RU2489130C1 - Simple construction of person's weight compensation in walking and running - Google Patents

Abstract

FIELD: medicine.

SUBSTANCE: invention refers to medical equipment and may be used for rehabilitation of disabled persons and domiciliary. The construction of person's weight compensation in walking and running comprises a saddle, a frame coupled thereto, hinged hip exolegs, exolegs, an elastic energy storage unit, hinges enabling bends and torsions of a foot and coupled support. Each exoleg is provided with back stroke stoppers, a foot support enabling the foot lift control, foot up-lift springs, hinged hip exolegs with two or three degrees of freedom. The elastic energy storage unit is used as a basic element compensating the up-lift and lowering of the user's centre of gravity and its load which provides an elastic force between a foot-near point towards the toe and a centre of exolegs rotation located either at the inguinal region or above the hips.

EFFECT: construction facilitates person's motions, especially when walking and running, unloading the spine and joints, enables carrying the loads with no extra efforts and jumping high.

5 dwg

Description

The device relates to medical equipment (rehabilitation devices), as well as to devices for transporting goods and sports equipment.

In the world there are a huge number of designs that mimic the skeleton of a person and help him walk, carry heavy loads. Basically, such devices are distinguished by: limited movement, the presence of an electric battery and motors with gears, a large number of hinges simulating joints and elements running parallel to the skeleton and connected with limbs, motion sensors, electrical controllers, simulation programs of movements and, as a result, design complexity.

This design has a minimum number of hinges: the hinges provide 3 degrees of freedom between the end point in contact with the ground and the "center of rotation of the exonog" - forward, sideways, up (xyz), for a total of 3 hinges per exonog, not counting the auxiliary ones. The exonog elements may not be related to the position of the bones of the legs and spine, they do not imitate the possibility of vertical torsion of the thigh, while at the same time giving the end point (foot) the possibility of torsion and bending.

The placement of the center of rotation of exonogs at the desired point in the human body and the provision of the required freedom can be carried out, for example, using a converter of the center of rotation - a L-shaped part with two axes at the ends directed to the point of rotation.

To ensure movement of the leg forward and tilt to the side, one horizontally located transducer of the center of rotation is sufficient.

If necessary, you can add additional freedom to the exonog — torsion, using additional transducers of the center of rotation located in the plane of symmetry of the person (Fig. 5B) or using a travel guide located on a horizontal transducer simulating circular motion. (Fig. 5G).

The main element of weight compensation is a potential energy accumulator (gas or spring) with a reaction force close to constant and the switch of this accumulator is a controlled harp mechanism or a valve of a hydraulic mechanism or a friction reverse mechanism.

The design can be performed with a pivot point exonog outside the human body, then it is more advisable to use one shock absorber for 2 legs. With this design, the sequence of the arrangement of elements under load changes: from “Earth-riser-SOX-shock absorber-hinges-load” to “Earth-riser-SOX-hinges-hinges-shock absorber-load”.

A design feature is the ability to manufacture products with significantly lower loads in the axes of rotation and hinges, as well as the minimum number and simplicity of parts.

The design allows you to remove the weight of a person in 3 points: feet, inguinal region, armpits.

The amplitude of movement of the legs and torso is fully preserved.

These features allow you to use the design in a huge range of applications: medicine - the ability to walk a lot and fully not only for the elderly, but even for those who have no legs, pointing with their hands where to step, sports - energy when jumping up can reach 300%, up to two times greater speed when running due to a larger jump. The design can be used in tourism and walking - it can be lifted and worn for a long time without losing a lot of weight. Work related to workloads is facilitated: among movers, gardeners, and military personnel.

Execution Options:

Simple (exons are mounted in the inguinal region without L-shaped transducers).

Basic (there is a virtual point of rotation of the "hip" joint inside the body).

Medical (it is possible to control the legs with hands, there is a stand against rollover)

Worker (one shock absorber for two legs, the center of rotation of the exonog outside the body).

