NL2017521B1 - A wearable support structure for at least partly relieving a human body during walking. - Google Patents

Abstract

Wearable support structure for at least partly relieving a human body during walking and while said human body is carrying a load at the back of the human body, said structure comprising a frame having a left and a right foot attachment, wherein said left foot attachment is arranged to be connected to a left foot of said human body and wherein said right foot attachment is arranged to be connected to a right foot of said human body, a load support arranged to support said load while said human body is carrying said load, an adapatable left leg structure and an adaptable right leg structure, wherein said left leg structure is connected to said load support and pivotally connected to said left foot attachment and wherein said right leg structure is connected to said load support and pivotally connected to said right foot attachment, wherein said left leg structure comprises a left dampening arrangement for dampening said left leg structure during a stance phase of said left leg, and wherein said right leg structure comprises a right dampening arrangement for dampening said right leg structure during a stance phase of said right leg, wherein said load support is arranged to be pivotally connected, around a pivot axis, to said load such that said pivot axis is oriented directly under said load and wherein said pivot axis is oriented at the rear, and outside, of said human body.

Description

Title: A wearable support structure for at least partly relieving a human body during walking.

Description

The present invention relates to a wearable support structure for at least partly relieving a human body during walking and while said human body is carrying a load at the back of the human body, said structure comprising a frame having: a left and a right foot attachment, wherein said left foot attachment is arranged to be connected to a left foot of said human body and wherein said right foot attachment is arranged to be connected to a right foot of said human body; a load support arranged to support said load while said human body is carrying said load; an adaptable left leg structure and an adaptable right leg structure, wherein said left leg structure is connected to said load support and pivotally connected to said left foot attachment and wherein said right leg structure is connected to said load support and pivotally connected to said right foot attachment, wherein said left leg structure comprises a left dampening arrangement for dampening said left leg structure during a stance phase of said left leg, and wherein said right leg structure comprises a right dampening arrangement for dampening said right leg structure during a stance phase of said right leg.

Such a wearable support structure is already known in the art. Most of these known support structures focus on increasing the strength and performance of a user while reducing the metabolic cost. Typically, these structures comprise electric and hydraulic actuators that consume energy. In order to provide that energy, power supplies are provided. All of these components increase the weight of the structure. This results in a bulky structure that is non-functional in practice and may even lead to increased metabolic cost in stead of a decrease thereof.

It is therefore an object of the invention to provide for a wearable support structure which is lightweight, simple, effective and user friendly.

The object is achieved, in a first aspect, in that the load support is arranged to be pivotally connected, around a pivot axis, to said load such that said pivot axis is oriented directly under said load and wherein said pivot axis is oriented at the rear, and outside, of said human body.

The above entails that there is a misalignment in the load support with respect to the hip joint of the user. The load support is preferably connected to the load right under the load. This enables the generation of a phase difference between the stance leg and the leg structure. As a results, the distance between the load support and the foot attachment will only shorten during the stance phase. By dampening this shortening, a controlled upward force is generated during the stance phase by moving forward. Upward forces come as a penalty on the forward motion/kinetic energy, but has the advantage of greatly simplifying the mechanical complexity of the wearable support structure. By accepting this penalty, the wearable support structure stays lightweight in design.

Another advantage is that, by supporting the load at the load support, it is possible for the user to have a more upright position. The user does not need to lean forward to compensate for the weight of the load. That is because the load itself is directly supported by the support structure; the load is not supported indirectly by providing the support on the hips of the user, i.e. the user’s pelvis.

According to the present invention, the force exerted by the load due to gravity is not first transferred into a forward direction towards the hips of the user before being transferred downwardly towards the feet of the user. The force exerted by the load is transferred from the load directly downwards towards the feet of the user. Alternatively, the force exerted by the load may first be transferred sideways before being transferred downwards towards the feet of the user.

The load is to be carried at the back of a user, i.e. a backpack, and, typically, has a weight in the range of 15 kilograms to 90 kilograms. Due to the lightweight solution of the invention the support is typically also useable for loads having a relatively low weight. The wearable support structure is arranged to support that weight for, for example, 30% - 90%. As such, a user only feels as if the backpack has a weight of roughly 5 kilograms to 45 kilograms.

