WO2017204684A1 - Actuator for a link of an active leg orthosis - Google Patents

Actuator for a link of an active leg orthosis Download PDF

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Publication number
WO2017204684A1
WO2017204684A1 PCT/RU2017/000323 RU2017000323W WO2017204684A1 WO 2017204684 A1 WO2017204684 A1 WO 2017204684A1 RU 2017000323 W RU2017000323 W RU 2017000323W WO 2017204684 A1 WO2017204684 A1 WO 2017204684A1
Authority
WO
WIPO (PCT)
Prior art keywords
crank
ball screw
slider
screw
arm
Prior art date
Application number
PCT/RU2017/000323
Other languages
French (fr)
Russian (ru)
Inventor
Андрей Викторович ИВАНОВ
Кирилл Михайлович ТОЛСТОВ
Алексей Андреевич КОСТЕНКО
Original Assignee
Общество С Ограниченной Ответственностью "Экзоатлет"
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
Priority to RU2016119800 priority Critical
Priority to RU2016119800 priority
Application filed by Общество С Ограниченной Ответственностью "Экзоатлет" filed Critical Общество С Ограниченной Ответственностью "Экзоатлет"
Publication of WO2017204684A1 publication Critical patent/WO2017204684A1/en

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024Knee
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0244Hip
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12Driving means
    • A61H2201/1207Driving means with electric or magnetic drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1436Special crank assembly
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164Feet or leg, e.g. pedal
    • A61H2201/1642Holding means therefor
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165Wearable interfaces
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2203/00Additional characteristics concerning the patient
    • A61H2203/04Position of the patient
    • A61H2203/0406Standing on the feet
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/10Leg

Abstract

The invention relates to medical technology, and more particularly to actuators for wearable auxiliary appliances for assisting the mobility of the wearer. An actuator for a link of an active leg orthosis comprises a base, disposed on one of the links of an orthosis, and, mounted on said base, an electric motor, a linear guide with a slider, and a ball screw, the nut of which is fastened to the slider. A toothed belt drive connects the electric motor to the screw of the ball screw. Rotatably mounted on the base is a crank in the form of a two-armed lever, the first arm of which is situated on either side of the screw of the ball screw, and the second arm of which is intended for attachment to a mating link of the orthosis. Two connecting rods are disposed one on either side of the screw of the ball screw, each being pivotally connected by one end to the slider and pivotally connected by the other end to the corresponding side of the first arm of the lever. A pivot pin of the crank lies within the limits of the screw of the ball screw in a plane perpendicular to the axis thereof, such that a hinge connecting a connecting rod to the first arm of the crank is able to intersect said plane as the slider moves along the linear guide.

Description

 ACTIVE FOOT LINK DRIVE

[0001] The inventive utility model relates to the field of medical technology, in particular to wearable aids that promote human motor activity, for example, such as the exoskeleton of the lower extremities.

[0002] A drive of the exoskeleton of the lower extremities is known, described in published application US 2015/0025423, A61NZ / 00, 2015, including a bevel gear motor located on the femoral link of the leg orthosis. The output shaft of the bevel gear through the gear reducer is connected with the mating link of the exoskeleton leg - the hip or millet link. The disadvantage of this drive is its large size and weight, as well as high power consumption.

[0003] The drive of the exoskeleton of the lower extremities is also known, described in the journal Aktualne Problemy Biomechaniki, nr 6/2012, pp 43-50. This drive contains a base located on the femoral link of the leg orthosis with an electric motor, ball screw and linear guide with carriage. The electric motor is connected to a ball screw by means of a gear-belt drive. A ball screw nut is mounted on a carriage, to which, in turn, a transmission belt is connected with a flexible coupling comprising an output pulley and guide rollers. The output moment of the drive is removed from the output pulley associated with the response link of the exoskeleton leg orthosis - hip or lower leg link. The disadvantage of this drive is the large linear dimensions, creating difficulties with the placement of several drives simultaneously on the femoral link of the leg orthosis.

[0004] Closest to the claimed is an active orthosis actuator described in published international application WO2016 / 034755, A61NZ / 00, 2016. This actuator contains a base placed on one of the elements of the active orthosis. Based on the installed electric motor, ball screw and linear guide with a slider. The electric motor is mounted coaxially with the ball screw and is connected directly to it. The ball screw nut is mounted on the slider. A rotary crank connected with the active link of the active orthosis has also been installed on the base. The crank is rotated by a connecting rod pivotally connected to the slider and crank. The disadvantage of this drive is the limited angle of rotation of the crank, increased length, low output torque.

 [0005] The technical result of the proposed utility model is to expand the arsenal of technical means of drives for auxiliary devices to promote human motor activity by increasing the output torque of the drive.

 [0006] In addition, the technical result is also the improvement of overall dimensions, i.e. weight reduction and reduction in the size of devices, with an increase in the angle of rotation of the crank and maintaining the remaining capabilities and technical characteristics of the devices.

