Compact full-range motion and multi-degree-of-freedom structure for supporting orthopedic devices
By designing compact multi -freedom support structure, the problem of restricting natural activities in the existing hip alignment device is solved, and the hip support effect of lightweight, stable and unlimited joint activity is realized.
Patent Information
- Application Number
- CN202380051148.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2022-06-02
- Filing Date
- 2023-06-01
- Publication Date
- 2025-01-24
AI Technical Summary
Existing hip alignment devices often limit the user's natural hip mobility when providing mechanical assistance, and the devices are often bulky, cumbersome or limited in motion.
Designed a compact multi -freedom (DOF) support structure, including support bands and multi -DOF motion components. The support zone is made of zero -stiffness or infinite stiffness material. Rotate the DOF mechanism to allow a full range to move and connect the orthopedic device through an attached mechanism.
In the case of unlimited natural joint activities, it provides a stable and lightweight hip support, allowing users to exercise in all biomechanical plans, while preventing physical constraints that are not targeted at activities of biological joints.
Smart Images
Figure CN119365157A_ABST
Abstract
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 348,211, filed on June 2, 2022, which is incorporated herein by reference. Technical Field
[0002] The present disclosure relates to a compact full range of motion (RoM) and multiple degrees of freedom (DoF) structure for supporting an orthopedic device. Background Art
[0003] Hip alignment devices such as exoskeletons and orthoses that attach above and below the waist are used to provide structural and mechanical assistance for a variety of user needs, but at the expense of reduced hip mobility for the user. This is a result of the natural anatomy of the human hip, and requires the attached device to remain aligned with the axis of the human hip without losing the ability to transmit force. Solutions exist that involve large mechanical arrangements or sacrifice one or more of the natural axes of hip motion (usually abduction / adduction and / or internal rotation / external rotation), but at the expense of wearing a bulky / cumbersome or mobility-restricting device.
[0004] Additionally, conventional lower extremity exoskeletons with hip and knee actuators tend to use the hip actuator to assist hip motion in the sagittal plane. Degrees of freedom aligned with the user's hip joint axis allow for movement of the hip in the frontal and transverse planes. Off-axis degrees of freedom are generally avoided because axis displacement creates mechanical constraints on the thigh segment when the user moves the hip outside of the sagittal plane.
[0005] Therefore, there is a need for a lightweight, low profile solution that is able to align the exoskeleton / orthosis and allow for comfortable force transfer between the hip joints without restricting the user's natural joint mobility. Summary of the invention
[0006] The present disclosure provides a compact multi-degree-of-freedom (DoF) support structure located in a single biomechanical plane for supporting an orthotic device, allowing a user a full range of motion in all biomechanical plans, the support structure comprising:
[0007] a support belt configured to be secured around a user's body, connected to a multi-DoF motion element via a first interconnection, the multi-DoF motion element comprising a first rotational DoF mechanism, a second rotational DoF mechanism, and a third rotational DoF mechanism, the first rotational DoF mechanism being connected to the second rotational DoF mechanism via a second interconnection, the second rotational DoF mechanism being connected to the third rotational DoF mechanism via a third interconnection, each of the first rotational DoF mechanism, the second rotational DoF mechanism, and the third rotational DoF mechanism being uniquely selected from the group consisting of a frontal plane rotational DoF mechanism, a transverse plane rotational DoF mechanism, and a sagittal plane rotational DoF mechanism;
[0008] The multi-DoF motion element further includes an attachment mechanism for connecting the orthotic device to the multi-DoF motion element;
[0009] Among other things, in use, a compact multi-degree-of-freedom (DoF) support structure supports the orthotic device while allowing the user a full range of motion across all biomechanical programs.
[0010] The present disclosure also provides a compact multi-degree-of-freedom (DoF) support structure, wherein the support strip comprises a zero stiffness material, an infinite stiffness material, or a material having a stiffness different from zero and infinity.
[0011] The present disclosure further provides a compact multi-degree-of-freedom (DoF) support structure, wherein the support strap comprises a material selected from the group consisting of fabric, foam, plastic, and metal.
[0012] The present disclosure further provides a compact multi-degree-of-freedom (DoF) support structure, wherein the frontal rotation DoF mechanism, the lateral rotation DoF mechanism and the sagittal rotation DoF mechanism are in the form of a mechanism selected from the group consisting of a pivot, a hinge, a passive rotation mechanism and an active rotation mechanism.
[0013] The present disclosure still further provides a compact multi-degree-of-freedom (DoF) support structure, wherein the frontal rotation DoF mechanism, the lateral rotation DoF mechanism, and the sagittal rotation DoF mechanism include a zero stiffness material, an infinite stiffness material, or a material having a stiffness different from zero and infinity.
