Balance auxiliary device and system

Abstract

An apparatus having a support interface, and one or more sensors for sensing a force exerted on the support interface. The device comprises a connecting rod structure, and the connecting rod structure is provided with a plurality of low pair joints and a plurality of connecting rods. The support interface is coupled to one of the plurality of links. Each of the plurality of low pair joints couples the two links together such that the link structure is defined as a closed kinematic chain. And the plurality of selected low pair joints are lockable low pair joints. Each of the lockable low-pair joints has a locally actuatable braking mechanism actuatable independently of the other low-pair joints.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to Singapore Patent Application No. 10202250267X filed on June 23, 2023, the entire contents of which are incorporated herein by reference for all purposes. Technical Field

[0002] The present application relates to an assistive device suitable for daily life assistance and rehabilitation therapy. Background Art

[0003] Deterioration of the balance control system in humans occurs during the natural aging process, as well as in many pathological conditions, such as neurological damage, musculoskeletal problems, and vestibular defects. A deteriorated balance control system also increases the risk of falls. More than a quarter of older adults fall each year. At the same time, falls have been documented as the single most important cause of injury during rehabilitation in both inpatient and outpatient settings. Summary of the invention

[0004] In one aspect, the present application discloses a device comprising a support interface; one or more sensors for sensing the force applied to the support interface; and a linkage structure, the linkage mechanism having a plurality of low-joint joints and a plurality of links, the support interface being coupled to one of the plurality of links, each of the plurality of low-joint joints coupling two links together, so that the linkage structure is defined as a closed motion chain, wherein the selected plurality of low-joint joints are lockable low-joints, each of the lockable low-joints having a locally actuatable braking mechanism that can be actuated independently of the other said low-joints.

[0005] In another aspect, the present application discloses a balance assist system for use by a user. The balance assist system includes: a support interface having a safety belt that can be worn by a user; one or more sensors for sensing the force applied by the user to the support interface; a link structure having a plurality of lower sub-joints and a plurality of links, the support interface being coupled to one of the plurality of links, each of the plurality of lower sub-joints coupling two links together, so that the link structure is defined as a closed kinematic chain, wherein the selected plurality of lower sub-joints are lockable lower sub-joints, each of the lockable lower sub-joints having a locally actuatable brake mechanism that can be actuated independently of the other lower sub-joints; a base to which the link structure is coupled; and a controller, the controller being configured to lock the selected plurality of lower sub-joints when determining that the sensed force is abnormal, thereby locking the respective link pairs of the plurality of links relative to each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Various embodiments of the present disclosure will be described with reference to the following drawings: Figure 1 is a schematic diagram of a system according to an embodiment of the present disclosure; Figure 2A yes Figure 1 a perspective view of one embodiment of the illustrated system in a raised position; Figure 2B yes Figure 2A a perspective view of the system shown in a compact state; Figure 3A is a perspective view of one embodiment of the device in an extended state; Figure 3B yes Figure 3A a perspective view of the device shown in a collapsed state; Figure 4A yes Figure 3A A schematic top view of the device shown in an extended state; Figure 4B yes Figure 3B a schematic top view of the device shown in a retracted state; Figure 5A yes Figure 3A a perspective view of the device shown; Figure 5B yes Figure 5A A partial side view of Figure 6 is a top schematic view of an apparatus according to another embodiment; Figure 7 is a top schematic view of an apparatus according to yet another embodiment; Fig. 8A is a perspective view of a lockable joint according to an embodiment of the present disclosure; Figure 8B yes Fig. 8A Exploded view of the lockable joint shown; Fig.9A is a perspective view of a lockable joint according to another embodiment of the present disclosure; Fig. 9B yes Fig.9A Exploded view of the lockable joint shown; Fig. 10A yes Figure 1 a perspective view of another embodiment of the illustrated system in a raised position; Fig. 10B yes Fig. 10A a perspective view of the system shown in a compact state; Fig.11 yes Fig. 10A A perspective view of another embodiment of the device shown in an extended state; Fig.12 yes Fig.11 A schematic top view of the device shown in an extended state; Fig.13 yes Fig.11 a perspective view of the device shown, including a detailed side view of one sensor; Fig.14 yes Figure 1 A schematic diagram of a method that can be implemented by the device shown; Fig.15A is a perspective view of another embodiment of the system in a raised state; Fig. 15B yes Fig.15A a perspective view of the system shown in a compact state; Fig.16A is a perspective view of another embodiment of the device in an extended state; Fig. 16B yes Fig.16A a perspective view of the device shown in a collapsed state; Fig.17A yes Fig.16A a perspective view of the device shown; Fig. 17B yes Fig.17A Partial side view of . DETAILED DESCRIPTION

[0007] The following detailed description is described in conjunction with the accompanying drawings, which show details and embodiments of the present disclosure and are intended to provide illustrations. Features described in one embodiment may also apply to the same or similar features in other embodiments, even if not explicitly described in these other embodiments. Additions, combinations, or alternatives to features described in the context of one embodiment may also apply to the same or similar features in other embodiments.

