EXOSKELETON WITH CAMBERED WHEELS FOR HUMAN LOCOMOTION

Abstract

EXOSKELETON WITH CAMBERED WHEELS FOR HUMAN LOCOMOTION, comprises an orthosis in the form and function of exoskeleton articulated with actuators, and cambered wheels (9, 10) integrated between the lower limbs of the user for human locomotion, mainly intended for people with motor physical disabilities, being a motorized and intuitively controlled by the user (6) and by balance sensors, joystick (8), central RF (7), gyroscope, magnetometer, accelerometer, containing an inertial disk balancing system (19, 50), also has actuator to articulate the user between sitting and standing position, all systems being integrated electronically to a central control CPU (16) also covering the functions of starting, brake, steering and balance, traction control, up and down stairs.

Claims

1. EXOSKELETON WITH CAMBERED WHEELS FOR HUMAN LOCOMOTION, characterized in that said cambered exoskeleton is comprised of an orthosis in the shape and function of exoskeleton articulated with actuators, and wheels (9, 10) with swiveling integrated between the lower limbs of the user for locomotion (6) and balance, joystick (8), central RF (7), gyroscope, magnetometer, accelerometer, (19, 50), all integrated electronically to a central control unit (16), also controlling the functions of starting, brake, varying between sitting and standing position, direction and balance, up and down stairs.

2. EXOSKELETON WITH CAMBERED WHEELS FOR HUMAN LOCOMOTION, according to claim 1, characterized in that the cambered exoskeleton has a human locomotion system, mainly intended for persons with physical disabilities, with articulated camber wheels and positioned between the user's lower limbs.

3. EXOSKELETON WITH CAMBERED WHEELS FOR HUMAN LOCOMOTION, according to claim 1, characterized in that the cambered Exoskeleton has a position control and balance control system by position sensors (6) and actuator.

4. EXOSKELETON WITH CAMBERED WHEELS FOR HUMAN LOCOMOTION, according to claim 1, characterized in that the cambered Exoskeleton has a force actuator system (13) which allows the user to articulate between the sitting and standing positions.

5. EXOSKELETON WITH CAMBERED WHEELS FOR HUMAN LOCOMOTION, according to claim 1, characterized in that the cambered exoskeleton has an inertial disc equilibrium system (19, 50).

6. EXOESQUELETO CAMBER OF WHEELS FOR HUMAN LOCOMOTION according to claim 1, characterized in that the Camber Exoskeleton has a cycloidal geared motor (22) with torque spindle and balls (40, 42) for the traction of the wheels (9).

7. EXOESQUELETO CAMBER OF WHEELS FOR HUMAN LOCOMOTION according to claim 1, characterized in that the camber exoskeleton has a system for fixing and positioning the user in the apparatus with a seat (28) in the anatomical saddle shape.

8. EXOESQUELETO CAMBER OF WHEELS FOR HUMAN LOCOMOTION, according to claim 1, characterized in that the Camber Exoskeleton has a joystick control system (8) with RF control panel (7) which allows control of the apparatus remotely.

9. EXOESQUELETO CAMBER OF WHEELS FOR HUMAN LOCOMOTION, according to claim 1, characterized in that the Exoesqueleto Camber has a system of control of traction of the wheels in camber.

Description

[0022] The description of the following figures is given by way of example and illustration for a better understanding of the object of the present application.

[0023] FIG. 1 shows the Camber Exoskeleton with swiveling wheels 1 with a user 2 in the standing position secured to the apparatus by a belt on the hip 3, a knee strap 4 and foot straps 5.

[0024] FIG. 2 shows the user (2) in the sitting position in the Camber Exoskeleton (1), the steering control system (6, 7 and 8), being sensors of direction (6), RF control center (7) and joystick (8) with front wheel drive in cambered (9) and rear wheel (10).

[0025] FIG. 3 shows the main external components of the Camber Exoskeleton: seat (11), seat screw spindle (13), spindle guide plate (12), fairing (14) and pedal (15).

