• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    System to assist walking to help the progress of spinal cord injured with hip control, consisting of a pair of KAFO type orthoses with: (a) an angular actuator in each knee; (b) an orientation and acceleration sensor in each leg; (c) a power and control system to which all sensors and actuators are connected; (d) a control algorithm that decides when to flex or extend the knee as a function of the gait cycle, using the information from the sensors. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2663899A1
    申请号:ES201600886
    申请日:2016-10-17
    公开日:2018-04-17
    发明作者:Urbano LUGRÍS ARMESTO；Javier CUADRADO ARANDA；Josep María FONT LLAGUNES；Daniel CLOS COSTA；Francisco Javier Alonso Sánchez；Francisco ROMERO SÁNCHEZ
    申请人:Universitat Politecnica de Catalunya UPC；Universidade da Coruna；Universidad de Extremadura；
    IPC主号:
    专利说明:

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    DESCRIPTION
    Technical Field of the Invention
    The present invention relates to a device for the aid of the marching of spinal injuries with hip flexion capacity. In particular, it is related to an active orthosis to help by acting on the knee and inertial sensing to the march of spinal injuries with hip flexion capacity.
    Background of the invention
    A considerable number of spinal injuries maintain some control of the hip joint, but not of the knee or ankle. These patients are able to walk using crutches and passive orthoses that block the knee rotation and limit plantar flexion of the ankle (Knee-Ankle-Foot Orthosis or KAFO). The problem with this type of gait is that, since the knee is always in full extension, it is necessary to raise the hip abnormally to be able to take the step, which implies a very high energy cost, which leads patients to use the chair more wheel.
    In normal gait, knee flexion allows the hip to be lowered during the balancing phase, which reduces the oscillations of the center of mass, improving the energy efficiency of gait. The use of a device that facilitates said knee flexion would make the spinal cord injured more likely to walk instead of using the wheelchair, with the benefits that this would imply in their rehabilitation and in their health.
    There are some active devices on the market, such as Otto Bock's C-Brace, which regulate the stiffness of the knee joint based on the reading of an inertial sensor that measures the orientation of the leg and a force sensor that measures the reaction in the contact of the foot with the ground (see patents US 8,876,912 B2 and US 2010/0125229 A1). The control system locks the knee in the support phase, and releases it during the swing phase. This device, however, is not intended for use by spinal cord injuries, but for patients with some ability to walk without help, usually with unilateral injury. US 7,985,193 B2 refers to a similar device based on stiffness control, but without specifying plantar sensors.
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    There is also another more generic patent on a prosthesis that controls a joint by means of an actuator controlled from the reading of a sensor (WO 2010/120403 A2), but refers only to prosthetic devices.
    In the case of spinal injuries, even without control of the hip joint, there are exoskeletons for walking aid, such as ReWalk (ReWalk Robotics Ltd, Israel), Ekso GT (Ekso Bionics, USA), HAL (Cyberdyne Inc, Japan), Exo-H2 (Technaid SL, Spain), etc. They are devices of great size and very high price, which act on the ankle, knee and hip joints by means of electric motors or functional electrical stimulation.
    Brief Description of the Invention
    The present invention relates to a system for the support to the marching of spinal injuries with hip flexion capacity, which solves the problems and limitations of the state of the art.
    More particularly, it refers to a system for walking assistance that includes at least a first orthotic for the user's leg, where said brace has a foot support, a lower calf structure, an upper thigh structure , a lower joint between the lower structure and the foot support. It also has an upper joint between the lower structure and the upper structure. This system also incorporates a set of sensors to measure at least the following variables:
    - the angle of inclination (0) between the lower and vertical structure,
    - the angle of flexion (ccr) between the lower and upper structure, and
    - the vertical acceleration of a point of the lower structure (az);
    This system also includes an actuator coupled to the upper joint to set the flexion angle (a.r) when activated by a control unit. Said control unit detects that a following leg flexion-extension cycle must be applied according to the values measured by the previous sensors. Said flexion-extension cycle is applied by varying the angle of flexion (ar) with the actuator of the upper joint (knee).
    Optionally, the plurality of sensors includes a gyroscope and at least two accelerometers.
    Preferably, the system includes a second orthosis for the user's opposite leg.
    5 Optionally, the control unit can detect a next leg flexion-extension cycle based on the values measured by the sensors of the opposite leg.
    Optionally, the control unit can detect a next leg flexion-extension cycle when vertical acceleration (az) of said leg is increased over a threshold over a period of time.
    Optionally, the control unit can detect a next leg flexion-extension cycle when vertical acceleration (az) of the opposite leg remains below a threshold for a period of time.
