A soft exoskeleton assistive system for kegel training

Abstract

A flexible exoskeleton assistive system for Kegel exercises. This invention relates to a flexible exoskeleton assistive training device. The system includes a lumbosacral support component, left and right lower limb connection components, a force transmission component, and a foot stabilization structure. The lumbosacral support component has a power connection part, and the lower limb connection component has lateral connecting ears. The force transmission component connects the power connection part and the lateral connecting ears, and in use, at least partially runs through the space between the body and the support surface. When the left and right lower limbs are abducted, the force transmission component is tensioned and applies an upward traction force to the lumbosacral support component via the power connection part, thereby providing lumbosacral support or weight reduction assistance, adaptable to users of different body types and at different training stages.

Description

Technical Field

[0001] This invention relates to the field of flexible exoskeleton rehabilitation equipment technology, specifically to a flexible exoskeleton assistive system for Kegel exercises that uses a connecting webbing power chain between a central lumbar power platform and a knee joint restraint sleeve to convert hip abduction movements into vertical lifting assistance force for the lumbosacral region, thereby assisting the user in completing the bridge position.

[0002] The essential attribute of this invention is that of an assistive soft exoskeleton device. The connecting straps are designed to assist the user in completing the bridge position, rather than applying additional resistance that the user needs to actively overcome. This is the fundamental difference between this invention and existing resistance training devices. This invention is suitable for users who need pelvic floor muscle training, especially those with low muscle strength and insufficient motor coordination. Background Technology

[0003] Pelvic floor muscle dysfunction has a high incidence rate. Kegel exercises are a recognized method for pelvic floor muscle rehabilitation, but compliance is poor in people with low muscle strength and coordination disorders. This is because these people cannot generate enough muscle strength to complete the bridge position, let alone apply Kegel contractions at the correct time.

[0004] Current flexible exoskeleton technologies mainly focus on gait assistance and upper limb rehabilitation, with no flexible exoskeleton system specifically designed for pelvic floor muscle rehabilitation training. Existing elastic band bridge training devices are all designed to increase resistance, lacking designs that provide lifting assistance to lower the training threshold; existing technologies also lack a complete system solution for connecting a multi-layered composite lumbar power platform with a structured knee joint restraint sleeve through a power connection hole system to achieve precise power transmission. Summary of the Invention

[0005] This invention provides a soft exoskeleton assistive system for Kegel training. Through the multi-layered composite structure and power connection hole system of the central lumbar power platform, combined with the lateral connecting ear plates and connecting webbing of the structured knee joint restraint sleeve, it realizes the precise conversion of hip abduction movement into vertical lifting assistance force of the lumbosacral region. This allows users with low muscle strength to enter the bridge training position without actively exerting force, and the tension changes of the connecting webbing form a perceptible movement timing prompt.

[0006] The technical problem solved by this invention is that existing pelvic floor muscle training programs have poor compliance among people with low muscle strength and motor coordination disorders, lack external rhythmic guidance mechanisms, and lack precise power transmission structures.

[0007] The core technical solution of this invention includes: First, a multi-layer composite structure for the lumbar central power platform, consisting of a rigid support plate, a guide reinforcing rib composite layer, an EVA buffer layer, and a flexible inner lining skin-adhesive layer, from the outside to the inside. The guide reinforcing rib is embedded in the rigid support plate to ensure accurate power transmission direction. Second, a power connection hole system located at the lower edge of the lumbar central power platform, forming a closed-loop power transmission with the connecting webbing. Third, a structured knee joint restraint sleeve with a three-layer composite material structure, a patellar pressure relief area, and three-connection-point lateral connection earpieces. Fourth, a foot fixation sleeve and a three-point linkage stabilization structure. Fifth, a three-connection-point mechanical configuration, where the abduction-lifting connection, adduction-resistance connection, and abduction-resistance connection can be used individually or in combination.

