ITVR20120080A1 - ORTHESI FOR THE AID WITH REHABILITATION FUNCTIONS OF THE ARTS - Google Patents

Description

TITLE: â € œ KINDNESS FOR AID WITH REHABILITATION FUNCTIONS OF THE ARTSâ €

FIELD OF APPLICATION

The present invention relates to an orthosis for the aid having as a characteristic both the traditional function of limiting and controlling movement and also the rehabilitation function of the limbs, that is of the arm, of the forearm and more specifically for the ™ joint of the elbow and wrist, but also of the legs, with the joints of the knee and ankle.

More particularly, the present invention refers to an orthosis which has the advantage of being able to exploit a double function, that is, on the one hand, the classic function of brace with the use of means for the functional limitation of the joint, and on the other a rehabilitation function of the joint, to allow and facilitate the recovery of movement.

The orthosis according to the invention is therefore made in such a way as to perform multiple tasks, the first of which involves the use of a basic structure including means for controlling the natural valgus of the arm, where, at maximum flexion, it has an alignment between arm and forearm, and means for flexion-extension ROM from 0 ° to 140 ° (10 ° step) with the possibility of locking in various positions.

This basic structure provides for the possibility of using additional means, present on the same brace, used for controlled dynamics of the arm, with rehabilitation functions that allow the patient to fully recover the extension of the joint, the Prone-supination ROM of the wrist and the controlled dynamics of the wrist, according to which the pronation and supination of the wrist can be aided with a slight force for the total recovery of the extension.

The orthosis according to the invention ultimately guarantees a greater capacity for â € œactiveâ € rehabilitation of the arm than known means of rehabilitation, guaranteeing at the same time an excellent comfort.

Note that more generally all references and applications of the brace to the arm, and to the elbow and wrist joints, can also be extended to the leg, and to the knee and ankle joint, therefore and ultimately, with appropriate adaptations, the brace can also be applied to the lower limbs.

The present invention finds application in the field of production of orthoses in general but also of prostheses and braces mainly usable in conservative, post-traumatic, rehabilitative and postoperative therapy.

STATE OF THE TECHNIQUE

It is known that in the presence of some pathologies or in the case of some problems both of a traumatic and degenerative type of the joints of the body and in the specific example of the elbow and wrist, some difficulties may occur mainly concerning the rehabilitation of movements.

In particular, especially when trauma or fractures or injuries occur, the first period of post-operative immobility is followed by a rehabilitation period during which the patient must perform flexion and extension exercises of the forearm, for example, with respect to at the elbow joint, combining them with wrist rotation exercises to exercise and rehabilitate the forearm muscles.

Currently the rehabilitation of the limbs operated through rehabilitation movements is carried out in rehabilitation centers, as it is not currently foreseen that the rehabilitation of the limb can be solved with mechanical aids placed inside orthoses, and the task of carrying out this operation is carried out almost exclusively by qualified physiotherapist personnel and by any independent machines, therefore not usable by the patient as an orthosis.

The technique in this sector is also aware of a model of orthosis, made by the same applicant, which allows the patient to carry out a certain re-education by assisting with mechanical instruments which, however, are of rather limited use.

More generally, the problem that the invention proposes to solve is ultimately that relating to the absence of specific braces or orthoses that allow complete rehabilitation of the limb, and until now the patient has always been forced to turn almost exclusively to qualified physiotherapists who carried out the re-education manually or through complex and expensive mechanisms, in any case never of the orthotic type.

DESCRIPTION OF THE INVENTION

The present invention aims to provide an orthosis for the rehabilitation aid of the limbs, such as the arm and leg, in particular the elbow and wrist or knee-ankle, which is able to eliminate the inconveniences related to the lack of specific multifunctional orthotic-type rehabilitation tools capable of carrying out various functions, including rehabilitative ones, on the limb to be re-educated.

The invention also aims to provide an orthosis for the rehabilitation aid of arms or legs that is of a multifunctional type and therefore capable of performing both total or partial blocking, thus limiting the movement of the limb, both complete rehabilitation, therefore it is a very efficient tool from the point of view of versatility.

This is achieved by means of an orthosis for the rehabilitation aid of limbs such as arms or legs, having the characteristics described in the main claim.

The dependent claims outline advantageous embodiments of the invention.