[0008] In the context of various embodiments, the articles “a,” “an,” and “said” used in connection with features or elements include reference to one or more of such features or elements.

[0009] In the context of various embodiments, the term "about" or "approximately" when used with numerical values ​​encompasses the exact value as well as reasonable deviations commonly understood in the relevant technical field, for example, within 10% of the specified value.

[0010] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0011] As used herein, "including" means including but not limited to the items listed after the word "including". Thus, the use of the term "including" indicates that the listed elements are required or mandatory, but other elements are optional and may or may not be present.

[0012] As used herein, "consisting of" means including and being limited to the contents listed between the phrases "consisting of." Thus, use of the term "consisting of" indicates that the listed elements are required or mandatory, and no other elements are present.

[0013] To aid understanding and not to limit, various embodiments of the device 200 and system 900 will be described in detail below in conjunction with the accompanying drawings. The device 200 can also be described as a balance assist mechanism because it is very useful for helping a user regain / gain balance to prevent a complete fall to the ground.

[0014] Figure 1 is a schematic diagram of a system 900 for use by a user 80 or a patient according to one embodiment. As non-limiting examples, the user 80 may be a wheelchair user, an elderly person with walking impairments, a stroke patient, a person at risk of falling, etc. The system 900 may be used to provide assistance or support to the user 80 during activities, such as during daily tasks, walking, posture balance training, gait rehabilitation, sports activities, etc. The system 900 is capable of providing support to the user in various situations. For example, the system 900 may be used to provide support to the user when the user does not fall. For example, the user may use the system 900 as a general support when performing daily tasks to feel more at ease that at the moment of falling (or when a potential fall is predicted / detected), the system 900 will help prevent an injury fall. The system 900 may be mobile or portable, so that the system 900 may be used in a home or community environment. The system 900 is not limited to a hospital or medical institution environment. It is worth mentioning that the device 200 may be provided as a modular unit for interchangeable installation on different items or rehabilitation devices.

[0015] In some embodiments, the system 900 may include a mobile unit 100 having a base 110 and wheels 130. According to any of the embodiments disclosed in the present application, the device 200 may be coupled to the base 110 of the fixed unit or the mobile unit 100. In use, the device 200 is preferably located on the back 82 of the user 80, and the device 200 is configured to provide a generally backward and / or upward support force 92 to support the user 80. The terms "backward" and "upward" as used herein are used relative to the user and / or the ground. The terms / phrases "support", "providing support", "supporting", etc. used herein are generally understood to provide a support point / surface to the user by direct contact with the user or indirect means. The support force or support direction generally refers to a force or direction that can resist the user from falling or potential falling. Since the way the user falls varies from case to case, the "support force" and / or "support direction" used herein are not limited to an absolute value, but should be understood functionally according to the context.

[0016] In some embodiments, the device 200 includes a controller 500 in signal communication with one or more sensors 250, which are connected to the device 200. Examples of sensors 250 may include force sensors, pressure sensors, distance / range sensors, strain gauges, multi-axis force sensors, etc. The controller 500 can communicate with the sensors 250 to receive respective sensor signals. In addition, the controller 500 can also control the device 200 to actuate and provide support for the user 80.

[0017] In some embodiments, the mobile unit 100 is configured as an autonomous vehicle. The mobile unit 100 may be configured to actively follow the user / patient, rather than being passively dragged by the patient or pushed by a caregiver. The controller 500 may be part of the mobile unit 100 and configured to directly or indirectly receive sensor signals from one or more sensors 250. Alternatively, the controller 500 may be part of the device 200 and configured to communicate signals with the mobile unit 100, so that the controller 500 may cause the mobile unit 100 to stop moving forward when a fall is predicted or occurs. Wired or wireless signal communication may be provided between the controller 500 and the mobile unit 100. In some embodiments, the controller 500 may be integrated with the mobile unit 100. In other embodiments, the controller 500 may be configured to be away from the system 900. In other embodiments, the controller 500 may communicate wireless signals with a local or remote monitoring device so that medical professionals may obtain status updates of the user 80 in a timely manner.