In an example, said left and right dampening arrangements are controllable for activating an deactivating said dampening of said arrangements, wherein said structure further comprises: control circuitry for activating and deactivating each of said left and right dampening arrangements separately, wherein each dampening arrangement is activated during a stance phase of a corresponding leg and wherein each dampening arrangement is deactivated during a swing phase of a corresponding leg.

The inventors have found that the wearable support structure should be a passive or a semi-passive structure in order for the wearable support structure to be lightweight. Passive entails that no additional energy is provided to the wearable support structure. The only energy that is used by the structure is the kinetic energy induced by the user during walking. The advantage of such a passive structure is that no battery pack, no motors, etc. are required, thereby reducing the overall weight of the structure. A semi-passive structure entails that additional energy is used for activating and deactivating the dampening arrangement. The energy is not used for providing actual support to the load, but the energy is used for, for example, providing activation signal. Providing activation signals requires just a small amount of energy compared to the situation in which the energy is used for providing an actual support to the load. As such, there’s no need for a large battery pack in case a semi-passive structure is used.

The above described example is directed to a semi-passive wearable support structure, wherein the control circuitry is arranged for activating and deactivating the dampening arrangements. According to the present invention, the trigger signals for determining whether a leg is in a stance phase may originate from sensors present on the wearable support structure. The sensors may, for example, measure lengths of the leg structures. The sensors are then able to detect the shortening of a leg structure thereby indicating that the corresponding leg is in the stance phase. This detection may be used for activating the corresponding dampening arrangement.

The wearable support structure according to the present invention comprises an adaptable left leg structure and an adaptable right leg structure. The leg structures comprise dampening arrangements for dampening the structures during a stance phase. As such the leg structures are adaptable in the sense that they are able to extend and to shorten. The leg structures should, in any case, be designed in such a way that they are able to provide support to the load. As such, typically, the leg structures are rigid, and the extending and shortening aspect may be provided by the dampening arrangements. In other words, the left leg structure and the right leg structure are semi-rigid.

In another example, these sensors may constitute gyroscopes comprised by the lower leg structures and/or pressure sensors in the foot attachments and/or accelerometers comprised by the lower leg structures.

In a further example, each leg structure comprises a lower leg structure and an upper leg structure, wherein each upper leg structure is arranged to translate with respect to its corresponding lower leg structure, and wherein each dampening arrangement comprises a single dampener placed in between said upper leg structure and its corresponding lower leg structure.

The above entails that a leg structure is able to extend and to shorten by sliding, moving, the upper leg structure with respect to its lower leg structure. For example, the upper leg structure and the lower leg structure may be arranged in a coaxial arrangement such that the upper leg structure is able to slide in the inside of the lower leg structure, or the other way around. It is also conceivable that the lower leg structure comprises a linear guide, wherein the upper leg structure is able to guide over that linear guide.

The dampening arrangements are then arranged between the upper leg structure and its corresponding low leg structure. More specifically, one end of the dampening arrangement is connected to the upper leg structure and the other end of the dampening arrangement is connected to the lower leg structure.

In a further example, each damper of a corresponding dampening arrangement is either a hydraulic rotation damper or a linear hydraulic damper. Other examples include a friction brake, a electromagnetic brake or a damper using a magnetorheological fluid.

In another example, each leg structure comprises a lower leg structure and an upper leg structure, wherein each upper leg structure is arranged to pivot with respect to its corresponding low leg structure, and wherein each damping arrangement comprises a single dampener placed in between said upper leg structure and its corresponding lower leg structure.

Typically the leg pivot axis, i.e. the axis around which the upper leg structure is able to pivot with respect to its corresponding lower leg structure, is, in use, around the knee joint of the user, thereby mimicking that knee joint.

The advantage of the above described example is that more complex manoeuvres can be performed by a user wearing the structure. The user is able to kneel down, jump, walk on stairs, etc.

In another example, each upper leg structure is arranged to pivot, around a corresponding leg pivot axis, with respect to its corresponding low leg structure such that said a corresponding pivot angle is between 130° - 190° such that said lower leg structure can be stowed away.

The lower leg structure may, for example, be folded backwards, around the leg pivot axis such that the lower leg structure is stowed away. In such a case, each lower leg structure may be disconnected from its corresponding foot attachments in order to enable the lower leg structure to completely fold around the leg pivot axis. Further, the dampening arrangements may also be disconnected from the lower leg structure in case that’s required for enabling the lower leg structure to fold around the leg pivot axis.