[0026] FIG. 4 shows in the frontal plane the arrangement of components and parts of the Camber Exoskeleton (1): CPUCentral Processing Unit (16), inertial motor (17) traction motors (18), inertial balance system parallel to the chassis (20).

[0027] FIG. 5 illustrates in the right side plane the arrangement of components and parts of Camber Exoskeleton 1: parallel plate of chassis 20, spindle of actuator wheel 21, cycloidal gearmotor 22, traction wheel hub 23, motor rear wheel actuator (24), motor actuator seat (25), battery (26).

[0028] FIG. 6 shows the actuator system of the seat 11: support rod 27, seat 28, spindle drive traction pulleys 29, spindle support cap 30, spindle drive 31, capsule bearing motor shaft (32) motor actuator bench (25).

[0029] FIG. 7 shows the actuator system of the rear wheel 10: actuator spindle wheel 21, rear wheel actuator motor 24, spindle motor support plate 33, spindle nut 34, spindle wheel pulley (35) and rear wheel (10).

[0030] FIG. 8 shows the stem spindle 36, spindle guides 37, rear wheel actuator motor 24, seat actuator motor 25, seat actuator spindle 13, spindle of the wheel actuator 21.

[0031] FIG. 9 shows the internal parts and components of the cycloidal geared motor 22: traction motors 18, drive shaft 38, support blocks 39, torque spindles 40, input reducer shaft 41, torque bearing (42).

[0032] FIG. 10 shows the internal parts and components of the cycloid gearmotor 22: clockwise cycloidal disk 43, cycloid counterclockwise disk 44, cycloidal pin 45, pin ring 46, output torque disk 47, reduction output shaft (48).

[0033] FIG. 11 shows the components of the equilibrium inertial system 19: bearing-disk capsule 49, inertial disc 50, motor support plate 51, disk support plate 52 and inertial motor 17.

[0034] With reference to the figures presented, the Camber Exoskeleton (1) object of the present application is constituted by an electric vehicle wheel system (9, 10) swung between the lower limbs and integrated with the body of the user (2). It provides the articulation of the body between the standing and sitting positions performing the function of vehicle and external skeleton of locomotion.

[0035] The user 2 attaches to the apparatus by means of straps 3, 4, that allow the stability of an individual with lower limb paralysis or even a lower limb amputee.

[0036] The Camber Exoskeleton can be controlled by the individual through a system of direction sensors (6) or joystick (8) integrated into a control center (7) RFRadio Frequency that communicates with a CPUCentral Processing Unit 16). The CPUCentral Processing Unit (16) controls the traction motors (18), the actuator bank (FIG. 6), the rear wheel actuator (FIG. 7) and the equilibrium inertial system (Fig.

[0037] The steering sensor (6) and the control joystick (8) are electronically integrated with the CPU (16) having position sensors which provide position and acceleration orientation on the x, y, and z axes. The control of the device can be controlled by the user (2) via the direction sensor (6) or the joystick (8). The steering sensor (6) can be positioned and one of the shoulders, trunk or head. This allows intuitive control, if the user (2) turns the head or trunk to the right, the device will move to the right. If the user tilts the head or the trunk, forward or backward, the device will also follow the forward or back off command. These same forward, back off and twist commands can be carried out optionally by the mini joystick (8).

[0038] The control system of the apparatus operated by means of the joystick (8) fixed in the form of a ring in the fingers of the user's hand (2) or by means of the direction sensor (6), intuitively obeying the actions of the user (2) favors freedom of movement of upper limbs for other activities. The steering controls (6, 8) are associated with gyro, accelerometer and magnetometer sensors affixed to the electronic circuit board of the CPU (16). These CPU sensors 16 make a constant reading of the apparatus position at the x, y, and z coordinates.

[0039] The position sensors integrated in the CPU (16), in addition to providing the steering control, make it possible to control wheel traction (9), which is essential for the stability of the machine in slippery terrain and in the transposition of obstacles or steps. The traction control acts by means of the traction motors (18) and favors the traction wheels (9) advancing or retreating in a manner equalized to the user's command.

[0040] There are other control buttons integrated into the mini joystick (8) and control center (7) that allow the user (2) to stand or sitting, speed control for transposition of steps or stairs, emergency beep and on-off.

