User Attachment for Gait and Balance Rehabilitation Devices

Abstract

A user attachment for a gait rehabilitation device, which provides a user (20) with the possibility of receiving support during walking in a walking direction (70). A harness (30) is attached to the body of the user (20) and can be connected to a weight support device (40). The connecting member is a driven attachment arm (50) attached to the weight support device (40) and can be detachably connected to the harness (30). The driven attachment arm (50) is connected to the harness attachment element (55) via a double parallelogram unit (51, 52, 53, 54, 81 to 85). A guide attachment arm (60) can be connected to the weight support device (40) and can be detachably connected to the harness attachment element (55) for rotational connection of the driven attachment arm (50) to the guide attachment arm (60).

Description

Technical Field

[0001] The present invention relates to a user attachment for a gait and balance rehabilitation device. Background Art

[0002] WO 2014 / 202767 from the applicant discloses a device for gait rehabilitation having a pelvic attachment fixed to the device from behind and a cuff for the leg attachment fixed to a driving guide leg provided on the outside of each leg of a user of the device.

[0003] US 2015 / 0328078 A1 discloses a gait rehabilitation device that uses a guide leg disposed behind a user's leg. The guide leg is connected to a cuff on the leg via four attachment members disposed at a guide hip joint, a guide knee joint, a guide ankle joint, and a guide foot.

[0004] EP 2 881 008 A1 relates to a walking training device having a safety belt for the upper body and a seat for the user extending forward between the legs like a bicycle saddle. The user's legs are connected to a leg actuation mechanism comprising a three-dimensional parallelogram structure via cuffs.

[0005] EP 1 728 492 A1 discloses a device for limb assistance, which includes a body attachment, a connecting rod for the thigh and a knee joint unit, a connecting rod for the calf, a lower limb attachment, a drive unit and a knee joint actuator. The body attachment is attached to the user's torso. The connecting rod for the thigh is placed next to the user's thigh and is connected to the body attachment. The connecting rod for the calf is placed next to the user's calf and is connected to the connecting rod for the thigh via the knee joint unit. The lower limb attachment is attached to one of the user's calf and foot and is connected to the connecting rod for the calf. The knee joint actuator is placed in the body attachment so as to apply a rotational torque to the knee joint unit via the drive unit.

[0006] US 8 608 674 B2 discloses a pelvic joint comprising a body attachment module having a waist attachment and a back attachment. The joint further comprises an arm assembly coupled to the body attachment module, the arm assembly comprising a plurality of arms coupled to each other and / or to the body attachment module to allow at least one pelvic translational degree of freedom and at least one pelvic rotational degree of freedom of the body attachment module. The joint further comprises a motor coupled to the arm assembly to actuate the at least one pelvic translational degree of freedom and the at least one pelvic rotational degree of freedom.

[0007] CN 105 726 266 A discloses a swing joint device comprising: a driving shaft member; a first swing arm, which is supported in a swingable manner around the driving shaft member; a driven shaft member, which is arranged parallel to the driving shaft member; an interlocking swing member, which swings around the driven shaft member in a manner interlocked with the swing of the first swing arm; an elastomer, which is connected to the interlocking swing member to generate a pushing force in a direction opposite to the interlocking swing direction of the interlocking swing member; a stiffness variable part, which changes the stiffness of the elastomer observed from the interlocking swing member; a first angle detection part, which detects a swing angle; and a control part, which controls the stiffness variable part according to the swing angle detected by the first angle detection part to adjust the stiffness of the elastomer observed from the interlocking swing member. Summary of the Invention

[0008] To use any gait rehabilitation device, the user must be positioned as shown in the drawings of prior art devices. Typically, the user is seated in a wheelchair, and various gait rehabilitation devices, especially when connected to a treadmill unit, do not provide much space for the user to conveniently "load" the device. This is true even if the user can tolerate the use of the gait rehabilitation device. If the user is suspended from above, a harness can be provided for the user and attached to the cables of the lifting device. However, this approach is not possible with devices that attach the pelvis from behind.

[0009] The object of the present invention is to provide an improved solution for user attachments independent of applications for gait and / or balance rehabilitation.

[0010] A user attachment for a device for gait and balance rehabilitation is disclosed, which provides the user with the possibility of receiving support during walking in a walking direction. A harness can be attached to the user's body. Upper body attachment is generally understood to be at the torso or pelvis. A driven attachment arm is configured to be attached to a weight-supporting device, and these elements can be connected to the harness in a detachable manner, the driven attachment arm having a harness attachment element. The driven attachment arm is connected to the harness attachment element via a link assembly including a link attachment arm. A guide attachment arm is configured to be attached to the weight-supporting device and to be rotatably connected to the harness attachment element or the link attachment arm for a rotational connection of the driven attachment arm to the guide attachment arm.

