Terminal display for a walking assistance system

Abstract

The invention relates to a terminal display (1) for a walking assistance system (4). The display (1) is configured to be removably attached to a system (4), where the system (4) comprises segments including a waist segment, a thigh segment, a shank segment, and optionally a foot segment. The system (4) integrates a plurality of sensors for determining the relative position of each segment and a control unit for processing the user centroid (COM) relative to the position of the user's foot. The display (1) is wirelessly connected to the control unit and presents the center of mass (10) of the user, preferably with respect to the position of the foot (12) of the user, the position of the foot (12) being also displayed, thereby enhancing the walking assistance capability in this way.

Description

[0001] Field of the Invention

[0002] The present invention relates to the field of wearable robotic systems, and more particularly to walking assistance technology and its associated display and communication systems. More specifically, the present invention relates to a visual display that is designed to interface with a walking assistance system to facilitate real-time monitoring of the center of mass of a user wearing the system and to represent the center of mass relative to the user's feet. Background of the Invention

[0004] Exoskeletons are devices that are becoming increasingly relevant in the field of physical therapy, mainly used to assist individuals with motor neurological disorders. These devices are designed to facilitate gait training, enhance mobility, and restore physiological functions. In a clinical setting, their operation and management typically require the presence of a professional clinician.

[0005] For both patients and clinicians, it is desirable to obtain real-time feedback on the operating state of the device and its current configuration in order to provide safe utilization of the exoskeleton. In particular, the user needs to know the current state of the exoskeleton to mitigate risks before performing actions such as standing, walking, or turning, thus avoiding potential falls. Additionally, this feedback from the device state must be continuously updated in real-time during exoskeleton operation.

[0006] Visual feedback during exoskeleton utilization is a powerful tool for optimizing the functionality of the device. Exoskeleton users often exhibit limited or absent sensation in the lower limbs, resulting in impaired proprioception and spatial recognition. Incorporating continuous visual feedback can help them compensate for this proprioceptive deficit while enhancing the safety of the device. This continuous feedback can also be extremely beneficial for therapists, providing them with a precise and objective instrument that allows for accurate correction of patient posture and guidance throughout the gait training and rehabilitation phases. The ability to provide immediate and quantifiable visual insights enhances the operational efficacy of the exoskeleton for both therapists and patients.

[0007] Known devices provide visual feedback that involves using a watch display worn by the patient. While this watch display provides a direct view for the patient, it presents operational challenges. To view the watch during operation, the patient must temporarily stop, rely on a single crutch for support, and lift the arm displaying the watch. This action not only interrupts the continuity of movement but also poses potential balance complications. Additionally, the small size of the watch screen severely limits the information displayed, providing only a rough overview of the device state, limited insight into additional settings, and not including comprehensive visual feedback on device operation.

[0008] Other systems rely on separate devices - whether a mobile phone, tablet, or laptop - to provide visual feedback. However, these standalone devices introduce their own set of limitations. For therapists, it is challenging to maintain continuous visual contact with these displays while ensuring patient safety. The common practice involves the therapist positioning themselves behind the exoskeleton for support, which inherently obstructs the simultaneous viewing of the separate feedback device. If a tablet or laptop is used, it is typically placed on a nearby table, requiring the therapist to divert their attention and physically approach it to obtain a clearer view. Similarly, a mobile phone is usually placed in the therapist's pocket, requiring the therapist to disengage from supporting the patient to access the feedback, which invariably causes the patient to stop walking.

[0009] In addition, certain commercial exoskeletons incorporate a touchscreen controller or display connected to the exoskeleton via a cable. These displays are typically attached to the rear of the exoskeleton. While this cable-based connection provides a more integrated feedback solution, there are still significant viewing obstacles. When the therapist observes from a different point other than directly behind the exoskeleton (such as the front or side), they will find that their view of the display is obstructed. Similarly, the patient loses the ability to view the screen during operation.

[0010] Given the limitations and trade-offs of existing systems within exoskeleton devices explored above, it is clear that a solution is needed that can provide accurate and useful information without constraining or limiting the patient's exercise or the therapist's assistance. Such a solution must prioritize real-time, continuous visual feedback to ensure that both clinicians and patients can access critical device information without interrupting the treatment process. Addressing these drawbacks is crucial for optimizing the use of exoskeletons and enhancing the safety and effectiveness of rehabilitation interventions. Summary of the Invention

[0012] In a first aspect of the present invention, a terminal display (1) is disclosed that is adapted to be removably attached to a walking assistance system (4).

[0013] The terminal display (1) is adapted to be removably attached to a walking assistance system (4), wherein the walking assistance system (4) includes: a) a waist segment, b) a pair of thigh segments, c) a pair of calf segments, and preferably a pair of foot segments, d) a plurality of sensors adapted to determine the relative orientation of each segment, and a control unit configured to calculate the relative position of the user's feet based on signals received from the plurality of sensors. The terminal display (1) is characterized in that it is configured to display the position of the center of mass (COM) (10) of a user wearing the walking assistance system relative to the position of the user's feet (12).

[0014] In a preferred embodiment of the first aspect of the present invention, the terminal display (1) is adapted to be removably attached to such a walking assistance system (4) by a removable device (3) and is configured to be wirelessly connected to the control unit.

[0015] In another preferred embodiment, the terminal display (1) is configured to be removably attached to the walking assistance system (4) by a magnetic device (3).

[0016] In an alternative embodiment of the terminal display (1) of the present invention, the position of the COM (10) relative to the position of the user's foot (12) is calculated by the control unit.

[0017] In another preferred embodiment, the terminal display (1) further includes a processing unit, and wherein the position of the COM (10) relative to the position of the user's foot (12) is calculated by the processing unit of the terminal display (1).

[0018] In an alternative embodiment of the terminal display (1) of the present invention, the walking assistance system (4) further includes at least a pair of angle sensors adapted to measure or calculate the angle between the shank segment and the thigh segment, and a triple of at least orientation sensors adapted to measure or calculate the orientation of the thigh segment and the lumbar segment. In addition, the control unit is further configured to process the readings of the angle sensors and the orientation sensors, and the position of the COM (10) relative to the position of the user's foot (12) is calculated based at least on: the angle readings of each of the angle sensors, the roll angle readings and the pitch angle readings of each of the orientation sensors, the lengths of the shank segment and the thigh segment, the distance between the thigh segments at the hip level, and the height of the user's COM (10).

[0019] In a preferred embodiment of the terminal display (1) of the present invention, the position of the user's COM (10) is displayed as a top view projection relative to the position of the user's foot (12).

[0020] In a more preferred embodiment of the terminal display (1) of the present invention, the position of the top view projection of the COM (10) relative to the position of the user's foot (12) is further calculated based on the height and orientation of the user's COM (10).

[0021] In an even more preferred embodiment of the terminal display (1) of the present invention, the height of the user's COM (10) is calculated based on the length measurements of the shank segment and the thigh segment.

[0022] In another more preferred embodiment of the terminal display (1) of the present invention, the position of the top view projection of the COM (10) relative to the position of the user's foot (12) is calculated in both the front-back direction and the inside-outside direction.

[0023] In an even more preferred embodiment of the terminal display (1) of the present invention, the top view projection of the COM (10) with respect to the position of the user's feet (12) in the front - rear direction is calculated as:

[0024]

[0025] where P COM_AP is the position where the COM (10) is projected in the front - rear direction, P 左脚_AP is the position where the left foot is projected in the front - rear direction, P 右脚_AP is the position where the right foot is projected in the front - rear direction, and each position is calculated according to a coordinate system.

[0026] According to an even more preferred embodiment of the terminal display (1) of the present invention, the top view projection Proj of the COM (10) with respect to the position of the user's feet (12) in the front - rear direction AP is preferably normalized by dividing by the distance D between the two feet (12) projected in the front - rear direction 脚_AP and more preferably, where the distance D 脚_AP is divided by a factor of 2.

[0027] In another more preferred embodiment of the terminal display (1) of the present invention, the top view projection of the COM (10) with respect to the position of the user's feet (12) in the inside - outside direction is calculated as:

[0028]

[0029] where P COM_ML is the position where the COM (10) is projected in the inside - outside direction, P 左脚_ML is the position where the left foot is projected in the inside - outside direction, P 右脚_ML is the position where the right foot is projected in the inside - outside direction, and each position is calculated according to a coordinate system.

[0030] According to an even more preferred embodiment of the terminal display (1) of the present invention, the top view projection Proj of the COM (10) with respect to the position of the user's feet (12) in the inside - outside direction ML is preferably normalized by dividing by the distance D between the two feet (12) projected in the inside - outside direction 脚_ML and more preferably, where the distance D 脚_ML is divided by a factor of 2.

[0031] In another more preferred embodiment of the terminal display (1) of the present invention, the coordinate system is centered on the middle of the user's hip, and preferably, the user's hip is calculated as the line between the thigh segments at hip level.

[0032] In another preferred embodiment of the terminal display (1) of the present invention, at least one pair of angle sensors are encoders located at the knee joints, each of which connects the lower leg segment and the thigh segment.

[0033] In another preferred embodiment of the terminal display (1) of the present invention, at least one triple of orientation sensors is an inertial measurement unit sensor.

[0034] In an alternative embodiment of the terminal display (1) of the present invention, one or more of a pair of lower leg segments and a pair of thigh segments are adjustable in length, wherein the distance between the thigh segments at the hip level is adjustable, and wherein the control unit is further configured to receive these length and distance values.

[0035] In another preferred embodiment of the terminal display (1) of the present invention, the magnetic device (3) of the walking assistance system (4) is preferably personalized for each respective system (4) by a combination of magnetic polarizations.

[0036] In a preferred embodiment of the present invention, the terminal display (1) is configured to display and / or store system status information.

[0037] In another preferred embodiment of the present invention, the terminal display (1) is configured to display and / or store biomechanical information, usage metrics, or performance metrics.

[0038] According to another preferred embodiment of the present invention, the terminal display (1) is configured to display and / or store gait settings, preferably, wherein the terminal display (1) allows adjustment of the gait settings.

[0039] In an alternative embodiment of the terminal display (1) of the present invention, the walking assistance system (4) further includes a projector, preferably, wherein the projector is included in the front part of the system (4).

[0040] According to another embodiment of the present invention, the terminal display (1) may include an external screen, a projector, a virtual reality headset, or an augmented reality headset, preferably, which are wirelessly connected to the system (4). BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to better understand the present disclosure and to show how the present disclosure may be implemented, reference will now be made, by way of example only, to the accompanying schematic diagrams, in which:

[0043] Figure 1 Examples of displays suitable for removably attaching to a walking assistance system according to one or more embodiments of the present invention are shown.

