TWI820933B - Passive walking propulsion boots - Google Patents

Abstract

The present invention provides a passive walking propulsion boots, it contains: A first base, which is provided with elastic parts, which can be elastically stretched by stepping force; A second base is provided with a first sliding block, and its side end is provided with a push block and a ratchet, and the second base is provided with an elastic unit; The second sliding block is movably arranged on the second base and pressed against the elastic unit. The second sliding block is provided with a transmission element and a pushing part; A front top plate, which is correspondingly disposed at the upper end of the second base, and the bottom end of the front top plate is provided with a transmission component; A locking unit provided with a pawl corresponding to the ratchet tooth; Therefore, the present invention can be used for positioning at the bottom end of the shoe body, and when the center of gravity of the walking sole is at the back heel, it will be in the first state, so that the elastic member can push the first sliding block, and the pawl can be pressed against on the ratchet, so that the elastic member can store elastic energy; When the center of gravity of the sole of the foot gradually slides to the position of the arch of the foot, it is in the second state, the pawl is unlocked, and the elastic component and the elastic unit are elastically compressed for the second elastic energy storage; When the center of gravity of the sole of the foot is at the front of the sole of the foot, the elastic component and the elastic unit will be reversely elastically reset to release elastic energy, so as to feed back to the sole of the human body to enhance the plantar flexion of the human body, thereby assisting the user to walk, enabling the user to walk. Assisting and modifying gait impairment in myasthenic groups to prevent walking stalls and reduce walking metabolic costs; In addition, the present invention has high-energy auxiliary output without power, and can be configured in a lightweight manner. It also has high concealment and it can be applied to all kinds of footwear, so as to have high applicability and enhance the user's willingness to wear.

Description

Passive walking propulsion boots

The present invention provides a passive walking propulsion boot, particularly a boot that can be worn and store and release elastic energy through the user's gait, so that when the elastic energy is released, it can be fed back to the soles of the human body to enhance the human body. The action of plantar flexion is used to assist the user in walking.

According to reports, aging will change human gait whether maintaining healthy or unhealthy body functions; the elderly will suffer from sarcopenia (24% muscle mass loss between 40 and 70 years old), muscle weakness (dynapenia), joint Problems such as reduced range of motion, weakness, fatigue, and reduced dynamic stability directly lead to shortened step length and slowed gait speed. Other reasons for the decrease in these two factors may be that the elderly want to walk with higher stability, and A self-protection strategy to avoid joint pain or injury caused by overexertion; relevant research points out that if the gait speed of older people is similar to that of young people, it means that multiple systems of the body are in a healthy state, and conversely, a slowdown in gait speed indicates that their gait speed is similar to that of young people. There are clinical or subclinical disorders; from the age of 60, the gait speed will decrease by 16% every decade, and the gait speed of many elderly people decreases to 0.8m/s, or even slower, which results in poor functioning of daily activities. Insufficiency of walking leads to the problem of mobility problems. Due to the most common situation of slowing down the pace, such as taking too long to cross the road or reach the destination, the elderly gradually lose the motivation to walk outside, thus leading to physical inactivity over the years, and ultimately Not only the limb function deteriorates, but also stroke and other diseases are caused; therefore, if a certain gait speed can be maintained in old age, it will have important clinical and functional significance, and many research teams have indirectly stated that maintaining a constant and faster gait speed can Make the elderly live longer.

Whether suffering a stroke in the elderly or as a result of acute cerebral hemorrhage, patients will experience residual neurological and functional deficits, including hemiplegia, which will impair their ability to walk; according to the American Heart Association, more than 75 people suffer from stroke each year. Ten thousand Americans suffer from stroke; and according to 2019 data from the Ministry of Health and Welfare of my country, it is estimated that approximately 30,000 new people over the age of 36 will suffer from stroke in Taiwan every year. This incidence rate is higher than that in the United States; patients with hemiplegia after stroke Due to changes in muscle coordination, walking is usually carried out in an "asymmetric" gait pattern and at a slow gait speed. Its main gait characteristics are reduced walking speed, cadence, stride length and joint angle deviation; while in gait It causes asymmetry in time, space, kinematics and dynamics during walking; in addition, many studies have found that the asymmetric gait of hemiplegia after stroke will increase the mechanical energy and metabolic costs of patients ( metabolic cost); previous studies on walking in healthy adults have found that proper muscle coordination is very important for successfully producing the biomechanical functions required for walking; therefore, in order to improve walking ability, rehabilitation programs after stroke should emphasize Correcting these gait deviations (asymmetries) and focusing on improving muscle coordination will improve biomechanical efficiency and reduce movement disorders in hemiplegic patients; gait and movement disorders caused by aging or stroke disease are by no means the only It will cause life problems for the elderly/patients themselves, and the subsequent issues such as rehabilitation and long-term care can easily cause serious burdens on families and society, so they must not be ignored easily. In recent years, our country has actively promoted the development of new medical applications to To solve all the medical problems that may arise in the upcoming super-aged society, portable wearable exoskeleton devices have considerable potential in restoring functions of musculoskeletal or neurological dysfunction.

