CN111148606B - 身体接合装置 - Google Patents
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- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
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- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
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- A—HUMAN NECESSITIES
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- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1645—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support contoured to fit the user
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
- A61H2201/1652—Harness
Abstract
本发明涉及一种身体接合装置(10),包括板件(18)和腰部支撑件(22),并可配置为连接到外骨骼,例如腿部/髋部辅助机构(42)。身体接合装置(10)具有由张紧机构(28)或板件(18)和腰部支撑件(22)中的材料的特性而提供的可调节张紧。身体接合装置(10)中的张紧允许腰部支撑件(22)舒适地且动态地接触使用者的身体,而板件(18)与腿部/髋部辅助机构(42)相配合。第一臂部(24)和第二臂部(26)可从板件(18)的侧部部分延伸,以与第一带段(30)和第二带段(32)一起限定围绕使用者的圆周。
Description
技术领域
本发明提出了一种可用作前后矫形器的身体接合装置,其用作为具有可调性的、包含能适当设置在使用者的髋部和背部上的机构的外骨骼,并适用于支撑致动器或运动/能量存储模块。
背景技术
机械装备或外骨骼能与使用者的肌肉并行地向身体施加力量,以使得步行或其他重复性运动所带来的疲劳较少。这些外骨骼可以为健康的个体提供更强的耐力,或者可以对受损个体的步态进行小的矫正。
一个外骨骼的例子是从脚跟延伸到腰部的多关节外骨骼。该外骨骼会在两腿的移动过程中(这是身体消耗最多能量的时候)施加力。腓肠肌向上并向前推动身体,而大腿肌肉使腿向前摆动。该多关节外骨骼可以穿过踝关节和髋关节,因此可以帮助或增强移动或运动。
外骨骼可以帮助从事体力劳动的人,并减少许多工作中通常需要的抬起、弯曲、牵引和推压所带来的受伤风险。辅助仿生技术有潜力来改善生活质量,减少工伤索赔,以及创造更安全、更舒适且生产效率高的工作环境。
大多数外骨骼包括至少三个部件:框架、致动器或运动模块(例如,马达、弹簧等),以及身体接合装置(通常包括皮带、绑带等)。外骨骼还可包括由框架支撑的动力源,用于驱动致动器或运动模块(如果它需要由外部动力源供电的话)。
考虑到许多外骨骼应用的预期使用时间以及包含刚性的受驱动元件的外骨骼与使用者的尺寸以舒适的方式相适应的难度,良好的贴合性、简便性和调节的准确性通常是外骨骼的实际使用所面临的挑战。很难提供现成的或易于制造的外骨骼以适应不同使用者的不同尺寸,尤其是在外骨骼于不同班次中被不同使用者接连穿戴时更是如此。
在有腰部和髋部支撑件的情况下,这些用作外骨骼的支撑件不足以提供在使用者的髋部和背部上的可调节性和适当的设置,并且缺乏足够的支撑力和柔性以舒适且准确地设置在软组织上,同时还允许致动器协助使用者的骨骼结构的运动。由于使用者的尺寸会在整个使用过程中发生动态变化,因此难以将支撑件适当定位在使用者身上。
由于使用者可能在身体接合装置附近的压力点处具有皮肤创伤和软组织压疮,特别是当身体接合装置与驱动骨骼结构的致动器组合使用时,身体接合装置应在使用外骨骼的过程中避免任何软组织刺激。现有的设备无法解决这种问题,因为外骨骼的运动部件通常布置为紧抵着或摩擦使用者,特别是在使用者的背部。
