WO2016067229A1

WO2016067229A1 - Biomechanical device for gait enhancement

Info

Publication number: WO2016067229A1
Application number: PCT/IB2015/058339
Authority: WO
Inventors: Francesco Cozzo
Original assignee: Specialities S.R.L.
Priority date: 2014-10-29
Filing date: 2015-10-29
Publication date: 2016-05-06
Also published as: EP3212135A1

Abstract

A biomechanical device (10) for gait enhancement, applicable to the lower limbs of a user by way of a shoe (100), comprising an element (70) for resting against a portion of the tibia (120) of the user that is comprised between the knee (170) and the malleolus (185), and means (95) for coupling to a portion of the gastrocnemius (175) of the user which are on the opposite side from the portion of the tibia (120). The device (10) comprises at least one articulated polygon (40) which is deformable according to the flexibility of at least one leaf spring (15), which is extended longitudinally and is flexible around the rotation axis of the knee (170) and of the malleolus (185) and is connected rigidly at its ends (21, 22) to two rigid elements (25) which in turn are respectively attached to a lower rigid rod-like element (52) and to an upper rigid rod-like element (54), which are mutually pivoted so as to form, all together, the articulated polygon (40).

Description

BIOMECHANICAL DEVICE FOR GAIT ENHANCEMENT

The present invention relates to a device for enhancing the foot-leg articulation of the human body, which can be used in many different situations of motion or rest in which, owing to an unbalancing of the center of gravity of the human body and/or owing to angular variations of the joint of the upper part of the leg, or of the pelvis, and between the upper part and lower part of the leg, or of the knee, and the consequent angular variations between the lower part of the leg and the foot, placing the weight force of the human body, through the foot, changes its distribution with an increase in the load on the metatarsal arch.

Consider for example that, in the perfectly erect posture of the human body, the distribution of the application of the weight force, through the foot, can be approximated as 1/3 on the metatarsal arch and 2/3 on the heel.

In more detail, the invention relates to a biomechanical device that makes it possible to use an additional artificial muscle applied to the lower part of the lower limbs of the human body, substantially improving the performance thereof, expressed as a ratio between the mechanical work done and the energy supplied to a system, during the execution of motor actions, such as for example walking, running, jumping, pedaling, skiing, ice-skating, and horse-riding, on paths that are level, ascending or descending, but also during the execution of static actions.

The latter can for example be identified as the seated posture, or the actions relating to the control of the position of the human body, such as for example riding a motorcycle, hitting a target with a weapon, working while compelled to assume a continuous erect position or, more generally, in conditions that require an imposed posture.

Also and in particular, the biomechanical device according to the invention is useful and practical for the execution of all activities typical of walking and of states corresponding to a non-horizontal position of the human body, with the gravitational weight force brought to bear through one or both feet.

At present several different types of devices are known for supporting gait, ranging from pseudo-robotic devices, biomedical devices, apparatuses for sports use, and other types, which assist and support the movements of the lower part of the leg and of the foot by way of rigid structures, sprung mechanisms, geared mechanisms, with the aid of electric motors, or other means.

Such conventional devices, in particular pseudo-robotic devices like exoskeletons, which are perhaps the only examples of devices for enhancing motor activities with an increase in performance comparable to that described previously, are not devoid of drawbacks, among which is the fact that they use external sources of energy, for example and in particular electric power, for the motorization of the angular movements of the human body, with the related known problems.

Another drawback of conventional devices consists in that they have considerable costs of production, running, and maintenance, and also of use, such costs being due in particular to the costly materials used for their construction, sophisticated machining processes, and finding energy sources for recharging; in particular, the high costs of production have a knock-on effect on the final purchase price of such conventional devices.

Furthermore, conventional devices are very often difficult to put on, offer poor wearability and do not ensure a sufficient level of comfort for the user, thus resulting in the need for its adaptation and even, sometimes, resulting in medical conditions.

Last but not least, conventional devices are difficult to use, in particular for an inexpert user, and are characterized by high weight.

Conventional devices, such as biomedical devices or devices for sports use, for example particular types of shoes or devices for specialist use, such as prostheses, braces, ski boots, trekking boots, ice skates, and more besides according to the state of the art, in general set out to control a specific motor activity, and are for the most part protective or are in a set position.

In conventional devices, therefore, there is no characteristic that departs from a specialist shoe and, given this, and apart from an optional performance improvement, they do not influence the performance of the human body as described above in any way.

The aim of the present invention is to overcome the above mentioned drawbacks of the known art, by devising a biomechanical device for gait enhancement that makes it possible to obtain better effects, in terms of efficiency, weight, and energy consumption, with respect to those obtainable with conventional devices, in particular conventional devices that are servo- assisted with external energy, by accumulating and returning only internal, substantially gravitational, energy, in order to control and enhance, with a considerable energy saving, motor activities or states of rest corresponding to all non-horizontal positions of the human body which are subject to the gravitational weight force transmitted by contact of one or both feet.

Within this aim, an object of the present invention is to devise a biomechanical device for gait enhancement that offers a high level of comfort for the user who makes use of it, both during use and when donning it, and which is characterized therefore by an easy accessibility and wearability.

Another object of the present invention is to devise a biomechanical device for gait enhancement that can be manufactured using materials in common use and machining processes that are relatively simple or, in any case, not excessively sophisticated.

Another object of the present invention is to provide a biomechanical device for gait enhancement that is highly reliable, easily and practically implemented, and low weight and low cost.

This aim and these and other objects which will become better apparent hereinafter are achieved by a biomechanical device for gait enhancement, applicable to the lower limbs of a user by way of a shoe, comprising an element for resting against a portion of the tibia of the user that is comprised between the knee and the malleolus of the user, and means for coupling to a portion of the gastrocnemius of the user which are on the opposite side from the portion of the tibia.

