RU2655189C1 - Hip unit of exoskeleton or orthesis - Google Patents

Abstract

FIELD: medicine.

SUBSTANCE: invention relates to medicine. Hip joint of the exoskeleton or orthosis contains a L-shaped arm intended for articulation by the first end on the pelvic element of the exoskeleton or orthosis, first support member pivotally attached to the first end at a second end of the L-shaped arm and having, at the second end, a first connecting member, second support member for mounting the exoskeleton or orthosis on the femoral link and having a second connecting member. First and second connecting members form a movable connection providing relative rotation of the first and second support members with three degrees of freedom.

EFFECT: invention provides increase in mobility, simplification of construction and a reduction in the mass of the hip node of the passive exoskeleton.

11 cl, 9 dwg

Description

[0001] The claimed invention relates to the field of meeting the vital needs of a person and can be used in tourism, sports, during loading and unloading, rescue and army operations.

[0002] The inventive design is primarily intended for use in passive exoskeletons, driven by human muscle and relieving the load from the musculoskeletal system when carrying heavy loads. At the same time, the claimed exoskeleton hip node fully realizes the motor functions of the human hip joint, that is, it provides abduction and adduction, flexion and extension of the thigh, as well as abduction and adduction of the foot (rotation of the leg around its vertical axis).

[0003] A hip joint of the pelvic and femoral exoskeleton is known, described in Utility Model Patent RU 136336, A61F 2/60, 2014, comprising a bracket and first, second and third kinematic cylindrical rotational pairs. The first and second kinematic pairs are made in the form of rotational pairs with movable links, and the third kinematic pair is made in the form of a rotational pair with one fixed and one movable links.

[0004] The first movable link of the first kinematic pair is rigidly mounted at one end of the bracket, the first movable link of the second kinematic pair is at the other end of the bracket, and the fixed link of the third kinematic pair is at the second movable link of the second kinematic pair. The geometric axis of rotation of the first and second kinematic pairs lie in the same plane and are perpendicular to each other, and the geometric axis of the third kinematic pair is perpendicular to the geometric axis of rotation of the second kinematic pair.

[0005] The bracket is provided with rectilinear portions configured to change and fix the stoppers of their length, the second kinematic pair is equipped with a controlled mechanism for its fixation, and a means for controlling the fixation mechanism of the second kinematic pair are introduced into the hip joint of the exoskeleton.

[0006] The disadvantage of this hip assembly is the mismatch of the geometric axis of the third kinematic pair and the vertical axis of the human leg around which the foot rotates, which limits mobility and reduces the safety of the use of the exoskeleton.

[0007] A passive-type cargo exoskeleton hip assembly fully realizing the movement functions of a human hip joint is known (see patent RU 2563209, А61Н 3/00, 2014), including a hip arm made in the form of a spatial sheath and pivotally connected to the frame and ankle lever .

[0008] The frame consists of a shoulder block and a lumbar block connected to it by a dorsal cardan unit, consisting of a rocker arm curved in the shape of the lumbar region of the human body, where a supporting platform of the dorsal gimbal is attached at the upper midpoint of the rocker arm. The ends of the rocker arm with the attachment elements of the cardan rings are lowered and are at the level of the hip joints.

[0009] The connection of the spatial shell of the hip lever with the frame is carried out by means of ring driveshafts with two degrees of freedom of rotation of the hip levers, the bases of which are connected through the corner consoles with the sliding platforms. The latter are installed on the spatial shells of the hip arms with the ability to move the console along the arc guide rails when changing the angle between the frame and the spatial shells of the hip arms.

[0010] The disadvantage of this hip assembly is its high complexity and large mass of structure.

[0011] The technical result of the invention consists in expanding the arsenal of hardware of the hip nodes of passive exoskeletons or orthoses that fully realize the functions of the human hip joint by increasing mobility, simplifying the design and reducing weight.

[0012] The specified technical result is achieved due to the fact that the hip assembly contains a L-shaped lever designed for articulation with the first end on the pelvic element of the exoskeleton or orthosis. The first support element is pivotally fixed by the first end to the second end of the L-shaped lever and has at its second end a first connecting element.

[0013] The second support element is designed to be mounted on the femoral link of an exoskeleton or orthosis and has a second connecting element. The first and second connecting elements form a movable connection, providing relative rotation of the first and second supporting elements with three degrees of freedom.

[0014] The solid angle defining the range of relative rotation of the first and second supporting elements is selected based on the anthropometric features and characteristics of the human leg, in particular the angle of abduction / reduction of the foot. In addition, the solid angle may be limited by the requirements for the stability of the exoskeleton design, necessary to exclude the possibility of injury to the exoskeleton operator, especially when performing loading and unloading operations with a large load weight.

[0015] In the particular case of execution, at least one of the connecting elements can be made with the possibility of movement relative to the corresponding support element. Such movement can be useful to improve the overall mobility of the exoskeleton, especially when the body is tilted forward.

[0016] In a particular embodiment, at least one of the connecting elements may be made in the form of a hinge with three degrees of freedom, and the other connecting element may be movable relative to the hinge with at least one degree of freedom.