身体接合装置还应根据个体自身的轮廓和结构需求进行定制,并且身体接合装置应可调整以适应不同使用者的尺寸。现有的设备无法在身体和外骨骼之间提供舒适的接合,以在不牺牲与外骨骼的有效接合的情况下适应使用者的动态变化的尺寸、轮廓和其他结构需求。
根据前文所述,需要一种适合于外骨骼且配置为能在多个位置处连接至使用者以帮助支撑和耦接使用者的身体的身体接合装置,特别是考虑到使用者的动态变化的尺寸和结构需求。还需要一种身体接合装置,以减小使用者的下背部区域上的力,同时在身体接合装置的可调节性和适当布置之间提供更好的平衡。
发明内容
根据本发明的实施例,身体接合装置为对现有的外骨骼中的支撑接合装置的改进,并能减小作用在使用者的下背部区域上的力和力矩。在对身体接合装置进行描述时,所描述的实施例及其各个部件同样可延伸至矫形学中的支架和支撑件,例如脊柱矫形器或上部身体矫形器。
身体接合装置的实施例包括腰部支撑件,其用作为悬挂系统,以便更好地容纳和符合使用者的腰部区域。具体来说,实施例包括腰部张紧,以便例如通过根据需要增加或减少紧固来符合腰部骶骨的形状,以及悬挂髋部致动机构,同时形成稳定的基础,以用于通过框架和悬挂式的柔软良好的结构而传递髋部致动器的力(弯曲和伸展)。
通过这些身体接合装置的实施例,根据本发明的身体接合装置通过使用相对于身体接合装置的刚性框架或板件悬挂的腰部支撑件(例如,由不可拉伸的织物所形成的解剖学形状的基础件)而提供了增强的透气性。腰部支撑件通过符合使用者的身体结构形状而提高了舒适性。腰部支撑件通过以下方式而改进了舒适性和长期使用性:借由使用者的腰部区域与刚性框架或板件间隔开一定距离或间隙而减小对使用者的摩擦,通过均匀分布力来避免压力点,以及通过增强透气性和穿脱的易用性。
腰部支撑件能在致动器驱动使用者的骨骼系统时牢固地保持其在软组织上的位置,以适应相对于或邻近于身体接合装置的外部运动,而无需针对使用者调整位置,从而能提高外骨骼的有效性。在腰部支撑件保持固定构型时,腰部支撑件可以是静态的,或者在使用者可调节腰部支撑件的张紧以调整其针对使用者的舒适性和相对于框架的定位的情况下,腰部支撑件也可以是动态的。身体接合装置能实现对使用者的适当支撑与舒适贴合之间的更好的平衡。
身体接合装置的实施例适用于在解剖学上改善身体接合装置的穿脱,以及对使用者的腰部和躯干的顺应性。带张紧系统令使用者能够根据所需要的贴合性或侧向稳定性而将身体接合装置固定到使用者身上。带张紧系统包括三维形状的带臂部,其可容易地打开和关闭,以方便穿脱。该三维形状的带臂部有助于单手穿戴,这有助于快速且牢固地将身体接合装置固定到使用者身上。
带张紧系统优选地具有很柔软的结构,包括织物、泡沫和半刚性塑料垫板,以形成可在穿戴身体接合装置并将其牢固地设置在使用者周围时改变的“解剖学形状的静止位置”。这允许自然且舒适地定位身体接合装置。
身体接合装置具有多功能性,可以在致动器帮助使用者进行髋部弯曲和伸展时支撑髋部肌肉,并舒适地保持位置。身体接合装置还可用途广泛地用于支撑为了额外的躯干支撑而增加的前板件,以实现温和的髋部/躯干伸展辅助。身体接合装置还可以额外地支撑后板件延伸部和肩带,以便为患有躯干无力的使用者或进行从坐到站的活动的使用者提供增强的支撑和辅助。通过这种方式,身体接合装置可模块化地构造和适配为用于容易且方便地适应使用者的特定需求和动态需求。
上述实施例通过以下方式而解决了现有的舒适性与有效性之间的平衡不适当的外骨骼和身体接合装置的问题:提供一种改进的腰部支撑悬挂系统,其具有张紧系统,并结合了透气性、舒适性和增强的贴合性,还具有改进的带臂部,以便于更加方便地穿脱,还具有针对辅助躯干无力的使用者以及进行其他活动的使用者的多功能性。
附图说明
图1A为根据本发明的实施例的包括身体接合装置的外骨骼的示意图。
图1B为具有后板件延伸部的图1A中的外骨骼的示意图。
图2为图1A中的身体接合装置的一个实施例的立体图。
图3为图1A中的身体接合装置中的框架的立体图。
图4A和图4B为显示了在穿戴有身体接合装置的使用者身上的图1A中的外骨骼弯曲时的受力图。
图4C和图4D为显示了在穿戴有身体接合装置的使用者身上的图1A中的外骨骼伸展时的受力图。
图5为图2中的身体接合装置的示意性俯视图。
图6为图5中的区域VI处的示意性细节图。
图7为沿图6中的线VII-VII的截面图。
图8为具有腰部支撑件的一个变体的身体接合装置的另一实施例的立体图。
图9为具有腰部支撑件的一个变体的身体接合装置的另一实施例的立体图。