The device comprises at least one articulated polygon which is deformable according to the flexibility of at least one leaf spring, which is extended longitudinally and is flexible around the rotation axis of the knee and of the malleolus and is connected rigidly at its ends, by interlocking couplings, to two rigid elements, the second ends of the rigid elements being attached respectively, by hinge-like couplings, to a lower rigid rod-like element and to an upper rigid rod-like element, which are mutually pivoted with a hinge-like coupling, such as to form, all together, the at least one articulated polygon; said at least one articulated polygon being attached rigidly, by the lower rigid rod-like element, a base and an elastic insole which is fixed integrally to the base, to the shoe, and by the resting element to the portion of the tibia and by the means for coupling to the portion of the gastrocnemius which are on the opposite side from the portion of the tibia of the user.

Further characteristics and advantages of the invention will become better apparent from the detailed description of preferred, but not exclusive, embodiments of the biomechanical device for gait enhancement according to the invention, which are illustrated by way of non-limiting example in the accompanying drawings, wherein:

Figure 1 is a perspective view of a first embodiment of a biomechanical device for gait enhancement, according to the present invention;

Figures 2, 3 and 4 are side views of three different consecutive steps of the operation of the embodiment of the biomechanical device for gait enhancement shown in Figure 1 , according to the present invention; Figure 5 is a perspective view of the step of operation of the embodiment of the biomechanical device for gait enhancement shown in Figure 4, according to the present invention;

Figure 6 is a view of a detail of the embodiment of the biomechanical device for gait enhancement shown in Figure 1 , according to the present invention;

Figure 7 is a perspective view of a second embodiment of the biomechanical device for gait enhancement, according to the present invention;

Figure 8 is a side view of the embodiment of the biomechanical device for gait enhancement shown in Figure 7, according to the present invention;

Figure 9 shows the biomechanical scheme of contraction of the gastrocnemius muscle relative to the variation of the angles at the knee between the upper part and lower part of the leg, and between the leg and the foot, with the mathematical formula that describes its increase.

With reference to Figures 1 to 6 and Figure 9, the biomechanical device for gait enhancement according to the invention, generally designated by the reference numeral 10, comprises at least one articulated polygon 40 with five sides, also known as an articulated pentalateral, for accumulating and returning elastic energy, which is deformable around the rotation axis of the knee 170 and of the malleolus 185 via one of its sides, which comprises at least one leaf spring 15, hereinbelow also referred to as an elastic element, which is also flexible around the rotation axis of the knee 170 and of the malleolus 185 of the user.

The leaf spring 15 is attached, at its ends 21 and 22, by an interlocking coupling, to two rigid elements 25 which are substantially at right angles thereto. The rigid elements 25 are in turn coupled, at the ends 27, at the other ends from the ends 26 that couple them by interlocking to the elastic element 15, by hinge-like couplings 30 to two rigid elements or rigid rods 52 and 54.

The latter are joined together by a hinge-like coupling 56, defining overall the closed articulated pentalateral or polygon 40.

The pentalateral 40 thus defined is coupled to a lower limb of the human body of the user, in the lower part, to the foot and, in the upper part, to a front portion of the tibia 120 and to a rear portion of the same tibia 120, i.e. to the gastrocnemius muscle 175.

In particular, the pentalateral 40 is coupled to the foot through a shoe 100, by way of an adapted base 60 which is integral with the rigid element 52 and joined, in the lower part of the shoe 100 in a region comprised between the heel and the metatarsal arch, to an elastic insole 115, the rigidity of which is proportional to the rigidity of the leaf spring 15 and which is integral with the shoe 100, in particular interposed between its sole 110 and its upper 105.

The pentalateral 40 is then coupled to a portion of the tibia 120, comprised between the knee 170 and the malleolus 185, by way of a resting element 70, and to the gastrocnemius muscle 175 by elastic binding means 95, which are rear thereto and integral with the resting element 70.

The leaf spring or elastic element 15, which is capable of accumulating and returning mechanical energy through its bending around the rotation axis of the knee 170 and of the malleolus 185, extends substantially longitudinally and is advantageously made using a composite material with a thermoplastic or thermosetting matrix, preferably reinforced with monoaxial fibers or unbalanced fabrics, such material being characterized by a ratio of the elastic bending modulus, or Young's modulus, expressed in Pa, to the bending resistance, along the direction of the its bending surface, also expressed in Pa, comprised in the range between 0.025 and 0.1 * 10^"3.

The two rigid segments 25, which are connected to the elastic element 15, are coupled, at a first end 26 thereof, to a respective end 21, 22 of the elastic element 15.

In relation to such rigid coupling, the rigid elements 25, which are preferably and conveniently made of a material with a high mechanical strength and Young's modulus, have a substantially perpendicular extension with respect to the longitudinal extension of the elastic element 15.

Each one of the rigid elements 25 further comprises, at a second end 27 thereof, means for mating with a hinge-like coupling 30 which are adapted to allow attachment to the rigid rods 52 and 54, or to the segments identified by them.

The two rigid rods 52 and 54 are finally joined together, at their free ends, by a joint or hinge-like coupling 56, with its rotation axis perpendicular to the plane of arrangement and deformation of the pentalateral 40.

In different embodiments of the biomechanical device 10 for gait enhancement according to the invention, the rigid coupling between the ends 26 of the rigid elements 25 and the elastic element 15 is an interlocking coupling defined by resins for adhesive bonding, co-molding of high- strength resins, nuts, or other fixing elements capable of ensuring the transmission of the maximum breaking torque for bending the elastic element 15, in its preferential bending plane, i.e. around the rotation axes of the knee 170 and of the malleolus 185.