[0018] Figure 2A and Figure 2B A system 900 is shown according to one embodiment, showing the mobile unit 100 assembled with the device 200. Figure 2A and Figure 2B As shown, the mobile unit 100 can be in the raised state 100a ( Figure 2A ) and compact state 100b ( Figure 2B )

[0019] When the mobile unit is in the raised state 100a, the device 200 is raised relative to the base 110, which remains close to the ground. In the compact state 100b, the device 200 can be stowed away close to the base 110. In this example, the device 200 can form part of a handle for pushing the system 900 like a wheelchair.

[0020] A seat 120 is optionally provided and may be coupled to the base 110. In some embodiments, the seat 120 is pivotally or hingedly connected to the device 200 and the base 110 on opposite sides / edges, respectively. By rotating or pivoting the seat 120, the mobile unit 100 can be converted from the elevated state 100a to the compact state 100b, and vice versa. When the mobile unit 100 is in the elevated state 100a, the seat 120 may serve as part of the structural support of the device 200. The seat 120 may be used to support a user in a sitting position when the mobile unit 100 is in the compact state 100b. It is understood that the mobile unit 100 may be arranged in other ways, and may not necessarily be arranged in the elevated state 100a and the compact state 100b in the form of a wheelchair.

[0021] In some embodiments, the mobile unit 100 is non-convertible and remains substantially permanently in a state corresponding to the raised state 100a. This allows the base 110 to have a shorter depth (e.g., a shorter distance between the front wheels 132 and the rear wheels 134) and a smaller footprint because a minimum depth is no longer required to accommodate a seated user. Figure 1 and Figure 2A For reference, in embodiments where the mobile unit 100 is not convertible, the device 200 is supported at a height or device height 152 relative to the base 110 or relative to the center of gravity of the base 110. The support 150 of the device 200 can be adjusted so that the device height 152 places the safety belt 290 at the hip, waist, chest, shoulder and / or upper body area of ​​the user (for simplicity, the term "torso" as used herein refers to the portion of the user's body from the shoulders to the hips / thighs where the safety belt or belt can contact / contact the user 80). Preferably, in some embodiments, the safety belt 290 is comfortably secured to the torso so that the safety belt 290 can provide support for the user 80 while leaving the arms and legs of the user 80 free to perform desired activities. Preferably, in other embodiments, the safety belt 290 includes a belt that can be passed around the thighs or crotch to provide support for the user's weight. Preferably, in some embodiments, the safety belt 290 includes a belt that can be passed around the legs and near the crotch, and a belt that can be passed around the waist / hips.

[0022] Figure 3A and Figure 3B2 is a perspective view showing an embodiment of the device 200 in more detail. The device 200 may include a linkage structure 205 having a plurality of connectors 210 and a plurality of low-joint joints 220, and a support interface 230. The support interface 230 is connected to the linkage structure 205 or the connector 210 to provide support for the user 80. The "low-joint joint" used herein should be understood as a joint that constrains a surface in a first object to contact a corresponding surface in a second object, and may include but is not limited to: a rotation joint, a sliding joint, a spiral joint, a cylindrical joint, a universal joint, a spherical joint, a planar joint, a parallelogram joint, etc. Each low-joint joint 220 may be coupled between a corresponding pair of connectors 210. Therefore, a plurality of connectors 210 and a plurality of low-joint joints 220 may be operably coupled to form the linkage structure 205, so that the support interface 230 has the ability to move relative to the base 110.

[0023] One or more lower joints 220 are independently lockable joints 260, i.e., the lockable joints are also independent joints. When not actuated, the lockable joints 260 are free joints and can be locked when actuated. In this article, an independently lockable joint refers to a joint that can be locked (i.e., actuated from an unlocked state to a locked state) and released (from a locked state to an unlocked state), which responds to signals from a controller and / or a sensor, is independent of the locked / unlocked state of other joints in the device, and is independent of the relative position / direction of the connecting rod when locked or unlocked.

[0024] For example, the independent lockable joint 260 of the device 200 is operably coupled to the respective ends of the two connecting rods 210. Each connecting rod 210 has a respective range of motion. The independent lockable joint 260 can be switched between an unlocked state and a locked state, and each connecting rod 210 can be in any position within its respective range of motion. That is, the independent lockable joint 260 can be locked at any time, regardless of the absolute or relative position / orientation of any connecting rod 210 at that time, and is not affected by any other joint state in the device 200. This enables the device 200 to quickly switch from a low inertia compliant state to a rigid state when locked. The lockable joints in the device 200 are configured to operate independently and directly without relying on the delayed reaction caused by cascade actuation. This is in contrast to a cascade arrangement, which triggers the first lock through a central locking mechanism and then triggers the next lock in sequence.

