CN105579014A - Suspension and body attachment system and differential pressure suit for body weight support devices - Google Patents
Suspension and body attachment system and differential pressure suit for body weight support devices Download PDFInfo
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- CN105579014A CN105579014A CN201480028304.7A CN201480028304A CN105579014A CN 105579014 A CN105579014 A CN 105579014A CN 201480028304 A CN201480028304 A CN 201480028304A CN 105579014 A CN105579014 A CN 105579014A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B2022/0094—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements for active rehabilitation, e.g. slow motion devices
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/20—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements using rollers, wheels, castors or the like, e.g. gliding means, to be moved over the floor or other surface, e.g. guide tracks, during exercising
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2208/00—Characteristics or parameters related to the user or player
- A63B2208/05—Characteristics or parameters related to the user or player the user being at least partly surrounded by a pressure different from the atmospheric pressure
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2208/00—Characteristics or parameters related to the user or player
- A63B2208/14—Characteristics or parameters related to the user or player specially adapted for animals
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B69/00—Training appliances or apparatus for special sports
- A63B69/16—Training appliances or apparatus for special sports for cycling, i.e. arrangements on or for real bicycles
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/0009—Games or sports accessories not covered in groups A63B1/00 - A63B69/00 for handicapped persons
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biophysics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention provides a differential pressure body suit with external support against body suit migration. In its preferred embodiment, such body suit may comprise a close-fitting, multi-layered suit sealed against a mammal's skin to contain the differential pressure, or a looser-fitting suit that bends at the mammal's joints with minimal force. External support means include either fixed or movable mechanical supports attached to the body suit, extraordinary air pressure levels for making the body suit rigid, or exoskeletons attached to the body suit, or a counter-force suspension cable adjustment system. A cyclic control system can turn the differential pressure condition within the body suit on and off on a selective basis to accommodate the movement of the legs of the mammal. The pressurization reduces the weight of the body to greater or lesser extents, and offloads the weight to the ground through the external support means.
Description
The cross reference of related application
This application claims the U.S. Provisional Application the 61/626th that the name of applying on October 3rd, 2011 is called " SuspensionandBodyAttachmentSystemandDifferentialPressure SuitforBodySupportDevices ", the rights and interests of No. 749, and be the U.S.S.N.13/573 in application on October 3rd, 2012, the part continuity application of 692, U.S.S.N.13/573, 692 is the U.S.S.N.12/456 in application on June 12nd, 2009, the part continuity application of 196, U.S.S.N.12/456, 196 is the U.S.S.N.12/319 in application on January 7th, 2009, the part continuity application of 463, U.S.S.N.12/319, 463 require the U.S. Provisional Application the 61/010th in application on January 7th, 2008, No. 034 and on June 13rd, 2008 application the 61/131st, the rights and interests of 919, all these applications are all incorporated to herein as a reference at this.
Technical field
The present invention relates generally to the motion of body of mammals and healthy, and relates more specifically to the portable system for coming auxiliary people or other animal medicine rehabilitation or training by being applied to the given body part with differential pressure.
Background technology
Vertebrates has the feature of flexible skeleton skeleton, this provides body shape, protects vitals and health is moved.Human skeletal comprises about 206 independent bones.These bones are joined at joint, and wherein major part can move freely.Skeleton also comprises elastic cartilage and forms with by the strong band of fibrous connective tissue for the muscle ligament together with the joint maintenance bone of bone.
The femur of lower limb and foot, fibula, tibia and metatarsals support health, therefore load-bearing.The muscle be associated with ilium, pubis, ischium, patella, shank and phalanx provides necessary bending for walking, run, climb and be engaged in the requisite hip of other motor activity, knee, ankle and toe to the mankind.
Equally, humerus, ulna and radius and metacarpal bone and phalanges form arm and hands respectively.The muscle be associated with clavicle, scapula and carpal bone enables arm bend at shoulder or ancon place or bend, and hands bends in wrist and finger place, and this is for promoting, carrying and operation object.
As time goes on, health bone or joint may be damaged.Bone fracture; Laceration of ligament; Cartilage deterioration.This damage may be due to ageing process, shows as arthritis, osteoporosis and slip and fall.But sick and woundedly also to be caused by sports.Such as, about 3,700 ten thousand Americans enjoy running that is recreational and athletics, and it is sick and wounded that 25% in them stand running every year.Meanwhile, there are 5,700 ten thousand Americans in order to amusement or transport object by bike.Except falling and causing actual bodily harm, groin can be caused for a long time by bike uncomfortable or numb.The infringement of this medical science is caused by the angle of bicycle saddle, and the angle generation of bicycle saddle can be blocked the pressure spot of supply of blood flow to phallic artery and vein.During 1999 to 2004 years, publication (such as, sex medicine, Urology Surgery, Neurology Department, Vasculocardiology Deparment, biomedical engineering, sports medical science and emergency medicine) in multiple medical specialty establishes by bike exists obvious relation between erection disturbance (" ED ").
For prevent or treat these damage industry and medical community in taked many diverse ways.Purchasing ore means by being similar to the external support system being shaped and making for the metal of the correct status of support human body or the high-strength material of plastic composite fibre.Honda Motors Co. adopts " walk supporting device " for the workman of the automobile plant of the said firm to support body weight, for the workman reduced on assembly line walking, stair activity move and during whole work shift in half crouch position time lower limb on load.U.S. army tests purchasing ore for its soldier, carries weight equipment bag and weapon to enable food for powder.But health must be connected to the purchasing ore at limbs and other parts place by band and other mechanical connecting device.The motor of purchasing ore must be regulated by various sensor and controller, and is driven by hydraulic pressure, pneumatic, spring or other electromechanical system.These can be trouble and the system of costliness, and this system differs the stress reducing surely and caused health by gravity.
Stand athlete and old people's rehabilitation in pond and water tank of joint injury.Buoyancy of water characteristic provides power upwards to health, and this power alleviates otherwise is directed into the load in joint.But the system of these types is not portable, be limited to pond or water tank because behaving.In addition, pond or water tank may unavailable or installation costlinesses.
Another kind method is that No. 828 strapping systems exemplified provide by the United States Patent (USP) the 6th, 302 authorizing the people such as Martin.This system be made up of the framework be connected with on the crown can rising health frenulum is in people's such as walking or support the part of the person body weight when running, to reduce the downward power on body joints on a treadmill.But band and connecting device produce local pressure point and stress to health, and limit the range of movement of health and extremity.This machinery weight uninstalling system also lacks portability.
NASA (" NASA ") has developed a kind of system, and this system utilizes differential air pressure to provide consistent " lifting ", to help exercise routine to health.See the United States Patent (USP) the 5th, 133 being presented to the people such as Whalen, No. 339.The latter half be sealed in fixing chamber of the person that differential pressure is applied to, offsets the power of human bady gravitational with generating portion.The treadmill be contained in closed chamber can make exercise.But the system of this Whalen needs the large not movement pressure room holding treadmill.Such system is expensive, and people needs heavy entrance and exit.This system can not allow people outside treadmill, do the motion of any alternate manner.
Pressurization body garment is also in the industry for multiple different application.Such as, the U.S. of Yong application openly applies for that 2002/0116741 discloses a kind of body garment with the support member be integrally formed and the inner balloon being filled with forced air.This air pressure applies the active force that the muscle of the individual of this body garment is worn in opposing, to cushion muscle during daily routines.No. the 6th, 460,195, the United States Patent (USP) being presented to Wang describes the gym shorts having and have cingulum, airbag and vibrator, wherein said vibrator by the pulse steering of forced air to health with except degrease carry buttocks.Be presented to United States Patent (USP) the 3rd, 589, No. 366 teachings of Feather rarefied exercise trousers of air, thus make trousers attach to the health of person taking exercise to cause perspiration, cause thus losing weight.
US military has also adopted the pressure suit of different designs can not weaken outside G power to protect fighter-pilot.Due to the Rapid Variable Design in speed and direction, the health of fighter-pilot bears very high acceleration.This forces the blood of pilot's load oxygen to leave from a part for heart, blood circulation between lung and brain usually, instead of concentrates the blood vessel to lower limb.Consequently pilot may lose situation awareness and dimensional orientation.The blood of load oxygen can be forced to get back to head and the trunk of pilot to the body garment of the vasopressor pilot of leg.See the United States Patent (USP) the 2nd, 762 authorizing the people such as Flagg, No. 047; Authorize Krutz, the United States Patent (USP) the 5th, 537 of the people such as Jr., No. 686; With the United States Patent (USP) the 6th, 757 authorizing the people such as Mah, No. 916.Authorize the United States Patent (USP) the 5th of the people such as Savage, 997, No. 465 disclose a kind of fitted pants body garment be made up of metal or polymer " memory material ", and described material, is then cooled to apply this G force phenomenon of pressure therapy to be formed around health by current flow heats.
Pressurization body garment before this for other object, such as clamping plate fractured leg, stop from wound bleeding, treatment shock and support section paralysis the posture of patient.Such as, see No. the 3rd, 823,711, the United States Patent (USP) being presented to Hatton; Be presented to No. the 3rd, 823,712, the United States Patent (USP) of Morel; Be presented to No. the 4th, 039,039, the United States Patent (USP) of Gottfried; With the United States Patent (USP) the 5th, 478 being presented to the people such as Dyson-Cartwell, No. 310.Body garment also can have air between clothes and health, and this air is drained to be inhaled into by clothes and health close contact by evacuation.See No. the 4th, 230,114, the United States Patent (USP) being presented to Feather; Be presented to No. the 4th, 421,109, the United States Patent (USP) of Thornton; Be presented to Tripp, No. the 4th, 959,047, the United States Patent (USP) of Jr..Also openly apply for 2006/0135889 see the U.S. applied for by Egli.
The body garment of this pressurization was not used to recover skeletal joint damage or minimize the situation causing erection disturbance in the past.In addition, under described body garment is only used to the static position of the pilot that picture is seated usually, this is because air pressure forces body garment to leave the problem of lower torso.In some application being similar to fat-reducing patient, suspension rod frenulum is required that overcoming this of panty girdle moves down.
Therefore, pressurization lined dress can be used for partial error's dynamic pressure to be applied to that bottom or upper body portion be connected with external support or pressure state control system for recovering of injured or minimized pressurization body garment will be useful, particularly due to its portable characteristics.Such pressurization body garment system can by patient, athlete or other people various, interior wearing is set to perform various different function.
The device of walking aid of such as walker, travelling aided bicycle just stands the people of gait and equilibrium problem, parkinson and other nervous system disease the old man of rehabilitation or the people of physical disturbances or due to apoplexy for helping.These devices are used to usually provide balance and weight support to a certain degree by the arm and hands that use them by people.Use these devices to need people with disability oneself to be elevated to stance from sitting posture, this device could be used to walk about.But health has the people of obstacle often lack strength and or balance oneself to be elevated to stance from sitting posture when not auxiliary.This can stop people independently to use walk supporting device.Also for assistance succession personnel provide extra charge for rehabilitation institution or home care.Commercially available or the walker comprising the device of standing for the auxiliary people be seated known in the art that in addition.An example is to provide the United States Patent (USP) 7363931 of assisting the lift arm of standing.A kind of commercially available device is " TheNewLiftWalker ", and this device can be buied from newliftwalker.com.This device comprise frenulum and arm support member and and pneumatic lifter, to assist people to be elevated to standing place from seated position.These devices generally lack and have weight support ability.On the contrary, people can use their arm and hands to provide some weight support as support.Some auxiliary device for movings use frenulum to provide weight support.But strapping system has the shortcoming described before us.The auxiliary device for moving improved is needed to provide the weight support device of improvement simultaneously and be elevated to the device of standing place for auxiliary people oneself from sitting down.Have elevating mechanism take turns more support auxiliary can use electronic or pneumatic power source or both all have.The training of gait and balance body weight support (BWS) is a kind of up-and-coming rehabilitation technique.
The gait of being undertaken by weight support (BWS) and the training of balance are a kind of up-and-coming rehabilitation techniques.Current weight support method utilizes built on stilts frenulum supporting mechanism, can obtain commercial system.A strapping system is by the United States Patent (USP) the 6th, 302 authorizing the people such as Martin, and No. 828 exemplify.This system be made up of the overhead framework being connected with elevated human body frenulum is in people's such as walking or support the part of the body weight of a people, to reduce body joints downward power when running on a treadmill.The frenulum of the pulling force on the weight support that connects upper torso and health directly to.The natural place of human body during running and walking is restricted to forward tilt position by this.Due to strapping system from chest directly to pull-up upper body, therefore can provide too much stable for balance training.Another problem based on the weight support of frenulum is, the frenulum of supporting object reduces and regulates the demand of (APA) to the position that is naturally associated by one's own efforts needed for walking.During walking for balance the main place of ACTIVE CONTROL be foot step by step in side position.When being supported by frenulum at BWS training period, any middle lateral movement is all subject to the middle reagency guided and divides quantitative limitation, this will contribute to by body steadiness in front, the demand reducing or even eliminate APA, thus make the effect of pre-walking and balance training poor.In addition, shoulder belt and connecting device produce local pressure point and stress on health, and limit the range of movement of health and its extremity.Rotating back and forth of band interference lower limb particularly around thigh and groin.
Be in the application to the weight support based on frenulum new alternative and be close to differential pressure suit described in U.S. Patent application [US2010/0000547, PCT/US2009/003535, EP09762926.5].The invention provides and a kind of there is the EXS differential pressure body garment preventing body garment movement.In its preferred embodiment, this body garment can comprise the multi-deck nested be close to of the skin seal against people, to be included in the space suit of differential pressure that joint bent by minimum force or loose fit.External support represent comprise be connected to body garment fixed or movable mechanical support, for making body garment have the outstanding air pressure level of rigidity or be connected to the purchasing ore of body garment.This differential pressure type body garment provides training portable of repairing skeletal joint damage or injury prevention or athletic performance and system easily.Pressurization reduces more greatly or to lesser extent the weight of health, and unloads loading capacity to ground by external means of support.Even if body garment is flexible and has the seam that also can be able to bend under stress by minimum power.
Needing for connecting frenulum, pressure garments or other connecting device to the mechanism providing counteracting force weight support based on the method for frenulum or partial pressure differential formula bushing device.Strapping system uses rope band or cable that strapping system is connected to built on stilts Weighting system.Naturally walk or running gait form by body kinematics or around the rotation of each axle of health.Importantly connected system limits these motions irrelevantly.Need the weight support system not limiting natural body kinematics.
Summary of the invention
The invention provides a kind of differential pressure type tights with the external support component of opposing body garment movement.The invention provides the weight support part of the mode for not limiting the natural limb motion that people occurs when walking or run.Particularly, the present invention is a kind of system of improvement, described system is used for weight support device, and described weight support device is used for the weight unloading parts (referred to herein as the constant force governor motion) health of people being connected to described device, not limit natural body kinematics.In its preferred embodiment, this body garment can comprise close-fitting Multilayer clothes, body garment is sealed to comprise differential pressure against mammiferous skin, or comprises the clothes of the more loose fit bent at mammiferous joint with minimum power.External means of support comprise be connected to body garment fixed or movable mechanical support, for making body garment be the outstanding air pressure level of rigidity or being connected to the purchasing ore of tights.Cyclic control system can based on the differential pressure state selected in opening and closing tights to adapt to the motion of mammiferous lower limb.This differential pressure type body garment provides portable and system easily, and this system is for repairing skeletal joint damage or training mammal prevention injury, sports achievement or fat reduce or assists the movement of those with physical disabilities.The weight of health is reduced to greater or lesser degree by described pressurization, and by external means of support by weight unloading to ground.Body garment is flexible and has the seam that even can bend by minimum power under stress.
Such as old people or people with disability that the present invention also can be used for assisting to have by the stress reduced on joint the common issue of hip or the knee of such as degenerating move.This comprises lifting auxiliary moving device, and this device receives support with minimum power for enabling people when sitting posture stands and stands mobile environment.In addition, the pressurization replaced/blood pressure lowering circulation can provide the medical benefit of similar massage by body garment, or by strengthening venous backflow to heart for such as standing cirsoid people or other vascular disease.This system can also promote correct posture, and avoids due to health and the long-time flat contact of bed and generate decubital ulcer.This be not one such as, for supporting the pure mechanical system of body kinematics, purchasing ore.The present invention not only can be used for people, but also can be used for other animal, such as Canis familiaris L., cat and horse.