[0008] The beneficial effects of this invention are as follows: it provides a structured solution for using a soft exoskeleton auxiliary structure to assist in pelvic floor muscle training postures; the multi-layer composite lumbar power platform ensures accurate and repeatable power transmission direction; the three-connection-point knee sleeve design realizes three training modes: abduction and lift, adduction resistance, and abduction resistance; the foot fixing sleeve forms a three-point linkage stability structure to improve safety; and the seated pre-adjustment wearing method allows users with low muscle strength to complete the wearing independently. Attached Figure Description

[0009] Figure 1 This is a diagram showing the overall connection status of the system of the present invention, illustrating the connection between the central power platform (11) at the waist and the left and right knee joint restraint sleeves (1) via connecting webbing (9) and power connection holes (15); it is also a diagram for the abstract of this application.

[0010] Figure 2 This is a side view of the device worn with the present invention, showing the side view of the user in a supine bridge position, with the lumbosacral region about 5 to 10 centimeters off the ground, and the positions of each component and the connecting webbing threads are marked.

[0011] Figure 3 This is a top view of the device worn with the present invention, showing the user's supine position from a top angle, and indicating the X-shaped routing of the connecting webbing (9) and the positional relationship of the three connection points.

[0012] Figure 4 The front view of the central power platform in the waist shows the outer structural surface, and marks the rigid support plate (11), guide reinforcement rib (12), power connection hole (15), adjustment strap (16), closing buckle (17) and Velcro closure area (18).

[0013] Figure 5 The rear view of the central power platform of the waist shows the inner human body contact surface and marks the waist body (11), guide reinforcement rib (12), power connection hole (15) and adjustment strap (16).

[0014] Figure 6The diagram shows a cross-sectional view of the central power platform AA in the waist section, illustrating the four-layer composite structure. It indicates the hierarchical relationship of the rigid support plate (11), the guide stiffener (12), the EVA buffer layer (13), and the flexible inner lining skin layer (14), as well as the cross-sectional structure of the power connection hole (15).

[0015] Figure 7 A 45° perspective view of the central power platform in the waist area is provided to show the overall appearance and the location of each component.

[0016] Figure 8 The top view of the central power platform in the waist shows the overall butterfly-shaped outline, and marks the main body of the waist (11), the guide reinforcing rib (12) and the power connection hole (15).

[0017] Figure 9 The side view of the central power platform in the waist shows the side thickness outline and marks the waist body (11), the Velcro closure area (18) and the power connection hole (15).

[0018] Figure 10 The front view of the knee joint restraint sleeve shows its frontal shape and marks the main body of the knee sleeve (1), the lateral connecting ear (2), the patellar pressure relief area (3), the upper fixation strap (4), and the lower fixation strap (5).

[0019] Figure 11 The rear view of the knee restraint sleeve shows its back shape and marks the main body of the knee sleeve (1), the lateral connecting ear (2), the upper fixing strap (4), and the lower fixing strap (5).

[0020] Figure 12 The top view of the knee joint restraint is shown, including the AA section mark, which marks the lateral connecting ear (2), the patellar pressure relief area (3), the upper fixation band (4) and the lower fixation band (5).

[0021] Figure 13 A cross-sectional view of the knee joint restraint sleeve AA is shown, displaying the three-layer composite structure section, with the outer support layer (6), the middle buffer layer (7), and the inner skin-adhesive layer (8) marked.

[0022] Figure 14 The side view of the knee joint restraint sleeve shows its side shape and marks the main body of the knee sleeve (1), the lateral connecting ear (2), the upper fixing strap (4) and the lower fixing strap (5).

[0023] Figure 15 An exploded view of the knee joint restraint sleeve shows the decomposed state of each layer, indicating the main body of the knee sleeve (1), the lateral connecting ear (2), the patellar pressure relief area (3), the upper fixation strap (4), the lower fixation strap (5), the outer support layer (6), the middle buffer layer (7), the inner skin-adhesive layer (8), and the connecting webbing (9).

[0024] Figure 16 A three-dimensional view of the foot support sleeve is provided to show the overall wearing state, and the foot support sleeve (20), the main strap of the foot support sleeve (21) and the foot support sleeve fixing area (22) are marked.

[0025] Figure 17 The diagram shows the unfolded state of the foot fixing sleeve, with the foot fixing sleeve (20), the main body of the foot sleeve (21), and the foot fixing area (22) marked.

[0026] Figure 18 The side view of the foot fixing sleeve shows the foot fixing sleeve (20), the main body of the foot sleeve (21), and the foot fixing area (22).