According to the invention, therefore, the use of an orthosis is envisaged for the rehabilitation aid of the limbs, which is essentially constituted by a multifunctional brace having a plurality of mechanisms all used for specific functions, called brace being applied to only two points of the limb: the first located in the upper part of the arm, in correspondence of the brachial biceps, the second in the lower part of the forearm, in correspondence of the wrist, with the function of a bracelet.

The wrist is therefore pivoted to the bracelet and connected to the brace through a mechanism that allows the angle to be varied in order to adapt to the natural angular variation between the forearm and the arm (valgus).

The bracelet is essentially made up of two concentric rings to allow the wrist, integral with the inner ring, to rotate freely around its own axis. The outer ring is integral with the orthosis.

The bracelet includes preloadable elastic means that determine an active actuation of the inner ring of the bracelet, as the same, rotating concentrically between the inner and outer part, can â € œactivateâ € becoming a rehabilitation tool thanks to a system equipped with a spring which, in a predetermined way, applies a twisting moment to the wrist itself, in such a way as to facilitate the reacquisition of the natural movement of the wrist joint.

It should be borne in mind that, as mentioned above, the brace according to the invention is applicable mainly but not exclusively to the arm, and with appropriate modifications it can also be used for the rehabilitation and recovery of movement for example of the legs, in particular by doing reference to the recovery of the knee and ankle joints.

ILLUSTRATION OF DRAWINGS

Other characteristics and advantages of the invention will become evident upon reading the following description of an embodiment of the invention, provided by way of non-limiting example, with the aid of the drawings illustrated in the attached tables, in which:

- Figures 1 and 2 illustrate schematic views highlighting the brace according to the invention as a whole represented respectively from the side and from above;

- figure 3 shows the schematic exploded view of the main components used in the bracelet according to the invention as a whole;

- Figures 4 to 9 show schematic views of the brace according to the invention in its various stages of use on a manikin.

- Figures 10 and 11 show schematic views of the coaxial or â € œbraceâ € restraint unit respectively in closed and open position;

- figure 12 is the schematic view of the coaxial or â € œbraceâ € restraint group in the open position; - figures 13, 14 and 15 show schematic views of the bracelet and of the respective system for adjusting the angle on the plane orthogonal to the movement of the joint;

- Figures 16 to 21 show three views of the angle adjustment system on the plane orthogonal with respect to the joint side by side with respective three views which highlight the rotation and angular displacement of the joint for the control of the valgus. - figure 22 shows the view of the auger having a slot with a helical profile in which a frusto-cone-shaped element is guided for adjusting the angle on the plane orthogonal to the joint; - Figures 23 to 28 show schematic views of the joint in the adjustment positions of the valgus control system shown in the three subsequent figures;

Figures 29 to 31 show schematic views highlighting the ROM adjustment system which allows to limit the angular movement of a joint;

- Figures 32 to 35 show schematic views showing the configuration of the regulation system rom with angular sectors;

- Figures 36 to 41 illustrate schematic views of the coaxial active system which involves the use of elastic elements (springs) which, after having been previously charged with mechanical energy, release this energy on the limb placed inside the coaxial cuff;

- Figures 42 to 54 illustrate schematic views highlighting the linear active system which is based on the use of elastic elements or springs, which, after having been previously charged with mechanical energy, release this energy on the limb through an element flexible not elastic.

DESCRIPTION OF A FORM OF REALIZATION OF THE INVENTION The orthosis according to the invention, mainly if not exclusively used in the orthopedic sector for the rehabilitation aid of limbs, such as the arm, elbow and wrist, or legs, knees and ankles, is indicated as a whole with the number 60 in fig. 1 and is initially described with reference to Figures 1 to 3.

Considering that what will be described below refers to a brace designed for use on an arm, but which similarly and with appropriate adaptations can also be used in other applications such as, for example, on legs and for the rehabilitation of knees and ankles, the orthosis 60 is substantially constituted by a frame made in two sectors 61 and 62 applicable in correspondence with the external part of the arm, connected by a central joint 63 and fixed in only two constraint sectors: to the arm and On the wrist.

The orthosis is fixed to the arm by means of connecting bands and straps hooked to an anatomical shape 64 (figs. 1 to 3) fixed to the plate 65, while in correspondence with the second attachment point on the forearm, i.e. near the wrist, the orthosis is fixed by means of group 66, consisting of a bracelet that can be fixed, with adjustable angle or subject to constrained rotation.

More precisely, the orthosis is composed of different parts whose functioning can determine and perform on the arm, based on their position, two main functions: an active rehabilitation function, and a passive or limiting function to maintain the elbow ( or the wrist) in a partially or totally constrained condition.