图10为具有腰部支撑件的一个变体的身体接合装置的另一实施例的立体图。
图11A为包含具有第一张紧结构的腰部支撑件的一个变体的身体接合装置的另一实施例的立体图。
图11B为具有第二张紧结构的图11A中的身体接合装置的立体图。
图12A为具有带张紧系统的图2中的身体接合装置的后视示意图。
图12B为具有带张紧系统的图2中的身体接合装置的俯视示意图。
图12C为具有带张紧系统的图2中的身体接合装置的侧视示意图。
这些附图不是按比例绘制的,而是为了更好地理解各个部件而绘制。
具体实施方式
本发明的实施例涉及身体接合装置。
身体接合装置结合了脊柱矫形器中的特征,例如为2017年1月12日公布的美国专利申请2017/0007435中所记载的脊柱矫形器。然而,与专门为缓解疼痛、保护受伤韧带或肌肉和手术后固定而设计的脊柱矫形器不同,本发明的实施例中的身体接合装置设置为用于支撑在软组织上,同时允许机械致动器辅助骨骼结构的运动。像已知的脊柱矫形器一样,身体接合装置可配置为能减轻棘突上的压力,同时对椎旁肌肉组织施加均匀的压力,以确保外骨骼设备的舒适支撑。
已知的脊柱矫形器(例如,在2012年5月8日授权的美国专利No.8,172,779中所描述的示例性脊柱矫形器)以及身体接合装置的实施例具有外侧构造和内侧构造,其中内侧布置为与使用者的背部相邻。矫形器和身体支撑件具有第一带构件和第二带构件,以及适于在使用者背部的腰部区域上施加压力的加压或闭合系统。该加压或闭合系统包括允许使用者调节背部上的压力的紧固元件或拉带,以及在加压系统上延伸的覆盖物。
虽然在脊柱矫形器中设置有在加压系统的至少一部分上延伸的柔性或半刚性的背板,但是身体接合装置优选地具有刚性或半刚性的框架,该框架可包括布置为与使用者的背部相邻的后部板,以携带致动器和/或电源。前部板可以在其前侧连接到身体接合装置。
参照图1A,身体接合装置10包括框架,例如为半刚性或刚性的板件18,以及在锚固点处锚固到板件18的腰部支撑件22。腰部支撑件22可以张紧在板件18上,并与板件18间隔开一定距离。腰部支撑件22优选地具有与板件18间隔开的部分,以使腰部支撑件22匹配并且增加使用者在骶骨区域上的形状和重量,同时从板件18悬伸出来。身体接合装置10稳定在使用者的肌肉和软组织上,同时根据可连接到身体接合装置10的辅助系统12的相对运动而在使用者身上保持位置稳定,以在不牺牲舒适性或适应性的情况下提供稳定性。
腰部支撑件22可以相对于板件18弯曲;然而,腰部支撑件22优选为不可拉伸的织物或其他合适的材料。在一种变体中,腰部支撑件22可以是可拉伸的,或具有可拉伸的部分或段。在腰部支撑件除了承受使用者的重量之外其张紧不可调节的情况下,腰部支撑件22可以是静态的;或者,在腰部支撑件22可通过一个或多个张紧机构28、29而相对于板件张紧的情况下,腰部支撑件也可以动态地调节。
身体接合装置10优选地连接至可相对于板件18移动的辅助系统12,以及适于驱动辅助系统12的电源14。在图1A和图1B中,辅助系统12包括腿部/髋部辅助机构42和腿部连接件44,优选地位于板件18的侧面。驱动系统或电源14包括用于驱动腿部/髋部机构42的驱动机构46,并且优选地位于板件18的后侧。
板件18设置为能控制矢状运动,从而减少髋部和躯干的整体和部分的弯曲和伸展。板件18设置为能控制冠状运动(与臂部一起),以分别控制侧向弯曲和外展的脊柱/髋部运动。板件18同样可设置为控制屈伸运动。
如图1B所示,主体接合装置10可以包括在上方连接到板件18的板件连接件38,该板件连接件38包括带系统40。
参见图3,板件18可设置有上部或胸部部分60、下部或骶骨部分64,以及位于上部部分60和下部部分64之间的中部或腰部部分62。板件18可限定从中部部分62延伸的第一侧部部分66和第二侧部部分68。板件18可限定多个开口70。
如图1A至图2所示,身体接合装置10包括固定至板件并与板件18形成圆周的连接系统16。连接系统16可使用美国专利申请No.2017/0007435和美国专利No.8,172,779中的滑轮系统。覆盖物20在位于覆盖物20与板件18之间的腰部支撑件22上延伸,或者如下文中的其他实施例中所述的那样,腰部支撑件22是覆盖物的一部分。