Coordinated leg muscles drive the ankle joint to contribute walking propulsion, which is one of the key factors for effective human walking. From the biomechanics of human gait, it is found that the ankle plantarflexor (Ankle Plantarflexor) is mainly composed of the gastrocnemius (gastrocnemius). ) and Soleus contribute to plantar flexion movements, and muscle mass decreases with age; the ankle plantar flexor muscles and the sagittal motion of the ankle are crucial for generating propulsive force, and during the push-off phase of walking, 50-60% stride length), can contribute most of the mechanical work to the center-of-mass (COM) of the body, promote sufficient forward walking power, and maintain walking speed; compared with young people, the elderly People have certain differences in their walking speed; and relevant studies have shown that the elderly’s self-selected walking speed (~1.15 m/s) is one of the indicators of physical health; and due to the ankle Due to the weakness of the plantar flexor muscles of the joints, the walking speed of the elderly gradually becomes slower. In the walking experiment (equal pace conditions) on the mechanical power of the plantar flexors, it was found that the contribution of the plantar flexors of the elderly during walking is greater than that of the young. It needs to be lowered by another 20-40%; in addition, from the related gait analysis, it was also found that the mechanical power of the plantar flexors in the elderly during the terminal stance phase and push-off phase decreased by 17% ( Compared with young people); the above all show that the reduced mechanical power of the ankle plantar flexor muscles may be one of the main factors for walking stalls in the elderly; and walking stalls not only occur in the elderly, but also in patients with hemiplegia after stroke due to a certain side of the limb. Paralysis directly leads to gait asymmetry, which makes the patient unable to keep up with the speed of daily life activities; and when hemiplegic patients walk in the community at different speeds (walking speed: 0.4-0.8 m/s), their paralyzed side The plantar flexors reduce their contribution to forward walking propulsion. The results show that if the plantar flexors are unable to perform moderate mechanical work, they will not be able to effectively maintain a constant pace or even cause a slow pace. In addition, many studies have found that after stroke , the propulsive impulses transmitted by the plantar flexors during walking are usually highly asymmetric, and the plantar flexors originating from the paralyzed side are often damaged, which results in a transition from stance to swing phase. ), the kinetic energy of the paralyzed limb is very low, resulting in insufficient walking propulsion. Such asymmetric propulsion not only causes gait disorders, but also results in the inability to increase walking speed and increases the metabolic cost of walking.

The most common situation of stalled walking is that when walking at home (household walk), it takes too long to get to the bathroom, kitchen, toilet, etc., resulting in being bedridden for a long time, which aggravates muscle atrophy; and when walking in the community (community walk), too much time is spent on walking. The time required to walk on the road or go to the supermarket is too long, and the elderly or patients are very likely to gradually lose the motivation to walk outside, and their health will seriously deteriorate; therefore, the common measurement standards often used to evaluate the recovery effect in gait reconstruction programs are: You choose your walking speed because it is closely related to human life; although previous studies cannot directly prove the causal relationship between walking speed and longevity, it is undeniable that faster walking speed may play a key role in extending lifespan. Therefore, if different strategies can be used to restore the original pace or increase the pace through different mechanisms, it will be able to effectively maintain high functional performance of the body and also promote rehabilitation plans. This is an urgent need for the arrival of a super-aging society. technological development.

Various wearable exoskeleton devices have been developed to enhance human movement, enhance healthy gait, or assist people with musculoskeletal or neurological injuries; however, how to coordinate and enhance walking ability without affecting natural human movements? Efficiency is extremely challenging; many research studies have developed various devices that, if slightly or unexpectedly perturb the normal gait of the human body, will cause walking metabolic losses and affect natural kinematics due to the added weight of the equipment; therefore, exoskeletons Whether it is used to help healthy people or impaired people, it must interact skillfully with the human body and be carefully controlled without impeding gait in order to provide timely help. However, it is only recently that portable, untethered exoskeleton devices have demonstrated their ability to reduce the metabolic cost of gait and improve walking efficiency.