There are hundreds of patents dedicated to support and weight compensation designs for rehabilitation, walking, running, and labor.

The most similar ones are mentioned.

A device US 2011040216 (A1), including:

waist belt, saddle, frame, hinges: hip, knee, ankle, passive knee spring or engine, foot spring, device for compensating long legs during rotation, etc.

Common with this device is: the presence of a saddle, exonog, the possible absence of a battery and engines, the use of springs to compensate for weight.

The disadvantages of this device are as follows.

1) The suboptimal point of rotation of exonogs, leading to a complication of the design of the mechanism lengthening the leg. The presence of a load of the lateral muscles of the back while walking.

2) The load is transmitted not “directly”, but through a large number of hinges and corresponding connections, which complicate the design and do not allow the full effect of the locking device.

3) The lifting and abduction of the legs is carried out with full effort, without compensation.

4) There is no forward torso compensation.

5) The spine is not unloaded.

6) Additional foot spring with a small stroke.

These disadvantages are excluded in the described design due to:

1, 4) the choice of a more correct center of exonog rotation (preferably in the center of the trunk, 25 cm above the real joint),

2) a single exonogus shock absorber with the minimum possible number of degrees of freedom located directly from the point in contact with the ground to the “hip joint”,

3) spring lifting legs up,

5) axillary support,

6) transfer of the load directly to the point of contact with the ground.

A device US 2010113989 (A1) is known - WALKING ASSISTANCE DEVICE, which should be considered the most similar device that I have accepted as a prototype.

Common with this device is: the presence of a saddle connected to it through “virtual” exonog joints that transfer the load directly to the foot area, the use of springs to compensate for weight, two degrees of freedom of the “hip joint”. A feature of the prototype is the presence of an engine and battery, as well as the use of thin parts and assemblies, since the structure is between the legs and should not interfere with walking.

The disadvantages of the prototype are as follows.

1) Lack of compensation for torso forward.

2) The design of the “hip” hinges using highly loaded travel guides does not allow to raise the virtual point of rotation higher, without limiting the amplitude of movement of the legs.

3) Compensation for lifting the legs is due to the engine, and not a simple spring.

4) When stretching the legs forward - the load is not compensated at all, only due to the muscles of the user.

5) There is no possibility (even geometric) of installing additional freedom of the “hip joint for torsion of the leg.

These disadvantages are solved in a device containing:

a saddle or a suspended corset, joints of "hip" joints with 2-3 degrees of freedom, in which the rotation point is higher and closer to the plane of symmetry of a person than a natural joint; a shock absorber with a converter bracket, a foot lifting spring, a backstop controlled via a cable with a foot, auxiliary hinges (fasteners and shock absorber support, fastening a foot lifting spring). Also additionally containing: support on the armpits with an axis for freedom of sideways rotation of the spine and guide rails of the axillary supports for torsion of the spine, hand ropes, support for additional stability, foot control knobs, backpack hooks, shock absorber damper.

These disadvantages are excluded in the described design due to:

1, 2) a customizable, located above the center of rotation of exonogs with a large amplitude of the leg and body, using a simple design of "hip" joints,

3, 4) leg lifting springs,

5) dividing the frame structure into two with a common hinge passing through the vertical axis or using rounded guides.

A feature of my design is: the presence of support for unloading the spine, backpack hooks and devices for lifting and carrying goods in hands, additional stability devices, the ability to control legs with hands, the ability to use for people with paralyzed lower limbs or their absence, a simpler design with low loads .

Explanation of figures

Figure 1 is a General schematic view of the device. "Basic" ("Medical") version of the performance.

Figure 2 - diagram of the depreciation and locking device.

Figure 3 - "Simple" version of the execution. The design difference from the “Basic” is shown: the rotation point and the layout of the shock absorber elements.

