System and method for moving in and out walk assist system

Abstract

A walking assistance system includes two orthotics, where the two orthotics include a first articulation for a hip joint of each leg of a user and a thigh section connected to the first articulation, where at least one orthotics further includes a first securing mechanism configured to secure the first articulation. The at least one orthosis is configured to be disposed in a user transfer position in which the first securing mechanism is configured to secure the thigh section relative to the thigh section of the opposing orthosis at an angle of at least 60 degrees. The invention also relates to an alternative walking assistance system, a method of an alternative walking assistance system, a computer-implemented method in an alternative walking assistance system and a computer program product of an alternative walking assistance system.

Description

[0001] Technical Field of the Invention

[0002] The present invention relates to the field of wearable robotic systems. In particular, the present invention relates to a walking assistance system and method thereof, the system allowing a user to move into and out of the system by including at least one orthosis, which can be set to a position where a first joint member designed for the hip joint of the user's leg is fixed in a position facilitating such movement. Background of the Invention

[0004] Patients suffering from motor nerve injuries (such as spinal cord injuries, strokes, multiple sclerosis, traumatic brain injuries, etc.) have limited or lost motor functions in their lower limbs and trunk. They have disabilities related to mobility and walking. As part of a physical therapy or rehabilitation program, they may use a robotic exoskeleton for gait training. Such devices allow them to walk in a clinical rehabilitation or home environment and bring overall health benefits.

[0005] To start using such a device, the first step is to transfer (move the user's body) from a wheelchair into the exoskeleton, usually with the exoskeleton placed on a medical bed or chair (such as a piano stool-like chair). This is the first part of the donning process (also known as putting on the device or making an adjustment (fit)). Due to the limited motor functions of the patient, this transfer is challenging for the patient, and depending on the type of their injury, they may require different levels of assistance from a clinician to maintain their body balance when performing this transfer. If the patient cannot independently perform this transfer without the support of a clinician, the patient will experience difficulties and frustration, and in addition, this means that the clinician cannot utilize this time to perform other valuable tasks.

[0006] Current exoskeleton devices have addressed this problem of transferring patients into the device in various ways:

[0007] a) Some devices loosen the textile straps and rigid supports on the leg brackets to have more open space inside the device to perform a body transfer. Then, the patient is expected to "step over" the leg component brackets of the exoskeleton (see Figure 1 A). A potential drawback of the "step-over" method is that it may increase the risk of falling (losing balance) or getting injured (skin problems, wounds or sores) when performing the transfer, because it may be difficult for some patients to safely step over the leg component brackets without their body touching a part of the mechanical structure. In addition, it requires the patient to acquire skills through practice. Due to the difficulty of achieving a safe transfer, many patients with severe nerve injuries and limited hand function or push performance may not be suitable candidates for this technology. Most of the time, it requires the support of a clinician to perform the transfer.

[0008] b) Other devices provide a hip joint member that can be opened laterally (hip abduction movement), i.e., about a vertical axis (A 1 ) to allow the patient to transfer to the inside without hindrance to the legs (see Figure 1 B). In these types of devices, at the hip of the exoskeleton, there is a mechanical joint member 11 for movement in the sagittal plane (for walking movement) and another separate joint member 11' for lateral movement in the coronal plane (for transfer). The lateral opening of the hip joint member (hip joint member abduction movement) is easier for the patient to use because there is open space to accommodate inside the device, but it adds additional complexity to the device design. The hip of the exoskeleton requires an additional joint member mechanism 11', and these additional moving rigid components increase the manufacturing cost of the device and make the structure less rigid and more likely to suffer mechanical failures. After the transfer is completed, this lateral movement joint member 11' is not used for the operation of any other tasks of the exoskeleton. In addition, in this transfer method, when the user closes the leg member (hip member adduction movement) to complete the installation of the exoskeleton, there may be a risk of the joint member mechanism of the exoskeleton clamping the patient's skin (skin problems).

[0009] c) Other devices solve this problem by designing their products as modular rigid components (usually 5 components: lumbar part, right leg part and left leg part, and right foot part and left foot part), which can be independently mounted on the body and then snapped together (assembled and disassembled together) when the user is seated. While this helps with transportation (since the different parts of the exoskeleton can then be placed inside a bag) and putting on the exoskeleton directly from a wheelchair (thus avoiding unnecessary transfers to the chair), it is not the best solution in a clinical environment because ultimately, it increases the putting-on time as all the components need to be assembled together. In addition, having modular components reduces the robustness of the mechanical structure of the system, increases the play between the components of the exoskeleton and the risk of mechanical failures, and affects the durability of the system (since the electronic components are subjected to mechanical loads and are constantly connected and disconnected).

[0010] Therefore, it would be desirable for the exoskeleton to include means that allow this transfer into the device to be performed in the simplest and fastest possible way, where the transfer has maximum patient independence and as low complexity as possible, while maintaining the robustness and durability of the exoskeleton. Summary of the Invention

[0012] A first aspect of the present invention relates to a walking assistance system including two orthoses, wherein the two orthoses include first joint members for the hip joints of each leg of a user and thigh segments connected to the first joint members. At least one orthosis further includes a first fixing mechanism configured to fix the first joint member. The system is characterized in that at least one orthosis is configured to be set in a user transfer position, in which the first fixing mechanism is configured to fix the thigh segment at an angle of at least 60° relative to the thigh segment of the opposite orthosis.

[0013] In a preferred embodiment, at least one orthosis further includes a second joint member for the knee joint of the user's leg and a second fixing mechanism configured to fix the second joint member; and the system is further characterized in that in the user transfer position, the second fixing mechanism is configured to fix the second joint member at a flexion angle of at most 45°.

[0014] A second aspect of the present invention relates to a walking assistance system including at least one orthosis for a user's leg. The orthosis includes: a first joint member for the hip joint of the user's leg, a thigh segment connected to the first joint member, a first fixing mechanism configured to fix the first joint member, a first sensor configured to determine the position of the thigh segment, and a control unit configured to control the first fixing mechanism. The control unit is configured to set the system in a user transfer state, in which, in the user transfer state, the first fixing mechanism is configured to fix the first joint member to a user transfer position when the angle of the thigh segment determined by the first sensor with respect to the vertical direction is at most 30°.

[0015] In a preferred embodiment, the orthosis further includes: a second joint member for the knee joint of the user's leg, a calf segment connected to the thigh segment through the second joint member, a second fixing mechanism configured to fix the second joint member, and a second sensor configured to determine the position of the calf segment. The control unit is further configured to control the second fixing mechanism, and in the user transfer state, the second fixing mechanism is configured to fix the second joint member to a user transfer position when the flexion angle of the calf segment determined by the second sensor is at most 45°.

[0016] In another preferred embodiment of any of the embodiments according to the second aspect of the present invention, in the user transfer state, the first fixing mechanism is configured to fix the first joint member to the user transfer position when the angle between the thigh segment and the vertical direction determined by the first sensor is at most 5° (preferably the thigh segment is in the vertical direction), and / or the second fixing mechanism is configured to fix the second joint member to the user transfer position when the angle between the calf segment and the vertical direction determined by the second sensor is at most 5° (preferably the calf segment is in the vertical direction).

[0017] In another preferred embodiment of any of the embodiments according to the second aspect of the present invention, the orthosis further comprises: a first actuator coupled to the first joint member and configured to set the flexion angle (α h ) of the first joint member, wherein the control unit is further configured to control the flexion angle (α h ) of the first joint member through the first actuator; and / or a second actuator coupled to the second joint member and configured to set the flexion angle (α k ) of the second joint member, wherein the control unit (50) is further configured to control the flexion angle (α k ) of the second joint member through the second actuator. In a more preferred embodiment, the orthosis includes both the first actuator and the second actuator.

[0018] In another more preferred embodiment, the control unit is further configured to set the system to the sitting position, wherein, in the sitting position, the flexion angle (α h ) of the first joint member is set to such a flexion angle that the angle between the thigh segment and the vertical direction determined by the first sensor is between 70° and 110°, and the flexion angle (α k ) of the second joint member is set to such a flexion angle that the angle between the calf segment and the vertical direction determined by the second sensor is between 135° and 200°. Additionally, if the system was previously in the sitting position, the control unit is only configured to set the system to the user transfer state.