[0014] The present disclosure also provides a compact multi-degree-of-freedom (DoF) support structure, wherein the frontal rotation DoF mechanism, the lateral rotation DoF mechanism, and the sagittal rotation DoF mechanism include a material selected from the group consisting of fabric, foam, plastic, and metal.
[0015] The present disclosure further provides a compact multi-degree-of-freedom (DoF) support structure, wherein the orthotic device is a passive orthosis or a powered orthosis.
[0016] The present disclosure further provides a compact multi-degree-of-freedom (DoF) support structure, wherein the third rotation DoF mechanism is a sagittal plane rotation DoF mechanism, and the attachment mechanism is an off-axis sagittal plane translation DoF mechanism that passively connects the third rotation DoF mechanism to the orthopedic device, wherein the off-axis sagittal plane translation DoF mechanism is a self-adjusting variable length structure that allows the distance between the third rotation DoF mechanism and the orthopedic device to change, thereby preventing misalignment from imposing physical constraints on the movement of the biological joint.
[0017] The present disclosure still further provides a compact multi-degree-of-freedom (DoF) support structure, wherein the off-axis sagittal plane translation DoF mechanism is in the form of a prismatic joint or a cylindrical joint.
[0018] The present disclosure also provides a compact multi-degree-of-freedom (DoF) support structure, wherein the orthotic device includes a joint selected from the group consisting of an ankle joint, a knee joint, a hip joint, a wrist joint, an elbow joint, and a shoulder joint, which is aligned with a corresponding joint of the user.
[0019] The present disclosure further provides a compact multi-degree-of-freedom (DoF) support structure, wherein the support belt is configured to be secured around the user's torso or waist above the hip joint, around the user's shoulders above the shoulder joint, around the user's legs above the knee joint, or around the user's arms above the elbow joint. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Embodiments of the present invention will now be described by way of example only with reference to the accompanying drawings, in which:
[0021] Figure 1 is a schematic side view of a compact full range of motion (RoM) and multiple degrees of freedom (DoF) structure according to an illustrative embodiment of the present disclosure;
[0022] Figure 2 is a schematic side view of a first alternative embodiment of a full range of motion (RoM) and multiple degrees of freedom (DoF) hip structure;
[0023] Figure 3 yes Figure 2 Stereoscopic images of the hip structure with full range of motion (RoM) and multiple degrees of freedom (DoF);
[0024] Figure 4 yes Figure 2 Frontal perspective view of the full range of motion (RoM) and 2DoF motion elements of the multi-degree-of-freedom (DoF) hip structure;
[0025] Figure 5 is a schematic side view of a second alternative embodiment of a full range of motion (RoM) and multiple degrees of freedom (DoF) hip structure;
[0026] Figure 6 yes Figure 5 Stereoscopic images of the hip structure with full range of motion (RoM) and multiple degrees of freedom (DoF);
[0027] Figure 7 is a schematic side view of a third alternative embodiment of a full range of motion (RoM) and multiple degrees of freedom (DoF) hip structure, and
[0028] Fig. 8A and Figure 8B is a perspective view of an alternative embodiment of an attachment mechanism in the form of an off-axis sagittal translation DoF mechanism, which is shown in a first limb position ( Fig. 8A ) and second limb position ( Figure 8B ) is shown.
[0029] Like reference numbers used in different figures indicate like components. DETAILED DESCRIPTION
[0030] In general, non-limiting illustrative embodiments of the present disclosure provide a compact full range of motion and multiple degrees of freedom (DoF) support structure that is located in a single biomechanical plane for supporting an orthotic device (e.g., a brace, orthosis, or exoskeleton with a lower extremity component) that allows a user to perform a full range of hip motion depending on the direction of motion. Advantageously, the support structure is sufficiently rigid to transmit hip joint motion to the user's hip in the sagittal plane (i.e., hip flexion / extension motion) while allowing other user hip motions (i.e., hip internal rotation / external rotation and hip abduction / adduction), including maximum freedom of motion for translational motion between the pelvis and the knee joint.
[0031] The hip support structure also provides an off-axis linkage structure so that the hip structure is completely rigid in the sagittal plane to fully transmit hip motion to the orthotic structure hip joint or actuator, while providing 2DoF to the user to allow movement in the horizontal (internal rotation / external rotation) plane and frontal (abduction, adduction). The rotation axis of those 2DoF does not need to be aligned with the user's hip rotation axis. In the case where the hip support structure is attached to a lower extremity orthosis or exoskeleton that does not have a knee joint, the effect of this axis displacement is simply the thigh structure sliding up or down along the thigh. If the orthosis or exoskeleton is equipped with a knee joint or actuator that needs to be aligned with the user's knee joint, the hip structure is equipped with a sliding femoral stem so that the mechanical constraint created by this axis displacement can be removed.
