MOTORISED ASSISTANCE SYSTEM

Abstract

Disclosed is a motorized with a tibial orthosis including: a tibial fastening that covers the user's shin; an ankle fastening articulated with a plantar fastening at the axis of the ankle; and a processor. The tibial fastening can include a support of a motorized winch, in which a strap is hooked, whose free end is fixed to the foot, so that the winch takes up the strap when a foot position sensor indicates that it is not resting on the ground. Alternatively, the system can have a femur orthosis with two femur actuators that take up or release two strap in parallel, one attached to a harness or belt and the other to the tibial fastening. The system may include additionally or alternatively a hip orthosis.

Claims

1. Motorized assistance system that comprises a tibial orthosis including: a tibial fastening that covers a user's shin; a plantar fastening; a processor that receives an activation signal; a power supply; characterized in that it also comprises an ankle fastening articulated at an axis of the ankle with the plantar fastening and joined to the tibial fastening; and an active part selected from: a support of a motorized winch, of a strap whose free end is fixed to the foot, so that the winch takes up the strap when the foot is not resting on the ground, all carried in the tibial fastening; a femur orthosis formed by a thigh attachment, located above the knee and in front of the patient, a lower femur actuator attached by means of a strap to the tibial fastening, and an upper femur actuator fixed by another strap to a harness or belt, both femur actuators, being coordinated to take up or release belt in parallel when the foot is not resting on the ground.

2. System according to claim 1, whose foot position sensor is one or more pressure sensors arranged in the plantar fastening.

3. System according to claim 1, whose foot position sensor is one or more accelerometers or gyroscopes.

4. System according to claim 1, whose processor is also carried on the support.

5. System according to claim 1, wherein the free end of the strap taken up on the winch is fixed to the foot by a method selected from: a loop capable of surrounding the foot; a hook in the shoe; and a hook on an extension of the plantar fastening.

6. System according to claim 1, whose support has strap bypass pulleys.

7. System according to claim 1, whose winch releases an adjustable amount of strap.

8. System according to claim 1, whose winch stops when the strap resistance exceeds a programmable limit.

9. System according to claim 1, whose tibial support is a shin guard.

10. System according to claim 1, wherein the ankle fastening and the plantar fastening are constituted by an articulated ankle brace.

11. System, according to claim 1 and including the femur orthosis, further comprising a hip orthosis formed by a harness or belt that supports a hip actuator, configured to be arranged close to the user's hip, which moves a front lever whose end is configured to join the front part of the user's thigh.

12. (canceled)

13. System according to claim 1, whose processor receives the activation signal from a foot position sensor that detects if it is resting on the ground.

14. System according to claim 1, whose tibial orthosis comprises a second winch attached to the heel of the foot by a back strap.

15. Motorized assistance system that comprises a hip orthosis formed by a harness or belt that supports a hip actuator, configured to be arranged close to the user's hip, characterized in that the hip actuator moves a front lever whose end is configured to join the front of the user's thigh using a strap.

Description

DESCRIPTION OF THE DRAWINGS

[0044] For a better understanding of the invention, the following figures are included.

[0045] FIG. 1: General view of an example of embodiment of the motorized assistance system, of the tibial orthosis, eliminating wiring to simplify the view.

[0046] FIG. 2: Diagram of the position of the different elements of another embodiment, at the moment in which the patient lifts the heel from the floor.

[0047] FIG. 3: Scheme of the position of the different elements of the embodiment of FIG. 2, at the moment in which the foot is separated from the ground (in the air).

[0048] FIG. 4: Schematic view of the upper part of a more advanced embodiment, comprising the femur orthosis.

[0049] FIG. 5: Schematic view of an even more advanced embodiment, with the three orthoses attached to one leg (in a broken line).

EMBODIMENTS OF THE INVENTION

[0050] Next, an embodiment of the invention will be briefly described as an illustrative and non-limiting example thereof.

[0051] The tibial orthosis shown in FIG. 1 starts from a tibial support (1), covering the user's shin, which extends to the bottom by means of an ankle fastening (2), and a plantar fastening (3), normally limited to the heel. The attachment between the ankle fastening (2) (one part on each side of the ankle, although only one side is visible) and the plantar fastening (3) is done through a joint (4) that allows the rotation of both. The joint (4) must be aligned with the axis of rotation of the ankle of the user or patient. This alignment will normally be done by a technician.

[0052] The tibial fastening (1) has a support (5) for electrical and mechanical equipment, mainly formed by the processor (6) (CPU) and a motorized winch (7) of a strap (8). The free end of the strap (8) is fixed to the foot, near the toe. This fixation can be by means of a loop that surrounds the foot, a hook in the shoe or in an extension (3) of the plantar fastening (3), or another similar system. The position of the winch (7) will preferably be on the longitudinal axis of the foot, so that the strap (8) performs the simplest movement and there are no lateral forces on the winch (7). If desired, bypass pulleys can be installed. The tibia orthosis may have a second winch (7) with its rear strap (8) that performs the opposite movement of the joint. That is, to help raise the heel (in conjunction with the movement of the hip orthosis causes the semi-flexion and unlocking of the knee).