[0019] In another more preferred embodiment, in the user transfer state, the flexion angle (α h ) of the first joint member and the flexion angle (α k ) of the second joint member are respectively set to the user transfer position by the actuator such that the first joint member and the second joint member form an angle of at most 30° with the vertical direction to assist the user in moving the first joint member and the second joint member.

[0020] In another preferred embodiment of any of the embodiments according to the second aspect of the present invention, in the user transfer state, the control unit is further configured to fix the joint members of the opposing orthoses.

[0021] In another preferred embodiment of any of the embodiments according to the second aspect of the present invention, the system further includes a controller that is connected to the control unit and is configured to allow the user and / or therapist to instruct the control unit to set the system to the user transfer state and / or the user transfer position.

[0022] A third aspect of the present invention relates to a method for moving into and out of a walking assistance system, where the walking assistance system is a walking assistance system according to any one of the first aspect or the second aspect of the present invention. The method includes:

[0023] a. If the system includes a control unit, instruct the control unit (50) to set the walking assistance system to the user transfer state,

[0024] b. Once a certain angle of the first joint member and the second joint member is reached, fix the first joint member and / or the second joint member by means of the first fixing mechanism and the second fixing mechanism respectively to set the first joint member and the second joint member to the user transfer position; and

[0025] c. Move the user into or out of the walking assistance system through the side of the at least one orthosis to which the system has been set to the user transfer state.

[0026] In a preferred embodiment, the method includes instructing the control unit to set the walking assistance system to the sitting state before step a).

[0027] In another preferred embodiment of any of the embodiments according to the third aspect of the present invention, the walking assistance system further includes a support member and / or a strap, and before step a), the method includes opening the support member and / or the strap.

[0028] In another preferred embodiment of any of the embodiments according to the third aspect of the present invention, after step a) and before step b), the method includes moving the first joint member and / or the second joint member to their user transfer positions with the assistance of the first actuator and the second actuator.

[0029] In another preferred embodiment of any of the embodiments according to the third aspect of the present invention, once the control unit detects that the flexion angles of the first joint member and / or the second joint member have reached their respective user transfer positions, the locking step b) is automatically executed by the control unit. In a more preferred embodiment, the method further includes providing feedback to the user once the locking step b) is executed.

[0030] In another preferred embodiment of any of the embodiments according to the third aspect of the present invention, the locking step b) further involves fixing the joint members of the opposing orthoses in place, preferably, wherein the control unit is further configured to fix the joint members of the opposing orthoses.

[0031] In another preferred embodiment of any of the embodiments according to the third aspect of the present invention, the method further includes the step of instructing the control unit to set the walking assistance system to exit the user transfer state. In a more preferred embodiment, setting the walking assistance system to exit the user transfer state includes unlocking the first joint member and the second joint member from the user transfer position by releasing the first fixing mechanism and the second fixing mechanism.

[0032] The fourth aspect of the present invention relates to a computer-implemented method according to any of the third aspects of the present invention.

[0033] The fifth aspect of the present invention relates to a computer program product that includes a set of instructions that, when executed by a processor, configures a walking assistance system according to any of the walking assistance systems according to the first or second aspect of the present invention to perform any of the methods described in any of the third aspects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to better understand the present disclosure and to show how the present disclosure may be carried out, reference will now be made, by way of example only, to the accompanying schematic diagrams, in which:

[0035] Figure 1 Prior art systems (A, B) for moving into and out of a walking assistance system are shown.

[0036] Figure 2 Systems for moving into and out of a walking assistance system before (A) and after (B) the system has been set to the user transfer state according to one or more embodiments of the present invention are shown.

[0037] Figure 3 A diagram of the electronics of a walking assistance system according to one or more embodiments of the present invention is shown.

[0038] Figure 4 A diagram of a method for moving into and out of a walking assistance system according to one or more embodiments of the present invention is shown. SUMMARY OF THE INVENTION

[0039] DEFINITIONS

[0040] It must be noted that, unless the context clearly indicates otherwise, as used herein, the singular forms "a", "an", and "the" include plural references. Further, unless otherwise stated, the term "at least" before a series of elements is to be understood as referring to each element in the series. Those skilled in the art will recognize or be able to ascertain using only routine experimentation many equivalents to the specific embodiments of the invention described herein. Such equivalents are intended to be encompassed by the present invention.

[0041] It should be noted that, as used herein, the term "about" means + / - 30% of the indicated reference value, preferably + / - 20%, more preferably + / - 15%, still more preferably + / - 10%.

[0042] As used herein, the connecting term "and / or" between a plurality of said elements is understood to cover both alternative and combined options. For example, in the case where two elements are joined by "and / or", the first alternative refers to the applicability of the first element without the second element. The second alternative refers to the applicability of the second element without the first element. The third alternative refers to the applicability of the first element and the second element together. Any one of these alternatives is understood to fall within the meaning of the term "and / or" as used herein, and thus meets the requirements of the term "and / or". The concurrent applicability of more than one alternative is also understood to fall within the meaning, and thus meets the requirements of the term "and / or".

[0043] Throughout this specification and the following claims, unless the context requires otherwise, the word "comprise" and variations such as "comprises" and "comprising" shall be understood to imply the inclusion of the stated integer or step, or group of integers or steps, but not the exclusion of any other integer or step or group of integers or steps. When used herein, the term "comprising" may be replaced by the term "containing" or "including", or sometimes when used herein by the term "having". Any one of the foregoing terms (comprising, containing, including, having), whenever used in the context of an aspect or embodiment of the present invention, may be replaced by the term "consisting of", although less preferred.

[0044] As used herein, "consisting of" excludes any element, step or ingredient not specified in the claim element. As used herein, "consisting essentially of" does not exclude materials or steps that do not materially affect the basic and novel characteristics of the claim.

[0045] In the context of the present invention, the term "walking assistance system" refers to a wearable mechanical system specifically designed to assist walking and gait training. The system mainly targets the lower limbs and the back, preferably the lower or lumbar section, but may also include the middle or upper section to provide mechanical assistance, stability or support (such as crutches). The walking assistance system may include an exoskeleton or any mechanical, mechatronic or software-driven solution designed to assist, enhance or support the walking and gait training functions, such as lower limb braces, walker devices, wheeled or non-wheeled supports and / or programmable foot orthoses.

[0046] In the context of the present invention, the term "exoskeleton" refers to a wearable mechanical system specifically designed to assist walking and gait training. The system mainly targets the lower limbs and the back, preferably the lower or lumbar section, but may also include the middle or upper section to provide mechanical assistance, stability or support. When associated with a wearable mechanical system as described above, a companion device such as a crutch may also be included within the term exoskeleton. The exoskeleton may be operatively connected to a control unit or software that enables its function.

[0047] In the context of the present invention, the term "user transfer position" refers to having a walking assistance system, preferably a mechanically configured exoskeleton, where the user can transfer from a wheelchair / chair / bed into the walking assistance system and back from the walking assistance system into the wheelchair / chair / bed.

[0048] In the context of the present invention, the term "lumbar section" refers to a mechanical or mechatronic component specifically designed to support, stabilize or assist the lumbar region of the back.

[0049] In the context of the present invention, the term "thigh section" refers to a mechanical or mechatronic component customized to enclose, support or assist the upper leg region between the hip and the knee. This section may be operatively connected to a control unit, software or sensor that enables its function and collects information about its position, movement and / or tilt angle.

[0050] In the context of the present invention, the term "calf section" refers to a mechanical or mechatronic component designed to support or assist the calf region between the knee and the ankle. This section may be operatively connected to a control unit, software or sensor that enables its function and collects information about its position, movement and / or tilt angle.

[0051] Description

[0052] Each embodiment disclosed herein is expected to be applicable to each of the other disclosed embodiments. Accordingly, all combinations of the various elements described herein are within the scope of the present invention. It should also be understood that, unless expressly indicated to the contrary, in any method that includes more than one step or act as claimed herein, the order of the steps or acts of the method is not necessarily limited to the order in which the steps or acts of the method are recited.

[0053] A first aspect of the present invention relates to a walking assistance system that allows a user to move in and out by including at least one orthosis 100, which can be set in a position where a first joint member for the hip joint of the user's leg is fixed in a position conducive to such movement.

