Leg actuation devices and gait rehabilitation devices

Abstract

A leg actuation device (40) comprising two driven shafts (31, 32), wherein a distal parallelogram mechanism (41, 43, 45, 63 and 42, 44, 46, 64) is attached to each driven shaft, wherein a connector (45 and 46) is attached in a torsionally fixed manner, wherein the other end of the arm (41 and 42) is rotatably connected to an intermediate shaft (51 and 52). A proximal parallelogram mechanism (71, 53, 55, 75 and 72, 54, 56, 76) is rotatably attached to each intermediate shaft (51 and 52) and to a transmission shaft (77, 78) connected to leg attachment elements (21 and 22) to be attached to the upper and lower legs of a user (20). The distal end of the lower parallelogram mechanism (42; 44; 46, 64) and the distal end of the upper parallelogram mechanism (41; 43; 45, 63) can slide freely along the respective first driven shaft and the second driven shaft (31, 32).

Description

Technical Field

[0001] The present invention relates to a leg actuation device and a gait rehabilitation device for driving and / or supporting a limb. 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 leg attachment fixed to a driven 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 using a guide leg arranged behind the user's leg. The guide leg is connected to a cuff at the leg via four attachment members arranged 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 as a bicycle riding saddle. The user's legs are connected to a leg actuation mechanism comprising a three-dimensional parallelogram structure via a cuff.

[0005] KR2018 0026068A relates to a walking rehabilitation device, which includes: a basic frame; a first link, which is connected to the basic frame in terms of rotation and fixed to the thigh of a user; a second link, which is connected to the first link in terms of rotation and fixed to the calf of the user; a third link, one end of which is connected to a first joint that revolves around a reference axis, and the other end of which is connected to the first link; and a fourth link, one end of which is connected to a second joint, the revolving track of the second joint is larger than the track of the first joint and the second joint revolves around the reference axis, and the other end of the fourth link is connected to the second link. When the first joint and the second joint revolve with the same revolving period, the movement of the first link and the second link that simulates the actual movement necessary for walking of the leg is performed by the relative movement of the third link and the fourth link.

[0006] KR 102 016 859B1 relates to a walking assistance device, which includes: a main body; a motion generating unit, which includes a plurality of links and is arranged to be connected to the main body in a rotatable manner to a link structure to generate a basic trajectory in the form of a closed curve, which moves an area in the front-to-back direction and the vertical direction according to the rotation; a motion amplification unit, which is connected to the motion generating unit and is arranged in the link structure to generate a walking trajectory by amplifying the basic trajectory in a predetermined form; and a motion unit, which is arranged in the link structure and connected to the motion amplification unit so as to be driven in a form corresponding to the walking trajectory. Summary of the invention

[0007] Prior art leg actuation devices are cumbersome to use, especially considering that the user is usually additionally supported to stand. The user approaches the gait rehabilitation device when the user is sitting in a chair and then must be lifted up, perhaps already wearing a safety belt to be used in the gait rehabilitation device, and then the leg actuation device must be installed. This is complicated in different prior art devices. Some prior art devices, particularly those from the applicant, allow the user to sit down when attaching it to the device.

[0008] Based on this prior art, the object of the present invention is to improve the usability of any gait rehabilitation device using a leg actuation device by proposing a new method for attaching a leg to such a leg actuation device. Furthermore, such a leg actuation device allows the user to move more flexibly.

[0009] This leg actuation device for a user with a leg actuation mechanism frame includes: a first driven shaft, which is positioned transversely to the walking direction of the user; an upper attachment element for the first leg part of the user, the upper attachment element including a transverse upper transmission shaft; a distal upper parallelogram mechanism, which includes a distal upper support arm, a distal upper parallelogram connector, a distal upper connecting leg part and a distal upper intermediate parallelogram connector, wherein one end of the distal upper support arm is rotatably attached to the first driven shaft, wherein the other end of the distal upper support arm provides an intermediate shaft for the distal upper parallelogram mechanism, wherein one end of the distal upper parallelogram connector is connected to the first driven shaft to rotate in a torsionally fixed manner, wherein the distal upper connecting leg part and the distal upper intermediate parallelogram connector are rotatably connected to the distal upper parallelogram connector. The intermediate shafts are connected in series in a rotatable manner; and a proximal upper parallelogram mechanism, which includes a proximal upper supporting arm, a proximal upper intermediate parallelogram connector, a proximal upper connecting leg portion and a proximal upper parallelogram connector, wherein one end of the proximal upper supporting arm is rotatably attached to the intermediate shaft, wherein the other end of the proximal upper supporting arm is rotatably attached to the upper transmission shaft, wherein the proximal upper intermediate parallelogram connector, the proximal upper connecting leg portion and the proximal upper parallelogram connector are rotatably connected in series between the intermediate shaft and the upper transmission shaft, wherein the distal upper intermediate parallelogram connector and the proximal upper intermediate parallelogram connector are connected to rotate in a torsion-resistant manner, and the proximal upper parallelogram connector and the upper attachment element are connected to rotate in a torsion-resistant manner.

[0010] The transmission axis at the upper attachment element is defined as the "upper transmission axis". This does not mean that an upper attachment element is provided for the upper leg of the user and a lower attachment element is provided for the lower leg. A single attachment element may be provided for the lower leg and a second attachment element may be added later for the upper leg.

[0011] One benefit of the device includes that the mechanism does not need to be adjusted in length depending on the patient size. The device can be installed in a sitting position and can, in principle, support both sit-to-stand and stand-to-sit movements. The system allows the patient to walk freely forward / backward or left or right relative to a central position on a treadmill or on the ground while always obtaining consistent support in the sagittal plane.

[0012] In short, the leg actuation device comprises one or more driven shafts, wherein a distal parallelogram mechanism is attached to each driven shaft, wherein an arm is attached in a torsionally fixed manner, wherein the other end of the arm is rotatably connected to an intermediate shaft. A proximal parallelogram mechanism is rotatably attached at each intermediate shaft and at a transmission shaft connected to a leg attachment element to be attached to the upper leg and / or the lower leg of the user, wherein the distal end of the lower parallelogram mechanism and / or the distal end of the upper parallelogram mechanism can slide freely along the respective first and second driven shafts.