Accompanying drawing explanation
In the accompanying drawings:
Fig. 1 is the axonometric chart of supplementary motion system of the present invention;
Fig. 2 a is the lower limb of people and foot and the schematic diagram being applied to the power on it;
Fig. 2 b is tights of the present invention and the schematic diagram being applied to the power on it;
Fig. 3 is the sectional view of tights;
Fig. 4 is the schematic diagram of the structure of tights;
Fig. 5 is the partial view of the tights of the part being connected to outer support frame;
Fig. 6 is the partial front elevation view of the waist seal of the inside being connected to tights;
Fig. 7 is the front cross sectional view of an optional airtight medicated underpants embodiment of waist seal for tights;
Fig. 8 is the front cross sectional view of the inflatable air hose sealing member for tights;
Fig. 9 is the axonometric chart of the people wearing total length trousers tights of the present invention;
Figure 10 is the axonometric chart of the people wearing the trousers tights only extending to ankle;
Figure 11 is the sectional view of the sleeve seal of tights for Figure 10;
Figure 12 is the axonometric chart wearing the people only extending to just trousers tights above the knee;
Figure 13 is the sectional view of the sleeve seal of tights for Figure 12;
Figure 14 is the schematic diagram of the tights structure also comprising airtight capsule sealing device;
Figure 15 is the partial front elevation view of the airbag structure of Figure 14;
Figure 16 is the partial side view of the airbag structure of Figure 14;
Figure 17 is the axonometric chart of an embodiment of the tights of the pressurization leg unit comprising separation;
Figure 18 is the partial perspective view of an embodiment of the tights comprising circumference clamping system;
Figure 19 is the axonometric chart of the tights of the embodiment comprising loose tights;
Figure 20 is the axonometric chart of the external belt wheel frame supporting construction for tights;
Figure 21 is the axonometric chart of the outside handbarrow shape supporting construction for tights;
Figure 22 is the axonometric chart of the fixed support frame structure for tights;
Figure 23 is the partial perspective view of the constant force governor motion of fixed support frame structure for Figure 22;
Figure 24 is the axonometric chart of the supplementary motion system of the present invention for cycling person;
Figure 25 is the front view of the supporting construction of bicycle supplementary motion system for Figure 24;
Figure 26 is the rearview of the supporting construction of bicycle supplementary motion system for Figure 24;
Figure 27 is the axonometric chart of the supporting construction shown in Figure 24-26;
Figure 28 is the axonometric chart of the outside purchasing ore supporting construction for tights of the present invention;
Figure 29 is the axonometric chart of the inside purchasing ore supporting construction for tights of the present invention;
Figure 30 is the axonometric chart of the pressurization tights unit for tights provide the structural support;
Figure 31 is the axonometric chart of the of the present invention loose tights of the feature of the recyclegas compression/decompression system had for supporting tights
Figure 32 is for supporting also by the axonometric chart of the Portable circulation gas pressurized/depressurized system of outside purchasing ore system support;
Figure 33 is for supporting also by the axonometric chart of the Portable circulation gas pressurized/depressurized system of the independent pressurization body unit of outside purchasing ore system support;
Figure 34 is the axonometric chart for keeping the tights of its vertical position above the waist;
Figure 35 is the axonometric chart for keeping the tights of its horizontal attitude above the waist;
Figure 36 is the axonometric chart being applied to tights vest above the waist for bearing (vacuum) pressure;
Figure 37 is the axonometric chart of the tights vest of the outside wheeled support frame with Figure 36;
Figure 38 is the axonometric chart of the tights for horse;
Figure 39 is the front view of the tights of Figure 38;
Figure 40 is the axonometric chart of the horse tights of the Figure 38-39 with external belt wheeled trolley support frame;
Figure 41 is the axonometric chart of elastic suspension system of the present invention;
Figure 41 b is the axonometric chart of weight support device of the present invention;
Figure 42 is that the movement used with pressurization clothes of the present invention helps the axonometric chart walking frame support structure;
Figure 42 b is the schematic diagram of the rotation previous-next axis of display human body;
Figure 43 be display human body rotation in-schematic diagram of outer axis;
Figure 44 be display human body rotation before and after the schematic diagram of axis;
Figure 45 is in the rotation of display by the human body of hip joint-schematic diagram of outer axis;
Figure 46 is the axonometric chart of the pulley connection between the band of tights and weight support device;
Figure 47 is the cross-sectional view of the band of Figure 46 and the downward from top of pulley connected system;
Figure 48 is the band of Figure 46 and pulley connected system together with the cross-sectional view of the lower part of the body of people rotated and the downward from top of buttocks;
Figure 49 is the cross-sectional view of the band with bending linear bearing of Figure 46 and the downward from top of pulley connected system;
During Figure 50 and Figure 51 is display running step, band and pulley connected system are to the axonometric chart of the lower limb of people around the adjustment of the motion of buttocks;
Figure 52 is the axonometric chart of the parts of an embodiment of the suspension apparatus of display body weight bracing or strutting arrangement;
Figure 53 is the axonometric chart of an embodiment of the weight support device being characterized as leg frenulum;
Figure 54 is for providing the rigid strip of weight support and the axonometric chart of pulley system to people in power four-wheel supporting construction;
Figure 55 is for providing the rigid strip of weight support and the axonometric chart of pulley system to people in motorless manually operated four-wheel supporting construction;
Figure 56 has from the treadmill of the constant force governor motion of treadmill extension for providing the rigid strip of weight support and the axonometric chart of pulley system to people;
Figure 57 is the schematic diagram of each layer of differential pressure type tights next to the skin;
Figure 58 is the view be mapped in by not extensible line on the lower part of the body;
Figure 59 is the view of the first outer field pattern of tights;
Figure 60 be the tights wearing biaxial tension fabric at the axonometric chart based on a runner on the weight support device of treadmill;
Figure 61 is the side view of lifting auxiliary moving device of the present invention;
Figure 62 is the side view of the people wearing pressurization clothes of the present invention and band and pulley system;
Figure 63 is the side view being in the people of sitting posture of dress pressurization clothes, and wherein said pressurization clothes has the band and pulley system that are operably connected to and promote auxiliary moving device;
Figure 64 is the side view being in the people of stance of the lifting auxiliary moving device being operably connected to Figure 63;
Figure 65 is the side view being in the people of stance of the lifting auxiliary moving device being operably connected to the Figure 64 being fixed to mobile treadmill; And
Figure 66 is the view in position place, the wheel promoting auxiliary moving device being fixed to the device of treadmill.
Detailed description of the invention
The invention provides the differential pressure type body garment with the external support component stoping body garment movement.In its preferred embodiment, such body garment can be comprised against animal skin sealing with the multi-deck nested next to the skin comprising differential pressure or the space suit of loose fit bent at the joint of animal by minimum power.External means of support comprise be connected to body garment fixed or movable mechanical support, for making body garment be the outstanding air pressure level of rigidity or being connected to the purchasing ore of body garment.Cyclic control system can start according to selection basis and be closed in body garment interpolation pressure condition to adapt to the motion of the lower limb of animal.This differential pressure type body garment provides a kind of portable and system easily, and described system is for repairing skeletal joint damage or animal training prevention injury, sports achievement or fat reduce or assists the movement of those with physical disabilities.Pressurization reduces the weight of health with larger or less degree, and unloads loading capacity to ground by external means of support.Body garment is flexible and has seam, even if described seam also can bend by minimum power under stress.The present invention also can be used for the movement by the old people or people with disability subtracting pauciarticular pressure to assist the FAQs such as with such as degeneration hip or knee.In addition, the pressurization replaced/blood pressure lowering circulation can provide medibank to heart for such as suffering the patient of varicosis or other angiopathys by the body adaptation of similar massage or by strengthening venous backflow.This be not one for supporting the pure mechanical system of body kinematics, such as, purchasing ore.
For object of the present invention, " differential pressure " refers to the difference of the pressure state (such as, the inner malleation comprised of clothes or the atmospheric pressure state bearing (vacuum) pressure state and clothes outside) of the opposite side across body garment.Such as, if atmospheric pressure equals 14.7lbs/in
2(" psi "), and the internal pressurization state of body garment is 15.7psi, then and body garment is applied to the differential pressure of the animal of wearing body garment is 1.0psi.Such differential pressure also can be expressed as Δ P in this application.
" malleation " that use in the application refers to any stress level exceeding atmospheric pressure.
For the object of the application, " negative pressure " refers to any stress level lower than atmospheric pressure.Vacuum is an example of this negative pressure.Partial vacuum is also included within the present invention.
In the context of the present invention, " body part " refers to any part of the health being applied differential pressure state by body garment.Example includes but not limited to foot, lower limb, knee, buttocks, shoulder, arm, elbow, trunk and back.
" body garment (bodysuit) " that use in the application refers to comprise and covers being close to or the clothes of loose fit of the malleation of predetermined body or the single or multiple lift of vacuum pressure condition.Example includes but not limited to trunk, medicated underpants, total length trousers, covers the trousers of foot, shirt and chest or arm section.Described clothes is provided with the device for producing malleation or negative (vacuum) pressure state in clothes.This device can be the port being connected to air-pressure controlling system.
In the context of the present invention, " pressure-tight " refers to for this body garment, and the material forming this body garment can be included in the malleation or negative pressure state that there is no reduction in the time period relevant with the use of body garment.Therefore, pressure-tight does not require any loss definitely not having pressure or vacuum, does not need to keep the normal pressure in clothes or vacuum state are greater than the interval of exercise or treatments period wearable garment or exceed this normal pressure or vacuum state in this exercise or can by a period of time of interval of reasonably supplementing in the treatment phase yet.
For object of the present invention, " mammal " refers to any class level vertebrate animals, comprises the mankind and brings up young baby with the milk by mammary gland secretion and have other animals all usually more or less covering crinite skin.Such animal includes but not limited to horse, Canis familiaris L. and cat.
Mankind runner illustrates the Exemplary mammals of supplementary motion system of the present invention by being used as.But the mammal of other type any of the importantly exercise of other type any, vital movement or rehabilitation is covered by the application equally.
Supplementary motion system 10 of the present invention shows in FIG.Use the static system of the prior art of fixing treadmill different from needing runner, this system is of portable form, thus makes runner 12 can enjoy outdoor activity on road or path.In the present embodiment, runner's dress covers the differential pressurization fitted pants 14 of foot 18 from the waist 16 of runner to downward-extension.The lower limb 20 of runner is as shown at dashed line 22 in differential pressurization clothes 14.
Differential pressure type clothes 14 is made up of gastight material, and provides easy motion when running by the health of runner 12 and extremity.Clothes 14 seals against human body at waist 16 place.When higher than atmospheric pressure P
atmair pressure conditions P when joining the volumetric region 24 limited between the lower limb 20 of runner and clothes 14, produce differential pressure state Δ P, the runner's lower body portion be wherein included in clothes 14 stands the pressure state higher than the upper body 26 of runner, and upper body only experiences P
atm.Due to this pressure differential Δ P, by the higher air pressure comprised in clothes 14, power is upwards applied to runner 12, thus for reducing the weight of runner's health.Runner 12 thus he when running in this differential pressure type clothes 14 his foot, knee, lower limb with under stand with it with he not this clothes time the running carried out compared with the weight that reduces.
Fig. 2 shows the various vectorial forces on the health of runner.For the ease of understanding, in Fig. 2 a and Fig. 2 b, show runner 12 and the clothes 14 adding differential pressure respectively.Power from the gravity be applied on the body quality of runner is shown as F
g.In use, clothes 14 is sealed to the health of runner at waist 16 place, and is pressurized to pressure P to produce differential pressure state Δ P between upper body and the lower part of the body.Health is represented as area A at the cross-sectional area at waist 16 place
w.Normal pressure P is against health and lower limb 20.Differential pressure state Δ P is being positioned at cross-sectional area A
wbarycenter 17 place human body on produce upwards make a concerted effort F
b.The upward force F of this summation
bbe:
Fb＝ΔPxA
w
This forms the amount reduced by the lower part of the body 20 effectively from runner 12 of weight.Such as, there are 100 square inches of A
wcross section waist area under stand the pressure differential deltap P of 0.5psi with it runner will reduce 50lb in weight due to the clothes 14 adding differential pressure.
Fig. 2 b shows the various vectorial forces on clothes 14.The cross-sectional area of the clothes at waist 16 place is represented as A
s.When body garment next to the skin, A
sshould with A
wapproximate.Positive differential pressure Δ P also causes downward power F on clothes 14
s.This downward power F
sfor:
F
s＝ΔPxA
s。
Which constitute the amount of power clothes being shifted onto human body downwards.Such as, what be pressurized to 0.5psi pressure differential Δ P has 100 square inches of A
sthe clothes of cross section waist area be subject to the downward power of 50lb.This power F
susually clothes 14 is caused to work along lower limb 20 downwards.Therefore, a pith of the present invention comprises the external support component 26 moved down preventing clothes.In the situation of embodiment depicted in figure 1, external support component 26 forms the framework 28 being operably connected to wheel 30.Clothes is connected to framework 28 at junction point 29 place.When differential compression garment take 14 be connected to framework 28 time, be applied to the downward power F on clothes 14
smate the counteracting force upwards applied at junction point 32 by supporting construction.
By this way, the differential pressurization clothes 14 of support can reduce the weight of the health of runner when not body contact.By the application of differential pressure Δ P, the amount of the weight Δ W of health equals:
ΔW＝W-(ΔPxA
w)
It transfers to the framework 28 of supporting construction 26 from the musculoskeletal structure of the lower part of the body 20 of runner, and is transferred on the ground by framework 28 and wheel 30.In addition, supporting construction prevents power F
sdifferential pressurization clothes 14 is departed from it from runner 12.In addition, because be completely moveable in essence based on the supporting construction 36 of wheel and differential pressurization clothes 14, therefore runner 12 can go anywhere with motion assistant system 10, instead of the system as prior art is limited in the room fixed or pressure chamber.
When the health of runner is by foot 18 kiss the earth, the weight amount of change can be removed from health effectively, and this depends on the level of the normal pressure P introducing body garment.Such as, for the cross-sectional area A with 100 square inches
wthe runner of 180lb, the differential pressure Δ P of 1psi will reduce his body weight 100lb.Therefore, the lower part of the body of runner only needs the weight supporting 80lb.The pressure differential Δ P of 0.5psi will deduct the weight of 50lb.The pressure differential of 0.25psi will deduct the weight of 25lb.
The preferred structure of differential pressurization clothes 14 is illustrated in greater detail in Fig. 3-4.The clothes be close to provides larger ambulant advantage for runner 12.Clothes 14 is made up of the material of at least three layers.Fig. 3 illustrates the sectional view of the clothes of its different layers of display.
The layers, airtight inner 31 at waist 16 place of runner's health 20 with gas-tight seal 32 keeps normal pressure P-condition in the clothes on the body skin 34 leaning against runner.Fabric for this inner liner near health can be formed by any pressure-tight material, and this material also has enough flexibilities to provide mobility by runner.Example includes but not limited to latex rubber, neoprene and is similar to the airtight elastic fabric of the Lycra applying latex.This fabric should be enough thin and enough elasticity, to provide comfortableness without restriction.Preferably, clothes 14 approximately 0.002-0.040 inch, more preferably about 0.005-0.015 inch, also more preferably about 0.010 inch.The elasticity of this material can be represented by spring rate, and described spring rate makes the fabric strip of an inch double required power.Preferably, this spring rate should be about 0.2-2.0lb, more preferably from about 0.5-1.5lb, also more preferably from about 1.0lb.
The power that the composition of two skins 36 and 38 of differential pressurization clothes 14 can prevent clothes from applying due to normal pressure P and expanding, keeps the shape of clothes closely to coordinate health simultaneously.Thisly to closely cooperate as health and extremity 20 are convenient to mobile and provide.The leg which also prevents clothes contacts with each other during road-work.In addition, this of clothes closely cooperates the volume of the forced air that decreases and contact with body joints or other suitable gas, to help leg curvature.
Should be made up of mesh, mesh or other suitable fabric for the fabric of first and second outer 36 and 38.Suitable Web materials can be buied from the ApexMillsCorporationofInwood in New York.This mesh or mesh fabric are configured to great majority not along an Axis Extension, and are elasticity or extensible along the second axis perpendicular to first axle.Example mesh material includes but not limited to can the nylon Lycra of knitting or braiding or the monofilament of similar nylon or terylene.
First skin 36 circumferentially expands for preventing clothes 14.The circumferencial direction expanded is perpendicular to the longitudinal axis of lower limb and health fabric.This fabric be oriented to make its can not extend axis along this direction.Fabric can be orientated more specifically and make them can not the extend axis lines that do not stretch along the skin on health or stretch between bending or other moving period.These lines are in industry called as " not extensible line ".Not extensible line parallel and longitudinal axis perpendicular to lower limb and health extend.This ground floor fabric is preferably by along vertical not extensible line.
Second skin 38 is for preventing clothes 14 longitudinal dilatation under stress.This tissue layer is oriented to and makes its non-expanding axis usually along the line of longitudinal axis being arranged essentially parallel to lower limb and health.Preferably, this fabric more specifically can be oriented the vertical line not stretching along the skin on health or extend between bending or other moving period this side up.In the appropriate case, the cloth, mesh or the mesh material that do not stretch along two axis can be used in the unbending part (such as, femoral region or lower shank) of health.This second outer tissue layer 38 that great majority do not stretch in the vertical direction of upright body effectively carries the load vertically downward that positive differential pressure causes on clothes.
Differential pressurization clothes 14 can also arrange nylon extra play 40 respectively and arrange between internal layer 30 and the first skin 36 between extra play 42 and 44 and two skins 36 and 38 and arrange extra play, to make clothes and layer relative to each other slide to improve the mobility of runner on health between health 20 and layers, airtight inner 30.Allow easily enter and leave clothes along the airtight slide fastener 46 that clothes 14 is located close to waist 16 and foot 18 part.Airtight slide fastener like this can be buied from the YKK of the Marietta of Georgia (U.S.) company.In addition, clothes 14 can have the interior ventilating layer 48 providing air-flow and humid control.In other embodiments, these layers can be combined in the monolayer of the basic function providing identical with the above-mentioned layer separated respectively.
As shown in Figure 5,54 are with for clothes 14 is connected to supporting construction 28.This band is connected to supporting construction by accessory 29, and described accessory is such as holding the thread ring of the end of thread extended from supporting construction 28.Described band should meet the waist cross section A surrounding clothes 14 at waist 16 place
wgenerally elliptical shape.This band is used as to suppress the other object of the power of outside pressure, to improve radially inner power when clothes is filled with pressure.Which ensure that clothes closely can meet health at waist 16 place.
