EP3482735B1

EP3482735B1 - Shoe assembly for a walking assist device

Info

Publication number: EP3482735B1
Application number: EP18178308.5A
Authority: EP
Inventors: Yi-Jeng Tsai; Ming-Chang Teng
Original assignee: Free Bionics Taiwan Inc
Current assignee: Free Bionics Taiwan Inc
Priority date: 2017-11-13
Filing date: 2018-06-18
Publication date: 2022-08-24
Anticipated expiration: 2038-06-18
Also published as: EP3482735A1

Description

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. patent application Ser. No. 15/811,137, filed 13 November 2017 .

BACKGROUND

A walking assist device, also known as exoskeleton robot, is a wearable mobile machine that supports the body of a user and move limbs of the user. Generally, a walking assist device is powered by a system of electric motors, pneumatics, levers, hydraulics, or a combination of technologies that can move limbs. One of the main applications is medical. A walking assist device can help persons who lose or lose control of their legs or arms due to illness or accidental injury. While the walking assist device is worn by a user, security issue may arise. For example, the user may not keep a poised posture during walking, and may tend to significantly sway to the right when supported with the right leg and sway to the left when supported with the left leg. Such sway is likely to cause a linear contact and not a safe surface contact between a shoe assembly of the walking assist device and the ground. Consequently, the user may trip or fall on the ground.
It may therefore be desirable to have a shoe assembly that ensures a stable contact with the ground for a user of the walking assist device during walking.
JP 2010125030 A discloses a walking assisting device including a leg brace and a sole brace coupled with the leg brace by an ankle joint. The leg brace is disposed along a leg of the user, and the sole brace is fixed to the sole of the user. The sole brace and the ankle joint are coupled with each other via a rocking member which rocks around an axis of the ankle of the user. The sole brace can adjust the attaching angle to the ankle joint around the axis of the ankle of the user.
CN 106821684 A discloses a passive energy-storage ankle joint and foot mechanism for power-assisted exoskeletons of lower limbs. The passive energy-storage ankle joint and foot mechanism comprises an ankle joint unit, a foot-side panel unit and a foot pad unit. The ankle joint unit comprises a crus rod and a compression spring and an ankle-joint guide rod. The compression spring and the ankle-joint guide rod are arranged in the crus rod. The foot-side panel unit comprises a foot-side panel, a foot pad and a wavy spring body. The foot-side panel comprises a side plate and a bottom plate. The foot pad and the wavy spring body are arranged at the lower end of the bottom plate. An arc-shaped surface is arranged on the side plate. The lower end of the crus rod is hinged on the side plate, and the lower end of the ankle-joint guide rod is contacted with the arc-shaped surface under the action of the compression spring and moves along the arc-shaped top surface.
US 3827430 A discloses an orthopedic foot brace comprising a shank member having an elongated vertical portion and a shoe engaging portion at the lower end of the vertical portion. The shoe engaging portion is biased upwardly about a pivot point at the lower end of the vertical portion. An elongated vertical slot is provided at the upper end of the vertical portion, and a calf engaging member is slidably mounted in the slot.

SUMMARY

The present invention is directed to a shoe assembly for a walking assist device according to independent claims 1, 5 and 13. Subsidiary aspects of the invention are provided in the dependent claims.
The foregoing has outlined rather broadly the features and technical advantages of the present invention in order that the detailed description of the invention that follows may be better understood. Additional features and advantages of the invention will be described hereinafter, and form the subject of the claims of the invention. It should be appreciated by those skilled in the art that the conception and specific embodiment disclosed might be readily utilized as a basis for modifying or designing other structures or processes for carrying out the same purposes of the present invention. The scope of the invention is defined by the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

The objectives and advantages of the present invention will become apparent upon reading the following description and upon reference to the accompanying drawings in which:

