non-metallic material. The solenoid is fixed to the pelvic fixation device. One end of the spring is connected to the ferromagnet and the other end is connected to the solenoid. The solenoid is connected to a power source. When the solenoid is energized, the solenoid generates a magnetic field that attracts the ferromagnet and compresses the spring, thereby driving the pressure-applying part forward through the ferromagnet. When the solenoid is de-energized, the magnetic field of the solenoid disappears and separates from the ferromagnet. The spring pushes the ferromagnet backward, thereby driving the pressure-applying part backward. The pressure-applying part is controlled by the switch of the solenoid to provide a forward propulsion force to the sacrum. The power source is a battery.

[0017] Furthermore, the present invention also provides an internal power source, which is a power device installed on the soles of the user's shoes, including fluid bags arranged on the soles of the user's two shoes. The sacrum stimulation device is two independent left and right fluid bags, which are respectively against the left and right sides of the sacrum. The fluid bags are cross-connected by fluid tubes. That is, when the left foot steps down, the fluid in the fluid bag of the left shoe enters the independent fluid bag on the right, so that the independent fluid bag on the right pushes the right side of the sacrum forward. When the right foot steps down, the fluid in the fluid bag of the right shoe enters the independent fluid bag on the left, so that the independent fluid bag on the left pushes the left side of the sacrum forward.

[0018] The fluid in the fluid bag is air.

[0019] Furthermore, the internal power source also includes a power structure installed on the soles of the user's shoes, including piezoelectric conversion units arranged on the soles of the user's two shoes. The piezoelectric conversion units are cross-connected to the left and right solenoid structures through cables. That is, when the user puts down his left foot and steps on the shoe to apply pressure, the piezoelectric conversion unit of the left shoe outputs current to the solenoid structure on the right, and the pressure-applying part on the right provides a forward propulsion force to the right side of the sacrum. When the user steps on the shoe with his right foot to apply pressure, the piezoelectric conversion unit of the right shoe outputs current to the solenoid structure on the left, and the pressure-applying part on the left provides a forward propulsion force to the left side of the sacrum.

[0020] The beneficial effects of the present invention are:

[0021] This invention utilizes sacral stimulation. Unlike existing walking aids, this device stimulates hip rotation, encouraging the legs to naturally move forward, making walking easier without reducing muscle output. While assisting walking, it effectively alleviates weakness. Existing devices from other companies use external levers and other components to directly assist leg movement, effectively weakening leg muscles.

[0022] Therefore, the walking assist device manufactured based on the present invention can make use of and strengthen the walking ability that a person already possesses, regardless of whether the person ages or develops walking ability defects. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the present invention;

[0024] Figure 2 It is a crank structure;

[0025] Figure 3 It is a solenoid structure;

[0026] Figure 4 Provides real-time analysis of voltage signals for the external power source of the present invention;

[0027] Figure 5 Fluid-powered walking devices;

[0028] Figure 6 a piezoelectrically powered walking device;

[0029] Among them: sacral stimulation device-1, pelvic fixation device-2, control device-3, acceleration sensor-4, centrifugal wheel-5, crank-6, pressurizing part-7, solenoid-8, spring-9, fluid bag-10, fluid tube-11, piezoelectric conversion unit-12, cable-13, motor-14, pressurizing channel-15, ferromagnet-16, connecting rod-17, centrifugal wheel fixing position-51. DETAILED DESCRIPTION

[0030] The present invention will be further described below with reference to the accompanying drawings.

[0031] In the description of the present invention, it should be understood that the terms "center", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0032] In the description of the present invention, it should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0033] Figure 1The basic structure of the present invention consists of a sacral stimulation device 1 and a pelvic fixation device 2. The sacral stimulation device 1 is connected to a control device 3. The control device 3 receives walking start and stop signals transmitted by the acceleration sensor and determines whether the stimulation time is appropriate. The sacral stimulation device 1 is controlled by the control device to activate left or right sacral stimulation. By applying forward thrust to the left and right sides of the sacrum, the person walking on the raised leg is encouraged to move forward.

