KR101696771B1 - Ankle foot orthosis for supporting ankle joint power - Google Patents

Ankle foot orthosis for supporting ankle joint power Download PDF

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Publication number
KR101696771B1
KR101696771B1 KR1020150090140A KR20150090140A KR101696771B1 KR 101696771 B1 KR101696771 B1 KR 101696771B1 KR 1020150090140 A KR1020150090140 A KR 1020150090140A KR 20150090140 A KR20150090140 A KR 20150090140A KR 101696771 B1 KR101696771 B1 KR 101696771B1
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elastic body
ankle
pedestrian
elastic
compression spring
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KR1020150090140A
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Korean (ko)
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KR20170000926A (en
Inventor
김세영
박철훈
최상규
함상용
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한국기계연구원
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/12—Feet

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The present invention relates to a wearable device for ankle propulsion assistance and a control method thereof, and more particularly, to a wearable device for ankle propulsion assistance, and more particularly to a wearable device for supporting ankle propulsion, The present invention relates to a wearable apparatus for ankle propulsion assistance,

Description

[0001] Ankle foot orthosis for supporting ankle joint power [

The present invention relates to a method and a device for storing and releasing a force generated by deforming an angle formed by a foot and a foot during a human body movement such as walking, running, jumping, etc., To a wearable device for ankle propulsion assistance that is capable of controlling the range of elastic motion of the elastic body in response to a change between a foot and a lower leg of a pedestrian.

Generally, a wearer that compresses an elastic member by a change of an angle formed by a lower leg formed between a knee and ankle and a backward formed between a waist and a knee when a walker makes a walk, and an elastic member pushes the lower leg using a restoring force It is widely used.

FIG. 1 shows a conventional wearing machine using the above-described technique.

1, a conventional wearing machine comprises a waist link mounted on a waist of a user, a femoral link rotatably connected to the waist link and disposed along the femur, and a pivot link rotatably connected to the femoral link A calf link disposed in accordance with the calf, a leg link rotatably connected to the calf link, a leg link mounted on the user's leg, and a support extending from the femoral link or the calf link, And one end of the pulley is connected to the waist link in front of the rotation axis of the femoral link with respect to the waist link and the other end is engaged to the pulley and the other end is connected to the leg link from the rear side of the rotation axis of the leg link to the calf link And a cord-like elastic member.

In this case, since the conventional wearer having the above-described structure stores the force generated by the angle change between the back and forth legs in the elastic member, the rotational axis of the hip link and the femoral link, And the rotation axis connecting the calf link and the leg link is not formed at the same position as the respective rotation axes connecting the joints of the pedestrian, inconvenience occurs in the walking, .

Further, in order to store the force in the elastic member, one end of the elastic member is connected to the waist link, and the waist portion is used as a fixed shaft for elastic movement of the elastic member, so that a force is applied to the waist of the wearer, It has the disadvantage that it can give.

In order to solve the problems of the wearer as described above, the wearer is not inconvenienced during daily life in a state in which the walking assist device is ergonomically designed to assist the walking of the pedestrian, and the elastic range of the elastic body A need for a wearer capable of obtaining a high efficiency driving force is emerging.

Japanese Laid-Open Patent Application No. 2012-100983

SUMMARY OF THE INVENTION The present invention has been conceived to solve the above-mentioned problems, and it is an object of the present invention to assist the movement of the human body by recycling the rotational force of the lower limb generated during human body movement such as walking, running, It is designed so as to minimize the inconvenience of general movement even when wearing the wearer.

In addition, the range of elastic movement of the elastic body is controlled to improve the driving force that can be obtained from the elastic movement of the elastic body.

To achieve the above object, the present invention provides a wearable device for ankle propulsion assistance, comprising: a first coupling part (100) fixed to an outer surface of a shoe (10) of a pedestrian; A second engaging part 200 surrounding the lower part of the pedestrian and having one longitudinal side rotatably coupled to the first engaging part 100 and the other longitudinal side fixed to the lower side of the pedestrian; An elastic body 300 connected to both the first coupling portion 100 and the second coupling portion at both ends and storing a force generated at an angle change between the foot of the pedestrian and the lower leg; And a complex motion part 400 for restoring the elastic body 300 and increasing the force generated by the elastic body 300.

The composite motion part 400 includes an elastic motion part 410 which is coupled to the rear side of the first coupling part 100 and moves up and down according to the elastic movement of the elastic body 300, A first elastic body fixing part 420 coupled to the elastic movement part 410 so as to be rotatable up and down and coupled to the elastic body 300 at the other longitudinal side thereof, And a stiffness control device (430) for controlling the stiffness.

