High-mobility efficient load-transfer sacro-lumbar articulated dorsal structure for orthotic structures

Abstract

A load transfer sacro-lumbar articulated dorsal support structure allowing the transfer of torque generated from a hip orthotic structure through a user's back, comprising: a spine support component including at least one pair of independent contact interfaces interconnected by joints, and linked to a pelvic support structure through at least one pair of multi-bar linkage elements associated with each of the at least one pair of contact surfaces. The pelvic support structure includes at least one hip attachment component configured for securing an associated hip joint provided with an orthotic structure attachment component. In use, the load transfer sacro-lumbar articulated dorsal support structure provides anatomical transfer of the torque generated by the hip joint through the user's back.

Description

HIGH-MOBILITY EFFICIENT LOAD-TRANSFER SACRO-LUMBAR ARTICULATED DORSAL STRUCTURE FOR ORTHOTIC STRUCTURESCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefits of U.S. provisional patent application No. 63 / 348,194 filed on June 2, 2022, which is herein incorporated by reference.TECHNICAL FIELD

[0002] The present disclosure relates to a high-mobility efficient load transfer sacro-lumbar articulated dorsal structure for orthotic structures.BACKGROUND

[0003] T raditional lower-body exoskeletons are either lower-body only (no hip motor, or hip motor generating low torque), or include an upper-body component (for example, in the presence of a hip motor generating high torque). These components tend to transmit the hip motor force to the upper body while also restricting the mobility of the upper body.

[0004] Accordingly, there is a need for a solution that limits the force transferred by a hip motor to the upper body as well allowing improved mobility of the upper body.

[0005] Furthermore, current exoskeletons and orthoses tend to use traditional pads composed of foams or other compressible types of materials where a compromise between comfort and rigidity for force transfer must be made.

[0006] Accordingly, there is also a need for a padding solution for exoskeleton that provides improved comfort while not sacrificing the ability to efficiently transfer force from a joint actuator to an associated body part.SUMMARY

[0007] The present disclosure provides a load transfer sacro-lumbar articulated dorsal support structure allowing the transfer of torque generated from a hip orthotic structure through a user’s back, comprising:

[0008] a spine support component including at least one pair of independent contact interfaces, and in an alternative embodiment at least two pairs of independent contact interfaces, interconnected by joints, and linked to a pelvic support structure through at least one pair of multi-bar linkage elements associated with each of the at least one pair of contact surfaces, the pelvic support structure including at least one hip attachment component configured for securing an associated hip joint provided with an orthotic structure attachment component;

[0009] wherein in use the load transfer sacro-lumbar articulated dorsal support structure provides anatomical transfer of the torque generated by the hip joint through the user’s back.

[0010] The present disclosure also provides a load transfer sacro-lumbar articulated dorsal structure wherein each of the independent contact interfaces is provided with a viscoelastic material on a side facing the user’s back, the viscoelastic material conforming to the user’s back and becoming rigid under the torque generated by the hip joint, therefore transmitting the generated torque while providing comfort to the user. In another embodiment, each of the independent contact interfaces is provided with a sandwich of non-viscoelastic materials on a side of the user’s back.

[0011] The present disclosure further provides a load transfer sacro-lumbar articulated dorsal structure wherein the interconnecting joints, the at least one pair of multi-bar linkage elements and / or the pelvic support structure include a zerorigidity material, an infinite rigidity material or a material having a rigidity different than zero and infinity.

[0012] The present disclosure also further provides a load transfer sacrolumbar articulated dorsal structure wherein the interconnecting joints, the multi-bar linkage elements and / or the pelvic support structure include a material selected fromthe group consisting of air, fabric, foam, plastic and metal. The interconnecting joints may also include one or more layers, one of which may contain air.

[0013] The present disclosure still further provides a load transfer sacrolumbar articulated dorsal structure wherein the hip joint is a flexible structure that includes a zero-rigidity material, an infinite rigidity material or a material having a rigidity different than zero and infinity, resisting against a user’s motion.

