High mobility efficient load transfer sacral-lumbar articulating dorsal structure for orthopedic structures

Abstract

A load transfer sacral-lumbar articulating dorsal support structure that allows torque generated by a user's dorsal transfer hip orthopedic structure includes a spinal support member including at least one pair of separate contact interfaces interconnected by a joint, and the at least one pair of independent contact interfaces is coupled to the pelvic support structure by at least one pair of multi-bar linkage elements associated with each of the at least one pair of contact surfaces. The pelvic support structure includes at least one hip attachment member configured for securing an associated hip joint member provided with an orthopedic structure attachment member. In use, the load-transferring sacral-lumbar articulating dorsal support structure provides an anatomical transfer of torque generated by the hip joint member through the user's back.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 348,194, filed on June 2, 2022, which is incorporated herein by reference. Technical Field

[0003] The present disclosure relates to a highly mobile, efficient load-transferring sacral-lumbar articulated dorsal structure for orthopedic structures. Background Art

[0004] Traditional lower-limb exoskeletons are either lower-limb only (no hip motors, or hip motors that produce low torque) or include upper-limb components (e.g., hip motors that produce high torque). These components tend to transfer the force of the hip motors to the upper body, but also limit the mobility of the upper body.

[0005] Therefore, a solution is needed to limit the forces transmitted by the hip motors to the upper body while improving upper body mobility.

[0006] Additionally, current exoskeletons and orthoses tend to use traditional padding composed of foam or other compressible types of materials, where a compromise must be made between comfort and stiffness for force transmission.

[0007] Therefore, there is also a need for padding solutions for exoskeletons that provide increased comfort without sacrificing the ability to efficiently transfer forces from joint actuation to the associated body parts. Summary of the invention

[0008] The present disclosure provides a load-transferring sacral-lumbar articulated dorsal support structure that allows for the transfer of torque generated by a hip orthotic structure through the user's back, comprising:

[0009] a spinal support component comprising at least one pair of independent contact interfaces, and in an alternative embodiment, the spinal support component comprising at least two pairs of independent contact interfaces interconnected by a joint and coupled to a pelvic support structure by at least one pair of multi-rod linkage elements associated with each of the at least one pair of contact surfaces, the pelvic support structure comprising at least one hip attachment component configured for securing an associated hip component provided with an orthopedic structure attachment component;

[0010] Therein, in use, the load transferring sacro-lumbar articulated dorsal support structure provides an anatomical transfer of torque generated by the hip joint component through the user's back.

[0011] The present disclosure also provides a load-transferring sacral-lumbar articulated dorsal structure, wherein each of the independent contact interfaces is provided with a viscoelastic material on a side facing the user's back, the viscoelastic material conforms to the user's back and becomes rigid under the torque generated by the hip joint component, thereby transmitting the generated torque while providing comfort to the user. In another embodiment, each of the independent contact interfaces is provided with a sandwich layer of non-viscoelastic material on one side of the user's back.

[0012] The present disclosure also provides a load-transferring sacral-lumbar articulated dorsal structure wherein the interconnecting joint, at least one pair of multi-rod linkage elements, and / or the pelvic support structure comprise a zero stiffness material, an infinite stiffness material, or a material having a stiffness different from zero and infinity.

[0013] The present disclosure also provides a load-transferring sacral-lumbar articulated dorsal structure, wherein the interconnecting joint, the multi-rod linkage element and / or the pelvic support structure include a material selected from the group consisting of air, fabric, foam, plastic and metal. The interconnecting joint may also include one or more layers, wherein one layer may contain air.

[0014] The present disclosure also provides a load-transferring sacro-lumbar articulated dorsal structure wherein the hip component is a flexible structure comprising a zero stiffness material, an infinite stiffness material, or a material having a stiffness different from zero and infinity that resists motion of the user.

[0015] The present disclosure also provides a load-transferring sacral-lumbar articulated dorsal structure wherein the hip joint component is a freely moving pivot or a powered actuator.

[0016] The present disclosure also provides a load-transferring sacral-lumbar articulated dorsal structure, which also includes a protective belt configured to secure the articulated dorsal support structure to the user's torso. In one embodiment, the protective belt is composed of a chest belt and a waist belt, which allow the user's torso to rotate in the transverse plane and the frontal plane without interference.