In order for an exoskeleton device to be truly useful in everyday life, especially for healthy older adults or people with mild pain, fatigue or disabilities, the device must be lightweight and form-fitting so that it can be worn without interfering with daily activities. , and maintain the natural physiological movement pattern and appearance. It can be seen from the existing ankle joint exoskeleton designs that they often have protruding components (such as motors, battery packs, lever arms, springs) from the feet, legs, waist or back; and these protruding components are not only easy to cause problems when the user wears them In addition to being eye-catching, the design can also easily interfere with daily activities. When walking down stairs or slopes, the lever arm may hit the stairs or slope, and in some cases may cause safety issues, such as protruding features. It may cause tripping or contact with objects in the surrounding environment. Compounding these form factors are the potential issues with the exoskeleton joint design (hinge type), which can create joint misalignment between the exoskeleton and body joints and restrict the ankle in a non-sagittal plane if the human joint axis is not aligned. movement, which may not only affect the user's performance and comfort but also inadvertently affect stability or flexibility; in addition, these components often emit noise, which also makes users worry about being unable to hide the device, not only visually These potential factors may hinder the widespread adoption of exoskeletons in society, thereby reducing the number of people who benefit from these technologies; a key challenge in the exoskeleton field is to achieve similar or even better functionality than existing devices and performance advantages, but through innovative or improved designs to reduce the appearance and conspicuousness of the device, and to minimize interference with human walking movements and potential inconvenience in daily life.

Elderly people and patients with hemiplegia after stroke will face problems such as walking stalls and high metabolic costs of walking. As can be seen from current solutions, most researchers have focused on developing powered exoskeleton systems to enhance human walking ability; current exoskeletons mainly It is divided into active (fully powered) and passive (no power); active devices can use motors under high-gain control to simulate the normal torque output of each lower limb joint during the entire gait cycle, but from a real-world perspective, Putting various types of integrated exoskeletons with motors, controllers, batteries and other components on the user's body, in addition to safety concerns, problems such as appearance, weight, cost, convenience (such as: the battery does not last long) are all problems that cannot be taken forward. Real life real reasons. Therefore, the design and development of highly concealable, lightweight, passive or low-power (quasi-passive) exoskeleton devices is imperative; the ankle plantarflexors can contribute most of the mechanical power during walking, which is very critical for generating propulsion. Therefore, previous research has begun on passive ankle exoskeletons. Such devices use elastomers to generate and transfer energy from the current gait phase to the next phase to help humans reduce the force generated by muscle contraction (i.e., simulate muscle behavior). ) and enhance plantar flexion torque to assist walking propulsion. However, only a few passive exoskeletons in current research have been proven to successfully reduce the metabolic cost of walking, increase walking speed, and improve walking efficiency. However, in these devices, there are still potential problems with wearable exoskeletons, such as in order to improve the metatarsal Flexing torque, these devices contain protruding lever arm engagement springs. This design undoubtedly increases the risk factor; in addition to potential problems, such devices cannot really store the energy obtained. The form of energy transfer is to generate energy and release energy. There is a major flaw hidden in this. If the user does not walk in a continuous state, but in an intermittent state, the energy is not accurately stored, causing it to be in an unstable state. This makes such devices unable to provide accurate assistance and may even cause Human muscle compensation.

In view of this, our inventors have devoted themselves to further research on auxiliary advancement of the user's gait, and have begun to carry out research and development and improvements, hoping to solve the above problems with a better invention, and after continuous experiments and modifications, we have this invention. The advent of invention.

However, the purpose of the present invention is to solve the aforementioned problems. To achieve the above purpose, our inventors provide a passive walking propulsion boot, which includes: a first base, which is arranged at a rear end, and the first base is disposed at a rear end. The base is provided with at least one elastic component, which is used to elastically stretch upon receiving a stepping force; a second base, which is disposed at a front end, the second base is disposed with a first slider, and the second base is disposed at a front end. A slider is connected to one end of the elastic component and is slid on the second base by the elastic component; the side end of the first slider is provided with at least one push block and a plurality of ratchets; and the second The base is provided with at least one elastic unit; at least one second slider, which is movably arranged on the second base, and the elastic unit is elastically pushed against the second slider toward the rear end. The two slide blocks are provided with a transmission element and a pushing component corresponding to the push block; and the second slide block is provided with a guide portion; at least one locking unit is pivoted on the second base, and The locking unit is provided with a pushing part corresponding to the pushing part and a snap-in part. The snap-in part is provided with a ratchet corresponding to the end of the push part and prevents the first sliding part. a ratchet that moves toward the rear end, and the locking unit is configured to elastically resist the ratchet in advance; and a front top plate that is correspondingly configured at the upper end of the second base, And the bottom end of the front top plate is provided with a transmission component corresponding to the guide portion, so that when the front top plate is stepped on, the transmission component drives the second slider toward the front end through the guide portion. It slides in the direction to push the locking unit through the pushing component to disengage the ratchet from the ratchet.

According to the above-mentioned passive walking propulsion boots, in an initial state, the ratchet of the locking unit is against the ratchet at the front end of the first slide block; in a first state When the elastic component of the first base is subjected to the stepping force, the elastic component is elastically stretched to drive the first slider to move in the direction of the front end, so that the pawl is blocked against the first slider. The ratchet at the rear end of the block; in a second state, when the elastic component and the front top plate receive the stepping force at the same time, the transmission component will drive the second slider to slide, and through the The pushing part pushes against the pushing part of the lock unit, so that the ratchet pawl is correspondingly disengaged from the ratchet tooth, and the transmission element is pushed on the pushing block, so that the first slide block continues to move toward the The front end slides; and in a third state, the pedaling force is exerted in the second state to elastically reset the elastic component and the elastic unit, so that the first slider and the second slider Return to that initial state.