The first coupling portion 100 connects the pair of side frames 110 which are in close contact with the left and right side surfaces of the footwear 10 of the pedestrian and the longitudinal side ends of the pair of side frames 110, A front frame 120 whose upper surface is in close contact with a bottom surface of the toe of the shoe 10 and a pair of side frames 110 which are connected to each other in the longitudinal direction, And a rear frame 130 protruding from an outer circumferential surface of the first joint part 200 and coupled to the composite motion part 400. The second joint part 200 has one side in the longitudinal direction, A pair of rotary frames 210 rotatably coupled to the upper end of the frame 110 in the direction of motion of the ankle and fixed at the other side of the pedestrian in the longitudinal direction, A second elastomeric fixture having respective ends connected to each other, And both ends of the elastic body 300 are coupled to the first elastic body fixing part 420 and the second elastic body fixing part 220, respectively.

The wearable equipment for ankle propulsion assistance includes a support plate 132 protruding rearward from upper and lower ends of the rear frame 130 and a sliding bar 132 connecting the support plates 132 The elastic moving part 410 includes a compression spring 411 fitted to the sliding bar 132 and a compression spring 412 fitted to the sliding bar 132 to be compressed And a sliding member 412 for compressing the spring 411, and the first elastic body fixing portion 420 is coupled to the sliding eld member 412.

The rigidity control device 430 is connected to the front end of the first elastic body fixing part 420 facing the first coupling part 100 by a connection member and controls the length of the connection member .

In order to accomplish the above object, the present invention provides a method of controlling a wearable apparatus for ankle propulsion assistance, wherein a force generated by a change in angle between a foot and a lower leg of a pedestrian during a walk, An energy transferring step (10S) to be transmitted to the elastic body (300) and the compression spring (411) through the second coupling part (200); An energy storing step (20S) in which the elastic body (300) is tensioned by the force transmitted from the first coupling part (100) and the second coupling part (200) and the compression spring (411) is compressed; And an energy releasing step (30S) for restoring the elastic body (300) and the compression spring (411) to a shape before being externally applied with an elastic force and transmitting a driving force to the pedestrian; And a control unit.

The shoe-bonded wearer for ankle stiffening assistance and the control method thereof according to the present invention having the above-described structure are characterized in that, in general, the rotational force of the lower limb generated during human body movement such as walking, running, jumping, , Minimizing the forces on the ankle tendons and ligaments necessary for movement.

In addition, when the pedestrian moves, the deformed elastic body is restored according to the change of the angle of the lower leg and foot, and the generated force is increased, thereby obtaining a high efficiency driving force with a small force.

In addition, the first coupling portion is structured so as to be connectable to a shoe that lives in a state in which a pedestrian wears generally, so that a feeling of motion generated when the wearable ankle variable stiffness device is worn is minimized, And minimizes the adaptation period for using the equipment.

1 is a conceptual view showing a conventional wearing machine.
Figure 2 is a side cross-sectional view of a wearable device for ankle propulsion assistance (when coupled with shoes)
Figure 3 is a perspective view of a wearable device for ankle propulsion assistance (side and rear)
Figure 4 is a perspective view of a wearable device for ankle propulsion assistance.
Figure 5 is a perspective view of a combined movement of a wearable device for ankle propulsion assistance.
Figure 6 is a side cross-sectional view of the wearable device for ankle propulsion assistance.
7 is a flowchart showing a control method of a wearable apparatus for ankle propulsion assistance.

Hereinafter, the wearing-type equipment for ankle propulsion assistance as described above will be described.

2, the wearable device for ankle propulsion assistance according to the present invention comprises a first engaging part 100 fixed to an outer surface of a shoe 10 of a pedestrian, and a second engaging part 50 surrounding a leg of the pedestrian, A second engaging part 200 rotatably coupled to the first engaging part 100 and having the other longitudinal side fixed to the upper side of the lower leg of the pedestrian and a second engaging part 200 having both end parts connected to the first engaging part 100, And an elastic body 300 connected to the pedestrian's foot to store a force generated by an angle change between the foot and the lower leg, and a complex movement part 400 for restoring the deformed elastic body 300 and applying a force to the elastic body 300. [ .

