IT202000002863A1 - Ankle motor assistance device - Google Patents

Ankle motor assistance device Download PDF

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Publication number
IT202000002863A1
IT202000002863A1 IT102020000002863A IT202000002863A IT202000002863A1 IT 202000002863 A1 IT202000002863 A1 IT 202000002863A1 IT 102020000002863 A IT102020000002863 A IT 102020000002863A IT 202000002863 A IT202000002863 A IT 202000002863A IT 202000002863 A1 IT202000002863 A1 IT 202000002863A1
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IT
Italy
Prior art keywords
ankle
cables
annular support
motor assistance
platform
Prior art date
Application number
IT102020000002863A
Other languages
Italian (it)
Inventor
Marco Ceccarelli
Matteo Russo
Original Assignee
Matteo Russo
Marco Ceccarelli
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Publication date
Application filed by Matteo Russo, Marco Ceccarelli filed Critical Matteo Russo
Priority to IT102020000002863A priority Critical patent/IT202000002863A1/en
Publication of IT202000002863A1 publication Critical patent/IT202000002863A1/en

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Classifications

    • 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
    • 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
    • A61H1/0266—Foot
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1124—Determining motor skills
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6813—Specially adapted to be attached to a specific body part
    • A61B5/6829—Foot or ankle
    • 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
    • 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
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • 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
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0157—Constructive details portable
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • 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
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • 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
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • A61H2205/106—Leg for the lower legs
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/12—Feet

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Physiology (AREA)
  • Dentistry (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)

Description

DESCRIZIONE DESCRIPTION

A corredo di una domanda di brevetto per invenzione industriale avente per titolo: In support of a patent application for industrial invention entitled:

?Dispositivo per assistenza motoria della caviglia?. ? Device for motor assistance of the ankle ?.

In questa proposta di brevetto si presenta un nuovo dispositivo a cavi per assistenza motoria dell?articolazione della caviglia umana. Il dispositivo permette di guidare o imporre movimenti di flessione, torsione e rotazione della caviglia tramite un meccanismo parallelo a cavi attuato da quattro motori. This patent proposal presents a new cable device for motor assistance of the human ankle joint. The device allows to guide or impose flexion, torsion and rotation movements of the ankle through a parallel cable mechanism actuated by four motors.

Attualmente, oltre ad esoscheletri ad elementi rigidi con meccanismi articolati, vi sono dispositivi che permettono l?assistenza motoria dell?articolazione della caviglia, soprattutto in applicazioni riabilitative. Vi sono soluzioni basate su meccanismi paralleli a cavi che espletano la funzione di assistenza motoria per l?intera struttura della gamba e solo parzialmente coinvolgono la caviglia. Currently, in addition to exoskeletons with rigid elements with articulated mechanisms, there are devices that allow motor assistance of the ankle joint, especially in rehabilitation applications. There are solutions based on parallel mechanisms to cables that perform the motor assistance function for the entire structure of the leg and only partially involve the ankle.

Tra essi, significativo per l?invenzione che si propone pu? essere considerato il sistema nel brevetto US20170128250A1 del 2017, che consiste in una staffa a gambaletto che ? articolata con due giunti per permetter la rotazione assistita dell?articolazione della caviglia. Il brevetto US20070219475A1 del 2007 presenta una soluzione per riabilitazione con un meccanismo ad ingranaggi che viene utilizzato per un movimento rotatorio di una piastra su cui alloggiare la parte estrema del piede. Il brevetto US6350246 del 2002 presenta un sistema in cui la parte fissa sul retro dello stinco ruota relativamente ad un plantare indossabile tramite un meccanismo con camma interna per assecondare e riprodurre la rotazione della caviglia. Il brevetto CN106880469A del 2017 presenta un sistema riabilitativo per caviglia con un moto controllato e monitorato da vari sensori con una attuazione elettrica esterna per movimentare un meccanismo la cui biella ? la piastra di appoggio del piede. Un esoscheletro per caviglia, nell?ambito del sistema WAXO, ? stato sviluppato nell?Universit? di Montreal, Canada, e presentato nel 2019 come basato su un?attuazione a cavi di un meccanismo d'asta rigide che muove un plantare indossabili rispetto allo stinco. Among them, significant for the invention that is proposed can? be considered the system in the US20170128250A1 patent of 2017, which consists of a knee-high bracket which? articulated with two joints to allow the assisted rotation of the ankle joint. The 2007 patent US20070219475A1 presents a rehabilitation solution with a gear mechanism that is used for a rotary movement of a plate on which to house the extreme part of the foot. Patent US6350246 of 2002 presents a system in which the fixed part on the back of the shin rotates relative to a wearable insole by means of a mechanism with an internal cam to support and reproduce the rotation of the ankle. The CN106880469A patent of 2017 presents a rehabilitation system for the ankle with a motion controlled and monitored by various sensors with an external electrical actuation to move a mechanism whose connecting rod? the foot plate. An ankle exoskeleton within the WAXO system? was developed in the University? of Montreal, Canada, and unveiled in 2019 as based on a cable implementation of a rigid rod mechanism that moves a wearable footbed relative to the shin.

