Hip joint ankle linkage type walking assisting device

Abstract

The present invention relates to a hip joint / ankle linkage type walking assistance device, and more specifically, to a hip joint / ankle linkage type walking assistance device which is worn on the body of a user and assists walking in accordance with the movement of the user. The hip joint and ankle linkage type walking assisting device effectively links the actions of the hip joint and the ankle joint according to the human body structure, and has the effects of being small, light, convenient to wear and capable of naturally assisting walking actions.

Description

Technical Field

[0001] The present invention relates to a hip-joint ankle-linked walking assistance device, in particular to a hip-joint ankle-linked walking assistance device which is worn on a user's body and assists walking along with the user's movements. Background Art

[0002] Like stroke patients, patients with ankle stiffness or contracture due to involuntary muscle movement often find it difficult to actively move their ankles while walking. Therefore, patients cannot properly press their ankles down to the ground or lift them up while walking, making their walking movements unnatural and unstable. The symptom of being unable to lift the ankle up and being in a drooping state is called foot drop. Patients with foot drop symptoms often have their feet dragging on the ground or being tripped by obstacles. This not only causes damage to the patient's ankles and surrounding areas, but may also become an obstacle to correct rehabilitation training.

[0003] To prevent this, splint-type devices that fix the ankle in a central position are used as walking assistance devices. However, these devices are not used to assist the ankle to move in a normal pattern, but to fix the ankle, and therefore cannot bring about the coordinated movements of multiple joints required for walking, and still result in an unnatural gait. In other words, devices such as splints that fix the ankle are not suitable for assisting patients in walking or conducting rehabilitation training, and are mainly used to prevent injuries or prevent joint deformation.

[0004] A robot-shaped ankle assistive device worn on the human body has been developed, but the active robot device is cumbersome to wear and inconvenient to use. In addition, such conventional devices are large in size and heavy in weight, not suitable for use in daily life, and the manufacturing cost is very high. Summary of the invention

[0005] Problems to be solved by the invention

[0006] The present invention is designed to meet the above needs, and aims to provide a hip-ankle linkage walking assist device that can be worn on the user's body, effectively assists walking by assisting the user's ankle movements, and is easy to use.

[0007] Methods used to solve problems

[0008] In order to achieve the above-mentioned purpose, the hip-ankle linkage walking assist device of the present invention includes: a waist belt, which is worn at the waist; an intermediate belt, which is worn at the knee; a first sleeve component, which is installed on the intermediate belt on the side of the knee; a forefoot belt, which is worn on the front of the foot; and a first metal wire, one end of which is fixed to the waist belt on the rear waist side via the first sleeve component, and the other end is fixed to the forefoot belt, so as to guide the path through the first sleeve component and allow the first metal wire to slide.

[0009] Effects of the Invention

[0010] The hip-ankle linkage walking assistance device of the present invention effectively links the movements of the hip joint and the ankle joint according to the human body structure, is small and light, easy to wear, and can naturally assist walking movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figures 1 to 3 Each of them is a side view of a user wearing a hip-ankle linkage walking assistance device according to an embodiment of the present invention.

[0012] Figure 4 for Figures 1 to 3 A partial enlarged view of the hip-ankle linkage walking assistance device shown in . DETAILED DESCRIPTION

[0013] A hip-ankle linkage type walking assistance device according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

[0014] Figures 1 to 3 Each of them is a side view of a user wearing a hip-ankle linkage walking assistance device according to an embodiment of the present invention.

[0015] Reference Figures 1 to 3 The hip-ankle linkage walking assistance device of this embodiment includes a waist belt 100 , a middle belt 200 , a forefoot belt 310 , a rear foot belt 330 , a first metal wire 410 and a second metal wire 420 .

[0016] The belt 100 is made of leather or fabric material. The belt 100 is designed in a belt-like shape and can be worn and fixed on the user's waist. The belt 100 is connected to the first metal wire 410 and the second metal wire 420 to transmit tension, so the belt 100 has a structure that can support the tension transmitted from the first metal wire 410 or the second metal wire 420, and can be fixed on the user's waist more firmly.