According to the above-mentioned passive walking propulsion boots, the second base is further provided with a receiving part, and an elastic body is provided between the receiving part and the first slider for use in the first state and the second state. is elastically pressed by the first slider, and is elastically reset in the third state, so that the first slider returns to the initial state.

According to the above-mentioned passive walking propulsion boots, the second base is further provided with at least one positioning block, and the elastic unit is elastically pressed between the positioning block and the second slider.

According to the above-mentioned passive walking propulsion boots, the guide portion and the transmission member are inclined surfaces corresponding to each other.

According to the above-mentioned passive walking propulsion boots, the second base is further provided with a first chute, and the bottom end of the first slide block is provided with at least one sliding block corresponding to the first chute; and the The second base is further provided with at least one second slide groove, and the bottom end of the second slide block is provided with at least one sliding block corresponding to the second slide groove.

According to the above-mentioned passive walking propulsion boots, it further includes a rear top plate, which is arranged at the upper end of the elastic component and is correspondingly pivotally connected to the front top plate.

According to the above-mentioned passive walking propulsion boots, the first base and the second base are pivotally connected to each other.

According to the above-mentioned passive walking propulsion boots, the elastic component further includes a first rod body and a second rod body, and the first rod system is pivotally connected to the second rod body; and the first rod body One end of the body relative to the second rod body is pivotally connected to the top of the first base, and one end of the second rod relative to the first rod body is pivotally connected to the first slider; the top end of the first base is There is an elastic connecting element, and the elastic connecting element is pressed between the first rod body and the top end of the first base.

According to the above-mentioned passive walking propulsion boots, the bottom ends of the first base and the second base are further provided with a pad body, and the pad system is made of soft material.

From the above description and settings, it is obvious that the present invention mainly has the following advantages and effects, which are described in detail below:

1. The configuration of the present invention can mechanically capture and store the energy of the user's gait, so that in the initial state, the first slider is stretched backward by the elastic component and the top of the elastic body, and in the step At the beginning of the state, when the pedaling force is on the rear heel, it will enter the first state, causing the elastic component to elastically stretch and drive the first slider to move in the direction of the front end, and the ratchet is blocked by the pawl. To carry out the first energy storage; in the mid-standing phase, the center of gravity of the human foot gradually slides to the arch position, and due to this process, the stepping force of the rear heel weakens, and through the spine The claw's engagement with the ratchet teeth will prevent the first slider from rebounding due to the elastic reset of the elastic component and the elastomer; and during the middle and late transitional standing phases, the center of gravity of the soles of the human body gradually slides to the soles of the feet. Therefore, the displacement is moved to the second state, so that the transmission component drives the second slider to slide and push the pushing part of the locking unit through the pushing part, thereby triggering the unlocking mechanism, causing the pawl to correspondingly disengage from the ratchet, so that the first slider and The second slider can be subjected to the pedaling force and can slide further forward, so that the elastic unit is elastically pressed, and the elastic component and the elastic system undergo a second elastic compression to achieve the second energy capture. ; In the final standing phase, the center of gravity of the sole of the human body has fallen to the ball of the thumb, so that when it moves to the third state, the elastic component, elastic body and elastic unit are elastically reset, allowing the elastic component to push the rear top plate The upward elastic lift can then be fed back to the user's heel to enhance plantar flexion to assist in promoting walking. It can also assist and correct gait disorders in people with muscle weakness to prevent walking stalls and reduce the metabolic cost of walking. And it can have high-energy auxiliary output without using electricity at all, can be configured in a lightweight manner, and has high concealment. It can be applied to all kinds of footwear, so that it has a high degree of applicability and can also improve the wearability of the user. Those who wish.

Regarding the technical means of our inventors, several preferred embodiments are described in detail below along with the drawings, so that everyone can have a thorough understanding and recognition of the present invention.

Please refer to Figures 1 to 4. The present invention is a passive walking propulsion boot. It analyzes the energy pattern received by each phase in a complete continuous walking cycle based on human gait, and stores energy accordingly. Energy is released during the final standing phase to enhance the user's plantar flexion movement to assist in walking, including:

A first base 1 is arranged at a rear end R. The first base 1 is provided with at least one elastic member 2. The elastic member 2 is used to elastically stretch upon receiving a stepping force; and in an implementation In this example, the elastic components 2 can be configured in a plurality of groups, and each elastic component 2 can include a first rod 21 and a second rod 22, wherein the first rod 21 is pivotally connected to The second rod body 22 has an included angle between the first rod body 21 and the second rod body 22, and the included angle is toward the first base 1, and the first rod body 21 is relative to the second rod body 22. One end of the rod 22 is pivoted at the top of the first base 1, and one end of the second rod 22 relative to the first rod 21 is pivoted to a first slider 3; in addition, the top of the first base 1 An elastic connecting element 23 is provided, which can be a torsion spring, and the elastic connecting element 23 is elastically pressed between the first rod body 21 and the top end of the first base 1, thereby configured, when the elastic component 2 When the top end is pressed by force, the angle between the first rod body 21 and the first base 1 will be reduced, thereby pressing the elastic component 23, and the angle between the first rod body 21 and the second rod body 22 will be reduced. will increase, and the elastic component 2 will elastically stretch accordingly, and then the first slider 3 can be pushed through the second rod 22 .