[0013] The advantage is that, independently of the weight support unit used in the gait rehabilitation device, initially the user can be "connected" to the weight support part of the gait rehabilitation device and then the leg actuation device for both legs can be easily attached from the front of the user standing or sitting. The parallelogram device can be laterally shifted on the driven axis to easily connect the leg retaining cuffs in the correct lateral position of the parallelogram and during the user's movement, the upper and lower legs may not be completely aligned in the direction of walking.

[0014] The mounting according to the invention avoids any need to match any joints between the device and the patient. This completely prevents all shear forces and discomfort caused by possible misalignment, which means that the device is much less dependent on the quality of the patient mounting. As mentioned above, independence of position means no joint mismatch and no height adjustment, but independent adjustments etc. are possible. This also reduces mounting time.

[0015] Instead of the free sliding of the distal ends of the upper parallelogram mechanisms mentioned above, the distal ends of these upper parallelogram mechanisms may be connected to an actuator for driven movement along the first driven axis.

[0016] Furthermore, the device may include an abutment for fixing the extreme position of the distal end of the upper parallelogram mechanism on the first driven shaft to ensure the extreme movement of the user's legs and in particular to avoid damage to the knees.

[0017] The leg actuation device may have a dual distal parallelogram mechanism attached to an existing distal upper support arm. The dual distal parallelogram mechanism includes a dual distal parallelogram connector, a dual distal connection leg portion, and a dual distal intermediate parallelogram connector, wherein one end of the dual distal parallelogram connector is connected to the first driven shaft to rotate in a torsionally fixed manner. The dual distal connection leg portion and the dual distal intermediate parallelogram connector are rotatably connected in series between the dual distal parallelogram connector and the intermediate shaft.

[0018] The terms "upper" and "lower" are chosen to distinguish between two different actuating parts of the device. In the drawings of the illustrated embodiment, the difference between the "upper" and the "lower" "actuating device" is the double parallelogram in the lower part. This extension of the parallelogram serves to allow a larger working space, i.e. the range of motion. In theory, the upper device could be attached to the lower leg, but this would limit the range of motion too much to allow normal walking. On the other hand, the "lower" actuating solution solves a more complex problem than the upper one due to the added functionality. Therefore, this second parallelogram can also be added to the "upper" actuating solution to extend the range of motion, which in some cases may be too limited. So this double parallelogram can be applied to all links.

[0019] The angle between the distal parallelogram connector and the double distal parallelogram connector can be between 40 and 120 degrees, preferably between 60 and 120 degrees, and in particular 90 degrees. These 90 degrees will provide the minimum possible force on the push rod for a given torque. The reason for taking angles different from the given intervals is to make the part fit all four connecting rods and to make the push rod pass the connecting axis in all positions.

[0020] The proximal connecting leg portions can each include a force sensor to measure the torque applied to the upper and lower transmission shafts. This allows for more control options, feedback, and flexibility when the device is applied to different users. In other embodiments, the force sensor can be placed in another part of the distal connecting leg portion or parallelogram mechanism. The sensor can also be positioned on the proximal rod to eliminate the need to lay cables on the first connecting rod.

[0021] The leg actuation mechanism frame may include one or more abutments to limit the rotation of the driven shaft for the lower leg and for the upper leg, in particular to limit the movement of the parallelogram mechanism to avoid overextension of the knee joint. This is related to the mechanical limitation of the shank angle dependent on the thigh angle, which allows the safe use of two other independent torques.

[0022] Combination Figure 7 The description of the "on-ground" fixture embodiment shows that the definition of "lower leg" or "upper leg" in the specification and claims is only used to distinguish between the above-ground fixture and the above-ground fixture. Figures 1 to 6 and Figure 8 to Fig.11 If the device according to these drawings is based on Figure 3 The implementation method is as follows Figure 7 If the trolley is mounted on the ground as shown in FIG, the roles of the lower leg section and the upper leg section will become reversed.

[0023] Further embodiments of the invention are listed in the dependent claims.

[0024] Another advantage of the leg actuation device according to the present invention is that it can be applied in a device for gait rehabilitation, the device comprising a main frame and two leg actuation devices according to the present invention, the main frame providing the possibility of receiving body weight and posture support for the user during walking in the main frame, the two leg actuation devices are both attached to the main frame, wherein one leg actuation device comprises a first leg actuation mechanism frame for the right leg, and the other leg actuation device comprises a second leg actuation mechanism frame for the left leg. The main frame may comprise a treadmill, wherein the first leg actuation mechanism frame and optionally the second leg actuation mechanism frame are attached with the above-mentioned features. The main frame may also comprise a vertical support located at the side of the main frame to provide a weight bearing mechanism to be attached to a body safety belt worn by the user. If there is no treadmill as shown in the accompanying drawings, the leg actuation mechanism frame may only be connected to rollers to allow the user to walk on the ground. WO2008 / 040554 (A1) of the present applicant provides a possibility for such an assembly.

[0025] Such an apparatus for gait rehabilitation may also include a treadmill for the user to walk on.

[0026] Such a device for gait rehabilitation may also have a main frame comprising at least one set of rollers defining a surface onto which the device for gait rehabilitation is displaced by a walking user. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, which is 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.

[0028] Figure 1 A schematic perspective view of a portion of a gait rehabilitation device with a leg model is shown, wherein a leg actuation device for the gait rehabilitation device is shown,

[0029] Figure 2 Shows Figure 1 Front view of

[0030] Figure 3 Shows Figure 1 Side view of

[0031] Figure 4 Shows something like Figure 3 Another side view of;

[0032] Figure 5 Shows Figure 4 A schematic diagram of a side view of;

[0033] Figure 6 Shows Figure 1Detailed side view of the attachment of the driven shaft;

[0034] Figure 7 Shows that with Figure 3 A schematic side view of a portion of a second gait rehabilitation device of a leg model similar to the embodiment shown in , wherein the leg actuator mechanism frame is mounted on the ground;

[0035] FIG8 illustrates a front view of a portion of a different crank mechanism provided for another embodiment of a leg actuation device;

[0036] FIG. 9 shows a top view of the mechanism according to FIG. 8 with an element guiding the leg portion;

[0037] Fig.10 A side view showing the mechanism according to FIG. 8 incorporating a connection at the middle lower leg connector axis; and

[0038] Fig.11 Shown for use on the upper leg, or for use similar to Fig.10 A schematic perspective view of a portion of another gait rehabilitation device of a simplified version of the lower leg. DETAILED DESCRIPTION

[0039] Figure 1 A schematic perspective view of a part of a gait rehabilitation device with a leg model 20 is shown. The main parts of a leg actuation device according to an embodiment of the invention are shown as part of a gait rehabilitation device. Figure 2 Shows Figure 1 A front view of Figure 3 A side view of a leg actuation device and a treadmill of a gait rehabilitation device is shown.