[0017] The middle belt 200 is worn on the knee. The middle belt 200 has a shape similar to a knee brace and is worn on the user's knee. The structure and shape of the middle belt 200 are preferably designed so as not to hinder the user's knee bending and stretching movements.

[0018] The forefoot strap 310 is worn on the front of the user's foot. The forefoot strap 310 can be worn directly and fixed on the user's foot, or it can be installed on a shoe and worn indirectly through the shoe.

[0019] The rear foot strap 330 has a similar structure to the forefoot strap 310 and is worn at the back of the user's foot. The forefoot strap 310 can be worn at any position of the front of the foot according to the user's ankle joint, preferably at the toe portion. The rear foot strap 330 can be worn at any position of the back of the foot according to the user's ankle joint, preferably at the heel portion.

[0020] The first metal wire 410 is used to connect the waistband 100 and the forefoot belt 310. One end of the first metal wire 410 is fixed to the waistband 100, and the other end is fixed to the forefoot belt 310. In order to allow the first metal wire 410 to pass through the middle belt 200 and the side of the knee, the first metal wire 410 is preferably fixed to the back waist side of the waistband 100.

[0021] The second metal wire 420 is used to connect the waist belt 100 and the rear foot belt 330. One end of the second metal wire 420 is fixed to the waist belt 100, and the other end is fixed to the rear foot belt 330. In order to allow the second metal wire 420 to pass through the middle belt 200 and the side of the knee, the second metal wire 420 is preferably fixed to the front waist side of the waist belt 100.

[0022] The first sleeve part 510 and the second sleeve part 520 are installed on the side of the middle belt 200. In the present embodiment, the first sleeve part 510 and the second sleeve part 520 are respectively formed into a cylindrical shape similar to straw. The first metal wire 410 and the second metal wire 420 pass through the first sleeve part 510 and the second sleeve part 520 respectively, so as to be able to slide (relatively move) through. The first sleeve part 510 and the second sleeve part 520 are respectively arranged along the first metal wire 410 and the second metal wire 420, and are fixed on the middle belt 200 to ensure that the first metal wire 410 and the second metal wire 420 guide the first metal wire 410 and the second metal wire 420 to slide without being separated from the middle belt 200. Based on this, the first sleeve part 510 is arranged obliquely, and the closer to the bottom, the more it is connected to the front, while the second sleeve part 520 is connected to the rear closer to the bottom.

[0023] Figures 1 to 3 The figure shows that the first wire 410 and the second wire 420 are respectively installed on the outside of the right leg and pass through the outside of the right leg.

[0024] In this embodiment, the first metal wire 410 is fixed to the waist belt 100 through the first adjusting component 610, and the second metal wire 420 is fixed to the waist belt 100 through the second adjusting component 620. In this embodiment, the first adjusting component 610 and the second adjusting component 620 are used to adjust and fix the lengths of the first metal wire 410 and the second metal wire 420, respectively.

[0025] refer to Figure 4 The first adjustment component 610 includes a first BOA knob 611 and a first one-way clutch 613. The first BOA knob (611; BOA dial) is configured in the form of a pulley and is capable of winding or unwinding the first wire 410. The first BOA knob 611 is rotated to appropriately adjust the length of the first wire 410, and then the first BOA knob 611 is pressed to fix the length of the first wire 410. A portion of the first wire 410 is wound around the first one-way clutch 613 and connected to the first BOA knob 611. The first one-way clutch 613 bears most of the tension applied to the first wire 410, thereby preventing the first BOA knob 611 from being damaged. The first one-way clutch 613 has a structure in which it can rotate freely in the direction in which the first wire 410 is wound around the first BOA knob 611, but is not allowed to rotate in the opposite direction. Therefore, when tension is applied to the first wire 410, the first one-way clutch 613 does not rotate but bears the tension. When the first BOA knob 611 is rotated to shorten the length of the first metal wire 410 , the first one-way clutch 613 rotates accordingly and allows the first metal wire 410 to be wound around the first BOA knob 611 .

