WO2016034755A1 - Dispositif de motorisation pour orthèse active - Google Patents

Dispositif de motorisation pour orthèse active Download PDF

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Publication number
WO2016034755A1
WO2016034755A1 PCT/ES2015/070646 ES2015070646W WO2016034755A1 WO 2016034755 A1 WO2016034755 A1 WO 2016034755A1 ES 2015070646 W ES2015070646 W ES 2015070646W WO 2016034755 A1 WO2016034755 A1 WO 2016034755A1
Authority
WO
WIPO (PCT)
Prior art keywords
proximal
distal
support
spindle
joint
Prior art date
Application number
PCT/ES2015/070646
Other languages
English (en)
Spanish (es)
Inventor
Josep Maria FONT LLAGUNES
Daniel CLOS COSTA
Original Assignee
Universitat Politècnica De Catalunya
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Universitat Politècnica De Catalunya filed Critical Universitat Politècnica De Catalunya
Publication of WO2016034755A1 publication Critical patent/WO2016034755A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms

Definitions

  • SCKAFO Steance Control Knee Ankle Foot Orthosis
  • the knee is driven by an electric motor in cooperation with a three-stage epicyclic reducer that has a transmission ratio of 186: 1.
  • the output shaft of the epicycloidal reducer is connected directly to the axis of the knee joint, the motor-reducer assembly being protruding outwardly with its axis in a direction perpendicular to the sagittal plane, and therefore perpendicular to the longitudinal direction of the leg, which has the drawback that can be a hindrance.
  • the output shaft of the epicycloidal reducer is connected to the axis of the knee joint by means of a right angle forwarding comprising two conical sprockets with a 1: 1 transmission ratio.
  • both embodiments have the disadvantage of needing an epicyclic reducer of very high transmission ratio.
  • US 20140094345 A1 discloses an active orthosis that includes a knee joint and a motorization device to drive the movements of this knee joint.
  • the motorization device comprises an electric gearmotor assembly fixed to a part of the orthosis corresponding to the thigh, and an extensible spindle connected at its end to a part of the orthosis corresponding to the leg, and a nut coupled to the spindle and actuated by the assembly electric gearmotor References
  • the present invention constitutes an alternative to the state of the art, by providing a drive device that provides a compact and lightweight design, increased transmission performance, reduced angular play, and the possibility of actuation and blocking.
  • the drive device for active brace of the present invention comprises a proximal support intended to be fixed to a proximal part of the orthosis and a distal support intended to be fixed to a distal part of the orthosis, wherein said proximal and distal supports are connected to each other by a support joint having an axis of rotation aligned in use with an axis of articulation between said proximal and distal parts of the orthosis.
  • the drive device includes a mechanism connected to the proximal and distal supports and driven by an electric motor fixed to the proximal support to rotate the distal support relative to the proximal support around said rotation axis.
  • Said mechanism comprises, according to the present invention, a spindle rotatably supported on the proximal support and operatively connected to be rotated by said electric motor, a movable slide along at least one linear guide parallel to said spindle and supported on the proximal support, a nut fixed to said slide and coupled to the spindle, and a connecting rod having a first end connected to the slide by a proximal joint and a second end connected to the distal support by a distal joint.
  • the term "articulation" is used to cover both a rotating joint with respect to an axis and a spherical joint or a cardan joint.
  • the connecting rod can be connected to the slide and to the distal support by two rotating joints with respect to an axis, two spherical joints, a rotating joint with respect to an axis and a spherical joint, a rotating joint with respect to an axis and a cardan joint, or a spherical joint and a cardan joint. If one or two rotating joints are used with respect to an axis for said proximal and distal joints, they must have respective joint axes parallel to said axis of rotation.
  • the electric motor has an output shaft aligned with the spindle axis and is directly coupled thereto, and the spindle is supported on the proximal support in a position that in use is substantially parallel to a longitudinal direction of the proximal part of the orthosis .
  • the electric motor is fixed to an electric motor support, which is coupled to a bearing support in which a bearing that rotatably guides the spindle is installed.
  • the bearing is preferably a bearing, and more preferably an oscillating ball bearing.
  • the electric motor support and the bearing support are imprisoned against each other by proximal and distal packing plates connected to each other by rods that have connecting portions connected to the proximal and distal packing plates.
  • the proximal and distal packing plates have respective anchors in which an anchor portion of the proximal support is fixed.
  • the aforementioned stems extend parallel to the spindle from the distal packing plate to an end plate.
  • One or more of the stems are slidably inserted in corresponding guide holes of the slide, the said linear guides for it being constituted.
  • the slider can move along the spindle guided by the linear guides between the distal packing plate and the end plate.
  • the end of the spindle furthest from the electric motor is not rotatably guided with respect to the proximal support, and it is the nut installed on the slide that keeps the spindle in alignment with the output shaft of the electric motor.
  • the oscillating ball bearing which is located adjacent to the end of the spindle closest to the electric motor, absorbs any possible misalignment.
  • the spindle and nut are preferably a spindle and nut assembly of recirculating balls.
  • An activation of the electric motor spins the spindle, it displaces the sliding and the connecting rod pushes the distal support or pulls it to rotate the distal support relative to the proximal support around the support joint.