[0040] The gait rehabilitation device is provided with a treadmill frame 10. The treadmill comprises a treadmill belt 11 and a treadmill drive 12. The user should be suspended or supported from behind when standing and walking on the treadmill belt 11. Only one right leg 20 of such a user is shown. The left leg will be Figure 2 on the right hand side.

[0041] During the preparation for gait rehabilitation, the user can sit in a chair such as a wheelchair or stool that can be located on the treadmill or in a suitable position close to the device, as such a sitting position can make attaching the device easier and less tiring. Then, after removing the chair from the treadmill, the user can stand up and perform rehabilitation with the device. Conversely, at the end of rehabilitation, the chair can be placed on the treadmill and the user can sit down, as this can make removal of the device easier. It should be noted that attachment and removal of the device is possible when the user is standing.

[0042] The leg actuation mechanism frame 30 is Figure 2 The left hand side of the treadmill frame 10 is connected to the treadmill frame 10 and, as will now be discussed, is connected to an upper leg cuff attachment 21, generally referred to as an upper attachment element, and a lower leg cuff attachment 22, generally referred to as a lower attachment element, both of which are used here for the right leg. If it is desired to train the left leg, a similar additional leg actuation mechanism frame 30 for the left leg can be attached to the treadmill frame 10. Figure 2 31 to the attachment element 21 in a torsionally fixed manner in the sagittal plane. This results from a torsionally fixed connection between all intermediate connections; on the other hand, the connection to 21 can rotate freely within the range of the coronal plane.

[0043] The leg actuation mechanism frame 30 comprises a first driven shaft 31 and a second driven shaft 32, which are arranged parallel to each other and parallel to the driven shaft of the treadmill, i.e. transverse to the direction of travel of the user on the treadmill. The first driven shaft 31 and the second driven shaft 32 are terminated at corresponding first driven coupling members 33 and second driven coupling members 34, respectively.

[0044] The auxiliary shaft connector 38 connects the second driven shaft 32 to the auxiliary shaft 39. Figure 1 and Figure 2 In the embodiment depicted in , the auxiliary shaft connector 38 is disposed on the driven shaft between the arms of the distal guide legs 42. The auxiliary shaft connector 38 can slide along the second driven shaft 32 and the auxiliary shaft 39. This sliding movement can be supported by an auxiliary drive (not shown).

[0045] The distal upper guide leg 41 and the distal lower guide leg 42 are connected to the first driven shaft 31 and the second driven shaft 32, respectively. The connection allows the shaft 31 or 32 to rotate without causing the distal guide leg 41 or 42 to rotate, respectively, but the distal upper guide leg 41 and the distal lower guide leg 42 can freely rotate around the respective shaft 31 or 32 and slide along the respective shaft 31 or 32. The upper guide leg 41 and the distal lower guide leg 42 can be locked on the driven shafts 31 and 32, for example, by means of a locking abutment. The sliding movement of the upper guide leg 41 and the distal lower guide leg 42 in the direction of the driven shafts 31 and 32 can also be actively driven by, for example, providing an actuator that adjusts the length of the connecting rod connected to the connecting part of the upper guide leg 41 and the distal lower guide leg 42 with the respective driven shafts. These actuators may then also provide a locking action to maintain the upper guide leg 41 and the distal lower guide leg 42 in a selected longitudinal position along the respective axis 31 or 32 .

[0046] The distal upper guide leg 41 is connected to the proximal upper guide leg 71, and the distal lower guide leg 42 is connected to the proximal upper guide leg 72 at the intermediate upper leg connector shaft 51 and the intermediate lower leg connector shaft 52, respectively.

[0047] A parallelogram connector is arranged parallel to (not in a mathematical sense) the distal upper guide leg 41, and the parallelogram connector includes a distal parallelogram connector 45 extending from the first driven shaft 31 to the distal parallelogram shaft 47, an intermediate parallelogram connector 63 extending from the intermediate upper leg connector shaft 51 to the intermediate parallelogram shaft 61, and a distal upper connecting leg portion 43 connecting the intermediate parallelogram shaft 61 with the distal parallelogram shaft 47.

[0048] In other words, the distal parallelogram connector 45 is connected to the first driven shaft 31 so that when the first driven shaft 31 rotates, the distal parallelogram connector 45 rotates with the first driven shaft 31, but can slide freely along the first driven shaft 31. A spline shaft, a grooved shaft, or other methods using grooves or other patterns in the first driven shaft 31 can be provided to achieve this connection.

[0049] A parallelogram connection member is arranged parallel to (not in a mathematical sense) the distal lower guide leg 42, and the parallelogram connection member includes a distal parallelogram connector 46 extending from the second driven shaft 32 to the distal parallelogram shaft 48, an intermediate parallelogram connector 64 extending from the intermediate lower leg connector shaft 52 to the intermediate parallelogram shaft 62, and a distal lower connecting leg portion 44 connecting the intermediate parallelogram shaft 62 with the distal parallelogram shaft 48.

[0050] In other words, the distal parallelogram connector 46 is connected to the second driven shaft 32 so that it rotates with the second driven shaft 32 when the second driven shaft 32 rotates, but can slide freely along the second driven shaft 32 using a spline shaft or a groove shaft as mentioned above.

[0051] The parallelogram connection may be provided one or more times to increase the torque transmitted and prevent the singularity of the mechanism caused by the singularity of the parallelogram. Figure 1 , Figure 2 and Figure 3 In the embodiment depicted in , the lower leg mechanism is provided with two parallelogram connections. Other embodiments may also provide additional parallelogram connections at the distal portion of the upper leg mechanism or at the proximal portion of the upper leg mechanism and / or the lower leg mechanism.