The rehabilitation brace according to the invention, globally indicated with 60 in figure 1, comprises a series of components that can be schematically grouped into the following six parts:

1) Coaxial or â € œbraceâ € 66 restraint system (figures 10 to 12).

2) System for adjusting the angle on the plane orthogonal to the movement of a joint 61 and 63 (figure 3, and from 13 to 28);

3) ROM 63 adjustment system (figure 3, and from 29 to 31);

4) Active coaxial system 66 (figure 1 and 2, and from 36 to 41);

5) ROM regulation system with angular sectors 66 (figures 1 and 2, and from 32 to 35);

6) Linear active system 62 (Figures 1 and 2, and 42 to 54).

The coaxial constraint system or â € œbraceâ €, (figures 10 to 12), consists of a bracelet 66 that wraps around the wrist, and is bound to the wrist by means of bearings 67 indicated in figure 12.

The bracelet 66 has the characteristic of having the rotary movement with respect to its own axis as the only free constraint.

This functionality is given by the fact that, as shown in figure 12, the bracelet 66, which is composed of two semi-rings that can be opened so that the wrist can be inserted, is made up of pairs of mobile shells 68 which, when the bracelet is in the closed position, the outermost 69 pairs of fixed shells slide in respective channels.

The fixed sector of the two openable half-parts of the bracelet 66 is connected to the orthosis by means of the pin 70 of a slide 71 which can slide axially on rods 72 which allow the connection to the orthosis and its length adjustment to conform to the forearm dimensions. The opposite end of the rods 72 is applied to a block 73 placed near the central joint 63, as we will see later.

The inner shell 68 is permanently hinged on one side by means of a pin 74 of fig. 12 and snap-locked on the opposite side thanks to another pin 75 that protrudes by a few tenths of a millimeter, first interfering and then penetrating into the two appropriate holes on the opposite side of the half-shell and indicated with 76 in fig. 11 .

The outer shell 69, also made up of two halves joined by a pin 77, closes thanks to a pressure plug indicated with 78, and represented in figures 11 and 12.

The second group that makes up the orthosis according to the invention is constituted by the system for adjusting the angle on the plane orthogonal to the movement of a joint indicated with 61 and 63, and illustrated in figures 13 to 28.

This adjustment, which makes it possible to follow the natural valgus of the arms, is based on the constrained combination of a rotating element around an auger 79 (fig. 15 and fig. 3), having a slot 80 with a helical profile and course in which it is guided a truncated cone element 81 to which the rods 72 are attached.

This element is integral with the rocker arm 73 which, when pivoted, tilts by varying the angle of the elements connected to it with respect to the rotation plane of the joint orthogonal to it.

This inclination (quoted with the angular measure â € œAâ € in fig. 15) describes the angle between the arm, ie the sector parallel to the body of the main box 82 of the orthosis, and the forearm.

The characteristic of the system 61 and 63 for adjusting the angle on the plane orthogonal to the movement of the joint is given by the variation of the â € œAâ € value as a function of the angle formed between the arm and forearm.

For example, in figures 16 to 21 you can see the variations of the angle â € œAâ € (A1, A2 and A3) as a function of the position between the auger 79 and the truncated cone 81.

The value of â € œAâ € varies from 0 ° with the arm completely closed (the limit angle of flexion between the arm and forearm is usually about 140 °) to the maximum value with the arm fully extended (the angle of flexion between arm and forearm becomes 0 °).

In order to make the â € œAâ € angle adjustable based on the anthropometric measurements of the patient, a system for varying the advance of the cochlea is used in such a way that it presents a different profile.

In figures 23 to 28 you can see the cochlea 79 in the three configuration positions with which it is possible to vary the maximum valgus angle â € œAâ €.

In the example, the configuration adopted is:

â € ¢ position 1: the excursion from 0 ° to 140 ° in flexion generates a valgus angle from 20 ° to 0 °;

â € ¢ position 2: the excursion from 0 ° to 140 ° in flexion generates a valgus angle from 16 ° to 0 °;

â € ¢ position 3: the excursion from 0 ° to 140 ° in flexion generates a valgus angle from 12 ° to 0 °.

The third group that makes up the orthosis is constituted by the ROM adjustment system, illustrated in figures 29 to 31, and which allows to limit the angular movement of a joint.

For this function a system has been adopted consisting of two toothed discs 83 and 84, one for flexion and the other for extension, having circular sector grooves (fig. 3).