[0007] The specified technical result is achieved due to the fact that the drive link of the active leg orthosis contains a base, designed to be placed on one of the links of the orthosis, as well as an electric motor, ball screw drive and a linear guide with a slider mounted on the base.

[0008] The ball screw nut is fixed to the slider, and the ball screw screw is connected to the electric motor by a belt drive. Thus, the electric motor is parallel to the ball screw, which reduces the axial dimensions (length) of the drive. Reducing the torque in the belt drive allows the use of a smaller motor, which in turn leads to a reduction in the transverse dimensions (height, width) of the drive.

[0009] A crank made in the form of a two-shouldered lever is mounted based on a rotatable base. The first shoulder of the two shoulders of the lever is structurally designed so that its parts are located on both sides of the ball screw. For example, it can be in the form of a plug, covering the ball screw of the screw drive on both sides. The second shoulder is intended for installation on the mating link of the leg orthosis.

 [0010] Two connecting rods are located on both sides of the ball screw, each of which is pivotally connected to the slider at one end and pivotally connected to the corresponding side of the first crank arm at the other end.

[OOP] The axis of rotation of the crank is located within (dimensions) of the ball screw in a plane perpendicular to the axis of the ball screw, so that the hinge connecting the connecting rod to the first arm of the crank crosses the specified plane during operation of the drive. [0012] This embodiment and the location of the crank can reduce the overall dimensions of the drive and get the angle of rotation of the output link, corresponding to the angles of rotation of the lower extremities in the joints of a person. In addition, this embodiment allows you to get almost constant (slightly changing) maximum torque at a sufficiently large angle of rotation of the crank.

 [0013] The foregoing is a summary of the essence of the utility model and, thus, may contain simplifications, generalizations, inclusion and / or exclusion of details; therefore, those skilled in the art should take into account that this summary of the utility model is illustrative only and does not imply any limitation.

[0014] For a better understanding of the essence of the proposed technical solution, a specific embodiment of the invention is described below, which is not a restrictive example of the practical implementation of the drive of an active leg orthosis in accordance with this utility model with reference to the drawings, which show the following.

 [0015] Figure 1 shows a General view of the exoskeleton of the lower extremities with the claimed drive (fasteners on a human carrier are conventionally not shown).

[0016] Figure 2 shows a General view of the orthosis of the leg.

[0017] FIG. 3 shows a general view of the inventive drive in its first extreme position. [0018] Figure 4 shows a General view of the inventive drive in the second extreme position.

[0019] Figure 5 shows a diagram of the operation of the drive.

[0020] It should be noted that the drawings show only those details that are necessary for understanding the essence of the proposal, and related equipment, well known to specialists in this field, is not shown in the drawings.

[0021] As previously indicated, the main purpose of the claimed drive is to move the links of the active exoskeletons of the lower extremities. Figure 1 shows a human carrier 1 with the mentioned active exoskeleton 2, consisting of a waist part 3 and two orthoses of 4 legs. Like human legs, orthoses 4 of the active exoskeleton of the 2 lower limbs are mirror images of each other.

[0022] As shown in FIG. 2, the 4 leg orthosis includes a femoral link 5 and an ankle link 6. On the femoral link 5, two actuators 7 are installed with control controllers 8. The axis of rotation of the femur link 5 relative to the waist part 3 of the active exoskeleton 2 corresponds the hip joint. The axis 10 of rotation of the tibia 6 relative to the femur 5 corresponds to the knee joint.

[0023] In Fig. 3 and Fig. 4, a drive 7 is shown that rotates the femur 5 relative to the waist part 3 of the active exoskeleton 2. This drive contains a housing 11 (in Fig. 3, the housing is conventionally shown transparent) with an electric motor mounted on it 12. Inside the housing 11 is a linear guide 13 along which the slider 14 moves. [0024] In the bearing assembly 15 mounted on the housing 11, a ball screw 16 is provided. The ball screw nut 17 is mounted on the slider 14 and can move along it along the guide 13. The electric motor 12 is connected to the ball screw screw 16 by means of a belt-gear transmission 18.

[0025] In the housing 11 with the possibility of rotation on the axis 9 is installed the crank 19, made in the form of a two-shouldered lever. The first shoulder A of the two shoulders of the lever is structurally designed so that its parts are located on both sides of the ball screw 16. The second shoulder B is intended for mounting on the reciprocal link, in this case, on the belt link 3. The axis 9 of rotation of the crank 19 is located in the dimensions of the screw 16 of the ball screw in the plane S (see Fig. 5), perpendicular to the axis of the screw 16 of the ball screw transmission.

[0026] Two connecting rods 20 are located on both sides of the ball screw 16, each of which is pivotally connected to the slider 14 at one end and pivotally connected to the corresponding side of the first arm A of the crank 19 at the other end.

 [0027] The operation of the actuator 7 of the link of the active leg orthosis is as follows. On command from the controller 8, the engine 12 is turned on, which, through the belt drive 18, transmits the rotation to the screw 16 of the ball screw transmission. The slider 14 moves from position 14a to position 14b (see FIG. 5).