The advantage of the above described example is that a uses is able to perform even more complex manoeuvres once both lower leg structures have been stowed away. In such a situation, the wearable support structure does not perform a relieving function, as the wearable support structure is not in its operating state.

In yet another example each dampening arrangement comprises hydraulic fluid stored in a left fluid container and a right fluid container, respectively, wherein each fluid container is rigidly connected to its corresponding upper leg structure such that said fluid containers do not pivot with respect to the upper leg structure thereby avoiding hydraulic tubes between said dampening arrangements and said fluid containers.

The advantage hereof is that the pressure of the hydraulic system can be increased and that the space taken up by the implementation can be reduced.

In an even further example, said structure comprises a left foot linkage and a right foot linkage, wherein each foot linkage is pivotally connected to its corresponding lower leg structure, wherein said structure comprises a left active component and a right active component, wherein said left active component is arranged to provide an active impulse between said left foot linkage and its corresponding lower leg structure at the end of the stance phase of the left foot, and wherein said right active component is arranged to provide an active impulse between said right foot linkage and its corresponding lower leg structure at the end of the stance phase of the right foot.

The advantage hereof is that the active components, for example pistons or any other type of actuators, provide for an impulse at the end of the stance phases such that the movement in a forward direction is not purely generated by the user but also by the active components. This reduces the metabolic costs.

In yet another example, each dampening arrangement comprises a locking arrangement for locking a corresponding dampening arrangement such that said corresponding dampening arrangement is not dampening while said locking arrangement locks said dampening arrangement, wherein each of said locking arrangements are arranged to lock a corresponding dampening arrangement when said human body is standing still thereby also relieving said human body during standing still.

The advantage of the above described example is that a relieving function is also provided in case the user is standing still. The locking arrangements ensures that the leg structures are not able to shorten or to lengthen, such that the load, i.e. the backpack, is directly, and fully, supported by the leg structures. In such a case a full weight relieving functionality is provided by the support structure.

In an example, said structure comprises gait sensors for determining a phase of the gait during walking, wherein said control circuitry are arranged for activating and deactivating each of said left and right dampening arrangement separately based on said determined phase of said gait during walking.

The gait sensors may be implemented using accelerometers, gyroscopes, angular sensors or any combination thereof.

In yet another example, the wearable support structure comprises energy generation means arranged for generating electrical energy due to the operation of the dampening arrangements, wherein said energy generation means are further arranged for storing said electrical energy for further use.

For example, hydraulic dampers generate high pressure and high temperature in very specific spots. These temperature difference can be used to generate an electric current that can be stored in batteries comprised by the energy generation means. If the dampening is done by using an electromagnetic brake, also a current is generated and can be provided to the batteries. These are just some examples on how energy could be harvested.

In a second aspect of the invention, there is provided a method of least partly relieving a human body during walking and while said human body is carrying a load at the back of the human body, said method using a wearable support structure according to any of the previous claims, wherein said method comprises the steps of: activating said left dampening arrangement for dampening said left leg structure during and leading up to a stance phase of said left leg, and activating said right dampening arrangement for dampening said right leg structure during and leading up to a stance phase of said right leg.

The expressions, i.e. the wording, of the different aspects comprised by the wearable support structure according to the present disclosure should not be taken literally. The wording of the aspects is merely chosen to accurately express the rationale behind the actual functioning of the aspects.

In accordance with the present disclosure, different aspects applicable to the above mentioned examples of the wearable support structure, including the advantages thereof, correspond to the aspects which are applicable to the method according to the present invention.

The above-mentioned and other features and advantages of the disclosure will be best understood from the following description referring to the attached drawings. In the drawings, like reference numerals denote identical parts or parts performing an identical or comparable function or operation.

Brief description of the drawings

Figure 1 discloses an embodiment of a wearable support structure during a stance phase according to the present invention.

Figure 2 discloses three different embodiments of a wearable support structure according to the present invention.

Figure 3 discloses another embodiment of a wearable support structure according to the present invention.

Figure 4 discloses a further embodiment of a wearable support structure according to the present invention.

Figure 5 discloses another embodiment of a wearable support structure according to the present invention.

Figure 6 discloses yet another embodiment of a wearable support structure according to the present invention.