[0011] The driven attachment arm may include a support arm and a link arm, wherein the support arm is rotatably attached to a first rotation axis at the weight support device at one end, and the support arm provides a second rotation axis at its other end, wherein the link arm is rotatably connected to the support arm at the second rotation axis at one end, and the link arm provides a third rotation axis at its other end, wherein the strap attachment element is rotatably connected at the third rotation axis.

[0012] The guide attachment arm may include a support arm and a link guide arm, wherein the support arm is rotatably attached to a fourth rotation axis at the weight support device at one end, and the support arm provides a fifth rotation axis at its other end, wherein the link guide arm is rotatably connected to the support arm at the fifth rotation axis at one end, and the link guide arm provides a rotatable connection member at its other end, which is connected to the strap attachment element or the link attachment arm for the said rotational connection of the driven attachment arm with the guide attachment arm.

[0013] In the last-mentioned user attachment, none, one or at least two of the first, second, fourth and fifth rotation axes may be selected as driven axes.

[0014] The aforementioned fourth axis of rotation is preferably parallel to the first axis of rotation, and wherein these two axes are substantially perpendicular to each other.

[0015] It is also possible that the first rotation axis of the driven attachment arm and the fourth rotation axis of the guiding attachment arm are concentric with each other, which is Figure 8 Shown in.

[0016] In a preferred embodiment, the driven attachment arm comprises a force transmitting parallelogram mechanism, wherein the force transmitting parallelogram mechanism is connected between the first rotation axis and the harness attachment element for orienting the harness attachment element and the attached harness.

[0017] The force-transmitting parallelogram mechanism can have parallelogram arms connected at a first axis of rotation, wherein the parallelogram arms are fixed, passively rotated, or actively driven.

[0018] The first and / or fourth rotational axes may include torque sensors to control the rotation via horizontal force measurement. This configuration allows for control of planar forces on the body, which aids in interactive support of a person's balance during walking.

[0019] A device for gait and balance rehabilitation comprises a main frame which provides a user with the possibility of being supported during walking in a walking direction within the main frame, and also comprises weight support means and a user attachment as described above.

[0020] The weight support device in such an apparatus can be divided into a first weight support unit and a second weight support unit, wherein the driven attachment arm is attached to the first support unit and the guide attachment arm is attached to the second weight support unit. Then, in a manner that is spaced apart from each other in a transverse direction taking into account the user's intended walking direction, the driven attachment arm is attached to the first weight support unit and the guide attachment arm is attached to the second weight support unit, respectively.

[0021] Preferably, in this last-mentioned arrangement, the connection between the leading attachment arm and the driven attachment arm at the harness attachment element or the link attachment arm is detachable. It is advantageous if the connection comprises a receptacle for a pin, which is oriented orthogonally relative to the link arms and is therefore parallel to each of the pivot axes of the two link arms. This receptacle comprises a closable jaw, which is configured to be opened to allow the pin to be introduced and accommodated in the receptacle by a simple relative pivoting movement between the two link arms and subsequent closing of the jaws, thereby securing the closed bearing for the in-plane movement of the pin's axis by the pivoting movement of the link arms.

[0022] The advantage of the user attachment as described above is that it provides a simple and convenient way of attaching a user to any gait training device, in particular a treadmill and a leg cuff which is usually already positioned above the treadmill. A method then comprises the following steps:

[0023] - taking into account the direction of walking into the vicinity of one or more lateral weight support devices, pivoting the driven attachment arm and the leading attachment arm towards one or two parking positions to one or two opposite sides,

[0024] - taking into account the walking direction, moving the user from behind one or both lateral weight supports until the user's back is in front of the harness attachment elements,

[0025] - Pivoting the driven attachment arm and the guiding attachment arm from the parking position to a use position for attaching the harness attachment element to a user's harness.

[0026] When the parking position is split on both sides, the last-mentioned step is followed by a closing step, which connects the driven attachment arm and the guiding attachment arm at the rotation connection point at the free ends of both the driven attachment arm and the guiding attachment arm, thereby effectively providing a two-sided support for the user.

[0027] Further embodiments of the invention are given in the dependent claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, which are for the purpose of illustrating the preferred embodiments of the present invention, rather than for the purpose of limiting the preferred embodiments of the present invention.