[0017] The present disclosure also provides a load-transferring sacral-lumbar articulated dorsal structure, the structure also comprising an orthopedic structure coupled to the dorsal structure by an orthopedic structure attachment member. In some embodiments, the orthopedic structure is a passive orthosis, while in other embodiments it is a powered exoskeleton. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Embodiments of the present disclosure will be described by way of example only with reference to the accompanying drawings, in which:

[0019] Figure 1 is a schematic perspective view of a high mobility, efficient load transfer sacral-lumbar articulated dorsal structure for an orthopedic structure according to an illustrative embodiment of the present disclosure;

[0020] Figure 2 is a perspective view of an illustrative embodiment of a high mobility, efficient load transfer sacral-lumbar articulated dorsal structure for an orthopedic structure in accordance with an illustrative embodiment of the present disclosure; and

[0021] Figure 3 yes Figure 2 Schematic perspective view of the highly mobile and efficient load-transferring sacral-lumbar articulated dorsal structure.

[0022] The same reference numerals used in different drawings denote the same components. DETAILED DESCRIPTION

[0023] In general, non-limiting illustrative embodiments of the present disclosure provide a highly mobile, efficient load transfer, sacral-lumbar articulated dorsal structure for an orthotic structure. In another non-limiting illustrative embodiment of the present disclosure, a viscoelastic interface is provided between the user's body and the rigid or semi-rigid components of the orthosis or exoskeleton.

[0024] Reference Figure 1 A highly mobile, highly efficient load transfer sacro-lumbar articulated dorsal structure (1) includes a rigid or semi-rigid pelvic structure (11) surrounding the user's hip and pelvic bones, and low-profile segments (16) attached to the sides. Each low-profile segment (16) has a receiving portion to which at least one hip joint component (12) is attached. In an illustrative embodiment, the hip joint component (12) is provided with an actuator that generates torque in the sagittal plane, and the hip joint component is constrained below the hip by a lower limb orthosis (13) through an associated orthosis attachment component (15). Above the hips, the spinal support component (10) transmits torque from the hip joint (12) to the upper body through the associated hip attachment component (14), and in the illustrative embodiment, the back component (10) is flexibly anchored to the shoulders, chest and upper back of the user by means of a protection belt (20), which is composed of a strap (21) on the top of the structure (1) at rib cage height and / or another strap (22) at the bottom of the structure (1) at waist height, or by a shoulder strap (21). Considering the embodiment of the spinal support component (10) used in combination with the protection belt (20), this configuration allows the torque generated by the hip actuator (12) to be transmitted in an agonist-antagonist manner.

[0025] The spinal support component (10) includes a contact interface (32) interconnected via joints (34) to allow compliance ranging from none (completely rigid, e.g., metal) to maximum (no links, air), including plastics and fabrics of varying stiffness, and the contact interface is coupled to a rigid or semi-rigid pelvic structure (11) via a multi-rod linkage element (36) to allow compliance over a maximum range of links of varying stiffness.

[0026] The shape of the spinal support member (10) and the use of a flexible protective strap (20) provide a highly mobile force transmitting back structure (1) that is most flexible at chest height. This allows the user to freely rotate their torso in the horizontal plane by rotating within the straps or utilizing the compliance of the spinal support member (10). In addition, this flexibility allows the user to rotate the torso left and right in the frontal plane.

[0027] In another illustrative embodiment, the contact interface (32) of the high mobility force transfer back structure (1) can be provided with a viscoelastic material on the user's body side and a rigid or semi-rigid component of the high mobility force transfer back structure (1). The viscoelastic interface uses viscoelastic materials (or materials with non-Newtonian properties) at the interface between the user's body and the rigid or semi-rigid components of the orthosis or exoskeleton. These materials are selected to have properties that allow the interface to conform to the user's body and morphological characteristics while becoming rigid under the action of the forces generated by the hip joint component (12), thereby transmitting forces in a comfortable and efficient manner. In an alternative embodiment, the contact interface (32) can be composed of a non-viscoelastic material (e.g., fabric, foam, and plastic) sandwiched on the user's body side.

[0028] It will be appreciated that the contact interface provided with the viscoelastic material can be used in any orthosis or exoskeleton for the lower limb, mid-torso and / or upper torso as well as high mobility force transfer back structures.

[0029] It should be understood that the number of contact interfaces (32), joints (34) and multi-rod linkage elements (36) may vary. For example, in an alternative embodiment, the high mobility, high efficiency load transfer sacral-lumbar articulated dorsal structure (1) may be provided with a single pair of contact interfaces (32).