[0052] although Figures 1 to 3The embodiment shown in FIG. 1 includes a dual distal parallelogram mechanism with reference numerals 44 ′, 46 ′ and 64 ′, but the individual elements are Figure 3 4 and 5. The double distal parallelogram is best shown in the figure because they are partially hidden behind the support arm 42. The double distal parallelogram is attached to the distal upper support arm 42 in the same manner as the distal lower parallelogram mechanism with the elements 44, 46 and 64 of the double distal parallelogram. The double distal parallelogram mechanism includes a double distal parallelogram connector 46', a double distal connecting leg portion 44' and a double distal intermediate parallelogram connector 64', wherein one end of the double distal parallelogram connector 46' is connected to the second driven shaft 32 to rotate in a torsionally fixed manner, wherein the double distal connecting leg portion 46' and the double distal intermediate parallelogram connector 64' are connected in series in a rotatable manner between the double distal parallelogram connector 46' and the intermediate shaft 52.

[0053] The different attachment manner between the lower parallelogram mechanism and the dual distal parallelogram mechanism is that the distal parallelogram connectors 46 and 46 ′ are attached at the driven shaft 32 and the intermediate parallelogram connectors 64 and 64 ′ are connected to the intermediate parallelogram connector 56 .

[0054] Both parallelogram links are connected to shafts 31 / 32 and 51 / 52 so as to rotate freely.

[0055] The distal upper guide leg portion 41 and the middle parallelogram connector 63, the proximal upper guide leg portion 71 and the middle parallelogram connector 55 described so far, which are separated by a spacer 59, and the distal lower guide leg portion 42 and the middle parallelogram connector 64, the proximal upper guide leg portion 72 and the middle parallelogram connector 56 described so far, which are separated by a spacer 59, are respectively arranged on the shafts 51 and 52.

[0056] The proximal upper guide leg 71 and the proximal lower guide leg 72 are connected to the intermediate connector shafts 51 and 52 to rotate freely. This connection allows the driven movement of the intermediate parallelogram shaft 63 or 64 to move the shaft 51 or 52, respectively, thereby moving the intermediate parallelogram connector 55 or 56, respectively.

[0057] The proximal upper guide leg 71 is connected to the upper leg cuff attachment rod 21 and the proximal lower guide leg 72 is connected to the lower leg cuff attachment rod 22 at the upper and lower conveyor shafts 77 and 78 respectively.

[0058] A parallelogram connector is arranged parallel to (not in a mathematical sense) the proximal upper guide leg 71, which includes an intermediate parallelogram connector 55 connected to the proximal upper connecting leg portion 53 at the intermediate parallelogram axis 57 and a proximal parallelogram connector 75 connected to the proximal upper connecting leg portion 53 at the opposite end of the proximal parallelogram axis 73 and connected to the upper transmission axis 77.

[0059] A parallelogram connector is arranged parallel to (not in a mathematical sense) the proximal lower guide leg 72, which includes an intermediate parallelogram connector 56 connected to the proximal lower connecting leg portion 54 at the intermediate parallelogram axis 58 and a proximal parallelogram connector 76 connected to the proximal lower connecting leg portion 54 at the opposite end of the proximal parallelogram axis 74 and connected to the lower transmission axis 78.

[0060] An upper transmission shaft 77 and a lower transmission shaft 78 are fixedly connected to the rods 21 and 22 for transmitting the torque and guided energy originating from the shafts 31 and 32 and transmitted by the rods 43 / 53 and 44 / 54 .

[0061] The parallelogram structure is well known in the art. When the first driven engagement member 33 is activated by the user and the distal upper guide leg portion 41 is not moved by the user or otherwise, the parallelogram formed by the elements 41, 45, 63 and 43 is deformed and the shaft 51 rotates corresponding to the shaft 31 and the length of the parallelogram side. The upper leg cuff attachment rod (21) rotates corresponding to the rotation of the shaft 51 and the length of the parallelogram side formed by the elements 71, 55, 53 and 75. During such a driven moment or even without a driven parallelogram, the rod 21 can be pushed laterally so that the rod 21 moves laterally due to the lateral sliding of the entire upper mechanism on the first driven shaft 31. Furthermore, the free rotation of the distal upper guide leg portion 41 at the axes 31 and 51 and the free rotation of the proximal upper guide leg portion 71 at the axes 51 and 77 allow free translation of the upper leg cuff attachment 21 (and the upper transmission shaft 77) in the upward and downward and forward (user-oriented) and rearward directions. In summary, although the rotation of the upper leg cuff attachment 21 around the upper transmission shaft 77 is driven by the first driven shaft 31, it is possible for the upper leg cuff attachment 21 to freely translate in 3-dimensional space. The range of motion of this translation is limited only by the length of the sliding range on the driven shaft and the length of motion and the range of rotation of the elements 41 and 71.

[0062] The length of the upper elements 41 and 71 is longer than the length of the corresponding elements 42 and 72, so when the Figure 2 It is in principle possible to position the distal upper guide leg portion 41 to the right of the distal lower guide leg portion 42 when viewed in the front view shown.

[0063] In addition, the length of the upper elements 41 and 71 is longer than the length of the corresponding elements 42 and 72, so when the Figure 2 It is in principle possible that the upper and lower leg cuff attachment bars can be aligned with the legs when viewed in the front view shown.

[0064] One advantage of the device over prior art solutions is the possibility of following the natural movement of one or both legs, not simply by holding one leg above the other, but by rotating around an axis in the direction of the legs, since the two connections are independent of each other and any lateral shift of the upper or lower leg can be accompanied by a lateral movement of the parts 41 and 42 on the axes 31 and 32. Furthermore, it is easier to connect a user to the device, since only two cuffs can be positioned in front of the user, independently of the user's standing or sitting position, for example, since the bars 21 and 22 can be easily moved in the lateral direction, with the user standing with his feet shoulder-width apart or in a closed position. Finally, any weight-bearing unit can be freely positioned above or behind the user and does not interfere with the cuff attachment, as is still the case in WO 2014 / 202767.