[0029] Figure 1 shows a schematic top view of a user attachment for a gait rehabilitation device positioned behind a user;

[0030] Figure 2 Shown when the user is attached in the middle of the device Figure 1 A schematic top view of a gait rehabilitation device;

[0031] Figure 3 Shown as the user moves forward and to one side of his or her walking direction Figure 2 A schematic top view of

[0032] Figure 4 shows a schematic top view of another user attachment for a gait rehabilitation device positioned behind a user in a central position;

[0033] Figure 5 Shown when the user is in the left front position relative to the device Figure 4 A schematic top view of a gait rehabilitation device;

[0034] Figure 6 Shown when the user is in a rearward, right-hand position relative to the device Figure 4 A schematic top view of a gait rehabilitation device;

[0035] Figure 7 Shown when the user is in the left position relative to the device and rotates to the right position Figure 4 A schematic top view of a gait rehabilitation device;

[0036] Figure 8 shows a schematic top view of another user attachment for a gait rehabilitation device positioned behind a user in a central position; and

[0037] Figure 9 Shown for Figure 1 Detailed view of an embodiment of the connection between the link arms of a gait rehabilitation device. DETAILED DESCRIPTION

[0038] Figure 1A schematic side view of a user attachment for a gait rehabilitation device is shown, which is located behind a user 20. This device for gait rehabilitation comprises a main frame which provides the user 20 with the possibility of being supported during walking in a walking direction 70 within the main frame.

[0039] The harness 30 is attached to the upper body of the user 20. This can be done while the user 20 is standing or while the user 20 is sitting in a wheelchair.

[0040] The weight support device 40 is shown as having two sides, one on each side of the user 20 generally including a vertical post at which a driven attachment arm 50 is connected. The driven attachment arm 50 can be removably connected to the harness 30. Figures 4 to 7 In other embodiments shown, all portions of the weight support device 40 may be positioned behind the user, while in other embodiments, all portions may be positioned to one side, providing greater access to the user for a third person assisting the user.

[0041] As the user moves, he or she moves with support, partial support, or even no support from the driven attachment arm 50 and other elements of the weight support device 40. The amount of support can be adjusted according to the user's abilities and needs. This also applies to Figures 4 to 7 implementation method.

[0042] The driven attachment arm 50 includes a support arm 51, a link arm 52, force transmission parallelogram mechanisms 81, 82, 83, 84, and 85, and a harness attachment element 55. The support arm 51 is rotatably attached to the first rotation axis 41 at the weight support device 40 at one end, and provides a second rotation axis 53 at its other end. The link arm 52 is rotatably connected to the support arm 51 at the second rotation axis 53 at one end, and provides a third rotation axis 54 at its other end. Finally, the harness attachment element 55 is rotatably connected to the third rotation axis 54.

[0043] The force-transmitting parallelogram mechanism includes a distal connector 81 rotatably connected to the first rotation axis 41, a first parallelogram rod 82 rotatably connected to the other end of the connector 81, and a double-arm lever 83 rotatably connected to the other end of the first parallelogram rod 82. The double-arm lever 83 is rotatably connected to the support arm 51 and transmits the driven rotational motion of the connector 81 to the second parallelogram rod 84 via the rotational joint between the support arm 51 and the link arm 52. The second parallelogram rod 84 transmits this motion to the harness attachment element 55 via the proximal connector 85. The proximal connector 85 is rotatably connected to the link arm 52 at the third rotation axis 54 and is rotatably connected to the end of the second parallelogram rod 84.

[0044] Driven rotation of the distal connector 81 about the first rotational axis 41 rotates and drives the harness attachment element 55 for orienting the harness attachment element 55 and the attached harness 30 .

[0045] Preferably, a first drive is provided for rotating the support arm 51 about the first rotation axis 41. A second drive rotates the support arm 61 about the fourth rotation axis 42. A third drive rotates the distal connector 81 about the first vertical axis 41. The other axes with reference numerals 53, 54, 63, 64 and the connecting joints between 81 and 82, 82 and 83, 83 and 84, and 84 and 85 can rotate freely.

[0046] The third drive provides for rotation of the harness attachment element 55 about the vertical axis via parallelograms 81 to 85 .

[0047] When the connection 64 between the units 50 and 60 is closed, the first and second actuators cooperate to move the position of the harness attachment element 55 in the horizontal plane. In symbolic terms, if the first and second actuators operate in the same direction, the harness attachment element 55 moves in the direction of movement, and if the first and second actuators rotate in opposite directions, the movement is transverse.