    Optionally, the control unit can detect a next cycle of flexion-extension of the leg depending on the angular velocity of the opposite leg.
    Optionally, the actuator associated with the upper joint can apply a variable angle as a function of time during a flexion-extension cycle.
    Optionally, the sensor set for measuring leg position includes at least one gyroscope and two accelerometers.
    20 Optionally, the flexion-extension cycle is fixed and is launched by detecting intention to travel from the sensor set data.
    Optionally, knee flexion is defined at each instant based on the inclination of the opposite leg, or the angular velocity of the opposite leg.
    25 Brief description of the figures
    Some embodiments of the invention will now be described, by way of non-limiting example, with reference to the accompanying drawings, in which:
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    FIG. 1 schematic representation of an active orthosis.
    FIG. 2A representation of various positions taken by the orthotics to walk.
    FIG. 2B graph representing the knee angle versus time for a possible flexion-extension cycle.
    FIG. 3 flow chart followed by the control unit.
    Detailed description of the invention
    With reference to FIG. 1 an exemplary embodiment device of the invention can be seen. The device includes a pair of KAFO braces to which an actuator is attached to fix the angle of flexion (ar) of the knee, a sensor to measure the angle of inclination (0) of the leg and optionally its vertical acceleration az, a control unit (7) to which the sensor assembly (6) and the actuator (5) are connected, the control unit (7) implements an algorithm to decide how to vary the knee angle in the support phases (knee) blocked) and balancing (flexion-extension) depending on the sensor reading. This algorithm is explained in detail in FIG. 3.
    Returning to FIG. 1, there is an example of embodiment where the main elements can be seen. A support (1) for the foot that can be rigid or flexible (sometimes called “antiequino”) and that holds the user's foot, a rigid bottom structure (2) that is attached to the patient's calf, a superior rigid structure (3) which is attached to the patient's thigh, a lower joint (4) for the ankle, between the elements (1) and (2). An upper joint (5) for the knee that allows flexion between the elements (3) and (2) and that includes an actuator coupled to apply an angle to the knee that transmits torque between the structures (2) and (3), a sensor assembly (6) anchored to the element (2) to measure its inclination and acceleration. This data is processed by a control unit (7) to apply a movement to the upper joint (5) through its associated actuator. The sensor set (6) includes at least one gyroscope and two accelerometers, to know at every moment the angle that forms the leg with the ground, as well as vertical acceleration.
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    FIG. 2A shows different positions taken by the orthotics when walking. In FIG. 2B a graph of the angle formed by the knee ar associated with the positions of FIG. 2A: in the left half a flexion is made; the corresponding extension is made in the right half. Thus, the angle ar of 0 degrees corresponds to the fully extended knee, the knee flexion reaches about 40 degrees and is followed by a full extension (0 degrees). In FIG. 2A the flexion-extension cycle of the right leg in a continuous line can be seen, while the left, in a broken line, remains supported and fully extended (blocking). Mention that the cycles would always be the same in this concrete example of realization, that is, they will follow a fixed curve that depends on time.
    As seen in FIG. 2B, the angle of the left leg is monotonously increasing during the balancing of the right leg, so that it can be used as input to define the cycle in other embodiments of the present invention, as will be explained later.
    In a second embodiment, the system would be installed in two orthotics, one for each leg. Each orthosis with its own actuator (5) and its set of sensors (6) that are connected to a control unit (7). Thus, for each leg you can use information from both your own sensors and those of the opposite leg if necessary. The possibility of using the data of the sensors of a member to control the opposite can serve to improve the interpretation of the data of the sensors. In this way, it is considered that the cycle depends on the state of the opposite leg, so that the angle ar of the right knee would be dynamically defined from the evolution of the left leg (inclination and / or rotation speed).
    In a variant of the invention, it can be implemented in the actuator of the upper joint (5) (corresponding to the knee) to carry out the flexion with a specific cadence to adapt it to the desired gear, flexing / extending, once a cycle has been detected. In that case, the actuator incorporates a controller for the motors to make a predetermined path (e.g. according to a temporary flexion-extension history of the knee).
    Optionally, the desired flexion / extension characteristics can be set according to user preferences, so that a different curve can be followed than shown in FIG. 2A-2B that would apply the actuator to the upper joint (5) during the ride. In general, when the most delayed foot
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    it detaches from the ground, so that the knee flexes during the swinging of the leg. In order to detect the appropriate moment to begin the flexion-extension cycle, the system preferably uses the set of sensors mounted on both legs, so that the cycle is only launched on one leg if:
    a) First, the vertical acceleration has remained within a resting threshold for a minimum time.
    b) Next, the vertical acceleration in the upward direction exceeds a firing threshold and therefore, it is interpreted as raising the foot.
    c) In addition the leg has at least a minimum inclination 6 forward.
    d) Meanwhile, the opposite leg exceeds a minimum 0o backward tilt.