[0026] The second adjusting component 620 includes a second BOA knob 621 and a second one-way clutch 623. The structure and operation of the second adjusting component 620 are the same as those of the first adjusting component 610.

[0027] The waist belt 100 is provided with a protruding part 110. The protruding part 110 is arranged on the thigh of the user and protrudes relative to the thigh. The protruding part 110 is fixed to an independent belt in a fabric shape extending from the waist belt 100 and arranged at the position described above. The second metal wire 420 passes through the protruding part 110 from the waist belt 100 and then extends to the rear foot belt 330 via the second sleeve part 520.

[0028] The operating principle of the hip-ankle linkage type walking assistance device of this embodiment having the above-described structure will be described below.

[0029] Figure 1The user is standing upright in a static state. As shown in the figure, when the user is standing upright, the lengths of the first metal wire 410 and the second metal wire 420 are preferably such that no tension is generated. To this end, the lengths of the first metal wire 410 and the second metal wire 420 are adjusted by operating the first adjustment member 610 and the second adjustment member 620. The lengths of the first metal wire 410 and the second metal wire 420 can be adjusted to a length slightly looser than the length when the user is standing upright according to the situation.

[0030] In this state, when the user starts to move and extends his right foot, he enters Figure 2 The state shown. When the right leg is extended forward and the right hip joint is bent, the first wire 410 starts to work. When the right hip joint is bent, the distance between the back of the waist and the right toe increases as the right foot is extended forward. When the distance between the back of the waist and the right toe increases, the first wire 410 will pull the forefoot strap 310 because the length of the first wire 410 is limited. Finally, the first wire 410 causes the user's right ankle to bend forward, thereby guiding the user to walk naturally. If the hip-ankle linkage walking assist device of the present invention is not worn, then in the case of a disability or injury similar to foot drop in the user's right ankle, the user's ankle joint will not be able to bend properly, which may cause injury. In particular, if the ankle is weak and foot drop occurs, the user's toes touch the ground during walking, thereby increasing the risk of injury. However, as described above, when the user bends the hip joint and extends the foot forward, the first metal wire 410 can naturally guide the user's ankle joint to bend by pulling the forefoot strap 310, so that the user's heel lands first, thereby assisting the user's walking and preventing injuries.

[0031] An important feature of the present invention is that the first wire 410 is not fixed to the middle belt 200, but slides relative to the middle belt 200 via the first sleeve member 510. Therefore, the first wire 410 moves by sliding the first sleeve member 510, so that the first wire 410 can be synchronized with the movement of the user's hip joint and ankle and operate naturally. That is, even if the distance between the back of the waist and the knee joint and the distance between the knee joint and the toe change with the user's movement, the middle belt 200 will not limit the length or movement of the first wire 410, and guide the ankle to bend according to the user's movement. The first sleeve member 510 allows the first wire 410 to remain in contact with the side of the user's knee without being separated, and at the same time allows the first wire 410 to play a role in walking assistance and guidance. In particular, as described above and as shown in the figure, when the first sleeve member 510 is tilted along the extension direction of the first wire 410 and fixed to the middle belt 200, the movement of the first wire 410 can be effectively guided.

[0032] When the user extends the right foot forward, the distance between the front side of the user's waist and the right heel is reduced, so the second metal wire 420 is not subjected to tension. In this way, the second metal wire 420 does not hinder the user's movement when the hip joint is bent.

[0033] Next, the user continues the walking motion, extending the left foot forward and the right foot backward, reaching Figure 3 Status shown.

[0034] At this time, the situation is Figure 2 The opposite of what is described in . When the right hip joint is extended, the distance between the front of the waist and the right heel increases, while the distance between the back of the waist and the right toe decreases. Therefore, the first wire 410 is not subjected to tension, while the second wire 420 is subjected to tension. Finally, the second wire 420 pulls the rear foot strap 330 to guide the right ankle to extend. Through the tension of the second wire 420, the user uses the toe of the rear foot (right foot) to push the ground and obtain the power to propel forward. Therefore, in the case where the user's ankle is disabled or injured and the ankle strength is weak, the second wire 420 assists the ligaments or muscles around the ankle joint, so that the user can walk or run smoothly. In this case, as in the case of the first wire 410, the second wire 420 moves relative to it by sliding the second sleeve part 520, so that it can not apply unnecessary pressure to the user's knee and knee joint, and effectively operate in synchronization with the user's lower limb movement.