[0027] Figure 19 The front view of the foot fixation sleeve in the closed state shows the shape after wearing and closing, and marks the foot fixation sleeve (20), the main strap of the foot sleeve (21) and the foot fixation area (22).

[0028] The numbers in the diagram have the following meanings: 1—Knee sleeve body; 2—Lateral connecting ear piece; 3—Pattern pressure relief area; 4—Upper fixation strap; 5—Lower fixation strap; 6—Outer support layer; 7—Middle buffer layer; 8—Inner skin-fitting layer; 9—Connecting webbing; 11—Waist main rigid support plate; 12—Guiding reinforcing rib; 13—EVA buffer layer; 14—Flexible inner lining skin-fitting layer; 15—Power connection hole; 16—Adjustable strap; 17—Closing buckle; 18—Hook and loop closure area; 19—Length adjustment buckle; 20—Foot fixing sleeve; 21—Foot sleeve body strap; 22—Foot sleeve fixing area. Detailed Implementation

[0029] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0030] I. System Overall Structure The flexible exoskeleton assistive system for Kegel training of this invention consists of three subsystems, see [link to relevant documentation]. Figure 1 Subsystem A is the central power platform for the waist (numbered 11-18), subsystem B is the knee joint restraint sleeve (numbered 1-9, one on each side), and subsystem C is the connecting power chain (connecting webbing 9, length adjustment buckle 19). The three subsystems form a closed-loop power transmission system with the lateral connecting ear (2) through the power connection hole (15). The foot fixing sleeve (20-22) together with the above three subsystems constitutes a three-point linkage stability structure of the foot, knee joint, and waist.

[0031] II. Subsystem A: Waist Central Power Platform The central power platform in the waist area is a butterfly-shaped rigid-semi-rigid composite structure, see [link / reference]. Figures 4 to 9The core component is the rigid support plate (11) for the waist, made of PP or PA engineering plastic, which bears the tension of the connecting webbing and provides a guiding function; the guide reinforcing rib (12) is embedded in the rigid support plate, with a flat and non-protruding outer surface, used to maintain the stability of the rigid support plate during the transmission of tension of the connecting webbing, prevent deformation caused by stress leading to displacement of the power connection hole position, and ensure that the lifting force direction is accurate and repeatable; the EVA buffer layer (13) is made of high-density EVA material, which buffers and reduces pressure and conforms to the user's waist curve; the flexible inner lining skin-friendly layer (14) is made of breathable fabric, which is skin-friendly and comfortable; the four-layer structure is arranged sequentially from the outside to the inside, see Figure 6 Cross-sectional view.

[0032] The power connection hole (15) is located in the central area of ​​the lower edge of the central power platform at the waist, and is equipped with a rotating connecting ring to prevent the connecting webbing from getting tangled or twisted. See [link to relevant documentation]. Figure 4 , Figure 5 , Figure 8 The adjustment strap (16) extends around the user's waist, with a width not exceeding 60 mm. It is secured by the Velcro closure area (18) and the closure buckle (17) to keep the central power platform of the waist in a stable position after wearing in a seated position, without the need for manual adjustment when lying down.

[0033] III. Subsystem B: Knee Joint Restraint Sleeve The knee joint restraint sleeve adopts a three-layer composite structure, see [link / reference] Figures 10 to 15 The outer support layer (6) provides structural strength; the middle cushioning layer (7) uses memory foam to cushion the knee joint; the inner skin-friendly layer (8) is skin-friendly and comfortable. See also Figure 13 Cross-sectional view. The main body of the knee sleeve (1) is provided with a patellar pressure relief area (3), forming an open structure to avoid pressure on the patella. The upper fixation strap (4) and the lower fixation strap (5) are adjustable in circumference to fit knee circumferences of 14 to 55 cm.

[0034] Lateral connecting ear pieces (2) are symmetrically located on both sides of the knee sleeve body, made of rigid material, and have three connection points: Connection point ① is located on the upper part of the inner side, used to connect to the abduction and lifting connecting webbing; Connection point ② is located on the middle part of the inner side, directly connecting to the left and right knee sleeves through a short connecting webbing to provide adduction resistance; Connection point ③ is located on the outer side, providing abduction resistance. The three connection points can be used individually or in any combination to achieve three training modes, see [link to relevant documentation]. Figure 15 Exploded view.