Can be made up of any suitable material with 54, this material is enough strong to suppress outside power, and this material comprises metal, plastics or composite.Described band can use thermoset plastic material to be molded as the general shape of runner's waist.Can be formed by firm flexible fabric alternatively with 54, such as nylon.Clothes 14 can use nylon fastening system to be connected to band 54 and disassemble from band 54.Also other mechanical fastening system can be used, such as the hook of band, snap-fastener or joint eyelet.Alternatively, this band can form an integral part of clothes.Described band can be two panels that is hinged by snap close and assembling, easily to penetrate.
In the embodiment of the differential pressurization clothes 14 shown in Fig. 1-3, clothes covers whole shank and foot, makes the whole lower part of the body below waist be airtight.Sealing member 40 is connected to the waist of clothes 14 by airtight connecting piece, thus air pressure can not be spilt between clothes and sealing member.Although sealing member 40 can be positioned on lumbar region, described sealing member also can be positioned at the bottom below buttocks or fall between.
Sealing member 40 forms the airtight band of the material fitted snugly on health.As more clearly shown in figure 6, described sealing member is connected to clothes 14 at 55 places.The seal 40 is preferably made up of elastic Neoprene or other airtight material any (such as the Lycra of rubber, latex or coating rubber).Suitable latex rubber cloth can be buied from the RubberCal of the Santa Ana of California.Sealing member crosses the lumbar region of clothes should be enough loose to provide enough hermetic closed.The circumference of sealing member 40 should be less than the circumference that do not stretch of the body part that sealing member limits, and make when sealing member 40 is fixing around body part (being lumbar region in the case), normal pressure is applied to skin below by sealing member.Combine with the air introducing the pressure P of clothes 14 in the volume between the layers, airtight inner 30 and the body skin of runner of clothes, clothes 14 keeps relative gas-tight seal with the sealing member 40 be associated, to limit the volume of air pressure P in clothes.Sealing member 40 is enough airtight, and it uses air control system for air to provide enough sealing force to keep the air pressure in clothes.
Fig. 7 shows another embodiment of the waist seal for clothes 14.In another embodiment of differential pressurization clothes 14 of the present invention, waist seal can comprise airtight a pair medicated underpants 53 of the inside being connected to clothes.Such medicated underpants can be close-fitting, air-locked neoprene compression medicated underpants, and this medicated underpants provides closely cooperating to health.These medicated underpants can be connected to clothes at waist by airtight slide fastener.This medicated underpants can also be made up of a close-fitting breathable fabric, and this medicated underpants has and is coated in the airtight latex at top or bottom or the band of rubber coating, to provide the gas-tight seal to health.
In another embodiment, sealing member can be made up of inflatable air hose sealing member 50, as shown in Figure 8.This inflatable tube sealing ring around waist, and by attached to being tightly connected of the outside of clothes.When inflated by air, seals 50 expands and applies inside power and leans against on skin, to limit the state of air pressure P in clothes to waist to make waist compress.
As shown in Figure 9, pledge clothes 14 pressurized time, clothes keeps the shape clung to the body, and provides the mobility of health and extremity simultaneously.Port 56 is arranged in clothes, to allow clothes pressurization and decompression.The air control system for air 58 being connected to the pressurized air source 59 be associated keeps normal pressure shape body P in clothes.Air control system for air 58 can also control the humidity and temperature level existed in clothes.Clothes can staticly pressurize once, is then dressed when not having control system 58 by people.When operated in this manner, sealing member 40 keeps the pressure state of the time period worn clothes.The brief exercise of time cycle from a few minutes that this clothes can be worn is to several days times of medical rehabilitation.
Use forced air to fill clothes although discuss in the application, other gas-pressurized also can adopt.Other example of this gas-pressurized comprises nitrogen, carbon dioxide and argon.This gas must be nontoxic and not damage body skin, otherwise internal layer must be through between gas and skin to protect skin and health.
Differential pressurization clothes 52 shown in Fig. 9 comprises a pair trousers of the total length also covering foot completely.The lumbar region entering trousers assisted by airtight slide fastener 60.Airtight slide fastener 62 is also identical for ankle zone.Finally, airtight slide fastener 64 allows the foot section 66 of clothes 52 to be connected to pants part 68 after foot is inserted by trouser legs.
Another embodiment display of differential pressurization clothes 70 in Fig. 10.In this particular embodiment, clothes extends to ankle 74 from waist 72 and does not cover foot, and is sealed at ankle place.Waist seal is described above, and can comprise the rigid strip 54 surrounding air bag.Ankle sealing member 76 shows in greater detail in Fig. 1 l, and comprise the sleeve seal 41 be connected in clothes lower limb 70, described sleeve seal is made up of elastic Neoprene or another kind of airtight elastomeric material, and described airtight elastomeric material is such as the Lycra of rubber, latex or coating rubber.Sleeve seal 41 can be close-fitting air-locked neoprene compression sleeve, and this sleeve is provided in closely cooperating on ankle and shank bottom.Sleeve seal 41 answers long enough to provide enough hermetic closed between sealing member and body skin.The girth do not stretched of ankle sleeve seal 41 should be less than the girth of ankle and lower calves, makes when sleeve seal 41 is fixed around ankle, and normal pressure is applied to skin below by the elasticity tension of sealing member by sealing member.In this fashion, when to pledge clothes by air pressurized to pressure state P, forced air is included in clothes 70 substantially.
By having clothes 70 end at ankle place, the motion of foot can not be impaired because of the foot of clothes.Clothes 70 also can more easily be put on.In addition, wearer can wear the footwear of normal size.
The clean upward force provided by the forced air be included in clothes 70 can be calculated as:
F
b＝ΔP(A
w-2A
A)
Wherein, Δ P is the stress level P in clothes and the atmospheric pressure P outside clothes
atmdifference.A
wit is the cross-sectional area of waist.A
ait is the cross-sectional area of each ankle.
Another embodiment of differential pressurization clothes 80 is shown in Figure 12.In this embodiment, clothes 80 extends to just above knee.Described clothes is sealed at waist 82 and knee 84 place.Waist seal 86 is described above.Knee sealing member 88 shows in greater detail in fig. 13.Sleeve seal 81 is the airtight sleeves being tightly engaged in the inside in lower leg and thigh being connected to clothes 80.Sleeve seal answers long enough to provide enough hermetic closed.The girth of knee sleeve seal 81 should be less than the girth that do not stretch of lower leg and thigh, and make when sealing member 81 is fixed around knee, normal pressure is applied to skin below by sealing member.This sleeve seal 81 is preferably made up of elastic neoprene or other gastight material any, the such as Lycra of rubber, latex or coating rubber.The advantage provided by this clothes 80 is, the knee of runner and shank can move freely and not be subject to any restriction of clothes 80.This clothes 80 is also more easily put on and is taken off.
Clothes 80 is supplied to runner's health clean upward force when being filled forced air is:
F
b＝ΔP(A
w-2A
k)
Δ P is included in the atmospheric pressure P that pressure state P in clothes 80 and clothes 80 outside exist
atmbetween pressure differential.A
wit is the cross-sectional area of waist.A
κbe every bar lower limb just in time at the cross-sectional area of point above knee, wherein sealing member 88 engagement leg.
In another embodiment shown in Figure 14, forced air is included in body garment by the airtight capsule 29 shown in the exploded view of the layer of clothes.Described capsule is made up of layers, airtight inner 31 and outer 33.The described two-layer top at clothes and bottom place link to form airtight capsule.This capsule is essentially two identical inner liners, and an inner liner is nested in another inner liner, and is sealed in the lumbar region, top of clothes and the bottom place of each lower limb.When pressurized, be inside laminated on skin, and be laminated to outward on outside limits layer 36 and 38.The front view display of capsule 29 in fig .15.The side view display of capsule 29 in figure 16.Capsule 29 is included in the air under pressure state P.Described capsule can be used to the various embodiments of pressure clothes described herein, comprises and extends to the capsule surrounding foot, the capsule extending to ankle from waist from waist and extend to capsule above the knee from waist.
Another one embodiment is presented in Figure 17 of differential pressurization clothes 90.This embodiment by every bar lower limb one independently clothes 92 and 93 form, described clothes has the leg opening 94 of close upper leg portion.Upper leg portion sealing member 95 can extend to the buttocks of leg outer side obliquely from upper leg portion at the groin place of the inner side of lower limb.A
tthe cross-sectional area of the point at upper leg portion place on every bar lower limb, wherein sealing member 95 engagement leg.
Every bar lower limb clothes 92,93 covers whole shank and foot, makes the whole piece lower limb below thigh sealing member 95 airtight.Leg clothes is connected to the rigid strip 98 arranged near waist by band 96.This band can form firm flexible fabric alternatively.Then band 98 is connected to supporting construction (not shown).Alternatively, leg clothes can be directly connected to support frame by band 96.The positive differential pressure Δ P be included in leg clothes 92,93 causes power F upwards
bbe applied to and be positioned at transverse cross-sectional area A
tbarycenter 97 place health on.From this upward force F of two leg clothes on health
btotal amount be:
F
b＝2ΔPxA
t
Wherein, Δ P is the atmospheric pressure P outside the normal pressure P-state of clothes inside and clothes
atmbetween pressure differential.A
wit is the cross-sectional area of lumbar region.A
tit is the cross-sectional area of each upper femoral region.
The various structures of clothes as above provide upward force F on health
bamount from high to low, this depends on the position of sealing member.The complete lower part of the body of Fig. 1 covers clothes 14 to be provided health maximum top lifting, this is because:
Fb＝ΔPxA
w。
Waist-ankle the clothes 70 of Figure 10 provides the lifting force of next maximum, this is because:
F
b＝ΔP(A
w-2A
a)。
The next one in decline process is Figure 12 is that waist arrives just at clothes 80 above the knee, this is because:
F
b＝ΔP(A
w-2A
k)。
For most people, their physical anatomy structure is such: A
a< A
k.Independently leg clothes 92,93 also provides the amount from high to low of upward force on health.The leg clothes at the upper leg portion place of Figure 17 with top seal provides maximum amount:
F
b＝2ΔPxA
t。
At upper leg portion place, there is top seal and the leg clothes at ankle (not shown) place with lower seals provides next maximum amount:
F
b＝2ΔPx(A
t-A
a)。
At upper leg portion place, there is top seal and the leg clothes that some place above knee (not shown) has lower seals provides minimum flow:
F
b＝2ΔPx(A
t-A
k)。
Although described be similar to air gas-pressurized as the pressure medium for differential pressurization clothes 14 of the present invention, the normal pressure be applied on its extremity of health can be produced by alternate manner.Such as, the fabric or elastomeric material 102 that circumferentially keep under tension around lower limb 104 can be adopted, as shown in figure 18.Material 102 applies tension force T
c, this tension force produces the inside radial force F on the surface being orthogonal to lower limb on health
r.The effect of this power in this circumferential tension system 100 is similar to the effect of the malleation that air pressure produces-namely, and clean upward force produces on health.
Various device can be used to produce this tension force.Such as, elastomeric material can provide this circumferential tension.In such an example, " clothes " is made up of many coilings of the axis direction perpendicular to lower limb 104 of elastomeric material and not extensible on the longitudinal direction of lower limb.The size of clothes is set smaller than health, thus makes to produce tension force when putting on clothes.Alternatively, clothes can by use slide fastener or by tightening up clothes via band, after putting on tie a knot and under being placed in tension force.The clothes 100 of this circumferential tension embodiment can be similar to the above in coverage--and such as, waist is to above the knee, around waist to ankle, waist to foot; Upper leg portion/buttocks is to above the knee; Above upper leg portion/buttocks to ankle; Around upper leg portion/buttocks to foot.
Air bag 106 under the part leaning against on lower limb 104 being positioned at twister 102 may be used for producing further tension force in clothes 100.This air bag should have little width, and along health longitudinal extension below twister 102.When capsule 106 is filled with the gas being similar to forced air, under twister 102 is placed in tension force.A small amount of air is advantageously only needed to produce normal pressure on health, this is because twister 102 itself also contributes to normal pressure by tension force.Meanwhile, twister material can obtain breathability and allow water transport and away from health.
The marmem being similar to NiTi or shaped polymer can similarly be used to provide tension force in the pressure clothes of circumference tensioning.Electric current can be applied in make material change shape, to meet the shape of lower floor's health, and produces circumferential tension.Marmem or polymer can be made into the fabric forming clothes.
Although the differential pressure clothes 14 be close to has been illustrated with the clothes 100 of circumference tensioning and has used together with supplementary motion system 10 of the present invention, the clothes 110 of loose fit also can be adopted, as shown in figure 19.The leg of clothes 110 can extend downwardly into just in time above knee, on ankle or cover whole foot, as mentioned above.If clothes does not extend around foot, then sealing member 112 can be arranged around waist with at the bottom margin place of clothes.Exemplary position comprises: at waist or top thigh to the upper seal 112 at buttocks place; In the lower seal above the knee or above ankle.
The mobility of health 114 and lower leg 116 is provided by the joint of the constant volume being positioned at the waist 118 of clothes 110, knee 120 and ankle 122 respectively.When volume changes under a constant for the formula worked be:
W＝PxΔV
Wherein, W is merit, and P is constant pressure, and Δ V is the change of volume.Obviously, keep constant volume at joint, make Δ V=0 in arthrogryposis process be a kind of mode eliminating needs merit just in time being increased to bending clothes joint.
The linking part of constant volume allows the cross-sectional area of the seam of clothes to keep the constant volume of forced air P in the bending period of health, thus the merit needed for bending joint is minimized, and therefore exerts all one's strength and minimize.In the preferred embodiment of the differential pressure type clothes 110 of loose fit, the linking part of constant volume is formed by baffle plate with along the tension band of the side of linking part, in case baffle plate extends.Also can use the linking part of the constant volume of other type well known in the prior art, such as, at United States Patent (USP) the 4th, " SpaceSuitMobilityJoints " described in 151, No. 612, this application entirety is incorporated to herein as a reference.Clothes shown in Figure 19 has and is positioned at the linking part of waist to the constant volume of hip and knee.The linking part of the constant volume at knee 120 place allows lower limb to bend when not needing excessive power and moves the motion of walking or running in knee.Airtight boots 124 is worn, and the linking part 122 of constant volume is used to allow to move.
Such as the gas-pressurized 126 of air is injected into clothes 110 by control system 128 and flexible pipe 129.Wear clothes 110 people can take exercise on treadmill 127, but Portable pressurized gas system is also fine.
Rubber nylon can be used for structure monolayer clothes.This rubber nylon can use standard sewing machine to be sewn into suitable shape.Thigh sealing member can be made up of the neoprene compression sleeve of commercial purchase.Compression sleeve can be buied from the AdvancedBrace in the Irving city of Texas.Neoprene compression medicated underpants can be buied from identical supplier.Compression sleeve can be sewn into trousers in inside around thigh opening, and is made into air-tightness to make seam airtight by the seam seal of the SeamLock form for being sold by washingtonian RET, Inc.ofSumner.Pants type waist seal is by being sewn into outside rubber nylon clothes and being constructed to make this seam airtight by joint seal by lumbar region.Alternatively, press lock barrel by each is placed on suitable diameter steel band on and then materials at two layers and another outer shroud are clipped together and are connected to gluing nylon external garment.The air inlet accessory of standard can be arranged in trousers, to be provided for the port of pressurization clothes.
Another importance of the supplementary motion system 10 of Fig. 1 is external support structure 26, and described external support structure is required for the downward power F preventing from being generated on clothes by positive differential pressure Δ P
sforce clothes downwards and depart from the health of runner.In the case of figure 1, the embodiment of external support structure 26 is configured for as runner 12 provides comprehensive ambulant framework 28 and wheel 30.This supporting construction should be designed for the body kinematics that the people wearing described clothes plans the particular range carried out.
Show the frame structure 130 of provided with wheels in Figure 20 in greater detail, described frame structure is for supporting the differential pressurization clothes 132 worn by the people 134 run.When wearing this clothes 132 supported by band wheel frame 130 during the running process of runner at him, he he foot, knee, lower limb and under stand less weight with it, this is because a part for his body weight is by the power F upwards that generates on health of positive differential pressure Δ P by pressurization clothes 132
bunloading.Also be the downward power F generated on clothes by positive differential pressure Δ P
sbe sent to supporting construction 130 and be sent to ground from supporting construction.
Framework 130 shown in Figure 20 has the structure being similar to bicycle: an anterior wheel 136 and below a wheel 138.Runner 134 is positioned in the centre position between described wheel, and the space between wheel is enough to avoid contacting with the lower limb of runner.As bicycle, the spinning momentum during movement stable frame of wheel.Framework 130 at waist/buttocks horizontal plane 140 place around runner 134.It should be noted that be not the seat of standard configuration, pedal, sprocket wheel and chain for bicycle.Framework 130 is designed so that runner 134 can swing his arm and hands when running.
Pressurization clothes 132 as described in other embodiments of the invention is by the vertical axis generative power of counteracting force along drive way up by promoting clothes downwards.The power of described generation is cancelled by this downward counteracting force is unloaded to the framework 130 of ' bicycle ' in the present embodiment, thus effectively a part for the body weight of runner is delivered to cycle frame by wheel and is therefore delivered to ground.
Mechanism 144 allows the trunk of runner to rotate during road-work and angularly pivotable.In the present embodiment, described mechanism is only made up of the flexible pleated filter material 140 around the region around garment waist, and described flexible pleated filter material can along with the motion of runner's trunk is bending and distortion.Also other mechanical mechanism for this object can be used.