[0048] Additional drives may be included in the weight support unit 40, such as one drive for varying the unloading force and another drive for lifting the mechanism.

[0049] Figure 2 Shown when the user 20 is attached in the middle of the device Figure 1 A schematic top view of a gait rehabilitation device; and Figure 3 Shown when the user 20 moves to the side of his walking direction 70 Figure 2 Schematic top view of .

[0050] The fourth rotation axis 42 is parallel to the first rotation axis 41, and the two axes 41, 42 are substantially vertical in the distance between the two parts that allow the user to enter the weight support device 40. Taking into account the expected walking direction 70 of the user 20, that is, the user 20 can pass from behind between the driven attachment arm 50 and the guide attachment arm 60 in the walking direction 70, the two axes 41, 42 are arranged at a certain distance from each other in the lateral direction.

[0051] Although all of the axes 41, 42, 53, 54, 63, 64 and the connecting joints between 81 and 82, 82 and 83, 83 and 84, and 84 and 85 are preferably vertical, some embodiments may tilt some or all of them relative to vertical, for example to compensate for a user leaning forward, for example, by 10°, during walking. The tilt may also be selected to deviate only slightly from vertical to allow for some deviation from vertical.

[0052] For embodiments where driven rotation of the harness attachment element is not required, the third drive at the rotational axis 54 may be replaced by a rigid attachment of the distal connector 81 to the weight support device 40 or by rotatably attaching the distal end of the first parallelogram connector to the weight support device.

[0053] Figure 4 A schematic top view of another user attachment for a gait rehabilitation device is shown, which is positioned behind a user in a central position. For identical or similar features, the reference numerals are the same. Figure 1 According to Figure 4 The main difference between the embodiments is that the two arms 50 and 60 are Figure 4 is attached to one side of the weight support device 40, and for Figure 1 , arms 50 and 60 are attached at two opposite sides.

[0054] Any embodiment of the device can be provided without any driven shafts. However, it is preferred to have two driven arms, for example at the rotation axis 41 and the rotation axis 42. However, it is also possible to have two actuators on one arm, for example at the axes 41 and 53, so that the guide arm 60 has no actuator, or vice versa. It is also possible to have more than two actuators, in particular a third actuator at the axis 54, to orient the harness attachment 55. This can also be achieved by a concentric third actuator for the arm 81 in addition to the actuator at the axis 41.

[0055] Figure 5 Shown when the user is in a left front position relative to the device and walking in the direction 70 Figure 4 Schematic top view of a gait rehabilitation device. Figure 6 Shown when the user is in a rearward, right-hand position relative to the device Figure 4 A schematic top view of the gait rehabilitation device, and finally, Figure 7 Shown when the user is in a left side landscape position relative to the device and rotated to a right side position Figure 4 Schematic top view of a gait rehabilitation device.

[0056] Figure 8 A schematic top view of another user attachment for a gait rehabilitation device is shown behind a user in a central position, with the first rotation axis 41 of the driven attachment arm 50 and the fourth rotation axis 42 of the guiding attachment arm 60 being concentric with each other.

[0057] Figure 9 Shown for Figure 1 Detailed view of an embodiment of the connection between the link arms 52 and 62 of a gait rehabilitation device. Preferably, the two link arms 52 and 62 pivot only in the same plane, in particular in the horizontal plane. The pin providing the third rotation axis 54 must then be pivotably enclosed by a rotatable connection 64. The rotatable connection 64 comprises a receiving portion for accommodating the pin of the axis 54 and an opening 66 with opposing jaw surfaces 65. The link arms 52 and 62 can then be pivoted in the plane of the drawing so that the pin 54 can enter the receiving portion 64 via the opening 66 and one or both jaw surfaces 65 can be closed together to provide the desired pivoting link connection.