[0035] IV. Subsystem C: Connecting the power chain The connecting webbing (9) is connected to the power connection hole (15) and the lateral connecting ear (2) at both ends respectively. In use, it passes under the lumbar spine between the user's body and the support surface. See below. Figure 1 , Figure 2 , Figure 3The connecting webbing is equipped with a length adjustment buckle (19), located at one end of the connecting webbing near the lateral connecting lug, 10 to 20 cm from the connection point, for adjusting the effective working length of the connecting webbing. See [link to relevant documentation]. Figure 2 Side view of the device being worn. The specific implementation of the length adjustment buckle includes, but is not limited to, ratchet locking, pin hole type, knob tightening type, or any mechanism with equivalent adjustment function, and has five body size positions from low tension to large size, with the maximum tension limit of the low tension position not exceeding 9N (2 pounds).

[0036] Connecting webbing is classified into five grades according to elasticity: very light 2N to 9N (0.5 to 2 lbs), light 4N to 22N (1 to 5 lbs), medium light 22N to 45N (5 to 10 lbs), medium 45N to 89N (10 to 20 lbs), and strong 89N to 133N (20 to 30 lbs). Each grade is indicated by a different color.

[0037] V. Foot support sleeve The foot support sleeve (20) consists of a main body (21) and a foot support fixing area (22), see [reference]. Figures 16 to 19 The main body of the foot cover is an adjustable ring-shaped strap, suitable for foot circumferences of 20 to 40 centimeters. The foot cover fixing area is equipped with anti-slip material to prevent shifting during training. The foot fixing sleeve, knee joint restraint sleeve, and waist central power platform together form a three-point linkage stability structure, ensuring that the connection points move in coordination when the user's legs are abducted, and ensuring the stability of the tension direction of the connecting webbing at the power connection hole.

[0038] VI. Engineering Assembly Example: The user fixes the lumbosacral support component to the lumbosacral region, the left and right lower limb connection components are fixed to the corresponding lower limbs respectively, the foot stabilization structure is fixed to the sole of the foot, and the force transmission component connects each component through the power connection hole, and is in a tensionable state; when the user's lower limbs perform relative opening and closing movements, the force transmission component is tensioned and applies an upward traction force to the lumbosacral support component through the power connection hole.

[0039] The following is illustrative supplementary content, used to illustrate equivalent alternative embodiments of each core component of the present invention. The listed configuration examples are merely illustrative and do not constitute a limitation on the scope of protection, nor do they constitute proof of clinical efficacy.

[0040] The lumbosacral support component of this invention is not limited to a wearable lumbar central power platform. (a) Pad-type support: It does not need to be worn and is placed directly between the user's lumbosacral region and the training pad, and is provided with a force conversion part connected to the force transmission component; (b) Support structure integrated with the training pad: The support structure is embedded in the training pad, and the user's lumbosacral region naturally contacts the structure when lying supine; (c) External support below the pelvis: It is located above the training pad and supports the user's lumbosacral region adjacent to it, without direct contact with the body; The above forms meet the description of "contacting, attaching, wearing, padding or supporting adjacent to the user's lumbosacral region" and fall within the scope of protection.

[0041] The force transmission components of this invention are not limited to flexible elastic bands or webbing. (a) Inelastic cable: The leg displacement is converted into a lumbosacral lifting force through a guide pulley; (b) Hinge linkage: A rigid or semi-rigid linkage connects both sides through a hinge joint, and the angular displacement generated when the leg is abducted lifts the lumbosacral region through the force conversion part; (c) Spring plate: A spring bow-shaped component is located below the lumbosacral region, and the leg abduction pulls the spring plate to generate an upward elastic force; (d) Airbag pressurization component: The lower limb movement compresses the airbag, and the air pressure is transmitted to the lumbosacral lifting airbag; The above forms satisfy the description of "the force transmission component generates tension change, elastic energy storage change or displacement change", and fall within the scope of protection.