FIG. 1A is a perspective view of a walking assist device, in accordance with some embodiments of the present invention;
FIGS. 1B, 1C and ID are a front view, right side view and top view of the walking assist device illustrated in FIG. 1A, respectively;
FIG. 2A is a perspective view of a shoe assembly of the walking assist device illustrated in FIG. 1A, in accordance with an embodiment of the present invention;
FIGS. 2B, 2C and 2D are an exploded view, a front view and a right side view of the shoe assembly illustrated in FIG. 2A, respectively;
FIG. 3A is a cross-sectional view of the shoe assembly illustrated in FIG. 2A, taken from the AA direction, in accordance with some embodiments of the present invention;
FIG. 3B is a schematic cross-sectional view showing a force transmission mechanism in the shoe assembly illustrated in FIG. 3A;
FIG. 4 is a perspective view of a shoe assembly of the walking assist device illustrated in FIG. 1A, in accordance with another embodiment of the present invention;
FIG. 5 is a perspective view of a shoe assembly of the walking assist device illustrated in FIG. 1A, in accordance with yet another embodiment of the present invention;
FIG. 6A is an exploded view of a shoe assembly of the walking assist device illustrated in FIG. 1A, in accordance with still another embodiment of the present invention;
FIG. 6B is a perspective view of the shoe assembly illustrated in FIG. 6A when assembled;
FIG. 6C is a right side view of the shoe assembly illustrated in FIG. 6A; and
FIG. 6D is a cross-sectional view of the shoe assembly illustrated in FIG. 6C, taken from the BB direction, in accordance with some embodiments of the present invention.