[0032] It should be understood that the hip support structure is configured for use with an orthotic device or an exoskeleton that includes a lower extremity component, and that the exoskeleton may or may not further include an upper extremity component.
[0033] See also Figure 1A compact full range of motion (RoM) and multi-degree of freedom (DoF) hip structure (1) includes a support belt (11) configured to be positioned around the torso or waist of a user, and at least one interconnection device (41) is laterally fixed to the support belt (11) in the sagittal plane. The interconnection device (41) is connected to a multi-DoF motion element (20), and the multi-DoF motion element (20) includes a frontal plane rotation DoF mechanism (21), a lateral plane rotation DoF mechanism (22), and a sagittal plane rotation DoF mechanism (23). These DoF mechanisms (21, 22, 23) are interconnected by an interconnection device (42) and an interconnection device (43). The order of the DoF mechanisms (21, 22, 23) is not important, for example, any one of the three DoF mechanisms (21, 22, 23) is connected to the support belt (11) via the interconnection device (41), any one of the remaining two DoF mechanisms is connected to the first DoF mechanism via the interconnection device (42), and the remaining DoF mechanism is connected to the second DoF mechanism via the interconnection device (43). The multi-DoF motion element (20) itself is configured to be connected to the orthotic device (30) via an attachment mechanism (44), which can be, for example, a hip joint.
[0034] The frontal plane rotation DoF mechanism (21) allows the orthotic device (30) to move about the abduction / adduction axis. The transverse plane rotation DoF mechanism (22) allows the orthotic device (30) to move about the internal / external rotation axis. As for the sagittal plane rotation DoF mechanism (23), it allows the orthotic device (30) to move about the flexion / extension axis. In the illustrative embodiment, the sagittal plane rotation DoF mechanism (23) can be the hip joint of the associated orthotic device (30).
[0035] It should be understood that the DoF mechanisms (21, 22, 23) can be independently made of free hinges and pivots, or made of flexible materials such as plastics, foams, polymers and fabrics. The thinness of the flexible material combined with its elasticity allows the orthotic device (30) to move around the abduction / adduction axis by bending and around the internal / external rotation axis by twisting, while restricting movement in the flexion / extension axis.
[0036] In another illustrative embodiment, the attachment mechanism (44) is a sagittal translation DoF mechanism that compensates for misalignment between the user's joints and the orthotic device (30) joints caused by the DoF mechanism (21, 22, 23) not being coaxial with the user's natural joints, thereby preventing the misalignment of the orthotic device (30) in this area from imposing physical constraints on the movement of the user's biological joints. As a result, the movement of the user's legs is not hindered.
[0037] In another illustrative embodiment, the DoF mechanism (23) is an orthotic device (30) hip joint, and the sagittal translation DoF mechanism (44) couples the orthotic device hip joint (23) to a knee and / or hip orthotic device.
[0038] It should be understood that this compact full range of motion (RoM) and multi-degree of freedom (DoF) structure (1) can be used at the user's hip or other joints (such as shoulders, elbows, wrists, knees and ankles), wherein the sagittal translation DoF mechanism (44) connects the first joint (23) of the orthotic device (30) aligned with the user's proximal joint to the second joint or side segment of the orthotic device (30) aligned with the user's distal joint, thereby preventing the misalignment of the orthotic device (30) in this area from imposing physical constraints on the movement of the biological joint. Therefore, the movement of the user's limb (leg or arm) is not hindered.
[0039] refer to Figure 2 and Figure 3 , a first alternative embodiment of a full range of motion (RoM) and multiple degrees of freedom (DoF) hip structure (1') is shown, comprising a 2DoF motion element (20') aligned in the sagittal plane with the user's hip joint center of rotation and secured to a support belt (11) configured to be positioned around the user's torso or waist.
[0040] The 2DoF motion element (20') is provided with an attachment mechanism (44) for attaching the orthotic device (30) to the 2DoF motion element (20'). The 2DoF motion element (20') allows the attachment mechanism (44) to move about the abduction / adduction axis (15) and about the internal / external rotation axis (16) of the user's hip, while restricting movement about the flexion / extension axis (17). Thus, the movement of the user's hip movement is allowed or restricted depending on the direction of movement.
