Active pelvic orthosis comprising physical human-machine interface

Abstract

An active pelvic orthosis (APO) (100) has a physical human-machine interface (pHRi) (102) adapted to be adjusted at different connection points to accommodate the user's physique to provide better torque around the hip flexion and extension joint during walking activities. The hip flexion adjustment system has at least four adjustment mechanisms (180, 182, 184, 186), providing a way to better align the APO (100) with the hip flexion and extension axis of the user and to maximize the stability and comfort of the pHRi (102) of the APO (100).

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application incorporates by reference U.S. Provisional Application No. 63 / 421,862, filed on November 2, 2022. Similarly, this application also incorporates by reference International Patent Application No. PCT / IB2023 / 061070, filed on November 2, 2023, of the same applicant and assignee as the present disclosure. Technical Field

[0003] The present disclosure relates to an active pelvic orthosis (APO) having a physical human machine interface (pHRi) that can be adjusted at different connection points to accommodate the user's physique, thereby providing improved torque around the hip flexion and extension joints during walking activities. Background Art

[0004] Robotic-assisted devices, or exoskeletons, are becoming valuable tools for healthcare and industrial applications. These devices are designed to generate and transmit mechanical power to human joints. These devices must achieve optimal kinematic coupling and compatibility between the human joints and the exoskeleton's rotational axes. Active exoskeletons typically feature a mechatronic design, control system, and human-machine interface arranged in various ways depending on their intended use.

[0005] Because active exoskeletons interact so closely with the user's body, safety and ergonomics are key features of active exoskeletons, significantly impacting their functionality and reliability. For example, a common problem with exoskeletons is the mismatch between human and robotic joints, which can result in unwanted forces on the human joints, causing discomfort or injury. Furthermore, these unwanted forces can lead to the misapplication of forces to the human limb, resulting in unreliable torque transmission, friction with the housing or other components used to secure the limb, inefficient movement, and poor compliance.

[0006] Keeping human joints consistent with robotic joints is difficult, in part because human anatomy varies widely. Another reason is that even when the human and robotic joints are properly aligned, the human joints cannot rotate precisely because the user's geometry is inconsistent and complex, with fluctuations in range of motion.

[0007] An example of a robotic assistive device is a hip exoskeleton, hereinafter referred to as an active pelvic orthosis (APO), which is a wearable exoskeleton configured to improve gait efficiency, particularly when affected by hip injuries. The APO may be of the type described in WO2019 / 211791 published on November 7, 2019, or an APO such as one configured to smoothly provide torque around the hip flexion and extension joints during walking or similar activities. The APO includes a physical human-machine interface (pHRi) to ensure comfortable actuation of the user's joints by the control or actuation system of the exoskeleton. The APO may be used in rehabilitation programs for disabled or injured people, to assist in the treatment of patients with chronic disabilities, or in training programs for healthy people (regardless of age).

[0008] APOs have a variety of possible new applications. For example, APOs can be connected to treadmills, physical diagnostic tools, or equipment in rehabilitation or training environments. In addition, different types of assistive devices or actuators can be provided at one or both hips of the user, that is, paired auxiliary flexion and extension actuators or actuator systems. These actuators can be passive, using a passive joint mechanism with a series of links and / or springs, or they can be active actuators powered or controlled by electromechanical devices. In the case of electronically controlled actuators, they can be battery-powered or connected to a power source.

[0009] Users vary widely in their physiques. Proper mechanical power transmission requires optimally aligning the kinematic coupling between the robotic joint rotation axes and the anatomical joint rotation axes. Maintaining the stability of the APO to avoid slippage and improve comfort while being worn is challenging. Further complicating matters, the APO must be able to effectively transmit the assistance it provides to the user's body while maintaining comfort and avoiding injury, especially when worn for extended periods of time.

[0010] Due to differences in physique, APO setting (clinic or daily use), and APO type (i.e., passive or active), the relative positions / distances and shapes of the various connection points of the pHRi that characterize the APO should also be able to vary accordingly. Likewise, it is also desirable to provide such adjustability without changing the operation of the lower APO (especially the auxiliary unit, whether passive or active) and any corresponding electromechanical components.

[0011] Therefore, there is a need to install pHRi in APO, which can overcome these problems existing in existing devices without affecting the effectiveness of force transmission in robot joints. Summary of the Invention

[0012] The present disclosure relates to a powered hip orthosis (active pelvic orthosis, APO) that is configured to smoothly provide torque to the hip flexion and extension joints during walking and similar activities. The APO is a bilateral powered exoskeleton comprising three main subsystems: a mechanical structure, an actuation unit, and a control system. The mechanical structure includes an interface for transmitting torque provided by the actuation unit and controlled by the control system. The present disclosure focuses on the mechanical structure or physical human-machine interface (pHRi).

[0013] The pHRi of the present disclosure can be configured to encircle the user using a waist belt system and / or shoulder strap system at the thighs, torso, and shoulders. The proposed pHRi is configured to maximize stability when the user is wearing the APO, preventing slippage and improving comfort. The pHRi is configured to be stably positioned on the user so that the assistance generated by the APO is effectively transferred to the user's body. The pHRi needs to provide comfort so that the user's skin is not damaged when the APO transfers force to the user (and vice versa), especially when the device is required to be used continuously for long periods of time. At the same time, the pHRi of the APO should be as light as possible and the number and size of its connection points should be reduced.

[0014] The pHRi includes the following features: a shoulder strap system, a waist belt system, a thigh coupling assembly, and multiple adjustment mechanisms (collectively referred to as the "hip flexion adjustment system") for transmitting the assistive torque generated by the APO to the thigh coupling assembly.

[0015] The shoulder strap system is detachably connected to the waist belt system and preferably includes a shoulder strap configured to extend around the user's shoulders. The shoulder strap system has front and rear connectors configured to connect to the front and rear belts connected to the waist belt system.

[0016] The waist belt system defines a rigid structure including a rear central member and first and second side members extending from opposite sides of the central member. The waist belt system further defines first and second buckle members configured to couple to each other and flexibly extend from the first and second side members, respectively. In a preferred embodiment, the waist belt system includes a central pad configured to connect to and correspond with the central member. Additionally or alternatively, first and second side member pads configured to connect to and correspond with the first and second side members, respectively.

[0017] The thigh coupling assembly is configured to transmit the torque generated by the assist unit to the user's leg. The thigh coupling assembly includes a sleeve to ensure an ergonomic and stable connection between the user's leg and the thigh connection portion. The user's leg and thigh connection portion are connected by a hinge as described above, allowing them to rotate freely relative to each other. This hinge provides a passive degree of freedom to passively conform to different user leg shapes and pelvic tilt movements. Other embodiments may be provided to reduce weight, reduce friction, implement different sliding arrangements between components, and make other modifications to achieve a better fit and comfort.