DESCRIPTION OF THE EMBODIMENTS

The embodiments of the present invention are shown in the following description with the drawings, wherein similar or same components are indicated by similar reference numbers.
FIG. 1A is a perspective view of a walking assist device 10, while FIGS. 1B, 1C and ID are a front view, right side view and top view of the walking assist device 10, respectively, in accordance with some embodiments. Referring to FIG. 1A, the walking assist device 10 includes a waist assembly 11, a right leg assembly 12R, a left leg assembly 12L, a right shoe assembly 20R and a left shoe assembly 20L.
The waist assembly 11 is configured to support a user of the walking assist device 10 at the waist. Each of the right leg assembly 12R and the left leg assembly 12L is pivotably connected to the waist assembly 11 via a respective hip joint 13. As a result, the right leg assembly 12R and the left leg assembly 12L are rotatable with respect to the waist assembly 11. Since the right leg assembly 12R and the left leg assembly 12L are symmetric in physical configuration to each other, for convenience, only the left leg assembly 12L is discussed.
The left leg assembly 12L includes a thigh stand 14, a shank stand 16, a knee joint 15 and an ankle joint 17 in addition to the hip joint 13. The thigh stand 14, having an elongated shape, is pivotably connected at one side (not numbered) to the waist assembly 11 via the hip joint 13, and pivotably connected at another side (not numbered) to the shank stand 16 via the knee joint 15. As a result, the thigh stand 14 and the shank stand 16 are rotatable with respect to the knee joint 15. Moreover, the thigh stand 14 is movable along a first adjusting means 158 of the knee joint 15 in the elongated direction so that the length of the left leg assembly 12L at the thigh portion is adjustable to suit the user's need. In the present embodiment, the first adjusting means 158 includes a pair of slots stretched in the elongated direction. In other embodiments, the first adjusting means 158 may include grooves, rails or sliding rods that facilitate the adjustment lengthwise.
The shank stand 16, also having an elongated shape, is pivotably connected at one side (not numbered) to the thigh stand 14 via the knee joint 15, and pivotably connected at another side (not numbered) to the shoe assembly 20 via the ankle joint 17. As a result, the shank stand 16 and the left shoe assembly 20L are rotatable with respect to the ankle joint 17. Moreover, the shank stand 14 is movable along a second adjusting means 178 of the ankle joint 17 in the elongated direction so that the length of the left leg assembly 12L at the shank portion is adjustable to suit the user's need. In the present embodiment, the second adjusting means 178 includes a slot stretched in the elongated direction. Alternatively, the second adjusting means 178 may include grooves, rails or sliding rods that facilitate the adjustment lengthwise.
The thigh stand 14, shank stand 16, hip joint 13, knee joint 15 and ankle joint 17 are similar to those disclosed in the U.S. application serial number 14/519,145 (herein after the '145 application), entitled "Walking Assist Device," filed 21 October 2014 by the same inventors of the subject application, and therefor are not described in detail. For more information on the physical relationship among and the functions of the thigh stand 14, shank stand 16, hip joint 13, knee joint 15 and ankle joint 17, reference can be made to the disclosure of the '145 application.
FIG. 2A is a perspective view of the right shoe assembly 20R together with its corresponding ankle joint 17, while FIGS. 2B, 2C and 2D are an exploded view, a front view and a right side view of the right shoe assembly 20R together with the ankle joint 17, respectively, in accordance with some embodiments. Likewise, since the right shoe assembly 20R and the left shoe assembly 20L are symmetric to each other, for convenience, only the right shoe assembly 20R is discussed in detail.
Referring to FIG. 2A, the right shoe assembly 20R includes a sole cover 21, a sole 25, a side plate 27 and a fix plate 28. The sole cover 21 serves as a main body of the shoe assembly 20R to accommodate a user's foot or shoe. The sole 25 serves as a sole for the sole cover 21. In an embodiment, the sole 25 is made of a material that provides an anti-slip function. The side plate 27, connected between the ankle joint 17 and the sole cover 21, is configured to transmit a force F exerted through the shank stand 16 or ankle joint 17 in a first direction towards the sole 25. The fix plate 28 facilitates to secure the side plate 27 to the sole cover 21, and provides a smooth contact for the user's foot or shoe.
Referring to FIG. 2B, the right shoe assembly 20R further includes a support plate 24, which is hidden from the fix plate 28 in FIG. 2A. The support plate 24 is held in a recessed portion 210 of the sole cover 21. In addition, the support plate 24 includes a male part 240 and a ridge 245, which will be further discussed in detail.
The side plate 27, formed in an integral piece, includes a a first part 274, a second part 275, and a third part 273 connecting the first part 274 and the second part 275. The first part 274 further includes a first portion 271 and a second portion 272. The first portion 271 and the second portion 272 substantially extend in a second direction different from the first direction. In an embodiment, the first direction and the second direction are orthogonal to each other. The first portion 271 and the second portion 272 are also held in the recessed portion 210 of the sole cover 21. Specifically, during assembly, the support plate 24 is placed in the recessed portion 210, with the ridge 245 extending in a third direction that is substantially orthogonal to the first and the second directions. Subsequently, the first portion 271 is stacked on the support plate 24 by mating a female part 270 of the first portion 271 with the male part 240 of the support plate 24. The fix plate 28 then covers the support plate 24, the first portion 271 and the second portion 272 in the recessed portion 210. In an embodiment, the first portion 271 is sized and configured to snugly fit in the support plate 24 so that the female part 270 and the male part 240 are aligned with each other. The female part 270 and the male part 240 facilitate to secure the support plate 24 to the first portion 271 of the side plate 27 in a chamber defined by the recessed portion 210 and the fix plate 28.
The second part 275 of the side plate 27 is connected to the ankle joint 17 by fastening means (not numbered) that may include a ring 261, washers 262 and a set of nut and bolt (not numbered).
FIG. 3A is a cross-sectional view of the right shoe assembly 20R described and illustrated with reference to FIG. 2A taken from the AA direction, in accordance with some embodiments.
Referring to FIG. 3A, in particular to an amplified view as illustrated, the ridge 245 of the support plate 24 is substantially located at a center line, extending in the third direction, of the support plate 24. The ridge 245 fulcrums the second portion 272 and tapers towards an opening of the recessed portion 210. The tapered surface forms a first angle θ with respect to the second portion 272. In an embodiment, the first angle θ ranges between approximately 1 degree and 5 degrees.
In addition, the third portion 273 of the side plate 27 may include a first section 31 that may extend in the elongated direction of the shank stand 16 or the thigh stand 14, and a second section 32 that may deflect outward from the elongated direction. The second section 32 forms a second angle φ with respect to the first section 31. In an embodiment, the second angle φ ranges between approximately 0 degree and 90 degrees.
FIG. 3B is a schematic cross-sectional view showing a force transmission mechanism in the right shoe assembly 20R described and illustrated with reference to FIG. 3A.