[0025] In some embodiments, all lower collateral joints 220 are lockable lower collateral joints 260 to provide redundancy. In this case, the linkage structure 205 can be locked in a certain position by actuating the minimum number of lockable joints 260 (also referred to as the selected lockable lower collateral joints). For each of the various embodiments of the device 200, the minimum number of lockable joints 260 and the degrees of freedom (DOF) of the linkage structure 205 can be predetermined, and the controller 500 can be configured accordingly to actuate at least the minimum number of lockable joints 260 required, or to select lockable joints 260 so that the device 200 as a whole can be in one of two states: a compliant state and a rigid state, and can switch from the compliant state to the rigid state relatively quickly.

[0026] exist FIG. 3A to FIG. 4B In the example shown, one embodiment of the linkage structure 205 can be presented as a closed kinematic chain consisting of six interconnected links 210 and six lower joints 220 or revolute joints 220. In this arrangement, the linkage structure 205 provides three degrees of freedom (3-DOF) motion of the support interface 230 relative to the base 110, namely, translation along the X axis, translation along the Y axis (usually Figure 4A In addition, the hexagonal structure allows the link structure 205 to be in the extended state 200a ( Figure 3A ) and contraction state 200b ( Figure 3B ). In this example, four of the six lower joints 220 are lockable joints 260, and each of the four lockable joints can be actuated independently of the other joints. When all four lockable joints are actuated, the movement of the linkage structure 205 in all three degrees of freedom (3-DOF) directions will be restricted and prevented. As a result, the entire linkage structure 205 instantly changes from a compliant body to a rigid body, locking the support interface 230 in the current position relative to the base 110.

[0027] like FIG. 3A to FIG. 4B As shown, the connecting rod structure 205 can be in the extended state 200a ( Figure 3A and Figure 4A ) and contraction state 200b ( Figure 3B and Figure 4B ). The system 900 can be configured so that the mobile unit 100 is in the raised state 100a or the compact state 100b when the linkage structure 205 is in the extended state 200a or the retracted state 200b, respectively. Preferably, when the mobile unit 100 is in the compact state 100b, the linkage structure 205 is in the retracted state 200b. Preferably, when the mobile unit 100 is in the raised state 100a, the linkage structure 205 is configured to be in the extended state 200a, ready for use.

[0028] The support interface 230 is configured to be adjustable relative to the linkage structure 205 to provide a better fit for the user 80. In some examples, the support interface 230 includes a backrest 237 that provides support for the user's back. The backrest 237 can be flexible or elastic. Alternatively, the backrest 237 can also be relatively rigid to provide sufficient support. Optionally, the backrest 237 can be a convex curved plate to provide more contact area with the user's lower back. Figure 5A and Figure 5B In the embodiment of the present invention, the support interface 230 includes a mechanism 240 having one or more pivot joints 242. The one or more pivot joints 242 provide a first limited joint motion of the support about the transverse axis 94, wherein the limited joint motion is a rotation within a range detectable by one or more sensors 250. The limited displacement of the support interface 230 relative to the linkage structure 205 is set within a range detectable by one or more sensors 250.

[0029] In the non-limiting example shown, the support interface 230 may include a support member 232 to which the shoulder strap 290 may be secured. In some embodiments, the support interface 230 may also include arms 234 extending from the support member 232. During use, the arms 234 may be located at the user's hips, waist, thighs, or generally on either side of the torso. The support interface 230 may define a recess to accommodate the user 80. In some embodiments, the support interface 230 may be adjacent to or in contact with the hips (pelvic region) of the user 80, thereby providing a degree of support to the user. Each arm 234 may be provided with at least one fastener 235 for connecting the shoulder strap 290.

[0030] The device 200 includes one or more sensors 250, which are coupled to the support interface 230 to sense the force applied to the support interface 230. In one embodiment, two force sensors 250a / 250b are coupled to opposite sides of the support interface 230. The two force sensors 250a / 250b are arranged to be spaced apart along a lateral direction 94 of the support interface 230, and the lateral direction 94 is perpendicular to the support direction 92. The support direction 92 can be defined as a direction extending from the support interface 230 to the linkage structure 205.

[0031] Figure 6 and Figure 7 Other embodiments of the connecting rod structure 205 are shown. Figure 6In the embodiment, the link structure 205 is a pentagonal structure having five links 210 and five lower joints 220 (or revolute joints) to provide two degrees of freedom (2 DOF) motion for the support interface 230. In this configuration, the two lower joints may be lockable joints 260 to lock the support interface 230 relative to the base 110. Figure 7 In the embodiment, the link structure 205 is a quadrilateral structure, which includes four links 210 and four lower joints 220 or revolute joints, providing a one degree of freedom (1 DOF) motion for the support interface 230. In this configuration, one lower joint can be a lockable joint 260 to lock the support interface 230 relative to the base 110.

