WO2022216227A1 - Cable-driven movement assistance apparatus for human lower limb - Google Patents
Cable-driven movement assistance apparatus for human lower limb Download PDFInfo
- Publication number
- WO2022216227A1 WO2022216227A1 PCT/SG2022/050190 SG2022050190W WO2022216227A1 WO 2022216227 A1 WO2022216227 A1 WO 2022216227A1 SG 2022050190 W SG2022050190 W SG 2022050190W WO 2022216227 A1 WO2022216227 A1 WO 2022216227A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- joint
- lower limb
- assistance apparatus
- user
- movement assistance
- Prior art date
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 127
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 94
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 68
- 210000000629 knee joint Anatomy 0.000 claims description 61
- 210000003423 ankle Anatomy 0.000 claims description 35
- 210000002683 foot Anatomy 0.000 claims description 31
- 210000001624 hip Anatomy 0.000 claims description 30
- 210000003127 knee Anatomy 0.000 claims description 28
- 244000309466 calf Species 0.000 claims description 14
- 239000004677 Nylon Substances 0.000 claims description 13
- 229910000831 Steel Inorganic materials 0.000 claims description 13
- 229920001778 nylon Polymers 0.000 claims description 13
- 239000010959 steel Substances 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 6
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 230000005021 gait Effects 0.000 description 20
- 230000005540 biological transmission Effects 0.000 description 15
- 210000001503 joint Anatomy 0.000 description 15
- 238000013461 design Methods 0.000 description 12
- 230000007246 mechanism Effects 0.000 description 11
- 210000004394 hip joint Anatomy 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- 230000001771 impaired effect Effects 0.000 description 8
- 210000002414 leg Anatomy 0.000 description 8
- 210000003414 extremity Anatomy 0.000 description 6
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 5
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- 238000001514 detection method Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000005483 Hooke's law Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000000418 atomic force spectrum Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000002503 metabolic effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000012418 validation experiment Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 206010034701 Peroneal nerve palsy Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
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- 230000003044 adaptive effect Effects 0.000 description 1
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2201/1215—Rotary 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
- A61H2201/1481—Special movement conversion means
- A61H2201/149—Special movement conversion means rotation-linear or vice versa
-
- 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
- A61H2201/1652—Harness
-
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1676—Pivoting
-
- 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
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/62—Posture
- A61H2230/625—Posture used as a control parameter for the apparatus
Definitions
- the cables includes cable sheaths and inner cables, and the inner cables slidably housed in the cable sheaths are connected to the pulley and the driving source at opposite ends.
- the lower limb exoskeleton further includes a foot support structure configured to be coupled to a foot of the user.
- a movement assistance apparatus includes a lower limb assembly which is configured to be worn on a lower limb of a user.
- the lower limb assembly includes a knee joint frame 1 and an ankle joint frame 2 to provide assistance and support for a knee joint and an ankle joint of a user.
- the ankle joint frame 2 may be pivotally connected to the knee joint frame 1 through a rotational joint member 3a.
- the lower limb assembly may also include a foot support structure configured to support a foot of the user.
- the foot support structure may be pivotally connected to the ankle joint frame 2 through a rotational joint member 3b.
- the third and fourth knee plates 104, 108 are connected to the ankle joint frame 2, respectively. Upper ends of the first and second knee plates 101, 106 are connected through a rigid curved member 105 in a direction transverse to the leg of the user.
- the rigid curved member 105 combing with strap fixing elements 110a, 110b and a first fixing member 10, enables the knee joint frame 1 to be mounted on a femoral region of the user.
- Upper ends of the third and the fourth knee plates 104, 108 are connected through a rigid curved member 109 in the direction transverse to the leg of the user.
- the rigid curved member 109 combing with strap fixing elements 110c, llOd and a second fixing member 11, enables the knee joint frame 1 to be mounted on a calf region of the user.
- the rotational joint member 3a may include an angle sensor 301, a joint plate 302, a shaft 303, a bearing 304, two idle pulleys 305a, 305b, a pulley 306, and a gasket structure 307.
- the cables 721, 722 may be wound around the pulley 306.
- SEA has been widely adopted in rehabilitation robotics to maintain a safe and efficient human-robot interaction.