[0014] The present disclosure also provides a load transfer sacro-lumbar articulated dorsal structure wherein the hip joint is a free-moving pivot or a powered actuator.

[0015] The present disclosure further provides a load transfer sacro-lumbar articulated dorsal structure further comprising a harness configured to secure the articulated dorsal support structure to a trunk of the user. In one embodiment, the harness is composed of a thorax strap and a waist strap, the thorax strap and the waist strap allowing a user’ trunk to rotate in a transverse plane and in a frontal plane without interference.

[0016] The present disclosure also further provides a load transfer sacrolumbar articulated dorsal structure further comprising an orthotic structure linked to the dorsal structure through the orthotic structure attachment component. In some embodiments, the orthotic structure is a passive orthosis and in others a powered exoskeleton.BRIEF DESCRIPTION OF THE FIGURES

[0017] Embodiments of the disclosure will be described by way of examples only with reference to the accompanying drawings, in which:

[0018] FIG. 1 is a schematic perspective view of the high-mobility efficient load transfer sacro-lumbar articulated dorsal structure for orthotic structures in accordance with an illustrative embodiment of the present disclosure;

[0019] FIG. 2 is a perspective view of an illustrative embodiment of the high- mobility efficient load transfer sacro-lumbar articulated dorsal structure for orthotic structures in accordance with an illustrative embodiment of the present disclosure; and

[0020] FIG. 3 is a schematic perspective view of the high-mobility efficient load transfer sacro-lumbar articulated dorsal structure of FIG.°2.

[0021] Similar references used in different Figures denote similar components.DETAILED DESCRIPTION

[0022] Generally stated, the non-limitative illustrative embodiment of the present disclosure provides a high-mobility efficient load transfer sacro-lumbar articulated dorsal structure for orthotic structures. In another non-limitative illustrative embodiment of the present disclosure, there is provided a viscoelastic interface between the user’s body and rigid or semi-rigid components from an orthosis or exoskeleton.

[0023] Referring to FIG.°1 , the high-mobility efficient load transfer sacrolumbar articulated dorsal structure (1 ) includes a rigid or semi-rigid pelvic structure(11 ) surrounding the user’s hips and pelvic bones, as well as low-profile segments (16) that attach at the sides. Each low-profile segment (16) has receptacles to which at least one hip joint (12) is attached. In the illustrative embodiment, the hip joints(12) are provided with actuators generating a torque in the sagittal plane, are constrained below the hip by the lower-body orthotic structure (13) through an associated orthotic structure attachment component (15). Above the hips, a spine support component (10) transmits the torque from the hip joints (12) to the upper body through an associated hip attachment component (14) and, in an illustrative embodiment, with the help of a harness (20) consisting of either one strap (21 ) on the top of the structure (1 ) at the height of the ribcage and / or another strap (22) at the bottom of the structure (1 ) at the height of the waist or of a shoulder harness (21 ) flexibly anchoring the back component (10) to the shoulders, chest, and upper back of the user. Considering the embodiment where the spine support component (10) is used in conjunction with a harness (20), this configuration allows for the transmission of the torque generated by the hip actuators (12) in an agonistantagonist fashion.

[0024] The spine support component (10) includes contact interfaces (32) connected to each other via joints (34) allowing for compliance ranging between none (fully rigid, such, for example, metal) to maximum (no linkage, air), including plastics and fabrics of various rigidity, and are linked to the rigid or semi-rigid pelvic structure (11 ) via multi-bar linkage elements (36) allowing for compliance ranging between to maximum, links of various rigidity.

[0025] The shape of the spine support component (10) and use of a flexible harness (20) provide for a high-mobility force-transferring back structure (1 ) that is mostly flexible at the height of the thorax. This allows the user to rotate their trunk in the horizontal plane freely, by turning inside the strap or leveraging the compliance of the spine support component (10). In addition, the flexibility allows the user to rotate their trunk in the frontal plane from side-to-side.