[0018] The hip flexion adjustment system has at least four adjustment mechanisms that provide a means to better align the APO with the user's hip flexion-extension axis and maximize the stability and comfort of the APO's pHRi. Furthermore, to maximize its wearability and minimize its burden, the hip flexion adjustment system is configured to accommodate different user builds.

[0019] In particular, the combination of at least four adjustment mechanisms allows for adaptation to different user abdominal / waist area dimensions and different user heights. While at least four adjustment mechanisms and variations thereof are described herein, not all of them need be provided in this combination. It is entirely within the scope of this disclosure to include only a single one or at least one of any number of the adjustment mechanisms, which may be provided individually or in combination.

[0020] The first adjustment mechanism is capable of adjusting the position of the auxiliary unit along the transverse axis of the body. It is capable of passively following the orientation of the auxiliary unit imposed by the third adjustment mechanism in a plane parallel to the sagittal plane of the body. Similarly, the first adjustment mechanism may include a swivel joint relative to the lumbar region of the APO, which carries the electronic system or control system enclosed by the housing.

[0021] The connecting element connects the back housing to the auxiliary unit such that a first end of the connecting element is lockable to the back housing or frame. When the connecting element is unlocked relative to the back housing, the connecting element can slide inwardly and outwardly relative to the back housing and can also rotate relative to the back housing. The connecting element can be structurally configured to be L-shaped or have a substantially vertical bend between the first and second ends of the connecting element, such that the bend is in the range of 75 to 100 degrees, to enable the auxiliary unit to be reoriented relative to the back housing.

[0022] The second adjustment mechanism may be located on the auxiliary unit. It may include features that lock the second end of the connecting element relative to the cover or frame of the auxiliary unit. Schematically, it can be represented by a prismatic joint. The second adjustment mechanism is positioned along the connecting element to adjust the relative distance between the rotational axis of the first adjustment mechanism and the axis of the auxiliary unit in the sagittal plane of the human body.

[0023] The third adjustment mechanism connects the auxiliary unit to the waist belt system using an adjustable rod. The rod is attached to the auxiliary unit at its axis, and the rod is fixed to the waist belt at a position corresponding to the user's iliac crest. The third adjustment mechanism adjusts the distance between the axis of the waist belt system and the auxiliary unit in a plane parallel to the body's sagittal plane. The third adjustment mechanism allows the auxiliary unit to rotate about the axis of the first auxiliary unit or relative to the back shell.

[0024] The fourth adjustment mechanism is configured to passively adapt to different user leg shapes and to accommodate lateral pelvic tilt movements. The fourth adjustment mechanism includes a thigh coupling assembly pivotally secured to the auxiliary unit about the auxiliary unit's axis of rotation to form a swivel joint. The thigh coupling assembly includes a hinge between the first and second thigh connecting portions.

[0025] As mentioned above, the APO and pHRi can be equipped with any combination of the four adjustment mechanisms and subassemblies described above. Furthermore, the pHRi can be modified to add or remove various components, such as a shoulder strap system or a waist belt system. These systems can also be modified to better fit the user's individual anatomy.

[0026] These and other features, aspects, and advantages of the present disclosure will facilitate a better understanding of the following description, appended claims, and accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic diagram showing the planes and axes of motion.

[0028] Figure 2 A perspective view of an active pelvic orthosis (APO) supported by a physical human-machine interface (pHRi).

[0029] Figure 3 It is composed Figure 2 A front or anterior perspective view of a shoulder harness system of a portion of the pHRi is shown.

[0030] Figure 4 yes Figure 3 A rear or back perspective view of the shoulder harness system is shown.

[0031] Figure 5 It is composed Figure 2 Schematic diagram of a belt system showing a portion of the pHRi.

[0032] Figure 6 yes Figure 5 Schematic diagram of one variation of the waist belt system shown.

[0033] Figure 7 is a schematic perspective view showing the APO and four adjustment mechanisms.

[0034] Figure 7A is a schematic perspective view showing Figure 7 The first and second sides of the auxiliary unit of the APO are shown.

[0035] Figure 7B Shows Figure 7 A schematic perspective view of a variant of the auxiliary unit is shown.

[0036] Figure 8 is a schematic diagram of details of a first adjustment mechanism connecting the auxiliary unit and the back housing.

[0037] Figure 9 yes Figure 8 A schematic cross-sectional view of a portion of FIG.

[0038] Figure 10 is a schematic cross-sectional view of a variant of the first adjustment mechanism.

[0039] Figure 11 is a schematic perspective view of another variant of the first adjustment mechanism.

[0040] Figure 12 yes Figure 11 A detailed view of the first adjustment mechanism is shown.

[0041] Figure 13 is a schematic diagram of the second adjustment mechanism.

[0042] Figure 14 yes Figure 13 A cross-sectional view of the auxiliary unit and the second adjustment mechanism is shown.

[0043] Figure 15A It is a perspective view of the third adjustment mechanism.

[0044] Figure 15B yes Figure 15A Schematic diagram of the kinematic chain of the third adjustment mechanism is shown.

[0045] Figure 16 yes Figure 15A Schematic diagram of the third adjustment mechanism shown.

[0046] Figure 17 is a schematic diagram showing lateral tilt relative to the human anatomy.

[0047] Figure 18 is a schematic diagram showing a fourth adjustment mechanism.

[0048] Figures 18A-18D yes Figure 18 A schematic diagram of a variation of a thigh coupling assembly is shown.

[0049] Figures 18E-18H yes Figure 18 A schematic diagram of another variation of the thigh coupling assembly is shown.

[0050] Figures 18I-18K is a schematic diagram showing a thigh extension strut with a length adjustment mechanism.

[0051] Figure 19 It is a schematic diagram of another regulating mechanism.

[0052] The drawings are not necessarily drawn to scale. Rather, they are drawn to provide a better understanding of the components and are not intended to limit the scope, but rather to provide exemplary illustrations. DETAILED DESCRIPTION

[0053] A. Overview

[0054] Various embodiments of the present disclosure may be better understood from the following description in conjunction with the accompanying drawings, in which like reference numerals refer to like elements. While various modifications and alternative constructions are possible, certain exemplary embodiments are shown in the drawings and described below. However, it should be understood that the present disclosure is not intended to be limited to the specific embodiments disclosed, but rather, is intended to encompass all modifications, alternative constructions, combinations, and equivalents falling within the spirit and scope of the present disclosure.