  • the passage and configuration of the spindle is selected to ensure that the coupling between the nut and the spindle is irreversible, whereby the support joint remains locked when the electric motor is not activated.
  • the connecting rod comprises at least a portion made of a slightly elastic material, such as a polymer, which provides a certain elasticity to the mechanism.
  • the motorization device for active brace of the present invention is designed for a knee brace, where the proximal part of the brace is fixed to the thigh and the distal part of the brace is fixed to the leg.
  • the motorization device for active brace of the present invention can be applied alternatively to an elbow brace, where the proximal part of the brace is fixed to the forearm and the distal part of The brace is attached to the arm, or to a hip brace, an ankle brace, etc.
  • Fig. 1 is a perspective view of an active orthotic motorization device according to an embodiment of the present invention
  • Fig. 2 is a side elevational view of the motorization device of Fig. 1 in an extended position
  • Fig. 3 is a side elevation view of the motorization device of Fig. 1 in a bent position
  • Fig. 4 is a cross-sectional view taken along the plane IV-IV of Fig. 2
  • Fig. 5 is a partially exploded perspective view of the motorization device of Fig. 1
  • Fig. 6 is a cross-sectional view taken on a plane comprising the axis of a spindle and the axis of a linear guide of the motorization device.
  • Figs. 1 to 6 show a drive device for active brace according to an embodiment of the present invention, which comprises a proximal support 1 intended to be fixed to a proximal part of the brace (not shown) by means of fixing screws 24 and a distal support 2 intended to be fixed to a distal part of the orthosis (not shown) by other fixing screws 25.
  • the proximal and distal supports 1, 2 are connected to each other by a support joint 3 having a rotation axis E1, which, when the drive device is fixed to the orthosis, is aligned with an axis of articulation between said proximal and distal parts of the orthosis.
  • the support joint 3 comprises, for example, a friction bearing 26 disposed between the proximal support 1 and the distal support 2 (Fig. 5).
  • the drive device comprises a mechanism connected to the proximal and distal supports 1, 2 and driven by an electric motor 4 to rotate the distal support 2 with respect to the proximal support 1 around the axis of rotation E1.
  • the proximal support 1 is fixed to a motor support 13, which has the electric motor 4 fixed by means of screws 20, and to a bearing support 14, in which a bearing 15 is installed, such as a bearing oscillating balls (Fig. 6), which rotatably supports and guides a spindle 5.
  • the motor support 13 and the bearing support 14 are coupled to each other and imprisoned against each other by proximal and distal packing plates 16 , 17 mutually parallel.
  • These proximal and distal packing plates 16, 17 have respective facing holes through which connecting portions 12a of mutually parallel stems 12 are inserted.
  • the connecting portions 12a have threaded end portions of thread in which nuts 21 are secured.
  • Fig. 6 best shows, when said nuts 21 are tightened, nuts 21 press on the proximal packing plate 16 and the proximal packing plate 16 presses on projections 13a of the motor support 13, while at the same time projections 12b between the rods 12 and their connecting portions 12a press on the distal packing plate 17 and the distal packing plate 17 presses on projections 14a of the bearing support 14, resulting in the motor support 13 and the support bearing 14 are pressed against each other trapping and immobilizing axially between the two an outer ring of the bearing 15 arranged in a corresponding inner seat of the bearing support 14.
  • the mechanism of the drive device further comprises a slide 10 provided with two guide holes 19 (Figs. 4 and 6) in which two of the stems 12 are slidably inserted, which constitute linear guides 11 parallel to the spindle 5 a along which the slide 10 is movable.
  • friction bushings 28 are installed in contact with the corresponding stems 12 (Fig. 6).
  • the slide 10 has a central opening 29 (Figs. 4 and 6) in which a nut 9 is fixed, which in turn is coupled to the spindle 5.
  • the spindle 5 and the nut 9 are preferably a spindle and nut assembly of recirculating balls.
  • the mechanism of the drive device is completed with a connecting rod 6 having a first end connected to the slide 10 by a proximal joint 7 and a second end connected to the distal support 2 by a distal joint 8, where both proximal and distal joints 7, 8 have respective axes of articulation E2, E3 parallel to the axis of rotation E1 of the support joint 3.
  • the distal joint 8 is located in lug 2a projecting in order avoid interference between the connecting rod 6 and the distal support 2, especially when the device adopts bent positions (Fig. 3), and increase the lever arm with respect to the axis of rotation E1 of the support joint 3.
  • the proximal and distal joints 7, 8 of the connecting rod 6 are formed by forks 30, 31 that support respective articulation pins.
  • the forks 30, 31 are fixed at opposite ends of a rod portion 32.
  • this rod portion 32 of the connecting rod 6 is made of an elastic material, obviously with a low degree of elasticity selected to ensure the transmission of forces between the slide and the distal support 2 and at the same time provide a certain elasticity to the mechanism for purposes of ergonomics, consumption reduction and system protection.
  • an activation of the electric motor 4 causes a rotation of the spindle 5 and it drives the nut 9 and the slide 10 fixed thereto along the linear guides 11 constituted by two of the stems 12.
  • the connecting rod 6 transmits the movements of the slide 10 to the distal support 2, converting the linear movements of the slide 10 into rotational movements of the distal support 2 relative to the proximal support 1 around the axis of rotation E1 of the support joint 3.
  • Figs. 1 and 2 show the drive device in an extended position, while Fig. 3 shows the drive device in a bent position.
  • the angle between an extended limit position and a bent limit position will depend on the geometry of the mechanism, and can reach and even exceed 90 degrees.