[0017] It is preferable that the first connecting element is made in the form of a pin, the second connecting element is made in the form of a spherical bearing, the outer ring of which is fixed to the second supporting element, and the pin is located in the hole of the inner ring of the spherical bearing.

[0018] It is also preferable that the first connecting element is made in the form of a pin, the second connecting element is made in the form of a spherical bearing, the outer ring of which is fixed on the second supporting element, and the pin is located in the hole of the inner ring of the spherical bearing with the possibility of axial movement .

[0019] In the particular case of execution, the first connecting element can be made in the form of a pin, the second connecting element is made in the form of a sleeve of elastic material fixed in the hole of the second supporting element, and the pin is located in the hole of the sleeve.

[0020] Preferably, the pin is located in the bore of the sleeve with interference.

[0021] It is also preferable that the first connecting element can be made in the form of a pin, the second connecting element is made in the form of a sleeve of elastic material fixed in the hole of the second supporting element, and the pin is axially movable in the hole of the sleeve.

[0022] In the particular case of execution, at least one of the connecting elements can be mounted on the corresponding support element with the possibility of circular or plane-parallel movement.

[0023] Preferred is an embodiment in which the first connecting element can be made in the form of a pin placed on an eccentric shaft mounted rotatably on the first support element. In this case, the second connecting element is made in the form of a spherical bearing, the outer ring of which is fixed on the second supporting element, and the pin is located in the hole of the inner ring of the spherical bearing.

[0024] It is also preferable that the first connecting element is made in the form of a pin placed on an eccentric shaft mounted rotatably on the first support element. In this case, the second connecting element is made in the form of a spherical bearing, the outer ring of which is fixed on the second supporting element, and the pin is located in the hole of the inner ring of the spherical bearing with the possibility of axial movement.

[0025] The foregoing is a summary of the invention and, thus, may contain simplifications, generalizations, inclusion and / or exclusion of details; therefore, those skilled in the art should take into account that this summary of the invention is illustrative only and does not imply any limitation.

[0026] For a better understanding of the essence of the proposed technical solution, a specific embodiment is described below, which is not a restrictive example of the practical implementation of a cargo exoskeleton in accordance with the claimed invention with reference to the drawings, which show the following.

[0027] FIG. 1 shows the hip nodes mounted on the pelvic exoskeleton element, front view axonometry.

[0028] In FIG. 2 shows the hip nodes mounted on the pelvic element of the exoskeleton, rear view axonometry.

[0029] FIG. 3 is a view A of FIG. 1, example 1.

[0030] FIG. 4 is a view A of FIG. 1, example 2.

[0031] FIG. 5 is a view A of FIG. 1, example 3.

[0032] FIG. 6 is a view A of FIG. 1, example 4.

[0033] FIG. 7 shows the hip node, the initial position of the foot, a top view.

[0034] FIG. 8 shows a hip assembly, a rotated foot position, a top view.

[0035] FIG. 9 is a view B of FIG. 8.

[0036] It should be noted that the drawings show only those details that are necessary for understanding the essence of the proposal, and related equipment, well known to specialists in this field, is not shown in the drawings.

[0037] FIG. 1 and 2, respectively, the right 10R and left 10L hip nodes are depicted. Hip nodes have a similar design and, as follows from human symmetry, are made symmetrically (mirror) with respect to the sagittal plane. For simplicity, only the right hip 10R will be described hereinafter.

[0038] The hip assembly 10 includes an L-shaped lever 20, a first support member 30 and a second support member 40. The lever 20 is pivotally mounted on the first end of the hinge 21 and is rotatably mounted on the exoskeleton pelvic element 50.

[0039] The first support element 30 is made in the form of a rack and is pivotally mounted with its first end on the second end of the lever 20 using the hinge 22. The second support element 40 is mounted on the hip element 60 of the exoskeleton.

[0040] FIG. 3 shows a first embodiment of the movable connection of the first and second support elements. In this example, the first connecting element located on the second end of the first supporting element 30 is made in the form of a pin 31. The second connecting element is made in the form of a standard spherical plain bearing 41, the outer ring of which is installed in the hole of the second supporting element 40 and fixed by a nut 42.

[0041] The pin 31 is located in the bore of the inner ring of the spherical bearing 41. In this particular example, the pin 31 is axially movable. However, one skilled in the art will understand that the pin 31 can be rigidly fixed relative to the inner ring of the spherical bearing 41, for example, as will be shown later.

[0042] FIG. 4 shows a second embodiment of the movable connection of the first and second support elements. In this example, the first connecting element located on the second end of the first support element 30 is made in the form of a pin 31 placed on the eccentric roller 32. The roller 32 is mounted for rotation in bearings 33 and 34 located in the insertion hole 35 of the first support element 30.

[0043] The second connecting element is made in the form of a standard spherical plain bearing 41, the outer ring of which is installed in the hole of the second support element 40 and fixed with a nut 42. The pin 31 is located in the hole of the inner ring of the spherical bearing 41. In this specific example, the pin 31 is installed with the possibility axial displacement.