A second base 4 is disposed at a front end F. In one embodiment, the first base 1 and the second base 4 are pivoted to each other so that they can be integrated; in addition, the second base 4 is arranged at a front end F. The base 4 is equipped with the aforementioned first slider 3. The first slider 3 is connected to one end of the elastic component 2 and is slid on the second base 4 by the elastic component 2; the first slider 3 is The side end of the block 3 is provided with at least one pushing block 31 and a plurality of ratchet teeth 32; and the second base 4 is provided with at least one elastic unit 41;

At least one second slider 5 is movably arranged on the second base 4, and the elastic unit 41 is elastically pushed against the second slider 5 toward the rear end R, and for the elastic unit 41 In terms of configuration, in one embodiment, at least one positioning block 42 is provided on the second base 4 , and the elastic unit 41 is elastically pressed between the positioning block 42 and the second slider 5 ; The second slider 5 is provided with a transmission element 51 and a pushing member 52 corresponding to the push block 31; and the second slider 5 is provided with a guide portion 53; and in this embodiment, The first slider 3 is disposed in the middle of the second base 4, and the second sliders 5 are respectively disposed on both sides of the first slider 3 for illustration, but this is not a limitation.

As for the sliding configuration of the first slider 3 and the second slider 5, in one embodiment, a first slide groove 43 can be recessed in the second base 4, and the bottom end of the first slider 3 There is at least one sliding block 33 corresponding to the first sliding groove 43; and the second base 4 is further provided with at least one second sliding groove 44, and the bottom end of the second sliding block 5 is provided with at least one corresponding sliding block 33. The sliding block 54 in the second sliding groove 44 allows the first sliding block 3 and the second sliding block 5 to slide in the first sliding groove 43 and the second sliding groove 44 in a limited manner.

At least one locking unit 6 is pivotally mounted on the second base 4, and the locking unit 6 is provided with a pushing part 61 corresponding to the pushing part 52 and a locking part 62. The locking part 62 The end of the portion 62 relative to the pushing portion 61 is provided with a pawl 63 corresponding to the ratchet tooth 32 and preventing the first slider 3 from moving toward the rear end R, and the locking unit 6 is configured In order to elastically resist the ratchet 32 in advance, the pushing part 61 and the snapping part 62 are preferably arranged with an included angle between them, so that the pushing part 61 is pushed by the pushing part 52 At this time, the entire locking unit 6 can be pivoted, thereby driving the engaging portion 62 to displace the ratchet 32 . Therefore, it can be seen that the locking unit 6 can use a pivoting element 64 to move the pushing portion 61 and the engaging portion 61 . The connection point of the connecting portion 62 is pivoted on the second base 4, but this is only an example and not a limitation; and

A front top plate 7 is correspondingly disposed at the upper end of the second base 4, and the bottom end of the front top plate 7 is provided with a transmission component 71 corresponding to the guide portion 53 for stepping on the front top plate 7 When the force is applied, the transmission member 71 drives the second slider 5 to slide in the direction of the front end F through the guide portion 53 to push the lock unit 6 through the push member 52. The pawl 63 is disengaged from the ratchet tooth 32 .

As for the wearing configuration of the present invention, in one embodiment, the bottom ends of the first base 1 and the second base 4 are further provided with a pad body 8, and the pad body 8 is made of soft material to facilitate use. The user can walk with the pad body 8 as the sole, and the user can step on the elastic component 2 and the front top plate 7 directly or by wearing the shoe body, and at least one positioning element 81 can be provided on the pad body 8 (such as: elastic straps), thereby positioning the user's foot or shoe body at the upper end of the present invention, so that the user can wear it.