[0035] As described above, the hip-ankle linkage walking assistance device of the present invention mechanically utilizes the mechanism that the distance between the back of the waist and the toes and the distance between the front of the waist and the heel change with the user's hip joint movement to assist the user's walking movement. The present invention has the following advantages: without using an additional active actuator, the user's walking movement can be very effectively assisted by the action of a passive actuator. Since the present invention has a passive structure, it can be presented in a simple and convenient structure, and at the same time miniaturized and lightweight. Therefore, it can minimize the burden on the user when wearing it, and at the same time obtain a better assistance effect than the existing active assistance device. Therefore, after using the present invention, the user can not only prevent injuries, but also greatly help with rehabilitation. In addition, even in the absence of injuries or disabilities, the power brought by walking movements can be more effectively utilized with the help of the present invention.

[0036] On the other hand, Figure 3As shown, when the protruding member 110 is arranged on the front side of the thigh and the second wire 420 is connected to the lower side via the protruding member 110, a greater walking-assisting effect can be provided. The protruding member 110 can increase the length of the moment arm acting on the rear foot strap 330 by the tension generated by the second wire 420, so the user can push the ground with a stronger force and move forward with the help of the second wire 420 and the protruding member 110. Finally, when the user performs a walking or running action, a stronger power can be used as a propulsion force.

[0037] The above is an explanation of the preferred embodiments of the present invention, but the scope of the present invention is not limited to the forms described and shown above.

[0038] For example, the first metal wire 410 and the second metal wire 420 described above are fixed to the waist belt 100 through the first adjustment component 610 and the second adjustment component 620 having a BOA knob structure, respectively, but can also be connected to the waist belt respectively through a configuration having other structures. It is also possible to directly connect the first metal wire and the second metal wire to the waist belt without the first adjustment component 610 and the second adjustment component 620, thereby forming a hip-ankle linkage type walking assist device. In addition, the first metal wire and the second metal wire can be connected to the waist belt respectively using the second adjustment component 620 and a length adjustment device having a structure different from the second adjustment component 620.

[0039] In addition, the first metal wire 410 and the second metal wire 420 can be made of elastic material, or only a part of them can be elastic. In this way, when the first metal wire 410 and the second metal wire 420 have appropriate elasticity, although the power of assisting the user's ankle joint may be slightly reduced, it can be achieved to operate more naturally and synchronously with the user's movements. In some cases, the first metal wire and the second metal wire can be made of a steel wire with less elasticity, and the first metal wire and the second metal wire are connected to the waist belt using a first adjustment component and a second adjustment component that work in a clockwork manner. In this case, the first adjustment component and the second adjustment component will elastically wind the first metal wire and the second metal wire respectively, and transmit the tension generated by the change in the length of the first metal wire and the second metal wire.

[0040] In addition, the previous Figures 1 to 3The hip-ankle linkage type walking assist device is exemplarily described in which the first wire 410, the second wire 420, the first sleeve component 510 and the second sleeve component 520 are arranged on the outside of the right leg, but the arrangement structure of the first wire 410, the second wire 420, the first sleeve component 510 and the second sleeve component 520 can be variously changed as needed. In addition to being arranged on the outside of the leg, a set of separate first wires, second wires, first sleeve components and second sleeve components can also be arranged on the inside of the leg, and the first wires, second wires, first sleeve components and second sleeve components can also be arranged on both legs.

[0041] In addition, the structure and shape of the waist belt, middle belt, forefoot belt, rear foot belt, etc. can also be changed in various ways according to the user's body shape, preferences, wearing method, etc.

[0042] Furthermore, although the above explanation is given by taking the hip-ankle linkage type walking assistance device having the protruding component 110 as an example, a hip-ankle linkage type walking assistance device not having the protruding component 110 may also be configured.