[0055] Various embodiments of the present disclosure may be better understood from the following description and accompanying drawings, in which like reference numerals refer to like elements.

[0056] It will be understood that unless a term is defined to have the described meaning, no intention is intended to limit the meaning of the term, either explicitly or indirectly, beyond its ordinary meaning.

[0057] B. Definition

[0058] For ease of understanding, the disclosed exoskeleton and components used therewith are described separately, as are embodiments of the internal and external portions of the exoskeleton, which together function to support the user's exertion.

[0059] Figure 1 Various planes and axes of motion are illustrated for identifying relative positions of body parts or relationships between such parts.

[0060] To facilitate understanding of the disclosed embodiments of the orthopedic device, some terminology needs to be described. As used herein, the term "proximal" has its ordinary meaning, referring to a location adjacent to or near a point of connection, origin, or center, or toward the center of the body. Similarly, the term "distal" has its ordinary meaning, referring to a location located away from a point of connection, origin, or center, or away from the center of the body.

[0061] Medial refers to the direction towards the midline of the body or the median or sagittal plane (S P ), which divides the body into left and right halves from head to toe. Lateral refers to the side or part of the body that is away from the midline. For example, for a leg, the medial side is inside the exoskeleton, while the lateral side is outside the device relative to the median plane.

[0062] Coronal or frontal plane (C P ) divides the body into the posterior (P) and anterior (A) parts, and is related to the sagittal plane (S P ) perpendicularly. The term "posterior" also has its ordinary meaning, referring to a location that is behind or to the rear of another location. The term "anterior" has its ordinary meaning, referring to a location that is in front of or in front of another location.

[0063] Transverse or horizontal plane (H P ) divides the body into upper and lower parts, which can be considered relative to the ground (G).

[0064] Thus, the term "frontal plane" has its ordinary meaning and refers to a plane extending through the body to divide the body into anterior and posterior halves. The term "sagittal plane" has its ordinary meaning and refers to a plane extending through the body to divide the body into left and right halves, such as the midsagittal plane mentioned above. The term "transverse plane" has its ordinary meaning and refers to a plane extending through the body to divide the body into upper and lower halves.

[0065] The movement of the joint is in one plane and around the axis. There are three axes of rotation, including the sagittal axis (S A ), transverse axis (L A ) and the vertical axis (V A The sagittal axis runs horizontally from back to front and is formed by the intersection of the sagittal and transverse planes. The transverse axis runs horizontally from left to right and is formed by the intersection of the frontal and transverse planes. The vertical axis runs vertically from bottom to top and is formed by the intersection of the sagittal and frontal planes.

[0066] Flexion and extension are movements that occur in the sagittal plane. They refer to increasing and decreasing the angle between two body parts. Flexion refers to movement that decreases the angle between two body parts, while extension refers to movement that increases the angle between two body parts. Abduction is movement away from the midline, like walking someone. Adduction is movement toward the midline.

[0067] The terms "rigid" and "flexible" are used repeatedly herein to distinguish between the characteristics of various parts of APOs and pHRis. The term "rigid" refers to a structural element or framework that is generally inflexible. For a "rigid" element, it means that if bent with sufficient force, it will likely break. On the other hand, the term "flexible" refers to a characteristic that can be repeatedly bent. And the term "elastic" refers to the fact that these flexible features will generally return to their original molded shape after a permanent deformation.

[0068] The terms "assistive unit," "actuator," or "actuation unit" refer to a mechanical or electromechanical device suitable for providing controlled, sometimes limited, movement or positioning of a limb or body, which device may be passively operated (i.e., springs, weight redistribution, energy capture, damping, locking), electrically operated (i.e., DC motors, series elastic actuation, brushless, induction, variable stiffness actuation, torque motors, linear motors, steppers), pneumatically operated (pneumatic artificial muscles, soft actuation), or operated by various fluids (e.g., air, hydraulics, etc.).

[0069] The term "control system" is used to describe a main circuit board that is configured to provide power and appropriate electronic interfaces to the APO's wired connections, particularly to actuators or auxiliary units. In one embodiment, the control system is a microcontroller or circuit that is configured to generate control instructions based on signals (e.g., sensor signals), wherein the control instructions can control the state or behavior of the APO or auxiliary unit. If a powered or electronically controlled actuator unit is used to power the APO, the control system can include a power source (e.g., a battery) located within the back housing or connected to an external power source via wires. The power source is preferably configured to provide auxiliary power to the actuator unit to drive at least one thigh coupling assembly.

[0070] The term "physical human machine interface" (pHRi) refers to a mechanical structure or harness that is configured to embrace a user at the wearer's thighs, torso, and shoulders using a waist belt system and / or shoulder harness system.

[0071] C. Various Embodiments of Active Pelvic Orthosis (APO) and Physical Human-Machine Interface (pHRi)

[0072] Figure 2An embodiment of an APO is shown, which is configured to smoothly provide torque to the hip flexion and extension joints during walking or similar activities. APO 100 is a bilaterally powered exoskeleton that includes three main subsystems: pHRi 102, auxiliary unit 104, and control system 106. For pHRi 102, the architecture involves an interface for transmitting torque provided by auxiliary unit 104 and controlled by control system 106.

[0073] The auxiliary unit 104 is configured to be disposed on the left and right sides of the user, around the hip flexion and extension axis H. A The control system 106 includes electronics, a power source, or connections thereto, and a back housing 116 for housing these components. The assist unit 104 is adjustably connected to the waist belt system 110 of the pHRi 102 and the control system 106 via a connection assembly 114. The connection assembly 114 is configured to allow rotational or linear adjustment of the assist unit 104 relative to the waist belt system 110. In one embodiment, the connection assembly 114 is a structural tube (e.g., an aluminum tube) or rod that connects the assist unit 104 to the back housing 116.

[0074] Although APOs are typically bilateral, for simplicity, the following discussion will refer to only one side (ie, the user's left or right side, as appropriate).

[0075] The pHRi 102 is configured to allow the user to wear the APO 100. The pHRi is configured to be wrapped around the user's thighs, torso, and shoulders using a waist belt system and / or a shoulder strap system. The pHRi is configured to maximize the stability of the APO 100 when worn by the user, prevent slippage, and improve comfort. The pHRi is configured to be stably worn on the user so that the assistive force generated by the APO is effectively transferred to the user's body. The pHRi needs to provide comfort so that the APO does not damage the user's skin when transferring force to the user (and vice versa), especially when the device is required to be used continuously for an extended period of time. At the same time, the pHRi of the APO should be as light as possible and the number and size of connection points should be reduced.