    With these checks, safety margins can be established to prevent a cycle from starting when the user does not really intend to walk.
    In FIG. 3 a control algorithm that can implement the control unit (7) and which can consider additional variables also provided by the set of sensors (6), such as angular velocity, is described in detail. Thus, robustness is increased by detecting the user's intention to march.
    The following are explained in greater detail in the following paragraphs, the main steps taken to decide among others when the cycle should start. In a first step (PO), variables are initialized. At the moment the user lifts the heel, an upward vertical acceleration occurs az, which is picked up by the accelerometer. If it exceeds an activation threshold (P3), the heel is considered to be rising, and in principle the flexion-extension cycle would be launched.
    A problem related to the above is that, this acceleration is not only overcome when the heel is lifted, it can also occur during swinging and / or at the moment of impact of the heel, at the end of the step. To avoid a wrong conclusion, the condition can be imposed that the foot, upon exceeding the minimum acceleration, must have been previously supported for a minimum time Ta (P2). The condition of being supported is verified by checking (P14) that the value of the vertical acceleration remains within a range of resting accelerations ± a “.
    Additionally, to be even more certain, at the time of detection it can be established that two more conditions must be met: the angle of
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    right leg tilt {8 in FIG. 2A, positive forward) must be greater than a preset value 9min (P4), and that of the left leg (80 in FIG. 2A, also positive forward) must be less than an 8 ™ ax (P5) value, which normally represents a backward tilt.
    With the fulfillment of these conditions, it is very unlikely that improper releases of the cycle will occur. For example, if an acceleration occurs in the right leg, it is necessary that the subject is in a position similar to that shown on the left side of FIG. 2A for the cycle to be launched, with the right leg tilted forward and the left leg tilted back. This means that knee flexion does not occur when the foot is raised with parallel legs (for example, when turning around), or if for some reason there is an acceleration in the supported leg.
    Another example of a high acceleration occurs during the impact of the heel, but this fact will not launch a cycle. The reason is that the foot has not been previously at rest (P2, P14) since it comes from a balancing phase, and also the inclinations of the legs do not meet the conditions (P4, P5), since the leg that suffers the Acceleration is advanced and therefore tilted backwards.
    These and other checks are included in the diagram of FIG. 3. The algorithm represented there is used by the control unit (7) to govern the proper functioning of the flexion-extension cycles.
    Gray (rhombus-shaped) decision blocks involve sensor measurements, while gray (rectangular) action blocks represent commands sent to the actuator (5).
    The steps defined by the algorithm of FIG. 3 are executed in a loop in the control unit (7), with a time step At, and at each turn an angle of flexion ar of the knee is imposed, which can be 0 in the blocking phase (P13), or a temporary function / (t) in the balancing phase (P11) that may be similar to the graph in FIG. 2B.
    The variables that appear in the diagram are the following:
    • Variables that represent the state of the system:
    o C: indicates if the cycle is being performed {C = 1) or the leg remains locked (C = 0).
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    or t: time elapsed since the beginning of the cycle, or ta time that the foot has remained supported.
    • Variables that represent sensor measurements:
    or az: vertical acceleration measured by the accelerometer.
    or 9: angle between the leg and the vertical (positive forward).
    or 60: angle between the opposite leg and the vertical leg (positive forward).
    * Adjustable parameters:
    oa¡h: upward acceleration that must be overcome to start the cycle, or az: maximum acceleration to consider that it is at rest, or T: duration of the flexion-extension cycle (0.7s in the example of FIG. 2B ).
    o Ta: minimum pre-rest time to start the cycle, or 9min: minimum angle of inclination forward to start the cycle, or 6 ™ ax: maximum inclination of the opposite leg to start the cycle.
    Note: the inclination is defined as positive always forward. Therefore, parameter 9 '¡lCLX will generally have a negative value.
    Regarding the fixation of the orthoses, it is preferably carried out by means of tapes. Sailboat is used in the upper and lower part, and a “galapago” is placed on the knee, which is fastened with buckles.
    Although cases with two orthoses have been mentioned, for an alternative embodiment it may be sufficient for the user to use a single orthosis. Then, the system would only have the information of an inertial sensor.
    In another embodiment, additional safety could be considered further by measuring the force supported by the foot supports (tutors), such as that provided by a sensor, such as a strain gauge bridge.
    Numerical references in the figures
    1 Foot support.
    2 Bottom structure.
     3 Upper structure.
     4 Lower joint.
     5 Upper joint.
     6 Sensor set.
     5  7 Control unit.