[0032] According to one embodiment of the present disclosure, Fig. 8A and Figure 8B A lockable joint 260 is shown. The lockable joint 260 includes an independently actuated braking mechanism. The lockable joint 260 includes a housing 262, which defines a joint axis 96; a first friction element 264 and a second friction element 266 are disposed inside the housing 262 along the direction of the joint axis 96. In some embodiments, the first friction element 264 and the second friction element 266 can be biased (e.g., spring-loaded) away from each other. The first friction element 264 and the second friction element 266 can be magnetically actuated to engage with each other to generate a braking torque. In other words, the friction elements 264 / 266 can be a magnetically actuated friction element pair 264 / 266.

[0033] In addition, the lockable joint 260 also includes a gearbox 268, such as a planetary gearbox, which is meshed with the magnetically actuated friction element pair 264 / 266. The gearbox 268 is configured to increase the braking torque between the magnetically actuated friction element pair 264 / 266. By changing the gear ratio of the gearbox 268, the braking torque can be adjusted. Beneficially, an adjustable locking force can be achieved at the lockable joint 260. In some examples, for users 80 with a higher risk of falling, the lockable joint 260 can be configured to have a lower braking torque so as to lock the connecting rod structure 205 / support interface 230 in position as quickly as possible. In other examples, a higher braking torque can be set so that the device 200 provides a certain degree of support assistance even when the user 80 does not fall. The lockable joint 260 includes a first coupling element 272 and a second coupling element 274. The first coupling element 272 couples the first link 210 to a lockable joint on the joint axis 96, so that the first coupling element 272 can rotate around an axis parallel to the joint axis 96. The second coupling element 274 can be rigidly extended from the housing 262 and coupled to the second link. Such a lockable joint 260 can be selected for use in the present system 900 to provide a relatively light and low (low height) device 200.

[0034] Fig.9A and Fig. 9B A lockable joint 260 is shown according to another embodiment of the present disclosure. In this embodiment, both the first coupling element 272 and the second coupling element 274 are connected to an axis that is parallel to the joint axis 96. This provides a higher profile and a more rigid frame for the lockable joint 260.

[0035] The controller 500 can communicate signals with each magnetically actuated friction element 264 / 266 to lock / release the lockable joint 260, change the gear ratio of the gear box 268, or a combination of the two. The gear ratio is set before the device 200 is used by the user 80, that is, the intensity of the braking torque is not dynamically controlled when the device 200 responds to a fall or potential fall. The response time of the device 200 is set to be much shorter than the time required for conventional fall protection devices to change the stiffness on variable stiffness joints.

[0036] Some embodiments of the device 200 may be provided in a modular form, so that the same device 200 may be interchangeably coupled to different types of mobile units 100. A modular embodiment of the device 200 may be provided with a controller 500, for example, the controller 500 may be coupled to a portion of one of the links 210.

[0037] Fig. 10A and Fig. 10B A system 900 is shown in accordance with another embodiment of the present disclosure. Figure 2Aand Figure 2B Similar to the embodiment of the present invention, the system 900 may include a base 110 and a device 200 movably coupled to the base 110. The mobile unit 100 may be in the raised state 100a ( Fig. 10A ) and compact state 100b ( Fig. 10B ), wherein the elevated state 100a provides support for the user 80 during activities, and the compact state 100b provides support for the user 80 when in a sitting position.

[0038] Figures 11 to 13 A device 200 according to another embodiment is shown. The device 200 includes a link structure 205 having a plurality of links 210 and a plurality of lower joints 220, and a support interface 230 coupled to the link structure 205 or the links 210 to provide support for the user 80. One or more lower joints 220 may be independently lockable joints. Each lower joint 220 may be coupled between corresponding links 210. The plurality of links 210 and the plurality of lower joints 220 are operably coupled so that the support interface 230 performs relative movement relative to the base 110. The prismatic joints 222 may be respectively disposed in each armrest 140 or armrest housing of the device 300 to save space.

[0039] Fig.11 and Fig.13 An embodiment of can be schematically represented in a kinematic analysis in the form of a closed-loop chain of interconnected links, for example, as Fig.12 As shown. In this example, there are six connecting rods 210 and six lower joints 220. In this example, two of the lower joints 220 are prismatic joints 222, and the other two of the lower joints 220 are rotary joints 260. Each prismatic joint 222 also includes two spaced-apart rotary joints 224, which actuate belts 227. Four of the six lower joints 220 are independently lockable joints 260. Preferably, one of the rotary joints 224 of each prismatic joint 222 is a lockable joint 260. When the lockable joints 260 are locked, the connecting rods 210 are locked in position and direction relative to each other. Similarly, two force sensors 250a / 250b can be coupled to opposite sides of the support interface 230. The two force sensors 250a / 250b can be spaced apart along the lateral direction 94 of the support interface 230 and parallel to the lateral axis 94, which is perpendicular to the support direction 92.