In detail, the first engaging part 100 is coupled to the shoe 10 protecting the foot of the pedestrian, and the second engaging part 200 is coupled to the lower part formed between the knee and the ankle of the pedestrian, The force generated by the elastic movement of the elastic body 300 is applied to the elastic movement of the elastic movement body 400 by using the force generated by the elastic movement of the elastic movement body 400 in the elastic body 300, The elastic force of the elastic body 300, which can be obtained by an input force, is improved, thereby improving the propulsive force.

Hereinafter, the wearable device for ankle propulsion assist according to the present invention will be described in detail.

3, the first coupling portion 100 includes a pair of side frames 110 that are closely attached to the left and right sides of the shoe 10 of the pedestrian, a pair of side frames 110, A front frame 120 whose upper surface is in close contact with a bottom surface of the toe of the shoe 10 and a pair of longitudinal side ends of the pair of side frames 110 are connected to each other, And a rear frame 130 protruding from the inner side of the eye to be inserted into the shoe 10 and having the composite motion part 400 coupled to the outer side.

2, a groove is formed in the rear heel of the shoe 10 supporting the heel of the pedestrian so that the engaging member 131 is engaged with the upper surface of the front frame 110, The first coupling portion 100 is fixed to the shoe 10 by being tightly coupled to the bottom surface of the toe of the shoe 10. That is, the first engaging portion 100 is fitted to the rear heel of the shoe 10 by the engaging member 131 to prevent the displacement of the shoe 10 due to the vertical movement of the shoe 10, The joint member 131 can be prevented from escaping from the groove formed in the heel of the shoe 10 even if the front and rear movements of the shoe 10 occur by the front frame 120 tightly coupled to the shoe 10.

In other words, it is possible to fix the first engaging portion 100 to the shoe 10, which is generally used, by a simple method of forming a groove into which the engaging member 131 is fitted in the heel of the shoe 10, The front frame 120 has an advantage that it minimizes breakage of the shoe 10 and simplifies the joining structure. In the case of the front frame 120, the toe of the shoe 10, which is formed to be bent upward from the rear side of the shoe 10 toward the front side, So that the pedestrian does not feel inconvenience when walking.

In addition, although not shown in the drawing, the first coupling portion 100 has bolts for pressing the left and right sides of the shoe 10 at one longitudinal end portion of the pair of side frames 110, And can be engaged with the shoe 10 through a structure that is screwed into a groove formed on both left and right sides of the shoe 10.

The second engaging part 200 is coupled to the upper end of the side frame 110 in the longitudinal direction so as to be rotatable in the direction of motion of the ankle, and the other end of the second engaging part 200 is fixed to the lower part of the pedestrian. And a second elastomeric fixing part 220 protruded rearward from each of the rotation frames 210 and connected to each other at the ends thereof.

That is, the first engaging portion 100 is coupled to the shoe 10 to correspond to the foot movement of the pedestrian, and the second engaging portion 200 is coupled to the left and right sides of the lower portion of the pedestrian, The angle formed by the first engaging part 100 and the second engaging part 200 is deformed corresponding to the angle between the foot 10 of the walker and the lower part.

In this case, the side frame 110 and the rotary frame 210 are hinged to each other so that the side frame 110 and the rotary frame 210 correspond to the up and down movements of the ankle. And a structure for increasing the degree of freedom of ankle motion of a pedestrian by connecting joints, so that it is not limited, and in the case of the rotary frame 210, a ring connecting the rotary frames 210, Shaped fixing bands 230 may be formed on the other side in the longitudinal direction.

The shoe-bonded wearer for ankle stiffness assistance according to the present invention is characterized in that both sides of the elastic body 300 are coupled to the first elastic body fixing part 132 and the second elastic body fixing part 220, The shape of the elastic body 300 is changed corresponding to the change of the angle formed by the lower legs, and the time of deformation and the range of elastic movement of the elastic body 300 are controlled by the composite motion unit 400.

The angle formed by the foot where the elastic body 300 is changed and the lower part is controlled by the rigidity control device 400.

4 and 5, the composite motion part 400 is coupled to the rear side of the first coupling part 100 and includes an elastic motion part (not shown) that moves up and down in response to the elastic movement of the elastic body 300 A first elastic body fixing part 420 coupled to the elastic movement part 410 so as to be vertically rotatable on one side in the longitudinal direction and coupled to the elastic body 300 on the other side in the longitudinal direction, The rigidity control device 430 includes a rigidity control device 430 for restricting the rotation of the first and second elastic body fixing parts 420 and 420, And the length of the connecting member is controlled.