[0034] Figure 2 The sacrum stimulation device 1 in the present invention is an example of a crank structure. The sacrum stimulation device is a crank structure with two symmetrically arranged left and right sides. The crank structure includes a centrifugal wheel 5 and a crank 6. A centrifugal wheel fixing position 51 is provided at a non-center position of the wheel disc of the centrifugal wheel 5. One end of the crank 6 is fixedly connected to the centrifugal wheel fixing position 51, and the other end is connected to the pressurizing part 7. The pressurizing part 7 is located in the pressurizing channel 15. The pressurizing channel 15 is fixed on the pelvic fixing device 2. The front end opening of the pressurizing channel 15 corresponds to the positions on both sides of the human sacrum. The power source is connected to the centrifugal wheel 5 in a transmission manner, which can push the centrifugal wheel 5 to rotate around its own wheel center, and then drive the pressurizing part 7 to move forward and backward in the pressurizing channel 15 through the crank 6. When the pressurizing part 7 moves forward, it can provide a forward propulsion force to the sacrum.

[0035] Figure 3 The sacral stimulation device 1 in the present invention is an example of a solenoid structure. The sacral stimulation device is a solenoid structure with two symmetrically arranged left and right sides. The solenoid structure includes a solenoid 8, a spring 9, a ferromagnet 16 and a pressure part 7. The pressure part 7 corresponds to the positions on both sides of the human sacrum and is connected to the ferromagnet 16 through a connecting rod 17 passing through the solenoid 8. The connecting rod 17 is a non-metallic material. The solenoid 8 is fixed on the pelvic fixation device 2. One end of the spring 9 is connected to the ferromagnet 16 and the other end is connected to the solenoid 8. The solenoid 8 is connected to a power source. When the solenoid 8 is energized, the solenoid 8 generates a magnetic field to attract the ferromagnet 16 and compress the spring 9, thereby driving the pressure part 7 forward through the ferromagnet 16. When the solenoid 8 is de-energized, the magnetic field of the solenoid 8 disappears and separates from the ferromagnet 16. The spring 9 pushes the ferromagnet 16 to move backward, thereby driving the pressure part 7 to move backward. The pressure part 7 is controlled by the switch of the solenoid 8 to provide a forward propulsion force to the sacrum.

[0036] When the control device 3 receives the signal from the acceleration sensor 4 to control the sacral stimulation device 1, the judgment of the signal, that is, the timing of stimulation, is very important. The timing of stimulation starts when the foot is lifted and kicked back and the foot is ready to fall forward (when the weight has begun to shift to the other foot). The sacral stimulation device 1 on the side of the foot is started to push the pelvis on that side to rotate forward until the foot falls down and the leg stands straight. This period is the object period of applying stimulation to the sacrum. The longest time is the action period, and the time shorter than this period is the optimal stimulation period. The acceleration sensor 4 can be installed on the thigh or arm to sense the timing of the thigh being lifted up or the arm being lifted up. The detection method of the stimulation timing can also be carried out by external analysis of the action image. Finally, the signal is transmitted to the control device 3 through the acceleration sensor 4 to start the stimulation action.

[0037] The signals of the above two external power source embodiments are received by the acceleration sensor 4 installed on the foot, which is a signal output by the gyroscope. The gyroscope detects the time from the back leg stepping on the ground to stepping forward, and the motor 14 or solenoid 8 is controlled by the control device 3 to apply a forward thrust to the sacrum on the side of the foot through the movement of the pressure part 7.

[0038] The signal applied to the motor 14 or the solenoid 8 is analyzed in real time as follows Figure 4 As shown in FIG, in the cycle T1 from the left foot being lifted backward to the forward downward drop, the left side of the sacrum is stimulated, and in the cycle T2 from the right foot being lifted backward to the forward downward drop, the right side of the sacrum is stimulated. In this way, the two sides of the sacrum are alternately stimulated while walking, promoting forward walking.