[0044] Figure 2Illustrates examples of a display (A) separated from a walking assistance system and a display (B) removably attached to the walking assistance system according to one or more embodiments of the present invention.

[0045] Figure 3 Illustrates a display configured to display the position of the center of mass (COM) of a user relative to the position of the user's feet according to one or more embodiments of the present invention.

[0046] Figure 4 Illustrates a sign convention diagram for calculating the position of the COM according to one or more embodiments of the present invention.

[0047] Description of the Invention

[0048] Definitions

[0049] It must be noted that, unless the context clearly indicates otherwise, as used herein, the singular forms "a", "an", and "the" include plural references. Additionally, unless otherwise stated, the term "at least" before a series of elements should be understood to refer to each element in the series. Those skilled in the art will recognize, or be able to determine using only routine experimentation, many equivalents to the specific embodiments of the invention described herein. These equivalents are intended to be encompassed by the present invention.

[0050] It should be noted that, as used herein, the term "about" means + / - 30% of the indicated reference value, preferably + / - 20%, preferably + / - 15%, more preferably + / - 10%.

[0051] As used herein, the connecting term "and / or" between multiple recited elements is understood to encompass both separate options and combined options. For example, in the case where two elements are joined by "and / or", the first option refers to the applicability of the first element without the second element. The second option refers to the applicability of the second element without the first element. The third option refers to the applicability of the first element and the second element together. Any of these options is understood to fall within the meaning and thus satisfy the requirements of the term "and / or" as used herein. The simultaneous applicability of more than one option is also understood to fall within the meaning and thus satisfy the requirements of the term "and / or".

[0052] Throughout this specification and the accompanying claims, unless the context requires otherwise, the word "comprise", and variations such as "comprises" and "comprising", will be understood to imply the inclusion of a 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. As used herein, the term "comprising" may be replaced by the term "containing" or "including", or sometimes when used herein may be replaced by the term "having". Any of the foregoing terms (comprising, containing, including, having), whenever used in the context of an aspect or embodiment of the invention, may be replaced by the term "consisting of", although this is less preferred.

[0053] 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.

[0054] In the context of the present invention, the term "exoskeleton" refers to a wearable mechanical system specifically designed to assist with walking and gait training. The system is primarily directed at the lower limbs and back, preferably the lower segments or the lumbar segment, but may also include intermediate segments or upper segments to provide mechanical assistance, stability or support. When associated with a wearable mechanical system as defined above, supplementary devices such as crutches may also be included within the term exoskeleton. The exoskeleton may be operably connected to a control unit or software that enables its functions.

[0055] In the context of the present invention, the term "walking assistance system" refers to a wearable mechanical system specifically designed to assist with walking and gait training. The system is primarily directed at the lower limbs and back, preferably the lower segments or the lumbar segment, but may also include intermediate segments or upper segments to provide mechanical assistance, stability or support, such as crutches. A walking assistance system may include an exoskeleton, or any mechanical, mechatronic or software-driven solution designed to assist, enhance or support the functions of walking and gait training, such as lower limb braces, walking aid devices, wheeled or non-wheeled supports and / or programmable foot orthoses.

[0056] In the context of the present invention, the term "terminal display" refers to any electronic visual interface capable of presenting information that can be generated by a computing device and / or a processor, where the computing device and / or the processor may be included within the display itself. The term "terminal display" includes, but is not limited to, mobile phones, tablets, laptop computers, desktop monitors, televisions, smartwatches, projectors, digital signage, screens, virtual reality headsets, augmented reality headsets, and automotive displays. The display may also include or be operatively connected to a set of instructions or software configured to control the visual interface. The display may include LED arrangements, liquid crystal displays (LCDs), organic light-emitting diode (OLED) screens, electronic ink (e-ink) displays, cathode ray tube (CRT) displays, plasma display panels (PDPs), quantum dot light-emitting diode (QLED) screens, micro-LED displays, digital light processing (DLP) screens, laser phosphor displays (LPDs), electroluminescent displays (ELDs), field emission displays (FEDs), and other visual output devices. Note that any combination of the terminal displays (1) mentioned herein may be employed simultaneously or alternatively, thus adapting to different situations.

[0057] In the context of the present invention, the term "lumbar segment" refers to a mechanical or electromechanical component specifically designed to support, stabilize, or assist the lumbar region of the back.

[0058] In the context of the present invention, the term "thigh segment" refers to a mechanical or electromechanical component customized to enclose, support, or assist the upper leg region between the hip and the knee. The segment may be operatively connected to a control unit, software, or sensor that implements the functions of the segment and collects information regarding its position, movement, and / or tilt angle.

[0059] In the context of the present invention, the term "calf segment" refers to a mechanical or electromechanical component designed to support or assist the lower leg region between the knee and the ankle. The segment may be operatively connected to a control unit, software, or sensor that implements the functions of the segment and collects information regarding its position, movement, and / or tilt angle.

[0060] In the context of the present invention, the term "foot segment" refers to a mechanical or electromechanical component specifically customized to enclose, support, or assist the foot region, which may include the heel, arch, sole, and toes in any possible combination. The foot segment may be operatively connected to a control unit, software, or sensor that implements its functions and collects information regarding its position, movement, and / or tilt angle.

[0061] In the context of the present invention, the term "detachable device" refers to any mechanical, electromechanical, or magnetic component or assembly of components designed to removably attach two elements together. More preferably, it removably attaches a display to an exoskeleton or a walking assistance system. Such a device may utilize magnetic elements potentially integrated within the exoskeleton, within the display, or within the housing of the display, or they may also include or utilize alternative fastening mechanisms. Examples of such alternative mechanisms include, but are not limited to, snap fasteners, hook-and-loop fasteners, clamps, and / or screws. Additionally, the exoskeleton or walking assistance system may include mechanical supports designed to prevent the display from accidentally detaching or falling off. These detachable devices enable easy attachment and detachment of the display.

[0062] In the context of the present invention, the term "center of mass" (referred to as "COM") refers to a calculated or estimated point or region that represents the spatial location at which the mass of a patient wearing an exoskeleton or a walking assistance system is concentrated, or the spatial location at which the projection of the patient's mass onto a surface is concentrated. This point or region may be displayed on an electronic visual interface of the system and used as an approximate representation of the individual's balance and mass distribution. Although the center of mass can typically be depicted as a circle on the display, it may also be represented by various other shapes or graphical indicators. The calculation or estimation is sourced from sensor data collected from the exoskeleton or the system and may include, but is not limited to, sensor inputs related to position, angle, orientation, and / or forces applied to the segments.

[0063] The term "triplet" is preferably understood as a set of three interconnected components or elements. In the context of the present invention, the component or element is preferably an sensor operably connected to a walking assistance system or an exoskeleton.

[0064] In the context of the present invention, the term "Anterior-posterior direction" refers to a linear axis extending from the front (anterior) to the back (posterior) of a biological organism or a mechanical structure configured to dock with such an organism. Along this axis, movement directed towards the front of the organism (corresponding to forward progression during walking or gait) is referred to as "anterior" movement. Conversely, movement directed towards the back of the organism (corresponding to backward progression during walking or gait) is referred to as "posterior" movement. In the context of assistive walking technologies such as exoskeletons, this anterior-posterior direction serves as the main axis for defining forward and backward movement. It is orthogonal to the medial-lateral axis extending from one side of the organism to the other and the superior-inferior axis extending from the top of the organism to the bottom.

[0065] In the context of the present invention, the term "medial-lateral direction" refers to a linear axis extending from the medial (inner) side to the lateral (outer) side of a biological organism or a mechanical structure specifically configured to interact with such an organism. Along this axis, movement directed towards the medial side of the organism is classified as "inward" movement, while movement directed towards the lateral side of the organism is classified as "outward" movement. This axis is important not only for defining lateral steps or lateral movements but also plays a role in evaluating the lateral displacement of the feet relative to the body during forward or backward walking and gait. The medial-lateral direction is orthogonal to the anterior-posterior axis that primarily controls forward and backward movement and the superior-inferior axis that extends from the top to the bottom of the organism.

[0066] In the context of the present invention, the term "top-down view projection" refers to a graphical representation displayed on a terminal display, where the center of mass of a user wearing a walking assistance system is visually depicted in a transverse plane from an overhead perspective. This top-down or "from above" view is preferably designed to present the position of the user's center of mass relative to the position of the user's feet, which are projected onto a reference plane or area where the user is operating or walking.

[0067] Description

[0068] Exoskeletons have emerged as promising tools in physical therapy to assist those with motor neurological disorders through gait training. While their application has shown promise, the need for real-time feedback is evident as it ensures that both patients and clinicians are constantly informed of the device's operating status to prevent accidents. However, current feedback systems, ranging from watch displays worn by patients to separate digital devices, face significant challenges. For example, they may disrupt the treatment workflow, provide limited information, or prove impractical for therapists to monitor while assisting patients. Additionally, fixed, cable-connected display solutions, while more integrated, impede optimal viewing for both patients and assisting therapists.

[0069] The described deficiencies highlight the need for an advanced and effective feedback system that is seamlessly integrated with the operation of the exoskeleton. Such a system should provide real-time and continuous visual feedback, allowing clinicians and patients unrestricted access to critically important device information. This innovation will not only optimize the therapeutic potential of the exoskeleton but also significantly enhance its safety and operational efficiency.

[0070] Here, we provide a solution that overcomes these problems in the following manner: by providing real-time visual feedback of the state of the system (4) (such as but not limited to biomechanical information, usage, and performance metrics) through a display (1) and a software application, where the display (1) can be a mobile phone, a tablet, or any other portable screen. In particular, the display (1) shows a representation of the user's center of mass (COM) (10) in real time, including during the use of the system (4), which allows the clinician to correct movement and reorientation training in real time and allows the user to more precisely understand their progress. Additionally, the terminal display (1) can be removably attached to the walking assistance system (4), allowing the clinician to obtain the displayed information while assisting the patient with walking exercises with both hands and, if needed, also show it to the patient or other clinicians.

[0071] As referred Figure 1 to, the first aspect of the present invention relates to a terminal display (1) adapted to be removably attached to a walking assistance system (4), wherein the display (1) is configured to display the position of the user's center of mass (COM) relative to the position of the user's feet.