In both of these grooves there is a fixed stop 85 bound to the stationary part of the joint. The two toothed discs have a common rotation pin 86 (fig. 3) which is the same as the joint.

Rotating the individual discs with reference to the fixed stop (and therefore to the stationary part of the joint) and locking them to the mobile part of the joint by means of the toothing on the element 87 visible in fig. 29, the angular sector of the groove is increased and decreased, representing the range of movement of the joint.

If both angular excursions are reduced at the same time, it is possible to obtain complete locking of the joint in a certain angular position.

In the illustrated example of the present invention there is a maximum angular excursion of 140 ° with locking steps of 10 ° determined by the shape of the toothing.

The toothing of the toothed discs 83, 84 has an optimized profile for the insertion of the block 87 visible in fig. 29, which is activated by means of an eccentric constituted by the lever 88.

For the recording of the locking angles, there is a graduated angular scale obtained on the base component 89 of the joint.

After releasing the toothed discs by means of the lever 88, the flexion disc 83 is rotated by positioning the knob 90 visible in fig. 29 in correspondence with the maximum bending value that the joint is to reach.

To adjust the extension, it is sufficient to make the joint reach the limit of the extension and make the end of the angular groove coincide with the fixed stop 85.

The fourth group that makes up the orthosis is constituted by the coaxial active system (figures 3, and from 36 to 41) which makes it possible to facilitate the recovery of the torsion of the wrist.

This solution involves the use of an elastic element (spring) which, after having been previously loaded with mechanical energy, releases this energy on the limb inside.

In the example shown you can see the coaxial active system applied to the wrist to facilitate the recovery of the twist.

The spring 91 (figs. 36, 37 and 40) unloads onto the carriage 92 and, by means of the guide tooth 93 (figs. 36 and 37) constrained to the internal half-cuff 68 (fig. 36a), imparts a torque which, as shown in Figure 40, it tends to rotate the inner cuff 68 with respect to the outer one 69.

When you want to activate the thrust system, the bond between the guide tooth 93 and the internal bracelet 68 is removed, which in this case consists of two screws 94, and the spring 91 is loaded by compressing it inside their container. 96. Then the locking of the guide tooth is restored by means of the two screws 94.

Now the loaded springs, which are two to make the system work in both directions of rotation, give a thrust between the internal bracelet 68 and the external bracelet 69. Since the latter is stationary (integral with the orthosis), it can be deduced that the thrust of the spring applies a twisting moment to the wrist inserted in the internal bracelet and made integral by the anatomical padding 67.

From the configuration of the application in figure 37, the active thrust is approximately 30 ° clockwise or 30 ° anti-clockwise.

The fifth group that makes up the orthosis is constituted by the ROM adjustment system with angular sectors (figure 3, and from 32 to 35. This system allows to limit the angular movement of the cuff described above and identified by the number 66 in figs. 1 and 2.

This adjustment system with angular sectors of the bracelet consists of blocks 95 (fig. 34) screwed radially by a fastening element. In the example illustrated in fig. 35a, 111 screws were used with steps of 15 °.

These blocks 95 prevent the rotation of the two concentric bracelets 69 and 68 (fig. 34) by colliding with a protruding element 78, fig. 12 and 34.

This element has the dual function of joining the two external half-shells 69 and acting as a stop for the blocks 95 described above.

The system is designed in such a way as to be able to create a static locking of the two rings in various angular positions as can be seen in figures 34 and 35.

Referring to the example illustrated, in this way it is possible to limit the angular movement between 90 ° and -90 ° (180 ° of excursion) with an angular step of 15 ° and set a static locking within this angular excursion .

The sixth group that makes up the orthosis consists of a linear active system (figs. 42 to 54).

This active system is based on the use of elastic elements, which can be made up of springs 100, which, after having been previously charged with mechanical energy, release this energy on the limb through an inelastic flexible element.

The system can be divided into three blocks visible in figure 42:

- mechanical energy accumulation block 97; - mechanical energy transmission block 98;

- mechanical energy release block 99.

The mechanical energy accumulation block 97 has the purpose of imparting an elastic deformation force to an elastic element (in this case of the springs), so as to accumulate energy to be released at a later time.

As can be seen in the illustrated example (figs. 42 to 46) the accumulation system comprises a lever 101 which, by means of transmission elements 102 and 103, linearly move a cap 104 which encloses a free end of the spring 100 representing the deformable part in an elastic way.

The opposite end of the spring is constrained to the main body and therefore counteracts the action of the lever 101.