[0039] Figure 5 This is an embodiment of the present invention using an internal power source. The sacral stimulation device 1 is a solenoid structure. Piezoelectric conversion units 12 are provided on the bottoms of the user's two shoes. The two solenoids 8 are cross-connected by cables 13. The user puts down his left foot and steps on the shoe to apply pressure. The piezoelectric conversion unit 12 of the left shoe outputs current to the solenoid 8 on the right. The right-side pressure-applying part 7 of the sacral stimulation device 1 stimulates the right side of the sacrum to drive the right leg forward. The user puts down his right foot and steps on the shoe to apply pressure. The piezoelectric conversion unit 12 of the right shoe outputs current to the left-side solenoid 8. The left-side pressure-applying part 7 of the sacral stimulation device 1 stimulates the left side of the sacrum to drive the left leg forward. By dropping and lifting the left and right feet, stimulation is applied alternately to the left and right sides of the sacrum.

[0040] Figure 6This is another embodiment of the present invention using an internal power source. The sacral stimulation device 1 has two independent air bags corresponding to the two sides of the sacrum. The user's left and right shoes have fluid bags 10 on the soles of the shoes. The fluid bags 10 contain air. The fluid bags 10 on the left and right soles are cross-connected to the two independent air bags of the sacral stimulation device 1 through fluid tubes 11. That is, when the left foot steps down, the air in the fluid bag 10 drives the right side air bag of the sacral stimulation device 1 to stimulate the right side of the sacrum and drive the right leg forward. When the right foot steps down, the air in the fluid bag 10 drives the left side air bag of the sacral stimulation device 1 to stimulate the left side of the sacrum and drive the left leg forward. The fluid bag 10 is always kept fully inflated and is provided with an air guide valve.

[0041] Under the stimulation of the sacrum by the present invention, the user feels as if the sacrum on the side of the raised leg is pushed. The user is stimulated and the waist naturally rotates, so that the pelvis on the side of the raised thigh is located in front. Through the rotation, the stride length increases, achieving "fast walking".

[0042] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions based on the principles of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A walking assist device, characterized in that: The invention comprises a sacral stimulation device (1), wherein the sacral stimulation device (1) is used to provide a forward propulsion force to the sacral side of the user's leg when the user is walking; The sacrum stimulation device (1) is mounted on a pelvic fixing device (2), and the pelvic fixing device (2) is worn and fixed on the waist and hips and can be adjusted in shape according to the shape and size of the user's pelvis; The walking assist device further comprises a control device (3), the control device (3) being connected to the acceleration sensor (4) and the sacral stimulation device (1), the control device (3) being capable of receiving a start / stop signal of the sacral stimulation device (1) transmitted by the acceleration sensor (4), and controlling whether the sacral stimulation device (1) applies a forward thrust to the sacrum; The timing when the acceleration sensor (4) transmits the start signal to the sacral stimulation device (1) is from the time when the user lifts the foot and kicks backward to the time when the foot is about to fall forward, and the control device (3) controls the sacral stimulation device (1) to provide a forward propulsion force to the sacrum side of the foot; The timing when the acceleration sensor (4) transmits the stop signal of the sacral stimulation device (1) is the period when the user's foot falls down and the leg stands straight. During this period, the control device (3) controls the sacral stimulation device (1) to stop providing propulsion force to the sacrum side of the foot.

2. The walking assist device according to claim 1, wherein The walking assist device further comprises a power source, and the power source is used to provide power for the sacral stimulation device (1).