[0072] Note that the terminal display (1) can include a wide range of electronic visual display technologies and devices capable of presenting information in graphical or text format. Such technologies can include but are not limited to liquid crystal displays (LCDs), light-emitting diode displays (LEDs), organic light-emitting diode displays (OLEDs), and other emerging or existing display technologies. Additionally, the terminal display (1) can also include any device equipped with a screen capable of rendering a visual output, including but not limited to smart phones, tablets, personal digital assistants (PDAs), laptop computers, projectors, and other handheld or fixed devices with visual display capabilities adapted to be attached to the walking assistance system (4) (preferably attached to its rear). Therefore, unless otherwise explicitly stated, the term "display" should be understood in its broadest sense, including all such variations and configurations.

[0073] In some embodiments, the walking assistance system (4) may include a projector in addition to the terminal display (1). The display (1) and the projector may be used for different purposes and may be positioned at various locations on the system (4). In some embodiments, the projector may be positioned at the front of the system (4). It may project visual cues or feedback directly into the user's field of view. The projector may provide various functions, such as indicating the next step, enhancing balance by showing the position of the center of mass (10), or providing real-time feedback on posture and gait. In some embodiments, the projector may also utilize adaptive techniques to change the projected information based on real-time data. For example, if the system (4) detects instability in the user's walking pattern, it may project visual cues designed to correct this instability.

[0074] Advantageously, including both the display (1) and the projector in the walking assistance system (4) enhances the utility of the system (4) by allowing diverse methods of information and feedback transmission, making the system (4) more versatile for both clinicians and patients.

[0075] It should also be noted that the walking assistance system (4) may include various mechanical, mechatronic, or robotic devices and technologies designed to assist, support, or enhance the user's walking or gait ability. Such systems may include, but are not limited to, exoskeletons, orthotic devices, powered or unpowered limb supports, and wearable assistive technologies. Specifically, these systems are configured to interface with the lower limbs of the human body (including the legs and preferably the feet), and may also extend to include supportive structures for the back or spine, head, or upper limbs. The system (4) may be designed for various purposes, including rehabilitation, gait training, mobility enhancement, and other applications that require assistance with walking or gait functionality. Thus, unless otherwise explicitly stated, the term "walking assistance system" should be interpreted in its broadest sense to encompass all devices and technologies consistent with the foregoing functionality.

[0076] The walking assistance system (4) may include a lumbar segment, a pair of thigh segments, a pair of calf segments, a pair of foot segments, a plurality of sensors adapted to determine the relative orientation of each segment, and a control unit configured to calculate the relative position of the user's foot (12) based on the plurality of sensors.

[0077] It should be noted that system (4) can integrate different segments individually or in combination, as long as it is used for the purpose of assisting during gait training or walking, and they can be included in a larger or longer segment containing two or more segments in the aforementioned segments. Therefore, it can include one or more segments for each leg, for example, it can include a whole leg segment, a foot segment, a calf segment, a thigh segment, a waist segment, a middle back segment, an upper back segment, a whole back segment, a head segment and / or a segment for an upper limb (such as an arm), or any combination thereof. For example, instead of a waist segment, it can include a middle back, an upper back, a whole back segment, or any combination thereof. The segments discussed can be made of various materials and can exhibit different mechanical properties. They can be rigid, providing structural support, or flexible, allowing a certain degree of movement and adaptability. The segments can also be configured to rotate or form joints relative to each other, or they can be integrated into a larger composite segment that provides the function of multiple individual segments. Therefore, unless expressly stated otherwise, the term "segment" should be understood in its broadest sense to include any mechanical, electromechanical or robotic parts or components capable of interfacing with the human body for the purpose of assisting walking or gait, regardless of their number, combination, material composition or mechanical properties.

[0078] It is also noted that the walking assistance system may include a configuration that does not employ a traditional or defined "segment". In such a case, the sensor may be directly attached to the user's anatomical limb via various attachment devices, including but not limited to a belt, a strip, an adhesive material or other fastening mechanism. They may employ these configurations as long as their purpose is to provide visual feedback of the patient's gait training or walking process to assist, enhance or train walking or gait. These directly attached sensors may be able to perform duties similar to those served by sensors integrated into defined segments. They may monitor various parameters related to the relative position, movement and orientation of anatomical segments (particularly the lower limbs and potentially the back or spine). The sensor data may be connected to a control unit for calculation and analysis purposes, which is integrated into the system (4) or communicates wirelessly. Therefore, the alternative system (4) may provide visual feedback about its status, including but not limited to information about the gait pattern, the patient's center of mass, and the relative position of the patient's foot (12) relative to its center of mass. According to the broad definition of the term "display" as previously defined, this feedback may be displayed on various electronic visual displays.

[0079] It should also be noted that the sensor can include a wide range of sensing devices and technologies integrated into or used in conjunction with the system (4) for the purpose of determining the relative position, movement, and orientation of various anatomical segments. These segments mainly include, but are not limited to, the lower extremities (such as the thigh, shin, and foot) and the supportive structures of the back or spine. The types of sensors can include, 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 extremities and the back, thereby enabling precise control, adjustment, and monitoring of the walking assistance or gait system.

[0080] It should also be noted that the control unit can include a comprehensive set of computing hardware, firmware, and / or software modules that are designed to manage, coordinate, and control the functionality of a walking assistance system, such as an exoskeleton. Preferably, the control unit is configured to receive input data from a plurality of sensors integrated into or wirelessly communicating with the walking assistance system (4). 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. Its main functions include calculating the relative position of the user's foot (12) and other segments based on the input received from the plurality of sensors. The calculated data can then be used to facilitate real-time adjustment, actuation, and monitoring of the exoskeleton to assist walking or gait training.

[0081] Thus, in a preferred embodiment of the first aspect of the present invention, the walking assistance system (4) includes a lumbar segment, a pair of thigh segments, a pair of calf segments, and preferably a pair of foot segments, a plurality of sensors adapted to determine the relative orientation of each segment, and a control unit configured to calculate the relative position of the user's foot (12) based on the signals received from the plurality of sensors, wherein the display (1) is configured to display the position of the center of mass (hereinafter referred to as "COM") of the user wearing the walking assistance system (4) relative to the position of the user's foot.

[0082] Advantageously, the terminal display is characterized by its ability to display the position of the user's center of mass (COM) relative to the position of the user's feet, and having such a terminal display presents significant advantages for both clinicians and patients. For clinicians, such a specialized display (1) provides real-time, quantifiable data that improves the assessment of the user's gait pattern, stability, and overall alignment. It allows for immediate adjustment of the system's settings or training protocols, thus providing a more targeted and effective rehabilitation or gait training approach. This can be particularly beneficial in identifying and correcting issues related to balance, coordination, and weight distribution, factors that are crucial for the success of the assistive system. For patients, the visual feedback regarding their center of mass relative to their feet (12) serves as an invaluable tool for self-awareness and corrective action. It enables the user to better understand the biomechanics of their movement, instills confidence, and promotes active participation in their own recovery or training process. The real-time visual representation of the COM (10) aids in the internalization of correct gait mechanics, serving as a constant reminder and guide during walking or training sessions.

[0083] In a preferred embodiment of the first aspect of the present invention, there is disclosed a terminal display (1) adapted to be removably attached to a walking assistive system (4), wherein the walking assistive system (4) includes a lumbar segment, a pair of thigh segments, a pair of calf segments, and preferably a pair of foot segments, a plurality of sensors adapted to determine the relative orientation of each segment, and a control unit configured to calculate the relative position of the user's foot (12) based on signals received from the plurality of sensors, characterized in that the display (1) is adapted to be removably attached to such a walking assistive system (4) by a removable device (3), preferably by a magnetic device (3), and is configured to be wirelessly connected to the control unit, wherein the display (1) is configured to display the position of the center of mass of a user wearing the walking assistive system (4) relative to the position of the user's feet.

[0084] It should be noted that the terminal display (1) is adapted to be removably attached by means of various detachable mechanisms, which include but are not limited to magnetic devices, hook-and-loop fasteners (such as Velcro), quick-release clamps, bayonet mounts, sliding and locking mechanisms, snap-fit connectors, threaded fasteners, lever-actuated suction mounts, and locking pins. These mechanisms can be selected based on their ease of use, attachment security, and adaptability to different system (4) configurations. For example, magnetic coupling can provide quick and tool-free attachment and detachment, while threaded fasteners can be used for a more secure and firm connection. Lever-actuated suction mounts can provide flexibility in placement on smooth surfaces, and bayonet mounts can facilitate quick twist-and-lock actions to speed up attachment or removal. Thus, this range of detachable mechanisms serves to enhance the modularity and flexibility of integrating the terminal display into the walking assistance system (4).

[0085] It should be noted that the terminal display (1) is configured to be wirelessly connected to the control unit via various communication protocols and technologies, which include but are not limited to Bluetooth, Wi-Fi, Zigbee, radio frequency identification (RFID), near field communication (NFC), and proprietary wireless communication standards. These wireless connections can be selected based on factors such as data transfer speed, range, power consumption, and compatibility with other system (4) components. For example, Bluetooth may be selected due to its prevalence and ease of pairing, while Wi-Fi may be preferred for higher data transfer rates. Zigbee may be utilized because of its low power consumption, making it an ideal choice for long-term use, and RFID or NFC can be employed for short-range, secure data transfer. It should also be noted that in some embodiments, the terminal display (1) can be connected by wires, provided they are long enough and they allow the display (1) to be repositioned from the back of the system (4) to different locations within the system (4) (such as the front or side), or they allow the display (1) to be shown to the patient or other clinicians.

[0086] Advantageously, the fact that the terminal display is both removably attached and wirelessly connected to the walking assistance system (4) significantly increases its versatility and allows clinicians to use it more easily while assisting with gait training. For example, it can be positioned on the back of the system (4) or the exoskeleton, as clinicians typically assist from behind, and it can provide visual feedback to the clinician in real time during gait training and exercises, such as the COM (10) relative to the patient's foot (12). At the same time, it can be removed from this position to be shown to the patient or other clinicians to provide them with visual feedback in real time, which can improve their performance by giving them objective and clear information. It also allows it to be removed and repositioned to other locations to allow clinicians to assist from other angles or directions (such as the side or the front). It also allows the display (1) to be used with different exoskeletons to which it can be connected, or, for example, to easily connect it to a computer that may be located in a different room to store or analyze data collected during exoskeleton use. Thus, it is this combination of features that significantly enhances the overall utility and effectiveness of the walking assistance system (4). Features such as the detachable device, the wireless connection ability, and the display of the COM (10) contribute and combine to improve the assistance provided to the patient. For example, the wireless connection ensures versatility and uninterrupted data transfer, and the display of the COM (10) (preferably attached to the rear of the system (4)) allows for manual real-time adjustment with the assistance of the clinician and also allows for software configuration changes and / or parameter adjustments based on continuous monitoring.