[0040] Fig.14 A schematic diagram of a method 590 according to an embodiment of the present disclosure is shown. The method 590 is used for detection of a fall or detection / prediction of a potential fall. In one aspect, the method 590 is also a balance assistance method.

[0041] As described above, one or more sensors 250 (e.g., force sensors) may be mounted at the rotational joint between the device 200 and the support interface 230. Preferably, two sensors are mounted symmetrically on both sides of the device 200. When the user 80 wearing the safety belt is able to support himself, a portion of the user's weight is transferred to the sensor 250 through the support interface. When the user is about to fall or begins to fall, the sensor 250 detects a sudden change in weight or a sudden increase in force applied to the support interface 230. The controller 500 is configured to continuously receive signals from the sensor 250 and analyze these signals to detect whether there is an abnormality or an abnormal pattern in the force. The controller 500 may execute a fall detection algorithm or a balance assistance algorithm to determine whether action is required. If the controller 500 determines that the detected force is within a normal range (e.g., in addition to the value of the detected force, the direction of the force may also be considered), the controller 500 may decide that no action is required. If the controller 500 determines that the detected force indicates an abnormal situation, the controller 500 may be configured to lock the device 200 and stop the movement of the base 110. For example, in response to an abnormality in the supporting force, the controller 500 can independently activate at least one of the locking joints 260 to lock the support interface 230 relative to the base 110. In some embodiments, the base 110 is a part of the mobile unit 100, and in addition to locking the support interface 230 relative to the base 110, the controller 500 can also be configured to stop all movements of the base 110.

[0042] Examples of detected force anomalies may include any one or more of the following: (i) an average value of the detected forces exceeding a first threshold; (ii) a difference in the forces detected between two force sensors (on either side) exceeding a second threshold; (iii) a sudden change in the detected forces; and (iv) one or more detected force values ​​exceeding a third threshold.

[0043] In some embodiments, the detected force abnormality can be determined by obtaining an average value of the force measured by the force sensor 250 located on the opposite side of the user 80, and determining whether the average value exceeds a preset threshold according to the following equation 1.

[0044] When a user falls on either side (right or left), different support forces are applied to the support interface 230. For example, if the user falls to the right, the force sensor on the right will record a higher value than the force sensor on the left. The controller 500 can be configured to give a higher weight to the force detected by the right sensor than the left sensor. The controller 500 can also calculate the left-right force ratio based on the lateral support interface position of the sensors. The resultant force value can be the sum of the normalized force values ​​from the sensors on each side, multiplied by the left-right ratio. Referring to Equation 2 below, if the resulting force detected exceeds a preset threshold, the controller can be configured to consider that a fall has been detected.

[0045] As previously described, the device 200 is configured to determine whether a fall is detected or predicted, and to react to a detected / predicted fall by transitioning from an unlocked state at one instant in time, where the device 200 is a flexible multi-DOF body (compliance), to a locked state at the next instant in time, where the device 200 is a rigid body in the locked state. Once the device 200 is in the locked state, the system 900 will provide sufficient support for the user 80 to prevent the user 80 from falling.

[0046] The method and device are intended to provide immediate support when the user is about to lose balance or has just lost balance but has not actually fallen. Preferably, the system 900 is locked (i.e., the device 200 is locked as a rigid body and the base is fixed) for a long enough time for the user 80 to regain balance with the help of others or independently. Preferably, when the user 80 is able to balance himself, the device 200 will be unlocked (compliant state). In this way, the system 900 is less intrusive and inconvenient to the user, and provides a safe way for the user to improve his balance ability through his own efforts, thereby promoting better rehabilitation results.

[0047] The device 200 can be configured to have relatively low inertia, conforming to and coordinating with the user's movements during activities, while providing support only when a fall is predicted or detected. In addition, in some embodiments, the device 200 and the base 110 can be decoupled from the user 80 so that the impedance / resistance applied by the system 900 when the user is performing normal activities is zero or close to zero, which can improve the user's agility when there is no fall or a fall is not predicted. Preferably, the user 80 is not actively supported at all times, such as when a fall or potential fall is not detected. In contrast, traditional fall prevention methods continuously apply force to the user 80.

[0048] As described above, the system 900 is different from a conventional anti-fall device. The system 900 is configured to resist the user's activities at the moment a fall or potential fall is detected, and to provide support even when the user has not fallen. That is, the system 900 can be used as an auxiliary balance device. Overall, the system 900 is safer. For example, in the event of a fall, the system 900 can instantly provide reactive resisting support forces rather than active auxiliary support forces. The system 900 can achieve performance comparable to conventional systems at a lower cost while ensuring greater safety. If necessary, the system 900 can support the user from the front, for example when the user 80 lacks the confidence to walk forward because there is no visible support in front. Beneficially, the system 900 can support the user from behind, so that the system 900 has minimal or near-no interference with the user's activities.