[0043] In addition, although the hip-joint ankle-linked walking assistance device having the first wire 410, the second wire 420, the first sleeve component 510, and the second sleeve component 520 is described above as an example, a hip-joint ankle-linked walking assistance device may be constructed without the first wire 410, the first sleeve component 510, and the forefoot strap 310, or without the second wire 420, the second sleeve component 520, and the rearfoot strap 330. When only one of preventing the user's foot drop phenomenon and assisting the user's ground thrust is needed, the hip-joint ankle-linked walking assistance device without some components as described above may be constructed.

[0044] Industry availability

[0045] According to the present invention, the movements of the hip joint and the ankle joint can be effectively linked according to the human body structure. It is small and light, easy to wear, and can naturally assist walking movements.

Claims

1. A hip-ankle linkage walking assist device, wherein: The hip-ankle linkage type walking assist device comprises: a belt, which is worn around the waist; The middle belt, which is worn at the knee; a first sleeve member mounted on the middle band on the side of the knee; a forefoot strap, which is worn on the front of the foot; and A first metal wire is fixed to the waist belt at the rear waist side at one end through the first sleeve component, and the other end is fixed to the forefoot belt, so that the first metal wire is guided through the first sleeve component and slides.

2. The hip-ankle linkage walking assistance device according to claim 1, wherein: The hip-ankle linkage walking assist device further comprises: a second sleeve member mounted on the middle band on the side of the knee; a rear foot strap, which is worn at the back of the foot; and A second wire is fixed to the waistband at the front waist side at one end via the second sleeve component, and the other end is fixed to the rear foot belt, so that the second wire is guided through the second sleeve component and slides.

3. The hip-ankle linkage walking assistance device according to claim 2, wherein: The first sleeve component and the second sleeve component are respectively formed into a cylindrical shape, The first sleeve part is tilted, and the closer it is to the bottom, the more it is connected to the front. The second sleeve component is arranged obliquely, and the closer it is to the bottom, the more it is connected toward the rear.

4. The hip-ankle linkage walking assistance device according to claim 2, wherein: The hip-ankle linkage walking assist device further comprises: A first adjusting component, connected between the first metal wire and the waist belt, for adjusting the length of the first metal wire; and The second adjusting component is connected between the second metal wire and the waist belt and is used for adjusting the length of the second metal wire.

5. The hip-ankle linkage walking assistance device according to claim 4, wherein: The first adjusting component includes: a first BOA knob connected to the first wire and winding the first wire around the first BOA knob; and a first one-way clutch that only allows the first wire to rotate in a direction in which the first wire is wound around the first BOA knob, so that the first wire can be wound. The second adjustment component includes: a second BOA knob connected to the second wire and winding the second wire around the second BOA knob; and a second one-way clutch that only allows rotation along the direction in which the second wire is wound around the second BOA knob, thereby enabling winding of the second wire.

6. The hip-ankle linkage walking assistance device according to claim 2, wherein: The hip-ankle linkage walking assistance device further includes a protruding component, which is protruding relative to the thigh between the waist belt and the middle belt to increase the tension moment arm of the second metal wire and support the first metal wire.

7. The hip-ankle linkage walking assistance device according to claim 2, wherein: At least a portion of the first metal wire and the second metal wire is made of elastic material.

8. The hip-ankle linkage walking assistance device according to claim 2, wherein: The hip-ankle linkage walking assist device further comprises: A first adjusting component, connected between the first metal wire and the waist belt, elastically winding around the first metal wire in a clockwork manner; and The second adjusting component is connected between the second metal wire and the waist belt, and is elastically wound around the second metal wire in a clockwork manner.

9. The hip-ankle linkage walking assistance device according to claim 8, wherein: The first adjusting component includes: a first BOA knob connected to the first wire and winding the first wire around the first BOA knob; and a first one-way clutch that only allows the first wire to rotate in a direction in which the first wire is wound around the first BOA knob, so that the first wire can be wound. The second adjustment component includes: a second BOA knob connected to the second wire and winding the second wire around the second BOA knob; and a second one-way clutch that only allows rotation along the direction in which the second wire is wound around the second BOA knob, thereby enabling winding of the second wire.

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