[0087] Figure 1 An example is shown of the terminal display (1), the top and back segments of the walking assistance system (4), the detachable device (3), and the mechanical support (2) in which the terminal display (1) can be placed.

[0088] Note that in Figure 1 , the terminal display (1) is represented as a phone; however, other types of electronic displays, such as tablets or devices from various brands or manufacturers, can equally serve the same functional purpose. The walking assistance system (4) is depicted as including a surface for the back and a surface as a headrest, but alternative embodiments can include different segment configurations, such as focusing on the lower back, or omitting the headrest, without departing from the main purpose of assisting with walking. Additionally, the detachable device (3) in Figure 1is shown as specifically employing a magnetic mechanism with a square grid of nine magnet positions, which represents only one example of a detachable device. Other configurations are possible, including but not limited to a circular arrangement or a different number of magnet positions, such as more than nine or less than nine. Additionally, the magnets can be specifically integrated into the phone housing, in which case the mechanical support (2) on the system can be ferromagnetic to facilitate attachment, or the system can include electromagnets. Alternatively, the detachable device (3) can include a single magnet or multiple magnets or other magnetic devices (3) (such as electromagnets in various combinations and configurations), while maintaining the same basic purpose of detachable attachment, or alternatively, it can not include any magnets but include different types of detachable devices (3) or combinations thereof, such as snap fasteners, hook-and-loop fasteners, clamps, and / or screws, etc. It should also be noted that the mechanical support (2) depicted as having a mating shape for holding the phone is not restrictive. In fact, alternative forms that prevent the accidental detachment of the terminal display can be employed, such as clamps, brackets, or other shapes that fit different terminal displays.

[0089] It should also be noted that in other embodiments of the present invention, the mechanical support (2) may not be included, or the mechanical support (2) may be included in the detachable device (3).

[0090] Figure 2 A walking assistance system (4) and a terminal display (1) adapted to be removably attached to the system (4) are shown, where in Figure 2 A, the display (1) is separated from the system (4), and in Figure 2 B, we can see the same display (1) removably attached to the system (4).

[0091] Note that the terminal display (1) is shown magnetically attached to a mechanical support (2) on the system to assist walking. However, the presence of this mechanical support (2) is not necessary. The terminal display (1) can be directly attached to the walking assistance system (4) using other attachment mechanisms such as clips, brackets, or adhesive materials without the need for an intermediate mechanical support (2). Additionally, the specific type and configuration of the walking assistance system (4) in the image are not restrictive. Variants can include different designs, functionality, or additional components for the basic purpose of assisting walking. Similarly, the size and form factor of the terminal display (1) are not limited to those shown in the illustration; larger or smaller displays (1) can equally be used based on specific needs or preferences. Furthermore, the positioning of the terminal display (1) when attached to the system (4) is not fixed. Depending on the requirements of the clinician or user, the terminal display (1) can be located at various heights on the system (4), higher or lower. Additionally, the terminal display (1) can be attached not only at the center of the system (4) but also laterally on the system (4), thereby allowing different viewing perspectives and enhancing visibility and accessibility in certain exercises or usage patterns. Thus, the orientation can vary, including potentially being placed on the side or front (if such a side or front is included in the system). Therefore, Figure 2 A and Figure 2 the configurations depicted in B should be understood as exemplary and not restrictive. The present invention is not limited to these specific details but can be modified within the scope of the appended claims and their equivalents.

[0092] Figure 3 A terminal display (1) is shown in accordance with one or more embodiments of the present invention. Different elements are shown in the display (1) which can be represented differently in other embodiments of the present invention. In Figure 3 it, the display (1) is configured to display the center of mass (COM) (10) of the patient as a black dot. However, the center of mass can be displayed differently in different embodiments or even, if for example the center of mass constitutes the center of the screen and the position of the foot (12) is moved relative to it, not displayed at all even if the center of mass is calculated. In fact, it can be displayed larger or smaller, with different colors or different shapes, and can include a point or even a region. Regarding the COM (10), the display can be configured to provide feedback based on the position of the COM (10) relative to the foot (12) or based on other biomechanical or performance parameters such as but not limited to vibration or making a sound, and the shape used to depict the COM (10) can be configured to change or alter color based on the position of the COM (10) or based on other biomechanical or performance parameters.

[0093] Figure 3The display (1) therein further includes other elements, which may or may not be included in other embodiments of the present invention, or the embodiments may include Figure 3 more elements not depicted therein. For example, in Figure 3 , the position of the patient's foot (12) is shown in the shape of a shoe footprint. However, they can be represented by different shapes, in different sizes and different colors. The display (1) can also be configured to vibrate or emit a sound according to the position of the patient's foot (12). Figure 3 The display (1) shown in includes more elements, such as a horizontally translucent indicator (14) in a rectangular shape and a vertically translucent indicator (16) in a rectangular shape. The horizontally translucent indicator (14) can follow the position of the COM (10) along the front-back direction, and the vertically translucent indicator (16) can follow the position of the COM (10) along the inside-outside direction. Alternatively, the translucent indicators (14 and 16) can respectively represent the target areas along the front-back direction and along the inside-outside direction. Thus, the COM (10) displaced due to the user's movement will follow the indicators. In addition, for example when the user improves balance and gait, the indicators can obtain a reduced size to improve the accuracy required to follow them, and can be modified by a clinician to set the training. For example, as Figure 3 shown, the user should position the COM (10) in the upper right corner so that the walking assistance system performs a specific action, such as taking a further step. Figure 3 A background image is shown, where the left foot is in front (i.e., the front position) and the right foot is behind (i.e., the rear position). However, it should be noted that, as can be understood according to Figure 2 , other background images (such as the right foot in front and the left foot behind) are possible. In addition, the background image can show both feet in the middle, adjacent to each other, or the two feet in any possible position relative to each other. It should also be noted that in some embodiments, an animation of the feet can be shown instead of a static background image.

[0094] We would like to point out that the two indicators (14 and 16) can have different shapes, different colors, different opacities, and they can proportionally follow the position of the COM (10), or shift between multiple fixed positions, for example, two positions for each direction. In the case of the front-back direction, these two positions will be the front side and the back side, and in the case of the in-out direction, these two positions will be the right side and the left side. In some embodiments, there can be only one position (the front side position) in the front-back direction, or three positions for each direction. In the case of the front-back direction, these three positions will be the front side, the middle, and the back side, and in the case of the in-out direction, these three positions will be the right side, the middle, and the left side. Their positions, shapes, colors, or opacities, etc. can also be changed by using the settings provided by the display (1), according to the instructions of the clinician, automatically, according to a preset routine, or according to the user's progress and / or randomly. Figure 3 A setting mode (18) is also shown, which in this case reads "walking", but it can be set to different setting modes, or it can be eliminated, or it can include only one mode. In addition to the setting mode, the terminal display (1) can show: using metrics such as the number of steps, walking distance, cadence, standing / walking time; or performance metrics, such as step length or foot clearance measurements, which can be updated and displayed at each step when the patient uses the system (4). The display (1) can also allow adjustment of all gait settings that modify the walking mode of the walking assistance system in real time when the user is walking, and change the application when taking the next step. Examples of these settings are foot clearance, step length, trunk inclination, or the amount of assistance provided at each front-back step and / or in-out step.

[0095] In a preferred embodiment of the first aspect of the present invention, the terminal display (1) is configured to display the system status. Examples of the system status can include but are not limited to battery level, motor status, actuator health, sensor connectivity, error messages, system uptime, software version, operation mode, weight load, joint stiffness level, braking status, temperature readings, calibration status, and safety lock status.

[0096] Advantageously, the real-time display of the system status serves as a key fail-safe device, enabling continuous monitoring to ensure the mechanical integrity and operational integrity of the device. These indicators are typically monitored by the clinician, flagging any issues that may compromise the safety or effectiveness of the walking assistance system. The system status is important for the safe use of the device, and it must be continuously monitored by at least one user.

[0097] In a preferred embodiment of the first aspect of the present invention, the terminal display (1) is configured to display biomechanical information. Examples of the biomechanical information may include, but are not limited to, the user's center of mass, pelvic tilt, knee angle, hip angle, ankle angle, ground reaction force, torque distribution, postural alignment, weight distribution, lumbosacral angle, foot pressure distribution, and spinal curvature.

[0098] Advantageously, real-time biomechanical information serves a dual purpose: clinicians can utilize the data to provide immediate feedback on posture and gait mechanics, and patients can use the information for self-correction and improvement. This type of real-time information seen by patients can help them compensate for the lack of proprioceptive feedback and allow them to improve their walking performance.

[0099] In a preferred embodiment of the first aspect of the present invention, the terminal display (1) is configured to display usage metrics. Examples of the usage metrics may include, but are not limited to, number of steps, walking distance, step frequency, standing / walking time, ground reaction force, speed and acceleration, step length, step width, swing time, stance time, energy expenditure (calories burned), symmetry ratio (e.g., between left and right limbs), kinematic angles (e.g., hip angle, knee angle, ankle angle), center of mass displacement, balance metrics (e.g., sway area, sway speed), gait cycle time, muscle activation level (e.g., via electromyography), joint torque, pressure distribution (e.g., peak pressure, contact area), tilt angle and descent angle (for walking on a slope), task-specific metrics (e.g., time to complete a specific walking task), quality of movement indices (e.g., movement smoothness), variability metrics (e.g., step-to-step variability), fatigue indicators (e.g., change in metrics over time).

[0100] Advantageously, the display of a wide range of usage metrics (such as those enumerated) enhances patient engagement and clinical utility. These metrics are used to motivate patients to adhere to treatment regimens by providing quantifiable markers of progress. At the same time, they provide clinicians with a rich dataset for improving individualized treatment plans, thereby enhancing the rehabilitation process. This multi-faceted functionality improves the efficacy of gait training and enhances the versatility of walking assistance systems. Additionally, this data can be used to track the evolution of patients over time through visual progress graphs.

[0101] In a preferred embodiment of the first aspect of the present invention, the terminal display (1) is configured to display performance metrics. Examples of such performance metrics may include, but are not limited to, step length, foot clearance measurement, step symmetry, gait speed, swing phase duration, double support time, ground contact time, knee flexion peak, ankle dorsiflexion, step height, and torque applied at the joints. These metrics can be continuously updated and displayed, providing real-time values for the last step taken or an average compiled based on a recent set of steps or walking sessions.

[0102] Advantageously, the real-time presentation of these performance metrics allows for immediate therapeutic intervention to improve and enhance gait mechanics. It enables a data-driven approach to gait therapy, allowing clinicians to customize interventions to achieve a more natural gait pattern. Additionally, the immediate availability of these metrics enables real-time adjustments, thereby enhancing the effectiveness and efficiency of rehabilitation efforts.