[0044] The eccentric installation of the pin 31 by combining its circular motion and rotational motion in the bearing 41 allows you to expand the range of rotation of the femoral link 60 of the exoskeleton around the vertical axis of the human leg. One skilled in the art will recognize that the circular motion of the eccentric can be replaced by plane-parallel, for example, by using linkage mechanisms.

[0045] FIG. 5 shows a third embodiment of the movable connection of the first and second support elements. In this example, the first connecting element located on the second end of the first support element 30 is made in the form of a roller 32. The latter is mounted with axial movement in bearings 33 and 34 located in the insertion hole 35 of the first support element 30.

[0046] The second connecting element is made in the form of a standard spherical plain bearing 41, the outer ring of which is installed in the hole of the second support element 40 and fixed with a nut 42. The roller 32 is fixed with its free end in the hole of the inner ring of the spherical bearing 41 with the nut 43.

[0047] FIG. 6 shows a fourth embodiment of the movable connection of the first and second support elements. In this example, the first connecting element located at the second end of the first supporting element 30 is made in the form of a pin 31. The second connecting element is made in the form of a sleeve 44 of an elastic material, for example rubber, fixed in the hole of the second supporting element 40. In this specific example, the pin 31 mounted axially movable.

[0048] The operation of the hip assembly 60 is illustrated in FIG. 7-9. The abduction and adduction of the femoral link 60 is carried out by turning the lever 20 in the hinge 21. The bending and unbending of the femoral link 60 is carried out by the rotation of the lever 20 in the hinge 22. The abduction and adduction of the foot is carried out by turning the pin 31 (Fig. 3, 4) a roller 32 (Fig. 5) in the bearing 41, or a pin 31 (Fig. 6) in the elastic sleeve 44. In this case, the post 30 is rotated by a certain angle.

[0049] The proposed hip assembly has a simple structure containing a minimum number of parts. As pivot assemblies, widespread standard bearings can be used to simplify the manufacture and operation of the product.

[0050] Although various aspects of the practice of the claimed invention have been described herein, those skilled in the art will appreciate that other approaches to practicing the present invention are possible. The various aspects and implementation of the present invention are set forth herein for illustrative purposes and are not meant to be limiting, the scope of protection of the present invention being indicated in the following claims.

Claims (15)

1. The hip node of an exoskeleton or orthosis containing - L-shaped lever designed for articulation with the first end on the pelvic element of the exoskeleton or orthosis, - the first support element pivotally mounted by the first end on the second end of the L-shaped lever and having at the second end the first connecting element, - the second supporting element, designed to be installed on the femoral link of the exoskeleton or orthosis and having a second connecting element, - while the first and second connecting elements form a movable connection, providing relative rotation of the first and second supporting elements with three degrees of freedom. 2. The hip assembly according to claim 1, characterized in that at least one of the connecting elements is movable relative to the corresponding supporting element. 3. The hip assembly according to claim 1, characterized in that at least one of the connecting elements is made in the form of a hinge with three degrees of freedom, and the other connecting element is made with the possibility of movement relative to the hinge with at least one degree of freedom . 4. The hip assembly according to claim 1, characterized in that the first connecting element is made in the form of a pin, the second connecting element is made in the form of a spherical bearing, the outer ring of which is fixed on the second supporting element, and the pin is located in the hole of the inner ring of the spherical bearing. 5. The hip assembly according to claim 3, characterized in that the first connecting element is made in the form of a pin, the second connecting element is made in the form of a spherical bearing, the outer ring of which is fixed on the second supporting element, and the pin is located in the hole of the inner ring of the spherical bearing axial displacement. 6. The hip assembly according to claim 1, characterized in that the first connecting element is made in the form of a pin, the second connecting element is made in the form of a sleeve of elastic material fixed in the hole of the second supporting element, and the pin is located in the hole of the sleeve. 7. The hip assembly according to claim 6, characterized in that the pin is located in an interference fit of the sleeve. 8. The hip assembly according to claim 3, characterized in that the first connecting element is made in the form of a pin, the second connecting element is made in the form of a sleeve of elastic material fixed in the hole of the second supporting element, and the pin is located in the hole of the sleeve with axial movement. 9. The hip assembly according to claim 1 or 3, characterized in that at least one of the connecting elements is mounted on the corresponding supporting element with the possibility of circular or plane-parallel movement. 10. The hip assembly according to claim 9, characterized in that the first connecting element is made in the form of a pin mounted on an eccentric shaft mounted on the first support element, and the second connecting element is made in the form of a spherical bearing, the outer ring of which is fixed on the second supporting element, and the pin is located in the hole of the inner ring of the spherical bearing. 11. The hip assembly according to claim 9, characterized in that the first connecting element is made in the form of a pin mounted on an eccentric shaft mounted on the first support element, rotatable, the second connecting element is made in the form of a spherical bearing, the outer ring of which is fixed on the second supporting element, and the pin is located in the bore of the inner ring of the spherical bearing with the possibility of axial movement.

Images