The mechanical energy transmission block 98 makes it possible to â € œtransportâ € the potential (accumulated) force of the elastic element towards the application block on the limb, and for this a flexible, non-elastic element is used, light and with the possibility of mechanical coupling.

Suitable elements could be, for example, a steel cable, a chain or a toothed belt. In the example shown, a toothed belt 105 is used. The toothing was used to hook the cap 104 on one side and to fix us to the crown 89 at the opposite end.

To fix the two open ends of the toothed belt 105 to the crown 89, a coupling system was used to the toothing represented by detail 106 in figure 48.

For the connection to the toothed belt by the cap 104, a toothed insert 107 was used which, applied to a slide 108, is inserted and disconnected in the toothing by means of a selector 109.

To prevent accidental movement of this selector, there is a pin 110 which locks the selector in position every 180 °.

The mechanical energy release block 99 allows the mechanical energy accumulated to be transferred to the limb, and for this a crank system is used consisting of the application of the force of the spring 100 transferred via a toothed belt 105 to the radius, which forms the crank, of the crown 89.

The torque generated is transferred to the limb through the rods 72.

The invention has been previously described with reference to a preferential embodiment thereof. However, it is clear that the invention is susceptible to numerous variants that fall within its scope, within the framework of technical equivalences.

Claims (10)