The support frame 130 run has the mechanism 146 for making turning of bicycle.In an embodiment of steering mechanism, removable front-wheel 136 is turned to by the mode of similar bicycle, except replace long vehicle except, cable 148 and little steering wheel 150 are used, thus adopt known mechanical means to realize and turn to.In the second embodiment of steering mechanism, handlebar is brought back one or two arm arriving runner.Unique difference of the steering mechanism of bicycle of the present embodiment and standard is that centering spring keeps the correct position of bicycle or do not rotate, until runner applies force to bogie car handle.This does not have active steering during making to run.3rd turns to embodiment to use provide electric power by embedded rechargeable battery turning to the stepping motor in row.Described turning to is controlled by wireless handheld glove actuator by motor, and described actuator uses known wireless and motion control method to provide movement instruction to motor.This makes runner freely swing his both arms with natural road-work, and still keeps full-time course changing control.Before the vertical axis that 4th turns to embodiment to be positioned at by the wheel hub of wheel turns to or below to provide auto-steering.
The support frame 130 run also can have the cycle brake by the standard using the hand lever of known device or operated by the handheld remote control method of actuatable electric brake.
An optional constant force expands mechanism and may be used for the constant power upwards pressure clothes being provided to the vertically movement that moves both vertically making itself and runner's health.The constant force of this mechanism is adjustable, makes the upward force in this mechanism equal clothes downward force under stress.Therefore clothes along with the upper and lower vertical float of the motion of runner's trunk, can keep substantially invariable power upwards simultaneously on clothes.There is provided the range of movement of 0-7 inch to adapt to various runner, wherein 3 to 4 inches is a typical vertical displacement in road-work.
The framework of different size can be provided to coordinate the runner of different size.Upright position and the described constant force of the mechanism of rotation and angled pivotable can be adjustable to adapt to different health height.
The aforementioned alternate embodiment being similar to the running supporting construction 130 of bicycle is the trolley structure with four wheels, and described wheel is arranged to left side and the right side that paired wheel is laterally positioned at runner, as shown in figure 21.In this embodiment, framework 160 is connected to each wheel 162 transverse to runner, thus reserves path clearly for runner front and back.Front-wheel independent operation is also implemented as rotatable castor 163 to adapt to turn to.Trailing wheel also rotates independently, but is fixed on its vertical axis.Axletree 164 provides the interface component 166 be rigidly connected to for pressure clothes 168.Unloaded a part for the body weight of runner in the mode identical with bicycle type embodiment by pressure clothes 168 and this part be sent to framework, axletree 164 be ultimately delivered to ground 172.Turn to and initiatively completed, this is that the direction of following runner simply due to this handbarrow changes the direction change caused, thus torsion is transformed into front-wheel caster mechanism to the mode turning to shopping cart similar by framework.
Another embodiment can be tricycle, and wherein the front left side of runner is connected to framework with the pair of wheels of forward right side as four-wheeled hand truck, and the 3rd freewheel and the single trailing wheel freely rotated provide stability to system.Finally, should be realized that and can use any amount of wheel under the prerequisite not departing from protection scope of the present invention.
Figure 22 shows another embodiment of supporting construction, and described supporting construction is made up of the fixed support framework 180 be positioned on treadmill 182.The pressure clothes 184 that framework 180 couples of runners 186 wear provides support.Any one in the embodiment of aforementioned pressure clothes may be used to the supporting construction 180 of this static state.For illustrative purposes, Figure 22 depicts the pressure clothes 184 stopped above ankle.In concept, unique difference between this stationary support structure 180 and above-mentioned wheeled supporting construction 130 and 160 is, the counteracting force deducted from the body weight of runner is unloaded to the fixed structure of rigidity, i.e. treadmill frame instead of moving structure from runner.
This realizes by arranging one group of sliding bar, and described sliding bar supports runner and is arranged to allow vertical and horizontal motion.The waist annular support member 188 of rigidity is wound around the health of runner and is connected to pressure clothes 184 at waist place.The longitudinal sliding motion bar 190 of level is connected to each end of framework and sliding part via accessory 192.Longitudinal sliding motion bar allows runner to vertically move along direction from front to back on track 182.Accessory 192 is connected to the centre of each in two horizontal cross bars 194 slided.These slip transverse bars allow runner in orbit along the direction transverse shifting from side to opposite side.Horizontal sliding bar 194 slides through accessory 196, and described accessory is fixed on the top of the pneumatic spring 198 of constant force.Preferably, these springs provide constant power to support the load vertically downward from clothes and sliding bar, and allow runner to move both vertically.In other embodiments, spring can be the mechanical spring of constant force, as known in the art.Spring also can be machinery for non-constant power or pneumatic spring.Spring is connected to perpendicular rigid component 200, and perpendicular rigid component 200 is connected to the pedestal of treadmill.
In use, constant force cylinder each be configured such that total power equals the weight needing to deduct.Gas cylinder actuators can be buied from the BimbaManufacturingCompany of the not Buddhist nun of Illinois.Before pressurization trousers 184, runner walks close to the little support of about a foot in the surface of treadmill and sandwiches in the crook on cylinder group.Once complete this operation, trousers 184 can be pressurized.By standing with this yardstick, pressure can be set to deduct required weight.Alternatively, because trousers characteristic should be known priori result, the pressure P being therefore applied to the concrete calculating of trousers 184 will produce specific weight subtraction.Required weight subtraction is arranged via pressure P, and the counter-force supplied by cylinder 198 can approximate match.The pressure correctly calculated can be applied to constant force spring 198 by control system.In running, runner can relative to running surface vertically from 1 to 7 inches, typically be 3 or 4 inches of vertical and move.The function of cylinder 198 be run during in response to this vertically mobile constant unloading dynamically keeping counteracting force.
Replace the above-mentioned wheeled or stationary support structure be separated with pressurization clothes of the present invention, supporting structure part can directly load in pressure clothes, makes support frame and pressure clothes and health have same motion.By this way, the invention provides the motion of wide region and take exercise in various physical features.
As shown in the embodiment 230 of Figure 28, support frame is the purchasing ore structure 232 of rigidity, and the purchasing ore structure of described rigidity is made up of the linking part of light weight bar with the outside being connected to pressurization clothes 234.The downward power that the rigid frame of purchasing ore 232 and linking part are the clothes 234 that pressurizes provides the support of necessity.Clothes F
ddownward power equal the power F upwards of junction point to the top of purchasing ore
u.Purchasing ore has the support member of coupling in the inner side and outer side of lower limb.
Embodiment 240 shown in Figure 29 is identical with the embodiment shown in Figure 28, and difference is that rigid exo frame 242 is built in the fabric of clothes.Purchasing ore 242 comprises multiple relatively strong thin vertical rod 244, and described vertical rod has flexible joint portion in knee.Described bar is integral in the airtight fabric comprising clothes 234 as previously mentioned, and terminates in ankle ring 246 place, thus power is directed to the outside of boots structure and is therefore directed on the ground.Alternatively, bar 244 can be layered on clothes and also suitably be connected to multiple some place.Described bar is substantially along the non-expanding vertical line of the lower part of the body and leg.Bar 244 by suitable light weight but the high material of intensity form, such as aluminum or composite.Inner purchasing ore 242 supports the leg of pressurization clothes 234.One leg is depict only for ease of understanding in Figure 18.
Bracing or strutting arrangement for the another kind of type of supplementary motion system 10 of the present invention utilizes the air pressure of pressurization clothes to support runner.In this case, support frame is not needed.The forced air post be included in lower limb unit can support and equal leg unit A
ucross-sectional area take advantage of the load of described differential pressure Δ P.
As shown in figure 30, in this embodiment 250, body garment 252 is made up of the tubular units 254 around every bar lower limb.Lower limb unit has cross-sectional area that is identical to bottom from top or that slightly increase.This shape of tubular units 254 causes the internal pressure of unit not apply the outside of power vertically downward to pipe.Described unit is sealed in the bottom around foot.Described unit is sealed in the top against thigh by sealing member 256, as described previously.The size of described unit is formed as making forced air post can support the body wt supported by inner differential pressure Δ P.The cross-sectional area A of unit is equaled by the load of each unit supports
utake advantage of differential pressure Δ P.
Positive pressure difference Δ P in lower limb unit is in the cross-sectional area A being positioned at each lower limb unit
ubarycenter place health on produce upwards make a concerted effort F
b.From this upward force F of lower limb unit on health
btotal amount be:
F
b＝APxA
u。
As about Figure 30 to the embodiment of the loose fit clothes of pressurization clothes discussed, the linking part 258 of the constant volume of knee and the linking part 260 at ankle place allow pressurized lower limb unit 254 bend and move along with walking and road-work when not needing excessive forces.The loose fabric at these linking part places allows volume to keep relative constancy in BENDING PROCESS.Holding device between fabric loop can prevent linking part Longitudinal Extension when tubular units 254 is pressurized.People can take exercise easily on treadmill 262.
In another embodiment, tubular units can be shaped as make to wear clothes 252 the shape of people's motion, and provide a compacter design.Such as, tubulose unit can be have with motion forward-ellipse of major axis aimed to posterior axis.The shape of transverse cross-sectional area can change, thus moves up and down lower limb.Lower cross section region can be shaped as more as shank and foot.Top transverse cross-sectional area can be shaped as similar thigh.This provide the fairshaped shape not disturbing road-work.
Alternatively, tubular units can have the independent additional pressure chamber provided support.This room can have with for providing support to the high pressure of pressure needed for health, with can with less cross-sectional area for tubular units supports higher load.
This unit can also have the independent less pressurization tubular units of load-supporting.Such an embodiment provides a kind of compacter shape clung to the body.
For arranging purchasing ore as the clothes described in supporting construction, the motion of various body kinematics can strengthen for dynamic purchasing ore further by use, as known in the art.For dynamic purchasing ore mainly comprise the skeleton shape framework worn by people and supply for the power supply at least partially of activation energy of limb motion.Usually, be connected to the specific portion point place of health by machinery for dynamic purchasing ore.These local mechanical pressure contact points on health are harmful.Using differential pressure to carry out body support allows purchasing ore to be distributed on large body surface to the connection of health.
The concept of the differential pressure supported can be used for other weight saving areas of health.Such as, by using the pressure clothes of differential support upper body to generate pressure differential between the narrow waist and lower pelvic of the people be seated, the upper part of the body weight of people can by loss of weight.This may be used for making the people with low back pain, degeneration or rupture disk etc. reduce the pressure of lower back portion and spinal column.
An example of this clothes is presented in Figure 34.Differential pressurization clothes 325 shown in Figure 34 comprises the total length clothes extending to the chest be just in time positioned at below arm.This embodiment of clothes covers foot, lower limb and the lower part of the body completely.Alternatively, this clothes can extend to ankle, knee or upper leg portion.This clothes is sealed at chest.Described sealing can form any encapsulating method previously discussed, comprises neoprene band, inflatable tube or inflatable bladder.Described clothes is connected to rigid strip 326.It is the supporting construction 327 of chair that described band is used for clothes 14 to be connected at the present embodiment.This connection makes people easily to engage or to depart from chair.The generally elliptical shape of chest cross section is met with 326.Described band and to the connection of described supporting construction be enough to support pressurization clothes downward power.Airtight slide fastener (not shown) assists to enter total length pressure clothes.When people sits down on chair, this clothes can be connected to the connection valve 329 on chair, or when people stands up from seat, this clothes can be separated with described connection valve.Connection valve 329 can be connected to the control pressurer system 328 to clothes pressurization and decompression as required.
The challenge brought by pressurization clothes of the present invention is the suitable management of the balance between the downward force of clothes and the upward force applied by previously described constant force governor motion, supporting construction or other discharge mechanism.Particularly, power must be balance when clothes is pressurized or depressed.If applied when the power produced by the downward force of clothes is different with the counter-force applied by constant force governor motion, then its result will be the downward force of clothes and the upward force imbalance of discharge mechanism.Therefore, if first air pressure applies, then the downward power do not opposed will drive clothes downward.Otherwise if first the tensile force upwards counted applies, then clothes can be pulled upward.But if these two power are applied in continue to contend with each other, then clothes will remain on its correct position on the health of people.
A kind of method of people for pressure and unloading counterforce being applied to smoothly dress pressurization clothes will be described.The application of pressure trousers is only for exemplary object, and similar system also can be applied in other embodiment of the present invention, comprises the clothes using negative differential pressure could.Scalable will be described but the method for optimizing of the spring of approximately constant power.Then, will the mechanism being used for generating the one group of point being used for control algolithm be described.
As mentioned above, the little vertical movement in the scope (nominal 3 inches) of typical runner importantly counter-force keeps constant.Preferred higher than the modification being no more than the power of five pounds of 3 inches.This is easily realized by about 4 feet long and every foot of stretching (bungee jumping) cord material with the spring constant of 10 pounds.It should be noted that preferably use two ropes: a left side people, another is on the right side of people.Therefore, 40 pounds on each rope maximum power can produce maximum unloading 80 pounds.In order to obtain 40 pounds in every side, stretching rope will be stretched to double length or four feet of displacements.It should be noted that for 5 pounds altogether, people's 3 inches of (0.25 foot) vertical displacements during running will cause 2.5 ft lbf losses on each rope at peak height place, this satisfies preferred minimum change.
In Figure 41, the example of pressurization trousers demonstrates the stretching rope describing to be connected to the left side of runner.For the sake of clarity omit dextral rope.Cord rope 800 is clipped on trousers at one end, and rises on the pulley 801 above the people that is arranged on above treadmill.Are electronic force measuring instruments 805 in the end of stretching rope 800, described electronic force measuring instrument can measure the expectation tension force of 0 to 50 pound, and is about four feet long not extending but around the cable 806 being wound around pulley 807 and being wound around at the opposite side of dynamometer 805.Being wound around pulley 807 is come motor-driven by stepping or servomotor under systematic microprocessor controls.
Object is that the auxiliary rope 810 being mainly used in measuring and controlling is parallel to main stretching rope 800.Rope 810 ends at fixing position 811 place of near pulley 801 one, and the initial part of rope 810 is every foot of short springs 812 with the spring constant of a pound, be then the control dynamometer 813 of series connection, not tensile rope portion 814 and manually operated ratchet pulley 815 mechanism.The lower end of 815 is in the not tensile rope 816 being connected to trousers.
Keyboard and the display 817 of input control device comprise microprocessor.Microprocessor receives the input of digital translation from dynamometer 805 and 813 and pants presser force transducer 818.Except the standard I/O function of treadmill, microprocessor also controls trousers pressurizing valve and back tension winding motor.
When starting, to start to the initiation command of input control dish 817 when individual prepares.In standard inspection to guarantee that system indicating user tension ratchet pulley 815, until reach 1 pound of set point (tolerance that plus/minus is suitable) from after dynamometer 805 and 813 and pressure transducer 818 receive input.When reached, report ready state over the display, and user stops manual tension.Advocate that line of force cable 800 is strained via actuating rewind pulley 807 until detect that controlling dynamometer slightly declines, then cable is suspended and arranges at this.Then, user inputs the target weight that will be unloaded by system on keyboard 817.Now, air-flow is activated to produce from pressure in clothes, and monitors in control software design from the measurement of dynamometer 813.Once the increase of power deposited by dynamometer 813, the tension force of increase applies, on control dynamometer 813, setting value is remained on one pound by rotating rewind pulley 807 again.Subsequently, the increment of air-flow can be applied by air inlet hose 819, then follows the counting tension force of increase closely by activating rewind pulley 807, to control set point dynamometer keeping a pound.In the simplest embodiments, this front and back repeat can continue until reach the target weight of expectation on dynamometer 805, or reach maximum system authorized pressure according to the report of pressure transducer 818.
More complicated control algolithm also may be used for this object of resilient suspension system of the present invention, such as proportional-integral-differential (PID).Critical aspects is that the controling parameters that dynamometer 813 is reported is increased by air pressure system, and by counting tension mechanism reduce, and control algolithm to two system cloud gray model with the expectation set point of retentive control parameter.When user starts to run, this system can not need to monitor and perform further adjustment.But the circulation peak value reported by monitoring dynamometer 813, ongoing adjustment can keep the set point expected.
The another kind of method also incrementally applying counter-force for carrying out pressurization to trousers can perform referring again to Figure 41 as follows.The method does not rely on secondary dynamometer 813 or the by-pass cable be associated and tensioner.And described method depends on increase and the alternate steps of pressure and back tension.User will by the target weight of system uninstallation comes by input on operation keyboard 817.Now, air-flow is activated the pressure produced in trousers, and monitors in control software design from the measurement of dynamometer 805.Forced air is allowed to flow into trousers until the little suitable increment deposited of dynamometer 805, is nominally one pound.Then, the air-flow of pressurization stops, and oppositely tensioning is wound around pulley 807 applies by rotating, until the poundage increased to be deposited at dynamometer 805 (now altogether two pounds) upper.It should be noted that when the starting force produced by air pressure drives trousers downward along health with little increment, the large young pathbreaker of the identical power that rightabout is produced by reverse tensioner makes trousers return its original position.Then, the air-flow of pressurization is activated again, and dynamometer 805 is monitored, until another pound of increment is deposited at dynamometer 805 (being now 3 pounds) above, air is cut off and oppositely tensioning is applied to mate the increment (present dynamometer 805 always has 4 pounds) with other a pound again.This process repeatedly can be carried out rapidly and repeat, until obtain as on dynamometer 805 till the target weight deposited unloads.