Referring to FIG. 3B, a force F exerted via the shank stand 16, largely due to the weight of the user, is transmitted via the side plate 27 and the fix plate 28 towards the sole cover 21 and the sole 25. The ridge 245, which fulcrums the second portion 272, allows the second portion 272 to elastically deform in the recessed portion 210 within a range defined by the first angle θ. As a result, the force F is transmitted to the sole 25 and uniformly distributed on the sole 25.
In some existing walking assist devices, a gravitational force exerted via, for example, a shank stand to one side of a shoe is likely to cause the shoe to tilt or roll at the other side, which may danger the user. Moreover, a user of a walking assist device is generally a physically challenged person or a handicapped person with limited mobility. As compared to a normal person, such users, when put on an existing walking assist device, may tend to significantly sway to the right when the body of the user is supported with the right leg and sway to the left when the body of the user is supported with the left leg. The sway that would otherwise not occur for a normal person while walking produces an additional force exerted via, for example, a shank stand towards a shoe. The additional force would exacerbate the tilting problem. With the shoe assembly 20R according to the disclosure, the force is uniformly distributed over the sole 25, which effectively ensures the sole 25 to entirely contact a ground surface and thus prevents the shoe assembly 20R from the issue of tilting.
FIG. 4 is a perspective view of a shoe assembly 40R in accordance with another embodiment.
Referring to FIG. 4, the shoe assembly 40R is similar to the shoe assembly 20R described and illustrated with reference to FIG. 3A except that, for example, the sole cover 21 and the support plate 24 of the shoe assembly 20R in FIG. 3A are integrated into a sole cover 41 of the shoe assembly 40R. As illustrated in an amplified view, the sole cover 41 includes a ridge 415 that fulcrums the second portion 272 of the side plate 27 in the recessed portion 210.
With the shoe assembly 40R, the force is uniformly distributed over the sole 25, which effectively ensures the sole 25 to entirely contact a ground surface and thus prevents the shoe assembly 40R from the issue of tilting.
FIG. 5 is a perspective view of a shoe assembly 50R in accordance with another embodiment.
Referring to FIG. 5, the shoe assembly 50R is similar to the shoe assembly 20R described and illustrated with reference to FIG. 3A except that, for example, the sole cover 21 and the support plate 24 of the shoe assembly 20R in FIG. 3A are integrated into a sole cover 51 of the shoe assembly 50R. As illustrated in an amplified view, the sole cover 51 includes a raised surface 515 and a slope 516 tapers from the raised surface 515. The raised surface 515 is configured to snugly accommodate the first portion 271 of the side plate 27 in a chamber C in the recessed portion 210. The slope 516 forms a first angle θ with respect to the second portion 272. The second portion 272 is allowed to elastically deform in the recessed portion 210 within a range defined by the first angle θ in response to a force.
With the shoe assembly 50R, the force is uniformly distributed over the sole 25, which effectively ensures the sole 25 to entirely contact a ground surface and thus prevents the shoe assembly 50R from the issue of tilting.
FIG. 6A is an exploded view of a shoe assembly 60R of the walking assist device 10 illustrated in FIG. 1A, in accordance with still another embodiment of the present invention. FIG. 6B is a perspective view of the shoe assembly 60R illustrated in FIG. 6A when assembled.
Referring to FIG. 6A, the shoe assembly 60R includes a sole cover 61 and a sole 65. The sole cover 61 serves as a main body of the shoe assembly 60R to accommodate a user's foot or shoe. The sole 65 serves as a sole for the sole cover 61. The sole cover 21 includes a recessed portion 610 to accommodate a first portion 671 of a side plate 67 connected between the sole cover 61 and the shank stand 16 of the walking assist device 10. Also, the sole cover 21 includes a contact surface 615 to receive the user's foot or shoe. Also referring to FIG. 6B, the first portion 671 is to be held in the recessed portion 610 under the contact surface 615. Further, the second portion 672 covers the recessed portion 610 while the first portion 671 is held in the recessed portion 610. As shown in FIG. 6B, the second portion 672 of the side plate 67 is substantially level with the contact surface 615 while the first portion 671 is held in the recessed portion 610 under the contact surface 615.
Referring back to FIG. 6A, in the present embodiment, the first portion 671 is secured by means of bolts 681 and threaded holes 682 on the contact surface 615. Moreover, the first portion 671 includes threaded holes (not numbered) in alignment with the threaded holes 682 to facilitate securing the first portion 671 in the recessed portion 610.
The shank stand 16 extends in a first direction, and the first portion 671 and the second portion 672 of the side plate 67 extend in a second direction different from the first direction. In an embodiment, the second direction is substantially orthogonal to the first direction. The side plate 67 also includes a third portion 673 connecting the first portion 671 and the second portion 672 that extend in the second direction in different elevations. The difference in elevation between the first portion 671 and the second portion 672 facilitates a fulcrum operation, as will be further discussed with reference to FIG. 6D.
FIG. 6C is a right side view of the shoe assembly 60R illustrated in FIG. 6A, and FIG. 6D is a cross-sectional view of the shoe assembly 60R illustrated in FIG. 6C, taken from the BB direction.
Referring to FIG. 6D, the sole cover 21 includes a support plate 68 on the sole 65 to fulcrum the second portion 672 of the side plate 67. The first portion 671 of the side plate 67 is secured in a chamber C defined by the sole 65, the contact surface 615 and the support plate 68.
In operation, the second portion 672 is elastically deformed in response to a force F exerted along the first direction. The support plate 68 includes a raised surface 681 to fulcrum the second portion 672, and a slope 682 having an inclined surface to rest the second portion 672 when elastically deformed.
In an amplified view as illustrated, the second portion 672 is disposed at a higher elevation than the first portion 671. The elevation difference facilitates the first portion 671 to stretch into the chamber C for a better securing effect, and allows the second portion 672 fulcrumed on the raised surface 681 to elastically deform in response to the force F. In an embodiment, the support plate 68 has a height h substantially equals the elevation difference.
Although the present invention and its advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims. For example, many of the processes discussed above can be implemented in different methodologies and replaced by other processes, or a combination thereof.
Moreover, the scope of the present application is not intended to be limited to the particular embodiments of the process, machine, manufacture, composition of matter, means, methods and steps described in the specification. As one of ordinary skill in the art will readily appreciate from the disclosure of the present invention, processes, machines, manufacture, compositions of matter, means, methods, or steps, presently existing or later to be developed, that perform substantially the same function or achieve substantially the same result as the corresponding embodiments described herein may be utilized according to the present invention. The scope of the invention is defined by the appended claims.