[0028] The slider 14 pulls the connecting rods 20 that move from position 20a to position 20b. The connecting rods 20, in turn, pull the first arm A of the crank 19, which rotates from position 19a to position 19b by an angle corresponding to the angle of rotation of the human hip joint. [0029] During the operation of the drive, hinges connecting the connecting rods 20 to the first crank arm L intersects a plane S perpendicular to the axis of the ball screw 16. This allows you to get almost constant (variable within small limits) the maximum torque at the output link of the drive - the crank - at a significant angle of rotation.

[0030] Although various aspects of the implementation of the claimed utility model have been described herein, those skilled in the art will appreciate that other approaches to implementing this utility model are possible. The various aspects and implementation of this utility model are set forth herein for illustrative purposes and are not intended to be limiting, and the scope of protection of the present utility model is indicated in the following utility model formula.

Claims

USEFUL MODEL FORMULA
An actuator for an active leg orthosis unit containing a base intended for placement on one of the orthosis links, an electric motor mounted on the base, a linear guide with a slider and a ball screw transmission, the nut of which is fixed on the slider and the screw is connected to the electric motor, and mounted on the base with the ability to rotate the crank associated with the slider, characterized in that the electric motor is connected to the ball screw by means of a gear-belt transmission, the crank is made in the form of a two-shouldered lever , the first shoulder of which is located on both sides of the ball screw, and the second shoulder is designed to be mounted on the foot link, the crank is connected to the slider by two connecting rods located on both sides of the ball screw, each of which is pivotally connected at one end with a slider and the other end pivotally connected to the corresponding side of the first shoulder of the crank, while the axis of rotation of the crank is located within the screw of a ball screw in a plane perpendicular to the axis of the screw PPI-helical gear, so that the hinge connecting the crank arm to the first arm of the crank, has the possibility of intersection of said plane when the slider is moved along the linear guide.
PCT/RU2017/000323 2016-05-23 2017-05-19 Actuator for a link of an active leg orthosis WO2017204684A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
RU2016119800 2016-05-23
RU2016119800 2016-05-23

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019600042U JP3223716U (en) 2016-05-23 2017-05-19 Actuators for active leg brace links
CN201790000893.7U CN209301641U (en) 2016-05-23 2017-05-19 Active lower limb orthosis chain is driver connected
DE212017000149.6U DE212017000149U1 (en) 2016-05-23 2017-05-19 Drive of the limb of an active leg orthosis

Publications (1)

Publication Number Publication Date
WO2017204684A1 true WO2017204684A1 (en) 2017-11-30

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/RU2017/000323 WO2017204684A1 (en) 2016-05-23 2017-05-19 Actuator for a link of an active leg orthosis

Country Status (4)

Country Link
JP (1) JP3223716U (en)
CN (1) CN209301641U (en)
DE (1) DE212017000149U1 (en)
WO (1) WO2017204684A1 (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2103952C1 (en) * 1992-09-29 1998-02-10 Ортопедическое предприятие ОТТО БОКа Artificial joint for orthopedic prostheses of various types
WO2010019917A1 (en) * 2008-08-14 2010-02-18 Tibion Corporation Actuator system with a multi-motor assembly for extending and flexing a joint
US20140142475A1 (en) * 2010-09-27 2014-05-22 Vanderbilt University Movement assistance device
RU156350U1 (en) * 2015-02-11 2015-11-10 Федеральное государственное бюджетное образовательное учреждение высшего образования "Юго-Западный государственный университет" (ЮЗГУ) Exoskeleton
US20160030271A1 (en) * 2014-07-29 2016-02-04 Samsung Electronics Co., Ltd. Driving module and motion assistance apparatus including the same
WO2016034755A1 (en) * 2014-09-03 2016-03-10 Universitat Politècnica De Catalunya Drive device for active orthosis

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150025423A1 (en) 2013-07-19 2015-01-22 Bionik Laboratories, Inc. Control system for exoskeleton apparatus

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2103952C1 (en) * 1992-09-29 1998-02-10 Ортопедическое предприятие ОТТО БОКа Artificial joint for orthopedic prostheses of various types
WO2010019917A1 (en) * 2008-08-14 2010-02-18 Tibion Corporation Actuator system with a multi-motor assembly for extending and flexing a joint
US20140142475A1 (en) * 2010-09-27 2014-05-22 Vanderbilt University Movement assistance device
US20160030271A1 (en) * 2014-07-29 2016-02-04 Samsung Electronics Co., Ltd. Driving module and motion assistance apparatus including the same
WO2016034755A1 (en) * 2014-09-03 2016-03-10 Universitat Politècnica De Catalunya Drive device for active orthosis
RU156350U1 (en) * 2015-02-11 2015-11-10 Федеральное государственное бюджетное образовательное учреждение высшего образования "Юго-Западный государственный университет" (ЮЗГУ) Exoskeleton

Also Published As

Publication number Publication date
JP3223716U (en) 2019-10-31
CN209301641U (en) 2019-08-27
DE212017000149U1 (en) 2019-01-10

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