Although describe these embodiments of resilient suspension system about the fixing treadmill being positioned at indoor, wherein control unit can be installed in the top of the people taken exercise just on a treadmill, but importantly recognizes the portable system that can use employing electromechanical principle of the present invention equally.Such as, similar system can be arranged on cycle frame, to manage offset pressure on the pressurization clothes that is applied to and worn by cyclist and support force.It is also important that and recognize, this resilient suspension system is not to use pressurization clothes of the present invention.
Being used as further of pressurization clothes of movement supports help, thus can be used for the people assisting old man or physical disturbances, particularly those people's movements rehabilitation recovered from lower limb or back injuries.The carriage shape supporting construction 900 of Figure 42 is used as the walker of belt wheel, is commonly called " travelling aided bicycle ".The walker of above-mentioned belt wheel is also conducive to those limited uses or cannot uses the people of the hands of oneself and the impaired of arm.When pressure clothes 901 of the present invention is worn by this people, support and help as this people provides the support of necessity, and make him seek help to take exercise on conventional walk device his arm and hands.
The design and the size that support auxiliary framework 902 and front-wheel 903 and trailing wheel 904 are formed as making mobile unit have the function of the wheeled walker of standard.Front-drive and pivotable are to allow easily to turn to.All four wheels also can rotate and pivotable.Typically, wheel 903 and 904 has the diameter of seven inches at least--preferably 8 inches--to ensure better reliability.Three-wheel walker also can use.In addition, in order to improve the safety of wheeled walker and parts thereof, convenience and durability, wheeled support helps the basketry that can use tubulose seat, rear seat and have spacer and mat.
The support auxiliary member of belt wheel can combine with manual brake bar 905 and brake 910.Brake on the support auxiliary member of belt wheel can form lockup brake, stands while being supported on resting position to allow people.Other device of braking also can be supplied to the people of those their arms of limited use and hands.The support auxiliary member of belt wheel can be designed as and obtains the wider health that makes and rotate from side to opposite side, opposite side can be turned to from side to make people in the support auxiliary member of belt wheel and in the face of side or opposite side or even the back side stand.Described support auxiliary member also can have and will allow the seat of having a rest.The support auxiliary member of belt wheel will have adjustable-height.The support auxiliary member of belt wheel also can be designed as has fold mechanism for compact storage.
The support auxiliary member of belt wheel can have for helping the hand support part entering from support auxiliary member and exit.The support auxiliary member of belt wheel can be become by lightweight material structure, such as aluminum or complex.The support auxiliary member of the belt wheel that pressure is assisted preferably can use tubulose seat, back seat and have the basketry of sept and mat.The support auxiliary member of belt wheel can be equipped with compressed air source to control the pressurization of clothes, and regulates for the device of autobalance as the downward force of the clothes of pressure.
Impaired people 911 is worn in the pressurization clothes 907 that attachment point 907 place is connected to the framework of walking frame.Aforesaid various method of attachment can be used.Also previously described constant force governor motion can be comprised.For walking application, compared with road-work, walking frame has minimum moving both vertically up and down, so this embodiment needs less total adjustment and dynamic balance.The various embodiments of aforesaid pressurization clothes 901 can use the support auxiliary member of this belt wheel.Clothes is customizable to make health have the people of obstacle to be easy to enter and exit.Particularly, pressure clothes can have overlength slide fastener 908 and the support ring being easy to enter making health have the people of obstacle easily to put on clothes.
Except recovering of injured and aerobic training, pressurization clothes of the present invention also can be used for the beneficial outcomes that people wishes to seem loss of weight.In order to carry out burn fat by physical exercise, medical circle suggestion human heart speed needs to remain in specific scope, is usually less than the heart scope of cardiorespiratory training.A lot of people in order to fat combustion is significantly beyond this heart rate scope, thus causes the weight failure cutting expectation.This disappointment often because they are difficult to or offending nature cause people to exit their training, and relies on extreme diet to replace.
Pressurization clothes of the present invention can make people reach the physical exercise of the elevated levels with significantly reduced heart rate suitable when deployed.This should make the easier heart rate by her of this people remain on burn fat in prescribed limit, and enhances the probability of the loss of weight target obtaining her.
Figure 41 b shows the weight support device of walking on a treadmill for people 2001 or running.People 2001 wears lower body clothes 2002.Preferably, clothes can be as in the application previously as described in differential pressure clothes.Alternatively, this clothes can be do not pressurize clothes or frenulum.Rigid strip 2003 at about waist place around the lower part of the body.Pulley 2004 is being connected to described band around described band certain intervals place.Another group pulley 2005 is connected to lower body clothes with interval.Rope 2006 is moved by the pulley on the pulley brought and clothes.Described rope is alternately through the pulley on the pulley brought and clothes.The end of rope links together, and makes described rope form the continuous loop by all pulleys around waist.Therefore rope and pulley are connected to rigid strip from clothes and will transfer to rigid strip from mechanical load from clothes.Suspension fork mechanism 2007 its lower end 2002 be connected to band 2003 and at its upper end place be connected to cable 2008.Cable 2007 be connected to as previously in this application as described in constant force governor motion 2009.
The mode of the natural body kinematics of the people occurred when the present invention is not to limit walking or to run provides weight support.Particularly, the present invention is the system improved, this system is used for weight support device, and this weight support device is used for the weight unloading parts (referred to here as the constant force governor motion) health of people being connected to this device, not limit natural body kinematics.During walking or running gait, health moves and each axis around the health shown in Figure 42 b-45 rotates.First, upper axis-lower axis (that is, vertical axis) 2010 is shown in Figure 42 b.The buttocks of people and under rotate back and forth around this axis, this is because lower limb and buttocks move forward when gait cycle starts and move backward when loop ends in time walking or run.Secondly, interior-outer (that is, from side to opposite side) axis 2011 is shown in Figure 43.The health of people is run along with people leans forward to from the position that stands still or walking and rotating around this axis, tilts or degree of rotation depends on jog mode and the speed of people.3rd, antero posterior axis (namely from front to back) axis 2012 is shown in Figure 44.During running or walking, buttocks and the lower part of the body move up and down around this axis.4th, lower limb is rotated back and forth around interior-outer axis by hip joint, as shown in figure 45.The invention provides the device not limiting body kinematics and the rotation around these four rotation axiss for supporting body weight.
Connection between body garment and band is shown in greater detail in Figure 46.Rigid strip 2003 is roughly positioned at waist level face place around the waist of people.Described band be substantially in vertical direction rigidity to support unloaded body weight.In a preferred embodiment, described band is the bending rigidity aluminium strip of 1 inch wide and 1/8 inch.Described band also can be configured to be flexible in a horizontal plane so that submissively around waist be elasticity, while be in vertical direction rigidity with the weight of support unloading.This band can be formed to provide flexible by multiple thin banded structure.In one embodiment, described band is combined by the rustless steel band of 31 inch wide and 1/32 inch and is formed.Pulley 2004 is connected to described band with the interval separated.Another group pulley 2005 is connected to clothes with the interval separated.In a preferred embodiment, rigid support bar 2014 is by the sleeve sewed up in clothes, and pulley is connected to described rigid support bar to provide being uniformly distributed of the stress of the fabric crossing clothes.Rope 2006 is moved by the pulley replaced between the pulley in body garment and the pulley brought.The end of rope links, and makes described rope around health and forms continuous print ring by pulley.In a preferred embodiment, the vertical dimension be connected between the band of clothes and pulley is about 4 inches, but this distance also can be greater or lesser.Connected nail on side 2015 is provided for device band being connected to supporting mechanism.
Figure 47 illustrates the cross-sectional view downward from top of band 2003 and pulley connected system.Health has substantially elliptical shape at the cross section at waist 2016 place.In a preferred embodiment, the shape approximation of band is oval.In a preferred embodiment, described band is continuous print ring.Described band also can be hinged and be fixed with clasp, to allow easierly to slough and put on.Pulley 2004 is connected to band with the interval separated.In a preferred embodiment, eight pulleys are connected to described band.Connect 4,6,8,10 or 12 pulleys in other embodiments.Another group pulley 2005 is connected to clothes with the interval separated.The each pulley being connected to lower body clothes is positioned at the approximate midpoint place between pulley at its either side on tape.Centre between the either side that each pulley being connected to body garment 2005 is positioned at pulley 2004 pulley on tape.Rope 2006 also can through several band pulleys of a row to keep the gap of rope, pulley and health during body kinematics.Rope can be made up of the elastomeric material of low expanded material such as or the rope that such as stretches.
Figure 48 shows band and pulley connected system has been rotated counterclockwise at the lower part of the body and buttocks and has been with still static top view.When buttocks and the lower part of the body rotate as a normal part of running or walk, the pulley in body garment moves along connecting rope, makes the position of pulley relative to the pulley change of bringing.As shown in figure 48, when health is rotated counterclockwise, each pulley in body garment 2005 moves to new position along rope, make rope in a rotational direction closer to the pulley 2004 brought away from during direction of rotation further from the pulley 2004 brought.
Figure 49 shows the top view of band and pulley connected system, and wherein bending linear bearing 2005a is combined in junction point place in end.The shape of the band in this embodiment is circular.Described band is configured with the groove matched with bending linear bearing 2005a.This design allows band to rotate freely around the upper axis-lower axis (i.e. vertical axis) of people.Also can use as rotary motion provides other mechanism of such as bending rectilinear orbit.Eight pulleys 2004 are connected to described band with the interval separated.Pulley is connected the bottom of band, not disturb bearing.The housing of bending linear bearing crosses the top of band.Another group eight pulleys 2004 are connected to clothes with the interval separated.The pulley of other quantity also can use, such as 4,6,10 or 12.
Figure 50 and 51 shows system adjustment to the lower limb motion carried out around buttocks during running with long steps step.During walking running gait cycle, lower limb is swung back and forth as shown in previous Figure 45 by the axis of pitch of buttocks joint around hip joint.Figure 50 shows the beginning of gait cycle when left lower limb is placed forward.Connecting band pulley is represented as left front rope lengths 2018 and left back rope lengths 2019 to the length of the rope of clothes pulley.Because left lower limb is placed forward when stride starts, therefore left front rope lengths shortens and the lengthening of left back rope lengths.Figure 51 shows the change of the rope lengths of the rope being connected to left lower limb when lower limb moves backward.When left lower limb moves backward at the end of stride, left front rope lengths lengthens and left back rope lengths shortens.Tension force in rope keeps identical in whole gait cycle, makes this system provide weight support and can not limit lower limb moving around around buttocks.
Except band and pulley system, the present invention can be comprised for being provided health about the second suspension apparatus of the degree of freedom of the movement of each rotation axis by weight support.Figure 52 shows the parts of an embodiment of suspension apparatus 2005, and rigidity belt 2003 is connected to counter force system 2009 by described suspension apparatus.The rigid rod 2020 being essentially inverted L-shaped shape is connected to cable 2025, and described cable is connected to reaction force adjustment system 2009.Connection between cable and described bar obtains to allow to rotate by bearing 2024.C shape horizontal braces 2023 is connected to vertical bar 2020 with pivot bearings 2022.Rigidity belt 2003 is connected in C shape horizontal braces at pivotal point 2027 place of every side.Bindiny mechanism can be the breech lock of manual unlocking and closedown or the breech lock that is certainly dynamically connected, makes band easily be connected to C shape horizontal braces or dismantle from this support bar.Breech lock can make the pivot feature keeping connecting.
In other embodiments, as described later, rigid strip is directly connected to constant force regulating system.In other embodiments, the rope 2006 in Figure 46 is made up of elastomeric material, and such as stretch rope.Rope itself becomes constant force regulating system due to its elasticity.The length of elastic rope and pulling force can be adjusted to provide not commensurability counter-force.In a preferred embodiment, the pulling force in elastic rope is regulated by the height improving or reduce band relative to the health of people.When the height of rope increases, the pulling force in elastic threads lock increases and the amount of the body weight supported increases.Elastic webbing people's walking or run vertically upward and the power of relative constancy is provided in the scope that moves downward.
Above-mentioned suspension apparatus of the present invention is provided for the unrestricted motion of people about the various rotation axiss of health, as mentioned above.In use, the upper end of bar 2021 and cable 2017 is aimed at previous-next (that is, the vertical) axis 2010 of people.Cable and bar 2016 freely rotate around this axis when the health of people rotates.This allows previous-next (namely vertical) the unconfined health of axis 2010 around people and hip joint rotation.Pivotal connection 2022 between vertical L shape support bar 2020 and horizontal c shape support bar 2023 allows C shape support bar 2023 around front and back (from front to back) axis 2012 pivotable of people.This allows to rotate back and forth around front and back (from front to back) axis 2012 of people is unconfined.Pivotable supporting connecting piece 2027 between horizontal C shape support bar 2023 and band 2003 allow band 2003 around in this device-outer (namely from side to opposite side) axis 2011 pivotable, thus allow the unconfined rotation of people.In sum, suspension fork mechanism 2005 is provided for supporting body weight and not limiting around the previous-next axis rotated, front and back axis and interior-outer body kinematics of axis and the device of rotation.Therefore, pulley system and suspension fork mechanism is with all for providing unconfined motion in walking with during running to health.Described band pulley system and described suspension fork mechanism are all provided for the device that can carry out unconfined body kinematics in weight support device.
Figure 53 shows an alternative embodiment of the invention, and wherein rigid strip and pulley system are connected to lower limb frenulum instead of the pressurization clothes of the lower part of the body.This embodiment show rigid strip weight support device device being connected to lower limb frenulum 2028, described lower limb frenulum is made up of the tape being connected to people's leg.Suitable frenulum is made up of nylon ribbon.Velcro closure member, nylon straps and bracelet allow to regulate frenulum, to coordinate different body sizes.Frenulum can have filling and rigidity or semirigid region to provide additional comfortableness.Rigid strip, pulley and system are with previously identical shown in described and Figure 46.In this embodiment, pulley 2005 is connected to frenulum with the interval separated.Pulley 2004 is connected to rigid strip 2003 with the interval separated.Rope 2006 moves and passes through pulley.Described device provides unconfined body kinematics along all health rotation axiss as previously mentioned, thus improves existing strapping system.
In another embodiment, rigid strip and pulley system with such as use together with the mobile device supporting auxiliary walker, described mobile device can be used for assisting the people of the physical disturbances in old man or rehabilitation to move, and particularly those lower limbs or back injuries carry out the people of rehabilitation.Differential pressure type clothes is used to provide the mobile walker of weight support as described in before in the application.The another kind of purposes of the rigid strip on mobile device and pulley system is for walking provides stability.If people becomes unstable or disequilibrium, then pulley and band can people from providing a counter-force during vertical tilt.Pulley and band make to be difficult to even may not fall.Falling is the injured and dead main source of elderly and the disabled colony.The walker of above-mentioned provided with wheels also helps the people that those limited uses maybe can not use their both hands and the impaired of arm, this is because described walker does not need to use their hands and arm to support, and this just conventional walk device must possess.Supporting auxiliary member is that this people provides necessary support and stable people, and he need not seek help from his arm as having on conventional walk device and hands is held up.Described support auxiliary member also may be used for providing weight support in walking with while running.This is for repairing skeletal joint damage or training prevention injury, sports achievement or fat reduce or assists the improved system of movement of those with physical disabilities.
Figure 54 shows for providing the rigid strip of weight support and an embodiment of pulley system in the power four-wheel supporting construction 800 of Figure 54, and described power four-wheel supporting construction is used as the walker of provided with wheels, is commonly called " travelling aided bicycle ".The pressure clothes 801 that this support auxiliary member end user wears, Compressed air pressure source and power constant force governor motion.The various embodiments of foregoing pressurization clothes 801 can use this wheeled support auxiliary member.Clothes is customizable to make health have the people of obstacle to be easy to enter and exit.Rigid strip 813 at approximate waist place around the lower part of the body.Pulley 806 around tape is connected to band at certain intervals.Other similar pulley 815 is connected to lower body clothes with interval.Rope 6 is alternately through the pulley on the pulley brought and clothes.The end of this line links together, and makes it form continuous loop by all pulleys around waist.Therefore clothes is connected to rigid strip by rope and pulley.Band is connected to constant force governor motion 822 in every side of bracing or strutting arrangement.Band uses connection breech lock to be connected to constant force governor motion.Connecting breech lock can be manual unlocking and the breech lock closed or the breech lock be certainly dynamically connected, and makes band easily be connected to C shape horizontal braces or pull down from this support bar.Breech lock can make band can rotate or pivotable around junction point.
Constant force governor motion 822 is connected to every side of wheeled support auxiliary member.The control system of constant force governor motion can be similar to the constant force governor motion previously described in this application with user interface.In embodiment described here, Compress Spring 823 is for providing constant force.There is provided other mechanism of the power of relative constancy (such as, constant force air spring) that Compress Spring also can be replaced to use.
The method for optimizing of scalable Compress Spring will be described.This is very important for the little vertical displacement kept when not having large change in the scope of the typical walker of counteracting force (nominal 1-3 inch).Therefore, per inch only has the spring constant of several pounds to be used, and power when spring is compressed only moderately changes when one or two people slightly rise during walking.