图2示出了身体接合装置10,其包括位于板件18的相反侧面上的第一臂部24和第二臂部26,连接系统16的第一带段30和第二带段32分别延伸穿过该第一臂部和第二臂部而彼此接合。至少一个张紧元件34、36可相对于板件18移动,以通过减小其周长来张紧连接系统16。至少一个张紧元件34、36固定到连接系统16的第一带段30和第二带段32中的一个,并适于使第一带段30和第二带段32相对于板件18移动。第一臂部24和第二臂部26优选为弯曲的,使得第一臂部和第二臂部大体上紧贴或紧密包围使用者的身体。这样的构造有助于穿戴,并且能确保身体接合装置牢固地保持在使用者身上,特别是考虑到致动系统的重量和移动。
身体接合装置10具有从板件18的相反侧面延伸的第一臂部24和第二臂部26,该第一臂部24和第二臂部26形成开口通道48,第一带段30和第二带段32可滑动式延伸穿过该开口通道。第一臂部24和第二臂部26根据连接系统16的张紧而相对于板件18旋转,以形成弯曲部50。第一臂部24和第二臂部26具有允许第一臂部24和第二臂部26弯曲以形成弯曲部50的上部52。
根据一个示例性实施例,用于调节腰部支撑件22中的张紧的张紧机构28包括延伸通过通道48的线缆56,以使腰部支撑件22与转盘张紧机构相接合。该张紧机构可以是转盘张紧机构、梯形条带或其他合适的增量张紧机构,例如于2007年4月3日所公开的美国专利No.7,198,610中所教导的那些。
张紧元件34包括细长元件58和固定在该细长元件56的一端处的手柄54。手柄54可固定在带段30上,并且细长元件58可相对于带段30移动。第一带段30和第二带段32可通过配合紧固件82而彼此固定。张紧元件34可与美国专利申请No.2017/0007435中相似地设置。
图4A和图4B显示了髋部弯曲致动的图解。
(A)致动器42以力F3驱动大腿套/髋部弯曲。力F3的需要可相对于图4A和图4B中所示的其他力较小,这是因为力F3在摆动阶段中产生以促使非承重腿前进。
(B)连接系统16提供了中间的反作用力F2。
(C)在板件18的上部部分提供了反作用力F1,其抵抗由致动器产生的髋部弯曲力矩。M1表示反作用力或稳定力F1的力臂。力臂M1相对较长,并且有足够的杠杆作用来抵消髋部致动器42产生的力/力矩。
图4C和图4D显示了髋部伸展致动的图解。
(A)致动器以力F7驱动大腿套/髋部伸展。
(B)从腰部处提供了与远侧后部板件边缘的力F6相反的中间的反作用力F5,但是该反作用力相对较小。与致动器的伸展力/力矩相反的力臂M2较短(比M1短),并且在上方还需要额外的稳定性,其可由板件延伸部和肩带提供。该稳定性也可由绑带提供。
(C)需要板件伸展部和肩环的辅助。在从坐到站的过程中,力F8可有助于将肩部和躯干拉至伸展。
在躯干较弱的情况下,特别是在使用者要站起来时,需要通过形成较长的力臂来使背部伸展开。促使大腿前进所需的力较小,因为它仅涉及腿部的重量。膝盖的弯曲会减小腿部的力臂。在髋部弯曲致动总体稳定的情况下,接合装置所需的力很小。对髋部弯曲力的需求很低,因为只需抬起腿即可。由于小腿会在膝盖下方弯曲,所以力臂仅到达膝关节。如果使用者在躯干稳定性方面已经具有足够的强度,那么他们能针对致动器而有效地平衡躯干。另一方面,如果存在躯干无力的情况,则需要接合装置来提供针对致动器的充足的稳定性。
然而,抵消致动器产生足够的扭矩以提供从坐到站的辅助所需的稳定力很大,这是因为该稳定力需要在承重活动期间克服重力来移动/稳定使用者身体的大部分重量。这表明可能需要额外的稳定性,从而针对从坐到站的运动或躯干无力而添加前部板到腰带,或者甚至添加后部板延伸部和肩带。身体接合装置配置为模块化构造,从而可以根据使用者的当前需求而在治疗或使用过程中的任何时候添加或移除后部板延伸部和肩带和/或前部板。
如图5所示,身体接合装置10包括路径单元72,其固定至板件18并通过第一部分张紧元件36连接至路径支架74,该路径支架74可沿板件18的侧部部分66滑动,第二张紧元件34从路径支架74延伸穿过第一臂部24。路径单元72在锚固件80处牢固地固定到板件18。
第一臂部24包括板材78,该板材从板件18的侧部部分66的端部延伸出去,并且为第一臂部24内的开口通道48加衬。当第一带段被牵引向第二带段32以限定一个内部的弯曲轮廓C1时,板材78抵抗但屈服于第一带段30的运动。如果对称地以构型P1构造,则第一臂部24通常具有直线式轮廓(S),然而,第一臂34也可具有在非对称构型P2中的弯曲轮廓C1,其中,内部织物88的周长比外部织物86的周长短,通过形成表层52的弹性织物进行的连接能在静止时产生3D结构形状。在穿上身体接合装置10时,该形状不是由张紧导致的,而是通过内部/外部材料88、86、52的不同尺寸的连接来实现的,从而使身体接合装置10能够简单、自动地适应使用者的动态尺寸。