[0076] The pHRi 102 includes a waist belt system 110 that is configured to extend circumferentially around the user's waist or torso and appropriately position the auxiliary unit to promote hip extension and flexion. A thigh coupling assembly 112 is adjustably secured to the auxiliary unit 104 and the waist belt system 110. The thigh coupling assembly 112 is adapted to be secured to the user's hip. The pHRi may also include a shoulder strap system 108 that is removably secured to the waist belt system 110. The control system 106 is located at the waist region of the waist belt system 110, and the housing that encloses the control system 106 is referred to as a "back" housing 116.

[0077] Figure 3 and Figure 4 An embodiment of a shoulder strap system is shown. The shoulder strap system 108 includes a strap 120 and a back unit 122, which are selectively connected to the waist belt system 110 via front and rear connectors or buckles 124, 126. The front and rear connectors 124, 126 are connected to front and rear straps 128, 130 extending from the waist belt system 110. The connectors 124, 126 can be fasteners, i.e., buckles, snaps, press studs, hook-and-loop connectors, D-rings, buckles, or buttons. Thus, the shoulder strap system 108 can be removed from the waist belt system 110 if desired. Thus, the shoulder strap system 108 can be connected after the waist belt system 110 is donned, which facilitates donning the APO, particularly for those who experience impaired arm movement, spasticity, or laxity in the arms.

[0078] Figure 5 One embodiment of a waist belt system is shown. The waist belt system 140 defines a frame or rigid structure 142 including a rear central member 144 and first and second side members 146, 147 extending from opposite sides of the central member 144. The waist belt system 140 defines a first coupling member 148 and a second coupling member 150 configured to couple to each other and flexibly extend from the first and second side members 146, 147, respectively. The waist belt system 140 also includes at least one central pad 152 configured to connect to and correspond with the central member 144, and first and second side member pads 154 configured to connect to and correspond with the first and second side members 146, 147, respectively, to provide a custom fit for the waist belt system 140 by padding the waist belt system 140 for an individual user. Although not shown, the waist belt system 140 may also include slots on the rigid structure 142 to allow anchors on the shoulder straps to be removably secured to the rigid waist belt (ie, an anchor-slot connection).

[0079] Figure 6Another waist belt system is shown. This waist belt system 160 defines a rear central member 162, and first and second side members 163, 164, which are selectively and / or removably connected to the central member 162 via at least one connector 170, 171. The central member and first and second side members 163, 164 are preferably rigid, while the at least one connector 170 is flexible and removably secured to the first and second side members 163, 164 via hook-and-loop fasteners, snaps, buckles, or other known removable fasteners. First and second flexible straps 166, 167 can extend from the first and second side members 163, 164, respectively, and are connected to each other via a coupling 168. The waist belt system 160 includes a pad 172, which can be rigid and removably or permanently secured to the central member 162. The padding may include structural features that allow for improved air circulation and prevent excessive perspiration, such as bumps, ridges, grooves, or other mesh structures, as will be readily understood by those skilled in the art. For example, the padding may be formed from EVA (ethylene vinyl acetate) or EPU41 (polyurethane elastomer), a 3D printable, mass-produced material suitable for elastic meshes requiring high elasticity.

[0080] according to Figure 6 In the embodiment shown, the central member is rigidly fixed to the APO. In contrast, the position of the lateral members can be adjusted to better accommodate different user physiques. The position of the waist belt between the lateral members and the central member can be continuously adjusted using connectors (e.g., hook and loop, fabric straps) or discretely adjusted (e.g., metal snaps).

[0081] Figure 7 The experiment showed how to attach a pHRi that does not wrap around the user at the shoulders to the APO. It was found that the APO can be stably and securely attached to the user using only a waist belt system, a thigh coupling assembly, and a connecting rod to transmit the assistive torque generated by the APO to the thigh sleeve of the thigh coupling assembly.

[0082] Since physiques may vary greatly between different users, the relative positions / distances and shapes of the various connection points of the pHRi that characterize the powered hip orthosis should also vary accordingly. Figure 7 It is an object of the present disclosure to provide an adjustment mechanism for wearing and using an APO, in particular to align the axis of the auxiliary unit with the user's hip flexion and extension axis. These objects can maximize the stability and comfort of the pHRi of the APO.

[0083] To maximize wearability and minimize bulk, APO 100 includes at least four adjustment mechanisms 180, 182, 184, and 186 to accommodate varying user builds. Specifically, the combination of adjustment mechanisms allows for adaptation to varying user abdomen / waist dimensions and heights. While the adjustment mechanisms are disclosed for achieving a lighter APO with lower manufacturing or assembly costs, the APO may be equipped with a locking feature or selectively include one or more adjustment mechanisms. While the adjustment mechanisms are numbered (e.g., first, second, etc.), their numbering is solely for distinguishing one from another and does not imply priority or superiority over another.

[0084] The first adjustment mechanism 180 can adjust the position of the auxiliary unit 104 along the transverse axis of the human body and passively follow the auxiliary unit 104 in parallel to the sagittal plane S of the human body. P The first adjustment mechanism 180 may also include a swivel joint relative to the waist region of the APO (which carries the electronics or control system housed by the back shell 116).

[0085] Figure 7 A coupling assembly, shown as a connecting element 190, connects the back housing 116 to the auxiliary unit 104, such that a first end of the connecting element can be locked to the back housing 116 or its frame. When the connecting element 190 is unlocked relative to the back housing 116, the connecting element can slide inwardly and outwardly relative to the back housing, as well as rotate relative thereto. The connecting element 190 can be configured to be L-shaped, or to have a generally vertical bend between the first and second ends of the connecting element, with the bend ranging from 75 to 100 degrees, to facilitate repositioning the auxiliary unit 104 relative to the back housing 116.

[0086] Second adjustment mechanism 182 may be located on auxiliary unit 104 and may include a locking feature at the second end of the connecting element for the auxiliary unit's cover or frame. Schematically, it can be represented by a prismatic joint. Along connecting element 190, the second adjustment mechanism is configured to adjust the relative distance between the rotational axis of first adjustment mechanism 180 and the axis of auxiliary unit 104 in the sagittal plane of the human body.

[0087] A third adjustment mechanism 184 connects the auxiliary unit 104 to the waist belt system 110 via an adjustable rod. The rod is attached to the auxiliary unit 104 at its axis and is secured to the waist belt at a point corresponding to the user's iliac crest. The third adjustment mechanism adjusts the distance between the axis of the waist belt system 110 and the auxiliary unit in a plane parallel to the sagittal plane. The third adjustment mechanism 184 allows the auxiliary unit 104 to rotate about its axis or relative to the back shell 116.