In Figure 54, use the movable support auxiliary member of band and pulley system and pressurization trousers to be illustrated, depict the Compress Spring in the left side being connected to people.Be electronic force measuring instrument 824 in the end 823 of Compress Spring, described electronic force measuring instrument can measure the expectation compression from 0 pound to 100 pounds.What be arranged on the bottom side of Compress Spring is gear motor 825 and shifting axle 826.The motor information had together with dynamometer is fed to the displacement encoder of system microcontroller.In this embodiment, user selects two parameters from input frame 817 rotation scale 818: the pound level of required loss of weight and the setting relevant to the cross-sectional area of people.In the preferred embodiment of input rotating disk, this graduated disc is marked as the setting of " comfortable ", and the numerical value that personal user selects them to determine in practice, to they provide the clean downward force that supplied by the air pressure of trousers and oppositely clamping system be provided on trousers between upward force balance.Higher " comfortable " number will produce higher pressure for given loss of weight value, and needs are used for thinner people.On the contrary, lower " comfortable " number will produce lower pressure for given loss of weight value, and needs to be used for larger people.These comfortable several 1-16 by the cross section product value be mapped to simply in control software design, thus keep following equation: Wu=P*A, and wherein, Wu is required loss of weight value, and P is air pressure, and A arranges from comfortable graduated disc the cross-sectional area obtained.When Wu and A is selected effectively by user, solve the suitable pressure P for supporting loss of weight value.
When starting, loss of weight can not once realize all, and can only occur when trousers are pressurized, this magnitude needing 10 to 20 seconds in described system.By engaging gear motor with the anti-sheet force value starting to compress Compress Spring and provide in 5 pounds of restrictions to make above-mentioned equation be developed by the speed dynamically maintained.In the preferred control algolithm that period sets up during target loss of weight value, every 50 milliseconds of reading dynamometers and trousers pressure, and if above-mentioned formula can support the further increment of loss of weight due to the pressure increased, then gear motor is engaged for very short increment.Air-flow continues until reach required target air pressure, and further power is applied to spring every several milliseconds, makes to reach anti-sheet force value when reaching air pressure target simultaneously.If loss of weight set point change or drop to zero, then use identical lock step algorithm.
Strengthening mechanism for another of the disabled that thirst for walking in the system is especially power-assisted wheel.When a people is only have less " inclination " ability to touch walker motion because of effective loss of weight by the phenomenon of disclosed walker system loss of weight greatly.Normal individual can pass easily through and promote to overcome this problem with their arm and lower limb, but the interpolation of power-assisted wheel is very useful for weak or that rehabilitation is individual enhancing.This mechanism is realized by the motor of the every side at two front-wheels and clutch, thus provide overcome rub and make walker roll required for significant power part.Motor without the need to running the whole time, but engages to save battery electric quantity with the hand switch on walker.This is also used as optional arrestment mechanism, if namely engagement switch is released, then wheel can brake.Clutch mechanism allows user the power that motor supplies to be exceeded or the degree enabling them exceed the very little toggle speed supplied by wheel motor of overdriving.
Figure 55 show for be commonly called " travelling aided bicycle " wheeled walker non-powered manually operated four-wheel supporting construction 900 on the rigid strip of weight support and an embodiment of pulley system are provided.Lower limb frenulum 916 is worn by people 911 in the present embodiment.In other embodiments, pressurization or non-pressurized clothes can also be used.Frenulum such as the previous constructions be made up of the band 916 on the lower limb of people 911 forms.Rigid strip and pulley system 906 are connected to the frenulum 916 on the lower limb of people 916.The wheeled support auxiliary member of this specific embodiment does not need power source for forced air or power constant force governor motion.Some advantages of the movable support auxiliary member of non-powered are to provide stability, and weight support part weight lighter, be easy to use and cost is lower.In this embodiment, be connected to described band by the elastic rope 914 of pulley, and frenulum is used as constant force regulating system.Tension force in rope brings manual adjustments by raising or reducing rigidity.Hydraulic cylinder 920 is connected to every side of wheeled support auxiliary member.The rod end of hydraulic cylinder is connected to band by connecting breech lock.Connecting breech lock can be manual unlocking and the breech lock closed or the breech lock be certainly dynamically connected, and makes band easily be connected to C shape horizontal braces or pull down from this support bar.Breech lock can make band can rotate or pivotable around junction point.Described band is increased or decreased by rotating the crank 918 making hydraulic pump 917 operate.Described pump is connected to hydraulic cylinder by hydraulic line 919.Also other machinery raising and reduce band can be used in other embodiments.Tension force in described band can also be regulated by the elastic threads of pulley by elongation or short section.The end of elastic rope can be connected with each other by allowing the device easily regulated.Under walker also can be used in by using nonelastic rope the pattern not having constant force governor motion.
Use the power of band and pulley suspension system and motorless movable support auxiliary member can use pressurization clothes, non-pressurised clothes or frenulum.Power mobile supports the framework 802 of auxiliary member and the design of front-wheel 803 and trailing wheel 804 and size and is formed as making mobile unit have the function of the wheeled walker of standard.Similarly, the framework 902 of unpowered movable support auxiliary member and the design of front-wheel 903 and trailing wheel 904 and size are formed as making mobile unit have the function of the wheeled walker of standard.Front-wheel steer and pivotable are easy to rotate to obtain.All four wheels also can rotate and pivotable.Typically, wheel 903 and 904 all has the diameter of seven inches at least--being preferably 8 inches--to ensure better reliability.Also can use the wheel of varying number and structure, comprise as in the structure with three, five, six or more known in the art.Wheel can be the combination of fast pulley or pivotable wheel and the different size that can be known in the art and structure.The quantity of wheel, size, type and structure provide the characteristic of various process needed for various therapeutic use, operability and stability.Wheel can be connected to steering mechanism, and therefore contributor makes him can the wheeled support auxiliary member of manual control.In addition, in order to improve the safety of wheeled progressively frame and parts thereof, convenience and durability, wheeled support auxiliary member can use tubulose seat, rear seat and have the basketry of dividing plate and mat.
Power wheeled support auxiliary member can combine with manually operated brake bar 805 and brake 810.Similarly, non-powered wheeled support auxiliary member can combine with manually operated brake bar 905 and brake 910.Brake on wheeled support auxiliary member can form lockup brake, stands when being supported on resting position to allow people.Other device that can be provided for braking uses for those their arms limited and the people of hands.Wheeled support auxiliary member can be designed to obtain larger scope for health rotates to opposite side from side, in wheeled support auxiliary member, turn to opposite side from side to make people and standing surface to side or opposite side or the even back side.Described wheeled support auxiliary member also can have the seat allowing to have a rest.Wheeled support auxiliary member can have height-adjustable mechanism to adapt to the people of various sizes.Wheeled support auxiliary member also can be designed as has fold mechanism, and described fold mechanism is used for compact storage.Wheeled support miscellaneous function can support S representative with hands and assist from supporting entering and exiting of assistance.Having wheel to support auxiliary agent can from lightweight material, and such as aluminum or complex construct.Wheeled support auxiliary agent preferably uses tubulose seat, back seat and basket pad and back cushion.
Wheeled support auxiliary member can have the hands support member for helping to enter and leave support auxiliary member.Wheeled support auxiliary member can be formed by lightweight material structure, such as aluminum or complex.Wheeled support auxiliary member preferably can use tubulose seat, back seat and have the basketry of dividing plate and mat.
Figure 56 display is used for the weight support device of people 1001 of just walking or running on treadmill, and wherein constant force governor motion supports people from the pedestal of treadmill instead of the crown.Be better than supporting from the crown from base supports, as discussed previously.Described weight support device provides low profile, is particularly suitable for the low cost framework of family's use.People 1001 wears lower body clothes 1002.Preferably, described clothes can be as previously in this application as described in differential pressure type clothes.Alternatively, described clothes can be non-pressurised clothes or frenulum.Rigid strip 1003 at roughly waist place around the lower part of the body.Pulley 1004 is connected to band with interval around described band.Another group pulley 1005 is connected to lower body clothes with interval.Rope 1006 is moved by the pulley on the pulley brought and clothes.Rope is alternately through the pulley on the pulley brought and clothes.The end of rope links together, and makes described rope form continuous loop by all pulleys around waist.Therefore clothes is connected to rigid strip by rope and pulley.As previously mentioned, described band comprises bending linear bearing 1009 for making described band in the rotary motion of junction point place to provide additional rotary freedom.Constant force governor motion 1022 is connected to bending linear bearing 1009.
Constant force governor motion 1022 is connected to every side of treadmill.The control system of constant force governor motion is similar to constant force governor motion previously described in this application with user interface.In embodiment described here, Compress Spring 1023 is used to provide constant force.There is provided other mechanism of the power of relative constancy, the air spring of such as constant force, Compress Spring also can be replaced to use.Be electronic force measuring instrument 1030 at end 1023 place of Compress Spring, described electronic force measuring instrument can measure the expectation compression from 0 pound to 100 pounds.The bottom side being arranged on Compress Spring is gear motor 1031 and shifting axle 1032.The motor information had together with dynamometer is fed to the displacement encoder of system microcontroller.In this embodiment, user selects two parameters by from the control panel on the control panel (not shown) being arranged on treadmill: first is the pound level of required loss of weight, and second is the setting relevant to the cross-sectional area of people.Shell 1010 holds the microcontroller of air pressure source, air conditioner and running control software.Dynamometer is connected to described shell by cable 1033.Compressed air is transported to clothes by air hose 1034.Described software is programmed to the air pressure of transport regulation to support loss of weight, and control signal is transported to motor 1031 Compress Spring 1023 to be displaced to the specified level measured by dynamometer 1030.Air pressure source is connected to trousers by air pipe line 1011.Constant force controlling organization is in the same manner as described above for power moving device.
The close-fitting differential pressure type clothes of a modified embodiment is below described.The embodiment of multiple structure is shown in Figure 57.Airtight capsula interna 1141 keeps normal pressure P-state in the clothes of the body skin 1134 against people.Described capsule is made up of two-layer, i.e. internal layer 1131 and outer 1131b.Can form by any pressure-tight material the fabric being used for capsule, described material also has enough flexibilities to provide people mobility.Preferably, described fabric by air proof but the material that can pass through water vapour make.The capsule fabric of an example is the fabric scribbling polyurethane that TC924 face stretches, and this fabric can be buied from Dartexcoatings22SteelStreet, POBox70RI.This had both allowed capsule to keep positive air pressure P, but also allowed the water vapor permeation from sweat to pass through described material to keep runner 1 dry and comfortable.Described capsule also can be configured to have hole 1139, and described hole makes the medial surface of air permeable adjacent skin.Described capsule also can be configured to the part with another kind of material 1140, and described material makes the medial surface of air permeable adjacent skin.This allows air to circulate between capsule and skin.The lasting supply of forced air can provide from pressure source and control pressurer system as described in this application.The size of pressure system can be formed as providing the air-flow of aequum to keep cooling.The power that the combination of the skin 1136 and 1138 of differential pressurization clothes 14 can prevent clothes from applying due to normal pressure P and expanding, keeps the shape of clothes to be closely coupled on health simultaneously.
The size of described capsule can be formed as the size identical with 1138 with outer restraint layer 1136, or can be more smaller or greater than outer restraint layer.The size of described capsule can be formed as upwards extending different length from the waist of clothes, in normal pressure is applied only in part that described capsule extends to below restraint layer.Described capsule upwards just can extend to buttocks from leg, or only extends to about pelvic region, or a road extends to waist.Described capsule can be patterned, and makes described capsule meet the slide fastener be assembled in clothes.Described capsule can be made up of the fabric portions of same size, forms an internal layer 1131 and part forms outer 1131b or capsule to make a part.Described capsule can by seam crossing described part and heat-sealing film be stitched together and process to form airtight seam.A heat-sealing film can be buied from Bemis100AyerRd-Shirley, MA01464USA.
Fabric for the first and second outer restraint layers 1136 and 1138 should be made up of biaxial tension fabric.Such fabric is configured to mostly not stretch along an axis and is elastic or extensible along the second axis perpendicular to first axle.Exemplary biaxial tension material includes but not limited to can the nylon Lycra of knitting or braiding or the monofilament of similar nylon or terylene.Biaxial tension fabric can be buied from the ShoellerTextile of Washington state Seattle.
Fabric more specifically can be orientated and make the non-stretched axis of this fabric along the line making skin not stretch or stretch between bending or other moving period on health.These lines are in industry called as " non-stretched line ".The concept of non-stretched line illustrates in the technical report announced: THEUSEOFLINESOFNONEXTENSIONTOIMPROVEMOBILITYINFULL-PRESS URESUITS, ARTHURS.IBEIALL, RANDDEVELOPMENTCORPORATION, AMRL-TR-64-118.AMRL-TR-64-118.Non-stretched line is the direction that the skin on body skin can not stretch or stretch.Picture from the report be mapped in anthropometric dummy by non-stretched line is shown in Figure 58.The lower part of the body shown in Figure 58 has two groups of non-stretched lines.One group of longitudinal axis being substantially perpendicular to health extends, and second group of longitudinal axis being arranged essentially parallel to health extends.
The structure of two skins 1136 and 1138 make the stretching of fabric and not draw direction be mapped to non-stretched line as far as possible best.This becomes a pattern to realize by the garment construction of the multiple parts by biaxial tension fabric, thus be mapped to as far as possible best on non-stretched line in the non-stretching direction of each fabric portions.
The pattern 1201 of the first skin 1136 is shown in Figure 59.Arrow instruction draw direction.The various piece of fabric is indicated by the part (such as 1202) shown in described pattern.Described line instruction seam is sewn on the position between multi-disc.Each layer is stitched together at seam crossing, and outward flange is sewn to together to form clothes.Identical method is applied to outer 1138.First skin 1136, second outer 1138 and sealed bladder are stitched together to form single lower body clothes.Slide fastener can in conjunction with putting on help and take off clothes in the design.Particularly, slide fastener can add (to waist) from crotch district, and at calf place as trousers normal conditions have close-fitting design.Usually, the first skin 1136 circumferentially expands due to the pressure in clothes usually for preventing clothes.Second skin 1138 can prevent clothes from usually longitudinally expanding.
This clothes can also need the fabric portions being incorporated to four-way stretching, extension in the region stretched as required in the two directions.In the appropriate case, do not stretch in a lot parts at health, such as femoral region or lower calf, cloth, mesh fabric or along the not extensile net material of two axis can be used.
The view of the runner 1301 of weight support system 1303 that uses on the treadmill 1303 wearing differential pressure type clothes 1302 described in the present embodiment is presented in Figure 60.Body weight system support system 1303 comprises support frame 1304, base portion 1305, rigid strip 1306 and the device for band being connected to clothes 1307.The feature of the weight support system of this embodiment is that fixed frame has the profile more much lower than aforesaid crown support system.This makes this design be particularly useful for family's use.This design of weight support system can also in conjunction with band described herein and pulley system and the described before and constant force regulating system be presented in Figure 54.Particularly, can be attached in frame system for the described constant force regulating system of movable support auxiliary member and pressure charging system, be similar to and be arranged on floor, and there is the framework extending to waist.Described clothes also can work in coordination with other fixed frame described in the application and mobile system uses.
Runner 1301 shown in Figure 60 differential pressure type clothes is with it shown as the clothes be made up of biaxial tension fabric portions as previously mentioned.Clothes 1302 is connected to rigid strip by connecting rope 1309.Suitable rigid support post 1307 sews up clothes, to distribute equably from the load of pressurized clothes.
Alternatively, the system of fabric portions or suspension rope may be used for clothes to be connected to framework.
Clothes 1302 shown in Figure 60 has strapping system 1308.Strapping system is convenient to make clothes to closely cooperate various body shape and size.Strapping system has unique function, and this function enables this faciola system work very long length, comprises the length of whole clothes.Strapping system is made up of low friction means.Nylon coating boots hook is used in strapping system.Be called that the military specifications of " receive hook (NatoHooks) " is used to low friction hook.Use the high strength cord of low friction.Example line is the LaserProGold300 pound p-wire can buied from TheKiteShopat.thekiteshoppe.com.
Although above describe have comprise as described in orientation and location airtight and the clothes of the multiply cloth of the fabric of biaxial tension, but the function of these different layers also can be incorporated in the fabric of fewer layers, described clothes is at least made up of the woven of the function with combination layer.Such as, be also airtight and/or the fabric of biaxial tension that can pass through water vapour can be used to both retrain clothes as simple function containing forced air.Or the fabric of two-layer or more layer can be laminated on together, thus makes fabric be made up of the monolayer of the function with each layer.
example 1: Mobile support device
The bending rigidity aluminium strip of rigid strip wide and 1/8 inch by 1 inch is formed.Described band is oval.Pulley is as described below is connected to band.Two pulleys are connected to the front and back midpoint of band, and the sidepiece of two pulleys in the structure shown in Figure 47 is connected to mid point.Two extra pulley illustrated now are connected to left side and the right side of each band.A pulley therefrom put in every side in pulley connects forward, and the pulley that another pulley is therefrom put in every side connects backwards.In order to pulley is connected to trousers, rigid support bar (2014) is by be constructed 1/8 " thick 3/4 " wide aluminum strip forms, inserts and sew up in the sleeve of trousers, as shown in figure 46.The rope bullet be made up of low expanded material is alternately through band pulley and clothes pulley tiing a knot.Rope is adjusted to the pulley 4 inches of places below waist making to be connected to trousers.The pin of half inch diameter is bolted to described band in the midpoint of every side, to be used as the connection pin of the horizontal C shape part to draft hitch.The horizontal part 2023 of the shaping of suspension apparatus is formed by aluminum cangue, as in figure 52.Radius of curvature is identical with the radius of curvature of band.The slit of half inch wide is rolled at junction point 2027 place (with reference to Figure 52).Described band is connected to C shape horizontal part by being incorporated in slit by the pin of this band dress.Acetal resin block is processed to slide through slots and the pin of band is remained on appropriate location.