Thus, as shown in Figures 5 to 7, in a continuous walking cycle, during the initial stance phase (i.e., the heel hits the ground), the current center of mass (CoM) of the body can be obtained from the inverted pendulum model The gravitational potential energy contributes negative mechanical work. Then when entering the double stance phase, the CoM gravitational potential energy can provide positive mechanical work to the human body. Then when entering the terminal stance phase, the footsteps will transition to the human body. Behind the torso, the inverted pendulum has exceeded the highest point at this time, so that the CoM gravity position can gradually exert negative mechanical work on the human body. At the same time, the center of gravity of the foot has been transferred from the heel to the position of the forefoot; then step When the posture reaches a transition period of step length, the human body will generate a large amount of torque through the ankle plantar flexor muscles, allowing the human body to obtain positive mechanical work to offset the consumption caused by the previous phase, and promote walking and allow the foot to enter the swing phase; therefore, this The configuration of the invention is that in an initial state, the ratchet 63 of the locking unit 6 is pre-locked to the ratchet 32 at the front end of the first slider 3; and in one embodiment Among them, the lock unit 6 can be equipped with a vortex spring, and the vortex spring is elastically pressed in advance to exert an elastic force on the lock unit 6 in the pivot direction, so that the lock unit 6 can be constantly Elastically press against the ratchet 32 of the first slider 3; and it can be seen that the configuration between the ratchet 63 and the ratchet 32 can make the ratchet 32 move in one direction due to the backstop of the ratchet 63. , in the present invention, it is configured so that the first slider 3 can move to the front end F under the action of the pawl 63 and the ratchet tooth 32 .

As shown in Figures 8 and 9, when the user is in the initial phase of gait, the pedaling force is exerted on the elastic component 2 from the rear heel, so that the present invention is in a first state. When, as mentioned above, the elastic member 2 will be elastically stretched by the stepping force, thereby driving the first slider 3 to move in the direction F at the front end. At this time, through the aforementioned ratchet 63 and ratchet tooth 32 The one-way backstop mechanism allows the first slider 3 to move toward the front end F, so that the ratchet 63 is stuck against the ratchet 32 at the rear end of the first slider 3, and at this time, due to the ratchet The backstop between the pawl 63 and the ratchet tooth 32 will allow the elastic energy of the elastic element 23 in the elastic component 2 to be stored; and in a preferred embodiment, in order to further improve the energy storage effect of increasing the pedaling force, Preferably, the second base 4 is further provided with a receiving part 45, and an elastic body 46 is provided between the receiving part 45 and the first slider 3, so that the first slider 3 is positioned toward the front end F When moving, the elastic body 46 can be elastically pressed to store energy.

In order to facilitate the user to apply stepping force on the heel, the system can act on the elastic component 2. Therefore, in one embodiment, a rear top plate 9 can be configured, which is disposed at the upper end of the elastic component 2, and Correspondingly, it is pivotally connected to the front top plate 7, so that when stepping on the rear heel, it can only make the rear top plate 9 bear force according to the user's initial gait, while the front top plate 7 will not act because it has not yet received the stepping force. , and the force of the rear top plate 9 will be able to press the elastic component 2, so that the elastic component 2 can push the first slider 3 toward the front end F as mentioned above.

And as shown in Figures 8 to 11, since during the process from the initial phase to the mid-standing phase, the center of gravity of the sole of the human foot gradually slides to the arch position, even if the pedaling force acting on the elastic component 2 is reduced at this time Since the pawl 63 is stuck against the ratchet tooth 32 of the first slider 3, causing the first slider 3 to be blocked in the direction R at the rear end, the elastic component 2 and the elastic body 46 will not be able to push the first slider 3. Block 3 restores its elasticity to achieve the effect of energy storage.

As shown in Figures 10 and 11, it is the standing phase of the mid-to-late transitional phase of gait. When moving from the mid-standing phase to the transitional state of this phase, the center of gravity of the soles of the human body gradually moves toward the soles of the feet. When it moves to a second state, both the elastic member 2 and the front top plate 7 are subject to the stepping force. Since the bottom end of the front top plate 7 is provided with a transmission member 71, the transmission member 71 will act on the guide portion 53 to drive The second slider 5 slides. In one embodiment, the guide portion 53 can be configured as an inclined surface, and the transmission member 71 also has corresponding inclined surfaces. When the front top plate 7 is stepped on with force, the The mutual sliding effect of the aforementioned inclined planes can laterally push the second slider 5 to slide toward the front end F; and when the second slider 5 moves toward the front end F, its transmission element 51 will be able to move further Pushing the pushing block 31 of the first sliding block 3, at the same time, the pushing component 52 of the second sliding block 5 will also push the locking unit 6 correspondingly, so that the locking unit 6 can overcome the aforementioned vortex spring, The locking unit 6 can be pivoted accordingly, so that the pawl 63 is disengaged from the ratchet tooth 32 to trigger the unlocking mechanism. At this time, the force of the elastic body 46 can be maximized to the extent that it is elastically compressed. Further increase to achieve the second energy capture.