第一臂部24限定了包括内部织物88和外部织物86的内表面层和外表面层,以及跨过内表面层88和外表面层86的表层52,从而表层52比内表面层88和外表面层86的弹性更大。内表面层88和外表面层86基本上是无弹性的,而表层52是比较有弹性的。内层88限定了覆盖物20围绕板件18延伸的延伸部。
层52、86、88的材料的弹性不同使得身体接合装置10在被使用者穿戴时呈现出与使用者的尺寸相符的形状,从而能在使用者的皮肤上均匀地分布压力和接触。这能减少或完全消除现有的外骨骼接合装置中所存在的压力点和其他不适。
板材78衬在臂部24中的通道48内,并且可以是柔性的和半刚性的。板材78优选地由塑料形成。板材78具有通常预定的直线式轮廓,并且抵抗但最终可由于负载L的施加而弯曲,使第一臂部24形成弯曲轮廓C1。在释放负载L时,板材78通常回到直线式轮廓S。
织物结构的静止形状是通过连接和尺寸而约束了材料所产生的。负载L不是由外力或张紧的带臂部的圆周加压所产生的,而是由形成内层88的受约束的较短的不可拉伸织物向中心牵引产生的。这实现了简单且自动的机构,以使覆盖物20和板件18配合为用于获得最佳的有效性和舒适性。
衬垫层84沿着板材78并在板材78和外层86之间延伸。板件18的侧端部90优选地与板材78交叠。带段30适于在通道48内滑动,第一臂部24保持其形状而不会干扰带段30的滑动。关于第一臂部24描述的特征相应地适用于第二臂部26和带段32。
参照图8所示的身体接合装置的实施例,张紧元件92连接至腰部支撑件94,并可相对于板件18大体沿横向LD1、LD2移动。张紧机构28设置为允许调节张紧元件92,以使腰部支撑件94的端部100、102能相对于板件18移动。
腰部支撑件94具有连接至第一和第二张紧机构28、29的第一和第二侧部108、110,第一和第二张紧机构28、29设置为通过在第一和第二张紧机构之间延伸的张紧元件92而沿彼此相反的方向LD1、LD2牵引第一侧部108和第二侧部110。腰部支撑件94在上方的上连接部96处锚固到板件18上,并且在下方的下连接部98处锚固到板件18上。第一侧部108和第二侧部110限定为使得第一侧部108和第二侧部110能根据第一张紧机构28和第二张紧机构29的调节而相对于上部104和下部106移动。
根据一个实施例,腰部支撑件94由不可拉伸材料的连续片材形成。在另一实施例中,腰部支撑件94是多片材结构,其中上部104、下部106以及第一侧部108和第二侧部110可相对于彼此具有不同的拉伸性。
上固定部或连接部96和下固定部或连接部98沿着板件18而固定覆盖物20和腰部支撑件94,同时确保腰部支撑件以及第一侧部108和第二侧部110可以改变构造以符合使用者的动态尺寸,例如在连接到身体接合装置的外骨骼的运动期间。例如,在一些实施例中,当因腰部支撑件94的张紧而与腰部支撑件94间隔开一定距离的板件18与外骨骼相配合时,覆盖物20和腰部支撑件94可紧贴使用者的身体。这种设置能减少或消除压力点,从而提高舒适度,而不需牺牲与外骨骼的有效接合。
类似地,侧部108、110和臂部24、26相对于板件18的设置允许臂部24、26能因腰部支撑件94的特性和形成腰部支撑件94的材料而在相对于板材18转变构型时与使用者的身体外周相接合。
在图9所示的腰部支撑件112的另一实施例中,腰部支撑件112具有耦接到张紧机构28的第一侧部113,以及锚固到板材18的第二侧部部分68的第二侧部115。张紧机构28设置为相对于第二侧部115牵引第一侧部113。张紧机构28具有张紧元件118,该张紧元件在连接件116处耦接到腰部支撑件112的第一侧部113。
腰部支撑件112优选地限定了在板件18的第一侧部部分66和第二侧部部分68之间延伸的带子114。腰部支撑件112优选地仅在第二侧部部分68处固定到板件18上。这种设置有利地通过单个张紧机构28而提供了对整个腰部支撑件112的张紧的简单且对称的控制。