Abstract

Le dispositif d'actionnement pour orthèse active comprend des supports proximal et distal (1, 2) prévus pour être fixés sur des parties proximale et distale de l'orthèse, respectivement. Les supports proximal et distal (1, 2) sont reliés entre eux par une articulation de support (3). Dans le support proximal (1), sont installés une broche (5) rattachée fonctionnellement pour être amenée à tourner par un moteur électrique (4), une coulisse (10) mobile le long de guides linéaires (11) parallèle à la broche (5), un écrou (9) fixé à la coulisse (10) et accouplé à la broche (5). Une bielle (6) présente une première extrémité reliée à la coulisse (10) par une articulation proximale (7) et une seconde extrémité reliée au support distal (2) par une articulation distale (8). La bielle (6) convertit le mouvement de la coulisse (10) en une rotation du support distal (2) autour de l'articulation du support (3).
PCT/ES2015/070646 2014-09-03 2015-09-03 Dispositif de motorisation pour orthèse active WO2016034755A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ES201431282A ES2562340B1 (es) 2014-09-03 2014-09-03 Dispositivo de motorización para órtesis activa
ESP201431282 2014-09-03

Publications (1)

Publication Number Publication Date
WO2016034755A1 true WO2016034755A1 (fr) 2016-03-10

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ES (1) ES2562340B1 (fr)
WO (1) WO2016034755A1 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106580534A (zh) * 2016-11-17 2017-04-26 长兴向荣模具有限公司 防拉伤腿部牵引装置
CN107049701A (zh) * 2017-01-12 2017-08-18 北京大学 穿戴式动力膝关节康复装置
RU173374U1 (ru) * 2016-05-23 2017-08-24 Общество С Ограниченной Ответственностью "Экзоатлет" Привод звена активного ортеза ноги
WO2017204684A1 (fr) * 2016-05-23 2017-11-30 Общество С Ограниченной Ответственностью "Экзоатлет" Entraînement d'une articulation d'une orthèse active de la jambe
CN107498551A (zh) * 2017-09-07 2017-12-22 利辛县宝隆橡塑密封件有限责任公司 一种机械臂的张紧力调节装置
WO2018165261A1 (fr) 2017-03-08 2018-09-13 Ekso Bionics, Inc. Dispositifs d'actionnement pour articulations d'exosquelette humain
CN108791563A (zh) * 2018-06-14 2018-11-13 电子科技大学 一种足式机器人单腿装置及足式机器人
WO2021066677A1 (fr) * 2019-10-04 2021-04-08 Общество С Ограниченной Ответственностью "Экзоатлет" Actionneur pour exosquelette
US11191653B2 (en) * 2016-11-03 2021-12-07 University Of New Brunswick Powered lower limb devices and methods of control thereof