In order to allow the elastic movement part 410 to move up and down according to the elastic movement of the elastic body 300, a support plate 132 protruding rearward from the upper and lower ends of the rear frame 130, And a sliding bar 133 connecting the supporting plate 132. The elastic moving part 410 includes a compression spring 411 fitted to the sliding bar 133 and a compression spring 411 fitted to the sliding bar 132, And a sliding member 412 for compressing the compression spring 411 by a force transmitted from the first elastic body fixing part 420. The first elastic body fixing part 420 is connected to the sliding member 412. [

6, the wearable equipment for ankle propulsion assistance according to the present invention stores the force generated when the angle between the foot and the lower leg is narrowed, and uses the force as the propulsive force. At this time, when the angle between the foot and the lower leg is narrowed, the rigidity control device 430 connected to the front end of the first elastic body fixing part 420 facing the first coupling part 100 and the connection member A first elastic body fixing part 420 connected to one side and the other side of the elastic body 300 by the rotation of the first elastic body fixing part 420 is extended to extend the elastic body 300 and the second elastic body fixing part 420, 220 are opened and the elastic body 300 is deformed.

At this time, the rigidity control device 430 controls the length of the connecting member in accordance with the other displacement of the first elastic body fixing part 420 generated by deforming the elastic body 300, The sliding member 412 compresses the compression spring 411 and moves upward.

When the force applied to the elastic body 300 is reduced, the length of the shortened linking member is fixed and one side of the first elastic body fixing part 420 is fixed The other side rotates.

As a result, the position where the first elastic body fixing part 420 and the connection member are connected becomes the rotation axis, and the force generated by restoring the compression spring 411 and the restoring force of the elastic body 300 are generated in the same direction And the other side of the first elastic body fixing part 420 is rotated to increase the power by increasing the rotation moment. Therefore, the wearable apparatus for ankle propulsion assistance according to the present invention enables effective propulsion of the ankle joint during movement.

The rigidity control device 430 is connected to the front end of the first elastic body fixing part 420 facing the first rear frame 130 by a connecting member, The connecting member may be formed of a variety of materials, but it is recommended to use any one of a string, a bowden cable, a smart material, and an elastic body.

At this time, the lever 431 controls the length of the connecting member in correspondence with the other displacement of the first elastic body fixing part 420, and the control method thereof is a method of using the slope change of the first elastic body fixing part 420 A method using the deformation of the elastic body 300, a method using the distance between the first elastic body fixing part 420 and the second elastic body fixing part 220, and the like.

The method of controlling wearable equipment for ankle propulsion assistance according to the present invention is characterized in that a force generated by a change in angle between a foot and a lower leg of a walker during a walk, The energy transferring step 10S of transmitting the elastic force to the elastic body 300 and the compression spring 411 through the coupling part 200 and the force transmitted from the first coupling part 100 and the second coupling part 200 An energy storing step 20S in which the elastic body 300 is pulled by the elastic body 300 and the compression spring 411 is compressed and a state before the elastic body 300 and the compression spring 411 are applied with an external force And an energy release step (30S) for restoring and transmitting the thrust to the pedestrian.

That is, the energy transfer step 10S, the energy storage step 20S and the energy release step S30 corresponding to the movement of the pedestrian are repeated to assist the movement of the pedestrian, The force generated by restoring and compressing the elastic body 300 and the compression spring 411 which have been tensioned in the first elastic body fixing part 420 acts in the same direction and the other side of the first elastic body fixing part 420 is rotated, It is to gain a high efficiency driving force by using a small force.

The technical idea should not be interpreted as being limited to the above-described embodiment of the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Accordingly, such modifications and changes are within the scope of protection of the present invention as long as it is obvious to those skilled in the art.

10: Shoes
100: first coupling portion 110: side frame
120: front frame
130: rear frame 131: engaging member
132: Support plate
133: Sliding bar
200: second coupling portion 210: rotating frame
220: second elastic member fixing portion
230: Fixed band
300: elastic body
400: composite motion part 410: elastic motion part
411: Compression spring 412: Sliding member
420: first elastic member fixing part 430: rigidity control device

Claims (6)