In a preferred embodiment of the biomechanical device 10 for gait enhancement according to the invention, both the rigid elements 25 advantageously comprise means 35 for adjusting the distance between the rotation axis of the means for mating with a hinge-like coupling 30 and the point at which the rigid element 25 is rigidly coupled to the elastic element 15.

In this manner it is possible to modify, even independently with respect to the two rigid elements 25, the relative distance of the elastic element 15 with respect to the straight line that joins the centers of rotation of the joints of the means for mating with a hinge-like coupling 30. By varying such distance it is possible to vary the bending torque on the elastic element 15, i.e. its bending rigidity, according to requirements, and also to define its correct bending arc, in relation to the difference in length of the segments 52 and 54.

In such case, i.e. if the leaf spring 15 is adjustable in rigidity, the adjustment means 35 can comprise a screw 190, preferably made of high- strength steel, which constitutes part of the rigid element 25 and which passes through by way of a hole in the end 21 , 22 of the elastic element 15, and a pair of nuts 191 , 192 which are adapted to tighten the elastic element 15 in a given position with respect to the rigid element 25. The adjustment means 35 can further advantageously comprise washers 193, 194 which are arranged between the nuts 191 , 192 and the elastic element 15.

As anticipated earlier, the leaf spring 15, by way of its rigid elements 25, is associated with the articulated polygon or pentalateral 40 by way of means for mating with a hinge-like coupling 30.

The means for mating with a hinge-like coupling 30 are advantageously selected from the group constituted by barrel hinges, ball bearing hinges, bush hinges and spherical hinges. The coupling means 30 can in fact be rotatable about a fixed planar axis, such as for example with bearings or bushes, or three-dimensional, such as for example with spherical joints.

The leaf spring 15, by way of the rigid elements 25 interlocked with it at its ends 21 and 22 and by way of the means for mating with a hinge-like coupling 30, is therefore connected to the rigid rods 52 and 54, which are joined in turn by the hinge 56, effectively going to constitute together an articulated polygon with five sides or pentalateral 40.

The shorter, fixed rigid rod 52, and the longer, moveable rigid rod 54, as described previously, are coupled together by a hinge-like coupling 56 with its rotation axis perpendicular to the plane of arrangement and deformation of the pentalateral 40.

The means for mating with a hinge-like coupling 30 between the rigid elements 25 of the leaf spring 15 and the rigid rods 52 and 54 also comprise hinges that rotate about an axis perpendicular to the plane of arrangement and deformation of the articulated pentalateral or polygon 40, i.e. around the rotation axis of the knee 170 and of the malleolus 185 of the user.

The articulated polygon 40 is capable of deforming in a definite and controlled manner, and of returning, upon the cessation of the action of a load +P or -P, owing to the elastic energy accumulated by the elastic element or leaf spring 15, to its initial position and geometric stability, both for loads +P that decrease the angle of incidence between the rigid rods 52 and 54, and for loads -P that increase its value.

The articulated polygon or pentalateral 40, deformable with the accumulation and return of energy, comprises a rod-like element, or rod, which is rigid and fixed 52, and integral with the base 60 so as to define therewith a single body, and preferably made of a material with a high mechanical strength and Young's modulus, and arranged below, at the outer part of the shoe 100, and a rod-like element, or rod, which is rigid and moveable 54, and also preferably made of a high mechanical strength and Young's modulus, and arranged above, at the outer part of the tibia 120 of the user.

The fixed rigid rod 52 of the articulated polygon 40 is therefore rigidly coupled to the base 60, so as to define therewith a single body; the base 60 is associated integrally with the shoe 100, in a region comprised between the heel and the metatarsal, by way of the connection between that base 60 and the insole 115 which is interposed and connected rigidly, for example by way of adhesive resins, between the sole 110 and the upper 105 of the shoe 100.

In this manner the base 60 acts as the lower supporting element of the articulated polygon or pentalateral 40 described above, and also as the element that connects, through such insole 115 and such shoe 100, the articulated polygon or articulated pentalateral 40 with the foot of the user.

The shoe 100 is preferably constituted by a shoe that completely covers the foot up to just below the malleolus _}185, or of the high type, i.e. that completely covers the foot up to just above the malleolus 185, and is made for the most part of plastic material in the part below, i.e. the sole 110, and of leather or fabric in the part above, i.e. the upper 105.

In a preferred embodiment of the biomechanical device 10 for gait enhancement, the rigid rod 54, part of the articulated polygon 40, is provided with elements 65 for adjusting its length.

By acting on such adjustment elements 65 it is possible to modify the length of the moveable rigid rod 54 and, as a consequence, the angle defined by such moveable rigid rod 54 with the fixed rigid rod 52, so as to be able to vary the starting or stability geometry of the articulated pentalateral 40, i.e. the geometry for which the elastic element 15 is not subject to deformations.

As a consequence, since the pentalateral 40 is coupled rigidly to the foot of the user by the elements that connect it to the shoe 100, i.e. the rigid rod 52, the base 60 and the insole 115 interposed between the upper 105 and the sole 110 of the shoe 100, and to the tibia 120 by the resting element 70 and the coupling means 95, it is possible to modify the angular position around the malleolus 185, between the tibia 120 of the user with respect to the foot of the user.

The moveable rigid rod 54 of the articulated polygon or pentalateral 40 for accumulating and returning elastic energy has, proximate to or at its upper end, the resting element 70, and coupling means 95, which are adapted to connect the lower part of the leg 150 of the user comprised between the knee 170 and the malleolus 185, in particular the tibia 120 and the gastrocnemius 175, with the biomechanical device 10 for gait enhancement, which is constituted by the mechanical elements described previously, in order to provide the point of application of the load +P or -P. In particular, the element 70 for resting against the tibia 120 for +P loads and the means 95 for coupling to the gastrocnemius 175 for -P loads.