[0026] In a further illustrative embodiment, the contact interfaces (32) of the high-mobility force-transferring back structure (1 ) may be provided with a viscoelastic material on the side of the user’s body and rigid or semi-rigid components of the high-mobility force-transferring back structure (1 ). The viscoelastic interface uses viscoelastic materials (or materials with non-Newtonian properties) at the interface between the user’s body and rigid or semi-rigid components from an orthosis or exoskeleton. These materials are selected with properties that allow the interface to conform to the user’s body and morphological features, while becoming rigid under the force generated by the hip joints (12) and therefore transmitting the force in a comfortable yet efficient way. In an alternative embodiment, the contact interfaces (32) may be composed of sandwiched non- viscoelastic materials, for example fabrics, foams, and plastics) on the side of the user’s body.

[0027] It is to be understood that contact interfaces provided with viscoelastic material can be used with any orthosis or exoskeleton for the lower body, middle and / or upper body, as well as with the high-mobility force-transferring back structure.

[0028] It is to be understood that the number of contact interfaces (32), joints (34) and multi-bar linkage elements (36) may vary. For example, in an alternativeembodiment, the high-mobility efficient load transfer sacro-lumbar articulated dorsal structure (1 ) may be provided with a single pair of contact interfaces (32).

[0029] It is to be further understood that although reference is made to a pair of low-profile segments (16), in alternative embodiments the high-mobility efficient load transfer sacro-lumbar articulated dorsal structure (1 ) may be provided with a single low-profile segment (16) positioned on either side of the user’s body.

[0030] Referring to FIGS.°2 and 3, there is shown an illustrative embodiment of the high-mobility efficient load transfer sacro-lumbar articulated dorsal structure (1 ) including a rigid or semi-rigid pelvic structure (11 ) surrounding the user’s hips and pelvic bones, as well as low-profile segments (16) that attach at the sides. Each low-profile segment (16) has a receptacle to which a hip joints (12) is attached. The hip joints (12) are provided with actuators generating a torque in the sagittal plane, are constrained below the hip by a lower-body orthotic structure (13) through an associated orthotic structure attachment component (15). Above the hips, a spine support component (10) transmits the torque from the hip joints (12) to the upper body through an associated hip attachment component (14) and, in an illustrative embodiment, with the help of a harness consisting of a strap (21 ) on the top of the structure (1 ) at the height of the ribcage and another strap (22) at the bottom of the structure (1 ) at the height of the waist flexibly anchoring the back component (10) to the shoulders, chest, and upper back of the user. The straps (21 , 22) allow for the transmission of the torque generated by the hip joints (12) in an agonist-antagonist fashion.

[0031] In various illustrative embodiments, the hip joints (12) may be in the form of flexible structures that include a zero-rigidity material, an infinite rigidity material or a material having a rigidity different than zero and infinity, resisting against the user’s motion. In other embodiments, the hip joints (12) may also be free-moving pivots or powered actuators.

[0032] The spine support component (10) includes contact interfaces (32) connected to each other via joints (34) allowing for compliance ranging between none (fully rigid, such, for example, metal) to maximum (no linkage, air), includingplastics and fabrics of various rigidity, and are linked to the rigid or semi-rigid pelvic structure (1 1 ) via multi-bar linkage elements (36) allowing for compliance ranging between to maximum, links of various rigidity.

[0033] The shape of the spine support component (10) and use of flexible straps (21 , 22) provide for a high-mobility force-transferring back structure (1 ) that is mostly flexible at the height of the thorax. This allows the user to rotate their trunk in the horizontal plane freely, by turning inside the strap or leveraging the compliance of the spine support component (10). In addition, the flexibility allows the user to rotate their trunk in the frontal plane from side-to-side.

[0034] Although the present disclosure has been described by way of particular non-limiting illustrative embodiments and examples thereof, it should be noted that it will be apparent to persons skilled in the art that modifications may be applied to the present particular embodiment without departing from the scope of the present disclosure.