As shown in Figures 12 and 13, when the gait is in the final stance phase, since the center of gravity of the sole of the human foot has fallen to the ball of the big toe at this time, pedaling force will no longer be exerted. will move to a third position, so that the elastic component 2 and the front top plate 7 are no longer stressed (or only subject to a slight stepping force), and the locking unit 6 at this time is pushed by the pushing component 52, so the ratchet The pawl 63 is still disengaged from the ratchet 32. Therefore, when the elastic member 2, the elastic body 46 and the elastic unit 41 elastically return, both the first slider 3 and the second slider 5 will elastically return, and the first slider 3 will be elastically reset. When the block 3 is elastically reset, as mentioned above, it will not be restricted by the pawl 63, but can be reset and push the second rod 22 accordingly, so that the elastic member 2 can be pushed upward as a whole, directly or through the rear top plate 9 The stored energy is fed back to the user's heel, thereby allowing the user's foot to enhance its plantar flexion action, thereby assisting in promoting walking; it should be noted that the second slider 5 Although the reset will also cause the lock unit 6 to reset, in a better case, the elastic coefficient of the elastic component 2 and the elastic body 46 can be configured to be higher than that of the elastic unit 41 and the vortex spring, so as to reset the first slider 3 The speed is higher than the speed of the locking unit 6, so as to prevent the first slider 3 from being blocked by the locking unit 6 during the elastic return process.

As far as the static simulation analysis of the present invention is concerned, it simulates the mechanical behavior in a static state. According to the changes in the CoM mechanical power of human gait physiology, an equivalent force ( F _{lead_1 )} due to heel impact in the initial phase can be deduced. ), this equivalent force acts on the pivot joint of the first rod body 21 and the second rod body 22 on the elastic component 2. The rigidity value of the elastic component 23 is very critical. Therefore, it is assumed that under energy conservation (heel impact mechanical work is equal to the strain energy of the spring-connected element 23), and the ideal rigidity ( K _ts ) of the spring-connected element 23 is calculated; from the gait inverted pendulum model, the CoM mechanical work calculation formula can be obtained as shown in the following mathematical formula 1:

[Mathematical formula 1]

Assuming no energy dissipation, mathematical formula 1 will be equivalent to the following mathematical formula 2 (i.e. W _lead = U _ts ), and the strain energy ( U _ts ) of the spring-connected element 23 can be obtained from the following mathematical formula 2:

[Mathematical formula 2]

In addition, the equivalent force at heel strike can be obtained from the following mathematical formula 3:

[Mathematical formula 3]

in It can be obtained from human kinematic data or from gait experiments, and it can be ignored because it is in the initial phase state and most of the energy has been transferred to the forefoot. function, so the following mathematical formula 4 can be obtained:

[Mathematical formula 4]

=

in, for The angle between is the torsion spring arm length;

By bringing Mathematical Expression 4 back to Mathematical Expression 2, the ideal spring-connection element 23 stiffness ( K _ts ) can be calculated back. In addition, the equivalent force caused by the CoM negative mechanical work in the final standing phase can also be calculated using the same method. ( F _s = F _{lead _2} ), as shown in the following mathematical formula 5:

[Mathematical formula 5]

The aforementioned, is the CoM speed of the start time ( t −) and the end time ( t +), is the ground reaction force of the forefoot (normalized to human body mass), is the ground reaction force of the rear foot (normalized to the mass of the human body), g is the acceleration of gravity, is the bending moment endured by the torsion spring, is the torsion angle of the torsion spring, is the compression spring strain energy, and is the deformation amount of the compression spring; thereby, the selection of the rigidity of the spring-connecting element 23 can be obtained conveniently and concretely.

In summary, the technical means disclosed in the present invention can indeed effectively solve the problems of conventional knowledge and achieve the expected purposes and effects. They have not been published in publications or publicly used before the application and are of long-term progress. They are truly worthy of the title. The invention described in the Patent Law is correct, and I submit the application in accordance with the law. I sincerely pray that Jun will review it carefully and grant an invention patent. I am deeply grateful.

However, the above are only several preferred embodiments of the present invention, and should not be used to limit the scope of the present invention. That is, all equivalent changes and modifications made based on the patent scope of the present invention and the content of the invention specification are It should still fall within the scope of the patent of this invention.

1: First base 2: Elastic parts 21:The first rod body 22:Second rod body 23: Spring components 3: First slider 31: push block 32: ratchet 33:Sliding block 4:Second base 41: Flexible unit 42: Positioning block 43:First chute 44:Second chute 45: Undertake parts 46:Elastomer 5: Second slider 51: Transmission components 52: Pushing parts 53:Guide part 54:Sliding block 6:Lock unit 61: Promotion Department 62:Clamping part 63: Pawl 64: Pivot element 7:Front roof 71:Transfer parts 8: Pad body 81: Positioning component 9:Rear roof panel F: front end R: backend

Figure 1 is a schematic three-dimensional view of the present invention configured on a shoe body. Figure 2 is a schematic three-dimensional view of the present invention. Figure 3 is a three-dimensional exploded schematic diagram of the present invention. Figure 4 is a schematic side view of the present invention. Figure 5 is a comparison chart of CoM mechanical power changes and energy recovery in gait physiology of the present invention. Figure 6 is a schematic side view of the invention in its initial state. Figure 7 is a schematic top view of the first base and the second base of the present invention in its initial state. Figure 8 is a schematic side view of the invention in the first state. Figure 9 is a schematic top view of the first base and the second base of the present invention in the first state. Figure 10 is a schematic side view of the present invention in the second state. Figure 11 is a schematic top view of the first base and the second base of the present invention in the second state. Figure 12 is a schematic side view of the invention in the third state. Figure 13 is a schematic top view of the first base and the second base of the present invention in the third state.