[0088] Fourth adjustment mechanism 186 is configured to passively accommodate different user leg shapes and pelvic tilt movements. Fourth adjustment mechanism 186 includes a thigh coupling assembly 112 that is pivotally secured to auxiliary unit 104 about the auxiliary unit's axis of rotation to form a swivel joint. Thigh coupling assembly 112 includes a hinge between first and second thigh connectors.

[0089] Figure 7A Shows Figure 7 Simplified view of the auxiliary unit in the APO shown, which has two axes of rotation. Specifically, the auxiliary unit 104 includes an actuating unit 300, which is carried by the connecting element 190. The actuating unit 300 includes an auxiliary unit input shaft 304. The transmission unit 303 connects the auxiliary unit input shaft 304 to the auxiliary unit output shaft 306, where the joint encoder 302 is provided. The housing 308 connects the auxiliary unit 104 to the connecting element 190 and the thigh coupling assembly 112. The actuating unit can be found in U.S. Provisional Application 63 / 421,862 and International Patent Application PCT / IB2023 / 061070, which are incorporated herein by reference.

[0090] Figure 7B A variation of the auxiliary unit 310 is shown having only one axis of rotation. Specifically, the connecting element 190 connects the auxiliary unit 310 to the thigh coupling assembly 112. The auxiliary unit 310 includes an actuating unit 312 and an encoder 314 located on the auxiliary unit's axis of rotation 316, thereby reducing the auxiliary unit's rotation about one axis of rotation and effectively eliminating the need for a rotational axis. Figure 7A The transmission in the embodiment shown.

[0091] See also Figure 8 and Figure 9 , which shows the first adjustment mechanism 180 in more detail. Figure 8As shown, the back shell 116 is connected to the waist belt system 110 at its central rigid portion and to the auxiliary unit via a connecting element 190. The back shell 116 is formed by a frame 198 to which all internal components of the control system 106 are connected. In particular, the back shell may contain the electronics of the control system, the width adjustment system, and the locking system for adjusting the orientation of the auxiliary unit.

[0092] The width adjustment system will be described in terms of its components, and is configured to adjust the position of the auxiliary unit along the axis of rotation of the connecting element (which is parallel to the transverse axis of the human body). Although the connecting element is configured as a tube, it is not limited to a tube structure and can also be formed from other shapes. The first adjustment mechanism may include a push-fit fitting for adjusting the position of the connecting element. Once the orientation of the auxiliary unit is selected by the third adjustment mechanism, the position of the connecting element can be locked relative to the back shell. This allows the torque generated by the auxiliary unit to be correctly transmitted to the user.

[0093] The connecting element 190 has a generally vertical bend 193 between its first end 195 and second end 197. The bend 193 can be adjusted within a range of 75 to 105 degrees relative to the back shell 116, which is configured to correspond to the user's waist and back area, and relative to the side corresponding to the hip joint. Although the connecting element 190 is preferably rigid so that it does not bend or change shape during operation, it can be bent or modified outside of normal use to better approximate the user's anatomy.

[0094] The housing or frame 198 of the outer shell 116 defines a side wall 191 having an aperture 194 formed therein through which the first end 195 of the connecting element 190 extends. A bushing 192 is provided in the aperture 194 in the side wall 191, through which the first end 195 extends. A fastener or screw 196 extends through the housing or frame 198 for engaging the first end 195 of the connecting element 190 and securing it in a secure position relative to the housing or frame 198.

[0095] The housing or frame 198 defines an interior cavity 200 that is sized and configured to retain the first end 195 of the connecting element 190 such that the first end 195 can slide within the cavity 200 when the securing member 196 is not engaged with the connecting element 190. Thus, the interior cavity 200 allows for movement along the linear axis P of the connecting element 190. A1 Linear adjustment can be performed around the linear axis P A1 The first end 195 of the connecting element 190 is rotated relative to the housing 116. R, to achieve width adjustment of the first end 195 relative to the housing 116. The fixing element 196 extends through the interior cavity 200 so as to be perpendicular to the linear axis P of the connecting element 190. A1 surface 202 of the bonding agent.

[0096] Figures 10 to 12 A variation of the first adjustment mechanism 209 is shown for adjusting the position of the auxiliary unit along the transverse axis of the body. The width adjustment system is provided in the housing of the connecting element, with discrete width adjustments being made by means of pins entering the connecting element.

[0097] Specifically, in a variation of the first adjustment mechanism 209, the connecting element 190 defines a linear axis P along which the connecting element 190 is located. A1 A plurality of openings 214 are formed, and a pin 212 is configured to selectively engage with any one of the plurality of openings 214 to set the width adjustment of the first end 195 of the connecting element 190 relative to the housing 116 in the bracket 210 formed by the housing 116. The bracket 210 defines another bushing 220 for providing frictional resistance to the first end 195 of the connecting element 190, and a block 216 located at an end opposite the opening for limiting the extension and corresponding width adjustment of the connecting element 190. The pin 212 can be connected to a button 218 extending from the frame 198 of the housing 116. The button 218 can be resiliently biased to ensure that the pin 212 engages with one of the plurality of openings 214 and can be disengaged from one of the plurality of openings 214.

[0098] according to Figure 11 and Figure 12 In the illustrated embodiment, the rear housing 116 can be sealed using an O-ring gasket positioned where the connector element enters the housing / frame 198. A gasket cable can be provided at the interface between the housing / frame 198 and the cover 199. Similarly, the control system electronics can be connected to the cover 199, which can facilitate assembly and improve heat dissipation by utilizing the cover as an additional surface for heat exchange. Similarly, the housing of the connector element can also be constructed as a separate component from the housing / frame 198.

[0099] The auxiliary unit can be fixed relative to the back shell in various embodiments, thereby eliminating or improving the first adjustment mechanism. For example, the end of the connecting element 190 can be welded / press-fitted / adhesive to the bushing 220 or other components fixed or retained by the housing / frame 198 to prevent the connecting element 190 from rotating.

[0100] Come and see Figure 13 and 14Second adjustment mechanism 182 is located on or near auxiliary unit 104. From a schematic perspective, it can be represented by a prismatic joint. The purpose of second adjustment mechanism 182 is to adjust connecting element 190 in the sagittal plane of the human body and to adjust the relative distance between the rotation axis of first adjustment mechanism 180 and the axis of the auxiliary unit, as shown in the aforementioned figures.