The resting element 70 is constituted by an ergonomic element in the manner of a shin guard, preferably made of plastic material, which has an inner face adapted to make contact with the front portion of the tibia 120 of the user and an outer face, on the other side from the inner face, which rests and slides on a support 75 by way of a slider 80.

The support 75 has a substantially rod-like shape and is preferably made of a material with a high mechanical strength and Young's modulus with low- friction surface characteristics which can be obtained by surface treatments or the use of materials that are specially adapted to absolve such task.

The support 75 is attached to a sliding element, which is constituted preferably by a slider 80, made of metallic material or plastics with a low friction coefficient, fixed on the external part of the resting element 70 and having two opposite faces that are adapted to make contact and slide along two perpendicular axes on the surface of the support 75, and adapted to define the maximum sliding stroke of the resting element 70 thereon, in the plane perpendicular to the plane of arrangement of the rotation axis of the knee 170.

The slider 80 is therefore moveably coupled to the support 75 by way of elastic bindings 85, and can slide and incline, in the plane perpendicular to the plane of arrangement of the rotation axis of the knee 170, with respect to the support 75, and is connected rigidly as a single body to the resting element 70 in contact with the tibia 120 of the user.

The elastic bindings 85 define a polygon that has one or more vertices coupled integrally with the outer face of the slider 80 and one or more vertices coupled integrally with the surface of the support 75 which lies away from the face on which, for +P loads, the slider 80 rests.

In a preferred embodiment of the biomechanical device 10 for gait support according to the invention, the elastic bindings 85 define a quadrilateral that has two mutually opposite vertices coupled to the outer face of the slider 80 and the other two mutually opposite vertices coupled to the support 75, by way of respective screws 86.

In a preferred embodiment of the biomechanical device 10 for gait enhancement according to the invention, on the inner face of the shin guardlike ergonomic resting element 70 there is a padding 90 or a pair of longitudinal paddings arranged mutually spaced apart, made preferably of material included in expanded resins, which are adapted to come into contact, comfortably and ergonomically, with a front portion of the tibia 120 of the user.

In another preferred embodiment of the biomechanical device 10 for gait enhancement according to the invention, the resting element 70 and the associated slider 80, i.e. their support 75, are articulated to an upper portion of the moveable rigid rod 54, so that they rotate around a hinge-like coupling 77 which connects the resting element 70 and the associated slider 80 with the moveable rigid rod 54, about an axis that is substantially perpendicular to the longitudinal axis of the moveable rigid rod 54, co- planar with the plane of arrangement of the rotation axis of the knee 170 and of the malleolus 185.

The resting element 70 further comprises coupling means 95, preferably in the form of bands or laces, preferably made of fabric and optionally elasticized so as to form an elastic binding, which are fixed to both of the external ends of the resting element 70, fixed on one side and on the other side through a slot, through which they can be passed and wrapped, and are adapted to enable the user, after putting on the shoe 100, to lock the resting element 70 to the front portion of the tibia 120 with which the inner face is put in contact through the padding 90, by wrapping around the side away from the resting element 70, in the region of the gastrocnemius muscle 175. In a preferred embodiment of the invention, the closure of the elastic binding means 95 occurs by way of Velcro.

With reference to Figures 7 and 8 and Figure 9, the biomechanical device for gait enhancement according to the invention, generally designated by the reference numeral 210, comprises at least one articulated polygon 240 with five sides, in which the two principal sides or segments intersect at a variable height, for accumulating and returning elastic energy, which is deformable around the rotation axis of the knee 170 and of the malleolus 185 via one of its sides, which comprises at least one leaf spring 215, hereinbelow also referred to as an elastic element, which is also flexible around the rotation axis of the knee 170 and of the malleolus 185 of the user.

The leaf spring 215 is attached, at its ends 221 and 222, by an interlocking coupling, to two rigid elements 225 which are substantially at right angles thereto. The rigid elements 225 are in turn coupled, at the ends 227, at the other ends from the ends 226 that couple them by interlocking to the elastic element 215, by hinge-like couplings 230 to two rigid elements or rigid rods 252 and 254.

The latter are joined together by a hinge-like coupling 256, defining overall the closed articulated polygon 240.

The articulated polygon 240 thus defined is coupled to a lower limb of the human body of the user, in the lower part, to the foot and, in the upper part, to a front portion of the tibia 120 and to a rear portion of that tibia 120, i.e. to the gastrocnemius muscle 175.

In particular, the articulated polygon 240 is coupled to the foot through a shoe 300, by way of an adapted base 260 which is integral with the rigid element 252 and joined, in the lower part of the shoe 300 in a region comprised between the heel and the metatarsal arch, to an elastic insole, the rigidity of which is proportional to the rigidity of the leaf spring 215 and which is integral with the shoe 300, in particular interposed between its sole 310 and its upper 305.

The articulated polygon 240 is then coupled to a portion of the tibia 120, comprised between the knee 170 and the malleolus 185, by way of a resting element 270, and to the gastrocnemius muscle 175 by elastic binding means 295, which are rear thereto and integral with the resting element 270.

The two rigid segments 225, which are connected to the elastic element 215, are coupled, at a first end 226 thereof, to a respective end 221 , 222 of the elastic element 215.

In relation to such rigid coupling, the rigid elements 225 have a substantially perpendicular extension with respect to the longitudinal extension of the elastic element 215.

Each one of the rigid elements 225 further comprises, at a second end 227 thereof, means for mating with a hinge-like coupling 230 which are adapted to allow attachment to the rigid rods 252 and 254.

The two rigid rods 252 and 254 are finally joined together, at their free ends, by a joint or hinge-like coupling 256, with its rotation axis perpendicular to the plane of arrangement and deformation of the articulated polygon 240.