The L shape vertical member 2020 of suspension apparatus is formed by the aluminum pipe of 1 inch diameter, as in figure 52.Bearing 2022 is assembled to the bottom of the L shape vertical member shown in Figure 52.Swivel bearing 2024 is assemblied in the top (see Figure 52) being connected to cable.Cable is connected to constant force regulating system, as described in previously in this application.
example 2: power mobile bracing or strutting arrangement
Mobile " walker " device has used the concept shown in Figure 54 to construct and has formed.The commercially available travelling aided bicycle framework of standard is used as mechanical base portion.A Compress Spring (CenturySpring) producing 6 inch compression of about 50 pounds is used according to the every side of Figure 54.Use the gear motor of movement.As describe in example 1 pressure trousers, band and pulley connection in the same manner in the design, except by band by upwards pushing away with compression spring mechanism instead of passing through to hang hanger system pull-up or tensioning.24 lead-acid battery sources are used for portable pneumatic pump (Thomas), air conditioner (Bellofram), gear motor, dynamometer and pressure transducer and electronics PLC (GalilInc) power supply.
Old people or just rehabilitation physical disturbances person or stand the people of gait and equilibrium problem due to apoplexy, Parkinsonian symptoms and nervous system disease or need hospitalization or because of disease or the people that recovering of performing the operation usually lacks strength and balance rises to stance from posture of sitting down.Nurse, physiotherapist, rescue and other care-giver often must assist to stand and walk.Assist the people of large build to stand and walk and need very large muscle power, and sometimes need a few individual.In addition, because very heavy lifting exists the risk making patient fall or injure care-giver.Therefore, the invention provides a kind of lifting auxiliary moving device simultaneously providing weight support and lifting to assist.Described lifting auxiliary moving device is for unloading part or all of manned body weight, to make, he is easier rises to stance from sitting posture.
The lifting auxiliary moving device 1401 of a preferred embodiment shows in figure 61.Promote auxiliary moving device and use constant force governor motion 1406.This mechanism provides counter-force to be supported load vertically downward by differential pressure type clothes, as previously mentioned.The control system of constant force governor motion can be similar to the constant force governor motion previously described in this application with user interface.In a described here preferred embodiment, constant force governor motion 1406 is cylinder.Cylinder provides constant force and enough movings range, to adapt to move to vertical displacement involved stance from sitting posture.In other embodiments, constant force governor motion can use air spring known in the art or mechanical spring.Constant force governor motion also can be mechanical spring or pneumatic spring, cylinder or be not the air spring of constant force.In another embodiment, constant force governor motion can be made up of Compress Spring, electronic force measuring instrument, gear motor and shifting axle as previously mentioned.Vertical axis 1407 extends from constant force governor motion.The vertical axis long enough of constant force governor motion 1406, to provide constant load when people rises to stance from sitting posture.
As more clearly shown in Figure 61, support frame 1402 extends from the base portion of device 1403 on the right side of described device.The left side of this device is opening and does not have support frame component, under can being assemblied in chair or bed to make base portion 1403.Handrail 1404 is set.Promote auxiliary moving device 1401 and be attended by manual operation and can the wheel 1412 of power-assisted and brake 1411.Brake can use hand brake lever 1405 or operate from control panel 1410.Brake can also be used for locking wheel with the auxiliary member of stable lifting auxiliary moving.Base portion 1403 accommodates power supply, compressed air delivery member, battery and control piece (all not shown).
The end that the top from vertical axis 1407 that breech lock 1408 is connected to horizontal braces 1409 extends.Breech lock 1408 is connected with rigid strip and pulley system 1503, as shown in Figure 62.The 26S Proteasome Structure and Function of band and pulley system is all as described in previously in this application.In the present embodiment, breech lock 1408 is electromechanical latch mechanisms.Described breech lock also can be manually-operated breech lock.This breech lock can be connected by control system electronics and be separated.In case of emergency, people can dismantle from device rapidly.Described breech lock has electronic interconnection sensor, and described device can only be enabled when attachment security.Handbook is also provided to lease (manuallease).Connection breech lock also comprises the connection for air supply hose.Air supply hose (not shown) and electrical connections (not shown) are formed on the inside of horizontal bar 1409, vertical axis 1408, constant force mechanism 1406, and the air delivery member extended in base portion 1403 and control piece (not shown).Air connection piece (not shown) in breech lock is connected with the air connection piece (also not shown) of rigid strip and pulley system.
Figure 62 illustrates that dress is connected to the person of sitting down 1501 of the differential pressure clothes 1502 of band and pulley system 1503.In this embodiment, band and pulley system are formed integrally as single clothing together with clothes, make people can take off or put on whole clothes simply.They can also isolate the parts that can be joined together as required.Covering can apply, and makes band and pulley mechanism can not stretch out and not disturb and takes off and put on.
Differential pressurization clothes 1502 shown in Figure 62 comprises and extends to total length lower body clothes above ankle from waist.This clothes is sealed at ankle and waist place.Alternatively, described clothes can extend to covering foot from waist, or only from waist to knee or upper leg portion, as described in this application.Sealing member can form any encapsulating method described in the application, comprises neoprene band, inflatable tube or inflatable bladder.Rigid strip has the connecting piece 1504 matched with the bolt lock mechanism 1408 promoted on auxiliary moving device 1401.Air hose 1505 is connected to connecting piece 1504 and differential pressure clothes 1502.
The lifting auxiliary moving device of other embodiment can use the differential pressure type clothes of uninflated body garment or harness assembly instead of pressurization.Such as, the band and the pulley system that promote auxiliary moving device can be connected to leg frenulum 916, as shown in Figure 55.Described frenulum is made up of the band 916 on the lower limb of people 911 and structure forms as previously mentioned.Rigid strip and pulley system 906 are connected to the frenulum 916 on the leg of people 916.In another embodiment, non-pressure type clothes can be used.Non-pressure type clothes can be configured to the clothes pressurizeed as previously mentioned, except not arranging or not needing sealing member, air delivery member and connector.These embodiments are generally used in the situation of the weight support needing small amount.
Figure 63 shows and is adjacent to place and is connected to the lifting auxiliary moving device 1601 being sitting in band pulley system on chair 1605 and differential pressure type clothes.Vertical axis 1607 and horizontal bar 1608 are in lower position, make the horizontal plane of breech lock 1606 at band and the horizontal plane place of pulley system.People or therapist can use control panel 1609 to carry out active device and arrange the amount of weight support.As previously in this application as described in control system provide correct air pressure to trousers, and operate constant force governor motion and unload a selected amount of weight support.Once system reaches the weight support of selected level, people can then easily stand with the power reduced or even minimum power, and without the need to the assistance of nursing staff.Once stand, people then can use this device as the auxiliary device for moving with weight support.
Figure 64 shows the people 1701 moving to stance.The barycenter of people is roughly positioned at the position of breech lock 1704.When people rises (arrow C) from chair, barycenter is vertical and move horizontally.This device adapts to this motion, provides the constant power of mentioning with to people's loss of weight simultaneously.Arrow in figure illustrates the direct of travel of various parts.First, vertical axis rises as shown by arrow A along with people and moves up.Constant force governor motion 1705 moves up vertical axis provide constant power.Whole device also as shown by arrow B forward horizontal move.Wheel allows this unit stand along with people and move horizontally.This horizontal movement of described device allows described device to keep centered by the barycenter of people, thus provides safety and prevent from falling.People can be raised to stance safely with minimum power, and the weight starting immediately to reduce is walked.
In the arranging of some rehabilitations, advantageously can work in coordination with treadmill and use fixed mode Mobile support device.Such as, in traumatic brain injury patients, the additional stimulus of walking about of relevant rehabilitation institution has superiority, and the treadmill fixed is arranged and caters to the need, or physiotherapist may need to keep sitting posture with the lower limb when patient walks about close to patient.This will be also economical, can use the Mobile support device of hospital on standard treadmill, instead of buys independent crown strapping system for the treatment based on treadmill.
The device that Mobile support device (walker) is arranged in fixing treadmill frame is shown in Figure 65.In this illustration, show walker previously shown in Figure 54, but this concept is applicable to any Mobile support device described in the application.Patient 1801 is shown the walker 1802 using the installed part 1803 be arranged on treadmill 1812.Described installed part is by sloping platform 1804 part for making walker upwards roll to horizontal frame 1805 part of installed part.Horizontal frame part is positioned at every side of treadmill 1812 in the firm part of treadmill 1812, and described firm part is separated with the moving track 1911 shown in Figure 66.
The rearview of treadmill-walker system is shown in Figure 66.Horizontal frame part 1908 has u shape passage 1905, and described u shape passage is positioned at left side and the right side of treadmill on the surface be separated with moving track 1911.U shape passage 1905 as the track making wheel 1906 advance, thus prevents walker transverse shifting wherein.Cross pin 1907 crosses passage 1906 and is placed on below and before front-wheel (not shown) of trailing wheel 1906 being positioned at appropriate location once walking frame, moves forward or backward to prevent any of walker 1902.Clamping component 1809 shown in Figure 65 is connected to the cross member of walker from the installed part of treadmill, and prevents any of walker from moving both vertically, thus improves stability.Therefore, walker 1802 is fixed on appropriate location, and patient 1801 as previously in this application be bonded in walker 1802.Patient 1801 then as disclosed previously by loss of weight, and can need according to treatment with the treadmill speed expected walking.
Above description and the structure of supplementary motion system 10 accompanying drawings provided under the present invention and the complete description of operation.But, the present invention can be used in do not depart from spirit of the present invention and protection domain other combinations various, amendment, in embodiment and environment.Therefore, this explanation is not intended to limit the invention to disclosed concrete form, but the invention belongs to claim appended below.
Claims (75)
1. the auxiliary mobile device lifted, for assisting the motion with the body of mammals of body weight of movement between seated position and standing place or being supported on the described body of mammals with body weight of movement between seated position and standing place, described device comprises:
A () pressure-tight clothes, is suitable for being worn at least one part of body of mammals, have at least one opening for being inserted by described body part in described clothes;
(b) device for providing pressure-tight to seal, the described opening of contiguous described clothes connects, in order to operatively to engage the surface of mammiferous described body part;
(c) inlet device, in described clothes, for at least one positive pressure sources or vacuum source are introduced in the clothes inside between body of mammals and described clothes, to generate the differential pressure state between pressure state that normal pressure in described clothes or vacuum state and described clothes exist in described clothes inside outward;
(d) lifting auxiliary device, be connected to described clothes, for offsetting the downward force being applied to described clothes when being placed under described differential pressure state, described lifting auxiliary device comprises constant force regulating system, and described constant force regulating system vertically mentions clothes when mammal rises to described standing place from described seated position;
E () thus, described differential pressure state applies upward force on described body part, with by the expectation partial relief of body wt to described lifting auxiliary device, mammal easily can be stood by the force reduced thus, and travelling when weight support.
2. the auxiliary mobile device lifted according to claim 1, wherein, described constant force regulating system comprises cylinder, air spring or mechanical spring.
3. the auxiliary mobile device lifted according to claim 1, also comprises:
At least two wheels, once mammal is positioned at described standing place, then described in, at least two wheels are used for providing further mobility to mammal.
4. the auxiliary mobile device lifted according to claim 1, also comprises:
Bolt lock mechanism, described bolt lock mechanism is used for described belt to be connected to described constant force regulating system with discharging.
5. the auxiliary mobile device lifted according to claim 4, wherein, described bolt lock mechanism is electromechanical latch mechanism.
6. the auxiliary mobile device lifted according to claim 4, wherein, described bolt lock mechanism is formed as one the air connection piece of described bolt lock mechanism.
7. the auxiliary mobile device lifted according to claim 1, wherein, described pressure-tight sealing device comprises airtight resilient sleeve.
8. the auxiliary mobile device lifted according to claim 1, wherein, described pressure-tight sealing device comprises airtight band.
9. the auxiliary mobile device lifted according to claim 1, wherein, described pressure-tight sealing device comprises a pair air-tightness medicated underpants that contiguous sealing station is connected to the inside of described pressure-tight clothes.
10. the auxiliary mobile device lifted according to claim 1, wherein, described pressure-tight sealing device comprises air bag.
The 11. auxiliary mobile devices lifted according to claim 1, also comprise:
Band, described band is oriented to can be operatively coupled to described clothes around mammiferous trunk by least one rope and pulley assembly at least partly, to provide further to the mammal of wearing described pressure-tight clothes laterally and the freedom of motion rotated.
The 12. auxiliary mobile devices lifted according to claim 1, wherein, described band and pulley system are formed integrally as single coat together with described clothes.
The 13. auxiliary mobile devices lifted according to claim 1, wherein, described constant force regulating system comprises elasticity cable.
The 14. auxiliary mobile devices lifted according to claim 1, wherein, comprise governor motion for regulating the constant force level provided for providing the described device of described constant force tension force.
The 15. auxiliary mobile devices lifted according to claim 1, wherein, comprise dynamometer and control system for providing the device of described constant force tension force.
The 16. auxiliary mobile devices lifted according to claim 1, wherein, described constant force regulating system has and is greater than 12 inches (30.5cm), is greater than 24 inches (61cm) or is even greater than the extends perpendicular scope of 36 inches (91.4cm).
17. 1 kinds of auxiliary mobile devices lifted, for assisting the motion with the body of mammals of body weight of movement between seated position and standing place or being supported on the described body of mammals with body weight of movement between seated position and standing place, described device comprises:
(a) clothes or frenulum, be made up of flexible fabric, in a whole or part during to be suitable for being through in the mammiferous body part be made up of trunk or lower limb one or more, described clothes or frenulum have at least one opening, at least one opening described around mammiferous trunk, lower limb, arm or cervical region, for holding described body part by described clothes or frenulum;
B () rigid strip, is positioned to be operatively coupled to described clothes or frenulum around mammiferous trunk by least one rope and pulley assembly at least in part;
(c) lifting auxiliary device, be connected to described clothes, for offsetting the downward force being applied to described clothes when being placed under differential pressure state, described lifting auxiliary device comprises reaction force adjustment system, and described reaction force adjustment system vertically mentions clothes when mammal rises to described standing place from described seated position;
D () wherein, described lifting auxiliary device applies upward force on described rigid strip and the described body part that held by described clothes or frenulum, so that a part for body wt is unloaded to described bracing or strutting arrangement, the simultaneously freedom of motion of described rope and the pulley assembly transverse direction that provides mammal larger and rotation, mammal easily can be stood by the force reduced thus, and travelling when weight support.
The 18. auxiliary mobile devices lifted according to claim 17, wherein, described constant force regulating system comprises cylinder, air spring or mechanical spring.
The 19. auxiliary mobile devices lifted according to claim 17, also comprise:
At least two wheels, for once mammal is positioned at described standing place, provide further movement to mammal.
The 20. auxiliary mobile devices lifted according to claim 17, also comprise:
For turning to or brake the device of described bracing or strutting arrangement.
The 21. auxiliary mobile devices lifted according to claim 17, also comprise:
Bolt lock mechanism, described bolt lock mechanism is used for described belt to be connected to described constant force regulating system with discharging.
The 22. auxiliary mobile devices lifted according to claim 21, wherein, described bolt lock mechanism is electromechanical latch mechanism.
The 23. auxiliary mobile devices lifted according to claim 21, wherein, air connection piece is integral in described bolt lock mechanism.
The 24. auxiliary mobile devices lifted according to claim 17, wherein, described band and pulley system are formed integrally as single coat together with described clothes.
The 25. auxiliary mobile devices lifted according to claim 17, wherein, constant force regulating system comprises elasticity cable.
The 26. auxiliary mobile devices lifted according to claim 17, wherein, comprise governor motion for regulating the constant force level provided for providing the described device of described constant force tension force.
The 27. auxiliary mobile devices lifted according to claim 17, wherein, for providing the described device of described constant force tension force by power operation or manual operation.
The 28. auxiliary mobile devices lifted according to claim 17, wherein, described constant force regulating system has and is greater than 12 inches (30.5cm), is greater than 24 inches (61cm) or is even greater than the extends perpendicular scope of 36 inches (91.4cm).
29. 1 kinds of treadmills, described treadmill enables mammal take exercise for using the auxiliary walking device with wheel, and described treadmill comprises:
(a) platform, described platform has the moving part limited by longitudinal axis and the fixed part circumferentially arranged;
(b) passage, described passage is formed in described fixed part in the both sides of described moving part, and described passage is oriented and is arranged essentially parallel to described longitudinal axis;
The wheel of (c) described auxiliary walking device, described wheel is engaged in described passage by fixture, fixes relative to described passage for the described wheel of maintenance;
D () wherein, when on the top that mammal is positioned in the described moving part of described treadmill and the described wheel of described auxiliary walking device is fixed in the described passage of described fixed part time, mammal can be resisted the lengthwise movement walking of described moving part or be run, and remains on simultaneously and keeps on described auxiliary walking device in position relative to described fixed part.
30. 1 kinds, for assisting the motion with the body of mammals of body weight of movement between seated position and standing place or being supported on the method with the described body of mammals of body weight of movement between seated position and standing place, said method comprising the steps of:
A () arranges pressure-tight clothes, described pressure-tight clothes is suitable for being worn at least one part of body of mammals, described pressure-tight clothes has at least one opening, and at least one opening described is used for described body part to insert in described clothes;
B () arranges the device for providing pressure-tight to seal, the described opening of contiguous described clothes connects, in order to operatively to engage the surface of mammiferous described body part;
C () be inlet porting device in described clothes, for at least one positive pressure sources or vacuum source are introduced in the clothes inside between body of mammals and described clothes, to generate the differential pressure state between pressure state that normal pressure in described clothes or vacuum state and described clothes exist in described clothes inside outward;
D () arranges the lifting auxiliary device being connected to described clothes, for offsetting the downward force being applied to described clothes when being placed under described differential pressure state, described lifting auxiliary device comprises constant force regulating system, and described constant force regulating system vertically mentions clothes when mammal rises to described standing place from described seated position;
E () thus, described differential pressure state applies upward force on described body part, with by the expectation partial relief of body wt to described lifting auxiliary device, therefore mammal easily can be stood by the force reduced, and travelling when weight support.