Detailed description

Figure 1 discloses a wearable support structure 3 for at least partly relieving a human body during walking and while the human body is carrying a load at its back.

More specifically, a user 9 is provided with the wearable support structure 3 and is walking 10. The present figure shows a part of the gait cycle, i.e. the part in which the right leg is in the stance phase 2a - 2d and the left leg is in the swing phase. The wearable support structure 3 is arranged to provide support to a load carried at the back of the user 9, wherein the support is arranged in such a way that, during a stance phase, a corresponding leg is relieved.

The wearable support structure 3 has a frame comprising a left foot attachment 4 and a right foot attachment, wherein the left foot attachment 4 is arranged to be connected to a left foot of the human body and wherein the right foot attachment is arranged to be connected to a right foot of the human body.

Further, a load support 1 is provided to support the load while the human body is carrying the load. In the present example, the load is not shown. The load is typically a backpack having a weight of approximately 15 kilograms to 90 kilograms. The load support 1 may comprise a semi-rigid structure, wherein the semi-rigid structure extend upwardly along the back side of the user. The backpack may then be connected to that semi-rigid structure.

The wearable support structure further comprises an adaptable left leg structure 5, 6 and an adapatable right leg structure, wherein said left leg structure is connected to said load support 1 and pivotally connected to said left foot attachment 4 and wherein said right leg structure is connected to said load support 1 and pivotally connected to said right foot attachment, wherein said left leg structure 5, 6 comprises a left dampening arrangement 7 for dampening said left leg structure 5, 6 during a stance phase of said left leg, and wherein said right leg structure comprises a right dampening arrangement for dampening said right leg structure during a stance phase of said right leg.

The inventors have found that during the stance phase of, for example, the right leg, the length of the right leg structure tends to shorten, and that during the swing phase the length of the right leg structure tends to increase. As such, it was found that the dampening arrangements 7 should provide a dampening effect at least during the stance phase of a corresponding leg. That is, support should be provided to a leg when its in its stance phase.

The invention is characterized in that the load support 1 is arranged to be pivotally connected, around a pivot axis, to said load such that said pivot axis is oriented directly under said load and wherein said pivot axis is oriented at the rear, and outside, of said human body.

This is visually shown in figure 1 by the load support 1 with respect to the hip joint indicated with reference numeral 8. The pivot axis around which the load support 1 is arranged to be pivotally connected to the load coincides with the reference numeral 1. That is, the axis is perpendicular to the walking direction, i.e. from left to right, of the user 9.

It is clearly shown that the pivot axis does not cross the human body, i.e. the pivot axis is behind, at the rear, of the human body. As such, there is an offset between the pivot axis, also shown with reference numeral 1 and the hip joint 8. The offset is, in practice, about 20cm - 50cm.

In the present example, each leg structure comprises a lower leg structure 5 and an upper leg structure 6, wherein each upper leg structure 6 is arranged to translate with respect to its corresponding lower leg structure 5, and wherein each dampening arrangement 7 comprises a single dampener 7 placed in between said upper leg structure 6 and its corresponding lower leg structure 5.

In the present example, translating means that the upper leg structure 6 is oriented in line, i.e. in a length direction, with the lower leg structure 5, and the upper leg structure 6 is able to relatively move in that length direction with respect to its corresponding lower leg structure 5.

Figure 2 discloses three different embodiments 24a - 24c of a wearable support structure 3 according to the present invention.

The first embodiment shown in figure 24a is similar to the embodiment shown in figure 1. That is the leg structures extend directly from the load support 10 downwards to the foot attachments 4.

The second embodiment is shown in figure 24b. Here, the leg structures first extend sideward 22 before extending downwards toward the foot attachments.

The third embodiment is shown in figure 24c. Here, the dampening arrangements comprise hydraulic rotation dampers 23.

Figure 3 discloses another embodiment of a wearable support structure 31 according to the present invention.

The wearable support structure 31 comprises a load support 35 which is pivotally connected to the load 37. Here the load is indicated with a frame 37 extending upwardly along the back side of the user. A backpack is connected directly to the frame 37. As a result, the load support 35 is placed at the back side of the user. A leg structure first extends in a sideward direction which is indicated with reference numeral 36, before extending downwardly in the direction of the foot attachment 38.