1: First base

2: Elastic parts

21:The first rod body

23: Spring components

4:Second base

41: Flexible unit

42: Positioning block

5: Second slider

53:Guide part

7:Front roof

71:Transfer parts

8: Pad body

81: Positioning component

9:Rear roof panel

F: front end

R: backend

Claims (10)

A passive walking propulsion boot containing: A first base, which is arranged at a rear end. The first base is provided with at least one elastic component. The elastic component is used to elastically stretch upon receiving a stepping force; A second base is disposed at a front end. The second base is disposed with a first slider. The first slider is connected to one end of the elastic component and is slid by the elastic component. a second base; the side end of the first slider is provided with at least one push block and a plurality of ratchet teeth; and the second base is provided with at least one elastic unit; At least one second slider is movably arranged on the second base, and the elastic unit is elastically pushed against the second slider toward the rear end. The second slider is provided with a slider corresponding to the second slider. The transmission element of the push block and a pushing component; and the second slide block is provided with a guide portion; At least one lock unit is pivotally mounted on the second base, and the lock unit is provided with a pushing part corresponding to the pushing part and a clamping part, and the clamping part is relative to the pushing part The end is provided with a pawl corresponding to the ratchet and preventing the first slider from moving toward the rear end, and the locking unit is configured to elastically resist the ratchet in advance; and A front top plate, which is correspondingly disposed at the upper end of the second base, and the bottom end of the front top plate is provided with a transmission component corresponding to the guide portion, so that when the front top plate is stepped on, the transmission component The component drives the second slider to slide in the direction of the front end through the guide portion, so as to push the locking unit through the pushing component, so that the ratchet pawl is separated from the ratchet tooth. The passive walking propulsion boot of claim 1, wherein in an initial state, the ratchet of the locking unit is against the ratchet at the front end of the first slider; In one state, the elastic component of the first base is subjected to the stepping force, and the elastic component is elastically stretched to drive the first slider to move in the direction of the front end, so that the pawl is stuck against the third The ratchet tooth at the rear end of a slide block; in a second state, the elastic component and the front top plate receive the stepping force at the same time, and the transmission component will drive the second slide block to slide, and by The pushing part is pushed against the pushing part of the lock unit, so that the ratchet is correspondingly disengaged from the ratchet, and the transmission element is pushed on the pushing block, so that the first slider continues Sliding toward the front end; and in a third state, the pedaling force is exerted in the second state to elastically reset the elastic component and the elastic unit, so that the first slider and the second The slider returns to its initial state. The passive walking propulsion boots of claim 2, wherein the second base is further provided with a receiving component, and an elastic body is provided between the receiving component and the first slider for use in the first state and the third state. In the second state, it is elastically pressed by the first slider, and is elastically reset in the third state, so that the first slider returns to the initial state. The passive walking propulsion boot according to claim 1 or claim 2, wherein the second base is further provided with at least one positioning block, and the elastic unit elastically resists the positioning block and the second sliding block. between blocks. The passive walking propulsion boot according to claim 1 or claim 2, wherein the guide portion and the transmission member are inclined surfaces corresponding to each other. The passive walking propulsion boot according to claim 1 or claim 2, wherein the second base is further recessed with a first chute, and the bottom end of the first slider is provided with at least one corresponding to the first chute. a sliding block; and the second base is further recessed with at least one second slide groove, and the bottom end of the second slide block is provided with at least one sliding block corresponding to the second slide groove. The passive walking propulsion boot according to Claim 1 or Claim 2, further comprising a rear top plate, which is arranged at the upper end of the elastic component and is correspondingly pivotally connected to the front top plate. The passive walking propulsion boot according to claim 1 or claim 2, wherein the first base and the second base are pivotally connected to each other. The passive walking propulsion boot according to claim 1 or claim 2, wherein the elastic component further includes a first rod body and a second rod body, and the first rod system is pivotally connected to the second rod body ; And one end of the first rod relative to the second rod is pivoted at the top of the first base, and one end of the second rod relative to the first rod is pivotally connected to the first slider; The top of the first base is provided with an elastic element, and the elastic element is pressed between the first rod body and the top of the first base. The passive walking propulsion boot according to claim 1 or claim 2, wherein the bottom ends of the first base and the second base are further provided with a pad body, and the pad system is made of soft material.

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