[0101] The second adjustment mechanism 182 includes a lever assembly 230 engaged with the second end of the connecting element 190 and mounted on the auxiliary unit 104 to allow the second end of the connecting element 190 to be slidably fixed to the auxiliary unit 104. Therefore, the connecting element 190 can not only be slidably connected but can also be rotatably mounted to the second end of the connecting element 190 via the lever assembly 230.

[0102] The lever assembly 230 includes a lever 232 positioned above at least a portion of a cover assembly 236, 238 of the auxiliary unit 104. The cover assembly includes an outer cover 236, an inner cover 238, and a plate 234 positioned between the outer cover 236 and the inner cover 238. The lever assembly 230 includes a cam 246 extending from the lever 232 and engageable with the surface 202 of the connecting element 190. The connecting element 190 extends into a connecting block 240 carried by the plate 234. The cam 246 preferably extends into a housing 247 defined by the connecting block 240, wherein the cam 246 is rotatably positioned for selective engagement with the connecting element 190.

[0103] The connecting block 240 defines an aperture 194 between the plate 234 and the inner cover 238, and an outlet hole 242 at an end opposite the aperture 194 to allow the second end of the connecting element 190 to extend relative to the connecting block 240. The plate 234 can be sealed relative to the inner cover 238 by a gasket 244.

[0104] See also Figures 15A to 16 The third adjustment mechanism 184 connects the auxiliary unit 104 to the waist belt system 110 (not shown, see Figure 2 and 7 The third adjustment mechanism 184 can adjust the distance between the waist belt system and the axis of the auxiliary unit on a plane parallel to the sagittal plane of the human body.

[0105] Figure 15B The third adjustment mechanism is schematically shown from the waistband side. This mechanism can be represented by a spherical joint connected in series with a prismatic joint, and then with a revolute joint whose axes of rotation are orthogonal to each other. In particular, the axis of rotation of the last revolute joint is aligned with the auxiliary unit. The third adjustment mechanism only constrains the position of the prismatic joint, while all other degrees of freedom are passively accommodated.

[0106] The third adjustment mechanism can be designed as a combination of different serial joints. For example, starting from the waistband side, from a schematic perspective, the third adjustment mechanism can be composed of a prismatic joint arranged along the waistband, a spherical joint, a prismatic joint, and a rotary joint perpendicular to the axis of the auxiliary unit.

[0107] Reference Figure 15A and 16 The third adjustment mechanism 184 includes a sliding mechanism 250 that connects the auxiliary unit 104 to the waist belt system 110. The sliding mechanism 250 includes a rod 252, a first end of which is slidably connected to a sleeve 258 via a button 260 for selectively engaging at least one of a plurality of slots 256 formed in the rod 252. A second end of the rod 252 can be connected to a bracket 254 fixed to the waist belt assembly, and the sleeve 258 can be fixed to the auxiliary unit 104.

[0108] Bracket 254 may be rotatably or fixedly attached to the waist belt assembly. Sleeve 258 may be pivotally or fixedly mounted to the auxiliary unit. Sleeve 258 may be fixedly mounted to inner panel 234 of auxiliary unit 104 near or at its second end. Support rod 252 defines an elongated slot 256 having at least two notches 276A-276C along its length into which a button may selectively engage.

[0109] In one variant of the third adjustment mechanism for increasing the stability of the above solution, the third adjustment mechanism can be an adjustable fabric strap connected to the waist belt and the auxiliary unit, which can rotate freely relative to them. Alternatively, the third adjustment mechanism can be omitted, forming a plane parallel to the sagittal plane, and the rotation joint of the first adjustment mechanism can directly take charge of the positioning of the auxiliary unit.

[0110] Figure 18 The fourth adjustment mechanism 186 and the corresponding thigh coupling assembly 112 are shown. The thigh coupling assembly 112 includes a first connecting section 266 pivotally connected to the auxiliary unit 104, a second connecting section 268 articulatedly connected to the first connecting section 266 by a hinge 272, and the hinge 272 has a pelvic tilt axis L. PT . Figure 17 This illustrates how pelvic tilting motion occurs. A thigh extension strut 270 has a first end connected to the second connecting section 268 and a second end from which a thigh sleeve 274 extends, wherein the thigh sleeve is adapted to extend around the circumference of the user's leg.

[0111] The first and second connecting sections connected by the hinge can rotate freely relative to each other. This passive degree of freedom is designed to passively adapt to the different leg shapes of users, such as Figure 17 Pelvic tilt movement shown.

[0112] In another embodiment, the passive degree of freedom of the thigh coupling assembly can be eliminated. Instead, the thigh coupling assembly can be connected to the auxiliary unit using screws. In a different embodiment, an interference fit can be used to connect the thigh coupling assembly to the auxiliary unit. The second connecting section 268 can be made of carbon fiber or aluminum to reduce weight. To reduce friction between the components, plastic bushings or bearings can be used.

[0113] While the thigh sleeve is described as being rigidly connected to the second connection segment, different connection arrangements may be employed, such that passive rotation of the thigh sleeve occurs along an axis parallel to the hip flexion-extension axis, or such that the thigh sleeve can be adjusted linearly slidable along the primary direction of the thigh coupling assembly. In one embodiment, the thigh coupling assembly has a first connection segment 266 that is secured to the assist unit 104 at a swivel 264, to which the sleeve 258 is secured. The thigh coupling assembly 112 is connected to the assist unit 104 at a hinge 262 that allows rotational movement about the hip flexion-extension axis.

[0114] Figures 18A to 18D A variation of a thigh coupling assembly 320 is shown. A thigh extension strut 322 is connected to a thigh sleeve 324, which includes a strap 326 and is adapted to extend around the user's thigh. The thigh sleeve 324 includes a first portion 328 and a second portion 330.

[0115] The thigh sleeve 324 is capable of implementing passive degrees of freedom at its level, which improves its ability to adapt to the user's thigh, both while being worn and throughout the user's range of motion along the leg while walking or performing other movements involving hip flexion and extension. The thigh sleeve's adaptability can compensate for potential mismatches between the robot's joints and the human hip joint, which, if used with a non-adaptive thigh sleeve, could result in a poor fit between the thigh and sleeve surfaces, resulting in an uncomfortable interaction between the user and the robot.

[0116] like Figures 18A to 18C As shown, thigh sleeve 324 is connected to thigh extension support rod 322 via first component 328 and second component 330. Second component 330 rotates on ball-pin surface 332 of first component 328. Second component 330 is forced to move in direction D1 by groove 334 formed on second component 330.