Here, each leg structure comprises a lower leg structure 33 and an upper leg structure 32, wherein each upper leg structure 32 is arranged to pivot with respect to its corresponding low leg structure 33, and wherein each damping arrangement 34 comprises a single dampener 34 placed in between said upper leg structure and its corresponding lower leg structure.

The advantage hereof is that the leg structure is mimicking a knee joint. This enables the user to perform more complex manoeuvres like kneeling, climbing stairs, etc.

In order to sufficiently support the user with respect to the load its carrying, the dampener 34 should be placed in such a way that a first end is connected to the upper leg structure 32 and the other end is connected to the lower leg structure 33.

In a detailed example hereof, the lower leg structure 33 is detachably connected to its corresponding foot attachment 38, and each upper leg structure is arranged to pivot with respect to its corresponding low leg structure such that said a corresponding pivot angle is between 130° - 190° such that said lower leg structure can be stowed away.

In other words, the lower leg structure 33 is able to be folded upwardly such that it is substantially parallel to the upper leg structure 32. In addition, the upper leg structure 32 may also be able to fold upwardly such that the upper leg structure 32 is substantially parallel to the load itself. The upper leg structure 32 may also be made connectable to the load such that the structure 32 is securely connected. In such a case, the wearable support structure is not providing the relieving function to the user, but the user can perform complex manoeuvres which are otherwise not supported by the wearable support structure. Once the user is finished with these manoeuvres, it may reconnect the lower leg structure 33 to the foot attachments for enabling the support structure once again.

Figure 4 discloses a further embodiment 51 of a wearable support structure according to the present invention.

Here, each dampening arrangement comprises hydraulic fluid stored in a left fluid container and a right fluid container 52, respectively, wherein each fluid container 52 is rigidly connected to its corresponding upper leg structure 32, thereby avoiding hydraulic tubes to be connected between said dampening arrangements and said fluid containers.

One of the advantages hereof is that a higher pressure can be obtained. Another advantage is that the implementation shown in figure 4 takes up just a small amount of space. Another advantage is that moveable parts, like tubes, are superfluous such that the robustness of the whole is increased.

Figure 5 discloses another embodiment of a wearable support structure according to the present invention.

Here, the wearable support structure comprises a left foot linkage and a right foot linkage, wherein each foot linkage is pivotally connected to its corresponding lower leg structure 33, wherein said structure comprises a left active component 62 and a right active component.

The left active component 62 is arranged to provide an active impulse between said left foot linkage and its corresponding lower leg structure at the end of the stance phase of the left foot. The right active component is arranged to provide an active impulse between said right foot linkage and its corresponding lower leg structure at the end of the stance phase of the right foot.

In the present example, the active component 62 is implemented as a actuator in the form of a piston. Other implementations, for example using springs, are, according to the present invention, also conceivable.

The advantage of the above is that the active components, for example pistons or any other type of actuators, provide for an impulse at the end of the stance phases such that the movement in a forward direction is not purely generated by the user but also by the active components. This reduces the metabolic costs

Figure 5 discloses another embodiment of a wearable support structure 71 according to the present invention.

The embodiment shown in figure 5 resembles the embodiment shown in figure 3. The difference with the embodiment shown in figure 5 is that the dampening arrangement is implemented a bit different. For example, the combination between a CAM shape near the knee joint, i.e. the point at which the lower leg structure 33 can pivot around the upper leg structure 32, and a hydraulic damper it is possible to further fine tune the characteristics of the dampening by changing the shape of the CAM.

In accordance with the present disclosure, a cam is a rotating, or sliding, piece in a mechanical linkage used especially in transforming rotary motion into linear motion or vice versa.

The wearable support structure 71 may also be arranged to be detached completely, for example activated by pressing a button or the like. As such, whenever a user presses the button, the wearable support structure 71 will detach from the user such that the user is no longer supported in carrying the load. The button, or any other activating means, thus make sure that the support structure is released quickly from the user. In such a way, i.e. without the additional support provided by the structure, a user may perform complex manoeuvres. The wearable support structure may be “put on” again, i.e. may be worn again by the user, once the user has completed the complex manoeuvres.

The present disclosure is not limited to the embodiments as disclosed above, and can be modified and enhances by those skilled in the art beyond the scope of the present disclosure as disclosed in the appended claims without having to apply inventive skills.