[0054] Specifically, and as shown with respect to Figure 2 the present invention relates to a walking assistance system that includes two orthoses 100, 100', where the two orthoses include first joint members 11, 11' for the hip joints of each leg of the user, and thigh segments 31, 31' connected to the first joint members 11, 11', and where at least one orthosis 100 further includes: a. a first fixing mechanism 21 configured to fix the first joint member 11. The present invention is characterized in that at least one orthosis is configured to be set in a user transfer position, where, in the user transfer position, the first fixing mechanism 21 is configured to fix the thigh segment 31 of at least one orthosis 100 at an angle of at least 60° relative to the thigh segment 31' of the opposite orthosis 100'.

[0055] It should be noted that a walking assistance system can include various mechanical, mechatronic, or robotic devices and technologies designed to assist, support, or enhance a user's walking or gait ability. Such systems can include, but are not limited to, exoskeletons, orthotic devices, powered or non-powered limb supports, and wearable assistive technologies. Specifically, these systems are configured to connect to the lower limbs of the human body (including the legs and preferably the feet), and can also extend to include support structures for the back or spine, head, or upper limbs. The system can be designed for various purposes, including rehabilitation, gait training, mobility enhancement, and other applications that require assistance with walking or gait functions. Accordingly, the term "walking assistance system" should be interpreted in its broadest sense to encompass all devices and technologies consistent with the foregoing functions, unless expressly stated otherwise.

[0056] It should be noted that the first joint members 11, 11' can be designed by different mechanical solutions that allow the orthosis 100 to move about the hip joint member rotation axis. A person skilled in the art can envision many different alternative joint member solutions for the first joint members 11, 11', which can allow the orthosis 100 to move about the hip joint member rotation axis, and all such solutions are included in this disclosure.

[0057] It should also be noted that the thigh segment 31 can be designed in different ways, including material shape, composition, and function. A person skilled in the art can envision many different thigh segments that can be used as the thigh segment 31 of the walking assistance system. It can be considered that any element of the walking assistance system that is associated with the user's thigh and connected to the first joint member 11 is included in this disclosure.

[0058] It should also be noted that the first fixing mechanism 21 can involve many different solutions, such as a passthrough volt, a lever, a ratchet associated with a clutch, or any other mechanism that can fix two elements that can move relative to each other about an axis in a determined position such that they can no longer move relative to each other about such an axis. Therefore, with respect to the different fixing mechanisms that the fixing mechanism can involve, the present invention is not limited to any, including electromechanical and electromagnetic solutions, such as a motor or an electromagnet. Although Figure 2 the first fixing mechanism 21 is shown near the first joint member 11, in other embodiments, the first fixing mechanism can include one or more elements located in other components of the orthosis 100 or the walking assistance system, such as wires, cables, or an actuation mechanism.

[0059] Advantageously, the first fixing mechanism 21 is configured to fix the thigh segment 31 of at least one orthosis 100 relative to the thigh segment 31' of the opposite orthosis 100' at an angle of at least 60°, which means that at least one orthosis 100 can be manipulated to set its first joint member 11 at an angle of at least 60°, at which angle the first fixing mechanism 21 fixes such a first joint member 11 in place. A walking assistance system, in which the first joint member 11 for the hip joint of the user's leg is at an angle of at least 60° relative to the first joint member 11' of the opposite orthosis 100', provides a lateral space in which the user can move into and out of the exoskeleton. Therefore, at least one orthosis 100 is configured to be set at a position that provides a lateral space in which the user can move onto or out of the exoskeleton.

[0060] The walking assistance system proposed in this document provides a device that allows for the transfer of a user into and out of the system in a very easy and quick manner by simply moving the thigh segment 31 of at least one orthosis 100 relative to the thigh segment 31' of the opposite orthosis 100' to a certain angle. Additionally, this transfer can be completed in the simplest and fastest possible way, with maximum patient independence and as low complexity as possible, while maintaining the robustness and durability of the exoskeleton.

[0061] It should be noted that the first fixing mechanism 21 is only configured to electronically or mechanically fix the thigh segment 31 relative to the thigh segment 31' of the opposite orthosis 100' at an angle of at least 60° once a certain condition has been met. Thus, for example, a mechanical switch can be established that enables the first fixing mechanism 21 to effectively fix the first joint member 11. Alternatively, an electronic state can be used to determine when the first fixing mechanism should operate in this way. This can also be used as a safety measure that is configured to prevent the first joint member 11 from being inadvertently fixed by the first fixing mechanism 21.

[0062] According to a preferred embodiment, the first fixing mechanism 21 is configured to fix the thigh segment 31 relative to the thigh segment 31' of the opposite orthosis 100' at an angle of at least 61°, more preferably at least 62°, even more preferably at least 63°, 64°, 65°, 66°, 67°, 68°, 69°, 70°, 71°, 72°, 73°, 74°, 75°, 76°, 77°, 78°, 79°, 80°, 81°, 82°, 83°, 84°, 85°, 88°, 89°, and even more preferably at least 90° to the user transfer position. This further increases the lateral space left by the orthosis.

[0063] It should be noted that Figure 2 A system for moving into and out of a walking assistance system according to one or more embodiments of the present invention is shown. However, it includes a plurality of optional elements of this embodiment according to the first aspect of the present invention. For example, Figure 2 at least one orthosis 100 includes a calf segment 32 and a second joint member 12 according to one or more embodiments of the present invention, and the calf segment 32 and the second joint member 12 can be optional. It should also be noted that in Figure 2 a specific walking assistance system and a specific orthosis are shown, however, other shapes, sizes, or solutions can be adopted in different specific embodiments of this embodiment of the first aspect of the present invention. For example, in some other embodiments of this aspect of the present invention, the walking assistance system may not include a lumbar segment, or may include a simpler lumbar segment, such as a rod connecting the two orthoses 100, 100'.

[0064] In a preferred embodiment of the first aspect of the present invention, and as shown with respect to Figure 2 At least one orthosis 100 further includes: c. A second joint member 12 for the knee joint member of the user's leg; and d. A second fixing mechanism 22 configured to fix the second joint member 12. The present invention is characterized in that, when the user transfers positions, the second fixing mechanism 22 is configured to fix the second joint member 12 at a flexion angle of at most 45°.

[0065] It should be noted that in humans, the knee flexion movement is measured as the angle between the axis defined by the person's thigh and the axis defined by the person's calf. Thus, for example, a person standing with a leg extender will have a knee joint flexion angle of 0°, while a person kneeling will have a knee flexion angle of 90°.

[0066] All of the above descriptions regarding the first joint member 11 of at least one orthosis 100, with appropriate modifications, are applicable to the second joint member 12 of at least one orthosis 100. Similarly, all of the above descriptions regarding the first fixing mechanism 21, with appropriate modifications, are applicable to the second fixing mechanism 22.

[0067] Advantageously, further configuring the second fixing mechanism 22 to fix the second joint member 12 at a flexion angle of at most 45° means that the orthosis can be manipulated to set the second joint member 12 at a flexion angle of at most 45°, at which flexion angle the second fixing mechanism 22 will fix such second joint member 12 in place. The walking assistance system also has a second joint member 12 for the knee joint member of the user's leg at an angle of at most 45°, which further provides a lateral space in which the user can move onto or off of the exoskeleton.

[0068] It should be noted that the second mechanism 22 can be configured to fix the second joint member 12 at a flexion angle of at most 45° only once a certain condition (either electronically or mechanically) has been met. Thus, for example, a mechanical switch can be established that enables the second fixing mechanism 22 to effectively fix the second joint member 12. Alternatively, an electronic state can be used to determine when the second fixing mechanism should operate in such a manner. This can also be used as a safety measure configured to prevent the second joint member 12 from being inadvertently fixed by the second fixing mechanism 22. Alternatively or additionally, the second fixing mechanism 22 can work with the first fixing mechanism such that they only fix their respective joint members when both meet their safety conditions, or they can share the same safety conditions. Alternatively or additionally, the second fixing mechanism 22 can be configured to only fix the second joint member 12 after the first fixing mechanism 21 has fixed the first joint member 11, and vice versa.