[0041] See also Figure 4 The 2DoF motion element (20') is in the form of a gimbal with an interconnection device (41) in the form of a fixed outer ring and pivotable interconnections (42) and (43) in the form of a middle ring and an inner ring, respectively. The interconnection device (41) is fixed to the support belt (11) to limit movement in the flexion / extension axis (17) (see Figure 3 A frontal plane rotation DoF mechanism (21) in the form of a first set of pivots is pivotally connected between the interconnection means (41) and the interconnection means (42) to allow the attachment mechanism (44) to move about the abduction / adduction axis (15) of the user's hip (see Figure 3A transverse plane rotation DoF mechanism (22) in the form of a second set of pivots is pivotally connected between the interconnection means (42) and the interconnection means (43), thereby allowing the attachment mechanism (44) to move about the internal / external rotation axis (16) of the user's hip (see Figure 3 ).
[0042] refer to Figure 5 and Figure 6 , a second alternative embodiment of a full range of motion (RoM) and multiple degrees of freedom (DoF) hip structure (1'') is shown, comprising a 2DoF motion element (20'') aligned in the sagittal plane with the user's hip joint center of rotation and secured to a support belt (11) configured to be positioned around the user's torso or waist.
[0043] The 2DoF motion element (20'') is provided with an attachment mechanism (44) for attaching a lower limb orthotic device (30) to the 2DoF motion element (20''). The 2DoF motion element (20'') allows the attachment mechanism (44) to move around an abduction / adduction axis (15) and around an internal / external rotation axis (16) of the user's hip, while limiting movement on a flexion / extension axis (17). Thus, the user's hip movement is allowed or limited depending on the direction of movement.
[0044] The thinness of the upper portion 24 of the 2DoF motion element 20'' combined with the elasticity of the materials used in the construction of the 2DoF motion element 20'' and the support strap (11) allows the attachment mechanism (44) to move around the abduction / adduction axis (15) by flexion and around the internal / external rotation axis (16) by torsion, while restricting movement in the flexion / extension axis (17).
[0045] refer to Figure 7 , a third alternative embodiment of a full range of motion (RoM) and multiple degrees of freedom (DoF) hip structure (1''') is shown, which includes a frontal plane adduction (21''') DoF mechanism and an abduction (22''') DoF mechanism, and an interconnection device (43) or hip actuator support (44''').
[0046] Reference now Fig. 8A and Figure 8B , shows an alternative embodiment of an attachment mechanism (44) in the form of an off-axis sagittal translation DoF mechanism (444) which is a self-adjusting variable length structure that allows the distance between the horizontal lateral DoF mechanism (23) and the orthotic device (30) to be changed, thereby preventing misalignment from imposing physical constraints on the movement of the biological joint.
[0047] In one illustrative embodiment, the off-axis sagittal plane translation DoF mechanism (444) may take the form of a prismatic joint (e.g., a dovetail and a linear bearing). In another illustrative embodiment, the off-axis sagittal plane translation DoF mechanism (444) may take the form of a cylindrical joint, such as a shaft on a chassis and a first cylinder that slides into a second cylinder.
[0048] Although the present disclosure has been described by way of specific non-limiting illustrative embodiments and examples thereof, it should be noted that modifications to the present specific embodiments will be apparent to those skilled in the art without departing from the scope of the present disclosure.
Claims
1. A compact multi-degree-of-freedom (DoF) support structure (1) located in a single biomechanical plane for supporting an orthotic device (30) allowing a user full range of motion in all biomechanical plans, the support structure comprising: A support belt (11) configured to be fixed around a user's body, connected to a multi-DoF motion element (20) via a first interconnection device (41), wherein the multi-DoF motion element (20) includes a first rotation DoF mechanism (21), a second rotation DoF mechanism (22) and a third rotation DoF mechanism (23), wherein the first rotation DoF mechanism (21) is connected to the second rotation DoF mechanism (22) via a second interconnection device (42), and the second rotation DoF mechanism (22) is connected to the third rotation DoF mechanism (23) via a third interconnection device (43), and each of the first rotation DoF mechanism (21), the second rotation DoF mechanism (22) and the third rotation DoF mechanism (23) is uniquely selected from the group consisting of a frontal plane rotation DoF mechanism, a transverse plane rotation DoF mechanism and a sagittal plane rotation DoF mechanism; The multi-DoF motion element (20) further comprises an attachment mechanism (44), wherein the attachment mechanism (44) is used to connect the orthopedic device (30) to the multi-DoF motion element (20); Wherein, in use, the compact multi-degree-of-freedom (DoF) support structure (1) supports the orthotic device (30) while allowing the user a full range of motion in all biomechanical programs.