Claims (13)

A portable support structure for at least partially relieving a human body during walking and when the human body carries a load on its back of the human body, the structure comprising a frame with: a left and a right foot attachment, wherein the left foot attachment is adapted to be connected to the left foot of the human body and wherein the right foot attachment is adapted to be connected to a right foot of the human body; a load support adapted to support the load while the human body carries the load; an adjustable left leg structure and an adjustable right leg structure, wherein the left leg structure is connected to the load support and pivotally connected to the left foot attachment and wherein the right leg structure is connected to the load support and pivotally connected to the right foot attachment, wherein the left leg structure comprises a left damping device for damping the left leg structure during and leading up to a stance phase of the left leg, and wherein the right leg structure comprises a right damping device for damping the right leg structure during and leading up to a stance phase of the right leg leg, characterized in that the load support is adapted to be pivotally connected over a pivot axis, with the load such that the pivot axis is oriented directly under the load and in which the pivot axis is located at the back, and outside, the human body. A portable support structure according to claim 1, wherein the left and right damping devices are controllable for activating and deactivating the damping of the devices, wherein the structure further comprises: control circuitry for activating and deactivating each of the left and right damping devices separately, wherein each damping device is activated during a stance phase of a corresponding leg and wherein each damping device is deactivated during a swing phase of a corresponding leg. A portable support structure according to any of the preceding claims, wherein each leg structure comprises a lower leg structure and an upper leg structure, wherein each upper leg structure is adapted to translate with respect to the corresponding lower leg structure, and wherein each damping device comprises a single damper located between the upper leg structure and his corresponding lower leg structure. The portable support structure of claim 3, wherein each damper is one of a hydraulic rotation damper and a linear hydraulic damper. The portable support structure of claim 3, wherein each damper is one of a friction brake, an electromagnetic brake, and a damper using a magnetorheological fluid. The portable support structure of any one of claims 1 to 2, wherein each leg structure comprises a lower leg structure and an upper leg structure, wherein each upper leg structure is adapted to pivot with respect to its corresponding lower leg structure, and wherein each damping device comprises a single damper disposed between the upper leg structure and its corresponding lower leg structure. The portable support structure of claim 6, wherein each lower leg structure is detachably connected to its corresponding foot attachment member and wherein each upper leg structure is adapted to pivot relative to its corresponding lower leg structure such that a corresponding pivot angle is between 130 ° -190 ° such that the lower leg structure is can be stored away. A portable support structure according to claim 7, wherein each damping device comprises hydraulic fluid stored in a left fluid container and a right fluid container, respectively, wherein each fluid container is rigidly connected to its corresponding upper leg structure, thereby preventing hydraulic hoses from having to be connected between the damping devices and the fluid containers. A portable support structure as claimed in any preceding claim, wherein the structure comprises a left foot link and a right foot link, wherein each foot link is pivotally connected to its corresponding lower leg structure, wherein the structure comprises a left active component and a right active component, wherein the left active component is arranged to provide an active pulse between the left foot link and its corresponding lower leg structure at the end of the stance phase of the left foot, and wherein the right active component is arranged to provide an active pulse between the right foot link and its corresponding lower leg structure at the end of the standing phase of the right foot. A portable support structure according to any one of the preceding claims, wherein each damping device comprises a locking device for locking a corresponding damping device such that the corresponding damping device does not damp while the locking device locks the damping device, wherein each of the locking devices are adapted to lock a corresponding damping device when the human body is stationary thereby also illuminating the human body during the stationary. A portable support structure according to any one of the preceding claims in combination with claim 2, wherein the structure comprises loop sensors for determining a phase of the loop while walking, wherein the control circuitry is adapted to activate and deactivate each of the left and right damping devices separately based on the determined phase of the run during the run. A portable support structure according to any of the preceding claims, wherein the portable support structure comprises energy generating means for generating electrical energy due to the operation of the damping devices, wherein the energy generating means are further adapted to store electrical energy for further use. A method of at least partially relieving a human body during walking and while the human body carries a load on the back of the human body, the method utilizing a portable support structure according to any of the preceding claims, wherein the The method comprises the steps of: activating the left damping device for damping the left leg structure during a stance phase of the left leg, and activating the right damping device for damping the right leg structure during a stance phase of the right leg.