[0030] It should also be understood that while a pair of low profile segments (16) are mentioned, in alternative embodiments the highly mobile, efficient load transfer sacro-lumbar articulated dorsal structure (1) may be provided with a single low profile segment (16) located on either side of the user's body.

[0031] Reference Figure 2 and Figure 3, shows an illustrative embodiment of a high mobility, efficient load transfer sacro-lumbar articulated dorsal structure (1), which includes a rigid or semi-rigid pelvic structure (11) surrounding the user's hip and pelvic bones, and low-profile segments (16) attached to the sides. Each low-profile segment (16) has a receiving portion to which a hip joint component (12) is attached. The hip joint component (12) is provided with an actuator that generates torque in the sagittal plane, and the hip joint component is constrained below the hip by a lower limb orthosis (13) through an associated orthosis attachment component (15). Above the hips, the spinal support component (10) transmits the torque from the hip joint (12) to the upper body through the associated hip attachment component (14), and in the illustrated embodiment, the back component (10) is flexibly anchored to the shoulders, chest and upper back of the user by means of a protective belt, wherein the protective belt is composed of a strip (21) at the top of the structure (1) at the height of the thorax and / or a strip (21) at the bottom of the structure (1) at the height of the thorax and another strip (22) at the bottom of the structure (1) at the height of the waist. The strips (21, 22) allow the torque generated by the hip joint (12) to be transmitted in an agonist-antagonist manner.

[0032] In various illustrative embodiments, the hip joint component (12) can be in the form of a flexible structure that includes a zero stiffness material, an infinite stiffness material, or a material with a stiffness different from zero and infinity that resists the user's movement. In other embodiments, the hip joint component (12) can also be a freely movable pivot or a powered actuator.

[0033] The spinal support component (10) includes a contact interface (32) interconnected via joints (34) to allow compliance ranging from none (completely rigid, e.g., metal) to maximum (no links, air), including plastics and fabrics of varying stiffness, and the contact interface is coupled to a rigid or semi-rigid pelvic structure (11) via a multi-rod linkage element (36) to allow compliance over a maximum range of links of varying stiffness.

[0034] The shape of the spinal support member (10) and the use of flexible straps (21, 22) provide a highly mobile force transmitting back structure (1) that is most flexible at chest height. This allows the user to freely rotate their torso in the horizontal plane by rotating within the straps or utilizing the compliance of the spinal support member (10). In addition, this flexibility allows the user to rotate the torso left and right in the frontal plane.

[0035] Although the present disclosure has been described by way of specific non-limiting illustrative embodiments and examples thereof, it should be noted that persons skilled in the art will appreciate that modifications may be made to the specific embodiments of the present disclosure without departing from the scope of the present disclosure.

Claims

1. A load-transferring sacral-lumbar articulated dorsal support structure (1) which allows the torque generated by a hip orthosis to be transferred through the user's back, comprising: A spinal support component (10) comprising at least one pair of independent contact interfaces (32) interconnected by a joint (34), and the at least one pair of independent contact interfaces is coupled to a pelvic support structure (11) via at least one pair of multi-rod linkage elements (36) associated with each of the at least one pair of contact surfaces (32), the pelvic support structure (11) comprising at least one hip attachment component (14), the at least one hip attachment component (14) being configured to secure an associated hip joint component (12) provided with an orthopedic structure attachment component (15); Wherein, in use, the load-transferring sacro-lumbar articulated dorsal support structure (1) provides an anatomical transfer of the torque generated by the hip joint (12) through the back of the user.

2. The load-transferring sacral-lumbar articulated dorsal structure (1) according to claim 1, wherein: Each of the independent contact interfaces (32) is provided with a viscoelastic material on the side facing the back of the user, the viscoelastic material fits the back of the user and becomes rigid under the torque generated by the hip joint component (12), thereby transmitting the generated torque while providing comfort to the user.

3. The load-transferring sacral-lumbar articulated dorsal structure (1) according to claim 1, wherein: Each of the independent contact interfaces (32) is provided with a sandwich layer of non-viscoelastic material on one side of the back of the user.

4. The load-transferring sacral-lumbar articulated dorsal structure (1) according to any one of claims 1 to 3, wherein: The interconnecting joint (34) comprises a zero stiffness material.