- the following aspects feature the performance of the linear series elastic actuators in the human-friendly robotics domain: intrinsic compliance with low impedance and better back-drivability compared to stiff actuators, excellent capability to absorb unexpected interaction impacts, and high force controllability and smooth force transmission.
- the determining factor of a SEA's performance is the elastic element.
- Spring is the most commonly used elastic element. Low spring stiffness contributes to the high fidelity of force control, low output impedance, and low stiction. In contrast, high spring stiffness contributes to higher force range and bandwidth. Hence, trade-off always happens when developing appropriate SEAs.
- it is essential to analyze human biomechanics to select a proper spring constant. Previous biomechanical studies showed that the needed assistive torque on the lower limb joints during gait rehabilitation is much lower than the joint peak torque, needed assistance torque is about 30% of the peak torque, which is around 6 Nm for the knee joint and 10.5 Nm for ankle joint at a walking speed of 1.1 m/s. Hence, the actuator would be operated in a low force range most of the time, which means that a strong spring would not be necessary to develop SEA for assisting the target patients.
- F m c u
- u denotes the input current to the motor
- F b viscous friction
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SG10202103470Q | 2021-04-05 | ||
| SG10202103470Q | 2021-04-05 | ||
| CN202210018124.7 | 2022-01-07 | ||
| CN202210018124.7A CN114248257A (zh) | 2021-04-05 | 2022-01-07 | 线缆驱动的人体下肢运动辅助装置 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2022216227A1 true WO2022216227A1 (en) | 2022-10-13 |
Family
ID=80796260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/SG2022/050190 WO2022216227A1 (en) | 2021-04-05 | 2022-04-05 | Cable-driven movement assistance apparatus for human lower limb |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114248257A (zh) |
| WO (1) | WO2022216227A1 (zh) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024194556A1 (fr) * | 2023-03-20 | 2024-09-26 | Commissariat A L'energie Atomique Et Aux Energies | Structure d'exosquelette souple et coopérant |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2583657A1 (en) * | 2010-06-21 | 2013-04-24 | Toyota Jidosha Kabushiki Kaisha | Leg support device |
| WO2015002850A1 (en) * | 2013-07-05 | 2015-01-08 | Rubin Jacob A | Whole-body human-computer interface |
| CN106956243A (zh) * | 2017-03-06 | 2017-07-18 | 武汉大学 | 一种基于绳驱的仿生下肢外骨骼机器人 |
| CN109662869A (zh) * | 2019-01-21 | 2019-04-23 | 中国科学院沈阳自动化研究所 | 一种穿戴式柔性下肢助力机器人 |
| CN111568704A (zh) * | 2020-05-20 | 2020-08-25 | 中国科学院苏州生物医学工程技术研究所 | 基于绳索传动的下肢康复外骨骼 |
-
2022
- 2022-01-07 CN CN202210018124.7A patent/CN114248257A/zh active Pending
- 2022-04-05 WO PCT/SG2022/050190 patent/WO2022216227A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2583657A1 (en) * | 2010-06-21 | 2013-04-24 | Toyota Jidosha Kabushiki Kaisha | Leg support device |
| WO2015002850A1 (en) * | 2013-07-05 | 2015-01-08 | Rubin Jacob A | Whole-body human-computer interface |
| CN106956243A (zh) * | 2017-03-06 | 2017-07-18 | 武汉大学 | 一种基于绳驱的仿生下肢外骨骼机器人 |
| CN109662869A (zh) * | 2019-01-21 | 2019-04-23 | 中国科学院沈阳自动化研究所 | 一种穿戴式柔性下肢助力机器人 |
| CN111568704A (zh) * | 2020-05-20 | 2020-08-25 | 中国科学院苏州生物医学工程技术研究所 | 基于绳索传动的下肢康复外骨骼 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024194556A1 (fr) * | 2023-03-20 | 2024-09-26 | Commissariat A L'energie Atomique Et Aux Energies | Structure d'exosquelette souple et coopérant |
| FR3146798A1 (fr) * | 2023-03-20 | 2024-09-27 | Commissariat A L'energie Atomique Et Aux Energies Alternatives | Structure d’exosquelette souple et coopérant |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114248257A (zh) | 2022-03-29 |
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