2. The compact multi-degree-of-freedom (DoF) support structure (1) according to claim 1, wherein: The support belt (11) comprises a zero-rigidity material.
3. The compact multi-degree-of-freedom (DoF) support structure (1) according to claim 1, wherein: The support belt (11) comprises an infinitely stiff material.
4. The compact multi-degree-of-freedom (DoF) support structure (1) according to claim 1, wherein: The support strip (11) comprises a material having a stiffness different from zero and infinity.
5. The compact multi-degree-of-freedom (DoF) support structure (1) according to any one of claims 1 to 4, wherein: The support strip (11) comprises a material selected from the group consisting of fabric, foam, plastic and metal.
6. The compact multi-degree-of-freedom (DoF) support structure (1) according to any one of claims 1 to 5, wherein: The frontal rotation DoF mechanism (21), the lateral rotation DoF mechanism (22) and the sagittal rotation DoF mechanism (23) take the form of a mechanism selected from the group consisting of a pivot, a hinge, a passive rotation mechanism and an active rotation mechanism.
7. The compact multi-degree-of-freedom (DoF) support structure (1) according to any one of claims 1 to 5, wherein: The frontal rotation DoF mechanism (21), the lateral rotation DoF mechanism (22) and the sagittal rotation DoF mechanism (23) comprise zero stiffness material.
8. The compact multi-degree-of-freedom (DoF) support structure (1) according to any one of claims 1 to 5, wherein: The frontal rotation DoF mechanism (21), the lateral rotation DoF mechanism (22) and the sagittal rotation DoF mechanism (23) comprise infinite stiffness material.
9. The compact multi-degree-of-freedom (DoF) support structure (1) according to any one of claims 1 to 5, wherein: The frontal rotation DoF mechanism (21), the lateral rotation DoF mechanism (22) and the sagittal rotation DoF mechanism (23) include materials having stiffness different from zero and infinity.
10. The compact multi-degree-of-freedom (DoF) support structure (1) according to any one of claims 1 to 5, wherein: The frontal rotation DoF mechanism (21), the lateral rotation DoF mechanism (22) and the sagittal rotation DoF mechanism (23) comprise a material selected from the group consisting of fabric, foam, plastic and metal.
11. The compact multi-degree-of-freedom (DoF) support structure (1) according to any one of claims 1 to 10, wherein: The orthotic device (30) is a passive orthosis.
12. The compact multi-degree-of-freedom (DoF) support structure (1) according to any one of claims 1 to 10, wherein: The orthotic device (30) is a powered orthosis.
13. The compact multi-degree-of-freedom (DoF) support structure (1) according to any one of claims 1 to 12, wherein: The third rotation DoF mechanism (23) is a sagittal plane rotation DoF mechanism, and the attachment mechanism (44) is an off-axis sagittal plane translation DoF mechanism (444) that passively connects the third rotation DoF mechanism (23) to the orthopedic device (30), wherein the off-axis sagittal plane translation DoF mechanism (444) is a self-adjusting variable length structure that allows the distance between the third rotation DoF mechanism (23) and the orthopedic device (30) to change, thereby preventing misalignment from imposing physical constraints on the movement of the biological joint.
14. The compact multi-degree-of-freedom (DoF) support structure (1) according to claim 13, wherein: The off-axis sagittal translation DoF mechanism (444) is in the form of a prismatic joint.
15. The compact multi-degree-of-freedom (DoF) support structure (1) according to claim 13 or 14, wherein: The off-axis sagittal translation DoF mechanism (444) is in the form of a cylindrical joint.
16. The compact multi-degree-of-freedom (DoF) support structure (1) according to any one of claims 1 to 15, wherein: The orthotic device (30) includes a joint selected from the group consisting of an ankle joint, a knee joint, a hip joint, a wrist joint, an elbow joint, and a shoulder joint, the joint being aligned with a corresponding joint of the user.
17. The compact multi-degree-of-freedom (DoF) support structure (1) according to any one of claims 1 to 15, wherein: The support belt (11) is configured to be secured around the torso or waist of a user above the hip joint.
18. The compact multi-degree-of-freedom (DoF) support structure (1) according to any one of claims 1 to 15, wherein: The support belt (11) is configured to be secured around the user's shoulder above the shoulder joint.
19. The compact multi-degree-of-freedom (DoF) support structure (1) according to any one of claims 1 to 15, wherein: The support strap (11) is configured to be secured around the user's leg above the knee joint.
20. The compact multi-degree-of-freedom (DoF) support structure (1) according to any one of claims 1 to 15, wherein: The support strap (11) is configured to be secured around the user's arm above the elbow joint.