La presente invenzione si propone come soluzione innovativa, semplice e compatta per l?assistenza motoria della caviglia tramite una struttura parallela a cavi facilmente indossabile e trasportabile. La descrizione del dispositivo si riferisce agli schemi nelle seguenti figure: The present invention is proposed as an innovative, simple and compact solution for motor assistance of the ankle by means of a parallel structure with cables that is easily wearable and transportable. The device description refers to the diagrams in the following figures:

La figura 1 mostra uno schema concettuale del dispositivo; Figure 1 shows a conceptual scheme of the device;

La figura 2 presenta un esempio di soluzione costruttiva con indicazione di tutte le parti necessarie. Figure 2 presents an example of a constructive solution with indication of all the necessary parts.

Con riferimento alla figura 1 e 2, il dispositivo per assistenza motoria della caviglia (1) ? costituito da un supporto anulare superiore (2) indossabile sullo stinco, una piattaforma inferiore (3) indossabile sul piede, quattro cavi di connessione (4) tra il supporto anulare (2) e la piattaforma (3), quattro attuatori (5) per i cavi, quattro giunti universali (6) per la connessione dei cavi al supporto anulare (2). Il supporto anulare (2) e la piattaforma (3) sono costituiti da un telaio a struttura geometrica indeformabile ma regolabile e ricoperto di adeguato materiale deformabile, cosi da renderli adattabile alle dimensioni dell?utente e garantirne il totale comfort. Gli attuatori per cavi (4) con puleggia guida-cavi sono installati sulla piattaforma inferiore (3) a servizio di ciascun cavo per un?azione coordinata che assicura il funzionamento di due cavi di una coppia con movimenti in antagonismo o appositamente coordinati per la flessione, torsione e rotazione della caviglia. With reference to Figures 1 and 2, the ankle motor assistance device (1)? consisting of an upper annular support (2) wearable on the shin, a lower platform (3) wearable on the foot, four connection cables (4) between the annular support (2) and the platform (3), four actuators (5) for the cables, four universal joints (6) for connecting the cables to the annular support (2). The annular support (2) and the platform (3) consist of a frame with a non-deformable but adjustable geometric structure and covered with suitable deformable material, so as to make them adaptable to the size of the user and guarantee total comfort. The cable actuators (4) with cable guide pulley are installed on the lower platform (3) serving each cable for a coordinated action that ensures the operation of two cables of a pair with opposing or specially coordinated movements for bending , twisting and turning of the ankle.

Ogni cavo (4) ? azionato da un motore (5) con la caratteristica che ogni coppia di cavi funziona in maniera coordinata con movimenti in antagonismo, ovvero quando uno tira l?altro rilascia e viceversa, o con movimenti coordinati di tutti gli attuatori. Le connessioni (6) dei cavi (4) sono realizzate con appositi giunti universali per permetter la libert? di movimentazione delle estremit? dei cavi. Each cable (4)? driven by a motor (5) with the characteristic that each pair of cables works in a coordinated way with movements in antagonism, that is when one pulls the other releases and vice versa, or with coordinated movements of all the actuators. The connections (6) of the cables (4) are made with special universal joints to allow freedom? of handling of the extremities? cables.

Il vantaggio principale del dispositivo consiste nella sua struttura compatta e dalla sua dimensione ridotta facilmente indossabile, con i servomotori installati sulla piattaforma inferiore (3) indossabile sul piede. Inoltre, la struttura si presta ad una realizzazione con materiali leggeri ed in varie scale costruttive di agevole costruzione e semplice funzionamento, permettendo il suo impiego in applicazioni di assistenza motoria della caviglia in terapie fisioterapiche ed in esercizio fisico, con possibilit? di utilizzo in qualsiasi ambiente, anche non ospedaliero, in combinazione con sensori biomedici installati sia sul dispositivo che sull?arto dell?utente. The main advantage of the device is its compact structure and its small size that is easily wearable, with the servomotors installed on the lower platform (3) which can be worn on the foot. Furthermore, the structure lends itself to a realization with light materials and in various constructive scales of easy construction and simple operation, allowing its use in applications of motor assistance of the ankle in physiotherapy therapies and in physical exercise, with the possibility? for use in any environment, even non-hospital, in combination with biomedical sensors installed both on the device and on the user's limb.