[0049] Some conventional devices place the actuation mechanism on the base to provide greater stability and provide a joint of variable stiffness so that it can be gentle to the user. As described above, the device 200 can operate between a compliant state and a rigid state and is independent of the base 110, but it further places the actuable mechanism (such as a lockable joint) at a height close to the reference plane 155 and at a certain height from the base 110. In other words, the lockable joint is locally actuable, and the braking mechanism of the entire locking joint is set at the joint. The device 200 can be described as having a binary state: at any time, the device 200 is in one of two possible states: a compliant body state and a rigid body state, and there is no gradual transition between the compliant body state and the rigid body state.

[0050] Fig.15A is a perspective view of another embodiment of a system 900 in which the device 200 is integrated with the mobile unit 100 . Fig.15A The mobile unit 100 is shown in a raised state 100a. Fig. 15B The mobile unit 100 is shown in a compact state 100b, which can also be used as a wheelchair or a chair 120. As shown, the mobile unit 100 can be converted between the raised state 100a and the compact state 100b.

[0051] Fig.16A and Fig. 16B 2 is a perspective view, detailing another embodiment of the device 200. The device 200 may include a link structure 205 having a plurality of links 210 and a plurality of lower joints 220, and a support interface 230 coupled to the link structure 205 or the links 210 for providing support for the user 80. Each lower joint 220 may be coupled between respective links 210. Thus, the plurality of links 210 and the plurality of lower joints 220 may be operably coupled to form the link structure 205.

[0052] In this embodiment, for symmetry, preferably, an even number of lower sub-joints 220 are independently lockable joints 260, i.e., lockable and independent joints. The locking joints 260 are free joints when not actuated. When the locking joints 260 are locked, the first link 210 and the second link are locked relative to each other in position and / or direction. When all four lockable joints are actuated, the link structure 205 will be restricted in all three degrees of freedom (3-DOF) directions and cannot move. As a result, the entire link structure 205 instantly changes from a compliant body state to a rigid body state, so that the position of the support interface 230 relative to the base 110 is locked.

[0053] The implementation of the connecting rod structure 205 is as follows: Figures 3A to 4B As shown, in the extended state 200a ( Fig.15A and Fig.16A ) and contraction state 200b ( Fig. 15B and Fig. 16B ). The system 900 can be configured so that when the link structure 205 is in the extended state 200a or the retracted state 200b, the mobile unit 100 can be in the raised state 100a or the compact state 100b. Preferably, when the mobile unit 100 is in the compact state 100b, the link structure 205 is in the retracted state 200b; and when the mobile unit 100 is in the raised state 100a, the link structure 205 is configured to be in the extended state 200a, ready for use.

[0054] The support interface 230 can be configured to be adjustable relative to the linkage structure 205 to better fit the user 80. Fig.17A and Fig. 17B In an embodiment of the present invention, the support interface 230 includes a mechanism 240 having one or more articulation joints 242 and one or more translation joints 244. The one or more articulation joints 242 provide a first limited joint motion of the support about the transverse axis 94, wherein the limited joint motion is a rotation within a range detectable by the one or more sensors 250. The translation joint 244 provides a second limited joint motion or translation motion, allowing the support interface 230 to slide relative to the linkage structure 205, which is configured to define the reference plane 155. The limited displacement of the support interface 230 relative to the linkage structure 205 is set within a range detectable by the one or more sensors 250.

[0055] The support interface 230 may include a support member 232 for securing the safety belt 290. In some embodiments, the support interface 230 may also include an arm 234 extending from the support member 232. When in use, the arm 234 may be located at the user's hips, waist, thighs, or generally, the arm 234 may be located on both sides of the user's torso / body. Each arm 234 may be configured to have a slot 235 for connecting the safety belt 290. The arm 234 may include any of the following, such as a buckle, a fastener, or a slot plate or other element 235 with a slot for connecting to the safety belt 290.

[0056] All examples described herein, whether devices, methods, materials or products, are for illustrative purposes only, are intended to aid understanding, and are not intended to be limiting or exhaustive. Those skilled in the art may make modifications without departing from the scope of the claims.