[0065] Figures 1 to 3 The embodiment shown in the figure shows the attachment of the leg actuation mechanism frame 30 at the main frame as a treadmill frame. The main frame can also be a device for gait training as disclosed in WO 2016 / 005367 A1 of the present applicant, wherein the present leg actuation mechanism frame 30 is attached at the so-called base 201 and 202 of WO 2016 / 005367 A1, instead of the main frame as described in the document. Figure 3 The so-called corrective linear actuators 701 and 702 are shown in FIG.

[0066] When viewed from the front, the distal guide leg portions 41 and 42 are inclined toward the center of the frame 10, i.e., away from the driven shafts 31 and 32. The distal upper connecting leg portion 43 is connected to the driven shaft 31 on the inner side (toward the frame 10) of the distal guide leg portion 41 and to the middle upper leg connector shaft 51 on the outer side, whereas one distal lower connecting leg portion 44 is connected to the driven shaft 32 and to the middle lower leg connector shaft 52 on the inner side (toward the frame 10) of the distal guide leg portion 42, and the second lower leg connecting portion 44 is connected to the outer side of the distal guide leg portion 42.

[0067] When viewed from the front, the proximal guide leg portions 71 and 72 are inclined toward the center of the frame 10, i.e., away from the driven shafts 31 and 32. The proximal upper connecting leg portion 53 is connected to the intermediate shaft 51 on the inner side (toward the frame 10) of the proximal guide leg portion 71, and is connected to the upper conveying shaft 77 on the outer side. The same principle applies to the proximal lower connecting leg portion 54, which is connected to the intermediate shaft 52 on the inner side (toward the frame 10) of the proximal guide leg portion 72 and is connected to the lower conveying shaft 78 on the outer side.

[0068] As described above, in other embodiments, the proximal leg portion or the distal leg portion may not be tilted, or as described above, the elements may not be systematically placed on the inside of each other, such that in these embodiments, all elements of either or both of the proximal and distal parallelograms are substantially in one plane perpendicular to the driven shaft. Such embodiments may additionally include a treadmill, in which case the driven shaft may be placed at the front of the treadmill.

[0069] The parallelogram-shaped element will preferably always be located substantially in front of the cuff attachment relative to the user's walking direction.

[0070] The proximal connecting leg portions 53 and 54 include force sensors 81 and 82, respectively, for determining the torque applied by the mechanism to the leg cuff attachment rods 21 and 22, respectively. These force sensors can help improve the control of the device and the driven shaft, but if the forward control of the driven shaft is sufficient or other sensors are implemented and used to control the device, these force sensors can be omitted in certain embodiments. The location selection of the force sensors 81, 82 in the proximal connecting leg portions 53, 54 allows the torque around the upper transmission shaft 77 and the lower transmission shaft 78 to be measured respectively, with little side effects and high accuracy. Different embodiments may include different force sensing methods, such as load cells, piezoelectric force transducers, spring-based force sensors, etc.

[0071] Figure 6 Shows Figure 1Detailed side view of the attachment of the driven shafts 31 and 32 of the leg actuation mechanism frame 30. The leg actuation mechanism frame 30 preferably includes one or more abutments 85 to limit the movement of the lower leg mechanism that depends on the movement of the upper leg mechanism, in particular to avoid hyperextension of the knee joint. This knee joint protection mechanism increases the safety of the device by providing a mechanical limit to the movement of the lower leg cuff attachment 22 that depends on the rotation of the upper leg cuff attachment 21. The limit only allows the angle between the upper leg cuff attachment 21 and the lower leg cuff attachment 22 to be essentially convex relative to the leg during all times. It prevents a basic concave angle that would cause the knee to hyperextend. The limit of the angle is in the range of 0° to 10°, preferably in the range of 4° to 5°. In some embodiments, the limit can be adjusted according to the user's anatomical structure. The knee joint protection mechanism includes an abutment 85 fixedly connected to the second driven shaft 32. The limiter 86 is rotatably connected to the shaft linkage 87. This shaft linkage 87 is connected to the first driven shaft 31 through a shaft connector 88. The shaft connector 88 is fixedly connected to the first driven shaft 31. The shaft linkage 87 and the shaft connector 88 provide that if the first driven shaft 31 rotates a certain angle, the limiter 86 rotates the same angle around the second driven shaft 32. Figure 6 In the embodiment depicted in FIG, the shaft linkage 87 is shown as a rigid rod extending between the portion of the abutment 85 providing the lever arm and the shaft connector 88 provided to connect to the arm of the first driven shaft 31. In other embodiments, the shaft linkage 87 may be provided as a chain connected to the shaft connector 88 provided as a sprocket. Other embodiments may transmit the rotation of the first driven shaft 31 to the abutment 85 via a toothed belt, one or more gears, or bevel gears.

[0072] When the ferrule attachment elements 21 and 22 are positioned one above the other, then the two intermediate shafts 51 and 52 are positioned parallel adjacent in their longitudinal direction, which means that when viewed from the front, i.e. in the opposite direction of travel, the ends of the proximal guide leg parts 71 and 72 rotatably attached to the intermediate shafts 51 and 52 are positioned offset one above the other in the direction of travel. The same applies to the ends of the distal guide leg parts 41 and 42 rotatably attached to these intermediate shafts 51 and 52. Of course, both leg attachments have the possibility of sliding via the distal guide leg parts 41 and 42 in the direction of the driven shafts 31 and 32, i.e. in the direction of the double arrow 35.

[0073] In other embodiments (not shown in the drawings), the cuff attachments 21 / 22 are attached from the back of the leg against the fibula in the lower part and from behind against the thigh. The entire actuation device is then positioned behind the user so that the user does not see these elements while walking.

[0074] In some embodiments, one or more of the cuff attachments 21 / 22 can be rotated about an additional axis perpendicular to the axis 77 / 78, respectively, and in particular an additional axis also perpendicular to the main part of the attachment surface of the cuff attachment 21 / 22, respectively. This additional axis of rotation can increase the comfort of the user.

[0075] Figure 4 Shows something like Figure 3 Another side view of , and if there are two distal parallelograms, then Figure 5 Shows Figure 4 Schematic diagram of a side view of a device with respect to arms, in particular arms of different parallelogram mechanisms.