5. The load-transferring sacral-lumbar articulated dorsal structure (1) according to any one of claims 1 to 3, wherein: The interconnecting joint (34) comprises an infinite stiffness material.

6. The load-transferring sacral-lumbar articulated dorsal structure (1) according to any one of claims 1 to 3, wherein: The interconnecting joint (34) comprises a material having a stiffness different from zero and infinity.

7. The load-transferring sacral-lumbar articulated dorsal structure (1) according to any one of claims 1 to 3, wherein: The interconnect (34) includes one or more layers selected from the group consisting of air, fabric, foam, plastic and metal.

8. The load-transferring sacral-lumbar articulated dorsal structure (1) according to any one of claims 1 to 7, wherein: The multi-bar linkage element (36) comprises a zero stiffness material.

9. The load-transferring sacral-lumbar articulated dorsal structure (1) according to any one of claims 1 to 7, wherein: The multi-rod linkage element (36) comprises an infinite stiffness material.

10. The load-transferring sacral-lumbar articulated dorsal structure (1) according to any one of claims 1 to 7, wherein: The multi-rod linkage element (36) comprises a material having a stiffness different from zero and infinity.

11. The load-transferring sacral-lumbar articulated dorsal structure (1) according to any one of claims 1 to 7, wherein: The multi-bar linkage element (36) comprises a material selected from the group consisting of fabric, foam, plastic and metal.

12. The load-transferring sacral-lumbar articulated dorsal structure (1) according to any one of claims 1 to 11, wherein: The pelvic support structure (11) comprises a zero stiffness material.

13. The load-transferring sacral-lumbar articulated dorsal structure (1) according to any one of claims 1 to 11, wherein: The pelvic support structure (11) comprises an infinite stiffness material.

14. The load-transferring sacral-lumbar articulated dorsal structure (1) according to any one of claims 1 to 11, wherein: The pelvic support structure (11) comprises a material having a stiffness different from zero and infinity.

15. The load-transferring sacral-lumbar articulated dorsal structure (1) according to any one of claims 1 to 11, wherein: The pelvic support structure (11) comprises a material selected from the group consisting of fabric, foam, plastic and metal.

16. The load-transferring sacral-lumbar articulated dorsal structure (1) according to any one of claims 1 to 15, wherein: The hip joint component (12) is a flexible structure comprising a zero-stiffness material that resists the movement of the user.

17. The load-transferring sacral-lumbar articulated dorsal structure (1) according to any one of claims 1 to 15, wherein: The hip joint component (12) is a flexible structure comprising an infinitely stiff material that resists the movement of the user.

18. The load-transferring sacral-lumbar articulated dorsal structure (1) according to any one of claims 1 to 15, wherein: The hip joint component (12) is a flexible structure comprising a material having a stiffness different from zero and infinity to resist the movement of the user.

19. The load-transferring sacral-lumbar articulated dorsal structure (1) according to any one of claims 1 to 15, wherein: The hip joint (12) is a freely movable pivot.

20. The load-transferring sacral-lumbar articulated dorsal structure (1) according to any one of claims 1 to 15, wherein: The hip joint component (12) is a power actuator.

21. The load-transferring sacral-lumbar articulated dorsal structure (1) according to any one of claims 1 to 20, further comprising a protective strap (20) configured to secure the articulated dorsal support structure (1) to the torso of the user.

22. The load-transferring sacral-lumbar articulated dorsal structure (1) according to claim 21, wherein: The protective belt (20) includes at least one of a chest belt (21) and a waist belt (22), wherein the chest belt (21) and the waist belt (22) allow the user's torso to rotate in the transverse plane and the frontal plane without interference.

23. The load-transferring sacral-lumbar articulated dorsal structure (1) according to any one of claims 1 to 22, further comprising an orthopedic structure (13) coupled to the dorsal structure (1) by the orthopedic structure attachment member (15).

24. The load-transferring sacral-lumbar articulated dorsal structure (1) according to claim 23, wherein: The orthotic structure (13) is a passive orthosis.

25. The load-transferring sacral-lumbar articulated dorsal structure (1) according to claim 23, wherein: The orthopedic structure (13) is a powered exoskeleton.

26. The load-transferring sacral-lumbar articulated dorsal structure (1) according to any one of claims 1 to 25, wherein: The spinal column support component (10) comprises at least two pairs of independent contact interfaces (32).

Images