[0103] In a preferred embodiment of the first aspect of the present invention, the terminal display (1) is configured to display and allow adjustment of all gait settings that modify the walking pattern of the walking assistance system. The gait settings can be provided in real-time while the user is walking, and the changes can be applied before, after, or when taking the next step. Examples of such settings may include, but are not limited to, trunk inclination, amount of assistance provided at each step, joint assistance level, step length, step frequency, foot clearance, swing phase duration, ankle dorsiflexion angle, knee flexion / extension parameters, hip abduction / adduction limits, and ground reaction force.

[0104] For example, see Figure 3 , the gait settings can be provided in the form of a pre-configured step mode (13) that can be selected or modified by the clinician and / or triggered by the patient's movement. Some examples of these step modes are (but not limited to): a manual step mode that gives the therapist full control; a center-of-mass step mode that is triggered by the patient when they shift their weight to the correct position; and a dynamic step mode where the exoskeleton triggers a step when it detects forward movement of the pelvis associated with natural walking movement and takes a step on the trailing leg.

[0105] Advantageously, the real-time adjustability of these gait settings eliminates the need for treatment interruptions, thus optimizing the available treatment time. Additionally, the different possibilities for triggering assistance from the system (4) are very convenient for gradually increasing the patient's difficulty and autonomy. This ensures the maximum dose of exoskeleton-assisted walking within a given treatment session. It also allows for immediate customization based on real-time performance metrics and biomechanical feedback to enhance treatment outcomes through a data-driven approach and through real-time adaptation of the training session.

[0106] It should be noted that in the preferred embodiment, the above information and settings can be introduced in any possible combination. Thus, the terminal display (1) can be configured to display and / or store system status information, biomechanical information, usage metrics, performance metrics, and / or gait settings, and preferably, it allows for the adjustment of gait settings. In this way, the terminal display (1) can incorporate all the advantages explained previously regarding displaying, storing, or modifying information and settings related to the walking assistance system (4) or the use of said system (4).

[0107] In a preferred embodiment of the first aspect of the present invention, the terminal display (1) is configured to be removably attached to the walking assistance system (4) by means of a magnetic device (3).

[0108] It should be noted that the magnetic device (3) can include a permanent magnet, a ceramic magnet, a magnet assembly involving rare earth elements, or other magnetic materials suitable for forming a firm and stable attachment. Exemplary materials include, but are not limited to, ferromagnetic materials (such as iron, nickel, cobalt, alnico, ferrite), ferrimagnetic materials (such as magnetite, yttrium iron garnet, manganese ferrite, nickel ferrite, lithium ferrite), high magnetic strength materials (such as neodymium or praseodymium, or samarium cobalt magnets, etc.) for high temperature resistance. It should also be noted that the magnet (3) can have different shapes and sizes to optimize the magnetic attraction. For example, cylindrical or disc-shaped magnets can be used to provide a concentrated contact point, while rectangular magnets can provide a wider contact area. The dimensions of these magnets can vary according to specific requirements for magnetic strength and stability. The magnet (3) can be located on various segments of the walking assistance device, preferably on the back, such as at the waist, middle, or upper back. Placing the magnet (3) at the rear of the walking assistance system minimizes interference with the mechanical operation of the system. However, they can be placed elsewhere (such as at the front, headrest, sides, etc.) to provide different functionality. In some embodiments, the magnet (3) can be present on both the terminal display (1) (or the housing of the terminal display) and the walking assistance system (4). In an alternative configuration, the magnet can be located only on the terminal display (1) or the housing of the terminal display, and the walking assistance system (4) incorporates ferromagnetic materials to facilitate magnetic attachment. To further enhance the stability of the magnetically attached display, the walking assistance system can include additional mechanical support member (2) features. These can include, but are not limited to, lockable fasteners or safety straps designed to prevent accidental detachment of the terminal display (1), or simply protrusions adjusted to the shape of the display (1). Additionally, in some embodiments, the terminal display (1) can include visual, auditory, or tactile indicators for confirming successful magnetic attachment. This feature enhances the user's confidence in the connection integrity. The magnetic attachment mechanism can also allow for angular or positional adjustment of the terminal display (1). This is particularly useful for accommodating different user heights and postures. It should also be noted that the magnetic device (3) can include an electromagnet. The electromagnet can be configured to have variable intensity and directivity, enabling more dynamic control of the magnetic field. Materials for the electromagnet can include, but are not limited to, copper, aluminum, iron, or their alloys. In another embodiment, the windings of the electromagnet can be insulated using materials such as polyurethane, polyvinyl chloride, Teflon, or Kapton. It is also conceivable that the electromagnet can be designed to have different coil geometries, such as solenoid, toroidal, or flat spiral configurations, to suit specific applications.

[0109] Advantageously, the magnetic attachment mechanism (3) for removably connecting the terminal display (1) to the walking assistance system (4) simplifies installation and removal, enhances user adaptability, and ensures a firm and secure fit. This reduces wear and complexity, thus providing economic benefits in terms of lifespan and manufacturing costs. Overall, the magnetic attachment (3) provides a versatile, reliable, and user-friendly method of attaching the terminal display (1).

[0110] In a more preferred embodiment of the terminal display (1) of the present invention, the magnetic means (3) included in the walking assistance system (4) corresponds to a 3×3 grid of magnets, preferably square, where each magnet can assume a different polarization, so that some magnets can dock with the display (1) through the north magnetic pole, while other magnets can dock with the display (1) through the south magnetic pole. The terminal display (1) or the housing of the display (1) can include complementary polarizations in order to be able to engage with the system (4). Advantageously, this allows a specific display (1) to be attached to a system (4) presenting the same combination, while avoiding attachment to other systems (4), and in this way enables personalized use and increases safety.

[0111] In a preferred embodiment of the present invention, the position of the COM (10) relative to the position of the user's foot (12) is calculated by the control unit of the walking assistance system.

[0112] It should be noted that the control unit can be used to integrate, process, and interpret sensor data before providing output commands to the actuating elements of the system. The control unit can be constructed based on various types of microcontrollers, microprocessors, or circuit boards. Alternatively, more specialized units such as digital signal processors (DSPs) or field-programmable gate arrays (FPGAs) can be employed for specific computational tasks related to COM calculations. Within the control unit, various algorithms can be used to calculate the position of the COM (10). These algorithms can employ kinematic equations, machine learning models, or sensor fusion techniques, depending on the desired accuracy and responsiveness. Preferably, it is optimized for real-time calculations to ensure immediate feedback to the user. The control unit can be located in different segments of the walking assistance system to obtain optimized functionality and easy access. Possible locations include the lumbar segment for centralized processing or within the thigh or calf segments for local control. Consideration of the control unit's location also lists weight distribution, user comfort, and accessibility for maintenance or updates as important factors. The control unit can wirelessly communicate with the terminal display (1) using various secure and low-latency communication protocols. These protocols can include, but are not limited to, Bluetooth, Wi-Fi, or specialized industrial communication standards such as Zigbee or LoRa. Security measures such as encryption and authentication can also be incorporated to protect user data. Additionally, the control unit can interface with multiple sensors located throughout the walking assistance system. These sensors can include, but are not limited to, angle sensors, orientation sensors, encoders, accelerometers, gyroscopes, force sensors, or pressure sensors, each contributing data for the accurate calculation of the COM (10) and foot position (12). Furthermore, for enhanced reliability, the control unit can be designed with a redundant subsystem that can take over in the event of a failure of the primary system. Additionally, fail-safe algorithms can be included to bring the system to a safe state in the event of unexpected anomalies.

[0113] Advantageously, the control unit's specialized ability to calculate the position of the center of mass (COM) (10) significantly enhances the system's efficacy in walking assistance and improves the computational speed compared to wireless communication with an external unit, which improves the ability to calculate the COM (10) position in real time.

[0114] In a preferred alternative embodiment of the first aspect of the present invention, the terminal display (1) further includes a processing unit, and the position of the COM (10) relative to the position of the user's foot (12) is calculated by the processing unit of the terminal display (1).

[0115] It should be noted that the processing unit within the terminal display (1) can range from an application-specific integrated circuit (ASIC) for optimized performance to a general-purpose microprocessor for broader computing capabilities. The unit can also be integrated with a graphics processing unit (GPU) to obtain faster mathematical calculations related to COM positioning. It should also be noted that the terminal display (1) can employ various software frameworks suitable for real-time data processing, visualization, and control. These can include native operating systems (such as Android or iOS for smartphones and tablets), or dedicated embedded software for dedicated PDAs or custom display units. Additionally, the processing unit within the terminal display (1) can communicate wirelessly using secure and low-latency protocols (such as Bluetooth, Wi-Fi, or Zigbee) to interact with the walking assistance system, thereby ensuring seamless data flow and control.

[0116] Advantageously, integrating the processing unit within the terminal display (1) provides a decentralized approach to calculating the COM (10), thereby providing enhanced system reliability and flexibility. This architecture allows users to utilize existing high-performance devices, such as smartphones or tablets, thereby reducing the overall cost and increasing the system's adaptability to different user preferences and requirements. It also allows for software-based updates, making the system more future-proof and versatile.

[0117] In a preferred embodiment of the present invention, the terminal display (1) is adapted to be removably attached to the walking assistance system (4), which further includes: i) at least a pair of angle sensors, each of which is adapted to measure or calculate the angle between the shank segment and the thigh segment, and ii) at least a triple of orientation sensors, which are adapted to measure or calculate the orientation of the thigh segment and the lumbar segment. Wherein, the control unit is further configured to process the angle sensor and orientation sensor readings, and wherein the position of the COM (10) relative to the position of the user's foot (12) is calculated based at least on the following items: the angle readings of each of the angle sensors, the roll angle and pitch angle readings of each of the orientation sensors, the lengths of the shank segment and the thigh segment, the distance between the thigh segments at the hip level, and the height of the user's COM (10) relative to the center of the selected coordinate system (such as the midpoint of the user's hip).

[0118] Note that one orientation sensor and two angle sensors can be employed instead of the triple of orientation sensors. For example, one orientation sensor can be placed in the lumbar segment, and two angle sensors can each be placed in the hip joint. In this way, the projection of the COM (10) can also be calculated. Note that in this case, the roll angle of the lumbar segment will be used as the roll angle of the thigh segment.

[0119] It should also be noted that the triple of orientation sensors can be the triple of inertial measurement unit (IMU) sensors, where the sensors are included in a walking assistance system (4) to which a terminal display (1) is attached. Using the inertial measurement unit sensors as orientation sensors in a triple configuration provides excellent accuracy in capturing the three-dimensional orientation data of the walking assistance system (4) to which the terminal display (1) is attached. These sensors provide real-time gyroscope data and accelerometer data, thus allowing a comprehensive understanding of the user's spatial orientation and movement dynamics.