[0069] According to a preferred embodiment, the second fixing mechanism 22 is configured to fix the second joint member 12 in the user transfer position at a flexion angle of at most 44°, more preferably at most 43°, even more preferably at most 42°, 41°, 40°, 39°, 38°, 37°, 36°, 35°, 34°, 33°, 32°, 31°, 30°, 29°, 28°, 27°, 26°, 25°, 24°, 23°, 22°, 21°, 20°, 19°, 18°, 17°, 16°, 15°, 14°, 13°, 12°, 11°, 10°, 9°, 8°, 7°, 6°, 5°, 4°, 3°, 2°, 1°, and even more preferably at most 0°. This further increases the lateral space left by the orthosis.

[0070] It should be noted that Figure 2 includes a plurality of optional elements according to this preferred embodiment of the first aspect of the present invention. For example, Figure 2 the orthosis 100 includes a lumbar segment that can be optional according to one or more embodiments of the present invention. It should also be noted that in Figure 2 a specific walking assistance system and a specific orthosis are shown. However, other shapes, sizes, or solutions can be adopted in different specific embodiments of this embodiment of the first aspect of the present invention.

[0071] It should be noted that any of the embodiments of the first aspect of the present invention can be implemented in a mechanically based walking assistance system, such as those that rely on springs to assist the user in walking. Therefore, the walking assistance system does not need to include any electronic or electromechanical elements in order to effectively solve the transfer of the user into and out of the system in a very easy and fast manner, which has the maximum patient independence and the lowest possible complexity while maintaining the robustness and durability of the exoskeleton.

[0072] As shown with respect to Figure 2 the second aspect of the present invention relates to a walking assistance system that includes at least one orthosis 100 for the user's leg, wherein the orthosis 100 includes:

[0073] a. A first joint member 11 for the hip joint of the user's leg,

[0074] b. A thigh segment 31 connected to the first joint member 11,

[0075] c. A first fixing mechanism 21 configured to fix the first joint member 11,

[0076] d. A first sensor 41 configured to determine the position of the thigh segment 31, and

[0077] e. A control unit 50 configured to control the first fixing mechanism 21;

[0078] The control unit 50 is configured to set the system to a user transfer state. In the user transfer state, the first fixing mechanism 21 is configured to fix the first joint member 11 to the user transfer position when the angle of the thigh segment 31 determined by the first sensor 41 with respect to the vertical direction is at most 30°.

[0079] It should be noted that all features and descriptions of the first joint member 11 of the orthosis 100 according to the first aspect of the present invention can equally apply to the first joint member 11 of the second aspect of the present invention. Similarly, all features and descriptions of the first fixing mechanism 21 of the orthosis 100 according to the first aspect of the present invention can equally apply to the first fixing mechanism 21 of the second aspect of the present invention.

[0080] It should also be noted that the thigh segment 31 can be designed in different ways, including material shape, composition, and function. Those skilled in the art can envision many different thigh segments that can be used as the thigh segment 31 for a walking assistance system. It can be considered that any element of the walking assistance system associated with and connected to the user's thigh and connected to the first joint member 11 is included in this disclosure.

[0081] It should also be noted that the first sensor 41 can include one or more sensors. The sensor 41 can include a wide class of sensing devices and technologies integrated into or used in combination with the first joint member 11 for the purpose of determining the position, movement, and / or orientation of the thigh segment 31 associated with the position, movement, and / or orientation of the user's thigh. The types of sensors can cover, but are not limited to, angle sensors, orientation sensors, accelerometers, gyroscopes, magnetometers, potentiometers, force sensors, pressure sensors, optical sensors, and other emerging or existing sensing technologies. These sensors are capable of measuring a series of kinematic and dynamic variables, including but not limited to angular velocity, acceleration, force, torque, orientation, and displacement. The acquired data helps to evaluate the state and movement of the lower limbs and the back, thereby enabling precise control, adjustment, and monitoring of the assisted walking or gait system. Those skilled in the art can envision how to combine one or more of the above sensors to implement the first sensor 41, which is configured to determine the position of the thigh segment 31 relative to a reference point such as gravity, from which the relative position with respect to the vertical direction can be easily calculated. The reference point can be continuously obtained, or the first sensor 41 can also be pre-calibrated.

[0082] It should also be noted that the control unit 50 can include a complete set of computing hardware, firmware, and / or software modules, which are designed to manage, coordinate, and control the functions of a walking assistance system (such as an exoskeleton). The control unit can include a microcontroller, a microprocessor, a digital signal processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other computing elements capable of executing algorithms and control logic. Although throughout the description, the control unit can be assigned to the orthosis 100, it should be noted that in other embodiments of the present invention, the control unit 50 can also be partially or fully included in the walking assistance system.

[0083] The user transfer state can be understood as both the physical state of the orthosis 100 and / or the state of the control unit 50, wherein the first fixing mechanism 21 is configured to fix the first joint member 11 to the user transfer position when the angle of the thigh segment 31 with respect to the vertical direction determined by the first sensor 41 is at most 30°.

[0084] Advantageously, the control unit 50 is configured to set the system to the user transfer state for the first fixing mechanism 21, such that the walking assistance system is configured to allow this transfer of the user into and out of the system in a very easy and quick manner by simply fixing the first mechanism once a certain angle is determined by the first sensor 41. Moreover, this is done with the maximum possible patient independence and the lowest possible complexity, while maintaining the robustness and durability of the exoskeleton.

[0085] Figure 2 Figure A shows a walking assistance system, where the orthosis 100 is in the user transfer state, but where the first fixing mechanism 21 has not been fixed because the first sensor 41 has determined that the angle of the thigh segment 31 with respect to the vertical direction is greater than 30°, particularly approximately 90°. Thus, the orthosis 100 is in a stationary position in contact with the ground. However, in Figure 2 Figure B, the same walking assistance system can be seen, where the orthosis 100 is also in the user transfer state, but where the first fixing mechanism 21 has been fixed because the first sensor 41 has determined that the angle of the thigh segment 31 with respect to the vertical direction is less than 30°. It should be noted that the angle of the thigh segment 31 is not determined with respect to any other element of the walking assistance system, and as Figure 2 shown in Figure B, this angle can be achieved using the compliance of the lumbar segment, which can also be tilted backward to facilitate the thigh segment 31 reaching the determined angle. Now that the first fixing mechanism has been fixed, it can be noted how the user can now easily transfer to the walking assistance system, for example, by laterally moving into or out of the system from a wheelchair.

[0086] It should be noted that Figure 2Shows a system for moving into and out of a walking assistance system according to one or more embodiments of the present invention. However, it includes a plurality of optional elements of this embodiment according to the second aspect of the present invention. For example, according to one or more embodiments of the present invention, Figure 2 The orthosis 100 of may include a lumbar section, a calf section 32, and a second joint member 12, which may be optional. It should also be noted that Figure 2 A specific walking assistance system and a specific orthosis are shown, however, other shapes, sizes, or solutions may be employed in different specific embodiments of this embodiment of the first aspect of the present invention.

[0087] Figure 3 A diagram of the electronics for a walking assistance system is shown, in which it can be seen how the control unit 50 receives information from one or more sensors 40 and uses this information to actuate or send the required information, such as a change in the state of one or more fixing mechanisms (20) to fix a specific joint member in place. It should be noted that Figure 3 Many other elements are shown, such as one or more actuators 60 or controllers 70, which are optional and may not be included in all embodiments of the second aspect of the present invention.

[0088] According to a preferred embodiment, the first fixing mechanism 21 is configured to fix the first joint member 11 to the user transfer position when the angle of the thigh section 31 with respect to the vertical direction determined by the first sensor 41 is at most 29°, more preferably at most 28° with respect to the vertical direction, and even more preferably 27°, 26°, 25°, 24°, 23°, 22°, 21°, 20°, 19°, 18°, 17°, 16°, 15°, 14°, 13°, 12°, 11°, 10°, 9°, 8°, 7°, 6°, 5°, 4°, 3°, 2°, 1°, and further preferably when the thigh section 31 is in the vertical direction. Advantageously, this further configures the walking assistance system to further facilitate moving into and out of the walking assistance system.

[0089] In a preferred embodiment of the second aspect of the present invention, and also as shown with respect to Figure 2 The orthosis further includes:

[0090] f. A second joint member 12 for the knee joint of the user's leg,

[0091] g. A calf section 32 connected to the thigh section 31 through the second joint member 12,

[0092] h. A second fixing mechanism 22 configured to fix the second joint member 12, and

[0093] i. A second sensor 42 configured to determine the position of the lower leg segment 32,

[0094] In this preferred embodiment, the control unit 50 is further configured to control the second fixing mechanism 22, wherein in the user transfer state, the second fixing mechanism 22 is configured to fix the second joint member 12 to the user transfer position when the flexion angle of the lower leg segment 32 determined by the second sensor 42 is at most 45°.