Claims

CLAIMSWe claim:1 . A load transfer sacro-lumbar articulated dorsal support structure (1 ) allowing the transfer of torque generated from a hip orthotic structure through a user’s back, comprising: a spine support component (10) including at least one pair of independent contact interfaces (32) interconnected by joints (34), and linked to a pelvic support structure (11 ) through at least one pair of multi-bar linkage elements (36) associated with each of the at least one pair of contact surfaces (32), the pelvic support structure (11 ) including at least one hip attachment components (14) configured for securing an associated hip joint (12) provided with an orthotic structure attachment component (15); wherein in use the load transfer sacro-lumbar articulated dorsal support structure (1 ) provides anatomical transfer of the torque generated by the hip joint (12) through the user’s back.

2. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to claim 1 , wherein each of the independent contact interfaces (32) is provided with a viscoelastic material on a side facing the user’s back, the viscoelastic material conforming to the user’s back and becoming rigid under the torque generated by the hip joint (12), therefore transmitting the generated torque while providing comfort to the user.

3. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to claim 1 , wherein each of the independent contact interfaces (32) is provided with a sandwich of non-viscoelastic materials on a side of the user’s back.

4. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to any one of claims 1 to 3, wherein the interconnecting joints (34) include a zerorigidity material.

5. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to any one of claims 1 to 3, wherein the interconnecting joints (34) include an infinite rigidity material.

6. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to any one of claims 1 to 3, wherein the interconnecting joints (34) include a material having a rigidity different than zero and infinity.

7. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to any one of claims 1 to 3, wherein the interconnecting joints (34) include one or more layers selected from the group consisting of air, fabric, foam, plastic and metal.

8. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to any one of claims 1 to 7, wherein the multi-bar linkage elements (36) include a zerorigidity material.

9. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to any one of claims 1 to 7, wherein the multi-bar linkage elements (36) include an infinite rigidity material.

10. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to any one of claims 1 to 7, wherein the multi-bar linkage elements (36) include a material having a rigidity different than zero and infinity.

11. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to any one of claims 1 to 7, wherein the multi-bar linkage elements (36) include a material selected from the group consisting of fabric, foam, plastic and metal.

12. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to any of claims 1 to 11 , wherein the pelvic support structure (11 ) includes a zerorigidity material.

13. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to any of claims 1 to 11 , wherein the pelvic support structure (11 ) includes an infiniterigidity material.

14. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to any of claims 1 to 1 1 , wherein the pelvic support structure (11 ) includes a material having a rigidity different than zero and infinity.

15. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to any one of claims 1 to 11 , wherein the pelvic support structure (11 ) includes a material selected from the group consisting of fabric, foam, plastic and metal.

16. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to any one of claims 1 to 15, wherein the hip joint (12) are flexible structures that include a zero-rigidity material resisting against a user’s motion.

17. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to any one of claims 1 to 15, wherein the hip joint (12) are flexible structures that include an infinite rigidity material resisting against a user’s motion.

18. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to any one of claims 1 to 15, wherein the hip joint (12) is a flexible structure that includes a material having a rigidity different than zero and infinity resisting against a user’s motion.

19. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to any one of claims 1 to 15, wherein the hip joint (12) is a free-moving pivot.

20. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to any one of claims 1 to 15, wherein the hip joint (12) is a powered actuator.

21. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to any one of claims 1 to 20, further comprising a harness (20) configured to secure the articulated dorsal support structure (1 ) to a trunk of the user.

22. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to claim 21 , wherein the harness (20) includes at least one of a thorax strap (21 ) and a waist strap (22), the thorax strap (21 ) and the waist strap (22) allowing a user’ trunk to rotate in a transverse plane and in a frontal plane without interference.

23. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to any one of claims 1 to 22, further comprising an orthotic structure (13) linked to the dorsal structure (1 ) through the orthotic structure attachment component (15).

24. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to claim 23, wherein the orthotic structure (13) is a passive orthosis.

25. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to claim 23, wherein the orthotic structure (13) is a powered exoskeleton.

26. The load transfer sacro-lumbar articulated dorsal structure (1 ) according to any one of claims 1 to 25, wherein the spine support component (10) includes at least two pairs of independent contact interfaces (32).

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