[0120] It should also be noted that readings from other sensor combinations can be used to determine the position of the COM (10) relative to the position of the user's foot (12). For example, there can be: at least one orientation sensor or IMU suitable for measuring or calculating the orientation of the lumbar segment, at least one pair of angle sensors or encoders each suitable for measuring or calculating the angle between the calf segment and the thigh segment, and at least one pair of angle sensors or encoders each suitable for measuring or calculating the angle between the thigh segment and the lumbar segment. Alternatively, there can be: at least one orientation sensor or IMU suitable for measuring or calculating the orientation of the lumbar segment, at least one pair of orientation sensors or IMUs each suitable for measuring or calculating the orientation of the thigh segment, and at least one pair of orientation sensors or IMUs each suitable for measuring or calculating the orientation of the calf segment. In another embodiment, there can be: at least one pair of orientation sensors or IMUs each suitable for measuring or calculating the orientation of the calf segment, at least one pair of angle sensors or encoders each suitable for measuring or calculating the angle between the calf segment and the thigh segment, and at least one pair of angle sensors or encoders each suitable for measuring or calculating the angle between the thigh segment and the lumbar segment. In an alternative embodiment, there can be: at least one pair of orientation sensors or IMUs each suitable for measuring or calculating the orientation of the thigh segment, at least one pair of angle sensors or encoders each suitable for measuring or calculating the angle between the calf segment and the thigh segment, and at least one pair of angle sensors or encoders each suitable for measuring or calculating the angle between the thigh segment and the lumbar segment. Alternatively, in some embodiments, there can be: at least one pair of orientation sensors or IMUs each suitable for measuring or calculating the orientation of the thigh segment, at least one pair of orientation sensors or IMUs each suitable for measuring or calculating the orientation of the calf segment, and at least one pair of angle sensors or encoders each suitable for measuring or calculating the angle between the thigh segment and the lumbar segment. Additionally, in some other embodiments, there can be: at least one orientation sensor or IMU suitable for measuring or calculating the orientation of the lumbar segment, at least one pair of orientation sensors or IMUs each suitable for measuring or calculating the orientation of the calf segment, at least one pair of angle sensors or encoders each suitable for measuring or calculating the angle between the calf segment and the thigh segment, and / or at least one pair of angle sensors or encoders each suitable for measuring or calculating the angle between the thigh segment and the lumbar segment. It should be noted that those skilled in the art can find other equivalent alternative embodiments with different configurations and / or combinations of orientation sensors and angle sensors in different segments of the system (4).

[0121] If the inertial measurement unit (IMU) has a sensor fusion algorithm for calculating Euler angles, the roll angle can be directly obtained from the IMU sensors. Alternatively, the Euler angles can be calculated by a processing unit based on the sensor readings. Additionally, in the case where the thigh segment only has joint angle sensors (and thus no measurement of the thigh roll angle), the roll angle measured using the IMU sensors of the lumbar segment can be used for COM(10) calculation.

[0122] Therefore, COM(10) can be calculated by different sensor configurations that do not include plantar pressure sensors. However, we would like to point out that plantar pressure sensors can also be employed in alternative embodiments of the present invention for calculating COM(10).

[0123] Figure 4 A detailed representation of an exemplary symbol convention that can be employed during COM(10) calculation is shown. It should be noted that other notations and conventions can be adopted to implement the present invention as long as they are consistent with the coordinate system. According to Figure 4 the shown coordinate system, the pitch angle is defined as the rotation about the Y-axis of the segment, where positive rotation follows the right-hand rule. According to Figure 4 the roll angle is defined as the rotation about the X-axis of the segment, where positive rotation follows the right-hand rule.

[0124] It should be noted that the height of the user's COM(10) relative to the center of the selected coordinate system (e.g., the midpoint of the user's hip) can be considered, for example, when the user stands in an upright position, as a fixed distance from the center of the coordinate system to the vertical position of COM(10). This distance can be obtained in different ways, such as but not limited to direct measurement, morphological studies of the patient, it can be extracted from tabulated values regarding height, weight, or limb length, calculated based on appropriate algorithms, or estimated according to formulas, etc.

[0125] Advantageously, this way of determining COM(10) is lightweight and convenient, and provides many alternative sensor configurations and combinations that can be adapted to different hardware requirements. By using ordinary sensors (such as angle sensors, orientation sensors, and / or IMU sensors) that are typically placed in the joints and segments of a conventional exoskeleton, and without the need to employ additional sensors (such as plantar pressure sensors), the weight and complexity of the walking assistance system are reduced. The additional sensors require the foot segment and add a significant amount of weight and complexity to the system (4), and make it more difficult for the user to wear. Additionally, the cables connected to the foot segment would not allow removal of the segment for wearing and / or transportation, so it is convenient to find an alternative system (4) that does not require the foot segment.

[0126] In a preferred embodiment of the present invention, the position of the user's COM (10) is shown in the terminal display (1) as a top - view projection relative to the position of the user's foot (12). See Figure 2 and Figure 3 , as examples of embodiments of the top - view projection of the COM (10) relative to the user's foot (12) shown in the terminal display (1).

[0127] When referring to the user's foot, it must be understood in the broadest sense. Those skilled in the art can envision many ways in which the user's foot can be identified for use as a reference for calculating the COM, such as the ankle, plantar surface, centroid of the foot, heel, toes, average length of the foot, or any combination thereof. All such and other references to any part and / or spatial characteristic associated with the foot are included in the disclosure of the present invention. Note that the top - view projection can be displayed in a wide variety of visual formats to accommodate various user preferences and contexts. For example, the display (1) can show a simple and straightforward 2D representation, using simple shapes or icons to represent the positions of the COM (10) and the foot. Alternatively, a more complex 3D model can be used, which may include a full - body avatar of the user in motion, thus providing a more immersive experience. It should also be noted that the visual representation may not necessarily maintain a one - to - one scale with the actual body dimensions, and it can be larger or smaller. In some embodiments, for emphasis, the foot may be shown in an exaggerated scale, or the COM (10) may be enlarged to help the user understand. Additionally, in a technique called error magnification, the position of the COM (10) may be deliberately exaggerated to give the patient the impression that their performance is worse than it actually is. The representation can also be dynamic, changing in size or scale based on specific user actions or system requirements. Furthermore, abstract symbols or icons can be used to represent the COM (10) and the foot (12). For example, a circle can refer to the COM (10), while a foot - shaped icon can indicate the user's foot. These abstract symbols can be color - coded, animated, or enhanced with text cues to convey additional information, such as the stability or directional movement of the COM (10). Additionally, the top - view projection can be enhanced with additional metrics or graphical overlays that provide real - time or historical data related to walking assistance. This can include direction arrows, stability zones, or pace counters, etc.

[0128] It should also be noted that in some embodiments, the top - view projection of the patient's COM (10) can be estimated using the following: i) the roll and pitch angles of the left / right thigh segments and the lumbar segment measured with an inertial measurement unit (IMU) sensor, ii) the left / right knee angles measured with an encoder, and iii) the thigh and calf lengths, hip width, and the height of the user's COM (10), which is estimated based on the calf and thigh segment measurements.

[0129] Advantageously, by estimating the top - view projection of the patient's COM (10), the top - view projection of the patient's COM can be displayed as a moving object on the terminal display (1), and when the user moves their body, they can see continuous feedback. This can be used to train specific movements with better visual feedback that they may have previously had difficulty performing due to a lack of sensation in their lower limbs. In addition to the projection of the COM (1), the terminal display (1) can also display the position of the patient's feet (12), for example showing which leg is in front or whether the two legs are adjacent to each other. Figure 2 And Figure 3 Examples of how this type of information can be displayed are shown in. The same COM feedback information in the terminal display (1) can be used to improve the patient's weight transfer for stepping. This allows a step to be initiated when the patient transfers their weight forward and laterally and crosses a threshold limit, which can be customized by the therapist through the software of the terminal display. Thus, the top - view projection of the COM (10) relative to the user's feet (12) provides an intuitive and universal means of conveying complex biomechanical data. This enhances user cognition, engagement, and the effective utilization of the walking assistance system. Additionally, the walking assistance system (4) or exoskeleton can give audio feedback each time a threshold is crossed.

[0130] In a preferred embodiment of the terminal display (1) of the present invention, the position of the top - view projection of the COM (10) relative to the position of the user's feet (12) is calculated based on the height and orientation of the user's COM (10) relative to the center of the coordinate system (e.g., the mid - point of the user's hips). It should be noted that the height of the user's COM (10) can be considered as a fixed distance from the center of the coordinate system to the vertical position of the COM (10) when the user stands in an upright position (preferably, their arms at their sides). The distance can be obtained in different ways, such as but not limited to direct measurement, morphological studies of the patient, extraction from tabulated values regarding height, weight, or limb length, or estimation according to a formula, etc.

[0131] Advantageously, calculating the top - view projection of the center of mass (COM) (10) based on the height of the COM and its orientation relative to the user's feet (12) introduces additional biomechanical accuracy to the walking assistance system (4). This height - based calculation enables more precise and context - sensitive visualization, enhancing the user's spatial cognition and thus contributing to safer and more effective walking assistance. This feature improves the system's adaptability to various user conditions and activities, broadening its applicability and market appeal.

[0132] In an even more preferred embodiment of the terminal display (1) according to the present invention, the height of the user's COM (10) is calculated based on the length measurements of the shank segment and the thigh segment. It should be noted that in some embodiments, the lengths may be changed automatically or manually, and their lengths may be automatically measured by the walking assistance system (4). Advantageously, this allows for a direct and straightforward measurement of the height of the COM (10).

[0133] In an even more preferred embodiment of the terminal display (1) of the present invention, the position of the top view projection of the COM (10) relative to the user's foot (12) is calculated in the front-back direction and the inside-outside direction. Advantageously, this allows for an accurate positioning of the COM (10) in the horizontal plane.

[0134] In another more preferred embodiment of the terminal display (1) of the present invention, the top view projection Proj of the COM (10) relative to the user's foot (12) in the front-back direction Ap is calculated as:

[0135]

[0136] where P COM_AP is the position where the COM (10) projects in the front-back direction, P 左脚_AP is the position where the left foot projects in the front-back direction, and P 右脚_AP is the position where the right foot projects in the front-back direction, and where each position is calculated according to a coordinate system, preferably where the coordinate system is centered on the middle of the user's hip, and where the user's hip can be calculated as the line between the thigh segments at the hip level.