A first engaging portion (100) fixed to the outer surface of the shoe (10) of the pedestrian;
A second engaging part 200 surrounding the lower part of the pedestrian and having one longitudinal side rotatably coupled to the first engaging part 100 and the other longitudinal side fixed to the lower side of the pedestrian;
An elastic body 300 having an upper end connected to the second engaging part 200 and storing a force generated at an angle change between the foot of the pedestrian and the lower part; And
An elastic movement part 410 including a compression spring 411 coupled to the rear side of the first coupling part 100 and elastically moving upward and downward, A first elastic body fixing part 420 which is rotatably coupled to the lower side of the compression spring 411 in one direction and urges the compression spring 411 upward from below when the elastic body 300 is pulled, And a rigidity control device (430) for restricting the rotation of the first elastic body fixing part (420) when an angle between the first elastic body fixing part (420) and the lowering part becomes narrower. And a wearable device for ankle propulsion assistance.
delete The method according to claim 1,
The first coupling portion 100 includes a pair of side frames 110, which are in close contact with the left and right sides of the shoe 10 of the pedestrian,
A front frame 120 which connects ends of one side of the pair of side frames 110 in the longitudinal direction with each other and whose upper surface is in close contact with a lower surface of the toe of the shoe 10,
And a coupling member 131 inserted into the shoe 10 is protruded and formed on the inner side facing the rear surface of the shoe 10 while connecting the other longitudinal ends of the pair of side frames 110 to each other, And a rear frame 130 to which the complex motion part 400 is coupled,
The second engaging part 200 is rotatably coupled to the upper end of the side frame 110 at one side in the longitudinal direction and rotatably in a direction of motion of the ankle, 210,
And a second elastic fixing part (220) protruded rearward from each of the rotation frames (210) and connected to each other at their ends,
And an upper end of the elastic body (300) is coupled to the second elastic body fixing part (220).
4. The ankle propulsion assistance apparatus of claim 3,
And a sliding bar 133 connecting the respective supporting plates 132 and having the compression spring 411 inserted therein,
The elastic movement part 410 includes a sliding member 412 fitted to the sliding bar 133 and compressing the compression spring 411 by a force transmitted from the first elastic body fixing part 420,
, And the first elastic body fixing part (420) is coupled to the sliding member (412).
5. The apparatus according to claim 4, wherein the rigidity control device (430)
Wherein the first elastic body fixing part (420) is connected to the front end of the first elastic body fixing part (420) facing the first elastic body part (100) by a connecting member, and the length of the connecting member is controlled. equipment.
A control method for wearable equipment for ankle propulsion assistance according to claim 4,
A force generated by a change in the angle between the foot and the lower leg of the pedestrian when walking is transmitted to the elastic body 300 and the compression spring 411 through the first engagement portion 100 and the second engagement portion 200 An energy transfer step (10S);
An energy storing step (20S) in which the elastic body (300) is tensioned by the force transmitted from the first coupling part (100) and the second coupling part (200) and the compression spring (411) is compressed; And
An energy releasing step (30S) for restoring the elastic body (300) and the compression spring (411) to a shape before being externally applied with an elastic force and transmitting a thrust to the pedestrian; Wherein the ankle propulsion assisting device comprises:




KR1020150090140A 2015-06-25 2015-06-25 Ankle foot orthosis for supporting ankle joint power KR101696771B1 (en)

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Publication number Priority date Publication date Assignee Title
KR102074146B1 (en) * 2017-12-22 2020-02-06 현대로템 주식회사 Assist apparatus for seating
KR101983067B1 (en) * 2018-01-29 2019-05-29 부산대학교 산학협력단 Walk assistance device
KR102305106B1 (en) * 2019-11-04 2021-09-24 연세대학교 원주산학협력단 Smart anti-slip device
KR102601960B1 (en) * 2021-04-15 2023-11-14 한국기계연구원 Elastic ankle exoskeleton having counter balance elastic member and control method of elastic ankle exoskeleton

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US20130046218A1 (en) * 2011-08-15 2013-02-21 North Carolina State University Apparatus and clutch for using controlled storage and release of mechanical energy to aid locomotion
US20140330393A1 (en) * 2013-05-03 2014-11-06 Springactive, Inc. Quasi-Active Prosthetic Joint System

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JP2012100983A (en) 2010-11-12 2012-05-31 Toyota Motor Corp Walking support device

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Publication number Priority date Publication date Assignee Title
US20130046218A1 (en) * 2011-08-15 2013-02-21 North Carolina State University Apparatus and clutch for using controlled storage and release of mechanical energy to aid locomotion
US20140330393A1 (en) * 2013-05-03 2014-11-06 Springactive, Inc. Quasi-Active Prosthetic Joint System

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