[0058] Reference Signs List

[0059] 20 users

[0060] 30 Straps

[0061] 40 Weight support device

[0062] 41 First rotation axis

[0063] 42 Fourth rotation axis

[0064] 50 Follower Attachment Arm

[0065] 51 Support Arm

[0066] 52 Link arm

[0067] 53 Second rotation axis

[0068] 54 Third rotation axis

[0069] 55 Strap Attachment Elements

[0070] 60 Guide attachment element

[0071] 61 Support Arm

[0072] 62 Link arm

[0073] 63 Fifth rotation axis

[0074] 64 Rotatable connector

[0075] 65 jaw surface

[0076] 66 Accepting Opening

[0077] 70 Walking Directions

[0078] 81 Remote Connector

[0079] 82 First parallelogram connector

[0080] 83 Double-arm lever

[0081] 84 Second parallelogram connector

[0082] 85 proximal connector

Claims

1. A user attachment for a device for gait and balance rehabilitation, said user attachment providing a user (20) with the possibility of receiving support during walking in a walking direction (70), said user attachment comprising a harness (30) and a horizontal follower attachment arm (50), said harness (30) being attachable to the body of said user (20), said horizontal follower attachment arm (50) being configured to be attached to a weight-supporting device (40) and being detachably connectable to said harness (30) and having a harness attachment element (55), characterized in that The horizontal driven attachment arm (50) includes a support arm (51) and a link attachment arm (52), wherein the support arm (51) is configured to be rotatably attached to a first rotation axis (41) at the weight support device (40) at one end and a second rotation axis (53) is provided at the other end of the support arm (51), wherein the link attachment arm (52) is rotatably connected to the support arm (51) at the second rotation axis (53) at one end and a second rotation axis (53) is provided at the other end of the link attachment arm (52). A third rotation axis (54) is provided at the end, wherein the shoulder strap attachment element (55) is rotatably connected to the third rotation axis (54), and the user attachment also includes a guide attachment arm (60), which is configured to be attached to the weight support device (40) and the guide attachment arm (60) is rotatably connected to the shoulder strap attachment element (55) or the link attachment arm (52) for rotational connection of the horizontal driven attachment arm (50) with the guide attachment arm (60).

2. The user attachment according to claim 1, wherein The horizontal driven attachment arm (50) includes a force transmitting parallelogram mechanism (81, 82, 83, 84, 85), wherein the force transmitting parallelogram mechanism (81, 82, 83, 84, 85) is connected between the first rotation axis (41) and the harness attachment element (55) for orienting the harness attachment element (55) and the attached harness (30).

3. The user attachment according to claim 2, wherein: The force transmission parallelogram mechanism (81, 82, 83, 84, 85) has a parallelogram arm (81) connected to the first rotation axis (41), wherein the parallelogram arm (81) is fixed, passively rotated or actively driven.

4. A user attachment according to claim 1 or 2, wherein: The guide attachment arm (60) includes a support arm (61) and a link guide arm (62), wherein the support arm (61) is configured to be rotatably attached to a fourth rotation axis (42) at the weight support device (40) at one end and a fifth rotation axis (63) is provided at the other end of the support arm (61), wherein the link guide arm (62) is rotatably connected to the support arm (61) at the fifth rotation axis (63) at one end and a rotatable connector (64) is provided at the other end of the link guide arm (62), and the rotatable connector (64) is connected to the shoulder strap attachment element (55) or the link attachment arm (52) for the rotational connection of the horizontal follower attachment arm (50) with the guide attachment arm (60).

5. The user attachment according to claim 4, wherein None of the first, second, fourth and fifth rotating shafts (41, 42, 53, 63) is a driven shaft, and one or at least two of the first, second, fourth and fifth rotating shafts (41, 42, 53, 63) are driven shafts.

6. The user attachment of claim 4, wherein: The fourth rotation axis (42) is parallel to the first rotation axis (41), and wherein the fourth rotation axis (42) and the first rotation axis (41) are substantially vertical.

7. The user attachment of claim 4, wherein: The first rotation axis (41) of the horizontal driven attachment arm (50) and the fourth rotation axis (42) of the guide attachment arm (60) are concentric with each other.

8. The user attachment of claim 4, wherein: The first rotating shaft (41) and / or the fourth rotating shaft (42) includes a torque sensor.

9. A device for gait and balance rehabilitation, comprising a main frame providing a user (20) with the possibility of receiving support during walking in a walking direction (70) within the main frame, wherein A user attachment according to claim 1 or 2 is mounted on the main frame by its weight supporting means (40).

10. The apparatus according to claim 9, wherein The weight supporting device (40) includes a first weight supporting unit and a second weight supporting unit, wherein the horizontal driven attachment arm (50) is attached to the first weight supporting unit and the guide attachment arm (60) is attached to the second weight supporting unit, wherein the horizontal driven attachment arm (50) and the guide attachment arm (60) are attached to the first weight supporting unit and the second weight supporting unit respectively at a certain distance from each other in a transverse direction taking into account the expected walking direction (70) of the user (20).

11. The apparatus according to claim 10, wherein The connection between the guide attachment arm (60) and the horizontal follower attachment arm (50) at the harness attachment element (55) or the link attachment arm (52) is detachable.

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