31. 1 kinds of systems, described system be used for during therapeutic process auxiliary there is the mammiferous health of body weight motion or support there is the body of mammals of body weight, described system comprises:
(a) pressure-tight clothes, be suitable for being through in the one or more whole or part in mammiferous described body part, described body part is made up of trunk, lower limb or arm, described pressure-tight clothes has at least one opening, at least one opening described, around mammiferous trunk, lower limb, arm or cervical region, holds described body part for by described pressure-tight clothes;
B opening described in each of () described pressure-tight clothes has been adjacent to be connected to pressure-tight sealing, for operatively engaging the surface of mammiferous body part;
(c) inlet device, in described clothes, for at least one positive pressure sources or vacuum source are introduced in the clothes inside between body of mammals and described clothes, to generate the differential pressure state between pressure state that normal pressure in described clothes or vacuum state and described clothes exist in described clothes inside outward;
D () is with, described band is oriented to can be operatively coupled to described clothes around mammiferous trunk by least one rope and pulley assembly at least partly;
E () bracing or strutting arrangement, is separated with described clothes, can be operatively coupled to described rigidity belt by connecting device, for offsetting the downward force being applied to described clothes when described clothes is placed under described differential pressure state;
F () wherein, described differential pressure state applies upward force on described body part, so that a part for body wt is unloaded to described bracing or strutting arrangement, the freedom of motion of simultaneously described rope and the pulley assembly transverse direction that provides mammal larger relative to described bracing or strutting arrangement and rotation.
32. 1 kinds of systems, described system has the motion of the mammiferous health of body weight for auxiliary during therapeutic process or support described mammiferous health, and described system comprises:
(a) clothes or frenulum, be made up of flexible fabric, in a whole or part during to be suitable for being through in the mammiferous body part be made up of trunk or lower limb one or more, described clothes or frenulum have at least one opening, at least one opening described around mammiferous trunk, lower limb, arm or cervical region, for holding described body part by described clothes or frenulum;
B () rigid strip, is positioned to be operatively coupled to described clothes or frenulum around mammiferous trunk by least one rope and pulley assembly at least in part;
(c) bracing or strutting arrangement, be separated with described clothes or frenulum, can be operatively coupled to described rigid strip by connecting device, described bracing or strutting arrangement also has lifting device, and described lifting device is used for upward force to be provided to described rigid strip to unload a part for weight of mammal;
D () wherein, described lifting device applies upward force so that a part for body wt is unloaded to described bracing or strutting arrangement on described rigid strip and the body part that held by described clothes or frenulum, and described rope and pulley assembly provide larger transverse direction and the freedom of motion of rotation to mammal simultaneously.
33. supplementary motion systems according to claim 31 or 32, wherein, described rope and pulley assembly adapt to around from by previous-next axis, by waist-outer axis, by the front and back axis of waist and by buttocks-group that form of outer axis in the health of at least one rotation in the body axes selected.
34. supplementary motion systems according to claim 31 or 32, wherein, two, four, six, eight, a ten two or more pulley is connected to described band by rope.
35. supplementary motion systems according to claim 31 or 32, wherein, described rope comprises elastomeric material.
36. supplementary motion systems according to claim 31 or 32, also comprise:
Adapt to the mechanism of the rotation of the described previous-next axis around health of described band.
37. supplementary motion systems according to claim 31 or 32, also comprise:
Adapt to described band around by waist described in-mechanism of the rotation of outer axis.
38. supplementary motion systems according to claim 31 or 32, wherein, the described bracing or strutting arrangement be separated with described clothes comprises aerial construction, and described connecting device comprises the actuating cable being connected to described aerial construction.
39., according to supplementary motion system according to claim 38, also comprise:
L shape bracket, described L shape bracket is interconnected between described cable and described band, thus makes described cable not disturb mammiferous motion.
40. supplementary motion systems according to claim 31 or 32, wherein, the described bracing or strutting arrangement be separated with described clothes comprises mobile device, and described mobile device comprises at least two wheels.
41. supplementary motion systems according to claim 1, wherein, the described bracing or strutting arrangement be separated with described clothes comprises handbarrow or the walking equipment of provided with wheels, and described connecting device comprises support relative to described band pivotable or band.
42. supplementary motion systems according to claim 1, wherein, the described bracing or strutting arrangement be separated with described clothes comprises the fixed frame for supporting mammiferous body part, and described connecting device comprises support relative to described band pivotable or band.
43. supplementary motion systems according to claim 1, wherein, the described bracing or strutting arrangement be separated with described clothes comprises the vertical column upwards extended from treadmill, stair machine, track training aids, cross-country skiing training aids or other exercise device, and described connecting device comprises support relative to described band pivotable or band.
44. supplementary motion systems according to claim 1, wherein, the described bracing or strutting arrangement be separated with described clothes also comprises for providing the device being applied for supporting the constant force tension force that described Vertical dimension is exerted oneself from unloaded body weight part, and regulates this tension force to adapt to the vertical movement of body of mammals.
45. supplementary motion systems according to claim 44, wherein, described for providing the device of described constant force tension force to comprise at least one cylinder, mechanical spring or air spring.
46. supplementary motion systems according to claim 44, wherein, described for providing the device of described constant force tension force to comprise elasticity cable.
47. supplementary motion systems according to claim 44, wherein, the described rope in described rope and pulley system comprises elastomeric material, and the described described elastic rope for providing the device of constant force tension force to comprise described rope and pulley system.
48. supplementary motion systems according to claim 44, wherein, described for providing the device of constant force tension force to comprise dynamometer and control system.
49. supplementary motion systems according to claim 31 or 32, wherein, described therapeutic process comprises and takes exercise or training, injured rehabilitation or assist mobile, weight on the mammiferous musculoskeletal structure of minimizing, keep the neural or disequilibrium of the suitable posture of mammiferous musculoskeletal structure, treatment, walk about or assist those with physical disabilities to move.
50. supplementary motion systems according to claim 32, wherein, the described bracing or strutting arrangement be separated with described clothes comprises the handbarrow of provided with wheels or walking equipment or treadmill, stair machine, track training aids, cross-country skiing training aids or other exercise device.
51. supplementary motion systems according to claim 32, wherein, described lifting device comprises the hydraulic cylinder, cylinder or the linear actuators that are connected to described bracing or strutting arrangement.
52. 1 kinds have the motion of the body of mammals of body weight for auxiliary during therapeutic process or support the method for described body of mammals, said method comprising the steps of:
A () arranges pressure-tight clothes, described pressure-tight clothes is suitable for being through in the one or more whole or part in mammiferous described body part, described body part is by trunk, lower limb or arm composition, described pressure-tight clothes has at least one opening, at least one opening described is around mammiferous trunk, lower limb, arm or cervical region, described body part is held for by described pressure-tight clothes, described in each of described pressure-tight clothes, opening has been adjacent to be connected to pressure-tight sealing member, for operatively engaging the surface of mammiferous body part, and inlet porting device in described clothes, described inlet device is used at least one positive pressure sources or vacuum source to introduce in the clothes inside between body of mammals and described clothes, to generate the differential pressure state between pressure state that normal pressure in described clothes or vacuum state and described clothes exist in described clothes inside outward,
B () arranges band, described band is oriented to also can be operatively coupled to described clothes around mammiferous trunk at least partly;
C () arranges the bracing or strutting arrangement be separated with described clothes, described bracing or strutting arrangement can be operatively coupled to described band, for offsetting the downward force being applied to described clothes when described clothes is placed under described differential pressure state;
D external mechanical force is upwards applied to described band by (), to support power vertically downward from unloaded body weight part;
E the measurement of described positive pressure sources or vacuum pressure source is introduced in described pressure-tight clothes by ();
F () measures the increase of the pressure be incorporated in described clothes;
G (), when pressure state changes in described clothes, incrementally regulates the described upward force being applied to described band, the balance of the downward force applied to keep described upward force and described pressurization clothes;
H () wherein, described differential pressure state applies upward force so that a part for body wt is unloaded to described bracing or strutting arrangement on described body part, and when described clothes is placed under described differential pressure state, the described upward force incrementally regulated offsets the downward force being applied to described clothes.
53. methods according to claim 52, wherein, described external mechanical force is upwards applied to described band by the pulley of incremental, upward force is applied to the cable of the described bracing or strutting arrangement be connected to as aerial construction form by the pulley of wherein said incremental, and wherein said cable and pulley assembly adapt to mammiferous vertical movement.
54. methods according to claim 52, also comprise:
At least one rope and pulley assembly, for described band is connected to described pressure-tight clothes, to provide further to the mammal of wearing described pressure-tight clothes laterally and the freedom of motion rotated.
55. methods according to claim 52, also comprise:
User interface and control system, for controlling normal pressure or vacuum pressure to the introducing in described pressure-tight clothes, and incrementally regulate the described external mechanical force being upwards applied to described band.
56. methods according to claim 52, also comprise:
Keep being applied to described in described band the device of the balance between external mechanical force upwards and the downward force being applied to described clothes during for being placed under described differential pressure state at described clothes, described differential pressure state is within positive and negative 1%, 2%, 3%, 5% or 10%.
57. methods according to claim 52, also comprise:
For regulating or keeping the clean downward force that provided by the air pressure of trousers and be provided to the device of the difference between the upward force on trousers by reverse clamping system.
58. 1 kinds of systems, described system be used for during therapeutic process auxiliary there is the mammiferous health of body weight motion or support there is the mammiferous health of body weight, described system comprises:
(a) clothes, be made up of flexible fabric, in a whole or part during to be suitable for being through in the mammiferous body part be made up of trunk or lower limb one or more, described clothes has at least one opening, at least one opening described around mammiferous trunk, lower limb, arm or cervical region, for holding described body part by described clothes;
B () rigid strip, is positioned to also can be operatively coupled to described clothes around mammiferous trunk at least in part;
C () bracing or strutting arrangement, is separated with described clothes, can be operatively coupled to described rigid strip by connecting device;
D () lifting device, for described body part power being vertically upward provided to rigid strip or held by described clothes, to unload a part for weight of mammal;
E () wherein, described clothes comprises at least two-layer, wherein every one deck all can not be formed along the material of the second axis thereof of the described first axle being not parallel to himself by stretching along first axle;
F () wherein, described at least two-layer in one deck extend axis can not become be parallel to the described longitudinal axis substantial registration of health relative to body orientation, and described at least two-layer in the second layer extend axis can not become described longitudinal axis substantial registration perpendicular to health relative to body orientation;
G () wherein, upward force is applied to described rigid strip or on the described body part that held by described clothes by described lifting device, so that a part for body wt is unloaded to described bracing or strutting arrangement.
59. supplementary motion systems according to claim 58, wherein, the described bracing or strutting arrangement be separated with described clothes comprises aerial construction, and described lifting device comprises the actuating cable being connected to described aerial construction.
60. supplementary motion systems according to claim 58, wherein, the described bracing or strutting arrangement be separated with described clothes comprises the handbarrow of provided with wheels or walking equipment or treadmill, stair machine, track training aids, cross-country skiing training aids or other exercise device.
61. supplementary motion systems according to claim 58, wherein, described lifting device comprises the hydraulic cylinder, cylinder or the linear actuators that are connected to described bracing or strutting arrangement.
62. supplementary motion systems according to claim 58, wherein, described clothes comprises the pressure-tight clothes be made up of flexible fabric, and each opening of described pressure-tight clothes has been adjacent to be connected to pressure-tight sealing, described pressure-tight sealing operatively can engage the surface of mammiferous body part, and described clothes comprises the inlet device being arranged in described clothes, described inlet device is used at least one positive pressure sources to introduce in the clothes inside between body of mammals and described clothes, differential pressure state between the pressure state existed outward with the normal pressure state in the described clothes of described clothes inside generation and described clothes, and described lifting device is included on described body part and applies upward force a part for body wt to be unloaded to the pressure differential condition of described bracing or strutting arrangement.
63. supplementary motion systems according to claim 58, wherein, fabric in described at least one deck comprises at least two panels fabric being arranged to pattern, make every a slice cover a region of health, and the fabric of this sheet extend axis can not preferably be parallel to the not extensible line alignment of the body region that this sheet covers.
64. supplementary motion systems according to claim 63, wherein, the fabric of the described second layer comprises at least two panels fabric being arranged to pattern, make every a slice cover the specific part of health, and this sheet fabric extend axis can not preferably aim at the not extensible line of the body region that this sheet covers.
65. supplementary motion systems according to claim 64, wherein, in the described at least two panels of the fabric of ground floor each extend axis can not preferably be parallel to the not extensible line alignment of first group of the body region that this sheet covers, described first group of not extensible line parallel roughly aligns in the described longitudinal axis of health; And in the described at least two panels of second layer fabric each extend axis can not preferably be parallel to the not extensible line alignment of second group of the body region that this sheet covers, described second group of not extensible line roughly aligns perpendicular to the described longitudinal axis of health.
66. supplementary motion systems according to claim 58, also comprise:
At least one rope and pulley assembly, described rigid strip can be operatively coupled to described clothes by least one rope described and pulley assembly, wherein said rope and pulley assembly provide the freedom of motion of larger transverse direction relative to described bracing or strutting arrangement and rotation to mammal, and described bracing or strutting arrangement adapts to mammiferous moving both vertically simultaneously.
The clothes that 67. 1 kinds of flexible fabrics are made, in the whole or part of described clothes during to be suitable for being through in the mammiferous body part be made up of trunk, lower limb or arm one or more, described clothes has at least one opening around mammiferous trunk, lower limb, arm or cervical region, for holding described body part by flexible apparatus, described clothes comprises:
A (), by yarn or carefully thread at least two-layer, wherein every layer of inextensible fabric of the second axis by stretching along first axle along the first axle being not parallel to himself is formed;
B () wherein, the described at least two-layer yarn of fabric or fine rule are made up of elastomeric material;
C () wherein, described at least two-layer in one can not roughly align by the extend axis longitudinal axis that becomes to be parallel to health relative to body orientation, and described at least two-layer in the second layer can not extend axis become the described longitudinal axis perpendicular to health roughly to align relative to body orientation.
68. clothes according to claim 67, wherein, the fabric of at least one deck in described layer comprises at least two panels fabric being arranged to pattern, make every piece of fabric cover a region of health, and the fabric of this sheet extend axis can not preferably be parallel to the not extensible line alignment of the body region that this sheet covers.
69. clothes according to claim 68, wherein, the fabric of the described second layer comprises at least two panels fabric being arranged to pattern, makes every piece of fabric cover the specific part of health, and this sheet fabric extend axis can not preferably aim at the not extensible line of the body region that this sheet covers.
70. clothes according to claim 69, wherein, in the described at least two panels of ground floor fabric each extend axis can not preferably be parallel to the not extensible line alignment of first group of the body region that this sheet covers, described first group of not extensible line parallel roughly aligns in the described longitudinal axis of health, and in the described at least two panels of second layer fabric each extend axis can not preferably be parallel to the not extensible line alignment of second group of the body region that this sheet covers, described second group of not extensible line is perpendicular to the described longitudinal axis alignment of health.
71. clothes according to claim 67, wherein, described clothes comprises the pressure-tight clothes be made up of flexible fabric, and each opening of described pressure-tight clothes has been adjacent to be connected to pressure-tight sealing, described pressure-tight sealing operatively can engage the surface of mammiferous body part, and described clothes comprises the inlet device being arranged in described clothes, described inlet device is used at least one positive pressure sources or vacuum source to introduce in the clothes inside between body of mammals and described clothes, differential pressure state between the pressure state existed outward with the normal pressure state in the described clothes of described clothes inside generation and described clothes.
72. clothes according to claim 67, wherein, described at least one deck comprises interior ventilating layer, air pressure resistant layer, air proof and the permeable layer of water vapour.
73. according to the clothes described in claim 72, and wherein, described pressure-tight sealing member comprises air bag.
74., according to the clothes described in claim 72, also comprise:
Capsule, described capsule is connected to the inside of the described pressure-tight clothes be positioned between described clothes and described body part, and the normal pressure wherein introduced in described clothes inside is included in described capsule.
75. according to the clothes described in claim 74, and wherein, at least one rope and pulley assembly can be operatively coupled to described clothes.
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| US13/839,204 US9561149B2 (en) | 2008-01-07 | 2013-03-15 | Suspension and body attachment system and differential pressure suit for body weight support devices |
| US13/839,204 | 2013-03-15 | ||
| PCT/US2014/028448 WO2014144158A2 (en) | 2008-01-07 | 2014-03-14 | Suspension and body attachment system and differential pressure suit for body weight support devices |
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| CN105579014A true CN105579014A (en) | 2016-05-11 |
| CN105579014B CN105579014B (en) | 2018-11-27 |
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| CN201480028304.7A Active CN105579014B (en) | 2013-03-15 | 2014-03-14 | Suspension and body for weight support device connect system and differential pressure type clothes |
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| EP (1) | EP2968049B1 (en) |
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Also Published As
| Publication number | Publication date |
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| CN105579014B (en) | 2018-11-27 |
| EP2968049A2 (en) | 2016-01-20 |
| EP2968049B1 (en) | 2020-10-14 |
| EP2968049A4 (en) | 2016-12-07 |
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