[0076] Figure 4 An embodiment comprising a knee rotation protector 190 is shown. The depicted embodiment comprises two rods 191, 192, for example metal rods, which are connected to each other by an axis at one of the ends of the two rods 191, 192, and the other ends of the two rods 191, 192 are connected to the upper leg attachment rod 21 and the lower leg attachment rod 22 via another axis. These axes are oriented parallel to each other so that the surfaces of the attachment rods 21, 22 can rotate relative to each other only on one axis, which is an axis parallel to the three axes. When applied to the legs of a user, these components allow additional guidance and protection of the user's knees.

[0077] Apart from Figure 5 In addition to the mechanical linkage depicted in Figure 5Several angles are also introduced in . These angles 90, 91, 92 and 93 are defined by the fixation between different connectors as shown in Table 1. The intermediate shaft connector of the distal parallelogram, i.e. the parallelogram attached to the driven shafts 31 and 32, forms a 90 degree angle with the intermediate shaft connector of the proximal parallelogram between 60 and 120 degrees, preferably 90 degrees. Ideally, for a given torque, 90° will provide the smallest possible force on the push rod. The reason for adopting different angles is to make the parts fit all four connecting rods and to make the push rod pass through the connecting shaft in all positions. Replacing the lower angle 60 degrees mentioned above with an angle of 40° will still be effective, only a higher load will be applied to the push rod, so in both cases, the interval of the angle can be selected from 40 to 120 degrees. This is the case if there is only one distal parallelogram. Preferably, two distal parallelograms are arranged to avoid dead spots that occur especially at the lower leg mechanism when only one distal parallelogram is provided. An angle between 60 and 120 degrees is provided between the distal connectors 46 and 46' at the driven shaft 32. The preferred choice of 90 degrees is based on the same principle as explained above. In addition to the above-mentioned angle 92 between 60 and 120 degrees, a second angle 93 between the intermediate connector of the second distal parallelogram and the connector of the proximal parallelogram is provided on the other side of the connector 64 and has a value between 130 and 190 degrees. This angle is designed to rotate the thrust of the transmitted torque to the best possible angle for the proximal link. Taking into account the dependence of the gait trajectory, the best possible way is to have the maximum passive translation and active rotation workspace. This is not necessarily an angle in the interval as mentioned.

[0078] Table 1

[0079] Angle Actual value Reference numerals 63 / 55 90° 90 75 / 21 36° 91 64 / 56 90° 92 64′ / 56 162° 93 64 / 64′ 108° Equals 360° – Angle 92 – Angle 93 76 / 22 144° 94 46 / 46′ Equal to 64 / 64′ 95

[0080] Figure 7 shows a similar Figure 3 Schematic side view of components of a second gait rehabilitation device of a leg model of the embodiment shown in FIG, which has a leg actuator frame 30 mounted on the ground. It is named "overhead", but in Figure 7 In the embodiment, the frame 30 is located at the height of the user's hips or torso compared to the leg model 20. Figure 3 and Figure 7 When the reference numerals of the leg actuation device 40 are repeated between the embodiments of the present invention, except that the distal upper guide leg portion 41 is now the distal lower guide leg portion, it is apparent that Figure 3 and Figure 7 The reference numerals of the leg actuation device 40 between the embodiments are identical at the same positions; the corresponding proximal upper guide leg portion 71, the proximal lower guide leg portion and the same situation apply to Figure 7 The distal lower guide leg portion 42, the distal upper guide leg portion and the proximal lower guide leg portion 72 which becomes the proximal upper guide leg portion. The function of the device is exactly the same. Only when the frame 30 is not standing on the ground or connected to the main frame as the treadmill frame 10, but connected to the main frame on the ground, the frame 30 can directly provide a weight support system for the free movement of the user at one or more vertical rods and, for example, at the rollers at the lower ends of the rods.

[0081] Fig. 8 shows a front view of a part of a different crank mechanism provided for another embodiment of the leg actuation device without the distal lower guide leg portion 42, which is omitted in this detailed view. Fig. 9 shows another front view of the mechanism according to Fig. 8, wherein the elements of the guide leg portion 42 cover the distal lower connecting leg portion; and Fig.10 A side view of the mechanism according to FIG8 is shown, incorporating the connection at the middle lower leg connector axis. The present crank mechanism 49, 49' connected to the driven shaft 32 is a 360 degree mechanism without dead points, but the main advantage of the crank mechanism is that the lower distal parallelogram mechanism 44, 46 and 64 and the "double" 44', 46' and 64' which can be easily fitted are inside the support arm 42, so the user cannot insert objects and therefore his fingers / hands cannot be inserted between the rods and pinch them. The surrounding support arm 42 avoids this situation. The embodiment shown in FIG9 has the arm 44' just next to the edge of the support arm 42, but the circumferential side edge 142 can be higher than the base plate to also cover the arm 44'.

[0082] Although the crank mechanism is shown only in conjunction with the distal lower guide leg portion 42, Figure 7 , the crank mechanism will also be used for the distal upper leg section in the ground situation. In addition, it can also be applied to the proximal lower guide leg section and the proximal upper guide leg section to protect the user's hands and fingers. In this place, the advantage of avoiding the dead point is not the most important.

[0083] The crank element 49 provides a connection via 48 on one side to a crank element 49' in the frame 30 and via 48' to the driven shaft 32 reaching through the frame 30. Thus, as can be seen in Figure 8, the two arms 44 and 44' can rotate freely and only require movement limit stops to protect the user's joints.

[0084] Fig.11 Components of another gait rehabilitation device for the upper leg or to be used for a similar Fig.10 A schematic perspective view of a simplified version of the lower leg of the components. In fact, similar to Fig.10 , shown on the left with Figure 5 The different embodiments of the lower leg attachment shown in FIG. 1 (same reference numerals), Fig.11 The right side shows Figure 5 , in which only one arm 43 is hidden inside the arm 41 with the plate, for example in the drawing plane, and an orthogonally extending elliptical circumferential edge 141 is shown. This edge is arranged around the two axes 31 and 51 at a distance inside the elliptical circumferential edge 141 at which the free ends of the parallelogram connectors 45 and 63 opposite the axes 31 and 51 are located. It can be easily seen that the axis 61 of the connector 63 is inside the semicircle of the elliptical circumferential edge 141.