[0042] The lower limb and / or foot motion connection components of this invention are not limited to knee joint restraint sleeves. (a) a thigh ring restraint sleeve, located in the lower third of the thigh; (b) a lower leg proximal fixation sleeve, located in the proximal end of the lower leg; (c) an ankle restraint sleeve, located at the ankle joint; (d) a foot fixation sleeve, which can also serve as a main motion connection component when it has a traction connection part and is directly connected to the force transmission component; (e) an integrated restraint sleeve from the thigh to the ankle; the above forms satisfy the description of "located on the user's left and right lower limbs and / or feet" and fall within the scope of protection.

[0043] The force conversion part of this invention is not limited to the power connection hole at the lower edge of the central power platform in the waist. Equivalent alternatives include: a rotating connecting ring, a pulley guide, a slot structure, a magnetic connector, and a snap-fit ​​seat; the above forms satisfy the description of "converting at least a portion of the change in the force transmission component into an auxiliary force in the lumbosacral region" and fall within the scope of protection.

[0044] The composite structure of the central power platform in the waist section of this invention is not limited to a four-layer structure. (a) Three-layer structure: rigid support plate, composite buffer layer and skin-contact layer; (b) One-piece molded gradient hardness structure: functional zoning for load-bearing and buffering through different density areas; (c) Honeycomb support structure: lightweight load-bearing through honeycomb grid; (d) Carbon fiber sheet with silicone pad: carbon fiber load-bearing layer and silicone buffer contact layer; The four-layer structure described in the embodiments of the specification is a preferred embodiment, and the above equivalent alternative forms also fall within the protection scope of this invention.

[0045] The postures assisted by this invention in enabling users to enter or maintain are not limited to the standard bridge posture. Equivalent alternative postures include: near-bridge posture (with a slight elevation of the lumbosacral region rather than a full bridge posture), supine pelvic elevation (assisted posterior pelvic tilt training), and postures assisted in pelvic floor muscle training. The elevation of the user's lumbosacral region is 3 to 15 cm, preferably 5 to 10 cm; for users with low muscle strength, even if the lumbosacral region only produces a slight weight-reduction effect (elevation height less than 3 cm) and is not completely off the ground, as long as the system structure generates a lifting or weight-reduction assisting force, it still falls within the protection scope of claim 1.

Claims

1. A flexible exoskeleton assistive system for Kegel training, characterized in that, include: The lumbosacral action component, in use, contacts, adheres to, is worn, padded, or supported adjacent to the user's lumbosacral region, and has a force conversion part for receiving the force transmitted from the force transmission component and converting it into an auxiliary force acting on the lumbosacral region; the lower limb and / or foot movement connection component is disposed on the user's left and right lower limbs and / or feet, and shifts with the relative opening and closing movements of the left and right lower limbs and / or feet; the force transmission component connects the force conversion part to the lower limb and / or foot movement connection component; when the user's left and right lower limbs and / or feet undergo abduction, adduction, separation, convergence, or relative opening and closing movements, the force transmission component generates tension changes, elastic energy storage changes, or displacement changes, and the force conversion part converts at least a portion of the above changes into a lifting auxiliary force, weight reduction auxiliary force, or posture maintenance auxiliary force acting on the user's lumbosacral region, for assisting the user in entering or maintaining bridge, near-bridge, supine pelvic elevation, or pelvic floor muscle assisted training postures.

2. The system according to claim 1, characterized in that, The system is equipped with at least two force transmission components of different elastic strengths or sizes, configured according to the user's body type and training stage; the elastic strength ranges from 2N to 133N.

3. The system according to claim 1, characterized in that, The lumbosacral support component is selected from at least one of the following forms: (a) a central lumbar power platform, wearable, worn on the user's waist; (b) a padded support component, placed between the user's lumbosacral region and the support surface; (c) a support structure integrated with a training pad; (d) a semi-wearable lumbosacral support component; or other structures having equivalent lumbosacral force transmission function; the force conversion part is located at the lower edge of the lumbosacral support component or in the lower region facing the support surface.

4. The system according to claim 3, characterized in that, The force conversion part is selected from at least one of the following: connecting hole, connecting ring, hanging ring, slot, pulley, fastener, webbing ring, magnetic connector, guide groove, and steering component.