[0041] The ergonomics of the Camber Exoskeleton (1) is favored by the cambered of the wheels (9) protected by a fairing (14) which also provides support for the user's lower limbs (2) together with a foot pedal (15).

[0042] The balance and stability of the apparatus take place by means of its base formed by a three-wheeled tripod, two front traction wheels (9) and a rear wheel (10). With the moving apparatus the rear wheel (10) is pivoted according to the direction imposed by the front traction wheels (9).

[0043] The traction system is electric, with traction motors (18) being fed by batteries (26) and coupled to a cycloidal reducer (22) which extends the traction torque.

[0044] The rear wheel 10 is coupled to an actuator system (FIG. 7) with position sensors integrated into the CPU 16 which make a constant reading to maintain the center of gravity of the user and the apparatus on the tripod base formed by the three wheels (9, 10) in contact with the ground.

[0045] The rear wheel, by means of an actuator system (FIG. 7), can be collected or moved towards the ground by changing the center of gravity on the base to favor dynamic and static balance displacement on asymmetrical terrain and steps. As the rear wheel is displaced relative to the ground, bearing point, a rotation of the apparatus occurs about the axis of the two front traction wheels (9) positioned between the lower members of the user. In this way, the balance is automatically monitored and adjusted by sensors for the transposition of obstacles and uneven terrain.

[0046] The device has an actuator system for the user's seat (FIG. 6). This seat has a saddle-shaped seat (28) with small vibrating motors that can be actuated to stimulate the user's blood circulation (2). These small motors are positioned internally to the seat upholstery and the column support rod (27).

[0047] Both actuators seat and the rear wheel (FIG. 6, FIG. 7) having actuator motors (24, 25) with drive pulleys (25, 29) reducing it by means of a belt (31) pulls a ball coupling (34) by moving the spindle (21, 13) engaged.

[0048] The actuator system of the bank and the rear wheel (FIG. 6, FIG. 7) is fixed to the device by the support screw capsule (30) and guides the spindle (37) along the parallel plates of the chassis (20). The spindles (21, 13) of the actuators have spindles against spindle rotation (36) which in addition to reinforcing and stabilizing the system define a spindle actuation without rotation. The rotation occurs only in the ball nut (34) forcing the spindle (21, 13) to act linearly without rotation. This system makes it possible for an actuation to occur without the seat (11) or the rear wheel (10) turning in conjunction with the system.

[0049] The cycloidal gear motor (22) of this unit consists of two traction motor reduction steps (18) with reduction with ball spindle and the other with cycloidal drive. As FIG. 9 and FIG. 10, the drive shaft (38) connects to the Torque ball spindle (40) and the spin torque moves the ball (42) which connect the gearbox input shaft (41). The gear input shaft 41 triggers the rotation of the clockwise cycloidal disk 43 and the anticlockwise cycloidal disk 44. For each turn of the input shaft of the gear unit (41) the cycloidal discs advance in the direction of their rotation a position corresponding to the rings.

[0050] This results in a reduction of the RPM - Rotation Per Minute of the input shaft of the gear unit (41). These two cycloidal discs (43, 44) are counterclockwise, centrally rotated and supported on the rings (46) which are engaged in pins (45). The torque produced by the rotation of the clockwise cycloidal disk 43 and the counterclockwise cycloidal disk 44 is transmitted to the output torque disk 47 which in turn is connected to the output shaft of the gearbox 48. The output shaft of the reducer (48) engages the traction wheel hub (23). This cycloid gearmotor 22 is secured to the apparatus by means of support blocks 39 bolted to the parallel plate of the chassis 20.

[0051] This gearmotor system (22) associated with the position sensors of the apparatus allows a wheel traction control (9) which equalizes the wheels' advance or retreat against possible skidding or slippage.

[0052] The apparatus further comprises a complementary inertial balancing system (19) composed of a disk-shaped mass (50) rotated by a motor (17) acting in high rotation generating an inertial momentum which favors the holding of the Camber Exoskeleton (1) in its stability.