TITLE: â € œ KINDNESS FOR AID WITH REHABILITATION FUNCTIONS OF THE ARTSâ € * * * * * CLAIMS 1) Orthosis (60) usable in the orthopedic sector for the rehabilitation aid of limbs, such as the arm, elbow and wrist, or legs, knees and ankles, substantially constituted by a frame made in two sectors (61, 62) applicable in correspondence of the external part of the arm, connected by a central joint (63), said orthosis being fixed to the arm by means of connecting bands and straps hooked to an anatomical shape (64) fixed to a plate (65), said orthosis being characterized by the fact to be applied at the second attachment point on the forearm, i.e. near the wrist, by means of a gripping unit (66), consisting of a bracelet that can be fixed, with adjustable angle or subject to constrained rotation, and by the fact that the orthosis itself can be composed of different parts including: to. A coaxial or cuff restraint system (66); b. A system for adjusting the angle on the plane orthogonal to the movement of a joint (61, 63); c. A ROM regulation system, (63); d. An active coaxial system (66); And. A ROM regulation system with angular sectors (66); f. A linear active system (62). 2) Orthosis (60) for limb rehabilitation aid, according to the previous claim, characterized by the fact that said coaxial constraint system consists of a bracelet (66) that wraps the wrist, and is constrained to the wrist by means of bearings (67), said bracelet (66) having the rotational movement with respect to its axis as the only free constraint, and being composed of two half-rings that can be opened so as to be able to insert the wrist, consisting of pairs of mobile shells (68) which, when the bracelet is in the closed position, they slide in respective channels of pairs of fixed shells (69) outermost. 3) Orthosis (60) for limb rehabilitation aid, according to one of the preceding claims, characterized in that the fixed sector of the two openable half-parts of the cuff (66) is connected to the orthosis by means of a pin (70) of a slide (71) which can slide axially on rods (72) which allow connection to the orthosis and its length adjustment to conform to the dimensions of the forearm; the opposite end of the rods (72) being applied to a block (73) located near the central joint (63); said inner shell (68) being permanently hinged on one side by means of a pin (74) and snap-locked on the opposite side thanks to another pin (75) which protrudes by a few tenths of a millimeter going first to interfere and then to penetrate into two holes (76) on the opposite side of the half-shell; said outer shell (69), also made up of two halves joined by a pin (77), closes thanks to a pressure plug (78). 4) Orthosis (60) for limb rehabilitation aid, according to one of the preceding claims, characterized by the fact that said second group that makes up the orthosis, consisting of the system for adjusting the angle on the plane orthogonal to the movement of a joint ( 61, 63), which allows the orthosis to follow the natural valgus of the arms, is based on the constrained combination of a rotating element around a cochlea (79), having a slot (80) with a helical profile and course in which it is guided a truncated cone element (81) to which the rods (72) are hooked; said truncated cone element (81) being integral with a rocker arm (73) which, pivoted, tilts by varying the angle of the elements connected to it with respect to the rotation plane of the joint orthogonal to it, with an inclination ("A") describing the angle between the arm, i.e. the sector parallel to the body of the main box (82) of the orthosis, and the forearm; said system (61, 63) for adjusting the angle on the plane orthogonal to the movement of the joint being obtained by varying the value ("A") as a function of the angle formed between the arm and forearm, where the value of ("A") it varies from 0 ° with the arm completely closed, to the maximum value with the arm completely extended, where the flexion angle between arm and forearm becomes 0 °. 5) Orthosis (60) for limb rehabilitation aid, according to one of the preceding claims, characterized by the fact that said third group that makes up the orthosis is constituted by the ROM adjustment system, which allows to limit the angular movement of a articulation through the use of a system consisting of two toothed discs (83, 84), one for bending and the other for extension, having circular sector grooves, in particular two grooves; in both these grooves there is a fixed stop (85) bound to the stationary part of the joint, and the two toothed discs have a common rotation pin (86) which is the same as the joint; by rotating the individual discs with reference to the fixed stop and locking them to the movable part of the joint by means of the toothing on the element (87), the angular sector of the groove representing the range of movement of the joint is increased and decreased. 6) Orthosis (60) for limb rehabilitation aid, according to one of the preceding claims, characterized in that the toothing of said toothed discs (83, 84) has an optimized profile for the insertion of the block (87) which is operates by means of an eccentric consisting of a lever (88). 7) Orthosis (60) for limb rehabilitation aid, according to one of the preceding claims, characterized by the fact that said fourth group that makes up the orthosis is constituted by the coaxial active system which allows to facilitate the recovery of the torsion of the wrist, which provides for the use of an elastic element (or spring) which, after having been previously loaded with mechanical energy, releases this energy on the limb internally, said system comprising a spring (91), or other elastic element, which is discharges onto a trolley (92) and, by means of a guide tooth (93) constrained to an internal half-bracelet (68), gives a torque which tends to make the internal bracelet (68) rotate with respect to the external one (69); to activate the thrust system, having removed the bond between the guide tooth (93) and the inner bracelet (68), consisting of two screws (94) or other equivalent elements, the spring (91) is loaded by compressing it, being then restoring the locking of the guide tooth by means of the two screws (94) is foreseen. 8) Orthosis (60) for limb rehabilitation aid, according to one of the preceding claims, characterized by the fact that said fifth group is constituted by the ROM adjustment system with angular sectors, which allows to limit the angular movement of the cuff (66 ), said adjustment system with angular sectors of the bracelet being made up of blocks (95) screwed radially by means of a fastening element through the use of screws (111) with steps of 15 °; where said blocks (95) prevent the rotation of the two concentric bracelets (68, 69) colliding with a protruding element (78) having the dual function of joining the two external half-shells (69) and acting as a stop stop for the above-described blocks (95), said system being able to create a static locking of the two rings in various angular positions, and in this way it is possible to limit the angular movement between 90 ° and -90 ° (180 ° of excursion) at an angular step of 15 ° and set a static locking within this angular range. 9) Orthosis (60) for limb rehabilitation aid, according to one of the preceding claims, characterized by the fact that said sixth group that makes up the orthosis, consisting of a linear active system, is based on the use of elastic elements (springs ) which, after having been previously charged with mechanical energy, release this energy on the limb through a non-elastic flexible element, said linear active system being divisible into three blocks: to. - mechanical energy storage block (97); b. - mechanical energy transmission block (98); c. - mechanical energy release block (99). 10) Orthosis (60) for limb rehabilitation aid, according to one of the preceding claims, characterized in that said mechanical energy storage block comprises a lever (101) which, by means of transmission elements (102, 103), linearly displace a cap (104) which encloses a free end of said spring (100) representing the elastically deformable part; the opposite end of the spring being constrained to the main body and therefore opposes the action of the lever (101); said block of transmission of mechanical energy allows to be able to transport the potential force (accumulated) of the elastic element towards the block of application to the limb, and for this a flexible, non-elastic, light element with the possibility of coupling is used mechanical, consisting of a steel cable, a chain or a toothed belt (105), and the toothing was used to hook the cap (104) on one side and to fix us to the crown (89) at the opposite end; for connection to the toothed belt by the cap (104) there is a toothed insert (107) which, when applied to a slide (108), is inserted and disconnected in the toothing by means of a selector (109); the mechanical energy release block allowing to transfer the mechanical energy accumulated to the limb, through the use of a crank system consisting of the application of the force of the spring (100) transferred by means of a toothed belt (105) to the radius, which forms the crank, of the crown (89); the torque generated is transferred to the limb through the rods (72).