[0085] Taking into account the identity or similarity of the selected reference numerals, it is obvious that the reference numerals used for Figure 1 An embodiment of a leg may be Fig.11 The protective arm combination and / or can be as Figure 7 As shown in the figure, it is installed on the ground.

[0086] Reference numerals list

[0087] 10 Treadmill frame

[0088] 11. Treadmill belt

[0089] 12 Treadmill drive

[0090] 20 Leg Model

[0091] 21 Upper Leg Cuff Attachment Bar

[0092] 22 Lower Leg Cuff Attachment Bar

[0093] 30 Leg Actuation Mechanism Frame

[0094] 31 First driven shaft

[0095] 32 Second driven shaft

[0096] 33 First driven engagement member

[0097] 34 Second driven engagement member

[0098] 35 Horizontal Movement Double Arrow

[0099] 38 Auxiliary shaft connector

[0100] 39 Auxiliary axis

[0101] 40 Leg actuation device for a leg (first and / or second)

[0102] 41 Distal upper guide leg portion

[0103] 42 Distal lower guide leg section

[0104] 43 Distal upper connection leg part

[0105] 44 Distal lower connecting leg part

[0106] 44' Double Distal Lower Connecting Leg Section

[0107] 45 Remote parallelogram connector

[0108] 46 Distal Parallelogram Connector

[0109] 46' Dual Remote Parallelogram Connector

[0110] 47 Distal parallelogram axis

[0111] 48 Distal parallelogram axis

[0112] 48' Dual Distal Parallelogram Axles

[0113] 49 Crankshaft

[0114] 51 Middle upper leg connector shaft

[0115] 52 Intermediate lower leg connector shaft

[0116] 53 Proximal upper connection leg part

[0117] 54 Proximal lower connecting leg part

[0118] 55 Intermediate parallelogram connector

[0119] 56 Intermediate parallelogram connector

[0120] 57 Middle parallelogram axis

[0121] 58 Middle parallelogram axis

[0122] 59 Spacer (cylindrical member)

[0123] 61 Middle parallelogram axis

[0124] 62 Middle parallelogram axis

[0125] 62' Middle parallelogram axis

[0126] 63 Intermediate parallelogram connector

[0127] 64 Intermediate parallelogram connector

[0128] 64' Dual Intermediate Parallelogram Connector

[0129] 71 Proximal upper guide leg portion

[0130] 72 Proximal lower guide leg section

[0131] 73 Proximal parallelogram axis

[0132] 74 Proximal parallelogram axis

[0133] 75 Proximal parallelogram connector

[0134] 76 Proximal parallelogram connector

[0135] 77 Upper transmission shaft

[0136] 78 lower conveyor shaft

[0137] 81 Upper Leg Force Sensor

[0138] 82 Lower Leg Force Sensor

[0139] 85 abutment

[0140] 86 Limiter

[0141] 87 axis linkage

[0142] 88 axis connector

[0143] 90 Angle 63 / 55

[0144] 91 Angle 75 / 21

[0145] 92 Angle 64 / 56

[0146] 93 Angle 64' / 56

[0147] 94 Angle 76 / 22

[0148] 95 Angle 46 / 46'=64 / 64'

[0149] 141 Circumferential edge

[0150] 142 Circumferential edge

[0151] 190 Knee Rotational Protector

[0152] 191 bars

[0153] 192 rods

Claims

1. A leg actuation device (40) for a user (20) having a leg actuation mechanism frame (30), the leg actuation device (40) comprising: a first driven shaft (31), the first driven shaft (31) being positioned transversely to the walking direction of the user (20), an upper attachment element (21) for a first leg portion of the user (20), the upper attachment element (21) comprising a transverse upper transmission axis (77), A distal upper parallelogram mechanism (41; 43; 45, 63), the distal upper parallelogram mechanism (41; 43; 45, 63) comprising a distal upper support arm (41), a distal upper parallelogram connector (45), a distal upper connecting leg portion (43) and a distal upper intermediate parallelogram connector (63), wherein one end of the distal upper support arm (41) is rotatably attached to the first driven shaft (31), wherein the other end of the distal upper support arm (41) is rotatably attached to the first driven shaft (31), and wherein the distal upper support arm (41) is rotatably attached to the first driven shaft (31). The end portion provides a first intermediate shaft (51) for the distal upper parallelogram mechanism (41; 43; 45, 63), wherein one end of the distal upper parallelogram connector (45) is connected to the first driven shaft (31) to rotate in a torsionally fixed manner, wherein the distal upper connecting leg portion (43) and the distal upper intermediate parallelogram connector (63) are connected in series in a rotatable manner between the distal upper parallelogram connector (45) and the first intermediate shaft (51), and A proximal upper parallelogram mechanism (71; 53; 55, 75), the proximal upper parallelogram mechanism (71; 53; 55, 75) comprising a proximal upper support arm (71), a proximal upper intermediate parallelogram connector (55), a proximal upper connecting leg portion (53) and a proximal upper parallelogram connector (75), wherein one end of the proximal upper support arm (71) is rotatably attached to the first intermediate shaft (51), wherein the other end of the proximal upper support arm (71) is rotatably attached to the upper transmission shaft ( 77), wherein the proximal upper intermediate parallelogram connector (55), the proximal upper connecting leg portion (53) and the proximal upper parallelogram connector (75) are connected in series in a rotatable manner between the first intermediate shaft (51) and the upper transmission shaft (77), wherein the distal upper intermediate parallelogram connector (63) and the proximal upper intermediate parallelogram connector (55) are connected to rotate in a torsion-resistant manner, and the proximal upper parallelogram connector (75) and the upper attachment element (21) are connected to rotate in a torsion-resistant manner.