[0137] In an even more preferred embodiment of the terminal display (1) of the present invention, the top view projection Proj of the COM (10) relative to the user's foot (12) in the front-back direction AP is normalized by dividing by the distance D between the two feet (12) projected in the front-back direction 脚_AP It should be noted that D 脚_AP can be multiplied or divided by a numerical factor in order to display the top view projection of the COM (10) within a desired region. The factor can take any real value. Preferably, the distance D 脚_AP is divided by a factor of 2.

[0138] In a more preferred embodiment of the terminal display (1) of the present invention, the top view projection of the COM (10) relative to the user's foot (12) in the front-back direction is calculated as:

[0139]

[0140] where PCOM_AP is the position of the COM (10) projected in the anteroposterior direction and related to the frontal inclination of the body trunk, P 左脚_AP is the position of the left foot projected in the anteroposterior direction, P 右脚_AP is the position of the right foot projected in the anteroposterior direction, and D 脚_AP is the distance between the feet (12) projected in the anteroposterior direction, and wherein each position is calculated according to a coordinate system, preferably wherein the coordinate system is centered on the middle of the user's hip, and wherein the user's hip can be calculated as the line between the thigh segments at the hip level.

[0141] Note that the position of the top view projection of the COM (10) relative to the position of the user's feet (12) can be expressed as a distance relative to the center of the coordinate system, the middle of the user's hip, and / or the midpoint between the feet (12). It should also be noted that the projection of the COM (10) can be calculated relative to the center of the coordinate system according to the position of the feet (12), wherein the position of the feet (12) can be calculated according to signals received from a plurality of sensors. It should also be noted that the projection of the COM (10) in the anteroposterior direction can be normalized relative to the distance between the feet (12) in said direction.

[0142] Advantageously, calculating the top view projection of the COM (10) in the anteroposterior direction relative to the position of the user's feet (12) using this simple formula allows for a quick calculation, which helps to display the COM (10), the user's feet (12), and their relative distance in the anteroposterior direction in real time.

[0143] In another more preferred embodiment of the terminal display (1) of the present invention, the top view projection of the COM (10) relative to the position of the user's feet (12) in the mediolateral direction is calculated as:

[0144]

[0145] wherein, P COM_ML is the position of the COM (10) projected in the mediolateral direction, P 左脚_ML is the position of the left foot projected in the mediolateral direction, and P 右脚_ML is the position of the right foot projected in the mediolateral direction, wherein each position is calculated according to a coordinate system, preferably wherein the coordinate system is centered on the middle of the user's hip, and wherein the user's hip can be calculated as the line between the thigh segments at the hip level.

[0146] In an even more preferred embodiment of the terminal display (1) of the present invention, the top view projection Proj of the COM (10) relative to the position of the user's feet (12) in the mediolateral direction MLBy dividing by the distance D between the two feet (12) projected in the medial-lateral direction 脚_ML normalization is performed and calculations are made according to a coordinate system, which is preferably centered on the middle of the user's hip. It should be noted that D 脚_ML can be multiplied or divided by a numerical factor in order to display the top view projection of the COM (10) within a desired region. This factor can take any real value. Preferably, the distance D 脚_ML is divided by a factor of 2.

[0147] Thus, in an even more preferred embodiment of the terminal display (1) of the present invention, the top view projection of the COM (10) relative to the position of the user's feet (12) in the medial-lateral direction can be calculated as:

[0148]

[0149] where P COM_ML is the position of the COM (10) related to the lateral inclination of the body trunk projected in the medial-lateral direction, P 左脚_ML is the position of the left foot projected in the medial-lateral direction, P 右脚_ML is the position of the right foot projected in the medial-lateral direction, and D 脚_ML is the distance between the feet (12) in the medial-lateral direction, and where each position is calculated according to a coordinate system, preferably where the coordinate system is centered on the middle of the user's hip, where the user's hip can be calculated as the line between the thigh segments at hip level.

[0150] Note that the position of the top view projection of the COM (10) relative to the position of the user's feet (12) can be expressed as a distance relative to the center of the coordinate system, the middle of the user's hip, and / or the midpoint between the feet (12). It should also be noted that the COM (10) projection can be calculated relative to the center of the coordinate system according to the position of the feet (12), where the position of the feet (12) can be calculated according to signals received from a plurality of sensors. It should also be noted that the projection of the COM (10) in the medial-lateral direction can be normalized relative to the distance between the feet (12) in that direction.

[0151] Advantageously, using this simple formula to calculate the top view projection of the COM (10) in the medial-lateral direction allows for a quick calculation, which helps to display the COM (10), the user's feet (12), and their relative distances in the medial-lateral direction in real time.

[0152] In an even more preferred embodiment of the terminal display (1) of the present invention, the coordinate system is centered on the middle of the user's hip, preferably where the user's hip is calculated as the line between the thigh segments at hip level.

[0153] Note that the relative distances in the front-back direction and the in-out direction between the top view projection of the COM(10) and the position of the foot(12) can be displayed in the terminal display(1) relative to the center of the coordinate system, which can be centered on the middle of the user's hip. Alternatively, it can be centered on the midpoint between the user's feet(12). In other embodiments, the center of the coordinate system can be centered on any other point defined relative to the system(4), such as any part of a segment of the system(4).

[0154] Advantageously, this provides a consistent and simple method for calculating the coordinate system.

[0155] In a preferred embodiment of the terminal display(1) of the present invention, at least one pair (i.e., at least two) of angle sensors are encoders located at the knee joints, each of which connects the calf segment and the thigh segment, and wherein the sensors are included in the walking assistance system(4) to which the terminal display(1) is attached.

[0156] Advantageously, the encoders, which serve as angle sensors, provide a high level of accuracy in capturing joint angles and kinematics. This allows real-time and accurate data to be input into the walking assistance system(4) to which the terminal display(1) is attached.

[0157] In another preferred embodiment of the terminal display(1) according to the present invention, one or more of a pair of calf segments and a pair of thigh segments are adjustable in length, wherein the distance between the thigh segments at the hip level is adjustable, and wherein the control unit is further configured to receive these length and distance values.

[0158] It should be noted that the adjustability of length and distance can be achieved by various means, such as but not limited to telescopic mechanisms, sliding joints, rotary joints, extendable crossbars or interchangeable modules. The lengths of these segments can vary and can be longer or shorter. For example, for the thigh segment, the length can range from 20 cm to 80 cm, preferably from 30 cm to 60 cm, even more preferably from 37 cm to 49 cm, and for the calf segment, the length can range from 20 cm to 60 cm, preferably from 30 cm to 50 cm, even more preferably from 34 cm to 50 cm. The distance between the thigh segments at the hip level can also vary and can be longer or shorter. For example, it can range from 20 cm to 100 cm, preferably from 25 cm to 70 cm, more preferably from 30 cm to 60 cm, even more preferably from 35 cm to 50 cm. Additionally, in those embodiments where the system (4) includes a foot segment, the distance from the ankle joint of the system (4) to the sole of the foot segment in the same leg can range from 5 cm to 30 cm, preferably from 10 cm to 20 cm, even more preferably between 10 cm and 15 cm. All length and distance measurements can vary within ±25%, ±20%, ±15%, ±10% or ±5%. The adjustment can be done manually, for example, by a pin lock mechanism, or can be done automatically, for example, by an electric actuator that receives commands from a control unit. In some embodiments, the control unit can utilize these values in its algorithm to provide optimized assistance to the user. The length and distance can be manually input by the user or automatically measured by sensors located on the relevant segments. Then, the control unit can use these measurements to more accurately calculate the user's center of mass (10) (COM).

[0159] Advantageously, these features provide a system (4) that can be customized for an individual user. The adjustability of the lengths of the thigh and calf segments and the distance between the thigh segments at the hip level allows for a custom fit, which can result in increased comfort, better weight distribution, and enhanced mobility for the user. The configuration of the control unit for receiving and utilizing these adjustable values enables the system to optimize COM (10) calculations and the usage information collected (such as the user's walking pattern and stability), thereby improving the overall functionality and effectiveness of the walking assistance system (4).

[0160] In a preferred embodiment of the terminal display (1) of the present invention, the magnetic device (3) of the terminal display (1) to the walking assistance system (4) is personalized for each corresponding system (4). In some embodiments, there may be a customized configuration of the magnetic device (3), characterized in that the magnetic attachment is unique and / or personalized for each corresponding system (4). This uniqueness or personalization can be achieved by a specific arrangement of magnets with different polarities configured in a predetermined pattern (such as a 3×3 grid arrangement) on the mechanical support (2) or the detachable device (3) of the system (4), and a corresponding configuration of the arrangement and polarization of matching or equivalent magnets in the housing of the terminal display (1), thereby ensuring a safe and exclusive magnetic coupling between the terminal display (1) and the walking assistance system (4). Note that the grid may include more or fewer magnets and may have different configurations, or even that the magnetic device arrangement may not be from a grid, and some combinations may include empty slots to increase the number of combinations. Another example of creating such personalization is by using an electromagnet in the walking assistance system (4) or the mechanical support (2), which is activated when the correct terminal display (1) approaches the attachment position, and wherein the terminal display (1) or the housing of the terminal display (1) includes a magnetic device. This activation can be generated, for example, by communicating via any wireless device (such as NFT, Bluetooth, WiFi, or any other device), which sends a signal for activation whenever the corresponding device is nearby or paired.

[0161] Advantageously, the personalized or unique magnetic attachment between the terminal display (1) and the walking assistance system (4) enhances safety and reduces the risk of accidental disconnection or mismatch. The customized configuration of the magnetic device (3) ensures a firm and exclusive coupling of the terminal display (1) with its corresponding walking assistance system (4).

[0162] In a preferred embodiment of the terminal display (1) of the present invention, the terminal display (1) may include an external screen, a projector, a virtual reality headset, or an augmented reality headset, preferably wirelessly connected to the walking assistance system (4).

[0163] Accordingly, the terminal display (1) may include an additional screen, such as an LCD, LED, or OLED screen. Alternatively, the terminal display (1) may be a projector, or include an additional projector that may employ different projection technologies, such as DLP, LCD, or LCoS. In another embodiment, the terminal display (1) may be a virtual reality headset or include an additional virtual reality headset. The headset may implement various display technologies, such as OLED or micro-LED. Additionally alternatively, the terminal display (1) may be an augmented reality headset, or include an additional augmented reality headset that may include an optical see-through display or a video see-through display. The connection between the terminal display (1) or the additional element and the walking assistance system (4) may preferably be established wirelessly using various wireless communication protocols (such as but not limited to Bluetooth, Wi-Fi, or a custom RF solution). Alternatively, a wired connection using a connector (such as USB, HDMI, or a proprietary connector designed for a specific application) may also be used. Note that any combination of the terminal displays (1) mentioned herein may be employed simultaneously or alternatively, thus adapting to different situations.