In a preferred embodiment of the biomechanical device 210 for gait enhancement according to the invention, both the rigid elements 225 advantageously comprise means 235 for adjusting the distance between the rotation axis of the means for mating with a hinge-like coupling 230 and the point at which the rigid element 225 is rigidly coupled to the elastic element 215.

In this manner it is possible to modify, even independently with respect to the two rigid elements 225, the relative distance of the elastic element 215 with respect to the straight line that joins the centers of rotation of the joints of the means for mating with a hinge-like coupling 230. By varying such distance it is possible to vary the bending torque on the elastic element 215, i.e. its bending rigidity, according to requirements, and also to define its correct bending arc, in relation to the difference in length of the segments 252 and 254.

As anticipated earlier, the leaf spring 215, by way of its rigid elements 225, is associated with the articulated polygon 240 by way of means for mating with a hinge-like coupling 230.

The leaf spring 215, by way of the rigid elements 225 interlocked with it at its ends 221 and 222 and by way of the means for mating with a hinge-like coupling 230, is therefore connected to the rigid rods 252 and 254, which are joined in turn by the hinge 256, effectively going to constitute together an articulated polygon 240, in which the sides or segments constituted by the elastic element 215 and by the rigid element 254 intersect at a variable height.

The shorter, fixed rigid rod 252, and the longer, moveable rigid rod 254, as described previously, are coupled together by a hinge-like coupling 256 with its rotation axis perpendicular to the plane of arrangement and deformation of the articulated polygon 240.

The means for mating with a hinge-like coupling 230 between the rigid elements 225 of the leaf spring 215 and the rigid rods 252 and 254 also comprise hinges that rotate about an axis perpendicular to the plane of arrangement and deformation of the articulated polygon 240, i.e. around the rotation axis of the knee 170 and of the malleolus 185 of the user.

The articulated polygon 240, deformable with the accumulation and return of energy, comprises a rod-like element, or rod, which is rigid and fixed 252, and integral with the base 260 so as to define therewith a single body, and preferably made of a material with a high mechanical strength and Young's modulus, and arranged below, at the outer part of the shoe 300, and a rod-like element, or rod, which is rigid and moveable 254, and also preferably made of a high mechanical strength and Young's modulus, and arranged above, at the outer part of the tibia 120 of the user.

The fixed rigid rod 252 of the articulated polygon 240 is therefore rigidly coupled at the base 260, so as to define therewith a single body; the base 260 is associated integrally with the shoe 300, in a region comprised between the heel and the metatarsal, by way of the connection between that base 260 and the insole which is interposed and connected rigidly, for example by way of adhesive resins, between the sole 310 and the upper 305 of the shoe 300.

In this manner the base 260 acts as the lower supporting element of the articulated polygon 240 described above, and also as the element that connects, through the insole 300, the articulated polygon 240 with the foot of the user.

In a preferred embodiment of the biomechanical device 210 for gait enhancement, the rigid rod 254, part of the articulated polygon 240, is provided with elements 265 for adjusting its length.

By acting on the adjustment elements 265 it is possible to modify the length of the moveable rigid rod 254 and, as a consequence, the angle defined by that moveable rigid rod 254 with the fixed rigid rod 252, so as to be able to vary the starting or stability geometry of the articulated polygon 240, i.e. the geometry for which the elastic element 215 is not subject to deformations.

As a consequence, since the articulated polygon 240 is coupled rigidly to the foot of the user by the elements that connect it to the shoe 300, i.e. the rigid rod 252, the base 260 and the insole interposed between the upper 305 and the sole 310 of the shoe 300, and to the tibia 120 by the resting element 270 and the coupling means 295, it is possible to modify the angular position around the malleolus 185, between the tibia 120 of the user with respect to the foot of the user.

The moveable rigid rod 254 of the articulated polygon or pentalateral 40 for accumulating and returning elastic energy has, proximate to or at its upper end, the resting element 270, and coupling means 295, which are adapted to connect the lower part of the leg 150 of the user comprised between the knee 170 and the malleolus 185, in particular the tibia 120 and the gastrocnemius 175, with the biomechanical device 210 for gait enhancement, which is constituted by the mechanical elements described previously.

The resting element 270 is constituted by an ergonomic element in the manner of a shin guard, preferably made of plastic material, which has an inner face adapted to make contact with the front portion of the tibia 120 of the user and an outer face, on the other side from the inner face, which rests and slides on a support 275 by way of a slider 280.

The support 275 has a substantially rod-like shape and is attached to a sliding element, which is constituted preferably by a slider 280, made of metallic material or plastics with a low friction coefficient, fixed on the external part of the resting element 270 and having two opposite faces that are adapted to make contact and slide along two perpendicular axes on the surface of the support 275, and adapted to define the maximum sliding stroke of the resting element 270 thereon, in the plane perpendicular to the plane of arrangement of the rotation axis of the knee 170.

The slider 280 is therefore moveably coupled to the support 275 by way of elastic bindings 285, and can slide and incline, in the plane perpendicular to the plane of arrangement of the rotation axis of the knee 170, with respect to the support 275, and is connected rigidly as a single body to the resting element 270 in contact with the tibia 120 of the user.

The elastic bindings 285 define a polygon that has one or more vertices coupled integrally with the outer face of the slider 280 and one or more vertices coupled integrally with the surface of the support 275 which lies away from the face on which the slider 280 rests.

In a preferred embodiment of the biomechanical device 210 for gait support according to the invention, the elastic bindings 285 define a quadrilateral that has two mutually opposite vertices coupled to the outer face of the slider 280 and the other two mutually opposite vertices coupled to the support 275, by way of respective screws 286.

In a preferred embodiment of the biomechanical device 210 for gait enhancement according to the invention, on the inner face of the shin guardlike ergonomic resting element 270 there is a padding 290 or a pair of longitudinal paddings arranged mutually spaced apart, made preferably of material included in expanded resins, which are adapted to come into contact, comfortably and ergonomically, with a front portion of the tibia 120 of the user.