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5252102A (en) * 1989-01-24 1993-10-12 Electrobionics Corporation Electronic range of motion apparatus, for orthosis, prosthesis, and CPM machine
US5453075A (en) * 1990-07-30 1995-09-26 Peter M. Bonutti Orthosis with distraction through range of motion
US20090306548A1 (en) * 2008-06-05 2009-12-10 Bhugra Kern S Therapeutic method and device for rehabilitation
WO2010019917A1 (fr) * 2008-08-14 2010-02-18 Tibion Corporation Système actionneur ayant un ensemble à multiples moteurs pour étendre et fléchir une articulation
US20100069798A1 (en) * 2008-09-15 2010-03-18 Ching-Hsiang Cheng Wearable device to assist with the movement of limbs
US20100280629A1 (en) * 2007-11-08 2010-11-04 Advensys, Llc Neuromorphic controlled powered orthotic and prosthetic system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5252102A (en) * 1989-01-24 1993-10-12 Electrobionics Corporation Electronic range of motion apparatus, for orthosis, prosthesis, and CPM machine
US5453075A (en) * 1990-07-30 1995-09-26 Peter M. Bonutti Orthosis with distraction through range of motion
US20100280629A1 (en) * 2007-11-08 2010-11-04 Advensys, Llc Neuromorphic controlled powered orthotic and prosthetic system
US20090306548A1 (en) * 2008-06-05 2009-12-10 Bhugra Kern S Therapeutic method and device for rehabilitation
WO2010019917A1 (fr) * 2008-08-14 2010-02-18 Tibion Corporation Système actionneur ayant un ensemble à multiples moteurs pour étendre et fléchir une articulation
US20100069798A1 (en) * 2008-09-15 2010-03-18 Ching-Hsiang Cheng Wearable device to assist with the movement of limbs

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU173374U1 (ru) * 2016-05-23 2017-08-24 Общество С Ограниченной Ответственностью "Экзоатлет" Привод звена активного ортеза ноги
WO2017204684A1 (fr) * 2016-05-23 2017-11-30 Общество С Ограниченной Ответственностью "Экзоатлет" Entraînement d'une articulation d'une orthèse active de la jambe
DE212017000149U1 (de) 2016-05-23 2019-01-10 Ooo "Exoatlet" Antrieb des Glieds einer aktiven Beinorthese
US11191653B2 (en) * 2016-11-03 2021-12-07 University Of New Brunswick Powered lower limb devices and methods of control thereof
CN106580534A (zh) * 2016-11-17 2017-04-26 长兴向荣模具有限公司 防拉伤腿部牵引装置
CN107049701A (zh) * 2017-01-12 2017-08-18 北京大学 穿戴式动力膝关节康复装置
EP3592177A4 (fr) * 2017-03-08 2021-08-04 Ekso Bionics, Inc. Dispositifs d'actionnement pour articulations d'exosquelette humain
WO2018165261A1 (fr) 2017-03-08 2018-09-13 Ekso Bionics, Inc. Dispositifs d'actionnement pour articulations d'exosquelette humain
CN107498551A (zh) * 2017-09-07 2017-12-22 利辛县宝隆橡塑密封件有限责任公司 一种机械臂的张紧力调节装置
CN107498551B (zh) * 2017-09-07 2019-10-01 利辛县宝隆橡塑密封件有限责任公司 一种机械臂的张紧力调节装置
CN108791563A (zh) * 2018-06-14 2018-11-13 电子科技大学 一种足式机器人单腿装置及足式机器人
WO2021066677A1 (fr) * 2019-10-04 2021-04-08 Общество С Ограниченной Ответственностью "Экзоатлет" Actionneur pour exosquelette
RU2767138C2 (ru) * 2019-10-04 2022-03-16 Общество С Ограниченной Ответственностью "Экзоатлет" Привод для экзоскелета

Also Published As

Publication number Publication date
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