另外,带子114还提供了第一侧部部分和第二侧部部分的张紧之间的稳定性和控制。在某些实施例中,带子114可以比覆盖物20或腰部支撑件112更硬或更不易弯曲,从而能在使用者腰部或骶骨区的所需部位或表面上进行支撑,并使压力均匀地分散。在某些实施例中,带114可设置为除了张紧之外还沿着使用者的腰部或骶骨区的关键部分提供最佳的支撑和压力分布。技术人员应当理解,带子114可以与图9中的实施例相比具有不同的构型以及位于不同的位置。
在图10所示的腰部支撑件的又一个实施例中,腰部支撑件120包括第一带122,其具有固定到板件18的上端125和下端127的上部126和下部128。第一带122在上端125与下端127之间张紧,以在上端125和下端127之间与板件18间隔开一定间隙,该间隙在第一带122的位于上部126和下部128之间的中间部分处最大。
腰部支撑件120包括第二带124,其具有固定到板件18的第一侧端129和第二侧端131的第一部分130和第二部分132。第二带124优选地与板件18在第一侧端129和第二侧端131之间间隔开一定间隙D2。该间隙D2可以在第二带124的位于第一侧端130和第二侧端132之间的中间部分处最大。第一带122和第二带124可构造为与使用者的骶骨或腰部区域的标准曲线相似并共同延伸,从而在使用者与腰部支撑件120之间提供最佳接合。
第一带122和第二带124在腰部支撑件120和使用者之间提供紧密接合,从而即使在使用与身体接合装置10相接合的外骨骼时使用者进行动态运动,也能提供较好的舒适性。通过在使用者与腰部支撑件120之间形成距离D1、D2,可实现舒适且均匀的压力分布,而不会损害身体接合装置、外骨骼和使用者的接合。这可减少或完全消除因外骨骼部件紧抵着或摩擦使用者的身体而导致的压力点的问题。
在图11A和11B中,板件18上的覆盖物141用作腰部支撑件139。覆盖物141优选为不可拉伸的织物,其在上端142和下端144处张紧并固定,并且同样在第一侧端146和第二侧端148处张紧。上端142和下端144被约束到板件或框架18上,并在它们之间形成弧A。侧端146、148允许进一步张紧,并在他们之间形成弧B。弧A和弧B均与板件18间隔开,并且悬在板件18上。覆盖物141可以由允许形成带孔纹理的织物形成,以提供较好的透气性和轻质结构,由此为使用者提供最佳的舒适度。图11A和图11B示出了腰部曲线整形方法,以便为了适当地悬挂致动器而更好地固定在背部上,并且为了舒适而更好地贴合。可以缩短侧端146、148之间的弧B,从而在侧端146、148之间、以及在上端142和下端144之间更加张紧,由此形成腰部支撑件139的新的构型。在侧端146、148处向内牵引板件18,由此能形成新的弧D。沿弧D减小的圆周尺寸还会将弧A整形为新的弧C。
板件18可限定多个孔150,它们可布置为孔150的圆形图案152。包含处于特定图案152中的孔150能有利地在板件18上提供所需的透气性、柔性和连接点。在所示的实施例中,设置处于弧形152中的孔150可使得板件18产生所需程度的周向弯曲,因而覆盖物141能张紧以更好地环绕并接触使用者的腰部。技术人员应当理解,所显示的实施例中的特征仅是示例性的,并且在其他实施例中可以设置其他图案的孔,以便实现所需的移动、弯曲或其他优势。
图11A和图11B所示的实施例提供了一种简单而直观的机构,用于使板件18和覆盖物141符合使用者的尺寸。使用覆盖物141作为腰部支撑件是有利的,因为其提供了较好的透气性、简单性,并降低了材料成本,同时还允许身体接合装置10、使用者和外骨骼之间的动态接合。
腰部支撑件/覆盖物141可基于形成覆盖物141的材料的特性来成形,或者可基于使用者凭借可在本发明的其他实施例中使用的张紧机构而施加到板件18上的张紧来获得其形状。
通过在关键位置处(例如,在板件18的最边缘附近)将覆盖物141连接到板件18上,该机构可与通过使用者的运动(例如,通过外骨骼辅助运动)而产生的力配合并传递所产生的力,同时向使用者提供均匀的压力分布、舒适度,并增强与使用者的动态符合性。
参照图12A至图12C,在板件18的第一侧部部分66和第二侧部部分68上设置有用于图1A中的连接系统16的闭合机构71。该闭合机构71包括分别固定连接在第一侧部部分66和第二侧部部分68上的第一路径单元72和第二路径单元73。板件18限定了至少一个锁定槽结构134,第一路径单元72的接合部136在其中锁定到板件18,以防止第一路径单元72朝向第一侧部部分66的端部移动。板件18限定了狭长槽138,第一路径支架74的滑块部140延伸到其中,以使得第一路径支架74可相对于板件18沿第一侧部部分66滑动。