In another preferred embodiment of the biomechanical device 10 for gait enhancement according to the invention, the resting element 270 and the associated slider 280, i.e. their support 275, are articulated to an upper portion of the moveable rigid rod 254, so that they rotate around a hingelike coupling 277 which connects the resting element 270 and the associated slider 280 with the moveable rigid rod 254, about an axis that is substantially perpendicular to the longitudinal axis of the moveable rigid rod 254, co-planar with the plane of arrangement of the rotation axis of the knee 170 and of the malleolus 185.

The resting element 270 further comprises coupling means 295, preferably in the form of bands or laces, preferably made of fabric and optionally elasticized so as to form an elastic binding, which are fixed to both of the external ends of the resting element 270, fixed on one side and on the other side through a slot, through which they can be passed and wrapped, and are adapted to enable the user, after putting on the shoe 300, to lock the resting element 270 to the front portion of the tibia 120 with which the inner face is put in contact through the padding 290, by wrapping around the side away from the resting element 270, in the region of the gastrocnemius muscle 175.

Operation of the biomechanical enhancement device, according to the present invention, will be described hereinafter with reference to the first preferred embodiment described above. In the normal, fully erect posture of the human body, the weight force deriving from gravity is transmitted to the supports of the foot, through the center of the knee joint 170 and of the malleolus 185, which more or less lie on the same vertical axis.

In this condition, the load of the weight force is distributed on the foot through the supports of the metatarsal arch and of the heel, inversely proportional to their distances from the center of the malleolus 185, and is generally approximated therefore to a value of 1/3 on the metatarsal arch and 2/3 on the heel.

This type of posture of the human body is also usually not a state of relaxation of the muscles, since they still have to make small but continuous contractions and extensions in order to control the balance of the body. ^s

The state of total muscular relaxation and consequently of minimum internal energy consumption occurs when, in a static, seated posture, with the upper portion of the weight force of the human body bearing on the ischia of the pelvis, and the weight force of the lower limbs resting on the feet, the angle comprised between the lower part of the leg 150 and the foot planted on the ground, forms an angle of approximately 120°.

Differently, during a motor activity, using the lower limbs and resting the weight force through the feet, or during a phase of forced posture, with the angle comprised between the foot and the lower part of the leg 150 being less than or greater than 120°, the distribution of the weight force changes value and, in particular, for angles comprised between the foot and the lower part of the leg 150 which are less than 120°, such force increases its value on the metatarsal arch and relieves the heel, producing as a consequence the need, in order to maintain the integrity of the musculoskeletal-ligamentary apparatus, as well as for the activation of the muscular contractions for the motor activity in question, for a contraction, U, on the gastrocnemius muscle 175 and of its natural antagonists, such as for example the vastus medialis muscle 165 and the upper quadriceps or rectus femoris muscle 160, and also of the tibial muscle 180 and of the tendons of the toes 182 which converge in it.

With reference to Figures 3 and 5, it can be seen that an angular variation between the upper part and the lower part of the leg 150 and between the latter and the foot, in general owing to the imbalance of the center of gravity of the human body in order to perform a motor activity or simply owing to a posture in which the muscles are not completely at rest, the weight force K, passing through the center of rotation of the knee 170, produces a rotation torque K*L to the malleolus 185 which must be countered by the reaction M, when the user places his/her weight on the metatarsal arch, and by the corresponding torque M*L1.

With reference to Figure 9, it can be seen that, in order to keep the musculoskeletal apparatus together and perform the motor activity, such torques are compensated by the contraction U of the gastrocnemius muscle 175 and of its antagonists.

By applying the biomechanical device 10 for gait enhancement, the subject matter of the present invention, to the human body it can be seen how such .torques induce, only as a gravitational effect of unbalancing the center of gravity of the human body, a bending of the elastic element 15, a part of the polygon or articulated pentalateral 40, which is adapted in this manner to accumulate by elastic deformation such source of energy, and also to relieve the contraction U of the gastrocnemius 175 and the contractions of its natural antagonists.

The bending of the elastic element 15 is triggered, in particular, by the reaction P which is proportional to the variation of L, and by the value of K, induced by the torque K*L corresponding to the variation of the angle at the knee between the upper part and the lower part of the leg 150 and by its antagonist, M*L 1 , which balances it.

The latter is usually countered, for the integrity of the joint and in order to generate the motor activity, by the contraction U of the gastrocnemius muscle 175 and by the contractions of its antagonists, as a reaction to the stability torque M*L1 alone.

Applying the device 10 for gait enhancement, the torque K*L instead generates, in addition to the natural stability torque M*L1 , which is necessary in any case, through the resting element 70 against the tibia 120, the support 75, the slider 80, and the corresponding hinge-like coupling 77 to the moveable rigid rod 54, an additional stability torque +P*L2 which induces a rotation of the rod 54 around the hinge-like coupling 56, proximate to the malleolus 185, with consequent deformation and energy accumulation of the leaf spring 15.

In this manner, by subtracting part of the value of the natural stability torque M*L1 , which in any case is necessary, the additional torque +P*L2 triggers the elastic deformation and consequently the energy accumulation of the elastic element 15.

Such energy is thus detracted from the energy used naturally by the tension of the gastrocnemius muscle 175 and consequently from its natural antagonists, solely by gravitational force of position, absorbed internally by the resistance to bending of the tibial bone, a resistance which is very high and therefore absolutely safe for the user, with no energy used except for the minimum used to unbalance the center of gravity of the human body or for the minimal muscular contractions adapted to generate the variation of the angles of the lower limbs.

The mathematical formula 200 describes the increase in the contraction of the gastrocnemius muscle 175 in relation to the variation of the angle a at the knee, between the upper part and the lower part of the leg 150, and of the angle β between the latter and the foot.