[0095] It should be noted that in humans, the flexion angle of the lower leg segment movement is measured as the angle between the axis defined by the human thigh and the axis defined by the human lower leg. Thus, for example, a person standing with a leg extender will have a knee joint flexion angle of 0°, while a person kneeling will have a knee flexion angle of 90°.

[0096] All of the above descriptions regarding the first joint member 11, with appropriate modifications, are applicable to the second joint member 12. Similarly, all of the above descriptions regarding the first fixing mechanism 21, with appropriate modifications, are applicable to the second fixing mechanism 22. Similarly, all of the above descriptions regarding the thigh segment 31, with appropriate modifications, are applicable to the lower leg segment 32. It should be considered that any element of the walking assistance system associated with the user's lower leg and connected to the thigh segment 31 through the second joint member 12 is included in the present disclosure. In addition, all of the above descriptions regarding the first sensor 41, with appropriate modifications, are applicable to the second sensor 42. Thus, the sensor 42 can include a wide class of sensing devices and technologies integrated into or used in combination with the second joint member 12 for the purpose of determining the position, movement, and / or orientation of the lower leg segment 32 associated with the position, movement, and / or orientation of the user's lower leg.

[0097] Advantageously, the second fixing mechanism 22 is further configured to fix the second joint member 12 when the flexion angle of the lower leg segment 32 determined by the second sensor 42 is at most 45°, such that the walking assistance system is configured to allow the transfer of the user into and out of the system to be performed in a very easy and rapid manner by simply fixing the second mechanism 22 once a certain angle is determined by the second sensor 42, thereby allowing the lower leg segment to also be outside the transfer movement path. Moreover, this is also done with the lowest possible complexity, using only components already available in most walking assistance systems, while maintaining robustness and durability.

[0098] Figure 2 A shows a walking assistance system in which the orthosis 100 is in the user transfer state, but wherein the second fixing mechanism 22 has not been fixed because the second sensor 42 has determined that the flexion angle of the lower leg segment 32 is greater than 45°, particularly approximately 180°. Thus, the orthosis 100 is in a stationary position in contact with the ground. However, inFigure 2 In Figure B, the same walking assistance system can be seen, where the orthosis 100 is also in the user transfer state, but the second fixing mechanism 22 has been fixed because the second sensor 42 has determined that the flexion angle of the lower leg segment 32 is less than 45°. It should be noted that the angle of the lower leg segment 32 is not determined relative to any other element of the walking assistance system, and as shown in Figure B, this angle can be achieved by the compliance of the lumbar segment, which can also tilt backward to facilitate the lower leg segment 32 reaching the determined angle. Now that the first fixing mechanism has been fixed, it can be noted how the user can now easily transfer to the walking assistance system, for example, by laterally moving into or out of the system from a wheelchair. Figure 2 In Figure B, the same walking assistance system can be seen, where the orthosis 100 is also in the user transfer state, but the second fixing mechanism 22 has been fixed because the second sensor 42 has determined that the flexion angle of the lower leg segment 32 is less than 45°. It should be noted that the angle of the lower leg segment 32 is not determined relative to any other element of the walking assistance system, and as shown in Figure B, this angle can be achieved by the compliance of the lumbar segment, which can also tilt backward to facilitate the lower leg segment 32 reaching the determined angle. Now that the first fixing mechanism has been fixed, it can be noted how the user can now easily transfer to the walking assistance system, for example, by laterally moving into or out of the system from a wheelchair.

[0099] According to a preferred embodiment, the second fixing mechanism 22 is configured to fix the second joint member 12 to the user transfer position when the angle between the lower leg segment 31 and the vertical direction determined by the second sensor 42 is at most 44°, more preferably at most 43° with respect to the vertical direction, even more preferably 42°, 41°, 40°, 39°, 38°, 37°, 36°, 35°, 34°, 33°, 32°, 31°, 30°, 29°, 28°, 27°, 26°, 25°, 24°, 23°, 22°, 21°, 20°, 19°, 18°, 17°, 16°, 15°, 14°, 13°, 12°, 11°, 10°, 9°, 8°, 7°, 6°, 5°, 4°, 3°, 2°, 1°, and even more preferably at most 0°. According to a preferred embodiment, advantageously, this further configures the walking assistance system to further facilitate moving into and out of the walking assistance system.

[0100] For some users, especially those with severe injuries, it would be more helpful to be able to not only set the walking assistance system to the transfer state but also further assist in setting the first segment 31 and / or the second segment 32 to an appropriate angle with respect to the vertical direction without the need for a therapist or others.

[0101] According to a preferred embodiment, and as shown with respect to Figure 3 Figure, the orthosis 100 further includes:

[0102] j. A first actuator 61, the first actuator 61 being coupled to the first joint member 11 and configured to set the flexion angle (α h ) of the first joint member 11, wherein the control unit 50 is further configured to control the flexion angle (α h ) of the first joint member 11 through the first actuator 61; and / or

[0103] k. The second actuator 62, which is coupled to the second joint member 12 and is configured to set the flexion angle (α k ) of the second joint member 12, wherein the control unit 50 is further configured to control the flexion angle ((α k ) of the second joint member 12 via the second actuator 62).

[0104] It should be noted that the first actuator 61 and / or the second actuator 62 can be any type of electrical or mechanical system capable of setting the flexion angles of the first joint member 11 and / or the second joint member 21 respectively. Those skilled in the art can envision many different implementations of the first actuator 61 and / or the second actuator 62, such as electric motors, stepper motors, brushless motors, spring actuating mechanisms, etc. All of these are included in the present disclosure. It should also be noted that the first actuator 61 and / or the second actuator 62 can be the same elements as the first fixing mechanism 21 and / or the second fixing mechanism 22, such as an electric motor, a stepper motor, a brushless motor, or a spring actuating mechanism.

[0105] Advantageously, the control unit 50 is further configured to control the flexion angles of the joint members 11, 12 via the actuators 61, 62, such that a variety of solutions can assist the user in setting the walking assistance system to a position that provides sufficient space to laterally move into or out of the walking assistance system without the help of others, as will be described later. It should be noted that most walking assistance systems may already include actuators for their joint members, and thus, this will not further increase the complexity or weight of the walking assistance system in most cases.

[0106] According to a further preferred embodiment, the orthosis 100 includes both the first actuator 61 and the second actuator 62. Advantageously, this further helps to assist the user, as both segments 11, 12 can be controlled by the control unit.

[0107] According to another more preferred embodiment, the control unit 50 is further configured to set the walking assistance system to a sitting position, wherein, in the sitting position, the flexion angle (α h ) of the first joint member 11 is set to such a flexion angle that the angle between the thigh segment 31 determined by the first sensor 41 and the vertical direction is between 70° and 110°, and the flexion angle (α k ) of the second joint member 12 is set to such a flexion angle that the angle between the calf segment 32 determined by the second sensor 42 and the vertical direction is between 135° and 200°.

[0108] In this more preferred embodiment, the control unit 50 is only configured to set the system into a user transfer state if the system was previously in the sitting position.

[0109] Advantageously, the walking assistance system must be set into the sitting position before the user transfer state, ensuring that the walking assistance system is in position and on the surface, in which position once segments 11, 12 are fixed by the first and second fixing mechanisms 21, 22 respectively, it allows the user to easily transfer into and out of the system.

[0110] It should be noted that the angles of the first joint member 11 and the second joint member 12 as defined in this more preferred embodiment include suitable combinations in which the walking assistance system will be comfortably in a position where the user of the system can sit on, for example, a chair or a bench. It should be noted that the control unit 50 can use different sensors or additional input from the user to determine the appropriate angles of the thigh segment 31 and the calf segment 32 to adapt to a specific surface, which may vary in its height. For example, there may be pressure sensors, or the user can press a button to set the desired position.

[0111] According to another more preferred embodiment, in the user transfer state, the flexion angle (α h ) of the first joint member 11 and the flexion angle (α k ) of the second joint member 12 are set by the actuator into the user transfer position, at an angle of at most 30° with respect to the vertical direction, to assist the user in moving the first joint member 11 and the second joint member 12.