Figure 4 - Sequence diagram of the arrangement of elements under load for two versions:

A) - two shock absorbers per design - load sequence: Earth-riser-COX-shock absorber-hinges-load

B) - one shock absorber per design. - load sequence: Earth-riser-MOR-hinges-shock absorber-load

Figure 5 - Diagram of the implementation of 3 degrees of freedom for the "hip joint":

B) - using two converters of the center of rotation

D) - using an additional guide - simulating axial movement

Designations in the figures and Jericho:

(1) saddle

(2) frame

(3) 2 main “hip” joints - transducer of a pivot point 2 exonogs assembly:

(4) riser (or button)

(5) support for the lower exonogue

(6, 7) exonogue frame

(8) shock absorber

(9) Operated Reverse Stop (COX)

(10) leg lift spring

Armpit support stand assembly:

(11) base

(12) axillary rails

(13) 2 soft axillary supports

(14) backpack hooks

(15) cargo hooks in hand

Additionally in the picture:

(20) - position of the virtual center of exonog rotation

(21) - spherical joint for the foot

(22) - axis of rotation between the frame and the rack for supporting armpits

(23) - applied weight (person + baggage)

(24) - cable

(25) - foot control knobs

(26) - support of additional stability

(27) - axis of leg deflection to the side

(28) - the axis of the leg forward

(29) - parallelogram link

(30) - parallelogram angle

101 - sideways deflection axes

102 - axis of the leg forward

103 - axis of torsion of the leg

104 - Two parts of the frame

105 - the main part of the guide

106 - movable part of the guide

Construction work

A man sits in the saddle (1) and rests on a soft support in the armpits (13). Feet are on the outskirts (4). The riser and support of the lower part of the exonogue (5) form, as it were, 2 different levels: the level of the foot and the level of the earth. When a person’s leg is a supporting one, the level difference is zero and the cable blocks the MOR (9) and the entire body weight falls on the exonog (6, 7). The second exonog has an unblocked MOR and can freely rise and fall, without abutting against the shock absorber reaction. The leg lift spring (10) compensates for the leg weight: it causes the shock absorber to contract with little muscle effort. Thus, the leg rises effortlessly. When lowering the legs, the lower support of the exonogue first touches the ground and, as it approaches, the COX control cable of this exonogue will be pulled to seize the shock absorber. By the time the exonogs are loaded, the shock absorber receives all the weight. The second leg is unloaded and is ready to be lifted after lifting the riser.

The reaction force of the shock absorber is chosen a little less than the weight of a person, with a slight increase in it, for better control of lifting and lowering, or in accordance with the required task.

Exonog rotation centers (20) are located above the hip joints. This allows you to "spring" and tilt the body forward. At the same time, you can use the “longer legs” mode when walking, which mitigates subsidence with a long step.

The close (combined) location of the centers of rotation of exonogs eliminates the use of lateral back muscles when transferring body weight from one leg to another.

To ensure the minimum horizontal component of the force of the return spring when lifting the legs forward (with a straight knee), the top of the spring is fixed as high as possible, for example, on an arc of a rail under the armpit (12). The bottom of the spring is connected to the riser (or to the parallelogram hinge (30) to better characterize the potential for raising the leg).

When a person crouches, he can use both one shock absorber and both (for example, for a strong jump). A little relaxation in the knees allows you to fully crouch and also rise.

The spherical hinge (21) allows you to rotate and tilt the foot according to the topography and position of the foot.

The design can be both in front of the person and behind. Knees can also be turned in the opposite direction.

Activation of COX can also occur from a button located under the support of the exonogue. Then the return spring can be attached directly to the support, the riser is not required.

When executing a design with three degrees of freedom of the “hip” hinge, the exonog gets the possibility of torsion, which can be important in specific cases, for example, to slightly hide the structure under clothes.

In the “Simple” embodiment, exons are attached to a point in the groin area. This option can be supplemented by a compensator, which presses on the shock absorber when the leg is deflected to the side or forward, from which the center of rotation virtually moves higher, to a more effective zone.

The compensator is essentially an additional lever pivotally connected to the frame of the structure. The shock absorber is attached to this lever with its upper end.