Note that L increases proportionally as a decreases. Note furthermore that C is the distance from the center of the malleolus 185 to the attachment to the heel 177 of the gastrocnemius muscle 175, while β is, in detail, the angle comprised between the axis of the gastrocnemius muscle 175 and the axis that joins its attachment to the heel 177 and the center of rotation of the knee 170.

The bending of the elastic element 15, a part of the articulated polygon or pentalateral 40, generates, in the points of rotation 30 which connect the rigid elements 25, parts of the articulated polygon or pentalateral 40, to the ends 21 and 22 of the elastic element 15 and to the rigid rods 54 and 52, two reactions Rl and R2 with direction tangential to its bending arc.

Such reactions produce two torques R1 *L3 and R2*L4 which, in addition to balancing the natural triggering torques K*L and M*L 1 and consequently P*L2, produce: the first, R1 *L3, a bending in the insole 115 around the joint of the metatarsal arch, in this manner relieving the tendons of the toes 182 and the tibial muscle 180 in which they converge, consequently thusly favoring the bending of the foot; the second, R2*L4, the lift or support, as a reaction in a basically opposite direction to the weight force K with its consequent relief.

In this manner these torques produce, last but not least, a small pressure on the entire arch of the foot.

With reference to Figure 4, it can be seen that the deformation and the consequent energy accumulation of the elastic element 15, a part of the articulated polygon or pentalateral 40, is proportional to an increase of the distance L between the center of the malleolus and the virtual center of the knee, seat of the action of the load K and, as a consequence, of the torque K*L.

Such action in general corresponds to and is characteristic of a greater closure of the articulated system of the lower limbs or of a considerable imbalance forward of the center of gravity of the human body.

The previously described effects also occur, only with different values of the variations of the angles between the sides of the articulated polygon or pentalateral 40, with the change of sign of the deformation of the elastic element 15, owing to the reversal of the direction of the load force K and corresponding therefore to an increase of the angle of rest between the lower part of the leg 150 and the foot.

In such case the reaction -P generated by the weight force K is transmitted to the pentalateral 40 and to its elastic element 15 for deformation and energy accumulation by means of coupling 95 to the gastrocnemius 175, through its elastic pre-tensioning and its connection through the resting element 70, the support 75, the slider 80, and the corresponding hinge-like coupling 77 to the moveable rigid rod 54 which rotates around the hinge-like coupling 56, in a direction opposite to that described for the reaction +P and shown in the accompanying figures.

The value of such reaction -P is however much lower than that of the opposite direction +P, being triggered by the articulation alone or the weight alone of the foot around the malleolus 185 with the engagement, in general, of the tibial muscle 180 alone and of its natural antagonists.

In any case, upon cessation of the load K, which occurs simply and naturally by canceling the imbalance of the center of gravity of the human body independently of its direction, or by realigning the articulated system of the lower limbs, the biomechanical device 10 for gait enhancement returns to its initial position, that of geometric stability, returning the substantially gravitational energy accumulated in the deformation of the elastic element or leaf spring 15.

With respect to the foregoing, the elastic energy accumulated by the leaf spring 15 during the load step contributes, therefore, as a supplementary artificial muscle activated simply by the gravitational energy of position of the compass of the lower limbs, during the typical angular variations of motor activities or states of rest and/or of imbalance of the center of gravity of the human body, with an increase of the gravitational weight force on the metatarsal arch, to detracting part of such energy from the contraction U of the gastrocnemius muscle 175 and of the contractions of its natural antagonists, such as for example the vastus medialis muscle 165 and the upper quadriceps or rectus femoris muscle 160.

In this manner the forces in play are redistributed over a much greater portion of muscles, which in particular are subject to less strain, and therefore to a smaller energy requirement, thus considerably increasing the energy yield described previously.

In even more detail, during the return step or step of cessation of the load, the energy accumulated in the elastic element 15, in addition to relieving the tension of contraction U of the gastrocnemius 175 and of its antagonists, during the load step, and subtracting a large part therefrom, is returned in order to boost and render subservient, basically at zero energy cost, part of the natural torques, determined by the front and rear muscles of the lower limbs, in order to restore the angles at the knee and at the malleolus, typical of their oscillating motion or of their position of minimum energy requirement for the motor action or posture required.

In practice it has been found that the invention fully achieves the set aim and objects. In particular, it has been seen that the biomechanical device for gait enhancement thus conceived makes it possible to overcome the qualitative and quantitative limitations of the known art, in that it makes it possible to accumulate and restore only internal energy of substantially gravitational nature, in order to boost and render subservient the musculoskeletal-ligamentary apparatus of the human body subject to that same gravitational weight force, as well as to subtract a major portion therefrom.

This makes it possible to obtain a significant energy saving and a consequent increase in performance expressed as a ratio between the mechanical work done and the energy supplied to a system, during the states of motion or rest of the human body, corresponding to the erect position or in any case with the foot planted on the ground, or in any case not horizontal. The biomechanical device for gait enhancement according to the invention is also capable, during a falling step, such as for example in the return step in jumping, of absorbing the deceleration forces owing to the impact of the foot on the surface, thus relieving the musculoskeletal- ligamentary apparatus of the human body of weight forces that are subject to accelerations greater than static gravity.

By way of the elements 65 for adjusting the length of the rigid rodlike element 54 it is possible, in addition to the simple adaptation of the articulated polygon or pentalateral 40 to a condition of correct operation based on the typical morphology of the user, to also determine the best operation thereof for an expected or forced condition of motion or posture.

Such condition is obtained by varying, by way of the elements 65 for adjusting the rigid rod 54, its length and, as a consequence, the angle of incidence between the fixed rigid rod 52 and the moveable rigid rod 54, and therefore the angle comprised between the lower part of the leg 150 and the foot, thus modifying the geometry of stability or of rest of the articulated pentalateral 40, i.e. the geometry that does not result in bending of its elastic element 15.