[0053] In the simplest solution (drop foot) the processor (6) will start the winch (7) according to the readings of one or more pressure sensors (9) arranged in the plantar fastening (3) or in its extension. The movement of releasing the strap (8) may not be motorized because the foot itself will pull it. Releasing a brake (not shown) will be enough. It is also possible to detect the position of the foot by means of gyroscopes or accelerometers.

[0054] The winches (7) and (7) will normally be activated by two servomotors, and the length of the straps (8 and 8) that must be taken up can be regulated, or when the resistance of the foot to the taking up of the straps (8 and 8) exceeds a programmable limit can be detected.

[0055] In the simplest solution (drop foot) if desired, although not really necessary, the reaction can be modified if it detects that the user is running or jogging. This modification can be done via software, by detecting an increase in the frequency of pressure changes. In the race, the point of no throw could be lower (higher in the leg travel) or make the upward travel greater.

[0056] FIGS. 2 and 3 show the position of the different elements of the tibial orthosis in its simplest solution (drop foot only) during the resting and elevation of the foot. This solution applies to cases where the patient cannot lift the toe.

[0057] In the most complex solution (in which the patient cannot lift the heel by himself/herself), said movement would be performed by the second winch (7) in a similar way (winch not represented in these two figures, but in the FIG. 1).

[0058] FIG. 2 shows the beginning of the movement in the simplest solution. The patient lifts the heel, causing a pressure sensor (9) to forward the signal so that the CPU/processor (6) commands the winch (7) to start the scheduled taking up of the strap (8) and lift the toe (FIG. 3).

[0059] In a more complex solution, an external actuator (a button for example) would give the signal to the CPU so that the second winch (7) performed said heel lift. Said movement will occur at the same time as a hip actuator (14) of the hip orthosis that will be indicated below is moved, both complementing to produce the knee release and the effective heel lift (impossible if the knee remains blocked/stretched)

[0060] A preprogramed time later, the second winch (7) goes to rest and the winch (7) is activated, as has been already described, at the same time as the winch of the hip orthosis continues with its movement, allowing the effective advance of the leg.

[0061] The preferred solution for tibial fastening (1) is to apply a shin guard, which allows the support (5) to be placed in the desired position. On the other hand, the ankle fastening (2) and the plantar fastening (3) can be constituted by an articulated ankle brace. These elements are already available in the market and only would be necessary their union.

[0062] A more advanced embodiment is shown in FIG. 4, comprising most of the elements of the tibial orthosis, indicated with the same references, as well as a femur orthosis.

[0063] The femur orthosis comprises a thigh attachment (10), located above the knee and in front of the patient. The attachment carries two femur actuators (11, 12). The lower femur actuator (11) is attached by a strap to the tibial orthosis. The upper femur actuator (12) is fixed by another strap to a belt, but more preferably to a harness (13) since it must be able to withstand the tension that moves the knee.

[0064] When the lower femur actuator (11) is activated, the knee extension occurs. At the same time, the upper femur actuator (12) performs the opposite movement (which also corresponds to lengthening or shortening the corresponding strap) to compensate for efforts and transfer them to the harness (13).

[0065] If the patient only needs the femur orthosis, the active elements of the tibial orthosis can be eliminated or deactivated so that all functions are performed by the femur orthosis, passing the tibial orthosis to be a passive orthosis.

[0066] FIG. 5 shows a hip orthosis, which starts from a shoulder harness (13) that is also used for the upper hooking of the femur orthosis. The frontal pulling and operation system is similar to the active parts of the other orthoses. However, the hip actuator (14) that pulls the corresponding strap must be larger, and generally requires a front lever (15) to help redirect the effort. The aim is to ensure that the movement is initially as parallel to the ground as possible rather than upwards (which is the natural movement of any actuator in that position and that of the others described in the invention). The hip actuator (14) will be attached by the lever (15) and its strap to a leg attachment (16), which will normally be a loop or collar and is placed at the front of the thigh. This causes the movement of the hip actuator (14) to generate the swinging of the limb, and finally a slight elevation thereof. The lever (15) changes the turning radius of the hip actuator (14) and the point from which the effort is made on the leg attachment (16).

[0067] The supply will preferably be a rechargeable lithium polymer battery with a capacity of 1500 mAh or greater depending on the complexity of the system. The more orthoses must be active, more capacity and power may be necessary.

[0068] In use, the most complete version performs the following operations. When the pressure sensor (9), one or more accelerometers, or a button, indicates to the processor (6) that it is time to lift the leg, the hip orthosis unlocks the knee by moving the leg, parallel to the ground, simultaneously, the second winch (7) lifts the heel, causing the knee to half-flex.

[0069] In a second phase, the second winch (7), becomes inactive, and the winch (7) is activated, lifting the toe (at that time the foot is not resting on the ground), while the hip actuator (14) of the hip orthosis (whose movement is continuous), ends the swinging and lifting of the leg, causing it to move forward to the axis of the body.

[0070] Finally, in a third phase, the femur orthosis proceeds to extend the knee just before the resting and the system is ready to restart the step with the opposite leg.