[0112] Advantageously, this allows the same user wearing the walking assistance system or someone else such as a therapist not to carry the weight of the orthosis 100 when moving the thigh segment 31 and the calf segment 32 into the transfer position. This further enables the system to assist the user in moving into and out of the system in an even easier manner.

[0113] In some specific embodiments, the first joint member 11 and / or the second joint member 12 can be set completely at an angle such that their respective segments are at an angle of at most 30° with respect to the vertical direction, and the setting of this angle is completely determined by themselves. In this embodiment, when the user's limb is attached to the orthosis, a safety system can be introduced to avoid such movement. This further enables the system to assist the user in moving into and out of the system in the simplest and fastest manner.

[0114] According to another preferred embodiment, in the user transfer state, the control unit 50 is further configured to fix the opposite orthosis joint members. It should be noted that the walking assistance system includes an orthosis for each leg, and thus it is desirable that the control unit 50 can also interact with the opposite orthosis, particularly to fix the orthosis joint members in place.

[0115] In an embodiment where the control unit 50 is only configured to set the system into a user transfer state if the system was previously in a sitting position, this means that the two opposing orthoses are fixed in the sitting position. Advantageously, this provides additional support for the walking assistance system to maintain its position when the user moves into or out of the walking assistance system and provides reliable support for the user.

[0116] According to another preferred embodiment, and as Figure 3 shown, the system further includes a controller 70, which is connected to the control unit 50 and is configured to allow the user and / or the therapist to instruct the control unit 50 to set the system into a user transfer state and / or a user transfer position.

[0117] The controller can be any type of interface from which the user can instruct the control unit 50 to be set to the user transfer state. For example, the controller 70 can be a simple button, a digital display, a touch screen, a voice assistant, a rotary dial, a knob, or any other interface that a person skilled in the art can conceive.

[0118] The controller 70 can also (or alternatively) be controlled by another person (such as a therapist). In some embodiments, the controller 70 can further set the control unit 50 to set the orthosis 100 into the sitting position, and / or can be able to determine parameters such as the required speed, position, and / or assistance based on the user transfer state and / or the sitting position.

[0119] Advantageously, having a controller facilitates the user and / or the therapist to control the system and determine when and how to set the user transfer state.

[0120] All of the above-described embodiments of the first and second aspects of the present invention regarding the walking assistance system include at least one orthosis 100 for the user's leg as described above. Therefore, it should be noted that in some embodiments of any of the embodiments of the first and second aspects according to the present invention, the walking assistance system includes two orthoses 100, 100' for the user's leg as described above. Advantageously, this allows the user to be able to move into or out of the walking assistance system from any desired side.

[0121] The third aspect of the present invention, and as regarding Figure 4 shown, relates to a method for moving into and out of a walking assistance system, where the walking assistance system is a walking assistance system according to any one of the first or second aspects of the present invention. The method includes the following steps:

[0122] In a first step 401, if the system includes a control unit 50, the control unit 50 is instructed to set the walking assistance system to a user transfer state. It should be noted that the walking assistance system according to the first aspect of the present invention does not include a control unit 50, and thus this step is skipped for such systems. The walking assistance system according to the second aspect of the present invention can be set to the user transfer state in a variety of ways, including using an actuator 60, a control unit 70, and pre-setting the walking assistance system to a sitting position.

[0123] In a second step 402, the method involves setting the first joint member 11 and the second joint member 12 to a user transfer position by fixing the first joint member 11 and / or the second joint member 12 through a first fixing mechanism 21 and a second fixing mechanism 22, respectively.

[0124] It should be noted that the walking assistance system according to the first aspect of the present invention can do this when reaching a certain angle, while the walking assistance system according to the second aspect of the present invention can do this when reaching a certain angle relative to the vertical direction. This can also be accomplished in a variety of ways, including using an actuator 60, a control unit 70, and pre-setting the walking assistance system to a sitting position.

[0125] Finally, in a third step 403, the method involves moving the user into or out of the walking assistance system through the side of at least one orthosis 100 to which the system has been set to the user transfer state. It should be noted that the user can move alone or with the help of another person (such as a therapist). It should also be noted that in this step, the user can partially move through the side of at least one orthosis 100 such that a part of the space used by the orthosis in the transfer state is utilized before the orthosis is fixed to the transfer position.

[0126] Advantageously, the method allows the user to move into and out of the system in a very easy and quick manner, with as much patient independence as possible and as low complexity as possible, while maintaining the robustness and durability of the walking assistance system.

[0127] It should be noted that Figure 4 including other method steps 404, 405, 406, and 407 marked with dashed lines, which are not included in this embodiment and may also be optional in other embodiments of the third aspect of the present invention.

[0128] In a preferred embodiment, step 402 further includes fixing the articulating members of the opposing orthoses in place. In a more preferred embodiment, the control unit 50 is further configured to fix the articulating members of the opposing orthoses. Advantageously, this provides additional support to the walking assistance system to hold its position when the user moves into or out of the system, and provides reliable support to the user as the opposing orthoses cannot change their position.

[0129] According to another preferred embodiment, the method includes step 405 of instructing the control unit 50 to set the walking assistance system to a sitting position prior to step 401. Advantageously, the walking assistance system must be set to a sitting position prior to the user transfer state, ensuring that the walking assistance system is in a position and on a surface where, once segments 11, 12 are fixed by the first fixing mechanism 21 and the second fixing mechanism 22 respectively, it allows the user to easily transfer into and out of the system.

[0130] According to another preferred embodiment, the walking assistance system included in the method further includes a support member and / or straps associated with the orthoses, and prior to step 401, the method includes step 406 of opening the support member and / or straps. Advantageously, this facilitates the user's movement into and out of the walking assistance system and ensures that the walking assistance system does not step into the user transfer position with the orthoses 100 attached to the user's legs (which could be harmful).

[0131] According to another preferred embodiment, after step 401 and prior to step 402, the method includes the following step 407: moving the first articulating member 11 and / or the second articulating member 12 to their user transfer positions with the assistance of the first actuator 61 and / or the second actuator 62.

[0132] Advantageously, this allows the same user wearing the walking assistance system or someone else such as a therapist to not have to bear the weight of the orthoses 100 when moving the thigh segment 31 and the calf segment 32 to the transfer positions. This further enables the system to assist the user in moving into and out of the system in an even easier manner.

[0133] According to another preferred embodiment, once the control unit 50 detects that the flexion angles of the first articulating member 11 and / or the second articulating member 12 have reached their respective user transfer positions, step 402 is automatically performed by the control unit 50.

[0134] Advantageously, this further makes the walking assistance system easier and simpler to use for the user putting on the system as it does not require the effort to place the orthoses into the user transfer positions.

[0135] In a more preferred embodiment, the method further includes providing feedback to the user once step 402 is executed. It should be noted that the feedback can be provided by different methods. For example, in some embodiments, the feedback can be provided by the controller 70. In some other embodiments, the orthosis 100 or the walking assistance system can include additional elements, such as LEFs, speakers, or haptic motors, which are configured to provide such feedback in the form of light, sound, or vibration. It should be noted that in some embodiments, such as those that do not include the control unit 50, the feedback can be mechanically provided by a mechanism configured to provide such feedback once the first joint member 11 and / or the second joint member 12 are fixed. For example, this can include a color-coded slider that turns to a specific color, such as green, once the first joint member 11 and / or the second joint member 12 are fixed. Another example can include a click mechanism that produces a specific noise as feedback once the first joint member 11 and / or the second joint member 12 are fixed. All of these alternatives, their combinations, and many different alternatives that a person skilled in the art can conceive are included in the present disclosure.

[0136] According to another preferred embodiment, the method further includes step 404 of instructing the control unit 50 to set the walking assistance system to exit the user transfer state.

[0137] Advantageously, instructing the control unit 50 to set the walking assistance system to exit the user transfer state allows the control unit 50 to perform the remaining functions they normally involve, such as entering the sitting, standing, and / or walking modes.

[0138] In a more preferred embodiment, setting the walking assistance system to exit the user transfer state includes unlocking the first joint member 11 and the second joint member 12 from the user transfer position by releasing the first fixing mechanism 21 and the second fixing mechanism 22. In some embodiments, this can involve instructing the control unit 50 to set the walking assistance system to the sitting position, including setting the orthosis to the sitting position.