2. The leg actuation device (40) according to claim 1, wherein: A double distal parallelogram mechanism (44'; 46', 64') is attached to the distal upper support arm, wherein the double distal parallelogram mechanism (44'; 46', 64') includes a double distal parallelogram connector (46'), a double distal connecting leg portion (44') and a double distal intermediate parallelogram connector (64'), wherein one end of the double distal parallelogram connector (46') is connected to the first driven shaft to rotate in a torsionally fixed manner, wherein the double distal connecting leg portion (44') and the double distal intermediate parallelogram connector (64') are rotatably connected in series between the double distal parallelogram connector (46') and the first intermediate shaft.

3. The leg actuation device (40) according to claim 2, wherein: The angle between the distal parallelogram connector (46) and the dual distal parallelogram connector (46') is between 40 degrees and 120 degrees.

4. The leg actuation device (40) according to claim 1 or 2, wherein: The distal end of the distal upper parallelogram mechanism (41; 43; 45, 63) can slide freely along the first driven shaft (31).

5. The leg actuation device (40) according to claim 1 or 2, wherein: The distal end of the distal upper parallelogram mechanism (41; 43; 45, 63) is connected to an actuator for performing a driven movement (35) along the first driven axis (31).

6. The leg actuation device (40) according to claim 1 or 2, further comprising an abutment portion for fixing the extreme position of the distal end of the distal upper parallelogram mechanism (41; 43; 45, 63) on the first driven shaft (31).

7. The leg actuation device (40) according to claim 1 or 2, wherein: The distal upper support arm (41) includes a protective base plate surrounded by a circumferential edge (141), the circumferential edge (141) extending orthogonally from the protective base plate, wherein the circumferential edge (141) surrounds the distal upper parallelogram connector (45) and the distal upper intermediate parallelogram connector (63) in a manner that maintains the distal upper connecting leg portion (43) within the space defined by the protective base plate and the circumferential edge (141).

8. The leg actuation device (40) according to claim 1 or 2, wherein: The leg actuation mechanism frame (30) further comprises: a second driven shaft (32), the second driven shaft (32) being positioned parallel to the first driven shaft (31), a lower attachment element (22) for a second leg portion of the user (20), the lower attachment element (22) comprising a transverse lower transfer axis (78), A distal lower parallelogram mechanism (42; 44; 46, 64), the distal lower parallelogram mechanism (42; 44; 46, 64) comprising a distal lower support arm (42), a distal lower parallelogram connector (46), a distal lower connecting leg portion (44) and a distal lower intermediate parallelogram connector (64), wherein one end of the distal lower support arm (42) is rotatably attached to the second driven shaft (32), wherein the other end of the distal lower support arm (42) is rotatably attached to the second driven shaft (32), and wherein the distal lower support arm (42) is rotatably attached to the second driven shaft (32). The end portion provides a second intermediate shaft (52) for the distal lower parallelogram mechanism (42; 44; 46, 64), wherein one end of the distal lower parallelogram connector (46) is connected to the second driven shaft (32) to rotate in a torsionally fixed manner, wherein the distal lower connecting leg portion (44) and the distal lower intermediate parallelogram connector (64) are connected in series in a rotatable manner between the distal lower parallelogram connector (46) and the second intermediate shaft (52), and A proximal lower parallelogram mechanism (72; 54; 56, 76), the proximal lower parallelogram mechanism (72; 54; 56, 76) comprising a proximal lower support arm (72), a proximal lower intermediate parallelogram connector (56), a proximal lower connecting leg portion (54) and a proximal lower parallelogram connector (76), wherein one end of the proximal lower support arm (72) is rotatably attached to the second intermediate shaft (52), wherein the other end of the proximal lower support arm (72) is rotatably attached to the lower transmission shaft ( 78), wherein the proximal lower intermediate parallelogram connector (56), the proximal lower connecting leg portion (56) and the proximal lower parallelogram connector (76) are connected in series in a rotatable manner between the second intermediate shaft (52) and the lower transmission shaft (78), wherein the distal lower intermediate parallelogram connector (64) and the proximal lower intermediate parallelogram connector (56) are connected to rotate in a torsion-resistant manner, and the proximal lower parallelogram connector (76) and the lower attachment element (22) are connected to rotate in a torsion-resistant manner.

9. The leg actuation device (40) according to claim 8, wherein: The distal lower support arm (42) includes a protective base plate surrounded by a peripheral edge (142), the peripheral edge (142) extending orthogonally from the protective base plate, wherein the peripheral edge (142) surrounds the distal lower parallelogram connector (46) and the distal lower intermediate parallelogram connector (64) in a manner that maintains the distal lower connecting leg portion (44) within the space defined by the protective base plate and the peripheral edge (142).

10. The leg actuation device (40) according to claim 1 or 2, wherein: The proximal upper connecting leg portion (53) includes force sensors (81, 82).

11. The leg actuation device (40) according to claim 8, wherein: The leg actuation mechanism frame (30) includes one or more abutments (85) to limit the movement of the distal lower parallelogram mechanism to a set adjustable value that defines maximum knee extension to avoid hyperextension of the knee joint.

12. A device for gait rehabilitation, comprising a main frame (10), which provides a possibility of receiving support for a user (20) while walking in the main frame (10), and also includes a leg actuation device (40) according to claim 1, which is a first leg actuation device, which is attached to the main frame (10) to support at least a part of the first leg of the user (20).

13. The device according to claim 12, comprising another leg actuation device (40) according to claim 1, the other leg actuation device being a second leg actuation device, wherein The first leg actuation device comprises a first leg actuation mechanism frame for the first leg and the second leg actuation device comprises a second leg actuation mechanism frame for the second leg of the user.

14. The device for gait rehabilitation according to claim 12 or 13, wherein: The main frame includes a treadmill (10) for the user (20) to walk on.

15. The device for gait rehabilitation according to claim 12 or 13, wherein: The main frame (10) comprises at least one set of rollers defining a surface onto which the device for gait rehabilitation is displaced by the walking user (20).

16. The leg actuation device (40) according to claim 3, wherein: The angle between the distal parallelogram connector (46) and the double distal parallelogram connector (46') is between 60 degrees and 120 degrees.

17. The leg actuation device (40) according to claim 16, wherein: The angle between the distal parallelogram connector (46) and the double distal parallelogram connector (46') is 90 degrees.

18. The leg actuation device (40) according to claim 8, wherein: The proximal lower connecting leg portion (54) includes a force sensor (81, 82).

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