     P0 Initialization variables.
     P1 Check cycle.
     P2 Checking leg rest time.
     P3 Vertical leg acceleration check.
     10  P4 Leg angle check with vertical.
     P5 Checking opposite leg angle with vertical
     P6 Set cycle start.
     P7 Initialize cycle time counter.
     P8 Cycle leg time check.
     fifteen  P9 Set end cycle.
     P10 Initialize support time counter.
     P11 Set a knee angle according to time.
     P12 Increase cycle time counter.
     P13 Set locking knee angle.
     twenty  P14 Leg acceleration check supported.
     P15 Increase support time counter.
    P16 Reset support time counter.
    In the present detailed description several particular embodiments have been explained, however, one skilled in the art will know how to introduce modifications and replace some technical characteristics with equivalent or improved ones, depending on the requirements of each case, without separating from the scope of protection defined by the attached claims.
    权利要求:
    Claims (8)
    [1]
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    1. System to assist walking that includes:
    - at least a first brace for a user's leg, wherein said brace comprises a support for the foot (1), a lower structure (2) for the calf, an upper structure (3) for the thigh, a lower joint ( 4) between the lower structure (2) and the foot support (1), and an upper joint (5) between the lower structure (2) and the upper structure (3);
    characterized in that it also includes:
    - a plurality of sensors (6) configured to measure at least:
    - the angle of inclination (8) between the lower structure (2) and the vertical one,
    - the angle of flexion (ar) between the lower (2) and upper (3) structure, and
    - vertical acceleration (az);
    - an actuator coupled to the upper joint (5) and configured to set the flexion angle (crr);
    - a control unit (7) configured to detect a next flexion-extension cycle of the leg based on the values measured by the sensors (6) and to apply said flexion-extension cycle by varying the flexion angle ( ar) through the upper joint actuator (5).
    [2]
    2. System to assist walking according to claim 1, wherein the plurality of sensors (6) comprises a gyroscope and at least two accelerometers.
    [3]
    3. System to assist walking according to claim 1 or 2, comprising a second orthosis for the user's opposite leg.
    [4]
    4. System for walking assistance according to claim 3, wherein the control unit (7) is configured to detect a next leg flexion-extension cycle based on the values also measured by the leg sensors (6) opposite.
    [5]
    5. System to assist walking according to claim 4, wherein the control unit (7) is configured to detect a next leg flexion-extension cycle
    when the vertical acceleration {az) of said leg increases above a threshold for a period of time.
    [6]
    6. System to assist walking according to claim 4 or 5, wherein the control unit (7) is configured to detect a next flexion-extension cycle of the
    5 leg when vertical acceleration (az) of the opposite leg remains below a threshold for a period of time.
    [7]
    7. System to assist walking according to any one of claims 4 to 6, wherein the control unit (7) is configured to detect a next cycle of
    10 flexion-extension of the leg depending on the angular velocity of the opposite leg.
    [8]
    8. System to assist walking according to any one of the preceding claims, wherein the actuator associated with the upper joint (5) is configured to apply a variable angle as a function of time during a flexion cycle.
    15 extension
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    CN110946742B|2019-12-02|2021-11-19|南京伟思医疗科技股份有限公司|Device and method for assisting lower limb robot to transfer gravity center by aid of weight reduction vehicle|
    CN111265387A|2020-01-20|2020-06-12|深圳市丞辉威世智能科技有限公司|Fixed gait walking training method and device, terminal and storage medium|
    法律状态:
    2018-09-11| FG2A| Definitive protection|Ref document number: 2663899 Country of ref document: ES Kind code of ref document: B2 Effective date: 20180911 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201600886A|ES2663899B2|2016-10-17|2016-10-17|System to assist walking|ES201600886A| ES2663899B2|2016-10-17|2016-10-17|System to assist walking|
    CN201780078135.1A| CN110418626A|2016-10-17|2017-10-17|Assist running gear|
    US16/342,821| US20190231573A1|2016-10-17|2017-10-17|System to assist walking|
    AU2017344951A| AU2017344951A1|2016-10-17|2017-10-17|System to assist walking|
    CA3040831A| CA3040831A1|2016-10-17|2017-10-17|System to assist walking|
    JP2019541883A| JP2019531858A|2016-10-17|2017-10-17|System to support walking|
    PCT/EP2017/076482| WO2018073252A1|2016-10-17|2017-10-17|System to assist walking|
    EP17784953.6A| EP3525731A1|2016-10-17|2017-10-17|System to assist walking|
    IL266068A| IL266068D0|2016-10-17|2019-04-16|System to assist walking|
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