The base of the armpit support has, together with the frame of the structure, a horizontal axis (22), to ensure sideways tilting of the body. axillary support rails (12) enable torsion of the spine.

Hooks for a backpack (14) or ropes with hooks for carrying goods “in hands” (15) can be fixed on rails.

The saddle may have additional vertical freedom relative to the frame, to ensure optimal weight distribution, for example in the form of a vertical axis passing through its center.

The “medical” version of the design can be supplemented by an additional stability device and foot control knobs.

The "working" option is most appropriate with a pivot point located significantly above the hips, for example above the head. This gives a minimum drawdown of the center of gravity when moving with the load. In fact, a person is suspended from a high-lying point of a common hinge of exonogs and suspension.

The device from additional stability is an additional retractable structure (26) on the exonog, the lower end of which allows you to lean on it, having received a stable balance at 4 points.

The control knobs (25) are attached to the exonog (at the top of the parallelogram (30)). Moving the hand up, the user can easily lift the entire leg. The movements are sideways and forward. That is, even with a complete paralysis of the lower body or the absence of legs, it is possible to dynamically work with your legs without significant effort, choosing the right support.

Claims (16)

1. The design of compensation for the weight of a person when walking and running. containing a saddle, a frame connected to it, hip exonog hinges, exonogs, an elastic energy accumulator, hinges providing the foot and associated support exonogs - tilts and torsion, characterized in that it contains backward stoppers for each exonog, a riser that provides lift control legs, spring return legs up, exonog hip joints, with two or three degrees of freedom, while the elastic energy storage is used as the main element to compensate for the rise and fall of the center t the user's gesture and its cargo, which provides a resilient force between a point near the foot closer to the toe, and the center of rotation ekzonog located either in the groin or above the hips. 2. The design according to claim 1, containing an elastic energy storage device used as the main element to compensate for the lifting and lowering of the user's center of gravity and its load, providing elastic force between the point near the foot, closer to the toe, and the center of rotation of the exonogue. 3. The structure according to claim 2, comprising a foot backstop, controlled by the displacement of a person’s leg or arm, making it possible to remove the load from the shock absorber when raising the leg. 4. The design according to claim 3, containing a spring that compensates for the weight of the legs to raise its center of gravity up. 5. The construction according to claim 4, additionally containing a hinge for tilting the back to the sides, located on the frame, an armpit support rack with arches-rails and axillary supports located along the rails for torsion of the spine. 6. The design of claim 5, further comprising a custom shock absorber damper. 7. The structure according to claim 6, further comprising foot control knobs and a retractable fall support located on each exonog. 8. The design according to claim 7, the elastic energy storage device of which is made in the form of two shock absorbers located on each exonog. 9. The design of claim 8, made with a sequence of power elements, between the ground and the load on the basis of the structure: shock absorber support-SOX-shock absorber-hip hinges-base. 10. The construction according to claim 9, containing exonogo hinges made with a center of rotation located above the human hip joint and closer to the plane of symmetry of the person. 11. The design of claim 10, containing for each exonog a main transducer of a center of rotation located horizontally, an additional transducer of a center of rotation located in the plane of symmetry of a person, or an additional guide with simulated torsion around a vertical axis. 12. The construction according to claim 9, containing exonogo hinges with a center of attachment located in the inguinal region of the person and a center of rotation at the same point. 13. The design according to p. 12, characterized in that the center of rotation of the exonogs is shifted to a point located above the human hip joint and closer to the plane of symmetry of the person, due to the additional compensator for straightening the exonogue, the function of which is to correct when the leg is deflected forward and to the side. 14. The design according to claim 7, made with a sequence of power elements, between the ground and the load on the basis of the structure: support exonogi-SOX-hip joints-storage of elastic energy-base. 15. The design according to 14, characterized in that the elastic energy storage device which is made in the form of one common shock absorber located between the joint center of rotation of the exonog and the center of gravity. 16. The design according to p. 15, characterized in that the support on the inguinal and adjacent areas is made in the form of a corset.

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