The invention, thus conceived, is susceptible of numerous modifications and variations, all of which are within the scope of the appended claims. Moreover, all the details may be substituted by other, technically equivalent elements.

In practice the materials employed, and the contingent dimensions and shapes, may be any according to requirements and to the state of the art.

In conclusion, the scope of protection of the claims shall not be limited by the explanations or by the preferred embodiments illustrated in the description by way of examples, but rather the claims shall comprise all the patentable characteristics of novelty that reside in the present invention, including all the characteristics that would be considered as equivalent by the person skilled in the art. The content of Italian patent application no. MI2014A001853 (102014902304922), the priority of which is claimed in the present application, is incorporated as a reference.

Where the technical features mentioned in any claim are followed by reference numerals and/or signs, those reference numerals and/or signs have been included for the sole purpose of increasing the intelligibility of the claims and accordingly, such reference numerals and/or signs do not have any limiting effect on the interpretation of each element identified by way of example by such reference numerals and/or signs.

Claims

1. A biomechanical device (10, 210) for gait enhancement, applicable to the lower limbs of a user by way of a shoe (100, 300), comprising an element (70, 270) for resting against a portion of the tibia (120) of the user that is comprised between the knee (170) and the malleolus (185), and means (95, 295) for coupling to a portion of the gastrocnemius (175) of the user which are on the opposite side from said portion of the tibia (120), characterized in that it comprises at least one articulated polygon (40, 240) which is deformable according to the flexibility of at least one leaf spring (15, 215); said at least one leaf spring (15, 215), which is extended longitudinally and is flexible around the rotation axis of the knee (170) and of the malleolus (185), being connected rigidly at its ends (21 , 22, 221 , 222), by interlocking couplings, to two rigid elements (25, 225), the second ends (27, 227) of said rigid elements (25, 225) being attached respectively, by hinge-like couplings (30, 230), to a lower rigid rod-like element (52, 252) and to an upper rigid rod-like element (54, 254), which are mutually pivoted with a hinge-like coupling (56, 256), such as to form, all together, said at least one articulated polygon (40, 240); said at least one articulated polygon (40, 240) being attached rigidly, by said lower rigid rod-like element (52, 252), a base (60, 260), and an elastic insole (115) which is fixed integrally to said base (60, 260), to said shoe (100, 300), and by said resting element (70, 270) to said portion of the tibia (120) and by said coupling means (95, 295) to said portion of the gastrocnemius (175) which are on the opposite side from said portion of the tibia (120) of the user.

2. The biomechanical device ( 10, 210) for gait enhancement according to claim 1 , characterized in that said base (60, 260) is integral with said lower rigid rod-like element (52, 252) and is joined, in the lower part of said shoe (100, 300), to an elastic insole (115) the rigidity of which is proportional to the rigidity of said leaf spring (15, 215) and which is integral with said shoe ( 100, 300), interposed between its sole (110, 310) and its upper (105, 305).

3. The biomechanical device (10, 210) for gait enhancement according to claim 1 or 2, characterized in that said element (70, 270) for resting against a portion of the tibia (120) comprises coupling means (95, 295) adapted to bind said resting element (70, 270) to said portion of the tibia by being wrapped around the gastrocnemius (175).

4. The biomechanical device (10, 210) for gait enhancement according to one or more of the preceding claims, characterized in that said rigid elements (25, 225) comprise means (35, 235) for adjusting the distance between the rotation axis of means for mating with a hinge-like coupling (30, 230) and the point where said rigid elements (25, 225) are rigidly coupled to said at least one leaf spring (15, 215).

5. The biomechanical device (10, 210) for gait enhancement according to one or more of the preceding claims, characterized in that said lower rigid rod-like element (52, 252) is fixed and is coupled rigidly to said base (60, 260), and said upper rigid rod-like element (54, 254), to which said resting element (70, 270) is articulated, is movable with respect to said lower rigid rod-like element (52, 252) and to said base (60, 260).

6. The biomechanical device (10, 210) for gait enhancement according to one or more of the preceding claims, characterized in that said upper rigid rod-like element (54, 254) is provided with elements (65, 265) for adjusting its length.

7. The biomechanical device (10, 210) for gait enhancement according to one or more of the preceding claims, characterized in that said resting element (70, 270) comprises at least one support (75, 275) and at least one element (80, 280) for sliding on said at least one support (75, 275).

8. The biomechanical device (10, 210) for gait enhancement according to claim 7, characterized in that said at least one support (75, 275) is substantially rod-like and can rotate about a hinge-like coupling (77, 277) which is integral with an upper portion of said upper rigid rod-like element (54, 254), said at least one support (75, 275) having a rotation axis that is perpendicular with respect to said upper rigid rod-like element (54, 254), and in that said at least one resting element (70, 270) comprises a slider (80, 280), which is adapted to define the maximum sliding stroke and has two opposite faces adapted to make contact and slide along two perpendicular axes on the surface of said support (75, 275), the device comprising elastic bindings (85, 285) of said slider (80, 280) to said at least one support (75, 275), for the return to the inactive position.

9. The biomechanical device (10, 210) for gait enhancement according to claim 8, characterized in that said inner face of said resting element (70, 270) comprises at least one padding (90, 290) adapted to make contact with said front portion of said tibia (120) of the user.

10. The biomechanical device (10, 210) for gait enhancement according to claim 8 or 9, characterized in that said elastic bindings (85, 285) define a polygon that has one or more vertices coupled to said outer face of said slider (80, 280) and one or more vertices coupled to the surface of said at least one support (75, 275) which is on the opposite side from the resting bed of said slider (80, 280).