[0117] See also Figure 18C and 18DThe thigh sleeve 324 formed by the first component 328 and the second component 330 allows the thigh sleeve 324 to rotate along an axis perpendicular to the user's hip flexion and extension axis, so that the force application point can be freely adjusted according to the user's thigh width. The thigh sleeve 324 is also configured to rotate about a distal axis parallel to the user's hip flexion and extension axis to ensure comfort when there is a mismatch.

[0118] Figures 18E-18H Another variation of a thigh coupling assembly 340 is shown. A ball joint 342 connects a thigh sleeve 341 to a thigh extension post 322, such as via a strap. The ball joint includes a mount 344 including a ball 346 for connecting a post 348 to a bracket 350 connected to the thigh sleeve 341.

[0119] Figure 18I A length adjustment mechanism 366 is shown for adjusting the length of the thigh extension strut 360. The length adjustment mechanism 366 allows for adjustable linear sliding to select the correct position of the thigh sleeve 341 for different body types. The thigh extension strut 360 includes a first portion 362 and a second portion 364 that are configured to slide relative to each other. As shown, the second portion 364 is preferably slidable within the first portion 362 and can be locked in relative position by the adjustment mechanism 366, which is configured to lock and unlock the second portion 364 relative to the first portion 362.

[0120] Figure 18J and 18K Schematically shown is a length adjustment mechanism 366 having a button 367 that can be resiliently biased so that a projection 370 engages with a hole 372, thereby locking the first and second parts 362 and 364. A bracket 369 carries the button 367, while the projection 370 can slide linearly in a housing 373 forming the button 367. Figure 18J The display shows the locked state, and Figure 18K The unlocked status is displayed.

[0121] Figure 19 An alternative system for adjusting the position of the auxiliary units 104A, 104B along the transverse axis of the body is shown. After donning the exoskeleton, the user can bring the actuation units closer to the user by pulling on the cables 286, 288 connected to the actuation units. The cables pass through a system of pulleys 282, 284 provided on the back shell 116. Once the auxiliary units are in place, the cables 286, 288 can be connected to the waist belt using any of the fasteners described above. The waist adjustment mechanism 280 includes a system of pulleys 282, 284 for adjusting the waist width (WL) of the auxiliary units 104A, 104B relative to each other.

[0122] Features and / or components of one embodiment, example, or figure discussed, shown, or suggested above may be combined with features and / or components of other embodiments, examples, or figures discussed, shown, or suggested herein to provide embodiments, examples, or implementations not explicitly described or shown herein.

[0123] It should be understood that although many features and advantages of the various embodiments of the present disclosure, as well as details of the structure and function of the various embodiments, have been set forth above, this detailed description is illustrative only and that changes may be made in the details, particularly in the structure and arrangement of components within the scope of the principles of the present disclosure, to the full extent indicated by the broad, ordinary meaning of the terms as expressed in the appended claims.

Claims

1. A pelvic orthosis (100), comprising: a physical human-machine interface (102), including a belt system (110); The user's hip flexion-extension axis (H A ) at least one corresponding auxiliary unit (104), which is adjustably connected to the waist belt system (110) via a connecting assembly (114); The connection assembly (114) is configured to enable rotational or linear adjustment of the at least one auxiliary unit (104) relative to the belt system (110).

2. The pelvic orthosis (100) according to claim 1, wherein: The at least one auxiliary unit (104) is adjustably fixed to the waist belt system (110) via a connecting rod.

3. The pelvic orthosis (100) according to claim 1, wherein: Also included is a shoulder strap system (108) removably secured to the waist belt system (110).

4. The pelvic orthosis (100) according to claim 3, wherein: The shoulder harness system (108) includes a strap (120) arranged to extend around the user's shoulders and having a front connector (124) and a rear connector (126) configured to couple to a front strap (128) and a rear strap (130), respectively, connected to the waist harness system (110).

5. The pelvic orthosis (100) according to claim 1, wherein: The connecting assembly (114) is received by a first end of the at least one auxiliary unit (104), and the thigh coupling assembly (112) extends from a second end of the at least one auxiliary unit (104) opposite the first end.

6. The pelvic orthosis (100) according to claim 1, wherein: The belt system (110) is configured to extend circumferentially around the user; The waist belt system (110, 140) defines a rigid structure (142) including a rear central member (144) and a first transverse member (146) and a second transverse member (147) extending from opposite sides of the central member (144); The waist belt system (110, 140) defines a first buckle component (148) and a second buckle component (150) configured to be coupled to each other and flexibly extend from the first cross member (146) and the second cross member (147), respectively; The waist belt system (110, 140) further includes at least one center pad (152) configured to connect and correspond to the central member (144), or first and second cross member pads (154) configured to connect and correspond to the first cross member (146) and second cross member (147), respectively.

7. The pelvic orthosis (100) according to claim 1, wherein: The at least one auxiliary unit (104) is connected to an electronic or control system (106) via a first adjustment mechanism (180), the first adjustment mechanism (180) being configured to allow linear and / or rotational adjustment of the at least one auxiliary unit (104) relative to the electronic or control system (106).

8. The pelvic orthosis (100) according to claim 1, wherein: The at least one auxiliary unit (104) has a first end that is linearly adjustable relative to the electronic or control system (106) via a second adjustment mechanism (182); The at least one auxiliary unit (104) has a second end that is at least linearly and / or rotationally adjustable relative to the waist belt system (110) via a third adjustment mechanism (184).

9. The pelvic orthosis (100) of claim 1, further comprising a thigh coupling assembly (112) adjustably secured to the at least one auxiliary unit (104) and adapted to be secured to a thigh of a user.

10. The pelvic orthosis (100) according to claim 9, wherein: The thigh coupling assembly (112) is rotatably fixed to the second end of the at least one auxiliary unit (104), and the second portion of the thigh coupling assembly (112) is hingedly connected to the first portion of the thigh coupling assembly via a hinge (186); wherein the thigh extension strut (270) has a first end connected to the second portion (268) and a second end from which a thigh sleeve (274) extends, wherein the thigh sleeve (274) is adapted to extend circumferentially around the user's thigh.

11. The pelvic orthosis (100) according to claim 1, wherein: The coupling assembly (114) is defined as a connecting element (190) for connecting the auxiliary unit (104) to the back shell (116) of the physical human-machine interface (102), the connecting element (190) having a substantially vertical bend (193) located between a first end (195) and a second end (197) of the connecting element (190), such that the bend (193) is in the range of 75 to 100 degrees to redirect the auxiliary unit (104) relative to the back shell (116) configured to correspond to the user's waist and back region and relative to the side corresponding to the hip joint.

