WO2017204684A1 - Entraînement d'une articulation d'une orthèse active de la jambe - Google Patents

Entraînement d'une articulation d'une orthèse active de la jambe 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
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WO
WIPO (PCT)
Prior art keywords
ball screw
crank
slider
screw
arm
Prior art date
Application number
PCT/RU2017/000323
Other languages
English (en)
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
Application filed by Общество С Ограниченной Ответственностью "Экзоатлет" filed Critical Общество С Ограниченной Ответственностью "Экзоатлет"
Priority to CN201790000893.7U priority Critical patent/CN209301641U/zh
Priority to JP2019600042U priority patent/JP3223716U/ja
Priority to DE212017000149.6U priority patent/DE212017000149U1/de
Publication of WO2017204684A1 publication Critical patent/WO2017204684A1/fr

Links

Classifications

    • 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
    • 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
    • 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
    • A61H1/024—Knee
    • 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
    • A61H1/0244—Hip
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1436—Special crank assembly
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • 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
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • 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
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0406—Standing on the feet
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the ball screw nut is fixed to the slider, and the ball screw screw is connected to the electric motor by a belt drive.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • Figure 2 shows a General view of the orthosis of the leg.
  • FIG. 3 shows a general view of the inventive drive in its first extreme position.
  • Figure 4 shows a General view of the inventive drive in the second extreme position.
  • Figure 5 shows a diagram of the operation of the drive.
  • 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.
  • the 4 leg orthosis includes a femoral link 5 and an ankle link 6.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

Abstract

L'invention concerne des équipements médicaux et notamment des entraînements des accessoires portatifs favorisant la mobilité d'une personne. L'entraînement d'une articulation d'une orthèse active de la jambe comprend une base disposée sur l'une des articulations de l'orthèse et, montés sur la base, un moteur électrique, un guide linéaire avec un coulisseau et une transmission à billes et à vis dont l'écrou est fixé sur le coulisseau. La transmission à courroie dentée relie le moteur électrique à la vis de la transmission à vis. Sur la base, on a réalisé de manière rotative une manivelle se présentant comme un levier à deux bras dont le premier bras est disposé des deux côtés de la vis de la transmission à vis et le deuxième bras est destiné à se fixer sur l'articulation opposée de l'orthèse. Les deux bielles sont disposées des deux côtés de la vis de la transmission à vis et chacune d'elles est reliée par une extrémité au coulisseau et est reliée par l'autre extrémité, par charnière, au côté correspondant du premier bras de la manivelle. L'axe de rotation de la manivelle est disposée dans les dimensions de la vis de la transmission à vis dans un plan perpendiculaire à son axe, de manière à ce que la charnière reliant la bielle au premier bras de la manivelle à la possibilité de traverser le plan en question lors du déplacement du coulisseau en suivant un guide linéaire.
PCT/RU2017/000323 2016-05-23 2017-05-19 Entraînement d'une articulation d'une orthèse active de la jambe WO2017204684A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201790000893.7U CN209301641U (zh) 2016-05-23 2017-05-19 主动式下肢矫形器链接驱动器
JP2019600042U JP3223716U (ja) 2016-05-23 2017-05-19 能動脚装具のリンク用のアクチュエータ
DE212017000149.6U DE212017000149U1 (de) 2016-05-23 2017-05-19 Antrieb des Glieds einer aktiven Beinorthese

Applications Claiming Priority (2)

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

Publications (1)

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

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PCT/RU2017/000323 WO2017204684A1 (fr) 2016-05-23 2017-05-19 Entraînement d'une articulation d'une orthèse active de la jambe

Country Status (4)

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

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108126320A (zh) * 2018-02-09 2018-06-08 武汉沃森拓客科技有限公司 一种康复机器人小臂旋转关节
CN108245379A (zh) * 2018-01-24 2018-07-06 哈工大机器人（合肥）国际创新研究院 一种丝杠式下肢爬楼助力装置
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
CN110251370A (zh) * 2019-05-22 2019-09-20 安徽大学 一种被动型重力自平衡下肢外骨骼结构体
CN113456321A (zh) * 2021-06-30 2021-10-01 吉林大学 一种仿生主动膝关节

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113018114B (zh) * 2021-04-01 2022-04-08 南方海洋科学与工程广东省实验室(湛江) 一种穿戴式辅助行走装置

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RU2103952C1 (ru) * 1992-09-29 1998-02-10 Ортопедическое предприятие ОТТО БОКа Сустав в ортопедических протезах и ортезах
WO2010019917A1 (fr) * 2008-08-14 2010-02-18 Tibion Corporation Système actionneur ayant un ensemble à multiples moteurs pour étendre et fléchir une articulation
US20140142475A1 (en) * 2010-09-27 2014-05-22 Vanderbilt University Movement assistance device
RU156350U1 (ru) * 2015-02-11 2015-11-10 Федеральное государственное бюджетное образовательное учреждение высшего образования "Юго-Западный государственный университет" (ЮЗГУ) Экзоскелетон
US20160030271A1 (en) * 2014-07-29 2016-02-04 Samsung Electronics Co., Ltd. Driving module and motion assistance apparatus including the same
WO2016034755A1 (fr) * 2014-09-03 2016-03-10 Universitat Politècnica De Catalunya Dispositif de motorisation pour orthèse active

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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 (ru) * 1992-09-29 1998-02-10 Ортопедическое предприятие ОТТО БОКа Сустав в ортопедических протезах и ортезах
WO2010019917A1 (fr) * 2008-08-14 2010-02-18 Tibion Corporation Système actionneur ayant un ensemble à multiples moteurs pour étendre et fléchir une articulation
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 (fr) * 2014-09-03 2016-03-10 Universitat Politècnica De Catalunya Dispositif de motorisation pour orthèse active
RU156350U1 (ru) * 2015-02-11 2015-11-10 Федеральное государственное бюджетное образовательное учреждение высшего образования "Юго-Западный государственный университет" (ЮЗГУ) Экзоскелетон

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108245379A (zh) * 2018-01-24 2018-07-06 哈工大机器人（合肥）国际创新研究院 一种丝杠式下肢爬楼助力装置
CN108245379B (zh) * 2018-01-24 2024-02-06 合肥哈工慈健智能科技有限公司 一种丝杠式下肢爬楼助力装置
CN108126320A (zh) * 2018-02-09 2018-06-08 武汉沃森拓客科技有限公司 一种康复机器人小臂旋转关节
CN108126320B (zh) * 2018-02-09 2023-08-18 武汉沃森拓客科技有限公司 一种康复机器人小臂旋转关节
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
CN110251370A (zh) * 2019-05-22 2019-09-20 安徽大学 一种被动型重力自平衡下肢外骨骼结构体
CN110251370B (zh) * 2019-05-22 2021-06-08 安徽大学 一种被动型重力自平衡下肢外骨骼结构体
CN113456321A (zh) * 2021-06-30 2021-10-01 吉林大学 一种仿生主动膝关节
CN113456321B (zh) * 2021-06-30 2022-06-21 吉林大学 一种仿生主动膝关节

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Publication number Publication date
DE212017000149U1 (de) 2019-01-10
JP3223716U (ja) 2019-10-31
CN209301641U (zh) 2019-08-27

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