Claims

1. A device comprising: Support interface; one or more sensors configured to sense forces applied to the support interface; and A connecting rod structure, wherein the connecting rod structure has a plurality of low-joint joints and a plurality of connecting rods, the supporting interface is coupled to one of the plurality of connecting rods, each of the plurality of low-joint joints is used to couple two of the plurality of connecting rods together, so that the connecting rod structure is defined as a closed motion chain, wherein the selected plurality of low-joint joints are a plurality of lockable low-joint joints, each of the plurality of lockable low-joint joints has a locally actuatable braking mechanism, and the locally actuatable braking mechanism can be independently actuatable relative to any other joints of the plurality of low-joints.

2. The apparatus of claim 1, wherein the lockable lower joint is actuatable to lock respective pairs of links of the plurality of links relative to each other.

3. The device according to claim 1 or claim 2, wherein the link structure changes from a compliant structure at one moment to a rigid body at the next moment in response to the selected plurality of lower joints being actuated from an unlocked state to a locked state.

4. An apparatus according to any one of claims 1 to 3, wherein two of the one or more force sensors are positioned apart along a transverse axis of the support interface, the transverse direction being perpendicular to a support direction defined as extending from the support interface to the connecting rod structure.

5. A device according to any one of claims 1 to 4, wherein the locally controllable braking mechanism comprises a pair of magnetically actuated friction elements.

6. The apparatus of claim 5, wherein the lockable lower joint comprises a gear box engaged with the respective pair of magnetically actuated friction elements, wherein the gear box is configured to increase braking torque between the respective pair of magnetically actuated friction elements.

7. The device according to any one of claims 1 to 7, wherein the braking torque can be set by changing the gear ratio of the gearbox.

8. The device according to any one of claims 1 to 4, wherein the support interface is coupled to the linkage structure such that the support interface is displaceable in three degrees of freedom relative to the linkage structure.

9. The device according to any one of claims 1 to 8, wherein the link structure comprises six lower joints and six links, wherein each of four of the six lower joints is a lockable lower joint and can be locked independently of any other lower joint of the six lower joints.

10. The device of any one of claims 1 to 9, wherein at least two of the plurality of inferior joints are prismatic joints.

11. An apparatus according to any one of claims 1 to 10, wherein the support interface is arranged to support part of a user's buttocks.

12. The apparatus of any one of claims 1 to 10, further comprising a safety belt coupled to the support interface, wherein the safety belt is wearable over at least a portion of a user's torso.

13. The device according to any one of claims 1 to 12, further comprising a controller, wherein the controller is configured to: determining whether the force sensed by the one or more sensors indicates the presence of an anomaly; and When it is determined that the abnormality exists, the selected plurality of lockable lower joints are locked to provide a support force at the support interface.

14. The apparatus according to claim 13, wherein the anomaly comprises any one or more of the following: (i) an average value of the force exceeds a first threshold; (ii) a difference between the forces sensed by two of the one or more sensors exceeds a second threshold; (iii) a variation of the force at several time instants; and (iv) one or more values ​​of the force exceeds a third threshold.

15. A balance assistance system for a user, the balance assistance system comprising: a support interface having a safety belt, the safety belt being wearable by a user; one or more sensors configured to sense a force applied by a user on the support interface; A link structure, wherein the link structure has a plurality of lower joints and a plurality of links, the support interface is coupled to one of the plurality of links, each of the plurality of lower joints is used to couple two of the plurality of links together, so that the link structure is defined as a closed kinematic chain, wherein the selected plurality of lower joints are a plurality of lockable lower joints, each of the plurality of lockable lower joints has a locally actuatable actuation brake mechanism, and the locally actuatable brake mechanism can be independently actuatable relative to any other joint of the plurality of lower joints; a base, the connecting rod structure being coupled to the base; and A controller is configured to lock the selected plurality of lower joints when determining that the sensed force is abnormal, thereby locking respective link pairs of the plurality of links relative to each other.

16. A balance assist system according to claim 15, wherein the controller is arranged to stop any movement of the base when it is determined that the abnormality exists.

17. A balance assistance system according to claim 15 or claim 16, wherein the abnormality includes any one or more of the following: (i) the average value of the force exceeds a first threshold; (ii) the difference between the forces sensed by two of the one or more sensors exceeds a second threshold; (iii) the force changes at several time instants; and (iv) one or more values ​​of the force exceed a third threshold.

18. A balance assist system according to any one of claims 15 to 17, wherein the controller is arranged to monitor the sensed force over a period of time when the linkage structure is in a compliant state.

19. The balance assist system according to any one of claims 15 to 18, wherein in response to the selected plurality of lower joints being locked, the link structure changes from the compliant state to a rigid state, providing support force for the user in the rigid state.

20. The balance assist system according to any one of claims 15 to 19, wherein the link structure comprises six lower joints and six links, wherein each of four of the six lower joints is a lockable lower joint and can be locked independently of any other of the six lower joints.

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