闭合单元可设置有如美国专利No.8,172,779中所述的滑轮。
闭合机构71在侧部部分66、68上设置有狭长元件77实现了充分的收紧功能,并且使板件18的后部部分能自由地在后方连接髋部辅助机构42。图12A至图12C中的挖空部分表示可以根据需要从板件上移除以开放为框架的区域。狭窄区域水平地保持在侧面上以形成轨道79,路径单元72、73位于该轨道中。
相对的第一闭合单元是固定的,并且相对而言更位于后方的中线处。当牵引张紧元件时,闭合单元会在其中将带臂部牵引回到臂部的通道内。脊柱前凸控制机构可横跨在框架的侧部,因此其能够很好地稳固两侧的刚性构件。
板件18可以限定孔99的区域和图案。孔99可以被分组到侧面区域处的侧区103、105,以及中区107。区103、105、107可由立柱115离散化,其中未对孔进行限定,可以在所需的位置增加刚度。在区103、105、107中,可以设置离散的图案101,以利于在所需方向上的各向异性的柔性;例如,侧区103、105中的孔可配置为有助于板件18的周向弯曲,以允许外骨骼与使用者之间的最佳配合量。在中区107中,孔可配置为有助于更有限程度的周向弯曲和更多的纵向弯曲。
Claims (18)
1.一种身体接合装置(10),包括:
半刚性或刚性的板件(18),所述板件(18)设置为能控制矢状运动和冠状运动,以分别控制脊柱/髋部的侧向弯曲运动和外展运动,所述板件(18)设置为能控制弯曲伸展,从而所述板件(18)设置为具有上部或胸部部分(60)、下部或骶骨部分(64),以及位于所述板件(18)的上部部分(60)与下部部分(64)之间的中部或腰部部分(62);
在锚固点处锚固在所述板件(18)上的腰部支撑件(22),所述腰部支撑件能在所述板件(18)上张紧且与所述板件(18)间隔开;以及
位于所述板件(18)的相反侧面上的第一臂部(24)和第二臂部(26),连接系统(16)的第一带段(30)和第二带段(32)分别延伸穿过所述第一臂部(24)和第二臂部(26)以彼此接合,并围绕使用者限定圆周,所述连接系统能通过至少一个张紧元件(34,36)张紧,
其中,所述第一臂部(24)和第二臂部(26)均形成有开口通道(48),所述第一带段(30)和第二带段(32)能滑动地延伸穿过相应的开口通道,
所述第一臂部(24)和第二臂部(26)均包括具有预定的直线式轮廓的板材(78),并且构造成能够因施加负载(L)而弯曲成弯曲式轮廓,而在释放负载(L)时回到直线式轮廓。
2.根据权利要求1所述的身体接合装置(10),其特征在于,所述身体接合装置设置为连接到能相对于所述板件(18)移动的辅助系统(12),驱动系统(14)适用于驱动所述辅助系统(12)。
3.根据权利要求2所述的身体接合装置(10),其特征在于,所述辅助系统(12)包括腿部/髋部辅助机构(42)以及腿部连接件(44),所述腿部/髋部辅助机构(42)位于所述板件(18)的侧面上。
4.根据权利要求3所述的身体接合装置(10),其特征在于,所述驱动系统(14)位于所述板件(18)的后侧,并包括用于移动所述腿部/髋部辅助机构(42)的驱动机构(46)。
5.根据权利要求1所述的身体接合装置(10),其特征在于,所述腰部支撑件(22)相对于所述板件(18)为柔性的。
6.根据权利要求1所述的身体接合装置(10),其特征在于,所述腰部支撑件(22)能通过张紧机构(28,29)相对于所述板件(18)张紧。
7.根据权利要求1所述的身体接合装置(10),其特征在于,所述身体接合装置还包括连接系统(16),所述连接系统固定到所述板件(18),并与所述板件(18)形成圆周。
8.根据权利要求1所述的身体接合装置(10),其特征在于,所述第一臂部限定了包括内部织物和外部织物的内表面层和外表面层,以及跨过所述内表面层和外表面层的表层,使得所述表层比所述内表面层和外表面层的弹性更大。
9.根据权利要求8所述的身体接合装置(10),其特征在于,所述内表面层和外表面层基本上是无弹性的,而所述表层是相对有弹性的。
10.根据权利要求1所述的身体接合装置(10),其特征在于,还包括沿着所述板材并在所述板材和所述第一臂部的外层之间延伸的衬垫层。
11.根据权利要求10所述的身体接合装置(10),其特征在于,所述板件的侧端部与所述板材交叠,所述第一带段适于在所述开口通道内滑动,而所述第一臂部保持其形状而不会干扰所述第一带段的滑动。