[0139] A fourth aspect of the present invention relates to a computer-implemented method according to any one of the methods of the third aspect of the present invention.

[0140] A fifth aspect of the present invention relates to a computer program product including an instruction set that, when executed by a processor, configures a walking assistance system according to the first aspect or the second aspect of the present invention to perform any one of the methods of the third aspect of the present invention. It should be noted that the processor can include one or more processing units, such as a microprocessor, a GPU, a CPU, a multi-core processor, or the like.

[0141] A computer program product can be stored in a memory. The memory can include one or more volatile or non-volatile memory devices, such as DRAM, SRAM, flash memory, read-only memory, ferroelectric RAM, hard disk drive, floppy disk, magnetic tape, optical disc, or the like.

[0142] Example

[0143] Specific embodiments of systems and methods for moving into and out of a walking assistance system according to the present invention are now described.

[0144] Device

[0145] An exoskeleton device (which we will name "ABLE Exoskeleton" - described in patent applications US20190231573, EP20383088, EP22382778) that can lock all joint parts to the transfer position with Yoga Legs.

[0146] The ABLE Exoskeleton is a wearable powered lower limb exoskeleton that can actively assist individuals with injuries to stand, walk, and sit down. The device consists of a rigid bracket that is connected to the user's torso, legs, and feet through straps and supports. This is a bilateral robotic exoskeleton with four battery-powered motors that drive the knee and hip joint parts to assist with flexion-extension. Other degrees of freedom of the hip and knee joint parts are restricted. The ankle joint part of the exoskeleton is passively hinged with a spring within a limited range of motion.

[0147] The exoskeleton consists of a lumbar segment and two leg segments. The lumbar segment rests against the user's back and is equipped with two rechargeable and replaceable battery packs, an electronic central unit (ECU), an inertial measurement unit (IMU), and Wi-Fi and Bluetooth modules. Each leg segment houses electronic actuators, servo drivers that control them, electromagnetic safety brakes at the knee joint part, and IMU sensors at the knee and hip joint parts.

[0148] The device is controlled using a therapist controller (up and down buttons located on the lumbar section) or a patient controller (up and down buttons located on a remote control, a wireless device mounted on a walker or crutch). These controllers allow the user to transfer between different states of the exoskeleton: (1) from a sitting position to a transfer state where the patient can don the exoskeleton; (2) perform a sit-to-stand transfer where the device actively assists the knee and hip joints; (3) standing, where the actuators apply the necessary torque to keep the user's legs straight and the torso upright; (4) walking, where the device moves the knee and hip joints in a natural gait pattern; (5) perform a stand-to-sit transfer where the device actively assists the knee and hip joints to sit on a chair or a medical bed.

[0149] The exoskeleton device consists of the following components:

[0150] Mechanical frame

[0151] · Frame: The structure of the exoskeleton is made of carbon fiber and aerospace-grade aluminum, which can withstand huge loads while keeping the device light and thin. This provides the device with structural integrity to hold all device components and the patient in place.

[0152] · Adjustment: The size adjustment of the exoskeleton is carried out through telescoping components and a pin locking mechanism.

[0153] · Rigid supports: There are 4 rigid supports made of plastic on the upper thigh and upper calf, which transfer the load and movement from the user to the exoskeleton frame and vice versa.

[0154] · Modular upper torso component: A modular structural component that can be attached to the lumbar section if needed, providing additional back posture support for users with more severe injuries or limited trunk control through shoulder straps.

[0155] Ergonomic fixing device

[0156] · Leg straps: Textile straps attach the user to the supports and the exoskeleton frame.

[0157] · Foot straps: The feet are attached to the bottom pedals of the structure through plastic straps.

[0158] · Padding: The lumbar section, thigh supports, calf supports, waist belt, and all straps are covered with padding to protect the user from pressure injuries or discomfort.

[0159] · Waist belt: A textile belt is used to keep the user's torso together with the exoskeleton frame.

[0160] · Standing Belt: A textile belt is used to support the user during sit-to-stand and stand-to-sit transfers.

[0161] Joint piece

[0162] · Actuators: There are 4 actuators on the exoskeleton, located in each of the hip joint component and the knee joint component. The actuators apply forces to move the leg components of the exoskeleton to assist the patient in walking movements. The actuators are also used to facilitate the transfer of the patient onto the exoskeleton by positioning the device in a certain position (one leg component is lifted vertically and straight, for more details see the method section) and locking the hip joint component and the knee joint component.

[0163] · Electromagnetic Safety Brake: The knee joint component has an electromagnetic brake that is activated when power is lost (to prevent the patient from falling to the ground) or when the leg component is fully extended (to reduce power consumption).

[0164] · Articulated Spring Ankle: The ankle joint component can perform plantarflexion and dorsiflexion movements. This rotation is loaded with a spring that pulls the user back to the "neutral" position.

[0165] Electronic device

[0166] · Electronic Control Unit (ECU): The ECU is an electronic board located in the lumbar spine segment, including the main system controller and all power management features.

[0167] · Control Board: An electronic board located in the thigh leg segment of the exoskeleton, including servo drivers for controlling the actuators.

[0168] · Inertial Measurement Unit (IMU): The orientation and acceleration of each leg component and the torso component are measured by a 9-degree-of-freedom motion sensor (each sensor has a 3-axis gyroscope, a 3-axis accelerometer, and a 3-axis magnetometer).

[0169] · Battery: The exoskeleton is powered by an intelligent lithium-ion battery.

[0170] Method

[0171] To use the Yoga Leg, perform the following steps with the device. In these steps, the word "user" refers to either the patient or the clinician, as both are considered users of the device. Some steps can be performed by either user.

[0172] 1. The exoskeleton is first placed on a medical bed or chair. The device is powered on by the clinician.

[0173] 2. All straps and supports are opened by the user (clinician or patient). This allows for a greater open space inside the exoskeleton to perform the transfer of the patient into the device.

[0174] 3. The user uses the device controller (therapist controller or patient controller) to place the exoskeleton in the transfer state.

[0175] 4. The user moves the joint components of the exoskeleton (hip joint flexion and knee joint extension) in the sagittal plane until the transfer position (yoga leg) is reached. In this position, one leg component of the device (the user can decide whether it is the right leg component or the left leg component) is lifted vertically and straight (until the exoskeleton reaches the mechanical limit of hip joint flexion while the knee component is fully extended), and the other leg component places the foot component on the ground in a sitting position (see Figure 2 B).

[0176] 5. Once this position has been reached, the exoskeleton automatically detects that the position has been reached and locks all exoskeleton joint components. The device provides an auditory feedback to let the user know that the target transfer position has been reached and the joint components are locked. None of the joint components can move, which provides a stable structure. The user does not need to touch or hold the device in any way.

[0177] 6. Now that the exoskeleton is in the transfer position, the patient can enter the exoskeleton (move their body inside the device). The patient positions their wheelchair close to the bed / chair and the exoskeleton and transfers to the bed / chair, thus moving their body under the leg components of the exoskeleton, so that they end up sitting between the hip components of the exoskeleton while their feet are flat on the floor. This type of transfer from wheelchair to bed is a standard skill that patients practice in regular clinical rehabilitation.

[0178] 7. The user uses the device controller (either one) to leave the transfer state, which unlocks the joint components of the device so that they can move again. This unlocking is done progressively and also has an auditory feedback to let the user know that the joint components are unlocked. The user lowers the yoga leg until the foot component is flat on the floor.

[0179] 8. The exoskeleton is now in the sitting position in the sitting state. The straps of the device can be put on, and the exoskeleton training activities continue.

[0180] 9. To transfer out of the exoskeleton at the end of the activity, repeat these steps. The only change is that the patient starts from inside the device, and step 6 is to move back into the wheelchair from inside the device.

[0181] The system allows patient users to don and doff the exoskeleton in a quick and easy manner. Even with severe mobility limitations, patients can perform this type of transfer independently, thus providing a better user experience for the patients. This type of independence means that patients may prefer this method compared to the methods used by similar exoskeleton devices. Clinicians may also prefer that they can use this transfer time to set up other areas of the training facility or prepare for treatment activities, as patients do not require a large amount of assistance.