Claims

A shoe assembly for a walking assist device, the shoe assembly comprising:
a sole (25);

a sole cover (21); and

a side plate (27) including a first portion, a second portion and a third portion, wherein the first portion and the second portion extend in a first direction and connect to the sole cover, the third portion extends in a second direction different from the first direction and is connectable to a shank stand (16) of the walking assist device,

the sole cover comprising:
a recessed portion (210) to hold the first portion (271) and the second portion of the side plate in the recessed portion; and

a support plate (24) in the recessed portion and between the side plate and the sole cover, wherein the support plate includes a ridge (245) tapered towards an opening of the recessed portion and configured to fulcrum the second portion (272) of the side plate while the first portion is held in the recessed portion.
The shoe assembly according to claim 1, wherein the shank stand extends in the second direction.
The shoe assembly according to claim 1 or 2, wherein the second portion is elastically deformed in response to a force exerted along the second direction.
The shoe assembly according to any of the claims 1 to 3, wherein the support plate having a height that offsets a difference in elevation between the first portion and the second portion of the side plate.
A shoe assembly for a walking assist device, the shoe assembly comprising:
a sole (65);

a sole cover (61); and

a side plate (67) including a first portion, a second portion and a third portion, wherein the first portion and the second portion extend in a first direction and connect to the sole cover, the third portion extends in a second direction different from the first direction and is connectable to a shank stand (16) of the walking assist device,

the sole cover comprising:
a recessed portion (610) to hold the first portion (671) and the second portion of the side plate in the recessed portion; and

a support plate (68) in the recessed portion and between the side plate and the sole cover, wherein the support plate includes a raised surface (681) to fulcrum the second portion while the first portion is held in the recessed portion, and a slope (682) having an inclined surface to receive the second portion when elastically deformed.
The shoe assembly according to claim 5, wherein the sole cover further comprises a contact surface (615) to receive a foot of a user of the walking assist device, wherein the first portion of the side plate is secured under the contact surface in the recessed portion
The shoe assembly according to claim 6, wherein the second portion of the side plate is level with the contact surface while the first portion is secured in the recessed portion under the contact surface.
The shoe assembly according to claim 6 or 7, wherein the first portion of the side plate is secured in a chamber (C) defined by the sole, the contact surface and the support plate.
The shoe assembly according to claim 5, wherein the side plate is pivotably connectable to the shank stand.
The shoe assembly according to claim 9, wherein when the shoe assembly is connected to the shank, the shank stand extends in a third direction orthogonal to the first direction.
The shoe assembly according to claim 10, wherein the second portion is elastically deformed in response to a force exerted along the third direction.
The shoe assembly according to claim any of the claims 9 to 11, wherein the support plate having a height that offsets a difference in elevation between the first portion and the second portion of the side plate.
A shoe assembly for a walking assist device, the shoe assembly comprising:
a sole (25);

a sole cover (41); and

a side plate (27) including a first portion, a second portion and a third portion, wherein the first portion and the second portion extend in a first direction and connect to the sole cover, the third portion extends in a second direction different from the first direction and is connectable to a shank stand (16) of the walking assist device,

the sole cover comprising:
a recessed portion (210) to hold the first portion (271) and the second portion of the side plate in the recessed portion; and

a ridge (245) tapered towards an opening of the recessed portion and configured to fulcrum the second portion (272) of the side plate while the first portion is held in the recessed portion.
The shoe assembly according to claim 13, wherein the sole cover further comprises a raised surface (515) to hold the first portion in the recessed portion, and a slope (516) having an inclined surface to receive the second portion when elastically deformed.
The shoe assembly according to claim 13, wherein the side plate is pivotably connected to the shank stand extending in a third direction orthogonal to the first direction.