12.一种外骨骼,包括:
身体接合装置(10),所述身体接合装置设置为能稳定在使用者的肌肉和软组织上,同时根据连接到所述身体接合装置(10)的辅助系统(12)的相对运动而在使用者身上保持位置稳定;
半刚性或刚性的板件(18),所述板件(18)设置为能控制矢状运动和冠状运动,以分别控制脊柱/髋部的侧向弯曲运动和外展运动,所述板件(18)设置为能控制弯曲伸展,从而所述板件(18)设置为具有上部或胸部部分(60)、下部或骶骨部分(64),以及位于上部部分(60)与下部部分(64)之间的中部或腰部部分(62);
在锚固点处连接到所述板件(18)的腰部支撑件(22),
所述身体接合装置(10)还包括位于所述板件(18)的相反侧面上的第一臂部(24)和第二臂部(26),连接系统(16)的第一带段(30)和第二带段(32)分别延伸穿过所述第一臂部(24)和第二臂部(26)以彼此接合,并围绕使用者限定圆周,所述连接系统能通过至少一个张紧元件(34,36)张紧,
其中,所述第一臂部(24)和第二臂部(26)限定了与非弹性的内层(88)和外层(86)相配合的弹性的表层部分(52),以使所述第一臂部(24)和第二臂部(26)弯曲。
13.根据权利要求12所述的外骨骼,其特征在于,所述腰部支撑件(22)相对于所述板件(18)为柔性的。
14.根据权利要求13所述的外骨骼,其特征在于,所述身体接合装置(10)还包括在所述腰部支撑件(22)上延伸的覆盖物(20),所述腰部支撑件位于所述覆盖物(20)与所述板件(18)之间。
15.根据权利要求12所述的外骨骼,其特征在于,用于调节所述腰部支撑件(22)的张紧的张紧机构(28)包括延伸穿过第一臂部(24)和第二臂部(26)以与所述腰部支撑件(22)接合的线缆(56)。
16.一种身体接合装置(10),包括:
板件(18),所述板件包括从中部部分延伸的第一侧部部分和第二侧部部分;
腰部支撑件(120),所述腰部支撑件在上连接点(96)和下连接点(98)处连接到所述板件(18),并能相对于所述板件(18)张紧;以及
至少一个张紧元件(92),
其中,所述腰部支撑件(120)包括第一带(122),所述第一带具有分别固定到所述板件(18)的上端(125)和下端(127)的上部(126)和下部(128),所述第一带(122)在所述上端(125)和下端(127)之间张紧,以相对于所述板件(18)在所述上端(125)和下端(127)之间间隔开一定间隙(D1),所述间隙(D1)在所述第一带(122)的位于所述上部(126)和下部(128)之间的中间部分处最大,
所述腰部支撑件(120)包括第二带(124),所述第二带具有分别固定到所述板件(18)的第一侧端(129)和第二侧端(131)的第一部分(130)和第二部分(132),所述第二带(124)在第一侧端(129)和第二侧端(131)之间相对于所述板件(18)间隔开一定间隙(D2),所述间隙(D2)在所述第二带(124)的位于所述第一侧端(129)和第二侧端(131)之间的中间部分处最大。
17.根据权利要求16所述的身体接合装置(10),其特征在于,所述腰部支撑件(120)比所述板件(18)更具有柔性,所述腰部支撑件(120)由透气材料形成,并且在所述腰部支撑件(120)与所述板件(18)之间限定了间隙,所述间隙限定了与使用者相符合的纵向弧或弯曲(A,C)以及周向弧或弯曲(B,D)。
18.根据权利要求17所述的身体接合装置(10),其特征在于,所述板件(18)限定了孔(150)的图案,其配置为与所述腰部支撑件(120)相配合以能够限定纵向弧(A,C)和周向弧(B,D),并能够根据施加到所述身体接合装置(10)的张紧程度而调节所述腰部支撑件(120)与所述板件(18)之间的间隙。
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CN111148606A (zh) | 2020-05-12 |
EP3687743B1 (en) | 2023-10-25 |
US20190091094A1 (en) | 2019-03-28 |
EP3687743A1 (en) | 2020-08-05 |
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