[0164] Advantageously, the flexibility in the type of terminal display (1) used allows for customization based on user preferences and situational requirements. Furthermore, the wireless connectivity allows information to be projected onto various displays, even simultaneously, such that clinicians and patients can receive information at the same time. These advantages can be combined to provide a more user-friendly, adaptable, and future-proof system.

[0165] All of the above is fully within the scope of the present disclosure and is considered to form the basis for alternative embodiments that apply one or more combinations of the above features (not limited to the specific combinations disclosed above). Accordingly, it should be understood that the present invention also relates to an exoskeleton according to any embodiment of the first aspect of the present invention, which includes any terminal display of any embodiment of the first aspect of the present invention.

[0166] 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 adapt the above disclosure within the scope of the present disclosure according to his common general knowledge in the art to suit his own circumstances and requirements, while retaining some or all of the technical effects of the present disclosure disclosed above or derivable from the above. All such equivalents, modifications, or adaptations fall within the scope of the present disclosure.

[0167] Examples

[0168] Here, we provide an example of an equation for calculating the position of the COM top view projection relative to the user's foot (12) in the front-back direction and the inside-outside direction. We would like to note that there are several different ways to calculate this, and it is not limited to the example shown here. Figure 4 A detailed representation of the sign convention adopted in the following example is shown. Note that other notations and conventions can be adopted to implement the present invention as long as they are consistent with the coordinate system. According to Figure 4 the coordinate system shown, the pitch angle is defined as the rotation about the Y-axis, where the positive rotation follows the right-hand rule. According to Figure 4 , the roll angle is defined as the rotation about the X-axis, where the positive rotation follows the right-hand rule.

[0169] Inner - outer direction

[0170]

[0171] where P COM_ML is the position of the COM (10) projected in the inside-outside direction related to the lateral inclination of the body trunk, P 左脚_ML is the position of the left foot projected in the inside-outside direction, P 右脚_ML is the position of the right foot projected in the inside-outside direction, and D 脚_ML is the distance between the feet (12) in the inside-outside direction.

[0172] Each parameter is calculated according to the following equation:

[0173] P COM_ML = Body COM ·sin(Trunk Roll ).

[0174] where Body COM is the height of the COM (10) relative to the coordinate center at the midpoint of the user's hip, and Trunk Roll is the lateral inclination of the body trunk.

[0175]

[0176] where Hip Width is the width of the hip, Brace Length is the length of the thigh plus the length of the calf for either of the two legs. Preferably, it also includes the length from the ankle joint of the exoskeleton to the sole of the foot. It should be noted that in other embodiments, Brace Length can be different for the left leg and the right leg. In this case, it may be convenient to divide it into one value for each leg.

[0177] Finally, ThighRoll is the lateral inclination angle of the thigh.

[0178]

[0179] And:

[0180]

[0181] Front - rear direction

[0182]

[0183] Wherein, P COM_AP is the position of the COM(10) projected in the anteroposterior direction and related to the anterior inclination angle of the body trunk, P 左脚_AP is the position of the left foot projected in the anteroposterior direction, P 右脚_AP is the position of the right foot projected in the anteroposterior direction, and D 脚_AP is the distance between the feet(12) projected in the anteroposterior direction, and wherein each position is calculated according to the following equation:

[0184] P COM_AP = Body COM ·sin(Trunk Pitch ).

[0185] Wherein, Body COM is also the height of the COM(10) relative to the coordinate center at the midpoint of the user's hip, and Trunk Pitch is the anterior inclination angle of the body trunk.

[0186] P 左脚_AP = Thigh Length ·sin(Thigh PitchLeft ) + Shank Length ·sin(Thigh PitchLeft - Knee AngleLeft ).

[0187] Wherein, Thigh Length is the length of the thigh, Thigh PitchLeft is the anterior inclination angle of the left thigh, Shank Length is the length of the calf, and Knee AngleLeft is the angle between the left thigh and the left calf.

[0188] P 右脚_AP = Thigh Length ·sin(Thigh PitchRight ) + Shank Length ·sin(Thigh PitchRight - KneeAngleRight )。

[0189] Wherein, Thigh Length is also the length of the thigh, which may be the same for the right and left legs, Thigh PitchRight is the anterior inclination angle of the right thigh, Shank Length is also the length of the calf, which may be the same for the right and left legs, and Knee AngleRight is the angle between the right thigh and the right calf.

[0190] And:

[0191]

[0192] And wherein, when the two feet are adjacent to each other, to avoid division by zero (i.e., the distance between the feet in the front-to-back direction is 0), we recommend using the measurement of the hip width as the distance between the feet.

Claims

1. A terminal display (1) adapted to be removably attached to a walking assistance system (4), wherein, The walking assistance system (4) includes: a. a lumbar segment, b. a pair of thigh segments, c. a pair of calf segments, and preferably, a pair of foot segments, d. a plurality of sensors adapted to determine the relative orientation of each segment, and e. a control unit configured to calculate the relative position of the user's feet based on signals received from the plurality of sensors, characterized in that the display (1) is configured to display the position of the center of mass (COM) (10) of the user wearing the walking assistance system relative to the position of the user's feet (12).

2. The terminal display (1) according to claim 1, wherein, The display (1) is adapted to be removably attached to such a walking assistance system (4) by a removable device (3) and is configured to be wirelessly connected to the control unit.

3. The terminal display (1) according to claim 1 or 2, wherein, The terminal display (1) is configured to be removably attached to the walking assistance system (4) by a magnetic device (3).

4. The terminal display (1) according to any one of the preceding claims, wherein, The position of the COM (10) relative to the position of the user's feet (12) is calculated by the control unit.

5. The terminal display according to any one of the preceding claims, wherein, The terminal display (1) further includes a processing unit, and wherein the position of the COM (10) relative to the position of the user's feet (12) is calculated by the processing unit of the terminal display (1).

6. The terminal display (1) according to any one of the preceding claims, wherein, The walking assistance system (4) further includes: a. at least a pair of angle sensors adapted to measure or calculate the angle between the calf segment and the thigh segment, b. at least a triple of orientation sensors adapted to measure or calculate the orientation of the thigh segment and the lumbar segment, and wherein the control unit is further configured to process the readings of the angle sensors and the orientation sensors, and wherein the position of the COM (10) relative to the position of the user's feet (12) is calculated based at least on: the angle readings of each of the angle sensors, the roll angle readings and pitch angle readings of each of the orientation sensors, the lengths of the calf segment and the thigh segment, the distance between the thigh segments at hip level, and the height of the user's COM (10).

7. The terminal display (1) according to any one of the preceding claims, wherein, The position of the user's COM (10) is displayed as a top view projection relative to the position of the user's feet (12).

8. The terminal display (1) according to claim 6 or 7, wherein, The height of the user's COM (10) is calculated based on the length measurements of the calf segment and the thigh segment.

9. The terminal display (1) according to any one of claims 7 or 8, wherein, The position of the top view projection of the COM (10) relative to the position of the user's feet (12) is calculated in both the anterior-posterior direction and the medial-lateral direction.

10. The terminal display (1) according to claim 9, wherein, The top view projection Proj of the COM (10) in the anteroposterior direction with respect to the position of the user's foot (12) AP is calculated as: where P COM_AP is the position where the COM (10) projects in the front - rear direction, P 左脚_AP is the position where the left foot projects in the front - rear direction, and P 右脚_AP is the position where the right foot projects in the front - rear direction. And wherein each of the positions is calculated according to a coordinate system.

11. The terminal display according to claim 10, wherein, Top view projection Proj of the COM (10) relative to the position of the user's feet (12) in the front-back direction AP Preferably by dividing by the distance D between the two feet (12) projected in the front-back direction 脚_AP to normalize, and more preferably, wherein the distance D 脚_AP is divided by a factor of 2.

12. The terminal display (1) according to any one of claims 9 to 11, wherein, The top - view projection Proj of the COM (10) in the inside - outside direction with respect to the position of the user's foot (12) ML is calculated as: where P COM_ML is the position at which the COM (10) projects in the medial-lateral direction, P 左脚_ML is the position at which the left foot projects in the medial-lateral direction, and P 右脚_ML is the position at which the right foot projects in the medial-lateral direction, and where each of said positions is calculated according to a coordinate system.

13. The terminal display according to claim 12, wherein, Top view projection Proj of the COM (10) relative to the position of the user's foot (12) in the inside-outside direction ML Preferably by dividing by the distance D between the two feet (12) projected in the inside-outside direction 脚_ML to normalize, and more preferably, where the distance D 脚_ML is divided by a factor of 2.

14. The terminal display (1) according to any one of claims 11 to 14, wherein, The coordinate system is centered on the middle of the user's hip, preferably, wherein the user's hip is calculated as the line between the thigh segments at hip level.

15. The terminal display (1) according to any one of claims 6 to 15, wherein, The at least a pair of angle sensors are encoders located at the knee joints, each of the knee joints connecting the calf segment and the thigh segment.

16. The terminal display (1) according to any one of claims 6 to 16, wherein, The at least a triple of orientation sensors are inertial measurement unit sensors.

17. The terminal display (1) according to any one of the preceding claims, wherein, One or more of the pair of lower leg segments and the pair of thigh segments are adjustable in length, wherein the distance between the thigh segments at the hip level is adjustable, and wherein the control unit is further configured to receive these length and distance values.

18. The terminal display (1) according to any one of claims 3 to 18, wherein, The magnetic device (3) of the walking assistance system (4) is preferably individualized for each respective system (4) by a combination of magnetic polarizations.

19. The terminal display (1) according to any one of the preceding claims, wherein, The terminal display (1) is configured to display and / or store system status information.

20. The terminal display (1) according to any one of the preceding claims, wherein, The terminal display (1) is configured to display and / or store biomechanical information, usage metrics, or performance metrics.

21. The terminal display (1) according to any one of the preceding claims, wherein, The terminal display (1) is configured to display and / or store gait settings, preferably, wherein the terminal display (1) allows adjustment of the gait settings.

22. The terminal display (1) according to any one of the preceding claims, wherein, The walking assistance system (4) further includes a projector, preferably, wherein the projector is included in the front part of the system (4).

23. The terminal display (1) according to any one of the preceding claims, wherein, The terminal display (1) may include an external screen, a projector, a virtual reality headset, or an augmented reality headset, preferably, which are wirelessly connected to the walking assistance system (4).

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