La presente invenzione ? descritta con riferimento ad una forma predefinita di realizzazione. ? da intendersi che possano esistere altre forme di realizzazione che afferiscano al medesimo nucleo inventivo, come definito nell?ambito di protezione delle rivendicazioni dichiarate. The present invention? described with reference to a predefined embodiment. ? it is to be understood that other embodiments may exist which pertain to the same inventive nucleus, as defined within the scope of the declared claims.

Claims (1)

RIVENDICAZIONI 1- Dispositivo per assistenza motoria della caviglia (1) composto da un supporto anulare superiore (2) indossabile sullo stinco, una piattaforma inferiore (3) indossabile sul piede, quattro cavi di connessione (4) tra il supporto anulare (2) e la piattaforma (3), quattro attuatori (5) per i cavi, quattro giunti universali (6) per la connessioni dei cavi al supporto anulare (2), con la struttura caratterizzata da fatto che il supporto anulare (2) e la piattaforma (3) si possono movimentare con un moto relativo di sistema ad architettura parallela. 2- Dispositivo per assistenza motoria della caviglia (1) in accordo con la rivendicazione 1, nel quale il supporto anulare (2) e la piattaforma (3) sono costituiti da un telaio a struttura geometrica indeformabile ma regolabile e ricoperto di adeguato materiale deformabile, cosi da renderli adattabile alle dimensioni dell?utente e garantirne il totale comfort. 3- Dispositivo per assistenza motoria della caviglia (1) in accordo con la rivendicazione 1 nel quale i cavi di connessione (4) sono installati a coppie con la caratteristica di funzionare con movimenti in antagonismo per rilascio di uno in contemporanea trazione dell?altro per la flessione e torsione della caviglia e con movimenti coordinati per la rotazione del piede. 4- Dispositivo per assistenza motoria della caviglia (1) in accordo con la rivendicazione 1 e 3, nel quale gli attuatori per cavi (4) con puleggia guidacavi sono installati a servizio di ciascun cavo per una azione coordinata che assicura il funzionamento di due cavi di una coppia con movimenti in antagonismo o appositamente coordinati. CLAIMS 1- Ankle motor assistance device (1) consisting of an upper annular support (2) wearable on the shin, a lower platform (3) wearable on the foot, four connection cables (4) between the annular support (2) and the platform (3), four actuators (5) for the cables, four universal joints (6) for connecting the cables to the annular support (2), with the structure characterized by the fact that the annular support (2) and the platform (3 ) can be moved with a relative motion of a parallel architecture system. 2- Device for motor assistance of the ankle (1) in accordance with claim 1, in which the annular support (2) and the platform (3) consist of a frame with a non-deformable but adjustable geometric structure and covered with suitable deformable material, so as to make them adaptable to the size of the user and guarantee total comfort. 3- Device for motor assistance of the ankle (1) in accordance with claim 1 in which the connection cables (4) are installed in pairs with the characteristic of functioning with antagonistic movements for the release of one in simultaneous traction of the other for flexion and twisting of the ankle and with coordinated movements for the rotation of the foot. 4- Device for motor assistance of the ankle (1) in accordance with claims 1 and 3, in which the cable actuators (4) with cable guide pulley are installed to service each cable for a coordinated action that ensures the operation of two cables of a couple with antagonistic or specially coordinated movements.
IT102020000002863A 2020-02-13 2020-02-13 Ankle motor assistance device IT202000002863A1 (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6350246B1 (en) 2000-02-23 2002-02-26 Anatomical Concepts, Inc. Ankle and foot therapeutic device
US20070219475A1 (en) 2006-03-17 2007-09-20 Bonutti Boris P Ankle orthosis
CN100588384C (en) * 2006-09-14 2010-02-10 燕山大学 Biological fusion type foot joint rehabilitation robot
US20100331150A1 (en) * 2009-06-24 2010-12-30 Sabanci University A Reconfigurable Ankle Exoskeleton Device
US20170128250A1 (en) 2015-11-06 2017-05-11 Tung-Cheng Chen Ankle stirrup
CN106880469A (en) 2017-02-24 2017-06-23 上海交通大学 Ankle rehabilitation ESD

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6350246B1 (en) 2000-02-23 2002-02-26 Anatomical Concepts, Inc. Ankle and foot therapeutic device
US20070219475A1 (en) 2006-03-17 2007-09-20 Bonutti Boris P Ankle orthosis
CN100588384C (en) * 2006-09-14 2010-02-10 燕山大学 Biological fusion type foot joint rehabilitation robot
US20100331150A1 (en) * 2009-06-24 2010-12-30 Sabanci University A Reconfigurable Ankle Exoskeleton Device
US20170128250A1 (en) 2015-11-06 2017-05-11 Tung-Cheng Chen Ankle stirrup
CN106880469A (en) 2017-02-24 2017-06-23 上海交通大学 Ankle rehabilitation ESD

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