3. The walking assist device according to claim 2, wherein: The sacrum stimulation device (1) is a crank structure symmetrically arranged on the left and right sides. The crank structure includes a centrifugal wheel (5) and a crank (6). A centrifugal wheel fixing position (51) is provided at a non-center position of the wheel disc of the centrifugal wheel (5). One end of the crank (6) is fixedly connected to the centrifugal wheel fixing position (51), and the other end is connected to the pressurizing part (7). The pressurizing part (7) is located in the pressurizing channel (15). The pressurizing channel (15) is fixed on the pelvic fixing device (2). The front end opening of the pressurizing channel (15) corresponds to the positions on both sides of the human sacrum. The power source is connected to the centrifugal wheel (5) in a transmission manner. The power source can drive the centrifugal wheel (5) to rotate around its own wheel center, and then drive the pressurizing part (7) to move forward and backward in the pressurizing channel (15) through the crank (6). When the pressurizing part (7) moves forward, it can provide a forward driving force to the sacrum.

4. The walking assist device according to claim 2, wherein: The sacral stimulation device (1) is a solenoid structure with two symmetrically arranged left and right sides. The solenoid structure includes a solenoid (8), a spring (9), a ferromagnet (16) and a pressure part (7). The pressure part (7) corresponds to the positions on both sides of the human sacrum. The pressure part (7) is connected to the ferromagnet (16) through a connecting rod (17) passing through the solenoid (8). The connecting rod (17) is made of non-metallic material. The solenoid (8) is fixed on the pelvic fixing device (2). One end of the spring (9) is connected to the ferromagnet (16), and the other end is connected to the ferromagnet (16). The end is connected to the solenoid (8), and the solenoid (8) is connected to the power source. When the solenoid (8) is energized, the solenoid (8) generates a magnetic field to attract the ferromagnet (16) and compress the spring (9), thereby driving the pressurizing part (7) to move forward through the ferromagnet (16). When the solenoid (8) is de-energized, the magnetic field of the solenoid (8) disappears and separates from the ferromagnet (16), and the spring (9) pushes the ferromagnet (16) to move backward, thereby driving the pressurizing part (7) to move backward. The pressurizing part (7) is controlled by the switch of the solenoid (8) to provide a forward driving force to the sacrum.

5. The walking assist device according to claim 3, wherein: The power source is a motor (14).

6. The walking assist device according to claim 4, wherein: The power source is a battery.

7. The walking assist device according to claim 2, wherein: The power source is a power device installed on the bottom of the user's shoes. The power device includes fluid bags (10) arranged on the bottom of the two shoes of the user. The sacral stimulation device (1) is two independent fluid bags on the left and right sides. The two independent fluid bags are respectively placed on the left and right sides of the sacrum. The fluid bags (10) are cross-connected to the two independent fluid bags through a fluid tube (11). That is, when the left foot steps on the left, the fluid in the fluid bag (10) of the left shoe enters the independent fluid bag on the right side, so that the independent fluid bag on the right side pushes the right side of the sacrum forward. When the right foot steps on the right, the fluid in the fluid bag (10) of the right shoe enters the independent fluid bag on the left side, so that the independent fluid bag on the left side pushes the left side of the sacrum forward.

8. The walking assist device according to claim 7, wherein: The fluid in the fluid bag (10) is air.

9. The walking assist device according to claim 4, wherein: The power source is a power structure installed on the bottom of the user's shoes. The power structure includes piezoelectric conversion units (12) arranged on the bottom of the two shoes of the user. The piezoelectric conversion unit (12) is cross-connected to the left and right solenoid structures through cables (13). That is, when the user puts his left foot on the shoe and applies pressure, the piezoelectric conversion unit (12) of the left shoe outputs current to the solenoid structure on the right, and the pressure-applying part (7) on the right provides a forward driving force to the right side of the sacrum. When the user puts pressure on the shoe with his right foot, the piezoelectric conversion unit (12) of the right shoe outputs current to the solenoid structure on the left, and the pressure-applying part (7) on the left provides a forward driving force to the left side of the sacrum.

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