12. The pelvic orthosis (100) according to claim 11, wherein: The connecting element (190) defines a linear axis (P A1 ), a pin (212) is configured to selectively engage in any one of the plurality of openings (214) to set the width adjustment of the first end (195) of the connecting element (190) relative to the housing (116) in a bracket (210) formed by the housing (116), the bracket (210 defining another bushing (220) for providing friction resistance to the first end (195) of the connecting element, and a block (216) provided at an end opposite to the opening (194) to limit the extension of the connecting element (190) and the corresponding width adjustment, the pin (212) being configured to be connected to a button (218) protruding from a frame (198) of the housing (116), the button (218) being capable of being elastically biased to ensure that the pin (212) engages with one of the plurality of openings (214) and is capable of being disengaged from one of the plurality of openings (214).

13. The pelvic orthosis (100) according to claim 11, wherein: The invention also includes a lever assembly (230) engaged with the second end of the connecting element (190) and mounted on the auxiliary unit (104) to allow the second end of the connecting element (190) to be slidably fixed to the auxiliary unit (104), and the connecting element (190) is configured to be rotatably mounted to the second end of the connecting element (190) through the lever assembly (230).

14. The pelvic orthosis (100) according to claim 13, wherein: The lever assembly (230) includes a lever (232) located at least above a cover assembly of the auxiliary unit (104), the cover assembly including an outer cover (236), an inner cover (238), and a plate (234) disposed between the outer cover (236) and the inner cover (238).

15. The pelvic orthosis (100) of claim 14, wherein the lever assembly (230) includes a cam (246) extending from the lever (232) and capable of engaging with the connecting element (190), the connecting element extending into a connecting block (240) carried by the plate (234), the cam (246) extending into a housing (247) defined by the connecting block (240), and the cam (246) capable of being rotatably positioned in the connecting block (240) to selectively engage the connecting element (190).

16. The pelvic orthosis (100) according to claim 15, wherein: The connection block (240) defines an aperture (194) between the plate (234) and the inner cover (238), and an outlet hole (242) at an end opposite the aperture (194) to allow the second end of the connection element (190) to extend relative to the connection block (240).

17. The pelvic orthosis (100) according to claim 11, wherein: Also included is an electronic or control system (106) enclosed by a back housing (116) of the physical human-machine interface (102), the coupling assembly (114) being adjustably secured in the back housing (116); The electronic or control system (106) is carried on the waist area of the waist belt system (110).

18. The pelvic orthosis (100) according to claim 17, wherein: The frame (198) of the housing (116) defines: a side wall (191) having a hole (194) formed therein for the first end (195) of the connecting element (190) to extend therethrough; a bushing (192) received by the side wall (191) at the hole (194) and through which the first end (195) extends; and a fixing element (196) extending through the frame (198) to engage with the first end (195) of the connecting element (190) and maintain it in a fixed position relative to the frame (198).

19. The pelvic orthosis (100) according to claim 18, wherein: The frame (198) defines an interior cavity (200) sized and configured to retain a first end (195) of the connecting element (190) such that the first end (195) can slide within the cavity (200) when the securing element (196) is not engaged with the connecting element (190), the interior cavity (200) being configured to allow for movement along a linear axis (P) of the connecting element. A1 ) for linear adjustment, and around the linear axis (P A1 ) is rotatably adjustable relative to the housing (116) at the first end (195) of the connecting element (190) (P R ) to allow the first end (195) to be adjusted relative to the width of the housing (116), the fixing element (196) extending through the interior cavity (200) so as to be aligned with the connecting element (190) perpendicular to the linear axis (P A1 ) is engaged with a surface (202) of the substrate.

20. The pelvic orthosis (100) according to claim 1, wherein The invention relates to a sliding adjustment mechanism (250) for connecting the auxiliary unit (104) to the waist belt system (110), wherein the sliding adjustment mechanism (250) includes a support rod (252), the support rod (252) having a first end slidably connected to a sleeve (258) via a button (260), the button (260 being used to selectively engage with at least one of a plurality of slots (256) formed in the support rod (252), the support rod (252) also having a second end connected to a bracket (254), the bracket (254) being fixed to the waist belt assembly, and the sleeve (258) being fixed to the auxiliary unit (104).

21. The pelvic orthosis (100) according to claim 20, wherein: The sleeve (258) is pivotally or fixedly mounted on the auxiliary unit, and the sleeve (258) is fixedly mounted on the inner plate (234) of the auxiliary unit (104) near or at its second end.

22. The pelvic orthosis (100) according to claim 20, wherein: The support rod (252) defines an elongated slot (256) defining at least two notches (276A-276C) along its length, the button being configured to be selectively engaged in the notches.

23. The pelvic orthosis (100) according to claim 9, wherein: The thigh coupling assembly (112) is rotatably secured to a second end of the at least one auxiliary unit (104), and a second portion of the coupling assembly (112) is hingedly connected to a first portion of the coupling assembly (112) via a hinge (186); The thigh extension strut (270) has a first end connected to the second connecting section (268) and a second end from which a thigh sleeve (274) extends, the thigh sleeve (274) being adapted to extend circumferentially around the leg of a user; The thigh coupling assembly has a first connecting section (266) that is fixed to the auxiliary unit (104) at a rotation axis (264) to which a sleeve (258) is fixed.

24. The pelvic orthosis (100) according to claim 23, wherein: The thigh coupling assembly (112) includes a first connecting section (266) pivotally connected to the auxiliary unit (104), and a second connecting section (268) articulatedly connected to the first connecting section (266) via a hinge (272), wherein the hinge (272) has a pelvic tilt axis (L PT ).

25. The pelvic orthosis (100) according to claim 1, wherein Also included is a waist adjustment mechanism (280) comprising a pulley arrangement (282, 284) for adjusting the waist width (WL) of the auxiliary units (104A, 104B) relative to each other.

26. The pelvic orthosis (100) according to claim 9, wherein: The thigh coupling assembly (320) includes a thigh extension strut (322) connected to a thigh sleeve (324) that is adaptive to compensate for mismatch between the pelvic brace (100) and the user.

27. The pelvic orthosis (100) according to claim 26, wherein: The thigh sleeve (324) is connected to the thigh extension rod (322) through a first component (328) and a second component (330), and the second component (330) is capable of rotating on the spherical pin surface (332) of the first component (328).

28. The pelvic orthosis (100) according to claim 27, wherein: The second component (330) is forced to move along the first direction (D1) by the groove (334) formed in the second component (330).

Images