[0182] In addition, it does not require additional mechanical complexity in the hip joint of the exoskeleton (no additional moving parts, mechanisms, and joints are added to achieve new degrees of freedom, such as abduction), because it utilizes the existing joint movement in the sagittal plane to perform walking movements (hip joint flexion and extension). In terms of mechanical design, the only requirement for the exoskeleton to be able to perform this feature is that there is sufficient range of motion on the hip joint to lift one leg component vertically and straight while the other leg component is in the sitting position on a chair or bed (see Figure 3 B). Since no new mechanical components or mechanisms dedicated to the transfer task are added to the device, the engineers who developed the device consider this method to be ideal. It also allows for a lower design and production cost of the device, thus saving overall costs for the customers (clinical institutions that purchase the device or patients who purchase the device for personal use).

[0183] All of the above are fully within the scope of the present disclosure and are considered to form the basis of alternative embodiments that apply one or more combinations of the above features, without being limited to the specific combinations disclosed above.

[0184] In view of this, there will be many alternatives for implementing the teachings of the present disclosure. It is expected that those skilled in the art will be able to modify and adjust the above disclosure within the scope of the present disclosure according to their common general knowledge in the art to adapt to their own situations and requirements, while retaining some or all of the technical effects disclosed above or derivable from the above. All such equivalents, modifications, or adaptations fall within the scope of the present disclosure.

Claims

1. A walking assistance system includes two orthoses (100, 100'), wherein the two orthoses include first joint members (11, 11') for the hip joints of each leg of a user and thigh segments (31, 31') connected to the first joint members (11, 11'), and at least one orthosis (100) further includes: a. A first fixing mechanism (21) configured to fix the first joint member (11), and wherein the at least one orthosis is configured to be set to a user transfer position, in which the first fixing mechanism (21) is configured to fix the thigh segment (31) at an angle of at least 60° relative to the thigh segment (31') of the opposite orthosis (100').

2. The walking assistance system according to claim 1, wherein, the at least one orthosis (100) further includes: a. A second joint member (12) for the knee joint of the user's leg, b. A second fixing mechanism (22) configured to fix the second joint member (12), and further characterized in that, in the user transfer position, the second fixing mechanism (22) is configured to fix the second joint member (12) at a flexion angle of at most 45°.

3. A walking assistance system includes at least one orthosis (100) for a user's leg, wherein the orthosis (100) includes: a. A first joint member (11) for the hip joint of the user's leg, b. A thigh segment (31) connected to the first joint member (11), c. A first fixing mechanism (21) configured to fix the first joint member (11), d. A first sensor (41) configured to determine the position of the thigh segment (31), and e. A control unit (50) configured to control the first fixing mechanism (21); characterized in that the control unit (50) is configured to set the system to a user transfer state, in which, in the user transfer state, the first fixing mechanism (21) is configured to fix the first joint member (11) to the user transfer position when the angle of the thigh segment (31) determined by the first sensor (41) with respect to the vertical direction is at most 30°.

4. The system according to claim 3, wherein, the orthosis (100) further includes: f. A second joint member (12) for the knee joint of the user's leg, g. A calf segment (32) connected to the thigh segment (31) through the second joint member (12), h. A second fixing mechanism (22) configured to fix the second joint member (12), and i. A second sensor (42) configured to determine the position of the calf segment (32), wherein, the control unit (50) is further configured to control the second fixing mechanism (22), and wherein, in the user transfer state, the second fixing mechanism (22) is configured to fix the second joint member (12) to the user transfer position when the flexion angle of the lower leg segment (32) determined by the second sensor (42) is at most 45°.

5. The system according to claim 3 or 4, wherein, in the user transfer state, the first fixing mechanism (21) is configured to fix the first joint member (11) to the user transfer position when the angle between the thigh segment (31) and the vertical direction determined by the first sensor (41) is at most 5°, preferably when the thigh segment (31) is in the vertical direction, and / or the second fixing mechanism (22) is configured to fix the second joint member (12) to the user transfer position when the angle between the lower leg segment (32) and the vertical direction determined by the second sensor (42) is at most 5°, preferably when the lower leg segment (32) is in the vertical direction.

6. The system according to any one of claims 3 to 5, wherein, the orthosis (100) further comprises: j. A first actuator (61) that is coupled to the first joint member (11) and is configured to set a flexion angle (α h ) of the first joint member (11), wherein the control unit (50) is further configured to control the flexion angle (α h ) of the first joint member (11) via the first actuator (61); and / or k. A second actuator (62) coupled to the second joint member (12) and configured to set a flexion angle (α k ) of the second joint member (12), wherein the control unit (50) is further configured to control the flexion angle (α k ) of the second joint member (12) via the second actuator (62).

7. The system according to claim 6, wherein, the orthosis (100) includes both the first actuator (61) and the second actuator (62).

8. The system according to claim 6 or 7, wherein, The control unit (50) is further configured to set the system to a sitting position, wherein, in the sitting position, the flexion angle (α h ) of the first joint member (11) is set to such a flexion angle that the angle between the thigh segment (31) determined by the first sensor (41) and the vertical direction is between 70° and 110°, and the flexion angle (α k ) of the second joint member (12) is set to such a flexion angle that the angle between the calf segment (32) determined by the second sensor (42) and the vertical direction is between 135° and 200°, and wherein, if the system was previously in the sitting position, the control unit (50) is only configured to set the system to the user transfer state.

9. The system according to any one of claims 6 to 8, wherein, In the user transfer state, the flexion angles (α h ) of the first joint member (11) and the flexion angles (α k ) of the second joint member (12) are respectively set by the actuator to the user transfer positions such that the first joint member (11) and the second joint member (12) form an angle of at most 30° with the vertical direction to assist the user in moving the first joint member (11) and the second joint member (12).

10. The system according to any one of claims 3 to 9, wherein, in the user transfer state, the control unit (50) is further configured to fix the joint members of the opposing orthoses.

11. The system according to any one of claims 3 to 10, wherein, the system further comprises a controller (70) connected to the control unit (50) and configured to allow a user and / or a therapist to instruct the control unit (50) to set the system to the user transfer state and / or the user transfer position.

12. A method for moving into and out of a walking assistance system, wherein, the walking assistance system is the walking assistance system according to any one of claims 1 to 11, and the method comprises: a) if the system includes a control unit (50), instruct the control unit (50) to set the walking assistance system to the user transfer state, b) once a certain angle of the first joint member (11) and the second joint member (12) is reached, set the first joint member (11) and the second joint member (12) to the user transfer position respectively by fixing the first joint member (11) and / or the second joint member (12) by means of the first fixing mechanism (21) and the second fixing mechanism (22); and c) moving the user into or out of the walking assistance system via a side of at least one orthosis (100) of the system that has been set to the user transfer state of the user.

13. The method according to claim 12, wherein, the method includes instructing the control unit (50) to set the walking assistance system to a sitting state before step a).

14. The method according to any one of claims 12 or 13, wherein, the walking assistance system further includes a support member and / or a strap, and wherein before step a), the method includes opening the support member and / or the strap.

15. The method according to any one of claims 12 to 14, wherein, after step a) and before step b), the method includes moving the first joint member (11) and / or the second joint member (12) to their user transfer positions with the assistance of the first actuator (61) and the second actuator (62).

16. The method according to any one of claims 12 to 15, wherein, once the control unit (50) detects that the flexion angles of the first joint member (11) and / or the second joint member (12) have reached their respective user transfer positions, the locking step b) is automatically performed by the control unit (50).

17. The method according to claim 16, wherein, the method further includes providing feedback to the user once the locking step b) is performed.

18. The method according to any one of claims 12 to 17, wherein, the locking step b) further includes fixing the joint members of the opposing orthoses in place, preferably, wherein the control unit (50) is further configured to fix the joint members of the opposing orthoses.

19. The method according to any one of claims 12 to 18, wherein, the method further includes the following steps: d) instructing the control unit (50) to set the walking assistance system to exit the user transfer state.

20. The method according to claim 19, wherein, setting the walking assistance system to exit the user transfer state includes unlocking the first joint member (11) and the second joint member (12) from their user transfer positions by releasing the first fixing mechanism (21) and the second fixing mechanism (22).

21. A computer-implemented method, the computer-implemented method according to any one of claims 12 to 20.

22. A computer program product, including an instruction set, the instruction set when executed by a processor configures the walking assistance system according to any one of claims 1 to 11 to perform any one of the methods according to any one of claims 12 to 20.

Images