5. The system according to claim 3, characterized in that, The central power platform of the waist includes a composite structure with at least a load-bearing support structure and a buffer contact structure; the composite structure may be selected from the following forms: (a) a four-layer composite structure consisting of a rigid support plate, a guide reinforcing rib composite layer, an EVA buffer layer and a flexible inner lining skin layer from the outside to the inside; (b) an integrally molded structure with gradient hardness; (c) a three-layer composite structure; (d) a honeycomb support structure; or other composite configurations with equivalent load-bearing and buffering functions.

6. The system according to claim 3, characterized in that, The lumbar central power platform is also equipped with a fixing mechanism to keep the lumbosacral action component in the user's lumbosacral region after wearing it in a seated position; the fixing mechanism includes an adjustable strap and a closing structure, the width of the adjustable strap does not exceed 60 mm, and does not restrict abdominal breathing; when the user is supine, the lumbosacral action component remains in a fixed position without manual adjustment.

7. The system according to claim 1, characterized in that, The lower limb and / or foot movement connection component is a knee joint restraint sleeve. The knee joint restraint sleeve is provided with a traction connection part, which is selected from at least one of lateral connecting ear, connecting ring, lateral fastening plate, and elastic connecting band. The knee joint restraint sleeve is also provided with a patella pressure relief area, forming an open structure to avoid pressure on the patella. It is suitable for knee circumferences of 14 to 55 cm.

8. The system according to claim 7, characterized in that, The knee joint restraint sleeve adopts a composite structure with at least a support layer and a skin-fitting layer. The composite structure consists of an outer support layer, a middle buffer layer, and an inner skin-fitting layer from the outer layer to the inner layer.

9. The system according to claim 7, characterized in that, The traction connection has three connection points: Connection point ①, located on the upper part of the inner side, is used to connect to the force transmission component of the force conversion part of the lumbosacral action component to realize lumbosacral support during lower limb abduction; Connection point ②, located in the middle of the inner side, is directly connected to the left and right side motion connection components through the short force transmission component to provide adduction resistance during lower limb adduction; Connection point ③, located on the outer side, provides abduction resistance for advanced training; The three connection points can be used individually or in any combination.

10. The system according to claim 1, characterized in that, It also includes foot and / or ankle movement structures, wherein the foot and / or ankle movement structures are selected from at least one of the following: (a) a foot fixing sleeve, including a foot sleeve body and a foot sleeve fixing area, adapted to a foot circumference of 20 to 40 cm; (b) an anti-slip foot pad; (c) a foot positioning groove; (d) a foot fixing strap; (e) a shoe cover type fixing component; the foot and / or ankle movement structure can together with the lower limb and / or foot movement connection component and the lumbosacral action component to form a three-point linkage stability structure of foot, knee and waist; the foot and / or ankle movement structure may also be provided with a traction connection part for directly or indirectly connecting the force transmission component, and participate in force transmission as a traction connection point.

11. The system according to claim 1, characterized in that, The force transmission component is selected from at least one of the following: connecting webbing, elastic band, elastic rope, elastic tube, cable, elastic traction component, non-elastic webbing, pulley guide component; the wiring path of the force transmission component in use is limited to the area below the user's lumbosacral region; the force transmission component is provided with a length adjustment mechanism, including but not limited to ratchet locking type, pin hole type, knob tightening type, Velcro type or spring clip type; the length adjustment mechanism is marked with body size settings: low tension setting, small size setting, standard setting, medium size setting, large size setting; the maximum tension limit of the low tension setting does not exceed 9N.

12. The system according to claim 11, characterized in that, The force transmission components are divided into five levels according to elastic strength: very light 2N to 9N, suitable for users in the initial training stage; light 4N to 22N; moderate light 22N to 45N; Moderate: 45N to 89N; Strength: 89N to 133N; each level is indicated by a different color.

13. The system according to claim 1, characterized in that, The routing of the force transmission component in use is selected from at least one of the following: passing below the user's lumbar spine, passing below the lumbosacral region, passing on both sides of the waist, turning via a guide structure, changing direction via a pulley, or being constrained by a guide groove.

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